# US 12,223,145 B2 · Movement control apparatus and movable body > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,223,145 B2 - Document ID: US12223145B2 - Status: Granted - Kind: B2 - Application number: 17/600,680 - Filed: 2020-03-16 - Published: 2022-06-02 - Granted: 2025-02-11 - Earliest claimed: 2019-04-08 - Assignees: Sony Group Corporation - Applicants: Sony Group Corporation - Inventors: Munetake Ebihara; Toshiaki Nishikawa; Akira Fujisawa - Web page: https://patentgrep.com/patent/US12223145B2 ## CPC - G06F 3/044: by capacitive means - B60K 35/10: Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor - B60K 35/28: characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver - B60K 35/53: Movable instruments, e.g. slidable - B60K 35/60: Instruments characterised by their location or relative disposition in or on vehicles (arrangements of lighting devices on dashboards B60Q3/10) - B60K 35/80: Arrangements for controlling instruments - B60W 60/001: {Planning or execution of driving tasks} - G05D 1/02: Control of position or course in two dimensions - G08G 1/00: Traffic control systems for road vehicles (arrangement of road signs or traffic signals E01F9/00 {; automatic vehicle control B62D}) - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - B60K 2360/143: Touch sensitive instrument input devices - B60K 2360/175: Autonomous driving - B60W 2540/215: Selection or confirmation of options - G06F 3/04142: {the force sensing means being located peripherally, e.g. disposed at the corners or at the side of a touch sensing plate} - G06F 3/04144: {using an array of force sensing means (position sensing using the local deformation of sensor cells G06F3/0447)} - G06F 3/0425: {using a single imaging device like a video camera for tracking the absolute position of a single or a plurality of objects with respect to an imaged reference surface, e.g. video camera imaging a display or a projection screen, a table or a wall surface, on which a computer generated image is displayed or projected (tracking a projected light spot to determine a position on a display surface G06F3/0386)} - G06F 3/0445: {using two or more layers of sensing electrodes, e.g. using two layers of electrodes separated by a dielectric layer} - G06F 3/0446: {using a grid-like structure of electrodes in at least two directions, e.g. using row and column electrodes} - G06F 3/0447: {Position sensing using the local deformation of sensor cells} - G06F 2203/04104: Multi-touch detection in digitiser, i.e. details about the simultaneous detection of a plurality of touching locations, e.g. multiple fingers or pen and finger - G06F 2203/04105: Pressure sensors for measuring the pressure or force exerted on the touch surface without providing the touch position - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract [Object] To provide a movement control apparatus that is capable of controlling the movement of a movable body using an intuitive operation, and the movable body. [Solving Means] A movement control apparatus according to the present technology includes a motion controller and an operation instructing section. The motion controller causes a movable body to perform motion. The operation instructing section gives an instruction to the motion controller on the 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. ## Claims ### Claim 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. ### Claim 2 (depends on 1) The movement control apparatus according to claim 1, wherein when the pressure or the shearing force is applied to the detection surface in a traveling direction of the movable body while the movable body is stopped, the operation instructing section gives the instruction to the motion controller such that the movable body starts moving. ### Claim 3 (depends on 1) The movement control apparatus according to claim 1, wherein when the pressure or the shearing force is applied to the detection surface in a direction opposite to the traveling direction of the movable body while the movable body is moving, the operation instructing section gives the instruction to the motion controller such that the movable body is stopped. ### Claim 4 (depends on 1) The movement control apparatus according to claim 1, wherein when the pressure or the shearing force is applied to the detection surface, the operation instructing section gives the instruction to the motion controller while the pressure or the shearing force is being applied, such that the movable body moves in a direction in which the pressure or the shearing force is being applied. ### Claim 5 (depends on 1) The movement control apparatus according to claim 1, wherein from the distribution of the pressure applied to the detection surface, the operation instruction section acquires the type of a pressing object pressed against the detection surface, and the number of the pressing objects, and the operation instruction section gives the instruction to the motion controller according to the type of the pressing object and the number of the pressing objects. ### Claim 6 (depends on 5) The movement control apparatus according to claim 5, wherein when the pressing object is a certain number of fingers or more, or a palm of a hand, the operation instructing section gives the instruction to the motion controller according to the output of the sensor, and when the pressing object is fewer than the certain number of fingers, the operation instructing section does not give the instruction to the motion controller according to the output of the sensor. ### Claim 7 (depends on 5) The movement control apparatus according to claim 5, wherein when the pressing object is a single hand, the operation instructing section gives the instruction to the motion controller such that the movable body goes straight, and when the pressing object is a plurality of hands, the operation instructing section gives the instruction to the motion controller such that the movable body moves with a turn. ### Claim 8 (depends on 1) The movement control apparatus according to claim 1, wherein when the detection surface is pressed in a state in which a destination of the movable body in autonomous driving has been set, the operation instructing section gives the instruction to the motion controller such that the movable body moves toward the destination. ### Claim 9 (depends on 8) The movement control apparatus according to claim 8, wherein when the detection surface is pressed after the movable body leaves for the destination, the operation instructing section gives the instruction to the motion controller such that the movable body is stopped. ### Claim 10 (depends on 1) The movement control apparatus according to claim 1, wherein according to an angle formed by the detection surface and a movement direction that is a direction in which the movable body is movable, the operation instructing section selects a force used to give the instruction to the motion controller from the pressure and the shearing force. ### Claim 11 (depends on 10) The movement control apparatus according to claim 10, wherein when the detection surface is parallel to the movement direction, the operation instructing section uses the shearing force to give the instruction to the motion controller, and when the detection surface is orthogonal to the movement direction, the operation instructing section uses the pressure, and the shearing force in a direction parallel to the movement direction to give the instruction to the motion controller. ### Claim 12 (depends on 1) The movement control apparatus according to claim 1, wherein when the detection surface is pressed with a pressing object while the movable body is moving, the operation instructing section gives the instruction to the motion controller such that the movable body moves while keeping in contact with the pressing object. ### Claim 13 A movable body, comprising: a sensor that detects a distribution of pressure applied to a detection surface; a traveling apparatus that causes the movable body to perform motion; a motion controller that controls the traveling apparatus such that the movable body performs motion; and an operation instructing section that gives an instruction to the motion controller on a basis of output of the sensor such that the movable body performs motion, 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. ### Claim 14 (depends on 13) The movable body according to claim 13, wherein the sensor includes a shearing force detecting sensor that detects a shearing force, and a pressure distribution detecting sensor that is stacked on the shearing force detecting sensor and detects the distribution of the pressure, the shearing force being a force in a direction parallel to the detection surface, the pressure being a force in a direction orthogonal to the detection surface. ### Claim 15 (depends on 13) The movable body according to claim 13, wherein the sensor includes a pressure-and-shearing-force detecting sensor that detects the pressure and a shearing force, and a touch sensor that is stacked on the pressure-and-shearing-force detecting sensor and detects a contact with the detection surface, 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. ### Claim 16 (depends on 13) The movable body according to claim 13, wherein the sensor includes a pressure distribution detecting sensor that detects the distribution of the pressure, and a shearing force detecting electrode that is arranged around the pressure distribution detecting sensor and detects displacement of the pressure distribution detecting sensor, the pressure being a force in a direction orthogonal to the detection surface, the displacement being displacement in a direction parallel to the detection surface. ### Claim 17 (depends on 13) The movable body according to claim 13, wherein the sensor includes a transparent member that includes the detection surface, and an image sensor that converts, into an image, a change in a shape of a pressing object pressed against the detection surface, the sensor detecting the pressure and a shearing force on a basis of the change in the shape of the pressing object, 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. ### Claim 18 (depends on 13) The movable body according to claim 13, wherein the movable body is an autonomous vehicle, or a robot including an autonomous movement function.