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Moving body

A technology for moving objects and moving objects, which is applied in the field of moving objects and can solve problems such as walking difficulties and collisions

Active Publication Date: 2020-05-12
AISIN CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the follower 2 may experience discomfort such as fear of colliding with the mobile robot 1 or difficulty in walking.

Method used

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Embodiment Construction

[0019] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, refer to figure 1 , the structure of the mobile body 1 in this embodiment will be described. figure 1 It is an external view of the mobile body 1 . The mobile body 1 functions as a device capable of following the user H by moving to an appropriate position in front of the user H (subject person) right or left.

[0020] like figure 1 As shown, the mobile body 1 mainly includes a substantially cylindrical casing 2 , a control unit 10 provided inside the casing 2 to control various parts of the mobile body 1 , distance measuring sensors 16 , and wheels 17 . The distance measuring sensor 16 is arranged on the upper portion of the casing 2, and detects the distance between the distance measuring sensor 16 and an object (distance measurement) by irradiating laser light in all directions (360 degrees). The distance measuring sensor 16 associates the detected...

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Abstract

To provide a moving body for which travelling such as cutting across in front of a subject can be suppressed. [Solution] According to a moving body 1, a position Pu and a direction Du of a user H arecalculated from distance measurement data MP which is the measured distance to the user H, and on the basis thereof, a position Pr and a direction Dr of the moving body 1 are calculated. If the movingbody 1 is positioned in the first or the fourth quadrant of the user coordinate system, a right-side movement target T1R to the front right of the user H is set as the movement target T1. If the moving body 1 is positioned in the second or the third quadrant of the user coordinate system, a left-side movement target T1L to the front left of the user H is set as the movement target T1. The movingbody 1 is moved on the basis of the movement target T1. Accordingly, even if the moving body 1 moves from the right side to the left side of the user H, or from the left side to the right side, due toa turning action or the like of the user H, the movement target T1 is set on the basis of the position of the moving body 1 with respect to the user H, so travelling by the moving body 1 such as cutting across in front of the user H can be suppressed.

Description

technical field [0001] The present invention relates to a mobile object, and in particular, relates to a mobile object capable of suppressing such traveling in front of a subject person. Background technique [0002] Patent Document 1 discloses a mobile robot 1 that follows a moving follower 2 obliquely forward while maintaining a relative predetermined position. The mobile robot 1 detects the orientation of the following object 2 with a camera or the like, and determines the target position of the mobile robot 1 based on the detected orientation of the following object 2 . The mobile robot 1 calculates a movement route to the determined target position, and moves. [0003] Patent Document 2 discloses an autonomous moving device 1 that follows a master B while maintaining a relative position (basic position) set in advance by the master B. FIG. When the autonomous moving device 1 detects a dangerous object, it moves between the dangerous object and the owner B according to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0094G05D1/0214G05D1/12
Inventor 久野和宏
Owner AISIN CORP
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