Abstract: A fixing belt heats and fixes a toner image. A pressure roller rotates the fixing belt while in contact with the fixing belt. A heater heats the fixing belt. A lubricating oil forms an oil film between the heater and an inner peripheral surface of the fixing belt. A pressure roller driver rotates the pressure roller so that the lubricating oil causes the fixing belt to be out of contact with the heater.

Abstract: In a fixing device, an endless belt is nipped between a roller and a nip-forming member, and a sheet is conveyed through a first nip region formed between the endless belt and the roller by the nip-forming member. A pair of conveyor rollers located downstream of the first nip region in a sheet conveyance direction are configured to convey the sheet through a second nip region formed therebetween. A sheet guide located between the roller and the pair of conveyor rollers includes a first guide which in a plane perpendicular to a rotation axis of the roller, intersects with a line tangent to an outer cylindrical surface of the roller at a downstream end of the first nip region, while an extension line of the first guide intersects with a line segment connecting the downstream end of the first nip region to an upstream end of the second nip region.

Abstract: A heating apparatus includes a cylindrical film and a pressing element that rotates with the cylindrical film and forms a nip with the cylindrical film. A medium is conveyed through the nip from an upstream side to a downstream side. The apparatus further includes a guide member arranged inside the cylindrical film and contacting the cylindrical film, and a substrate arranged inside the cylindrical film and on which a heating element is disposed. A downstream end of the substrate is located downstream of a downstream end of the nip.

Abstract: An information processing apparatus includes a processor configured to display an operation screen for receiving an operation regarding setting information of an image forming apparatus that operates in association with the setting information with optimum values changing depending on external factors on a display device and receive an operation on the operation screen, in which the processor is configured to display a creation screen that is one of the operation screen and is used to newly create the setting information, on the display device, receive an input of a reason for creation of the new setting information on the creation screen and specify an item to be set corresponding to the received reason for creation among setting items in the setting information, and display the specified item on the operation screen to be identifiable with respect to other setting items.

Abstract: A mounting/demounting structure includes: a mountable/demountable object including a body, a first projection provided at a first end of the body in a movable manner, and a second projection provided at a second end of the body in a shiftable manner; and a receptacle including a housing configured to house the object when mounted while covering it in at least two directions, first and second stoppers provided in the housing and configured to stop the first and second projections, respectively by engagement, the object including an abutment portion provided on the body and configured to abut against a part of the housing to keep a posture reduced in terms of an engagement amount between the second projection and the second stopper when the first projection is disengaged from the first stopper and the object is stopped at a tilt in the housing during demounting of the object from the receptacle.

Abstract: An image forming apparatus is provided with a printing device, a sheet conveyance path, a protective cover, a swing member, and a biasing member. The sheet conveyance path includes an upper guide portion and a lower guide portion. The swing member is supported inside a main body and can swing upward from a standard position. The biasing member biases the swing member to the standard position. The swing member includes the upper guide portion. The protective cover includes the lower guide portion and a contact portion. The contact portion pushes the swing member upward when the protective cover pivots in an outward position from a closed position. The protective cover can pivot from the closed position to an open position as the contact portion pushes the swing member upward.

Abstract: A detachable container includes: a container body configured to be detachably attached to a receiving portion of an apparatus housing; a joining unit provided on the container body, the joining unit being configured to be rotatably joined with a joined unit provided on the apparatus housing; an operation unit having a rotation center coaxial with the joining unit, the operation unit being configured to perform a rotational operation for the joining unit; and a restraint unit provided coaxially with the rotation center of the operation unit, the restraint unit being configured to, when the container body is attached to the receiving portion of the apparatus housing, allow a rotation of the operation unit, and when the container body is not attached, to restrain the rotation of the operation unit.

Abstract: An example image forming apparatus includes a frame, a first shaft supported by the frame, and a first coupler. The first coupler includes a body coupled to one end of the first shaft and a first protrusion protruding from the body in an axial direction of the first shaft, the first protrusion having a first surface and a second protrusion protruding from the first surface. The second protrusion is to lock with a groove to mount a cartridge on the frame, the first shaft is to provide a rotational force in a first rotational direction to rotate the second protrusion of the first coupler and to insert the second protrusion into the groove to lock with the cartridge, and the first surface of the first protrusion of the first coupler is to contact a second surface to transmit the rotational force to the second coupler in the first rotational direction.

Abstract: An accommodating device includes a device body, an accommodating unit that accommodates a medium in the device body, and an expanding and contracting member that expands and contracts to connect the accommodating unit to the device body so as to be pulled out and has a part fixed to the accommodating unit on an inner side with respect to a side surface of the accommodating unit in an intersecting direction with a pulling direction of the accommodating unit and on a lower side of the accommodating unit in a vertical direction.

Abstract: A process cartridge detachably mountable to a main assembly of an electrophotographic image forming apparatus, includes a rotatable photosensitive drum; a rotatable developing roller configured to develop image formed on the drum, the developing roller being capable of contacting to and spacing from the drum; an urging force receiving portion configured to receive, from a main assembly side urging member, an urging force for spacing the developing roller from the drum; a cartridge side drive transmission member capable of the coupling with a main assembly side drive transmission member and configured to receive, from the main assembly side drive transmission member, a rotational force for rotating the developing roller; and a decoupling member capable of urging the cartridge side drive transmission member by the urging force received by the urging force receiving portion to decouple the cartridge side drive transmission member from the main assembly side drive transmission member.

Abstract: A process cartridge includes a frame, a photosensitive drum supported by the frame, and a developing roller supported by the frame. A coupling is operatively connected to the photosensitive drum, with the coupling being rotatable about an axis thereof, and with the coupling being positioned (i) at a first end of the photosensitive drum, (ii) coaxial with the photosensitive drum, and (iii) at a side of the process cartridge. A helical gear is positioned at the side of the process cartridge, the helical gear being rotatable about an axis thereof, the helical gear having a plurality of teeth, with at least some of the teeth being exposed teeth that are uncovered by the frame and exposed to outside of the process cartridge. As measured in an axial direction of the photosensitive drum, at least a part of the exposed teeth of the helical gear is positioned farther from the second end of the photosensitive drum than a tip of a projection of the coupling is positioned from the second end of the photosensitive drum.

Abstract: A timepiece display device comprises a timepiece body, a support plate, a timepiece driving module, a rotating optical disc, a magnetic element, a top plate, and a rotating shaft of the timepiece driving module passes through the support plate and connects to the center of the rotating optical disc to drive the rotating optical disc to rotate; a display comprises an annular base mounted in the upper chamber of the timepiece body, a dial mounted inside the annular base, an indicator element placed on the dial and corresponding to the time identifier on the dial, and a crystal covering the upper end of the annular base. The indicator element and the magnetic element are positioned by the magnetic attraction of the magnetic element, and the indicator element moves synchronously with the magnetic element to indicate the time.

Abstract: Provided is a timepiece including: hands being an hour hand, a minute hand and a second hand; a movement for driving the hands; a first dial; a first dial ring having upper and lower surfaces provided with an upper projection and a lower projection, respectively, the first dial ring being disposed on the first dial and positioned relative to the first dial by the lower projection; and a transparent second dial disposed on the first dial ring and positioned relative to the first dial ring by the upper projection, wherein one of the hands is disposed between the first dial and the second dial, while the others of the hands are disposed above the second dial.

Abstract: A strand of a wristband (10) comprising an end intended for fixing removably to a watch case, wherein said strand comprises a projection (16) or a groove arranged at said end, said projection (16) or groove being intended to become lodged within a groove or projection of a watch case, and wherein said strand comprises at least one vertical opening (17) arranged in the thickness of said projection (16) or of a wall forming said groove and wherein said strand comprises an elastic element (30), so as to be able to accept a pin (20) through the elastic element (30) and through at least part of the length of said at least one vertical opening.

Abstract: A user-worn device includes a band portion and a display portion. The band portion comprises a wire that is configured to create a first magnetic field that follows the curvature of the band portion. The display portion comprises a first electromagnet that is configured to produce a second magnetic field. The display portion orbits around the band portion in a first orbital direction when the first and second magnetic fields interact.

Abstract: Embodiments include a wearable electronic device including a housing having an internal wall separating an internal chamber from an external chamber, an outer shell defining a port that connects the external chamber to an external environment, a membrane positioned at an opening in the internal wall and configured to equalize a pressure within the internal chamber with a pressure of the external environment, a first pressure-sensing device positioned in the internal chamber and configured to produce a first output, a second pressure-sensing device positioned in the external chamber and configured to produce a second output, and a processing unit configured to estimate the pressure of the external environment using the second output in accordance with a determination an accuracy condition satisfies a criteria and estimate the pressure of the external environment using the first output in accordance with a determination the accuracy condition does not satisfy the criteria.

Abstract: A wearable detection device includes a main body, a first belt body, and a second belt body. The first belt body and the second belt body are connected to two sides of the main body. The main body includes a power source, a control circuit connected to the power source, and a processor connected to the control circuit. The wearable detection device further includes a flexible circuit board and a plurality of to-be-conducted chips. The flexible circuit board is disposed in the first belt body and is connected to the main body. The plurality of to-be-conducted chips are disposed in the first belt body and are connected to the flexible circuit board. When the first belt body and the second belt body are interconnected, the to-be-conducted chip positioned at a junction point is connected.

Abstract: A method for the autonomous construction and/or design of at least one component part of a component includes the step of determining a state (si) of the component part by a state module, wherein a state (si) is defined by parameters (pi) such as data and/or measured values of at least one property (ei) of the component part. The state (si) is transmitted to a reinforcement learning agent, which uses a reinforcement learning algorithm. A calculation function (ƒi) and/or an action (ai) is selected on the basis of a policy for a state (si) for the modification of at least one parameter (pi) by the reinforcement learning agent. A modeled value for the property (ei) is calculated using the modified parameter (pi). A new state (si+1) is calculated by an environment module on the basis of the modeled value for the property (ei).

Abstract: The present application discloses a wide-field-of-view anti-shake high-dynamic bionic eye. A trajectory tracking method based on a bionic eye robot includes: establishing a linear model according to a bionic eye robot; establishing a full state feedback control system on the basis of the linear model; in the full state feedback control system, acquiring an angle and an angular acceleration required for a joint in a target tracking process of the bionic eye on the basis of a preset trajectory expectation value and a preset joint angle expectation value; the method further includes: adopting a linear quadratic regulator (LQR) to calculate a parameter K in the full state feedback control system, and minimizing energy consumption by establishing an energy function, so as to optimize the coordinated head-eye motion control of the linear bionic eye. The present application achieves the optimal control of the target tracking.

Abstract: An aerosol delivery device is provided that includes a power source, a heating element, a switch coupled to and between the power source and the heating element, and processing circuitry coupled to the switch. The processing circuitry outputs a PWM signal during a heating time period to cause the switch to switchably connect and disconnect the output voltage to the heating element to power the heating element. The processing circuitry outputs a pulse of known current to the heating element, and measure voltage across the heating element, between adjacent pulses of the PWM signal. And the processing circuitry calculates the resistance of the heating element based on the known current and the voltage, calculates the temperature of the heating element based on the resistance, and adjusts a duty cycle of the PWM signal when the temperature deviates from a predetermined target.

Abstract: A smart space may be provided by a hub and an artificial intelligence server in communication with the hub. The hub may receive data from at least one smart object in the smart space. The artificial intelligence server may generate clusters of the data received from each of the at least one smart objects. The server may perform processing comprising using a cluster to detect an anomaly in the smart object, identify the smart object, classify the smart object, determine a user behavior, determine a user mood, determine an energy consumption pattern, or create an automated action, or a combination thereof.

Abstract: A method of controlling a microgrid includes receiving, by a power management system, PMS, of the microgrid, operating point values for a plurality of controllable assets. The method includes determining, by the PMS, an asset headroom. The method includes determining, by the PMS, a modified operating point value that is dependent on the received operating point value of the controllable asset, the determined asset headroom of the controllable asset, and a total power offset of the microgrid. The method includes controlling, by the PMS, the controllable assets for which the modified operating point values have been determined in accordance with the modified operating point values.

Abstract: A control system and a control method for individual thermal comfort based on computer visual monitoring are provided. The control system may include a data acquisition device, an information processing device, an intelligent voice inquiry device, a terminal control device including a terminal controller connected to an external equipment and a biological real-time device connected to the data acquisition device and a human thermal sensation predictor. The data acquisition device includes a semi-contact measurement instrument and a contact-less measurement instrument. The contact-less measurement instrument includes an infrared sensor and a camera built with a skeletal node recognizer and an Euler video amplifier. The information processing device may include a memory, the human thermal sensation predictor for obtaining the predicted thermal sensation value and a comparator connected to the intelligent voice inquiry device. It solves the problem that the prior art cannot meet the thermal comfort.

Abstract: To allow more daylighting and protect against direct solar radiation, the system may include a window shading system that impacts an area (or area of interest). The system may adjust different window shades in different ways and for different periods of time to protect against a direct solar radiation onto an area of interest. The system may provide targeted shadows onto the area of interest. The system may also analyze or predict angles of solar rays that comprise the direct solar radiation and determine an impact of the solar rays on the area of interest, wherein the adjusting of window shades is based on the determining.

Abstract: Apparatus and methods for reporting data and remotely monitoring and controlling a stationary mechanical or electrical device having a device controller. The apparatus and methods employ a remote annunciator comprising a communication interface for communicating with the device controller, a computer processor for polling the device controller to monitor operational data, conditions, and alarms reported by the device controller, a graphical display for displaying visual indicators indicative of the operational data, conditions, and alarms, a cellular or satellite radio for communicating the operational data, conditions, and alarms to a remotely-located monitoring and control system comprising a web-accessible database and a compatible cellular or satellite radio. The device controller is polled via the monitoring and control system and/or remote annunciator to monitor device parameters and status, and remotely control the device.

Abstract: A method, system and apparatus for identifying a type of device connected to I/O (Input/Output) channels of an I/O module, can involve applying a current for a predefined time duration to one or more I/O channels of an I/O module, initiating a current readback at a regular interval of time within the predefined time duration, determining values of the current readback for each of a time interval during the predefined time duration, storing the values of the current readback in a memory associated with the I/O module, determining a pattern as a function of the values of the current readback and a sample of time interval for a device connected to the one or more I/O channels, and identifying a type of the device connected to the one or more I/O channels based on a determined pattern of a current sink of the device connected to the one or more I/O channels.

Abstract: Operation of an NC device can be restricted during the time until processing requested by a transmitting side is completed by a receiving side. An information processing device communicatively connected to a controller of an industrial machine including a processing request transmission unit that transmits a processing request to the controller; a processing completion notification management unit that detects a processing completion notification, transmitted from the controller, which notifies of completion of processing according to the processing request; and an operation restriction control unit that restricts processing request operation of the controller for a next operation until the processing completion notification is detected by the processing completion notification management unit.

Abstract: A machine tool management system connects an external server and a large number of NC devices controlling the external server and respective machine tools through a network. The system collects several kinds of signal data from the NC device of each machine tool to the external server. In the system, the external server stores a maintenance period model and a refinement algorithm and obtains a next maintenance period from the maintenance period model.

Abstract: A method of controlling a drive including one respective inverter associated with each of a plurality of servomotors in a robot. The method includes providing a PWM frequency corresponding to a frequency of switching instances for respective semiconductor switches in each of the inverters, whereby for each inverter time is divided into consecutive control cycles forming a sequence of control cycles of the inverter, each control cycle containing two, and only two, of the switching instances for each of the semiconductor switches. The method also includes spreading the respective control cycle sequences of the inverters over time such that the control cycles of each inverter are time shifted in respect to the control cycles of each of the other inverters in the power converter.

Abstract: Embedded and/or pooled robotic process automation (RPA) robots are disclosed. A master robot initiates one or more RPA robots in a deterministic and/or probabilistic manner. For instance, when a step in an RPA workflow of the master robot is encountered where an action is not clear, some data is missing, there are multiple possible branches, etc., one or more embedded and/or pooled minion robots may be called upon by the master robot to determine the next action to take, to retrieve missing data, to determine which branch is appropriate, etc. The master robot may perform orchestration functionality with respect to the minion robot(s).

Abstract: Computerized RPA methods and systems that increase the flexibility and lower the cost with which RPA systems may be deployed are disclosed herein. In one embodiment, an RPA system and method avoids the need for preinstalled RPA software on a device employed by a user to create and/or execute software robots to perform RPA. In another embodiment, an RPA system and method provides a capability to execute software robots that may have been encoded in one or more programming languages to execute on an operating system different than that employed by a server of the RPA system.

Abstract: A process is provided for the management of environmental data for tobacco production. The process includes inserting at least one sensor into a collection of tobacco leaves and connecting one or more of the sensors to a communication node for collecting data. A DNCP server is adapted to receive at least one communication from a communication node to identify a data gateway among a plurality of available gateways. Environmental data is transmitted from the sensor and communication node to the gateway for transmission to a server.

Abstract: Embodiments include a computer-implemented method (and system) for performing automated batch data alignment for modeling, monitoring, and control of an industrial batch process. The method (and system) loads, scales, and screens plant historian batch data for an industrial batch process. The method (and system) selects a reference batch as basis of the batch alignment, defines and adds or modifies one or more batch phases, and selects one or more batch variables based on one or more profiles and corresponding curvatures of the batch data. The method (and system) estimates one or more weightings, adjust one or more tuning parameters and uses a sliding time window combined with DTW, DTI and GSS algorithms, performs the batch alignment in offline mode or online mode.

Abstract: Systems, methods, and devices of the various embodiments enable local visual identification and verification of robotic vehicles. Various embodiments may enable disambiguation of a robotic vehicle from among a plurality of robotic vehicles.

Abstract: Systems and methods are provided for remotely detecting a status associated with an autonomous vehicle and generating control actions in response to such detections. In one example, a computing system can access a third-party communication associated with an autonomous vehicle. The computing system can determine, based at least in part on the third-party communication, a predetermined identifier associated with the autonomous vehicle. The computing system can determine, based at least in part on the third-party communication, a status associated with the autonomous vehicle, and transmit one or more control messages to the autonomous vehicle based at least in part on the predetermined identifier and the status associated with the autonomous vehicle.

Abstract: An automatic driving executability determination unit restricts automatic driving when a charge amount determination unit (third determination unit) determines that a battery is in a low capacity state, and decides whether to restrict the automatic driving according to a determination result of a discharge performance determination unit (first determination unit) when a temperature determination unit (second determination unit) determines that the battery is in the low capacity state but a charge amount determination unit determines that the battery is not in the low capacity state.

Abstract: A vehicle controlling method is provided, which may include: determining current vehicle status information, road condition information and environment information of a road on which the vehicle runs according to data collected by vehicle sensors; processing the current vehicle status information, the road condition information and the environment information according to a preset control strategy model to generate a first operating strategy of the vehicle within a preset time period; determining status adjustment modes of executing mechanisms of the vehicle according to the first operating strategy within the preset time period and a current second operating strategy of the vehicle; and adjusting the first operating strategy when the status adjustment mode of at least one executing mechanism does not meet a preset condition.

Abstract: A managing apparatus provides self-driving of a vehicle, which allows the vehicle to enter a parking space out of a plurality of parking spaces from an outside of a parking lot including the plurality of parking spaces, and which allows the vehicle to leave the parking lot for a predetermined place in the outside. The managing apparatus is provided with: a wait time setting device configured to set a maximum wait time of the vehicle in the predetermined place; and a controller configured to set a driving route for returning the vehicle to the parking lot from the predetermined place on condition that the maximum wait time elapses from an arrival of the vehicle in the predetermined place, and configured to provide the self-driving of the vehicle along the driving route.

Abstract: Implementations described and claimed herein provide systems and methods for controlling an autonomous vehicle. In one implementation, the autonomous vehicle is navigated towards a flow of traffic with a first gap between first and second vehicles and a second gap following the second vehicle. A motion plan for directing the autonomous vehicle into the flow of traffic at an interaction zone is generated based on whether an ability of the autonomous vehicle to enter the interaction zone at the second gap exceeds a confidence threshold. The autonomous vehicle is autonomously navigated into the flow of traffic at the first gap when the confidence threshold is exceeded. The motion plan forgoes navigation of the autonomous vehicle into the flow of traffic at the first and second gaps when the ability of the autonomous vehicle to enter the interaction zone at the second gap does not exceed the confidence threshold.

Abstract: In one embodiment, a method is provided. The method includes determining a first reference line representing a path through an environment for an autonomous driving vehicle. The method also includes determining a speed constraint function based on a set of speed limits associated with the environment, a set of curvatures of the path, and a set of obstacles in the environment, wherein the speed constraint function comprises a continuous function. The method further includes determining a set of speeds for the path through the environment based on the speed constraint function. The method further includes controlling the autonomous driving vehicle based on the path and the set of speeds.

Abstract: A vehicle control system is provided that includes a control unit that can be disposed onboard a vehicle to control movement of the vehicle; and one or more transceiver devices that can emit plural signals from the vehicle, with at least one of the plural signals containing a vehicle identifier, and, responsive to a receiver unit disposed off-board the vehicle receiving at least one of the plural signals, the control unit can determine a location of the vehicle and can communicate a signal to the one or more transceiver devices based on the location. The control unit can change the movement of the vehicle based on the vehicle location information.

Abstract: Techniques for estimating a height range of an object in an environment are discussed herein. For example, a sensor, such as a lidar sensor, can capture three-dimensional data of an environment. The sensor data can be associated with a two-dimensional representation. A ground surface can be removed from the sensor data, and clustering techniques can be used to cluster remaining sensor data provided in a two-dimensional representation to determine object(s) represented therein. A height of a sensor object can be represented as a first height based on an extent of the sensor data associated with the object and can be represented as a second height based on beam spreading aspects of the sensor data and/or sensor data associated with additional objects. Thus, a minimum and/or maximum height of an object can be determined in a robust manner. Such height ranges can be used to control an autonomous vehicle.

Abstract: A method for navigating a sensor-equipped mobile platform through an through an environment to a destination, the method including: capturing a first image in a first state of illumination; capturing a second image in a second state of illumination; generating a difference image from said first image and said second image; locating an imaging target based on said difference image, said imaging target including a machine-readable code embedded therein, said machine-readable code including navigation vector data; extracting said navigation vector data from said machine-readable code; and using said extracted navigation vector data to direct the navigation of the mobile platform through the environment to a destination.

Abstract: Embodiments of the present invention relates to a self-moving apparatus and a method for controlling same, the self-moving apparatus including: a housing; a movement module for driving the housing to move; an ultrasonic module configured to transmit an ultrasonic signal and receive an echo signal formed through reflection of an obstacle; and a control module installed on the housing and connected to the ultrasonic module, to implement an ultrasonic detection function by processing the echo signal, thereby controlling a movement mode of the movement module. The control module can control disabling of the ultrasonic detection function according to a received preset signal.

Abstract: A mobile robot includes a body, a propulsion module, an ultrasound sensor module that is configured to detect a boundary of a cleaning area using a sound wave, and a controller configured to control the propulsion module based on the determined boundary. The ultrasound sensor module may include an ultrasonic sensor unit and a boundary detector. The sensor unit may emit the sound wave, receive the reflected sound wave from a target, and output a sound wave signal. And, the boundary detector may analyze the sound wave signal to detect the boundary of the cleaning area.

Abstract: A multi-robot system includes a first a mobile cleaning robot that has a local storage device to store a persistent map of an environment, at least one sensor to sense the environment, and a control module. The control module is configured to: control the mobile cleaning robot to navigate in the environment using the persistent map and sensing data provided by the at least one sensor, share the persistent map with a second mobile cleaning robot, and coordinate with the second mobile cleaning robot to perform cleaning tasks.

Abstract: Disclosed herein are a robot that generates a map and configures a correlation of nodes, based on multi sensors and artificial intelligence, and that moves based on the map, and a method of generating a map, and the robot according to an embodiment generates a pose graph comprised of LiDAR branch, visual branch, and backbone, and the LiDAR branch includes one or more of the LiDAR frames, the visual branch includes one or more of the visual frames, and the backbone includes two or more frame nodes registered with any one or more of the LiDAR frames or the visual frames, and to generate a correlation between nodes in the pose graph.

Abstract: A materials handling vehicle operating system is provided comprising a tag layout where a plurality of entry/exit tag sets are arranged along a travel path at different ones of the entry/exit thresholds of a restricted navigation zone. Each entry/exit tag set comprises a release tag, a restriction tag, and an indicator tag. The indicator tag is positioned between the restriction tag and the restricted navigation zone. The restriction tag is positioned between the release tag and the indicator tag. The tag reader and the reader module cooperate to compare identified tag data with stored tag data and initiate a remediation operation when an indicator tag is identified in place of a restriction tag. Tag layouts for one-way and two-way travel into and out of a restricted navigation zone are also contemplated.

Abstract: The present invention relates to a robotic vehicle operated to move along a path, where the vehicle could be for mowing the lawn or for agricultural purposes having an operational part operating on an irregular surface. The control of the vehicle includes safety means to check that the vehicle seems to have left its path unintended.

Abstract: A self-propelled device includes a host device movement vector acquisition unit that is configured to acquire a host device movement vector including a movement speed of the self-propelled device and a distance information acquisition unit that is configured to acquire nearby device distance information including a distance and a direction to the self-propelled device for each of nearby devices located near the self-propelled device. The self-propelled device further includes a nearby device movement vector acquisition unit that is configured to acquire a nearby device movement vector including a movement speed and a movement direction of each of the nearby devices for each of the nearby devices and a determination unit that is configured to determine whether a group movement is possible or not for each of the nearby devices based on the nearby device distance information, the host device movement vector and the nearby device movement vector.