公开(公告)号：US20200080850A1

公开(公告)日：2020-03-12

申请号：US16610319

申请日：2018-08-22

Applicant: NSK LTD.

Inventor： Mayuko MORI ,  Masaaki TANOUE ,  Kazuteru TOBITA ,  Satoshi OZAKI

IPC: G01C21/34 ,  G05D1/02

Abstract: A self-propelled device capable of autonomously traveling on the left side or right side of a virtual path, a method of controlling traveling of the self-propelled device, and a computer program of controlling traveling of the self-propelled device are provided. The method and the computer program each include: a first step of estimating the position of a self-propelled device 100; a second step of determining the intersection point N of a virtual path 2 and a straight line, the virtual path connecting a start point A and a goal point B, and the straight line passing through the position of the self-propelled device 100 and which is orthogonal to the virtual path 2; a third step of determining an offset reference point Tp between the intersection point N and the goal point B on the virtual path 2; a fourth step of determining at least each of offset points Toft1 and Toft2 at an offset on the corresponding one of the goal point B side and the start point A side of the offset reference point Tp on the virtual path 2; a fifth step of determining at least target points ToftL and ToftR reached by rotating the offset points Toft1 and Toft2 by 90° about the offset reference point Tp in one of the anticlockwise direction and the clockwise direction; and a sixth step of causing the self-propelled device to travel toward the target points ToftL and ToftR.

公开(公告)号：US20210255628A1

公开(公告)日：2021-08-19

申请号：US16634709

申请日：2019-04-26

Applicant: NSK Ltd.

Inventor： Mayuko MORI ,  Kei KONDO ,  Masaaki TANOUE ,  Satoshi OZAKI

IPC: G05D1/02

Abstract: Provided are an autonomous running device, a running control method for the autonomous running device, and a running control program of the autonomous running device that allow the autonomous running device to reach a destination while continuing estimation of its self-position. An autonomous running device includes a first position estimation unit that estimates the position of the autonomous running device on the basis of information about surroundings of the autonomous running device, produces information about the estimated position of the autonomous running device as first positional information, and updates the first positional information, a second position estimation unit that estimates the position of the autonomous running device on the basis of rotation amounts of wheels, produces information about the estimated position of the autonomous running device as second positional information, and updates the second positional information, and a control unit.