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1. 发明授权

US08896689B2 Environment recognition apparatus 有权
标题翻译：环境识别装置
公开(公告)号：US08896689B2
公开(公告)日：2014-11-25
申请号：US13693719
申请日：2012-12-04
申请人： Honda Motor Co., Ltd. , Tokyo Institute of Technology
发明人： Minami Asatani , Masatoshi Okutomi , Shigeki Sugimoto
IPC分类号： H04N13/02 , G06T7/00
CPC分类号： H04N13/243 , G06T7/73 , G06T2207/10012 , G06T2207/10028
摘要： An apparatus capable of improving the estimation accuracy of information on a subject including a distance up to the subject is provided. According to an environment recognition apparatus 1 of the present invention, a first cost function is defined as a decreasing function of an object point distance Z. Thus, the longer the object point distance Z is, the lower the first cost of a pixel concerned is evaluated. This reduces the contribution of the first cost of a pixel highly probable to have a large measurement or estimation error of the object point distance Z to the total cost C. Thereby, the estimation accuracy of a plane parameter ^q representing the surface position and posture of the subject is improved.
摘要翻译：提供了能够提高包括到被摄体的距离的被摄体的信息的估计精度的装置。根据本发明的环境识别装置1，第一成本函数被定义为物点距离Z的递减函数。因此，物点距离Z越长，相关像素的第一代价越低评估。这降低了像素的第一成本对物点距离Z的测量值或估计误差大的概率与总成本C有很大的关系。因此，表示表面位置和姿势的平面参数^ q的估计精度的主题得到改善。

2. 发明申请

US20130141546A1 ENVIRONMENT RECOGNITION APPARATUS 有权
标题翻译：环境识别装置
公开(公告)号：US20130141546A1
公开(公告)日：2013-06-06
申请号：US13693719
申请日：2012-12-04
申请人： HONDA MOTOR CO., LTD. , TOKYO INSTITUTE OF TECHNOLOGY
发明人： Minami Asatani , Masatoshi Okutomi , Shigeki Sugimoto
IPC分类号： H04N13/02
CPC分类号： H04N13/243 , G06T7/73 , G06T2207/10012 , G06T2207/10028
摘要： An apparatus capable of improving the estimation accuracy of information on a subject including a distance up to the subject is provided. According to an environment recognition apparatus 1 of the present invention, a first cost function is defined as a decreasing function of an object point distance Z. Thus, the longer the object point distance Z is, the lower the first cost of a pixel concerned is evaluated. This reduces the contribution of the first cost of a pixel highly probable to have a large measurement or estimation error of the object point distance Z to the total cost C. Thereby, the estimation accuracy of a plane parameter ̂q representing the surface position and posture of the subject is improved.
摘要翻译：提供了能够提高包括到被摄体的距离的被摄体的信息的估计精度的装置。根据本发明的环境识别装置1，第一成本函数被定义为物点距离Z的递减函数。因此，物点距离Z越长，相关像素的第一代价越低评估。这降低了将物体点距离Z的测量或估计误差大的总体成本C高度可能的像素的第一成本的贡献。因此，表示表面位置和姿势的平面参数q的估计精度主题得到改善。

3. 发明授权

US09481083B2 Motion target generating apparatus of mobile robot 有权
标题翻译：移动机器人运动目标产生装置
公开(公告)号：US09481083B2
公开(公告)日：2016-11-01
申请号：US14797311
申请日：2015-07-13
申请人： HONDA MOTOR CO., LTD.
发明人： Masao Kanazawa , Tomoki Watabe , Takumi Kamioka , Minami Asatani
IPC分类号： G08G1/123 , B25J9/16
CPC分类号： B25J9/1607 , Y10S901/01 , Y10S901/28 , Y10S901/46
摘要： A motion target generating apparatus calculates the time series of motion accelerations of a base body 2 and the distal end portion of each of movable links 3 and 4 of a robot 1 at a plurality of times after a current time such that the value of a predetermined evaluation function is minimized in a range in which a joint motion constraint condition of each of the movable links 3 and 4 of the robot 1 is satisfied. Based on the calculated values of the motion accelerations at an initial time, new desired motion accelerations of the base body 2 and the distal end portion of each of the movable links 3 and 4 are determined. The desired value for controlling each joint of the robot 1 is determined on the basis of the desired motion accelerations.
摘要翻译：运动目标产生装置在当前时间之后多次计算机体1的可移动链节3和4的基体2的运动加速度的运动加速度和运动加速度的时间序列，使得预定的在满足机器人1的各可动连杆3和4的关节运动约束条件的范围内，使评价功能最小化。基于初始时间的运动加速度的计算值，确定基体2和每个可动连杆3和4的远端部分的新的期望运动加速度。基于期望的运动加速度来确定用于控制机器人1的每个关节的期望值。

4. 发明申请

US20170010620A1 OPERATING ENVIRONMENT INFORMATION GENERATING DEVICE FOR MOBILE ROBOT 有权
标题翻译：操作环境信息生成移动机器人的设备
公开(公告)号：US20170010620A1
公开(公告)日：2017-01-12
申请号：US15196627
申请日：2016-06-29
申请人： HONDA MOTOR CO., LTD.
发明人： Tomoki Watabe , Hiroyuki Kaneko , Minami Asatani
IPC分类号： G05D1/02 , B62D57/032 , B25J13/08
CPC分类号： G05D1/0248 , B25J19/022 , B25J19/023 , G05D2201/0217 , Y10S901/01
摘要： An operating environment information generating device is provided which estimates, upon contact of a mobile robot (1) with a surface portion of an external object, a position and posture of the contact surface on the basis of a posture state of the robot (1), and, in the case where the degree of difference between the estimates and a position and posture of the surface portion of the external object indicated by environment information created based on measurement data by an external-object recognition sensor (46, 47) is large, corrects the environment information at the contact location in such a way as to make the position and posture of the contact surface match the estimates.
摘要翻译：提供了一种操作环境信息生成装置，其基于机器人（1）的姿势状态来估计移动机器人（1）与外部物体的表面部分接触时的接触面的位置和姿势，，并且在由外部物体识别传感器（46,47）基于测量数据创建的由环境信息指示的外部物体的表面部分的位置和姿势之间的差异程度大的情况下，在接触位置校正环境信息，使接触面的位置和姿势与估计值相匹配。

5. 发明授权

US09197862B2 Contact state estimating apparatus 有权
标题翻译：接触状态估计装置
公开(公告)号：US09197862B2
公开(公告)日：2015-11-24
申请号：US13778861
申请日：2013-02-27
申请人： HONDA MOTOR CO., LTD.
发明人： Minami Asatani
IPC分类号： H04N7/18 , G01C3/08 , G01S17/08 , G01S17/87 , G01S17/88 , G01S17/89 , G01S7/48 , G06K9/62
CPC分类号： H04N7/18 , G01C3/08 , G01S7/4808 , G01S17/08 , G01S17/875 , G01S17/88 , G01S17/89 , G06K9/6206
摘要： A position and a posture of a virtual face is searched so that a total cost E of a first cost E1 and a second cost E2 is approximated to a smallest value or a minimum value. A first cost E1(e1) corresponds to a sum of elastic energy with a first deviation e1(s) as a deformation amount, of a virtual spring group having a value of a first coefficient function w1(e1(s)) in a target region of a standard image as a spring coefficient. A second cost E2(e1, e2) corresponds to a sum of elastic energy with a second deviation e2 as a deformation amount, of a virtual spring group having a value of a second coefficient function w2(e2(s) of each pixel s included in the target region of the standard image as a spring coefficient.
摘要翻译：搜索虚拟脸部的位置和姿势，使得第一成本E1和第二成本E2的总成本E近似为最小值或最小值。第一成本E1（e1）对应于在目标中具有第一系数函数w1（e1（s））的值的虚拟弹簧组作为变形量的弹性能量与作为变形量的第一偏差e1（s）的和标准图像的区域作为弹簧系数。第二成本E2（e1，e2）对应于具有第二系数函数w2的值的虚拟弹簧组（包括每个像素的e2（s））的弹性能量与作为变形量的第二偏差e2的和在标准图像的目标区域作为弹簧系数。

6. 发明申请

US20190243656A1 CONTROL PROCESSING DEVICE 审中-公开
公开(公告)号：US20190243656A1
公开(公告)日：2019-08-08
申请号：US16245557
申请日：2019-01-11
申请人： HONDA MOTOR CO., LTD.
发明人： Sunao Hayashi , Minami Asatani , Itoshi Naramura , Takahiro Kuroki , Satoki Matsumoto
IPC分类号： G06F9/38 , G06F9/50 , G06K9/00
CPC分类号： G06F9/3885 , G06F9/3877 , G06F9/5038 , G06K9/00671
摘要： A second processing unit (40), which receives a first count value N1 transmitted in a predetermined reference cycle Δt1 from the first processing unit (30), has a second counter (41) which outputs a second count value N2 in a cycle Δt2 shorter than the reference cycle Δt1. The second count value N2 is initialized in response to reception of the first count value N1. The second processing unit (40) associates time determined according to the first count value N1 and the second count value N2 with generated or acquired second data (external measurement data).

7. 发明授权

US09964956B2 Operating environment information generating device for mobile robot 有权
公开(公告)号：US09964956B2
公开(公告)日：2018-05-08
申请号：US15196627
申请日：2016-06-29
申请人： HONDA MOTOR CO., LTD.
发明人： Tomoki Watabe , Hiroyuki Kaneko , Minami Asatani
IPC分类号： G05B19/04 , G05B19/18 , G05D1/02 , B25J19/02
CPC分类号： G05D1/0248 , B25J19/022 , B25J19/023 , G05D2201/0217 , Y10S901/01
摘要： An operating environment information generating device is provided which estimates, upon contact of a mobile robot (1) with a surface portion of an external object, a position and posture of the contact surface on the basis of a posture state of the robot (1), and, in the case where the degree of difference between the estimates and a position and posture of the surface portion of the external object indicated by environment information created based on measurement data by an external-object recognition sensor (46, 47) is large, corrects the environment information at the contact location in such a way as to make the position and posture of the contact surface match the estimates.

8. 发明授权

US12014539B2 Control processing device 有权
公开(公告)号：US12014539B2
公开(公告)日：2024-06-18
申请号：US16245557
申请日：2019-01-11
申请人： HONDA MOTOR CO., LTD.
发明人： Sunao Hayashi , Minami Asatani , Itoshi Naramura , Takahiro Kuroki , Satoki Matsumoto
IPC分类号： G06V20/20 , B25J9/00 , G05B19/042 , G06F1/12 , G06V20/10 , G06V20/64
CPC分类号： G06V20/20 , G06F1/12 , G06V20/10 , G06V20/64 , B25J9/00
摘要： A second processing unit (40), which receives a first count value N1 transmitted in a predetermined reference cycle Δt1 from the first processing unit (30), has a second counter (41) which outputs a second count value N2 in a cycle Δt2 shorter than the reference cycle Δt1. The second count value N2 is initialized in response to reception of the first count value N1. The second processing unit (40) associates time determined according to the first count value N1 and the second count value N2 with generated or acquired second data (external measurement data).

9. 发明授权

US09871957B2 Environment recognition unit and robot 有权
公开(公告)号：US09871957B2
公开(公告)日：2018-01-16
申请号：US15042409
申请日：2016-02-12
申请人： HONDA MOTOR CO., LTD.
发明人： Hiroaki Ono , Yasuhiro Yamasaki , Ryuma Ujino , Minami Asatani
IPC分类号： G05B15/00 , H04N5/225 , H04N5/232 , G06K9/00 , H04N7/18 , G01S17/88 , G01B11/02 , G01B11/25 , G05B19/00
CPC分类号： H04N5/2257 , G01B11/026 , G01B11/25 , G01S17/88 , G06K9/00664 , H04N5/232 , H04N7/181 , H04N7/185 , Y10S901/01
摘要： An environment recognition unit (20a) includes a frame (201), cameras (202) arranged on a front side in the frame (201), a camera control circuit (207) disposed on a back side in the frame (201), a pair of LRFs (205) arranged laterally to the frame (201). The frame (201) includes a first duct (208) provided adjacent to the camera control circuit (207), and a second duct (210) provided adjacent to the cameras (202).

10. 发明申请

US20160241762A1 ENVIRONMENT RECOGNITION UNIT AND ROBOT 有权
标题翻译：环境识别单位和机器人
公开(公告)号：US20160241762A1
公开(公告)日：2016-08-18
申请号：US15042409
申请日：2016-02-12
申请人： HONDA MOTOR CO., LTD.
发明人： Hiroaki Ono , Yasuhiro Yamasaki , Ryuma Ujino , Minami Asatani
IPC分类号： H04N5/225 , B25J9/16 , G06K9/00 , H04N7/18 , H04N5/232
CPC分类号： H04N5/2257 , G01B11/026 , G01B11/25 , G01S17/88 , G06K9/00664 , H04N5/232 , H04N7/181 , H04N7/185 , Y10S901/01
摘要： An environment recognition unit (20a) includes a frame (201), cameras (202) arranged on a front side in the frame (201), a camera control circuit (207) disposed on a back side in the frame (201), a pair of LRFs (205) arranged laterally to the frame (201). The frame (201) includes a first duct (208) provided adjacent to the camera control circuit (207), and a second duct (210) provided adjacent to the cameras (202).
摘要翻译：环境识别单元（20a）包括框架（201），布置在框架（201）的前侧的照相机（202），设置在框架（201）的后侧的照相机控制电路（207）一对LRF（205）横向布置在框架（201）上。框架（201）包括邻近相机控制电路（207）设置的第一导管（208）和邻近相机（202）设置的第二导管（210）。

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