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    自律移動装置、自律移動方法及びプログラム
    2.
    发明专利
    自律移動装置、自律移動方法及びプログラム 审中-公开

    公开(公告)号：JP2018163496A

    公开(公告)日：2018-10-18

    申请号：JP2017059966

    申请日：2017-03-24

    Applicant: カシオ計算機株式会社

    Inventor： 中嶋 光康

    IPC: G05D1/02

    CPC classification number: G05D1/0217 ,  G05D1/0225 ,  H02J7/0042

    Abstract: 【課題】自律移動装置の移動を制御する技術を改善する。 【解決手段】自律移動装置100は、人発見場所取得部と、行動計画部14と、移動制御部15と、を備える。人発見場所取得部は、人に発見されやすい場所を取得する。行動計画部14は、人発見場所取得部が取得した場所を移動先として設定し移動先までの経路を設定する。移動制御部15は、行動計画部14が設定した経路に沿って自機を移動させるように駆動部42を制御する。 【選択図】図4

    Traveling system and travel route generating method of the unmanned vehicle
    6.
    发明专利
    Traveling system and travel route generating method of the unmanned vehicle 有权

    公开(公告)号：JP5140864B2

    公开(公告)日：2013-02-13

    申请号：JP2010260405

    申请日：2010-11-22

    Applicant: 株式会社小松製作所

    Inventor： 研太 長川 ,  友紀 尾▲崎▼ ,  幸司 竹田 ,  貴士 平中

    IPC: G05D1/02 ,  B60P1/04

    CPC classification number: G05D1/0212 ,  E02F9/205 ,  G05D1/0217 ,  G05D1/0278 ,  G05D1/12 ,  G05D2201/0202 ,  G05D2201/021

    Abstract: Based on initial position information on an instructed fixed switch-back point and position information on a loading point, a relative positional relationship between the loading point and the switch-back point is generated. If the position of the loading point moves, then based on position information on the position- moved loading point, information on a direction of an unmanned vehicle at the loading point and information on a relative positional relationship, a new switch-back point is set at a position where the relative positional relationship can be maintained. When the initial position of the switch-back point is instructed, then on the basis of the initial position information on the switch-back point, a driving path leading to the loading point via the instructed switch-back point is generated and, when the position of the loading point moves, a driving path leading to the position-moved loading point via the new switch-back point is generated.

    Unmanned vehicle traveling system and travel route generation method
    7.
    发明专利
    Unmanned vehicle traveling system and travel route generation method 有权
    无人驾驶车辆行驶系统和旅行路线发生方法

    公开(公告)号：JP2012113429A

    公开(公告)日：2012-06-14

    申请号：JP2010260405

    申请日：2010-11-22

    Applicant: Komatsu Ltd ,  株式会社小松製作所

    Inventor： OSAGAWA KENTA ,  OZAKI TOMONORI ,  TAKEDA KOJI ,  HIRANAKA TAKASHI

    IPC: G05D1/02 ,  B60P1/04

    CPC classification number: G05D1/0212 ,  E02F9/205 ,  G05D1/0217 ,  G05D1/0278 ,  G05D1/12 ,  G05D2201/0202 ,  G05D2201/021

    Abstract: PROBLEM TO BE SOLVED: To set an optimum passing point.SOLUTION: On a travel route 10, a switchback point 13 preceding a loading point 12 is designated as a moving point, the position of which moves corresponding to the positional movement of the loading point 12, and a piece of information on an initial position is provided. A piece of information on a relative positional relation A between the loading point 12 and the switchback point 13 is generated based on the initial positional information of the designated switchback point 13 and a piece of positional information of the loading point 12. When the position of the loading point 12 moves, a new switchback point 13' is set at a position so that the relative positional relation A is maintained at the position based on the positional information of a loading point 12' after the positional movement, a piece of information on the orientation of the unmanned vehicle 20' at the loading point 12' and the information on the relative positional relation A, and a travel route 10' to the loading point 12 after the positional movement passing through the new switchback point 13' is generated.

    Abstract translation: 要解决的问题：设定最佳通过点。

    解决方案：在行进路线10上，在装载点12之前的转向点13被指定为移动点，其位置对应于装载点12的位置移动移动，并且一条信息 提供初始位置。 基于指定的转回点13的初始位置信息和装载点12的位置信息，生成关于装载点12和转回点13之间的相对位置关系A的信息。当位置 装载点12移动，将新的换向点13'设定在基于位置移动后的装载点12'的位置信息而将相对位置关系A保持在该位置的位置，将一条信息 产生在位置移动通过新的折返点13'之后的无人车辆20'在装载点12'处的方向和相对位置关系A的信息以及行进路线10'到装载点12。 版权所有（C）2012，JPO＆INPIT

    Target route generation system
    8.
    发明专利
    Target route generation system 有权
    目标路由发生系统

    公开(公告)号：JP2009136996A

    公开(公告)日：2009-06-25

    申请号：JP2007318965

    申请日：2007-12-10

    Applicant: Honda Motor Co Ltd ,  本田技研工業株式会社

    Inventor： MATSUNAGA SHINICHI

    IPC: B25J9/22 ,  B25J5/00

    CPC classification number: B25J9/1664 ,  G05B2219/40465 ,  G05D1/0212 ,  G05D1/0217 ,  G05D1/0225 ,  G05D2201/0217

    Abstract: PROBLEM TO BE SOLVED: To provide a system capable of moving a robot through points with high necessity with consideration given to the condition of the robot. SOLUTION: This system for generating a target route for a robot R which autonomously moves according to the target route, is provided with: a candidate route forming means 110 for forming a plurality of movement candidate routes connecting a start point to a terminal point by connecting links stored in a link storage means 211; condition recognition means 115-118 recognizing the condition of the robot R; and a route evaluation means 120 evaluating a cost low on conditions that action points stored by the action point storage means 12 are included and the necessity of going through action points is high with consideration given to the condition of the robot R recognized by the condition recognition means 115-118. COPYRIGHT: (C)2009,JPO&INPIT

    Abstract translation: 要解决的问题：考虑到机器人的状况，提供能够高度需要地移动机器人的系统的系统。 解决方案：用于生成根据目标路线自主移动的机器人R的目标路线的系统设置有：候选路线形成装置110，用于形成将起点连接到终端的多个移动候选路线 通过连接存储在链接存储装置211中的链接来指示; 条件识别装置115-118识别机器人R的状况; 以及路线评价单元120，对包含动作点存储单元12所存储的动作点的条件的成本低进行评价，考虑到通过条件识别识别的机器人R的状态，通过动作点的必要性较高 手段115-118。 版权所有（C）2009，JPO＆INPIT

    KR102224637B1 - Moving robot and control method thereof
    10.
    发明专利
    KR102224637B1 - Moving robot and control method thereof 有权

    公开(公告)号：KR102224637B1

    公开(公告)日：2021-03-08

    申请号：KR1020190081458A

    申请日：2019-07-05

    Applicant: 엘지전자 주식회사

    Inventor： 최지은 ,  심정민

    IPC: B25J11/00 ,  B25J9/00 ,  B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  G05D1/02

    CPC classification number: G05D1/0217 ,  G05D1/024 ,  B25J11/0085 ,  B25J13/08 ,  B25J19/022 ,  B25J19/023 ,  B25J9/0003 ,  B25J9/161 ,  B25J9/1664 ,  G01C21/32 ,  G01S17/89 ,  G01S17/931 ,  G05D1/0212 ,  G05D1/0214 ,  G05D1/0246 ,  G05D1/0248 ,  G05D1/0274 ,  G05D2201/02 ,  G05D2201/0203 ,  G05D2201/0215

    Abstract: 본 발명의 일 측면에 따른 이동 로봇은, 본체를 이동시키는 주행부, 상기 본체의 외부의 지형 정보를 획득하는 라이다 센서, 적어도 하나의 노드에 대한 노드 데이터를 저장하는 메모리 및 제어부를 포함하고, 제어부는, 라이다 센서의 센싱 데이터 및 노드 데이터에 기초하여, 기 설정된 복수의 이동 방향 중, 오픈(open)된 이동 방향이 적어도 하나 존재하는지 여부를 판단하고, 오픈(open)된 이동 방향이 적어도 하나 존재하는 경우, 기 설정된 조건에 따라, 노드 데이터에 새로운 노드를 생성하고, 오픈(open)된 이동 방향 중 어느 하나를, 본체가 이동하는 주행 방향으로 결정하고, 오픈(open)된 이동 방향이 존재하지 않는 경우, 노드 데이터에 기초하여, 적어도 하나의 노드 중 업데이트(update)가 필요한 노드가 적어도 하나 존재하는지 여부를 판단하고, 업데이트가 필요한 노드가 존재하는 경우, 업데이트가 필요한 노드 중 어느 하나로 이동 로봇이 이동하도록 주행부를 제어하고, 업데이트가 필요한 노드가 존재하지 않는 경우, 노드 데이터에 기초하여, 적어도 하나의 노드를 포함하는 맵(map)의 생성을 완료할 수 있다. 이에 따라, 이동 로봇이 이동하는 동안 실시간으로 노드를 생성할 수 있고, 노드들 간의 연결 관계를 정확하게 설정할 수 있다. 그 외에 다양한 실시예들이 가능하다.

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