Moving device, non-transitory computer-readable medium, and control system

• US 10,503,173 B2
• Filed: 05/01/2017
• Issued: 12/10/2019
• Est. Priority Date: 12/19/2016
• Status: Active Grant

• Current Assignee: Fujifilm Business Innovation Corp. (Fujifilm Holdings Corporation)
• Original Assignee: Fuji Xerox Company Limited (Xerox Holdings Corp.)
• Inventors: Tsubota, Hirokazu, Sakurai, Yasuharu, Yamamoto, Kunitoshi
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US15/583,621
• Publication Number:
  US 20180173238A1
• Time in Patent Office: 953 Days
• Field of Search: 700245, 700255
• CPC Class Codes: G05B 19/41895 using automatic guided vehicles [AGV] control of position or course of AGV's G05D1/00
• CPC Class Codes: G05B 2219/31005 Detect obstacles on path of vehicle
• CPC Class Codes: G05B 2219/50393 Floor conveyor, AGV automatic guided vehicle
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes

Abstract

A moving device includes a transportation mechanism, a detector, and a controller. The transportation mechanism moves from a departure point to a destination point. The detector detects an obstacle existing on a path to the destination point. When the detector detects that the obstacle exists on the path to the destination point, and another path to the destination point does not exist, the controller controls the transportation mechanism to move to a location that does not impede traffic, and stand by.

Claims

1. A moving device, comprising:

a transportation mechanism that moves from a departure point to a destination point;

a detector that detects an obstacle existing on a path to the destination point;

a setting unit that sets a refuge location on a basis of traffic information accumulated in the past; and

a controller that is configured to;

when the detector detects that the obstacle exists on the path to the destination point, and another path to the destination point does not exist, control the transportation mechanism to move to a location that does not impede traffic, and stand by, and

control the transportation mechanism to move to the refuge location set by the setting unit, and stand by.

2. The moving device according to claim 1, wherein

when the detector detects that the obstacle exists on the path to the destination point, and another path to the destination point does not exist, the controller controls the transportation mechanism to move to a preset standby location and stand by.

3. The moving device according to claim 1, wherein

when the detector detects that the obstacle exists on the path to the destination point, and another path to the destination point does not exist, the controller controls the transportation mechanism to make space allowing people to pass by on the current path, and stand by.

4. The moving device according to claim 1, wherein

the setting unit sets the refuge location in an order of priority on a basis of at least one of information about surroundings and time of day.

5. The moving device according to claim 1, further comprising:

a selector that, when the detector detects that the obstacle exists on the path to the destination point, and another path to the destination point does not exist, selects the path in which the obstacle on the path is a dynamic obstacle, wherein

the controller controls the transportation mechanism to move slowly on the path selected by the selector, and after the dynamic obstacle is cleared, move at a normal speed.

6. The moving device according to claim 5, wherein

if the dynamic obstacle is not cleared within a certain amount of time, the controller controls the transportation mechanism to move to a preset standby location and stand by.

7. The moving device according to claim 1, further comprising:

a service providing mechanism that provides a service by moving via the transportation mechanism.

8. The moving device according to claim 7, further comprising:

a reporting unit that reports information about a standby location to a user who requests a service to be provided by the service providing mechanism.

11. The moving device according to claim 2, wherein the controller is further configured to, when it is determined that enough space for passersby may not be ensured and the transportation mechanism is determined to be possibly unable to move to the standby location, extract a space where there is little movement of people and objects on the basis of the traffic information accumulated in the past, and set the extracted space as the refuge location, and the controller controls the transportation mechanism to move to the refuge location and stand by.

9. A non-transitory computer readable medium storing a program causing a computer to execute a process for moving, the process comprising:

moving from a departure point to a destination point;

detecting an obstacle existing on a path to the destination point;

setting a refuge location on a basis of traffic information accumulated in the past;

controlling, when the obstacle existing on the path to the destination point is detected, and another path to the destination point does not exist, to move to a location that does not impede traffic, and stand by; and

controlling to move to the refuge location set by the setting unit, and stand by.

10. A control system, comprising:

a transportation mechanism that moves from a departure point to a destination point;

a detector that detects an obstacle existing on a path to the destination point;

a setting unit that sets a refuge location on a basis of traffic information accumulated in the past; and

a controller that is configured to;

when the detector detects that the obstacle exists on the path to the destination point, and another path to the destination point does not exist, control the transportation mechanism to move to a location that does not impede traffic, and stand by, and

control the transportation mechanism to move to the refuge location set by the setting unit, and stand by.