Murata Machinery, Ltd.

Hideo Shitamoto

Tadashi Uozumi

Motohiro Tanigawa

Hirotaka Wada

Daigoro Nakamura

Tsuyoshi Nakano

Shu Ikezaki

Shoji Tanaka

Tetsuya Matsuura

Tatsuhiko Nishida

Masatsugu Goyude

Toshiki Moriguchi

Hiroaki Ohmatsu

Yuki Denda

An autonomously traveling vehicle includes a main body, a storage, an autonomous travel plan generator and a traveling controller. The main body includes a traveling carriage. The storage stores partial traveling route data generated for subareas including an individual coordinate system, and route connection data connecting the partial traveling routes. The autonomous travel plan generator generates an autonomous traveling schedule for autonomous travel by associating the selected partial traveling route data and the selected route connection data that connects the partial traveling routes. The traveling controller controls the traveling carriage in accordance with the autonomous traveling schedule to move the main body.

Autonomously traveling vehicle, control method, and program

A helical winding unit of a filament winding apparatus includes guide members guiding fiber bundles F to a liner, a movement mechanism moving the guide members, and a rotation mechanism rotating the guide members. Each of the guide members includes two side walls and guide portions fixed between the two side walls. As the guide portions, a first guide portion having a first guide surface and a second guide portion having a second guide surface and provided downstream of the first guide portion are provided. In the height direction, the first guide surface is oriented to one side. The second guide surface is oriented to the other side in the height direction and provided on the other side of the first guide surface.

Filament winding apparatus

A filament winding device includes: a supporting unit that supports a mandrel on which a plurality of fiber bundles impregnated with a resin are wound, the supporting unit movable in the axial direction of the mandrel; and a helical unit having a plurality of fiber bundle guide units arranged radially in the circumferential direction of the mandrel and guide the corresponding plurality of fiber bundles to the mandrel, the helical unit supplying the plurality of fiber bundles to the mandrel through the fiber bundle guide units. Each of the fiber bundle guide units has a pressing roller for pressing a fiber bundle supplied to the mandrel, against the circumferential surface moving in the axial direction. The pressing roller can come into the contact with the circumferential surface of the mandrel and be rotationally driven about a roller axis extending in a roller axis direction perpendicular to the axial direction.

Filament winding device

A filament winding device includes a supporter configured to support a liner in a rotatable manner; a yarn supplying unit configured to support bobbins; a helical winding head configured to helical-wind a fiber bundles onto the liner; and a standard thread guiding mechanism configured to form a standard thread guide channel that guides a standard thread from the bobbins to the liner, the standard thread being different from the fiber bundles and being connected to leading ends of the fiber bundles, the standard thread guiding mechanism including nozzles configured to blow the standard thread with a compressed gas, and guide tubes configured to guide the standard thread blown by the nozzles, and the nozzles and the guide tubes being disposed along a fiber bundle guide channel, and capable of taking up the standard thread from the standard thread guide channel to the fiber bundle guide channel.

Filament winding device, and yarn threading method in filament winding device

An autonomously traveling floor washer autonomously performs an appropriate cleaning operation so that a washing liquid does not remain on a floor surface. In accordance with a cleaning schedule, the autonomously traveling floor washer autonomously travels and performs cleaning of the floor surface using a squeegee and the washing liquid. If a washing liquid discharge position at a taught data obtaining time is not included in a squeegee movement track calculated based on a position and a width of the squeegee at the taught data obtaining time, the cleaning schedule is modified so that the washing liquid discharge position is included in the squeegee movement track.

Autonomously traveling floor washer

In a method and device for creating a moving route of a mobile body, a moving route that is appropriately shifted right or left with respect to a passage is created. The moving route creating method and device create a reference route on a passage present on an environment map representing an environment in which an autonomous mobile body moves, set a widthwise-shift attribute as an attribute region that is independent from the environment map, and create a traveling schedule for autonomous movement of the autonomous mobile body by shifting the reference route right or left based on the widthwise-shift attribute.

Moving route creating method and moving route creating device

An autonomous travel vehicle includes a platform, a traveler, a storage, an arrival position predictor, a corrected speed calculator, and a reproduction travel command calculator. The traveler controls the platform to travel in accordance with a travel control command. The storage stores travel route data, which stores subgoal points, arrival times, and traveling speeds in association with each other. In the reproduction travel mode, the arrival position predictor predicts a predicted arrival position. In the reproduction travel mode, the corrected speed calculator calculates a corrected traveling speed based on a predicted traveling distance and a required traveling distance. The reproduction travel command calculator calculates a reproduction travel control command based on the corrected traveling speed, as the travel control command.

Autonomous travel vehicle

An autonomous travel vehicle includes a traveler, a storage, an elapsed autonomous travel time counter, and a reproduction travel command calculator. The traveler travels according to a travel control command. The storage stores travel route data in which subgoal points and arrival times are associated with each other. In a reproduction travel mode, the elapsed autonomous travel time counter counts the elapsed autonomous travel time while adjusting progress of the elapsed autonomous travel time. In the reproduction travel mode, the reproduction travel command calculator calculates a reproduction travel control command at the elapsed autonomous travel time as the travel control command based on a subgoal point stored in the travel route data in association with an arrival time immediately after an arrival time corresponding to the elapsed autonomous travel time.

Autonomous travel vehicle and reproduction travel method

An autonomous mobile body includes a laser range sensor and an electronic control device. The electronic control device includes a storage unit that stores a size Dof the autonomous mobile body, a width identification unit that identifies a spatial size Din a width direction of a passage which is a region where the autonomous mobile body can move, a calculation unit that calculates a size Dof an interfering obstacle in a direction which is substantially perpendicular to a moving target direction on a road surface based on obstacle information, an action selection unit that selects a stopping action or a retreat action based on the spatial size D, the size Dof the autonomous mobile body, and the size Dof the interfering obstacle, and a mobile control unit that controls the autonomous mobile body to stop when the stopping action is selected and control the autonomous mobile body to retreat when the retreat action is selected.

Autonomous mobile body

An autonomous mobile body includes a storage unit arranged to store a size Dof the autonomous mobile body, a laser range sensor arranged to acquire obstacle information, an obstacle identification unit arranged to identify, based on the acquired obstacle information, edge points indicating positions of both ends of a region in which an interfering obstacle exists, the both ends being both ends on a plane parallel or substantially parallel to a passage plane in a direction which is perpendicular or substantially perpendicular to a moving target direction of the autonomous mobile body, a direction setting unit arranged to set a pull-off direction based on the size Dof the autonomous mobile body and the edge points, and a mobile controller arranged and programmed to control the autonomous mobile body to move toward the pull-off direction.

A route planning device that is capable of comprehending, in advance, a route clearance at a pass-through point on a planned travel route, includes a global map acquisition unit arranged to generate a global map showing an obstacle area in which an obstacle exists, an extended area generation unit arranged to generate an extended obstacle area and three extended area by extending stepwise an outline of the obstacle area contained in the global map, an integrated map generation unit arranged to generate an integrated map by superposing for integration of the extended obstacle area with the three extended areas; a movable area extraction unit arranged to extract a movable area from the integrated map and thinning the same, and a route planning unit arranged to acquire a route clearance at a sub goal according to the extended areas on the integrated map to which the sub goal on the travel route belongs, upon planning the travel route from the thinned movable area.

Growing community of inventors

Kyoto, Japan

Hideo Shitamoto