公开(公告)号：US11531344B2

公开(公告)日：2022-12-20

申请号：US16634709

申请日：2019-04-26

申请人： NSK Ltd.

发明人： Mayuko Mori ,  Kei Kondo ,  Masaaki Tanoue ,  Satoshi Ozaki

IPC分类号： G05D1/02

摘要： 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.

公开(公告)号：US10935386B2

公开(公告)日：2021-03-02

申请号：US16610319

申请日：2018-08-22

申请人： NSK LTD.

发明人： Mayuko Mori ,  Masaaki Tanoue ,  Kazuteru Tobita ,  Satoshi Ozaki

IPC分类号： G05D1/02 ,  G01C21/34

摘要： A self-propelled device, control method, and control program therefor are provided. The method and control program each include: position estimation; determining an intersection point of a virtual path connecting start and end points and a straight line passing through a position of the device, orthogonal to the virtual path; determining an offset reference point between the intersection point and the end point; determining at least each of two offset points offset on a corresponding goal point side or a start point side of the offset reference point on the virtual path; determining at least two target points reached by rotating the offset points by 90° about the offset reference point; and causing the device to travel toward the target points.