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Title:
SELF-PROPELLED DEVICE, AND TRAVELLING CONTROL METHOD AND TRAVELLING CONTROL PROGRAM OF SELF-PROPELLED DEVICE
Document Type and Number:
WIPO Patent Application WO/2019/049664
Kind Code:
A1
Abstract:
Provided are a self-propelled device capable of traveling autonomously on the left side or the right side of a virtual path, and a travelling control method and a travelling control program of the self-propelled device. The traveling control method of the self-propelled device includes: a first step for estimating the position of the self-propelled device 100; a second step for obtaining an intersection point N of a virtual path 2, which connects a start point A and a goal point B, and a straight line which passes through the position of the self-propelled device 100 and intersects with the virtual path 2; a third step for obtaining an offset reference point Tp between the intersection point N and the goal point B on the virtual path 2; a fourth step for obtaining an offset point Toft1,2 which is offset to at least any one among a goal point B side and a start point A side from the offset reference point Tp on the virtual path 2; a fifth step for obtaining a target point ToftL,R by rotating at least the offset point Toft1,2 by 90 degrees in either a clockwise direction or a counter-clockwise direction with the offset reference point TP as the center; and a sixth step for allowing the self-propelled device to travel toward the target point ToftL,R.

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Inventors:
MORI MAYUKO (JP)
TANOUE MASAAKI (JP)
TOBITA KAZUTERU (JP)
OZAKI SATOSHI (JP)
Application Number:
PCT/JP2018/030957
Publication Date:
March 14, 2019
Filing Date:
August 22, 2018
Export Citation:
Click for automatic bibliography generation   Help
Assignee:
NSK LTD (JP)
International Classes:
G05D1/02; G01C21/34
Foreign References:
JPH02311909A1990-12-27
JP2011107984A2011-06-02
JP2012094027A2012-05-17
JPS61251911A1986-11-08
JP2015121928A2015-07-02
JP2015121928A2015-07-02
Other References:
See also references of EP 3680742A4
Attorney, Agent or Firm:
SAKAI INTERNATIONAL PATENT OFFICE (JP)
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