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Autonomous travel vehicle

  • US 9,898,009 B2
  • Filed: 02/06/2015
  • Issued: 02/20/2018
  • Est. Priority Date: 02/25/2014
  • Status: Active Grant
First Claim
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1. An autonomous travel vehicle comprising:

  • a platform;

    a traveler including wheels that allow the platform to travel in accordance with a travel control command;

    a storage that stores travel route data including a plurality of subgoal points set on a travel route, arrival times at which the platform reaches each of the plurality of subgoal points, and traveling speeds of the platform respectively at the plurality of subgoal points in association with each other;

    an arrival position predictor that predicts a predicted arrival position based on a current position of the platform, a current traveling speed associated with a current subgoal point in the travel route data, a current arrival time, and a next arrival time associated with an arrival target subgoal point in the travel route data, when a reproduction travel mode is executed to cause the platform to autonomously travel along the travel route based on the travel route data;

    the predicted arrival position being a position at which the platform is predicted to reach at the next arrival time during execution of the reproduction travel mode;

    the current subgoal point corresponding to the current position of the platform;

    the arrival target subgoal point corresponding to a target point to be reached by the platform;

    a corrected speed calculator that calculates a corrected traveling speed, which is a corrected speed of the current traveling speed, based on a predicted traveling distance and a required traveling distance, when the reproduction travel mode is executed, the predicted traveling distance being a distance between the current position and the predicted arrival position, the required traveling distance being a distance that is necessary for the platform to reach the arrival target subgoal point; and

    a reproduction travel command calculator that calculates a reproduction travel control command based on the corrected traveling speed as the travel control command, when the reproduction travel mode is executed.

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