MOVABLE OBJECT CONTROLLER AND METHOD FOR CONTROLLING MOVABLE OBJECT

• US 20160236347A1
• Filed: 02/17/2016
• Published: 08/18/2016
• Est. Priority Date: 02/17/2015
• Status: Abandoned Application

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: SHIKINA, Taku, KONO, Dai, NAKAMURA, Tamio, NISHIMURA, Takashi
• Application Number:
  US15/045,460
• Publication Number:
  US 20160236347A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A movable object controlling apparatus includes an obstacle detecting device including circuitry detects an obstacle, and a controlling device including circuitry which sets a monitor region with respect to a movable object, controls a speed of the movable object based on detection of the obstacle by the obstacle detecting device in the monitor region, and changes a size of the monitor region based on the speed of the movable object.

Claims

1. A movable object controlling apparatus, comprising:

an obstacle detecting device comprising circuitry configured to detect an obstacle; and

a controlling device comprising circuitry configured to

set a monitor region with respect to a movable object,

control a speed of the movable object based on detection of the obstacle by the obstacle detecting device in the monitor region, and

change a size of the monitor region based on the speed of the movable object.

2. The movable object controlling apparatus according to claim 1, wherein the circuitry of the controlling device is configured to

set the monitor region comprising a first region and a second region such that the first region is closer to the movable object than the second region is to the movable object,

maintain the speed of the movable object when the obstacle is in the second region, and

maintain the size of the monitor region while the speed of the movable object is maintained.

3. The movable object controlling apparatus according to claim 2, wherein the circuitry of the controlling device is configured to

decelerate or stop the movable object when the obstacle is in the first region, and

reduce the size of the monitor region when the movable object is decelerated.

4. The movable object controlling apparatus according to claim 2, wherein the circuitry of the controlling device is configured to

accelerate the movable object when the obstacle is not detected in the monitor region, and

increase the size of the monitor region when the movable object is accelerated.

5. The movable object controlling apparatus according to claim 2, further comprising:

an information storage storing information on a plurality of monitor region sets, each of the monitoring region sets comprising the first region and the second region and having a different monitor region from each other at least in size,

wherein the circuitry of the controlling device is configured to switch one monitor region set to another monitor region set among the monitor region sets and send an instruction identifying one monitor region set to the obstacle detecting device, and the circuitry of the obstacle detecting device is configured to form the monitor region based on the information on the one monitor region set of the monitor region when the instruction identifying the one monitor region set is received from the controlling device.

6. The movable object controlling apparatus according to claim 5, wherein the circuitry of the obstacle detecting device includes a binary output sensor, and the circuitry of the controlling device is configured to determine whether the obstacle is in the monitor region based on an output from the binary output sensor.

7. The movable object controlling apparatus according to claim 2, further comprising:

an indicator detecting device comprising circuitry configured to detect an indicator positioned in a travel region of a movable object,

wherein the movable object comprises a self-movable carriage, and the circuitry of the controlling device is configured to guide the self-movable carriage through the travel region based on the indicator detected by the indicator detecting device.

8. The movable object controlling apparatus according to claim 7, wherein the self-movable carriage comprises an omni-directional wheel, and the circuitry of the controlling device is configured to set the monitor region such that the first region surrounds the self-movable carriage and the second region surrounds the first region.

9. The movable object controlling apparatus according to claim 3, wherein the circuitry of the controlling device is configured to accelerate the movable object when the obstacle is not detected in the monitor region, and increase the size of the monitor region when the movable object is accelerated.

10. The movable object controlling apparatus according to claim 3, further comprising:

an information storage storing information on a plurality of monitor region sets, each of the monitoring region sets comprising the first region and the second region and having a different monitor region from each other at least in size,

wherein the circuitry of the controlling device is configured to switch one monitor region set to another monitor region set among the monitor region sets and send an instruction identifying one monitor region set to the obstacle detecting device, and the circuitry of the obstacle detecting device is configured to form the monitor region based on the information on the one monitor region set of the monitor region when the instruction identifying the one monitor region set is received from the controlling device.

11. The movable object controlling apparatus according to claim 4, further comprising:

an information storage storing information on a plurality of monitor region sets, each of the monitoring region sets comprising the first region and the second region and having a different monitor region from each other at least in size,

wherein the circuitry of the controlling device is configured to switch one monitor region set to another monitor region set among the monitor region sets and send an instruction identifying one monitor region set to the obstacle detecting device, and the circuitry of the obstacle detecting device is configured to form the monitor region based on the information on the one monitor region set of the monitor region when the instruction identifying the one monitor region set is received from the controlling device.

12. The movable object controlling apparatus according to claim 10, further comprising:

an information storage storing information on a plurality of monitor region sets, each of the monitoring region sets comprising the first region and the second region and having a different monitor region from each other at least in size,

wherein the circuitry of the controlling device is configured to switch one monitor region set to another monitor region set among the monitor region sets and send an instruction identifying one monitor region set to the obstacle detecting device, and the circuitry of the obstacle detecting device is configured to form the monitor region based on the information on the one monitor region set of the monitor region when the instruction identifying the one monitor region set is received from the controlling device.

13. The movable object controlling apparatus according to claim 11, wherein the circuitry of the obstacle detecting device includes a binary output sensor, and the circuitry of the controlling device is configured to determine whether the obstacle is in the monitor region based on an output from the binary output sensor.

14. The movable object controlling apparatus according to claim 12, wherein the circuitry of the obstacle detecting device includes a binary output sensor, and the circuitry of the controlling device is configured to determine whether the obstacle is in the monitor region based on an output from the binary output sensor.

15. The movable object controlling apparatus according to claim 13, wherein the circuitry of the obstacle detecting device includes a binary output sensor, and the circuitry of the controlling device is configured to determine whether the obstacle is in the monitor region based on an output from the binary output sensor.

16. The movable object controlling apparatus according to claim 3, further comprising:

an indicator detecting device comprising circuitry configured to detect an indicator positioned in a travel region of a movable object,

wherein the movable object comprises a self-movable carriage, and the circuitry of the controlling device is configured to guide the self-movable carriage through the travel region based on the indicator detected by the indicator detecting device.

17. The movable object controlling apparatus according to claim 4, further comprising:

an indicator detecting device comprising circuitry configured to detect an indicator positioned in a travel region of a movable object,

wherein the movable object comprises a self-movable carriage, and the circuitry of the controlling device is configured to guide the self-movable carriage through the travel region based on the indicator detected by the indicator detecting device.

18. The movable object controlling apparatus according to claim 5, further comprising:

an indicator detecting device comprising circuitry configured to detect an indicator positioned in a travel region of a movable object,

wherein the movable object comprises a self-movable carriage, and the circuitry of the controlling device is configured to guide the self-movable carriage through the travel region based on the indicator detected by the indicator detecting device.

19. The movable object controlling apparatus according to claim 6, further comprising:

an indicator detecting device comprising circuitry configured to detect an indicator positioned in a travel region of a movable object,

wherein the movable object comprises a self-movable carriage, and the circuitry of the controlling device is configured to guide the self-movable carriage through the travel region based on the indicator detected by the indicator detecting device.

20. A method for controlling a movable object, comprising:

setting a monitor region with respect to a movable object;

detecting whether an obstacle is present in the monitoring region;

controlling a speed of the movable object based on detection of the obstacle in the monitor region; and

changing a size of the monitor region based on the speed of the movable object.