Automotive movable body, movable body control method and computer program
First Claim
1. An automotive movable body comprising:
- a driven wheel;
an actuator for driving the driven wheel;
a sensor for detecting an object which exists in the vicinity;
a control unit for controlling an operation of the driven wheel according to a detection result of the sensor; and
a moved distance calculating unit for calculating a moved distance from a moving starting position, the control unit comprising;
first driving signal outputting means for outputting to the actuator a driving signal capable of causing the body to move along an object;
first judging means for judging whether the distance calculated by the moved distance calculating unit is up to a first distance or not;
second driving signal outputting means for outputting to the actuator a driving signal capable of causing the body to move in a direction which intersects with a segment connecting a position before moving with a position after moving, when the first judging means judges that the distance is up to the first distance;
second judging means for judging whether the distance calculated by the moved distance calculating unit is up to a second distance or not; and
third driving signal outputting means for outputting to the actuator a driving signal capable of causing the body to turn around at approximately 180°
, when the second judging means judges that the distance is up to the second distance or when the sensor detects an object.
1 Assignment
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Accused Products
Abstract
Provided are: an automotive movable body capable of moving to an entire area surrounded by a wall excluding an area where an obstacle exists no matter what shape an obstacle existing within the area has; a movable body control method; and a recording medium storing a computer program. An automotive movable body for which moving algorithm is specified moves toward an object detected at the time of start of moving and judges whether the distance to the object is shorter than a predetermined value or not. When it is judged that the distance is shorter than a predetermined value, the body moves a first distance along the object, then moves a second distance in a direction intersecting the segment connecting the position before moving with the position after moving, and then moves toward the position where moving of the second distance is started after turning around at approximately 180°.
18 Citations
17 Claims
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1. An automotive movable body comprising:
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a driven wheel;
an actuator for driving the driven wheel;
a sensor for detecting an object which exists in the vicinity;
a control unit for controlling an operation of the driven wheel according to a detection result of the sensor; and
a moved distance calculating unit for calculating a moved distance from a moving starting position, the control unit comprising;
first driving signal outputting means for outputting to the actuator a driving signal capable of causing the body to move along an object;
first judging means for judging whether the distance calculated by the moved distance calculating unit is up to a first distance or not;
second driving signal outputting means for outputting to the actuator a driving signal capable of causing the body to move in a direction which intersects with a segment connecting a position before moving with a position after moving, when the first judging means judges that the distance is up to the first distance;
second judging means for judging whether the distance calculated by the moved distance calculating unit is up to a second distance or not; and
third driving signal outputting means for outputting to the actuator a driving signal capable of causing the body to turn around at approximately 180°
, when the second judging means judges that the distance is up to the second distance or when the sensor detects an object. - View Dependent Claims (2)
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3. An automotive movable body comprising:
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a driven wheel;
an actuator for driving the driven wheel;
a sensor for detecting an object which exists in the vicinity;
a control unit for controlling an operation of the driven wheel according to a detection result of the sensor; and
a moved distance calculating unit for calculating a moved distance from a moving starting position, the control unit comprising a processor capable of performing the following operations of outputting to the actuator a driving signal capable of causing the body to move along an object;
judging whether the distance calculated by the moved distance calculating unit is up to a first distance or not;
outputting to the actuator a driving signal capable of causing the body to move in a direction which intersects with a segment connecting a position before moving with a position after moving, when it is judged that the distance is up to the first distance;
judging whether the distance calculated by the moved distance calculating unit is up to a second distance or not; and
outputting to the actuator a driving signal capable of causing the body to turn around at approximately 180°
, when it is judged that the distance is up to the second distance or when the sensor detects an object. - View Dependent Claims (4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A movable body control method,
the movable body comprising: -
a driven wheel;
an actuator for driving the driven wheel;
a sensor for detecting an object which exists in the vicinity; and
a moved distance calculating unit for calculating a moved distance from a moving starting position, wherein an operation of the driven wheel is controlled according to a detection result of the sensor, the method comprising the steps of;
outputting to the actuator a driving signal capable of causing the body to move along an object;
judging whether the distance calculated by the moved distance calculating unit is up to a first distance or not;
outputting to the actuator a driving signal capable of causing the body to move in a direction which intersects with a segment connecting a position before moving with a position after moving, when it is judged that the distance is up to the first distance;
judging whether the distance calculated by the moved distance calculating unit is up to a second distance or not; and
outputting to the actuator a driving signal capable of causing the body to turn around at approximately 180°
, when it is judged that the distance is up to the second distance or when the sensor detects an object. - View Dependent Claims (17)
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Specification