Nitto Kohki Co., Ltd.

Mitsubishi Heavy Industries Limited

Hiroki Kawashima

Haruki Nakao

Kenji Takao

Katsumasa Kitajima

A method of controlling a movable body includes: a step of causing a sensor provided on the movable body to detect an obstacle; a step of determining the position and attitude of a front surface, of the obstacle, opposite to the travel direction of the movable body based on the detection result of the obstacle; a step of generating an avoidance path that avoids the obstacle while heading toward a side of a first direction intersecting the travel direction based on the position and attitude of the front surface; a step of causing the movable body to move along the avoidance path; a step of detecting the obstacle while the movable body is moving along the avoidance path; a step of determining the position and attitude of the side surface of the obstacle on the side of the first direction based on the detection result obtained during movement along the avoidance path; and a step of updating the avoidance path so as to return to a side of a second direction opposite to the first direction while avoiding the obstacle based on the position and attitude of the side surface.

Method of controlling movable body, movable body and program

An electromagnetic valve system for carrying out a compressed air supply to and evacuation from a plurality of air chambers of massage instruments of a pneumatic massage device includes a plurality of first electromagnetic valves each to be connected to a corresponding one of the air chambers; a second electromagnetic valve including a first aperture which communicates with external air; and a plurality of first check valves each within a header in an intermediate location between the second electromagnetic valve and a corresponding one of the air chambers with a connection tube therebetween, the first check valves allowing air to pass from the air chambers toward the second electromagnetic valve only when air pressure on a second electromagnetic valve side is lower than air pressure on an air chamber side.

Electromagnetic valve system

A light-weight pneumatic massage apparatus with low operation noise is provided. This apparatus includes a pneumatic massage device and a pump separated from the massage device. The apparatus further includes electromagnetic valves for controlling supply and discharge of pressurized air to and from air chambers of the pneumatic massage device, respectively. Each of the electromagnetic valves includes a displaceable valve member having an armature, and a solenoid for attracting the armature to move the displaceable valve member when a voltage is applied to the solenoid. The apparatus further includes an electromagnetic valve control unit which controls a voltage supplied to the solenoid to open the electromagnetic valves such that the voltage increases from gradually with the passage of time. The armature is attracted onto the end surface of the solenoid within the time period. Then, in a state in which the voltage is reduced to, the armature is maintained attracted onto the solenoid to keep the open state. After that, voltage supply is stopped to close the valve.

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Tokyo, Japan

Hiroki Kawashima