According to the invention, the safety of a moving body moving in all directions can be improved. A moving body according to an embodiment includes a drive wheel, a rotational speed detection unit, a movement speed detection unit, an object detection unit, a movement control unit, a stop unit, and a change unit. The drive wheels are three or more drive wheels provided to the moving body and each driven independently. The rotational speed detection unit detects the rotational speed of each of the drive wheels. The movement speed detection unit detects the movement speed of the moving body by using each of the rotation speeds detected by the rotation speed detection unit. The object detection unit detects an object in a monitoring area set around the moving body. The movement control unit moves the moving body in accordance with a movement plan. The stopping unit stops the moving body when the movement speed detected by the movement speed detection unit reaches a speed threshold value. The changing unit changes the range of the monitoring area and the speed threshold value on the basis of the operation signal output from the movement control unit.
本发明能够在全部方向上移动的移动体的安全性。实施方式的移动体具有驱动轮、旋转速度检测部、移动速度检测部、物体检测部、移动控制部、停止部及变更部。驱动轮是设置于移动体且分别独立地被驱动的3个以上的驱动轮。旋转速度检测部检测所述驱动轮各自的旋转速度。移动速度检测部使用由所述旋转速度检测部检测出的各个旋转速度,检测所述移动体的移动速度。物体检测部在设定于所述移动体的周围的监视区域内检测物体。移动控制部使所述移动体根据移动计划而移动。停止部在由所述移动速度检测部检测出的所述移动速度达到了速度阈值的情况下使所述移动体停止。变更部基于从所述移动控制部输出的动作信号,变更所述监视区域的范围和所述速度阈值。
MOVING BODY, CONTROL DEVICE, MOVING DEVICE, CONTROL METHOD, AND PROGRAM
移动体、控制装置、监视装置、控制方法以及程序
2022-03-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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