Title:
自律移動体
Document Type and Number:
Japanese Patent JP6969278
Kind Code:
B2
Abstract:
To provide an autonomous moving body that prevents a grip part and an arm from being sensed by an external sensor.SOLUTION: An autonomous moving body includes: a main body 11 that includes an omnidirectional wagon 11a; a grip part 12 that is coupled to the main body via an arm 12a which is coupled to the front portion of the main body 11 and which has a degree of freedom only in the height direction of the main body 11; a head part 13 provided so as to be rotatable relative to the main body 11; an external sensor 14 provided so as to be able to sense the forward side of a head part 13; and a control unit 15 that controls the operations of the respective parts. The autonomous moving body is subjected to an autonomous movement control on the basis of the sensing result from the external sensor 14. The control unit 15 offsets the direction of the main body 11 by a predetermined angle relative to a direction in which the external sensor 14 senses in such a way that the grip part 12 and the arm 12a become out of a sensing range of the external sensor 14 in the autonomous movement control.SELECTED DRAWING: Figure 1
Inventors:
Nishino Tamaki
Application Number:
JP2017205390A
Publication Date:
November 24, 2021
Filing Date:
October 24, 2017
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B25J19/04; G05D1/02
Domestic Patent References:
| JP2007216350A | ||||
| JP2016200941A | ||||
| JP2011206014A |
Attorney, Agent or Firm:
Ken Ieiri