Title:
自律走行台車の走行制御装置、自律走行台車
Document Type and Number:
Japanese Patent JP6962007
Kind Code:
B2
Abstract:
To enable an autonomous traveling carriage to travel seamlessly indoors and outdoors.SOLUTION: A control unit 7 comprises a distance sensor 5, a GNSS receiver 11, and a traveling part 3, and is used for an autonomous traveling carriage 1 moving autonomously in a mobile environment in a planned or unplanned manner. A storage unit 27 stores a map of the mobile environment. Via an I/O port 31, data is input to the distance sensor 5 and the GNSS receiver 11, and a traveling command is output to the traveling part 3. The control unit 7 acquires a self position of the autonomous traveling carriage 1 on the map of the mobile environment as SLAM probability distribution by using the data of the distance sensor 5 and the map of the mobile environment, acquires the self position of the autonomous traveling carriage 1 as GNSS probability distribution by using the data of the GNSS receiver 11, synthesizes the SLAM probability distribution and the GNSS probability distribution to create SLAM/GNSS probability distribution, determines a peak position of the SLAM/GNSS probability distribution as the self position of the autonomous traveling carriage 1 in the mobile environment, and creates the traveling command on the basis of the determined self position.SELECTED DRAWING: Figure 1
Inventors:
Ikki Hayashi
Application Number:
JP2017109781A
Publication Date:
November 05, 2021
Filing Date:
June 02, 2017
Export Citation:
Assignee:
Murata Machinery Co., Ltd.
International Classes:
G05D1/02
Domestic Patent References:
| JP10132588A | ||||
| JP2014219723A | ||||
| JP2006343881A |
Foreign References:
| US20070156286 |
Attorney, Agent or Firm:
Shinki Global IP Patent Corporation