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11. 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。

12. 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。

13. 发明申请

US20140297090A1 Autonomous Mobile Method and Autonomous Mobile Device 审中-公开
标题翻译：自主移动方法和自主移动设备
公开(公告)号：US20140297090A1
公开(公告)日：2014-10-02
申请号：US14355075
申请日：2011-11-11
申请人： Ryoko Ichinose
发明人： Ryoko Ichinose
IPC分类号： G05D1/02
CPC分类号： G05D1/0274 , G01C21/005 , G05D1/0246 , G05D2201/0213
摘要： An object is to support expansion of information used for travel of an antonomous mobile device.An autonomous mobile device (1) calculates a localization precision on the basis of sensor data collected during travel through a sensor (102), and updates the localization precision stored in a storage unit (101). Also, the autonomous mobile device calculates the localization precision according to data such as an image transmitted from a general registrant through a portable device, and updates the localization precision. Further, a travel path of the autonomous mobile device (1) is divided for each of areas, the localization precision is also managed for each of the areas, and the autonomous mobile device (1) is controlled by a manual control or a remote control in an area where the localization precision is low.
摘要翻译：目的是支持扩展用于移动设备的旅行信息。自主移动设备（1）基于通过传感器（102）行进期间收集的传感器数据计算定位精度，并更新存储在存储单元（101）中的定位精度。此外，自主移动设备根据诸如从一般注册者通过便携式设备发送的图像的数据来计算定位精度，并且更新定位精度。此外，针对每个区域划分自主移动设备（1）的行进路径，还为每个区域管理定位精度，并且通过手动控制或远程控制来控制自主移动设备（1）在定位精度低的区域。

14. 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。

15. 发明授权

US07446723B2 Linear actuator 失效
标题翻译：线性执行机构
公开(公告)号：US07446723B2
公开(公告)日：2008-11-04
申请号：US11480910
申请日：2006-07-06
申请人： Tadashi Osaka , Kazushi Yoshida , Ryoko Ichinose
发明人： Tadashi Osaka , Kazushi Yoshida , Ryoko Ichinose
IPC分类号： H01Q3/00 , H01Q21/00 , H01Q1/10
CPC分类号： H01Q3/02 , H01Q1/44
摘要： Disclosed is a linear actuator, including: a screw unit rotatably driven by a driving motor; a nut unit screwed to the screw unit; a slider attached to the nut unit, in which the slider and the nut unit move linearly by the rotation of the screw unit; a guide restricting both surfaces of the slider; a first antenna attached to a side wall of the guide opposite to the slider; a second antenna attached to a side wall of the guide opposite to the slider, and opposing the first antenna; and a third antenna attached to both side walls of the slider, being interposed between the first antenna and the second antenna, wherein position of the slider is detected based on a change in capacitance due to displacement of the third antenna with respect to the first antenna and the second antenna.
摘要翻译：公开了一种线性致动器，包括：由驱动电机可旋转地驱动的螺杆单元; 螺母单元拧到螺钉单元上; 附接到所述螺母单元的滑块，其中所述滑块和所述螺母单元通过所述螺钉单元的旋转而线性移动; 引导件限制滑块的两个表面; 附接到所述导向件的与所述滑块相对的侧壁的第一天线; 附接到所述引导件的与所述滑块相对的侧壁并与所述第一天线相对的第二天线; 以及附接到所述滑块的两个侧壁的第三天线，其被插入在所述第一天线和所述第二天线之间，其中所述滑块的位置基于由于所述第三天线相对于所述第一天线的位移而导致的电容变化而被检测和第二天线。

16. 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).

17. 发明授权

US08504202B2 Autonomous mobile robot apparatus and a rush-out collision avoidance method in the same apparatus 有权
标题翻译：自动移动机器人装置和同一装置中的冲突避免冲突方法
公开(公告)号：US08504202B2
公开(公告)日：2013-08-06
申请号：US12547666
申请日：2009-08-26
申请人： Ryoko Ichinose , Saku Egawa , Yuji Hosoda
发明人： Ryoko Ichinose , Saku Egawa , Yuji Hosoda
IPC分类号： G05B19/18 , G05B19/4061 , G05D1/00 , G08G1/16
CPC分类号： G05D1/024 , G05D1/0246 , G05D1/0289
摘要： An autonomous mobile robot apparatus and a method for avoiding collision due to rush-out, being applicable under the circumstances where persons and robots come and go each other, comprises an obstacle detector unit 3, which detects an obstacle, a route producer unit 7, which determines a route for reaching to a destination while avoiding the obstacle detected by the obstacle detector unit upon basis of a predetermined avoiding method, as well as, a velocity thereof, and a moving unit 2, which loads the obstacle detector unit and the route producer unit thereon and moves, thereby operating under circumstances mixing with a human being(s), wherein the obstacle detector unit, further, detects a terminal point of an article lying in an advancing direction of the autonomous mobile robot apparatus, and a distance between the terminal point and the autonomous mobile robot apparatus, and the route producer unit, when the obstacle detector unit detects the terminal end of said article, controls at least either one of the route and the velocity thereof, so as to avoid to collide on the obstacle, which rushes out from the terminal point, in the advancing direction of the autonomous mobile robot apparatus, centering around said terminal point, and thereby enabling quick movement while avoiding collision due to rush-out.
摘要翻译：一种自动移动机器人装置和用于在人和机器人彼此相遇的情况下可以应用的避免冲突的冲突的方法，包括检测障碍物的障碍物检测单元3，路线生成单元7，其基于预定的避免方法以及其速度来确定到达目的地的路线，同时避免由障碍物检测器单元检测到的障碍物，以及加载障碍物检测器单元和路线的移动单元2 并且移动，从而在与人类混合的情况下进行操作，其中所述障碍物检测器单元还检测位于所述自主移动机器人装置的前进方向上的物品的终点，以及终端点和自主移动机器人装置，以及路线生成单元，当障碍物检测单元检测到所述物品的终端时，控制 s的路径和速度中的至少一个，以避免在以自动移动机器人装置的前进方向从终点冲出的障碍物以所述终点为中心围绕，从而能够快速移动，同时避免由于冲出而产生碰撞。

18. 发明授权

US08494675B2 Autonomous mobile robot device and an avoidance method for that autonomous mobile robot device 有权
标题翻译：自主移动机器人装置和自主移动机器人装置的回避方法
公开(公告)号：US08494675B2
公开(公告)日：2013-07-23
申请号：US12405363
申请日：2009-03-17
申请人： Ryoko Ichinose , Takashi Tsubouchi
发明人： Ryoko Ichinose , Takashi Tsubouchi
IPC分类号： G06F19/00
CPC分类号： G05D1/024 , G05D1/0246 , G05D1/0272
摘要： An autonomous mobile robot device, comprises an obstacle detecting unit, which is configured to detect an obstacle, a path producing unit, which is configured to produce a path for reaching to a goal while avoiding the obstacle, which is detected by the obstacle detecting unit, upon basis of a predetermined avoidance method, and a moving unit, which is configured to move while mounting the obstacle detecting unit and the path producing unit thereon, and further comprises an avoidance method noticing unit, which is configured to notice information relating to an avoidance method of the autonomous mobile robot device itself to the obstacle, which is detected by the obstacle detecting unit, an other's avoidance method obtaining unit, which is configured to obtain information relating to the avoidance method of the obstacle from the obstacle, which is detected by the obstacle detecting unit, an avoidance method memorizing unit, which is configured to memorize one or more of the avoidance method(s) determined, to which the path producing unit should follow, and an avoidance method selecting unit, which is configured to selected the avoidance method(s) determined from the avoidance method memorizing unit, wherein the avoidance method selecting unit uses the information relating to the avoidance method of the obstacle, which is obtained by the other's avoidance method obtaining unit, as a reference, when selecting the avoidance method.
摘要翻译：一种自主移动机器人装置，包括被配置为检测障碍物的障碍物检测单元，路径产生单元，被配置为产生用于到达目标的路径，同时避开障碍物，障碍物检测单元以及移动单元，其被配置为在安装障碍物检测单元和路径产生单元的同时移动，并且还包括回避方法注意单元，其被配置为通知与自主移动机器人装置本身对由障碍物检测单元检测到的障碍物的回避方法，另一个避免方法获取单元，被配置为从障碍物获得与障碍物的回避方法有关的信息，该信息被检测到通过所述障碍物检测单元，所述回避方法存储单元被配置为记忆所述回避m中的一个或多个确定路径产生单元应遵循的方法以及回避方法选择单元，其被配置为选择从回避方法存储单元确定的回避方法，其中回避方法选择单元使用该信息涉及通过对方的回避方法获取单元获得的障碍物的回避方法作为参考，当选择回避方法时。

19. 发明申请

US20100222954A1 AUTONOMOUS MOBILE ROBOT APPARATUS AND A RUSH-OUT COLLISION AVOIDANCE METHOD IN THE SAME APPRATUS 有权
标题翻译：自动移动机器人装置和相同设计中的冲突避免方法
公开(公告)号：US20100222954A1
公开(公告)日：2010-09-02
申请号：US12547666
申请日：2009-08-26
申请人： Ryoko Ichinose , Saku Egawa , Yuji Hosoda
发明人： Ryoko Ichinose , Saku Egawa , Yuji Hosoda
IPC分类号： G05D1/00 , G05B19/04
CPC分类号： G05D1/024 , G05D1/0246 , G05D1/0289
摘要： An autonomous mobile robot apparatus and a method for avoiding collision due to rush-out, being applicable under the circumstances where persons and robots come and go each other, comprises an obstacle detector unit 3, which detects an obstacle, a route producer unit 7, which determines a route for reaching to a destination while avoiding the obstacle detected by the obstacle detector unit upon basis of a predetermined avoiding method, as well as, a velocity thereof, and a moving unit 2, which loads the obstacle detector unit and the route producer unit thereon and moves, thereby operating under circumstances mixing with a human being(s), wherein the obstacle detector unit, further, detects a terminal point of an article lying in an advancing direction of the autonomous mobile robot apparatus, and a distance between the terminal point and the autonomous mobile robot apparatus, and the route producer unit, when the obstacle detector unit detects the terminal end of said article, controls at least either one of the route and the velocity thereof, so as to avoid to collide on the obstacle, which rushes out from the terminal point, in the advancing direction of the autonomous mobile robot apparatus, centering around said terminal point, and thereby enabling quick movement while avoiding collision due to rush-out.
摘要翻译：一种自动移动机器人装置和用于在人和机器人彼此相遇的情况下可以应用的避免冲突的冲突的方法，包括检测障碍物的障碍物检测单元3，路线生成单元7，其基于预定的避免方法以及其速度来确定到达目的地的路线，同时避免由障碍物检测器单元检测到的障碍物，以及加载障碍物检测器单元和路线的移动单元2 并且移动，从而在与人类混合的情况下进行操作，其中所述障碍物检测器单元还检测位于所述自主移动机器人装置的前进方向上的物品的终点，以及终端点和自主移动机器人装置，以及路线生成单元，当障碍物检测单元检测到所述物品的终端时，控制 s的路径和速度中的至少一个，以避免在以自动移动机器人装置的前进方向从终点冲出的障碍物以所述终点为中心围绕，从而能够快速移动，同时避免由于冲出而产生碰撞。

20. 发明授权

US07515991B2 Self-propelled cleaning device and method of operation thereof 失效
标题翻译：自走式清洗装置及其操作方法
公开(公告)号：US07515991B2
公开(公告)日：2009-04-07
申请号：US10801861
申请日：2004-03-17
申请人： Saku Egawa , Yutaka Arai , Ryoko Ichinose , Yasuhiro Asa , Hirofumi Tanaka
发明人： Saku Egawa , Yutaka Arai , Ryoko Ichinose , Yasuhiro Asa , Hirofumi Tanaka
IPC分类号： G06F19/00
CPC分类号： G05D1/0274 , A47L2201/04 , G05D1/0219 , G05D2201/0215
摘要： In cleaning using a self-propelled cleaning device, firstly the cleaning device moves alongside a wall surface and then a reference direction is set. Next, the cleaning device advances alongside the wall surface at a prescribed distance, makes a right-angle turn, and travels in the reference direction. When the cleaning device reaches the surface of an opposing wall, it moves in a spiraling manner. At that time, the orientation angle of the cleaning device, which is estimated using a gyro sensor, is checked and corrected. If an obstacle is encountered while traveling, the cleaning device travels on a path that avoids the obstacle or travels in a spiral manner in a region in front of the obstacle.
摘要翻译：在使用自走式清洁装置的清洁中，首先清洁装置沿壁表面移动，然后设定参考方向。接下来，清洁装置以规定的距离与壁面一起前进，进行直角转弯，并在基准方向上行进。当清洁装置到达相对壁的表面时，其以螺旋方式移动。此时，检查并校正使用陀螺传感器估计的清洁装置的取向角度。如果在行驶时遇到障碍物，则清洁装置在避开障碍物的路径上行进，或者在障碍物前方的区域以螺旋方式行进。

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