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1. WO2002023297 - MOBILE BODY MOVEMENT CONTROL SYSTEM

Publication Number WO/2002/023297
Publication Date 21.03.2002
International Application No. PCT/JP2001/007878
International Filing Date 11.09.2001
Chapter 2 Demand Filed 03.04.2002
IPC
G05D 1/02 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
G05D 1/0246
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0246using a video camera in combination with image processing means
G05D 1/0297
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0287involving a plurality of land vehicles, e.g. fleet or convoy travelling
0291Fleet control
0297by controlling means in a control room
Applicants
  • TAKASE, Kunikatsu [JP]/[JP]
  • HADA, Yoshiro [JP]/[JP] (UsOnly)
Inventors
  • TAKASE, Kunikatsu
  • HADA, Yoshiro
Agents
  • NARUSE, Shigeo
Priority Data
2000-27531911.09.2000JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) MOBILE BODY MOVEMENT CONTROL SYSTEM
(FR) SYSTEME DE COMMANDE DE MOUVEMENT DE CORPS MOBILES
Abstract
(EN)
A mobile body movement control system capable of controlling the movements of a plurality of mobile bodies smoothly without enormous amounts of computation. A plurality of free-to-move autonomous robots (2021, ....,202N) run on the floor of a space (201) such as a room, and a plurality of TV cameras (2031-203M) are attached to the ceiling, with desks (207) and chairs (218) as mobile objects located in the space. An environment computer (205) processes the images on respective TV cameras (203), and identifies robot ID marks (212) attached to respective autonomous robots (202) and object ID marks (213) to thereby specify them and recognize their positions. It also sets the running routes of respective autonomous robots, and repeats controls of resetting routes after each specified-distance running to avoid collisions and deadlocks. Additionally, various traffic controls are in effect to ensure smooth running.
(FR)
L'invention concerne un système de commande de mouvement de corps mobiles capable de commander en souplesse les mouvements d'une pluralité de corps mobiles, avec un faible nombre de calculs. Une pluralité de robots autonomes libres (2021, ., 202N) se déplacent sur le sol d'un espace (201) tel qu'une pièce et une pluralité de caméras de télévision (2031-203M) sont fixées au plafond, des bureaux (207) et des chaises (218) représentant des objets mobiles situés dans l'espace. Un ordinateur d'analyse environnementale (205) traite les images sur des caméras de télévision respectives (203) et identifie des repères d'identification de robots (212) associés aux robots autonomes respectives (202) et des repères d'identification d'objets (213) afin de les spécifier et de détecter leurs positions. Ce système détermine également les trajectoires de déplacement des robots autonomes respectifs et répète des opérations de commande de trajectoire après chaque trajectoire d'une distance spécifiée afin d'éviter des collisions et de permettre la sortie d'impasses. De plus, diverses commandes de trafic garantissent un déplacement en souplesse.
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