3236 results about "Moving body" patented technology

The invention provides a path planning method and device for a passable area in an unstructured environment, and the method comprises the steps: inputting a two-dimensional grid map of the passable area, enabling the grid map to represent the passable area and an obstacle through pixels, and extracting the boundary of the passable area; acquiring a first track point meeting a first condition with the current position of the moving body from the track point set, and adjusting the first track point according to the passable area boundary to obtain a target track point; calculating an optimal path from the current position to the target trajectory point as a candidate trajectory; and adding the current position, the target trajectory point, the candidate trajectory and the passable area boundary into a hypergraph, establishing a target constraint by using passable area boundary constraint, dynamic constraint and kinematics constraint, and performing optimization to obtain an optimized trajectory from the current position to the target trajectory point. According to the method, the safety and the real-time performance of path planning in an unstructured environment scene are improved, and then the accuracy of path planning is improved.

A camera module includes: a housing; a first dynamic component movably disposed in the housing in a direction of an optical axis; a second dynamic component including a lens and movably disposed on the first dynamic component in a direction orthogonal to the optical axis; a pocket configured in either one or both of the first dynamic component and the second dynamic component; a damping gel disposed in the pocket; and a damping pin extending from the first moving body or the second moving body, and at least partially embedded in the damping gel.

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.

A transport system includes: a plurality of autonomously movable first moving bodies; and one or more second moving bodies configured to transport the plurality of first moving bodies as a first assembly in which relative positions of the plurality of first moving bodies with respect to each other are identified.

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 belongs to the technical field of PCB machining, and relates to a PCB hole resin plugging device which comprises a workbench, supporting frames, electric guide rails, a moving frame, a placing frame, a screen printing mechanism, an air suction mechanism and an extrusion mechanism, the supporting frames are connected to the two sides of the top of the workbench, the electric guide rails are connected to the tops of the two supporting frames, and the moving frame is connected to the two sides of the top of the workbench. Two electric guide rails are arranged on the workbench, a moving frame is connected between moving bodies of the two electric guide rails, a containing frame used for containing a PCB is connected to the middle of the top of the workbench, a screen printing mechanism used for conducting screen printing treatment on the PCB is arranged on the moving frame, an air suction mechanism is arranged on the containing frame, and an extrusion mechanism is arranged on the screen printing mechanism. According to the invention, while the holes of the PCB are filled with resin in a silk-screen manner, negative pressure can be generated in the holes through movement of the piston rod, so that the resin is sucked into the holes, the resin is not subjected to resistance of air in the holes, the resin can be ensured to better fill the holes in the PCB, and the product quality is ensured.

A moving body that can be transported in a state to stabilize the posture of the transport object, without affecting the transport object due to the inclination of the moving body when moving forward. A moving body comprising a holding mechanism that has a rotation unit that rotates in the pitch direction, and approximately horizontally holds an object to be transported from the side near the center of gravity of a transport unit capable of storage or above the center of gravity. Further, a moving body wherein the holding mechanism has a uniaxial rotation unit that rotates only in the pitch direction. Further, a moving body wherein the holding mechanism approximately horizontally holds the transport unit by active control. Alternatively, the holding mechanism approximately horizontally holds the transport unit by passive control.

A moving body that can be transported in a state to stabilize the posture of the transport object, without affecting the transport object due to the inclination of the moving body when moving forward. A moving body comprising a holding mechanism that has a rotation unit that rotates in the pitch direction, and approximately horizontally holds an object to be transported from the side near the center of gravity of a transport unit capable of storage or above the center of gravity. Further, a moving body wherein the holding mechanism has a uniaxial rotation unit that rotates only in the pitch direction. Further, a moving body wherein the holding mechanism approximately horizontally holds the transport unit by active control. Alternatively, the holding mechanism approximately horizontally holds the transport unit by passive control.

To provide a technology capable of shortening the processing time required to detect the position of a moving body through matching of a model.SOLUTION: A remote controller includes: a point group data acquisition unit that acquires three-dimensional point group data measured using a range-finding device; a position estimation unit that estimates at least one of the position and orientation of a moving body in the three-dimensional point group data by matching a template point group which represents the moving body to the three-dimensional point group data; an initiation position determination unit that determines an initiation position where matching of the template point group to the three-dimensional point group data is initiated by the position estimation unit; and a remote control unit that uses at least one of the estimated position and orientation of the moving body to generate a control command with which the moving body is remotely controlled and transmit the control command to the moving body.SELECTED DRAWING: Figure 1

A safety monitoring device (10) includes the area setting unit (12) capable of setting a plurality of alarm activation target areas with respect to a sensing target area of a safety sensor, an alarm activation type setting unit (13) capable of setting the type of an arbitrary alarm activation function with respect to each of the alarm activation target areas, and a moving body recognition analysis unit (16) that recognizes the motion of a moving body on the basis of sensor data measured by the safety sensor. The safety monitoring device includes a sensor data acquisition unit (lidar data acquisition unit (15)) that acquires three-dimensional data as sensor data from the safety sensor. The moving body recognition analysis unit extracts a moving body from the sensing target area on the basis of the three-dimensional data and senses traveling of the moving body to each of the alarm activation target areas.

Provided is a control apparatus for an elevator that can control the operation of the elevator in a suitable manner when a user is not a pedestrian, without requiring the user for a complicated operation. A control apparatus (7) according to the present invention is provided with: a call registration unit (14) that registers a call for an elevator (1) based on information transmitted by wireless communication from a mobile terminal (10) to communication equipment (8) installed in a region passable by a user (9); and an operation control unit (15) that, when a user type is determined to be a wheeled moving body from a detection result of an acceleration sensor (12) of the mobile terminal (10), controls the operation of the elevator (1) in a manner different from a case where the user type is determined to be a pedestrian.

A disinfection system disinfects an inside of a building or a moving body. The disinfection system includes an ultraviolet irradiator, a recognition sensor that recognizes a situation of the inside of the building or the moving body, and a control device configured to automatically control the ultraviolet irradiator based on the situation of the inside of the building or the moving body, which is recognized by the recognition sensor, to disinfect the inside of the building or the moving body.

A vehicle driving assist device comprises: an oncoming moving body recognizer configured to recognize an oncoming moving body; a risk determination region setting unit configured to set a risk determination region for calculating a risk degree that decreases as a distance outward from a center of the oncoming moving body in a width direction of the oncoming moving body increases; a risk degree calculator configured to calculate the risk degree for the oncoming moving body in accordance with an overlap state between the target traveling path of the vehicle and the risk determination region; and a preliminary collision avoidance controller configured to recognize the oncoming moving body as the obstacle in accordance with the risk degree, and perform preliminary collision avoidance control in response to the oncoming moving body recognized as the obstacle prior to the emergency collision avoidance control.

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.

When using a drone to monitor or survey an object on the water, the position of the object can be determined more accurately, or the object can be analyzed more accurately. [Solution] The present invention is an information control system comprising a group of moving bodies consisting of multiple moving bodies equipped with measurement sensors capable of acquiring measurement data measuring an object when at least a portion of it is above water, a moving body operation control unit that controls the operation of the moving bodies, a measurement data acquisition unit that acquires first measurement data measured of the object from a first position by at least one of the moving bodies in the group of moving bodies and second measurement data measured of the object from a second position by the moving body or another moving body, an object position determination unit that determines position information of the object based on the first measurement data and the second measurement data, or determines the validity of the determined position information, and an information output unit that displays or transmits to the outside the position information of the object determined by the object position determination unit.

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.

An apparatus includes a plurality of pixels, a plurality of signal lines, and first connection wiring. Each of the plurality of pixels includes a photoelectric conversion unit and a selection unit. The plurality of signal lines includes a first group including a first signal line connected to a first pixel, a second group including a second signal line connected to a second pixel, and a second group including a third signal line connected to a third pixel. First shield wiring to which a fixed potential is supplied is located between the first group and the second group including the third signal line. The first connection wiring overlaps the first group and not the second group including the second signal line in a plan view.

A management system includes multiple autonomous moving bodies existing in a predetermined area, and a management device configured to manage the multiple autonomous moving bodies, in which each of the multiple autonomous moving bodies is configured to communicate with both the management device and other autonomous moving bodies, the management device is configured to attempt to transmit a specific instruction for a first autonomous moving body to each of the multiple autonomous moving bodies, when a second autonomous moving body receives the specific instruction from the management device, transmit an instruction corresponding to the specific instruction received from the management device to the first autonomous moving body, and when receiving the instruction corresponding to the specific instruction from the second autonomous moving body, the first autonomous moving executes processing according to the instruction corresponding to the specific instruction received from the second autonomous moving body.

[Task to be accomplished]To enable a user to easily check whether or not a sensor is set to properly detect a moving body that appears in a measurement area after adjustment of an installation state of the sensor.[Solution]A traffic flow measurement server places a virtual object of a moving body in a 3D space including 3D point cloud data acquired by a lidar, in response to a user's operation on a terminal device, displays a lidar point cloud image 265 including an image 271 of the virtual object of the moving body, and overlays images 277, 278 of the virtual object on a camera image 263 and a lidar intensity image 264 based on a positional relationship between the 3D point cloud data and the virtual object.

A server acquires remaining power information indicating a remaining power amount of a battery being charged at a charging spot and time information indicating a time required for a moving body to receive the battery at the charging spot, calculates a travelable range in which the moving body is travelable from the charging spot with the remaining power amount of the battery at a time of reception of the battery at the charging spot, based on the remaining power information and the time information, and outputs range information indicating the travelable range.

Provided are a lens unit including a vibration mechanism, capable of suppressing the vibration of wiring connecting a vibration source and a drive circuit substrate, a camera module, an imaging system, and a moving body.　The present invention comprises: a first housing 23 provided with a first lens 31; a lens barrel 22 provided with a lens positioned closer to an image side than the first lens and provided radially inward of the first housing; a second housing 24 disposed closer to the image side than the first housing and fitted to the first housing; a vibration mechanism 60 provided between the first housing and the lens barrel; and wiring 306 for applying a drive signal to the vibration source. The middle of the wiring is fixed to the second housing, and the wiring has an extra length part 307 not in contact with a member constituting the lens unit 20 when the wiring is vibrated by the vibration source.

A charging device wiredly transmits identification information to a power storage pack after the power storage pack is mounted. The power storage pack transmits via near-field communication a signal including the identification information received from the charging device. The charging device collates whether or not the identification information included in the received signal matches the identification information wiredly transmitted.

Provided are a route planning device and method for sailing safely while avoiding collision between a moving body such as a ship and an obstacle such as another ship. The present invention is provided with: a planned route acquisition unit that acquires planned route information indicating a planned route of a moving body; a moving body information acquisition unit that acquires moving body information including a moving body position and a moving direction; an obstacle information acquisition unit that acquires obstacle information including a position and a movement direction for obstacles in the vicinity of the moving body; a voyage avoidance path acquisition unit for acquiring voyage avoidance path information different from the planned route by using the voyage avoidance starting point as a starting point; a collision risk value calculation unit that calculates a collision risk value between the moving body and each obstacle on the basis of the moving body information and the obstacle information; the maximum collision risk value comparison part is used for calculating and comparing maximum collision risk values for the planned route and the voyage avoiding path respectively; and a route change signal output unit which, when the maximum collision risk value of the voyage avoidance path is lower than the planned route, instructs a route change signal to change the voyage avoidance path.

To prevent an autonomous moving body from interfering with work, etc., and from being damaged due to falling over of an autonomous moving body during controlled operation performed in an emergency.SOLUTION: An elevator control device according to an embodiment controls an elevator in which an autonomous moving body that can move autonomously can ride, and is equipped with a control unit that, when the occurrence of an emergency is detected, controls the autonomous moving body riding in the car to execute a predetermined operation, and executes a controlled operation of the car in response to the emergency.SELECTED DRAWING: Figure 2

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.

Provided is a traffic flow measurement system that enables a user to intuitively grasp changes in a state of a moving body while viewing a sensor image as a detection result of a measurement area acquired by a sensor when a result of a traffic flow analysis operation is presented to the user. A traffic flow measurement server generates, based on a result of traffic flow analysis, an object behavior image (path line, velocity line, and acceleration line) that visualizes time-series data indicating changes in a state (position, velocity, and acceleration) of a moving body, generates a time series indication screen in which the object behavior image is overlaid on a sensor image (camera image, lidar intensity image, and lidar point cloud image) based on the detection result of each sensor, and causes a user terminal to display the time series indication screen.