Techniques for autonomous vehicle boundary intersection detection and avoidance are described. In an example, a geofence boundary is received at a display coupled to a control module of a vehicle. A 2D footprint is generated using a definition of the vehicle and an implement coupled to the vehicle. Using geographic coordinates for the vehicle, a current position and orientation for the footprint are determined. A 2D projection footprint is generated for the vehicle using the current position and orientation, a current steering state, and a direction of travel. A first distance from the current position and orientation at which the projection footprint intersects with the boundary is determined. Based on the first distance, the speed of the vehicle is maintained at or below a maximum speed.

The substrate treating apparatus includes an analysis part configured to communicate with a measurement unit to be input with an information with respect to a boundary, to calculate a center coordinate value of a substrate and a center coordinate value of a support unit with an input information on the boundary, to set a calculated center coordinate value of the support unit as a center coordinate value of the measurement unit, to set a calculated center coordinate value of the substrate as a center coordinate value of a transfer robot, to record the center coordinate value of the transfer robot on a plane coordinate system of the measurement unit, and to convert a recorded center coordinate value of the transfer robot and a center coordinate value of the measurement unit to a plane coordinate system of the transfer robot to teach the transfer robot.

A system for presenting information to a human to avoid dangers such as collisions, without hindering the respective movement of the human and an autonomous machine. The human-machine cooperative control system manages each movable region so that the human and the autonomous machine do not collide. The system comprises a moving body position measurement unit comprising at least sensor for measuring the position of moving bodies, including a human and a machine; a moving body motion prediction unit for predicting future motion of a subject moving body on the basis of a moving body position; an exclusive management unit for planning a movable region for each moving body on the basis of a planned route for the unmanned machine and a moving body predicted motion obtained from the moving body motion prediction unit; and an information presentation unit for presenting information about the movable region for the human.

A path planning method and a biped robot using the same are provided. The method includes: generating a candidate node set for a next foot placement based on a biped robot's own parameters and joint information of a current node, adding valid candidate nodes in the candidate node set to a priority queue so as to select optimal nodes for realizing next node expansion. These optimal nodes are output to generate a foot placement sequence from an initial node to a target node, which can greatly reduce the search amount for path nodes when the robot's legs intersect and touch the ground, thereby improving the efficiency of path planning.

An autonomous moving system according to the present disclosure is an autonomous moving system including an autonomous moving body that moves autonomously. The autonomous moving system includes a control unit that executes control of movement of the autonomous moving body including collision control, a setting unit that sets a defense space around the autonomous moving body, for executing the collision control, a detecting unit that detects obstructions in a vicinity of the autonomous moving body, and a classifying unit that classifies obstructions that are detected. The setting unit changes a range of the defense space, based on the obstructions that are classified by the classifying unit, and the control unit executes control of movement of the autonomous moving body including the collision control in at least one of when the obstruction is inside the defense space and when the obstruction is predicted to enter the defense space.

An autonomous moving system according to the present disclosure includes a control unit executing control of movement of an autonomous moving body, including collision control, a setting unit setting a predetermined defense space around the autonomous moving body, for executing the collision control, and a classifying unit classifying an obstruction detected by a detecting unit installed in the autonomous moving body, and an obstruction detected by a detecting unit installed in a facility space through which the autonomous moving body moves. The setting unit changes a range of the defense space to a first range based on a result of the classifying unit classifying the obstruction detected by one of the detecting units, and changes the range of the defense space from the first range to a second range based on a result of the classifying unit classifying the obstruction detected by at least another of the detecting units.

A mobile robot and a safety control system therefor. The safety control system includes a first monitoring circuit to movement data of the mobile robot; a second monitoring circuit to monitor whether the mobile robot collides with an obstacle; a third monitoring circuit to monitor whether an obstacle exists within a preset range of the mobile robot; a safety control circuit to generate a first safety instruction based on the movement data, a second safety instruction based on the collision signal, a third safety instruction based on the alarm signal, and a fourth safety instruction based on state information of the safety input device; a servo circuit to receive and execute a corresponding safety instruction; and a main control board to output a drive control signal to the servo circuit, for causing the servo circuit to control a motor of the mobile robot based on the drive control signal.

A mobile robot is provided. The mobile robot includes a communication circuitry configured to communicate with at least one of a user device or a server, a sensor configured to collect environmental information of an indoor space, and a controller configured to be electrically connected to the sensor and the communication circuitry. The controller is configured to: store the environmental information of each of a plurality of zones of the indoor space obtained by the sensor, set a purpose of a first zone of the plurality of zones, based on a user input or the environmental information of each of the plurality of zones, and generate information recommending a target device to be placed in the first zone, based on environmental information of the first zone and required environmental information corresponding to the set purpose.

An example method includes obtaining information about a path that an autonomous vehicle is to travel during movement of the autonomous vehicle through an environment, and generating a virtual envelope that surrounds the autonomous vehicle and that has at least two dimensions that are greater than two corresponding dimensions of the autonomous vehicle. A length of the virtual envelope along the path is based on at least one of (i) a predefined duration that the autonomous vehicle can travel along the path or (ii) a duration that the autonomous vehicle can travel along the path without stopping. A velocity of the autonomous vehicle is based on the virtual envelope.

An unmanned vehicle includes: a travel device; an obstacle sensor; a host path storage unit that stores a host path; a travel control unit that controls the travel device based on the host path; an oncoming path storage unit that stores an oncoming path to be given to an oncoming vehicle; and an obstacle presence/absence determination unit that determines whether or not an obstacle is located on the oncoming path based on detection data from the obstacle sensor.