US 12,185,888 B2
Autonomously traveling vehicle, control method, and program
Yuki Denda, Kyoto (JP); and Hideo Shitamoto, Kyoto (JP)
Assigned to MURATA MACHINERY, LTD., Kyoto (JP)
Appl. No. 17/775,953
Filed by MURATA MACHINERY, LTD., Kyoto (JP)
PCT Filed Sep. 18, 2020, PCT No. PCT/JP2020/035470
§ 371(c)(1), (2) Date May 11, 2022,
PCT Pub. No. WO2021/106331, PCT Pub. Date Jun. 3, 2021.
Claims priority of application No. 2019-212495 (JP), filed on Nov. 25, 2019.
Prior Publication US 2022/0378268 A1, Dec. 1, 2022
Int. Cl. A47L 11/40 (2006.01); G05D 1/00 (2006.01)
CPC A47L 11/4011 (2013.01) [G05D 1/0217 (2013.01); G05D 1/0219 (2013.01); G05D 1/0274 (2013.01); A47L 2201/04 (2013.01)] 7 Claims
OG exemplary drawing
 
1. An autonomously traveling vehicle to autonomously travel on a designated route in a predetermined area, the autonomously traveling vehicle comprising:
a main body including a travel carriage;
a storage to store partial traveling route data and connection route data, the partial traveling route data representing partial traveling routes generated for each of subareas included in the predetermined area and includes an individual coordinate system, and the connection route data representing connection routes connecting the partial traveling routes;
an autonomous travel plan generator to generate an autonomous traveling schedule for an autonomous travel by associating a plurality of the partial traveling route data representing selected partial traveling routes with the connection route data representing the connection routes selected to connect the selected partial traveling routes; and
a traveling controller to move the main body by controlling the travel carriage based on the autonomous traveling schedule; wherein
the partial traveling route data includes a partial traveling schedule and map information; and
the partial traveling schedule representing a plurality of fixed passing points set on the partial traveling route as coordinate values of the individual coordinate system of the subarea, for which the partial traveling route is generated, includes the map information representing the subarea for which the partial traveling route is generated.