1681 results about "Moving body" patented technology

A navigation route planning apparatus includes processing circuitry configured to receive a planned route indicating a route and a current course direction of a movable body, receive movable body information that includes a position, a travelling direction, and a speed of the own ship, receive obstacle information that includes a position, a traveling direction, and a speed of an obstacle, determine a collision risk value associated with the planned route along the current course direction based on the movable body information and the obstacle information, and determine whether the movable body requires to at least one of evade the planned route and continue traversing on the planned route based on the collision risk value.

An embodiment passenger ingress and egress assistance apparatus includes a case having a cavity defined therein, a moving body configured to move in the cavity of the case in a longitudinal direction of the case, a platform configured to be stowed in and deployed from the cavity of the case by a movement of the moving body, a hinge mechanism configured to pivotally connect the platform to the moving body, and a step device disposed at a leading portion of the platform, the step device including a step body that is parallel to the platform and a plurality of step bars pivotally connecting the step body to the leading portion of the platform.

The curtain airbag device for a moving object comprises a bag body configured to inflate and deploy when inflation gas is supplied, and a first engagement portion fixed to the bag body. The first engagement portion is configured to be engageable with a second engagement portion arranged to a holding portion configured to hold the bag body.

The invention provides an inertial sensing range and sensitivity adjusting method, which belongs to the technical field of parameter adjustment, and comprises the following steps: after an item opening instruction is obtained, obtaining basic information of a moving body, and calling an adaptive sensing range according to the basic information; different detection nodes are set in the whole process before a project is started, the feedback degree of a moving body is recorded in sequence when execution is carried out to each node, values of corresponding positions of an internal curve are increased or decreased according to the feedback degree, and corresponding sensitivity is dynamically set according to the internal curve. The feedback speed and external performance of the moving body are judged in the project execution process, and the follow-up content and links of the project are adjusted in combination with the action model library till the project is completed or closed. The inertial sensing range and sensitivity adjusting method provided by the invention can carry out specific dynamic adjustment according to the state of the moving body and the actual situation, has strong pertinence and ensures smooth completion of a project.

Provided are a device and a method for generating a route via which a moving body can safely reach a target position without coming into contact with an obstacle. The present invention calculates error in the estimated localization position of a moving body, obtained by including prescribed error in the estimated localization position calculated through a localization position estimation process. Furthermore, the present invention: calculates the estimated self-localization position error reflecting a region where the environment is difficult to recognize, in which the rate of increase in the estimated self-localization position error occurring in a region where the environment is difficult to recognize is set higher than the rate of increase in the estimated self-localization position error in regions other than the region where the environment is difficult to recognize; analyzes whether there is any overlap between the calculated estimated self-localization position error reflecting a region where the environment is difficult to recognize and an obstacle; and determines that a route where there is no overlap is a route over which the moving body can move without coming into contact with an obstacle.

A display system includes: one or more moving body cameras that capture one or more images in front of a moving body; one or more intersection cameras; a display device including one or more screens that display, as one or more images for remote operation of the moving body, one or more moving-body camera images; and one or more processors. The one or more processors are configured to: execute a determination process of determining whether or not a moving object is included in an intersection camera image by analyzing the intersection camera image; and execute a highlighting process of applying a highlighting to the one or more moving-body camera images when the moving object is included in the intersection camera image. The highlighting indicates whether the moving object is present in a left or right direction with respect to a traveling direction of the moving body.

A control method in a control device that controls movement of a plurality of moving bodies includes: moving the plurality of moving bodies in accordance with movement plans that have been predetermined and defining one or more passageways where each of the plurality of moving bodies passes from a departure place to a destination; acquiring an actual delay time that is a delay time of each of the plurality of moving bodies, the delay time being generated in each of the one or more passageways; updating a model representing a length of the delay time defined for each of the one or more passageways using the actual delay time in a corresponding passageway among the one or more passageways; acquiring a current location of each of the plurality of moving bodies; and updating each of the movement plans based on the updated model, the destination, and the current location.

The present disclosure relates to a passage point generation apparatus. A passage point generation apparatus generating a passage point which a moving body should reach, including: a target state candidate generation part calculating a plurality of target state candidates including at least a state amount of a position based on surrounding environment information of the moving body and a state amount of the moving body; and a local target state generation part calculating a local target state as a local target state reachable in any of the plurality of target state candidates in an intermediate point of a trajectory toward a surrounding area of the plurality of target state candidates and outputting the local target state as the passage point.

A control device includes a control unit that executes automatic parking control for parking the moving body at the parking position based on recognition data of an external environment of a moving body and the parking position and registers the parking position as a designated parking position. The control unit executes first registration of registering the designated parking position based on first recognition data and executes second registration of registering the designated parking position based on second recognition data. The control unit continues the second registration without executing automatic movement control when execution of the automatic movement control is instructed during execution of the second registration in new registration of the designated parking position. The control unit suspends the second registration and executes the automatic movement control when execution of the automatic movement control is instructed during execution of the second registration in update of the designated parking position.

An embodiment passenger ingress and egress assistance apparatus includes a case having a cavity defined therein, a moving body configured to move in the cavity of the case in a longitudinal direction of the case, a platform configured to be stowed in and deployed from the cavity of the case by a movement of the moving body, and a hinge mechanism configured to pivotally connect the platform to the moving body.

To appropriately capture images of objects around a moving body with a smaller number of cameras.SOLUTION: A moving body imaging device 100 includes a frame 190 arranged in accordance with the left-right direction Y of an imaging moving body 200, and a camera 120 that moves in the left-right direction Y along the frame 190 and rotates in the rotation direction.SELECTED DRAWING: Figure 7

The embodiment of the invention discloses a moving body track planning method and device, electronic equipment and a storage medium, and relates to the technical field of track planning, and the method comprises the steps: carrying out the geometric boundary expansion and minimum distance detection of a moving body, and obtaining the environment complexity of a starting point and an end point of the moving body, the method comprises the steps of obtaining an initial trajectory and constructing kinematic constraints based on a mixed A * algorithm of a bidirectional search strategy, constructing a safety corridor based on the initial trajectory to obtain obstacle avoidance constraints, calculating environment complexity of each trajectory point according to the safety corridor, classifying the trajectory points to obtain sampling time constraints, and obtaining final constraints according to the constraints. Using the initial trajectory as an initial solution to obtain a planned trajectory, performing transverse and longitudinal decoupling on the planned trajectory to respectively obtain transverse and longitudinal state equations, and performing tracking control on the moving body by adopting a model predictive control (MPC) algorithm. According to the method, the problems of low calculation efficiency, infeasible trajectory planning result and poor optimization process convergence in the prior art are solved.

An entry system includes: a detection unit configured to detect a target person approaching a moving body; and an authentication unit configured to authenticate that the target person is a registered user based on a face image of the target person, and the detection unit measures illuminance around the moving body when an object which has entered a range of a prescribed distance from the moving body is detected, and selects a sensor to be used to determine whether or not the object is the target person according to the illuminance.

To provide a passenger conveyor capable of keeping work smoothly such as an inspection of an autonomous movable body for a passenger conveyor and capable of preventing defects due to contacting between the third party and an autonomous movable body.SOLUTION: A passenger conveyor according to the present embodiment comprises a first detection unit to detect the intrusion to each of two getting on / off boards, a second detection unit to detect the intrusion in the range closer to the footstep side than the detection range of the first detection unit and on each of the two getting on / off boards, and a control device to control the passenger conveyor. The control device comprises an alarm output unit to output the alarm when the intrusion is detected by the first detection unit in the case that an autonomous movable body exists on the footstep, and a processing control unit to execute prescribed processing for intrusion prevention when the intrusion is detected by the second detection unit after outputting the alarm.SELECTED DRAWING: Figure 3

A remote operator terminal is used by a remote operator for a remote operation of a moving body. A first image is captured at a first timing by a camera mounted on the moving body from a first point of view. A second point of view is one at a second timing later than the first timing. A homography process converts the first image viewed from the first point of view into a second image viewed from the second point of view based on perspective projection transformation using a projection plane associated with the camera. The remote operator terminal acquires a combination of a plurality of second images by applying the homography process using a common projection plane to a combination of a plurality of first images, and displays the combination of the plurality of second images on a display.

A transport system includes: a plurality of transport path units that apply a driving force to a plurality of moving bodies; a communication master station communicably connected to a transport path communication subordinate station of the transport path unit; a communication subordinate station communicably connected to the communication master station; a position command generator connected to the communication master station; a position generator connected to the communication master station; a position controller connected to the communication subordinate station and allocated to the moving body; and a current command generator to generate a current command value of the transport path unit.

To perform obstacle detection, when a moving object is stopped, in blind spots such as areas outside the observation range of the sensor or occlusions caused by the housing of the moving object.SOLUTION: An obstacle detection system for detecting obstacles, comprises: a three-dimensional distance measuring sensor capable of measuring distances in three dimensions to detect the distance and height direction to a road surface on which a moving object is traveling; and an obstacle detection unit that detects obstacles on the road surface when the moving object is stopped. The obstacle detection unit includes height history data generation means for generating height history data supplemented with height information from the road surface that is held until the moving object stops, the height information being based on the amount of movement of the moving object during a predetermined period until the moving object stops.SELECTED DRAWING: Figure 16

The invention provides a computer implementation method and device for determining space occupation information, equipment and a medium, multiple groups of binocular images collected by binocular cameras arranged in different directions of a moving body can be acquired, then image features and depth features of each group of binocular images are determined based on the multiple groups of binocular images, and then the space occupation information is determined. And projecting the image features and the depth features of each group of binocular images to an overlook coordinate system, determining target aerial view features in the overlook coordinate system, and finally, determining space occupation information in the look-around space of the moving body according to the target aerial view features. The target aerial view feature reflects the 3D space information around the moving body only through the 2D format, the storage space occupied by the 3D space information in the calculation process and the calculation complexity are reduced, and the calculation precision and the calculation efficiency of determining the space occupation information based on the target aerial view are further improved.

The invention discloses a laser-assisted polishing device for a metallographic specimen polishing machine and a using method, the laser-assisted polishing device comprises a box-type mounting rack, a horizontal moving device is arranged at the top of the box-type mounting rack, an upper moving body is arranged at the moving end of the horizontal moving device, and a vertical moving device is arranged on the upper moving body; a rotatable polishing platform is arranged at the moving end of the vertical moving device, a polishing machine is arranged below the polishing platform, a sample block detachably installed on the polishing platform is matched with the polishing machine in a polishing mode, and a laser auxiliary device with a variable focus is arranged on one side of the box type installation frame. The focus of the laser auxiliary device is always aligned with the closest contact position of the sample block and the polishing machine, and the situation that positive and negative defocusing causes heat input to affect the material property, and consequently the polishing effect is affected is avoided.

An information processing method according to the present disclosure is executed by an information processing system configured to support remote control of at least one autonomous moving body by an operator. The information processing method includes: by an operator side of the information processing system, when acquiring an operation instruction to start remote monitoring, transitioning from a viewing mode in which the operator is not responsible for control to a monitoring mode in which the operator is responsible for control and enabling input of an operation instruction of a remote operation for remotely controlling a target moving body that is a target of the remote monitoring among the at least one autonomous moving body; and when acquiring an operation instruction to end the remote monitoring, transitioning from the monitoring mode to the viewing mode and disabling the input of the operation instruction of the remote operation.

In one aspect, an information processing device includes a map information generation unit. The map information generation unit initializes a range related to detection by a sensor mounted on a moving body in map information including first peripheral position information that is information of a position of an object located in a periphery of the moving body, and adds second peripheral position information acquired from the sensor to the range.

The present invention relates to the technical field of lifting devices. Specifically disclosed is a roof photovoltaic lifting device, comprising: a lifting mechanism, which comprises a frame, a power member arranged on the frame, and a cable connected to the power member; a frame barrier, which comprises a main frame, a partition railing mounted on the main frame, and a folding bucket rotationally mounted on the main frame; and a stabilizing mechanism, which comprises a moving body and a strap connected between the moving body and the main frame, wherein the cable is connected to the moving body, the strap abuts against the folding bucket, and when the moving body pulls the strap, the strap can push the folding bucket to rotate towards the partition railing. By means of the provision of the frame barrier and the stabilizing mechanism, the cable pulls the moving body to move, and the strap is then pulled by the moving body; and during this process, the tightened strap abuts against the folding bucket, such that the folding bucket rotates towards the partition railing, thereby preventing the detachment of a photovoltaic panel, and the photovoltaic panel is thus lifted to a rooftop by means of the cable.

To provide an electromagnetic device capable of performing appropriate movement control of a moving body.SOLUTION: In a transport device 10, an armature part at a track portion is arranged with coil blocks each using three-phase coils 32, and a travel part made to be movable on an upper side of each of the coil blocks is arranged with a plurality of magnets. The coil blocks each are arranged with Hall sensors 42 (42U, 42V, 42W) linearly along a coil arrangement direction and at the same arrangement intervals. At a control part 50, the coils 32 are excited based on an electric angle θ, a d-axis current target value, and a q-axis current target value. In this case, a magnetic pole position calculation part 56 sets the electric angle θ based on the arrangement intervals of the Hall sensors 42, and magnetic flux densities detected by those, respectively. Thus, even when the travel part is tilted to a movement direction, and thus a yaw-angle is generated; the electric angle θ obtained by excluding influence on the yaw angle can be set, and appropriate excitation of the coils 32 and appropriate movement control of the travel part are made possible.SELECTED DRAWING: Figure 4

An information management apparatus according to an embodiment is an information management apparatus that manages information acquired from a first device mounted on a movable body on which an occupant boards and provided to a second device used by a user at a different place from the movable body, the information management apparatus including: an acquisition portion that acquires information from the first device and the second device; and a provision portion that provides information to each second device based on the information acquired by the acquisition portion, wherein the acquisition portion acquires a first sound at a first position of the movable body and a second sound at a second position that is different from the first position by the first device and acquires motion information of the user by the second device, and the provision portion provides the second device with a sound in which the sound volume ratio of the first sound and the second sound is adjusted in accordance with a motion of the user.

Disclosed is a show case capable of managing and displaying objects stored therein. A show case according to one aspect of the present disclosure is a show case having an accommodation space in which an object is stored, and includes: a body; a moving body configured to form the accommodation space together with the body and including a transparent window; a blowing part configured to circulate air in the accommodation space; a first illumination configured to illuminate an object placed on a bottom surface of the accommodation space; a second illumination configured to illuminate a rear surface of the accommodation space; an input part to which an image of the object accommodated in the accommodation space is input; and a controller configured to recommend a type of second illumination to a user depending on the image input to the input part.

Detection of a moving body region, generation of a high-density point cloud, and the like can be achieved in a preferable manner.A processing unit performs a process that forms a first depth image by projecting a LiDAR point cloud on a camera image plane, a process that forms a second depth image by using a camera image according to an optical flow, and a process that compares the first depth image and the second depth image to detect a moving body region or a non-moving body region. For example, the processing unit further performs a process that generates a high-density point cloud by projecting LiDAR point clouds corresponding to non-moving body regions of a plurality of frames on an identical coordinate system and sequentially merging the LiDAR point clouds.

A first calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. A second calculator extracts one marker from a captured image, calculates absolute position and attitude of the vehicle based on a position and an attitude of the one extracted marker, and calculates an angle of a direction of the vehicle 1 with respect to a normal line to a plane of the one marker 4 based on a position and an attitude of the vehicle 1 in a marker coordinate system. A corrector generates a corrected position and attitude, not using the absolute position and attitude calculated based on the marker for which the angle is not larger than a first threshold, but using the absolute position and attitude calculated based on the marker for which the angle is larger than the first threshold.

To control a group behavior while reducing the complexity of reward design.SOLUTION: A control system includes: a second learning unit 12 that performs adversarial learning of a generative model having a generator 121 that generates pseudo-policy data similar to true policy data, using a policy of a course that the first UAV2a should take sequentially from its current position obtained by learning by a first learning unit 11 as the true policy data, and a classifier 122 that distinguishes between the pseudo-policy data generated by the generator 121 and the true policy data; a generation unit 14 that generates the pseudo-policy data similar to the true policy data by using a learned generator 121' obtained by the adversarial learning of the second learning unit 12; and a setting unit 15 that sets information including the pseudo-policy data generated by the generation unit 14 to each moving body UAV2 as control information for controlling the courses of multiple UAV2s.SELECTED DRAWING: Figure 1

The micropump comprises a silicon wafer, a first sealing piece and a second sealing piece, the silicon wafer is provided with a first face and a second face which are opposite to each other, a first groove used for forming a pump cavity is etched in the first face, and a plurality of grooves which meet the equal-width condition and are used for forming a moving body, an annular rib and a first valve body of an outlet valve are etched in the second face. The annular rib surrounds the moving body and is connected to a pump membrane around the moving body, and the first valve body is connected to a valve membrane of the outlet valve. The first sealing piece is fixed to the first face of the silicon wafer and covers the first groove to form a pump cavity. The second sealing sheet is fixed on the second surface of the silicon wafer. The second sealing sheet is provided with a connecting port used for connecting a driver at a position corresponding to the moving body. According to the micropump, through reasonable structural design, better etching uniformity can be obtained within shorter etching process time, the process cost is reduced, meanwhile, the product yield is improved, the situation that normal use in a low-temperature environment is affected due to the fact that much liquid is accumulated on the outlet valve is avoided, and the service life is prolonged.

The invention discloses pipeline inner wall welding equipment, which belongs to the technical field of welding equipment and comprises a moving body, a positioning unit and a welding unit. The moving body can axially move in the pipeline, the telescopic body is arranged in the end circular plate, the positioning piece is driven to be accurately clamped into a welding seam, and the pipeline distance is determined; and the positioning sheet is matched with the elastic body through the toothed plate and the extension plate, and automatically gives way when meeting a welded part during welding to prevent a welding seam from deforming. A welding gun of the welding unit is installed in a welding frame and driven by a linear push rod, and the position can be adjusted in real time to adapt to welding seam changes. A fixed column and a cover body structure of the moving body are combined with a worm plate, supporting legs and rollers, so that circular motion welding and stable movement are realized.