Mobile Body and Position Detection Device

• US 20160062357A1
• Filed: 03/04/2014
• Published: 03/03/2016
• Est. Priority Date: 03/28/2013
• Status: Active Grant

• Current Assignee: Hitachi Industrial Equipment Systems Company Limited (Hitachi, Ltd.)
• Original Assignee: Hitachi Industrial Equipment Systems Company Limited (Hitachi, Ltd.)
• Inventors: MASAKI, Ryoso, MAKI, Shuichi, SHIRANE, Kazuto, NAKA, Takuya, MATSUMOTO, Kohsei
• Granted Patent: US 10,261,511 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A position detection device includes position identification means (5) for identifying a position and an angle of a mobile body, using a distance sensor (3) and a map (2), and relative position calculation means (7) for calculating a relative position and a relative angle of the mobile body relative to a target position and a target angle of the mobile body, that are set by input means (6), and outputs an identification result of the position identification means (5) and a calculation result of the relative position calculation means (7) is configured to be attached to the mobile body (100).

Claims

1. A mobile body comprising:

input means for inputting a mobile target position of the mobile body; and

a distance sensor that measures a distance from the mobile body to an ambient environment,

wherein the mobile body is attached with a position detection device that incorporates

position identification means for identifying a position and an angle of the mobile body by using map information on an ambient environment surrounding the mobile body and information obtained from the distance sensor; and

relative position calculation means for calculating the relative position and the relative angle of the mobile body relative to the target position and the target angle of the mobile body that are set by the input means, and

wherein the position detection device outputs a control command to travel control means of the mobile body, based on an identification result of the position identification means and a calculation result of the relative position calculation means.

2. The mobile body according to claim 1,

wherein the input means and the distance sensor are incorporated into the position detection device.

3. The mobile body according to claim 1,

wherein the position detection device includes absolute position calculation means for receiving absolute map coordinates of an origin of a map by the input means, and calculates an absolute position and an absolute angle of the mobile body from the absolute map coordinates.

4. The mobile body according to claim 3,

wherein the position detection device outputs a calculation result of the absolute position calculation means to a display device that displays a position of the mobile body.

5. A position detection device that is attached to the mobile body according to claim 1,

wherein the mobile body is an automated guided vehicle (AGV), and

wherein the position detection device is configured to output a control command from the relative position calculation means of the position detection device attached to the automated guided vehicle to the travel control means of the automated guided vehicle.

6. A position detection device that is attached to the mobile body according to claim 1,

wherein the mobile body is a nursing walker as a manual-type mobile body, and

wherein the position detection device is configured to display absolute position information on the nursing walker from the absolute position calculation means of the position detection device attached to the nursing walker, on a display device.

7. A position detection device that is attached to the mobile body according to claim 1,

wherein the mobile body is a forklift, and

wherein the position detection device is configured to display absolute position information on the forklift from the absolute position calculation means of the position detection device attached to the forklift, on a display device.

8. A position detection device comprising:

input means for inputting a mobile target position and a target angle of a mobile body;

position identification means for identifying a position and an angle of the mobile body by using information obtained from a distance sensor that measures a distance from the mobile body to an ambient environment, and map information on an ambient environment; and

relative position calculation means for calculating a relative position and a relative angle of the mobile body relative to the target position and the target angle,

wherein the position detection device outputs an identification result of the position identification means and a calculation result of the relative position calculation means.

9. A position detection device comprising:

input means for inputting a target route of a mobile body;

position identification means for identifying a position and an angle of the mobile body by using information obtained from a distance sensor that measures a distance from the mobile body to an ambient environment, and map information on an ambient environment; and

relative route calculation means for calculating a relative distance and a relative angle of the mobile body relative to the target route,

wherein the position detection device outputs an identification result of the position identification means and a calculation result of the relative route calculation means.