US 12,223,145 B2
Movement control apparatus and movable body
Munetake Ebihara, Tokyo (JP); Toshiaki Nishikawa, Tokyo (JP); and Akira Fujisawa, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/600,680
Filed by Sony Group Corporation, Tokyo (JP)
PCT Filed Mar. 16, 2020, PCT No. PCT/JP2020/011389
§ 371(c)(1), (2) Date Oct. 1, 2021,
PCT Pub. No. WO2020/209011, PCT Pub. Date Oct. 15, 2020.
Claims priority of application No. 2019-073513 (JP), filed on Apr. 8, 2019.
Prior Publication US 2022/0171480 A1, Jun. 2, 2022
Int. Cl. B60W 60/00 (2020.01); B60R 13/02 (2006.01); B60R 16/037 (2006.01); B60W 30/18 (2012.01); B60W 50/16 (2020.01); G06F 3/044 (2006.01); H04L 29/06 (2006.01); H04L 29/08 (2006.01)
CPC G06F 3/044 (2013.01) [B60W 60/001 (2020.02); B60W 2540/215 (2020.02); G06F 2203/04104 (2013.01); G06F 2203/04105 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A movement control apparatus, comprising:
a motion controller that causes a movable body to perform motion; and
an operation instructing section that gives an instruction to the motion controller on a basis of output of a sensor such that the movable body performs motion, the sensor detecting a distribution of pressure applied to a detection surface, wherein
the detection surface is provided on a first side of a clearance layer, and a second side of the clearance layer is stacked on a sensor section that includes the sensor,
the distribution of pressure applied to the detection surface that is detected is applied by a shape with the distribution of pressure being in a Z-direction within an XY-plane of the detection surface, and a plurality of sensing portions across the X-direction and Y-direction in the XY-plane detecting a pressure in the Z-direction resulting in the detected distribution of pressure applied to the detection surface,
the operation instructing section acquires the distribution of the pressure and a shearing force from the sensor, the pressure being a force in a direction orthogonal to the detection surface, the shearing force being a force in a direction parallel to the detection surface,
the operation instructing section gives the instruction to the motion controller on a basis of the pressure and the shearing force, and
the operation instructing section
identifies a user who is pressing the detection surface,
determines a set value according to a result of the identification, and
gives the instruction to the motion controller on the basis of the output of the sensor when the pressure or the shearing force exhibits a value greater than the set value.