Routing apparatus for autonomous mobile unit
First Claim
1. A routing apparatus installed on an autonomous mobile unit, comprising a sensor unit for detecting an object in a field of view and for measuring a position of the object, and an electronic control unit for controlling movement of the autonomous mobile unit, wherein the electronic control unit is programmed to perform the functions of:
- determining velocity and a travel direction of an object based on changes in the position of the object obtained from the sensor unit over a plurality of measurement cycles;
determining a path of the autonomous mobile unit to avoid collision with the object based on the position, the velocity, and the travel direction of the object;
setting the velocity of the object to a value equal to or lower than a predetermined value and storing the set value of the velocity in a memory if an object recognized in the previous measurement cycle is not recognized in the current measurement cycle; and
determining the path of the autonomous mobile unit by taking into consideration of the object stored in the memory.
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Accused Products
Abstract
A routing apparatus includes a sensor unit which has capabilities to detect an object in a target field of view and measure position of the object, and an electronic control unit which controls movements of the autonomous mobile unit. An electronic control unit determines velocity and a travel direction of the object based on changes in the position of the object obtained from the sensor unit over a plurality of measurement cycles, determines a path of the autonomous mobile unit so as to avoid collision with the object based on the position, the velocity, and the travel direction of the object, and determines the path of the autonomous mobile unit by setting the velocity of the object to a value equal to or lower than a predetermined value if the object recognized in the previous measurement cycle is not recognized in the current measurement cycle.
31 Citations
10 Claims
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1. A routing apparatus installed on an autonomous mobile unit, comprising a sensor unit for detecting an object in a field of view and for measuring a position of the object, and an electronic control unit for controlling movement of the autonomous mobile unit, wherein the electronic control unit is programmed to perform the functions of:
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determining velocity and a travel direction of an object based on changes in the position of the object obtained from the sensor unit over a plurality of measurement cycles; determining a path of the autonomous mobile unit to avoid collision with the object based on the position, the velocity, and the travel direction of the object; setting the velocity of the object to a value equal to or lower than a predetermined value and storing the set value of the velocity in a memory if an object recognized in the previous measurement cycle is not recognized in the current measurement cycle; and determining the path of the autonomous mobile unit by taking into consideration of the object stored in the memory. - View Dependent Claims (2, 3, 4, 5)
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6. A computer implemented method for controlling movement of an autonomous mobile unit, comprising:
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determining velocity and a travel direction of an object based on changes in the position of the object obtained from a sensor unit over a plurality of measurement cycles; determining a path of the autonomous mobile unit to avoid collision with the object based on the position, the velocity, and the travel direction of the object; setting the velocity of the object to a value equal to or lower than a predetermined value and storing the set value of the velocity in a memory if an object recognized in the previous measurement cycle is not recognized in the current measurement cycle; and determining the path of the autonomous mobile unit by taking into consideration of the object stored in the memory. - View Dependent Claims (7, 8, 9, 10)
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Specification