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1. 发明授权

US09062980B2 Autonomous mobile system 有权
标题翻译：自主移动系统
公开(公告)号：US09062980B2
公开(公告)日：2015-06-23
申请号：US14359335
申请日：2011-11-22
申请人： Yoshitaka Hara , Akira Oshima , Ryoko Ichinose , Kenjiro Yamamoto
发明人： Yoshitaka Hara , Akira Oshima , Ryoko Ichinose , Kenjiro Yamamoto
IPC分类号： G01C21/28 , G05D1/02 , G01S17/89 , G01C21/30 , G01C21/32
CPC分类号： G01C21/28 , G01C21/30 , G01C21/32 , G01S7/4808 , G01S17/89 , G05D1/024 , G05D1/0248 , G05D1/0251 , G05D1/0274 , G05D2201/0213
摘要： An autonomous mobile system for a mobile body which moves while localizing itself in a space includes a shape detector and travel distance detector for measuring whether objects are present in set regions determined by dividing a three-dimensional space into a plurality of segments, a storage device into which map data is stored that indicates a region of the set regions that has been set as having a stationary object in the region, a determining section that determines, from frequency of the object detection by the shape detector during a predetermined time for each of the set regions, whether the object that has been detected in each set region is a stationary object or a moving object, and a localizer that localizes a vehicle by matching the region that the determining section has determined to have a stationary object in the region, and the map data.
摘要翻译：一种移动体的自主移动系统，其移动同时将其自身定位在空间中，包括形状检测器和行进距离检测器，用于测量物体是否存在于通过将三维空间分割成多个段所确定的设定区域中;存储装置存储指示已经被设置为具有在该区域中具有静止对象的设定区域的区域的地图数据的确定部分，其根据形状检测器在预定时间内的每个物体检测的频率确定设定区域，是否在每个集合区域中检测到的物体是静止物体或移动物体;以及定位器，其通过使确定部分已经确定具有在该区域中具有静止物体的区域匹配来定位车辆; 和地图数据。

2. 发明申请

US20140309841A1 Autonomous Mobile System 有权
标题翻译：自主移动系统
公开(公告)号：US20140309841A1
公开(公告)日：2014-10-16
申请号：US14359335
申请日：2011-11-22
申请人： Yoshitaka Hara , Akira Oshima , Ryoko Ichinose , Kenjiro Yamamoto
发明人： Yoshitaka Hara , Akira Oshima , Ryoko Ichinose , Kenjiro Yamamoto
IPC分类号： G01C21/28 , G05D1/02
CPC分类号： G01C21/28 , G01C21/30 , G01C21/32 , G01S7/4808 , G01S17/89 , G05D1/024 , G05D1/0248 , G05D1/0251 , G05D1/0274 , G05D2201/0213
摘要： The invention includes a shape detector and travel distance detector for measuring whether objects are present in set regions determined by dividing a three-dimensional space into a plurality of segments, a storage device into which map data is stored that indicates a region of the set regions that has been set as having a stationary object in the region, a determining section that determines, from frequency of the object detection by the shape detector during a predetermined time for each of the set regions, whether the object that has been detected in each set region is a stationary object or a moving object, and a localizer that localizes a vehicle “v” by matching the region that the determining section has determined to have a stationary object in the region, and the map data. Thus, highly accurate detection of positions can be realized, even in an environment with moving objects.
摘要翻译：本发明包括一种形状检测器和行进距离检测器，用于测量通过将三维空间划分成多个段确定的设定区域中的物体是否存在;存储设备，其中存储有指示设定区域的区域的地图数据在该区域中被设定为具有静止物体的判定部，根据由所述形状检测器在每个所述设定区域的规定时间内的物体检测的频率，判断各组中是否检测到的物体区域是固定物体或运动物体，以及通过使确定部分已经确定为具有该区域中的静止物体的区域来匹配车辆“v”的定位器和地图数据。因此，即使在具有移动物体的环境中也能够高精度地检测位置。

3. 发明申请

US20130258108A1 Road Surface Shape Recognition System and Autonomous Mobile Apparatus Using Same 审中-公开
标题翻译：路面形状识别系统及其使用的自动移动设备
公开(公告)号：US20130258108A1
公开(公告)日：2013-10-03
申请号：US13991463
申请日：2010-12-24
申请人： Yukihiko Ono , Ryoko Ichinose , Kenjiro Yamamoto , Yoshitaka Hara , Akira Oshima
发明人： Yukihiko Ono , Ryoko Ichinose , Kenjiro Yamamoto , Yoshitaka Hara , Akira Oshima
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , B60W40/06 , B60W2420/40 , G01S17/89
摘要： Disclosed is a road surface shape recognition system adapted to recognize a shape of a road surface and obstacles present thereupon, even when the road surface is illuminated with extraneous light of a plurality of wavelengths from illumination lamps, street lamps, electric signboards, and the like.The road surface shape recognition system for recognizing the shape of the road surface ahead of a vehicle includes: wavelength region calculation means for detecting the extraneous light from a plurality of areas on the road surface, and thereby determining a wavelength region of the extraneous light having the lowest intensity; irradiation means for irradiating each of the areas on the road surface selectively with light of one of a plurality of wavelength regions; irradiation control means for selecting, from the light of the plurality of wavelength regions that can be selectively irradiated from the irradiation means, light having a wavelength corresponding to the wavelength region of the weakest extraneous light, the wavelength region being determined by the wavelength region calculation means, and makes the irradiation means emit the selected light; imaging means for imaging the road surface; and road surface shape calculation means for calculating the shape of the road surface from an image that the imaging means acquires when the irradiation means is irradiating one of the areas on the road surface with the light of the wavelength selected by the irradiation control means.
摘要翻译：公开了一种路面形状识别系统，其适用于识别路面形状和存在于其中的障碍物，即使当照明灯，路灯，电招牌等的多个波长的外来光照射路面时，。用于识别车辆前方的路面的形状的路面形状识别系统包括：波长区域计算单元，其检测来自路面上的多个区域的外来光，由此确定外部光的波长范围，最低强度; 照射装置，用于选择性地用多个波长区域中的一个的光照射路面上的每个区域; 照射控制装置，用于从能够从照射装置选择性地照射的多个波长区域的光中选择具有与最弱外部光的波长区域相对应的波长的光，该波长区域由波长区域计算装置，并使照射装置发射所选择的光; 用于对路面成像的成像装置; 以及路面形状计算装置，用于当照射装置用照射控制装置选择的波长的光照射路面上的一个区域时，从成像装置获取的图像中计算路面的形状。

4. 发明申请

US20150199619A1 Use-Assisting Tool for Autonomous Mobile Device, Operation Management Center, Operation System, and Autonomous Mobile Device 审中-公开
标题翻译：自主移动设备使用辅助工具，操作管理中心，操作系统和自主移动设备
公开(公告)号：US20150199619A1
公开(公告)日：2015-07-16
申请号：US14419681
申请日：2012-08-07
申请人： Ryoko Ichinose , Takashi Sato , Ai Masuda , Kenjiro Yamamoto , Yukihiko Ono , Akira Oshima
发明人： Ryoko Ichinose , Takashi Sato , Ai Masuda , Kenjiro Yamamoto , Yukihiko Ono , Akira Oshima
IPC分类号： G06Q10/02 , G05D1/00 , G01C21/34 , G05D1/02
CPC分类号： G06Q10/02 , B60S3/00 , G01C21/3469 , G05D1/0022 , G05D1/0217
摘要： Provided are: a use-assisting tool for an autonomous mobile device that enhances convenience for a user of the autonomous mobile device; an operation management center; an operation system; and an autonomous mobile device. The use-assisting tool for an autonomous mobile device provides assistance for using the autonomous mobile device, which travels autonomously along a route to a destination, and is characterized by: being provided with a communication means that communicates with an operation management center, an input means, and a display means; a destination to be visited using the autonomous mobile device being input by means of the input means; and the display means displaying cooperation information established at the destination that is transmitted from the operation management center. The cooperation information established at the destination includes information regarding securing a mobility means at the destination and establishing a reservation at the destination.
摘要翻译：提供：一种用于自主移动设备的使用辅助工具，其增强了对于自主移动设备的用户的便利性; 运营管理中心; 操作系统; 和自主移动设备。用于自主移动设备的使用辅助工具为使用自主地沿着到达目的地的路线行进的自主移动设备提供帮助，其特征在于：设置有与操作管理中心通信的通信装置，输入手段和显示装置; 使用通过输入装置输入的自主移动装置访问的目的地; 并且显示装置显示从操作管理中心发送的在目的地建立的协作信息。在目的地建立的合作信息包括关于在目的地确保移动装置并在目的地建立预留的信息。

5. 发明授权

US09921069B2 Map data creation device, autonomous movement system and autonomous movement control device 有权
公开(公告)号：US09921069B2
公开(公告)日：2018-03-20
申请号：US14390406
申请日：2012-04-05
申请人： Yukihiko Ono , Kenjiro Yamamoto , Ryoko Ichinose , Akira Oshima
发明人： Yukihiko Ono , Kenjiro Yamamoto , Ryoko Ichinose , Akira Oshima
IPC分类号： G01C21/34 , G01C21/32 , G01C21/36 , G05D1/02
CPC分类号： G01C21/34 , G01C21/32 , G01C21/3602 , G05D1/0248 , G05D1/0274
摘要： The invention is intended to be able to generate map data even if a location not suited for identification of a matching position exists. A map data creation device creates map data, the map data being used for autonomous movement by a vehicle (1a), a vehicle (1b) and/or other vehicles (1), based on a relative position of the vehicle (1b) which exists around the vehicle (1a), relative to the vehicle (1a), the relative position being measured by the vehicle (1a), and object shape data of an object which exists around the vehicle (1b), the object shape being measured by the vehicle (1b). Moreover, the relative position of the vehicle (1b) relative to the vehicle (1a) is calculated based on the object shape data measured by the vehicle (1a).

6. 发明授权

US10055694B2 Use-assisting tool for autonomous mobile device, operation management center, operation system, and autonomous mobile device 有权
公开(公告)号：US10055694B2
公开(公告)日：2018-08-21
申请号：US14419681
申请日：2012-08-07
申请人： Ryoko Ichinose , Takashi Sato , Ai Masuda , Kenjiro Yamamoto , Yukihiko Ono , Akira Oshima
发明人： Ryoko Ichinose , Takashi Sato , Ai Masuda , Kenjiro Yamamoto , Yukihiko Ono , Akira Oshima
IPC分类号： G01C22/00 , G06Q10/02 , G01C21/34 , G05D1/00 , G05D1/02
CPC分类号： G06Q10/02 , B60S3/00 , G01C21/3469 , G05D1/0022 , G05D1/0217
摘要： Provided are: a use-assisting tool for an autonomous mobile device that enhances convenience for a user of the autonomous mobile device; an operation management center; an operation system; and an autonomous mobile device. The use-assisting tool for an autonomous mobile device provides assistance for using the autonomous mobile device, which travels autonomously along a route to a destination, and is characterized by: being provided with a communication means that communicates with an operation management center, an input means, and a display means; a destination to be visited using the autonomous mobile device being input by means of the input means; and the display means displaying cooperation information established at the destination that is transmitted from the operation management center. The cooperation information established at the destination includes information regarding securing a mobility means at the destination and establishing a reservation at the destination.

7. 发明申请

US20150057871A1 MAP DATA CREATION DEVICE, AUTONOMOUS MOVEMENT SYSTEM AND AUTONOMOUS MOVEMENT CONTROL DEVICE 有权
标题翻译：地图数据创建装置，自动运动系统和自动运动控制装置
公开(公告)号：US20150057871A1
公开(公告)日：2015-02-26
申请号：US14390406
申请日：2012-04-05
申请人： Yukihiko Ono , Kenjiro Yamamoto , Ryoko Ichinose , Akira Oshima
发明人： Yukihiko Ono , Kenjiro Yamamoto , Ryoko Ichinose , Akira Oshima
IPC分类号： G01C21/34
CPC分类号： G01C21/34 , G01C21/32 , G01C21/3602 , G05D1/0248 , G05D1/0274
摘要： The invention is intended to be able to generate map data even if a location not suited for identification of a matching position exists. A map data creation device creates map data, the map data being used for autonomous movement by a vehicle (1a), a vehicle (1b) and/or other vehicles (1), based on a relative position of the vehicle (1b) which exists around the vehicle (1a), relative to the vehicle (1a), the relative position being measured by the vehicle (1a), and object shape data of an object which exists around the vehicle (1b), the object shape being measured by the vehicle (1b). Moreover, the relative position of the vehicle (1b) relative to the vehicle (1a) is calculated based on the object shape data measured by the vehicle (1a).
摘要翻译：本发明旨在能够生成地图数据，即使存在不适于识别匹配位置的位置。地图数据生成装置基于车辆（1b）的相对位置，创建地图数据，该地图数据用于车辆（1a），车辆（1b）和/或其他车辆（1）的自主运动，车辆（1a）相对于车辆（1a）存在车辆（1a）所测量的相对位置以及存在于车辆（1b）周围的物体的物体形状数据，物体形状由车辆（1b）。此外，基于由车辆（1a）测量的物体形状数据来计算车辆（1b）相对于车辆（1a）的相对位置。

8. 发明授权

US09182235B2 Locus correcting method, locus correcting apparatus, and mobile object equipment 有权
标题翻译：轨迹校正方法，轨迹校正装置和移动物体设备
公开(公告)号：US09182235B2
公开(公告)日：2015-11-10
申请号：US14118899
申请日：2011-05-20
申请人： Yoshitaka Hara , Akira Oshima , Kenjiro Yamamoto , Yuji Hosoda
发明人： Yoshitaka Hara , Akira Oshima , Kenjiro Yamamoto , Yuji Hosoda
IPC分类号： G01C21/00 , G01C21/30
CPC分类号： G01C21/005 , G01C21/30
摘要： Calculating a highly accurate locus is a goal. An administrative part (20) for correcting a traveling locus of a mobile object (V) is characterized by including an evaluation function generating unit (21) that sets a plurality of nodes on locus data of the mobile object (V) acquired by a wheel rotation quantity measuring unit (16), correlates position data of the mobile object (V) acquired by the wheel rotation quantity measuring unit (16) to the nodes and correlates position data of the mobile object (V) acquired by other units of measurement means than the wheel rotation quantity measuring unit to the nodes, represents positions at which the nodes may occur by probability, represents positions at which position data correlated to the nodes may occur by probability, and calculates an evaluation function including the nodes and the position data as variables, based on each probability; and a locus optimization calculation unit (22) that calculates a locus on which each node occurs with largest probability, based on the evaluation function.
摘要翻译：计算高精度的轨迹是一个目标。用于校正移动物体（V）的行驶轨迹的管理部分（20）的特征在于包括评估函数生成单元（21），其设置由车轮获取的移动体（V）的轨迹数据上的多个节点旋转量测量单元（16）将由车轮旋转量测量单元（16）获取的移动体（V）的位置数据与节点相关联，并且将由测量装置的其他单元获取的移动体（V）的位置数据相关联，相对于节点的车轮旋转量测量单元，表示以概率出现节点的位置，表示通过概率与节点相关的位置数据的位置，并且计算包括节点和位置数据的评估函数，变量，基于每个概率; 以及轨迹优化计算单元，其基于所述评估函数，以最大概率计算出每个节点出现的轨迹。

9. 发明申请

US20140088863A1 LOCUS CORRECTING METHOD, LOCUS CORRECTING APPARATUS, AND MOBILE OBJECT EQUIPMENT 有权
标题翻译：位置校正方法，位置校正装置和移动对象设备
公开(公告)号：US20140088863A1
公开(公告)日：2014-03-27
申请号：US14118899
申请日：2011-05-20
申请人： Yoshitaka Hara , Akira Oshima , Kenjiro Yamamoto , Yuji Hosoda
发明人： Yoshitaka Hara , Akira Oshima , Kenjiro Yamamoto , Yuji Hosoda
IPC分类号： G01C21/00
CPC分类号： G01C21/005 , G01C21/30
摘要： Calculating a highly accurate locus is a goal. An administrative part (20) for correcting a traveling locus of a mobile object (V) is characterized by including an evaluation function generating unit (21) that sets a plurality of nodes on locus data of the mobile object (V) acquired by a wheel rotation quantity measuring unit (16), correlates position data of the mobile object (V) acquired by the wheel rotation quantity measuring unit (16) to the nodes and correlates position data of the mobile object (V) acquired by other units of measurement means than the wheel rotation quantity measuring unit to the nodes, represents positions at which the nodes may occur by probability, represents positions at which position data correlated to the nodes may occur by probability, and calculates an evaluation function including the nodes and the position data as variables, based on each probability; and a locus optimization calculation unit (22) that calculates a locus on which each node occurs with largest probability, based on the evaluation function.
摘要翻译：计算高精度的轨迹是一个目标。用于校正移动物体（V）的行驶轨迹的管理部分（20）的特征在于包括评估函数生成单元（21），其设置由车轮获取的移动体（V）的轨迹数据上的多个节点旋转量测量单元（16）将由车轮旋转量测量单元（16）获取的移动体（V）的位置数据与节点相关联，并且将由测量装置的其他单元获取的移动体（V）的位置数据相关联，相对于节点的车轮旋转量测量单元，表示以概率出现节点的位置，表示通过概率与节点相关的位置数据的位置，并且计算包括节点和位置数据的评估函数，变量，基于每个概率; 以及轨迹优化计算单元，其基于所述评估函数，以最大概率计算出每个节点出现的轨迹。

10. 发明授权

US09229450B2 Autonomous movement system 有权
标题翻译：自主运动系统
公开(公告)号：US09229450B2
公开(公告)日：2016-01-05
申请号：US14119312
申请日：2011-05-31
申请人： Akira Oshima , Kenjiro Yamamoto , Yukihiko Ono , Yoshitaka Hara
发明人： Akira Oshima , Kenjiro Yamamoto , Yukihiko Ono , Yoshitaka Hara
IPC分类号： G05D1/02 , G06F19/00
CPC分类号： G05D1/021 , G05D1/0238 , G05D1/0274 , G05D2201/0206 , Y10S901/01
摘要： A route decision system is provided to avoid an obstacle existing in a traceably moving direction for tracing a reference route from a current location of an autonomous movable body. The system computes traffic distance and a traffic width as a traffic region having a given traffic width and does not allow an obstacle to intrude in each of a plurality of moving The moving direction of the autonomous movable body is decided on the basis of the traceably moving direction and the traffic region. A speed decision device decides a moving speed allowing the autonomous movable body to stop before it collides with the obstacle in response to the braking condition of the autonomous movable body and the location and the speed of the obstacle.
摘要翻译：提供路线决定系统以避免存在于可跟踪的移动方向上的障碍物，用于跟踪从自主移动体的当前位置的参考路线。系统计算交通距离和交通宽度作为具有给定交通宽度的交通区域，并且不允许障碍物进入多个移动中的每一个。自主移动体的移动方向基于可追踪移动方向和交通区域。速度决定装置根据自主移动体的制动条件以及障碍物的位置和速度决定允许自主移动体在与障碍物碰撞之前停止的移动速度。

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