To reduce load on a moving object by performing attitude control of a movable body according to the situation of the outside of the movable body in advance.SOLUTION: A movable body 1 comprises a boarding part 2, a detection part 4, a recognition part 5 and an attitude control part 3b. The detection part 4 performs detection of an ambient condition of the movable body 1 on the basis of a photographed image or location information of the movable body 1, and the recognition part 5 recognizes change in the ambient condition from detection information by the detection part 4. The attitude control part 3b performs attitude control of the boarding part 2. The recognition part 5 calculates arrival time from present time up to time when a response to change in the ambient condition is required by using the detection information, and predicts load generated by acceleration given to a boarding object 6 resulting from change in the ambient condition. The attitude control part 3b performs control which reduces the load on the boarding object 6 by controlling attitude of the boarding part 2 on the basis of the arrival time and a prediction result of the load given to the boarding object 6.SELECTED DRAWING: Figure 6

    【課題】移動体の外部の状況に応じて移動体の姿勢制御を事前に行うことで、移動の対象への負荷を低減させる。【解決手段】移動体1は搭乗部2、検出部4、認識部5、姿勢制御部3bを備える。検出部4は撮影画像または移動体1の位置情報に基づいて移動体1の周囲状況の検出を行い、認識部5は検出部4による検出情報から周囲状況の変化を認識する。姿勢制御部3bは搭乗部2の姿勢制御を行う。認識部5は検出情報を用いて、現時刻から周囲状況の変化への対応が必要となる時刻までの到達時間を算出し、周囲状況の変化を起因として搭乗対象6に与える加速度により発生する負荷を予測する。姿勢制御部3bは、到達時間と搭乗対象6に与える負荷の予測結果に基づいて搭乗部2の姿勢を制御することにより、搭乗対象6への負荷を低減させる制御を行う。【選択図】 図6


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    Titel :

    ATTITUDE CONTROL DEVICE AND ATTITUDE CONTROL METHOD OF MOVABLE BODY, CONTROL SYSTEM, PROGRAM


    Weitere Titelangaben:

    移動体の姿勢制御装置および姿勢制御方法、制御システム、プログラム


    Beteiligte:
    SATO YOHEI (Autor:in)

    Erscheinungsdatum :

    2023-05-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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