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1. 发明授权

EP3185096B1 A CHARGING PILE, METHOD AND DEVICE FOR RECOGNIZING THE CHARGING PILE, AND AN AUTONOMOUS CLEANING DEVICE 有权
公开(公告)号：EP3185096B1
公开(公告)日：2018-09-26
申请号：EP16205967.9
申请日：2016-12-21
申请人： Xiaomi Inc. , Beijing Rockrobo Technology Co. Ltd.
发明人： Cao, Jingying , He, Hang , Xia, Yongfeng
IPC分类号： G05D1/02
CPC分类号： G05D1/0274 , A47L9/2805 , A47L9/2852 , A47L9/2873 , A47L2201/022 , B60L11/1816 , B60L11/1825 , B60L11/1833 , B60L11/1838 , B60L2260/32 , G01S17/89 , G02B5/136 , G05D1/0225 , G05D1/0236 , G05D1/0246 , G05D2201/0203 , H02J7/0044 , H02J7/0045 , Y02T10/7005 , Y02T10/7072 , Y02T90/121 , Y02T90/125 , Y02T90/128 , Y02T90/14 , Y02T90/163
摘要： The present invention relates to a charging pile, a method and device for recognizing the charging pile, and an autonomous cleaning device. The charging pile may include: a pile body (1) comprising a power supply interface (11), wherein the power supply interface (11) is provided on a side surface of the pile body (1) to supply power for the autonomous cleaning device; an identification structure (2) arranged on the side surface of the pile body (1) to enable a position of the power supply interface (11) to be recognized and determined by a recognition device on the autonomous cleaning device, wherein the identification structure (2) comprises at least one identification element (2A, 2B), and each identification element (2A) comprises at least one bulge (21A) and at least one recess (22A), one (21A) of the bulge and the recess (21A, 22A) of an identification element (2A) has a surface structure having a smaller retroreflection coefficient than a surface structure of the other one (22A) of the bulge and the recess (21A, 22A), and an intensity of retroreflected light from the surface structure having the smaller retroreflection coefficient is not smaller than a minimum recognizable light intensity of the recognition device; wherein the identification structure (2) comprises at least one pair of surface structures of an identification element (2B) with unmatched specifications (21B, 22B), a bulge (21A, 21B) or a recess (22A, 22B) of any of the identification elements (2A, 2B) has a surface structure.

2. 发明公开

EP3373030A1 REFLECTING DEVICE 审中-公开
公开(公告)号：EP3373030A1
公开(公告)日：2018-09-12
申请号：EP18159287.4
申请日：2018-02-28
申请人： Funai Electric Co., Ltd.
发明人： TANAKA, Fuminori
IPC分类号： G01S7/481 , G02B26/10 , G02B26/08
CPC分类号： G01S17/895 , G01S7/4808 , G01S7/4813 , G01S7/4817 , G01S7/4868 , G01S17/023 , G01S17/102 , G01S17/42 , G02B26/085 , G02B26/10 , G02B26/105 , G05D1/0236
摘要： Provided a reflecting device in which a mirror area is large, wide angle scanning is possible, and a size thereof is reduced, and particularly a downsized reflecting device that has a suitable specification as vehicle-mounted LiDAR. The reflecting device (1) includes an oscillation part (40), and the oscillation part (40) includes a mirror part (10) supported on a support frame (20), and a hinge part (30) engaging the mirror part (10) and the support frame (20). The mirror part (10) oscillates with respect to the support frame (20), and the hinge part (30) has a tensile strength of 1500 MPa or higher. A mass M of the mirror part (10) and a resonance frequency f 0 of the oscillation part (40) satisfy a relational expression (1) below, 0.49 * f 0 + 6.23 ≤ M ≤ 68.6 * f 0 + 46.8

3. 发明公开

EP3342667A1 METHOD AND SYSTEM FOR IMPROVING STABILITY OF AUTONOMOUS DRIVING VEHICLES 审中-公开
公开(公告)号：EP3342667A1
公开(公告)日：2018-07-04
申请号：EP17191241.3
申请日：2017-09-15
申请人： Baidu USA LLC
发明人： ZHU, Fan
IPC分类号： B60W30/095
CPC分类号： G05D1/0212 , B60W30/095 , B60W2530/00 , B60W2530/20 , B60W2550/10 , B60W2550/14 , B60W2550/146 , B60W2550/148 , B62D6/001 , B62D6/002 , G01S19/42 , G05D1/0236 , G05D1/0242 , G05D1/0257 , G08G1/0125 , G08G1/056
摘要： In one embodiment, perception information is received, the perception information perceiving a driving scenario of an autonomous driving vehicle (ADV). A path (401) from a first location to a second location is planned and determined based on a driving scenario obtained based on the perception information. A tolerance area (501, 502) along the determined path is determined based on the perception information. The autonomous driving vehicle is driven within the tolerance area according to the path. No lateral error is committed if the autonomous driving vehicle is moving within the tolerance area. A lateral error is considered committed only if the autonomous driving vehicle is moving outside of the tolerance area.

4. 发明公开

EP3301661A1 METHOD AND VEHICLE TRAFFIC CONTROL SYSTEM 有权
标题翻译：方法和车辆交通控制系统
公开(公告)号：EP3301661A1
公开(公告)日：2018-04-04
申请号：EP17194022.4
申请日：2017-09-29
申请人： GE Aviation Systems LLC
发明人： TURNER, Mark Lawrence
IPC分类号： G08G5/06 , G05D1/00 , G08G1/14 , G08G7/00 , G08G5/00 , B64F1/00
CPC分类号： G08G7/00 , B64F1/002 , G05D1/0083 , G05D1/0236 , G08G1/096816 , G08G1/09685 , G08G1/096861 , G08G1/142 , G08G1/146 , G08G5/0013 , G08G5/0026 , G08G5/065
摘要： A system and method of generating plan information for vehicles (6, 8) in a vehicle traffic or vehicle parking zone (4), including projecting into space, from a set of grid generators (110, 210) at the vehicle traffic or vehicle parking zone (4), a set of lines defining a relative navigation grid and encoded with grid data configured to identify predetermined points on the relative navigation grid, and detecting, with a detector module on a vehicle (6, 8), a location of the vehicle (6, 8) within the grid.
摘要翻译：一种用于在车辆交通或车辆停放区域（4）中产生计划信息的系统和方法，所述车辆交通或车辆停放区域（4）包括从车辆交通或车辆停放处的一组网格发电机（110,210）投射到空间中（4），定义相对导航网格并用网格数据编码的一组线，所述网格数据被配置为识别所述相对导航网格上的预定点，并且利用车辆（6,8）上的检测器模块检测所述相对导航网格车辆（6,8）在电网内。

5. 发明公开

EP3185096A1 A CHARGING PILE, METHOD AND DEVICE FOR RECOGNIZING THE CHARGING PILE, AND AN AUTONOMOUS CLEANING DEVICE 有权
标题翻译：充电桩，用于识别充电桩的方法和装置以及自动清洁装置
公开(公告)号：EP3185096A1
公开(公告)日：2017-06-28
申请号：EP16205967.9
申请日：2016-12-21
申请人： Xiaomi Inc. , Beijing Rockrobo Technology Co. Ltd.
发明人： Cao, Jingying , He, Hang , Xia, Yongfeng
IPC分类号： G05D1/02
CPC分类号： G05D1/0274 , A47L9/2805 , A47L9/2852 , A47L9/2873 , A47L2201/022 , B60L11/1816 , B60L11/1825 , B60L11/1833 , B60L11/1838 , B60L2260/32 , G01S17/89 , G02B5/136 , G05D1/0225 , G05D1/0236 , G05D1/0246 , G05D2201/0203 , H02J7/0044 , H02J7/0045
摘要： The present invention relates to a charging pile, a method and device for recognizing the charging pile, and an autonomous cleaning device. The charging pile may include: a pile body (1) comprising a power supply interface (11), wherein the power supply interface (11) is provided on a side surface of the pile body (1) to supply power for the autonomous cleaning device; an identification structure (2) arranged on the side surface of the pile body (1) to enable a position of the power supply interface (11) to be recognized and determined by a recognition device on the autonomous cleaning device, wherein the identification structure (2) comprises at least one identification element (2A, 2B), and each identification element (2A) comprises at least one bulge (21A) and at least one recess (22A), one (21A) of the bulge and the recess (21A, 22A) of an identification element (2A) has a surface structure having a smaller retroreflection coefficient than a surface structure of the other one (22A) of the bulge and the recess (21A, 22A), and an intensity of retroreflected light from the surface structure having the smaller retroreflection coefficient is not smaller than a minimum recognizable light intensity of the recognition device;
wherein the identification structure (2) comprises at least one pair of surface structures of an identification element (2B) with unmatched specifications (21B, 22B), a bulge (21A, 21B) or a recess (22A, 22B) of any of the identification elements (2A, 2B) has a surface structure.
摘要翻译：充电桩，用于识别充电桩的方法和设备以及自主清洁设备技术领域本发明涉及充电桩，充电桩可以包括：包括供电接口（11）的桩体（1），其中电力供应接口（11）设置在桩体（1）的侧表面上以向自主式清洁装置 ; （1）的侧表面上的识别结构（2），以使供电接口（11）的位置能够由自主清洁装置上的识别装置识别和确定，其中识别结构（2） 2）包括至少一个识别元件（2A，2B），并且每个识别元件（2A）包括至少一个凸出部（21A）和至少一个凹入部（22A），一个凸出部（21A）和凹入部（21A），22A）的表面结构具有比凸起和凹槽（21A，22A）中的另一个（22A）的表面结构具有更小的回射系数的表面结构，以及来自具有较小回射系数的表面结构不小于识别装置的最小可识别光强度; 其特征在于，所述识别结构（2）包括识别元件（2B）的至少一对表面结构，所述识别元件具有不匹配的规格（21B，22B），所述识别元件（2B）中的任一个的凸起（21A，21B）或凹部（22A，22B）识别元件（2A，2B）具有表面结构。

6. 发明公开

EP3155494A2 DYNAMIC TRACKING SYSTEM AND AUTOMATIC GUIDANCE METHOD BASED ON 3D TIME-OF-FLIGHT CAMERAS 审中-公开
标题翻译：动态跟踪系统和自动管理方法基于3D飞行时间相机
公开(公告)号：EP3155494A2
公开(公告)日：2017-04-19
申请号：EP15733369.1
申请日：2015-06-12
申请人： Terabee S.A.S.
发明人： KOVERMANN, Jan , RUFFO, Massimiliano
IPC分类号： G05D1/06 , G05D1/02 , G06T7/00 , G01S5/00
CPC分类号： G01S17/89 , G01S7/4865 , G01S17/10 , G01S17/32 , G01S17/42 , G01S17/66 , G01S17/74 , G01S17/93 , G05D1/0236
摘要： A dynamic tracking system (3) comprises a three-dimensional camera (2) based on time-of-flight technology, which comprises a receiver sensitive to the light emissions comprised in a certain range of wavelengths, a first emitter of light signals (2c); a micro-computer (2a) interfacing and computing three-dimensional information coming from the receiver (2b) and controlling the emitter (2c), and an internal or external secondary computer (2d) incorporating data analysis, database services, controls and external interfacing to vehicle and local or global data communication services. The system further comprises a beacon (1) sensitive to the light signals originating from the first light emitter (2c) of the three-dimensional camera (2), this beacon (1) being itself equipped with a second emitter of light signals [FIG. 2, (1b)] of a wavelength compatible with the sensitivity of the three-dimensional camera (2). The beacon (1) comprises a means for modulating the light signals [FIG. 2, (1c,c′,d)] originating from the first emitter of light signals (2c). The three-dimensional camera is configured for measuring the return time of the signal reemitted by the beacon. The modulation is configured such to allow, by means of the three-dimensional camera, a unique identification and simultaneously a position determination of the beacon (1) in a three-dimensional volume covered by the three-dimensional camera's field of view (2). The unique identification of the beacon (1) being accomplished in the micro-computer by the analysis of the apparent distance of the beacon in consecutive frames of the three-dimensional camera (2).
摘要翻译：一种动态跟踪系统（3）包括一个三维相机（2）基于时间飞行技术，其包括接收器，用于在波长，光信号的第一发射器的一定范围内包含光发射敏感（2C ）; 微型计算机（2a）的接口和计算从接收器传来的三维信息（2b）和控制发射器（2c）中，并以内部或外部的辅助计算机（2D）包含数据分析，数据库服务，控制和外部接口车辆和本地或全球数据通信服务。该系统还包括信标（1）的光信号从所述第一光发射器（2c）的三维摄像机（2），该信标（1）是本身装有光信号的第二发射极图源自敏感， 2，（1B）]与所述三维相机（2）的灵敏性兼容的波长的。信标（1）包括装置，用于调制所述光信号图 2，（1C，C”，D）]始发从光信号的第一发射器（图2c）。所述三维相机被配置用于测量由所述信标重新发射的信号的返回时间。调制被配置寻求允许，由三维相机的手段，在由所述视立体相机的场覆盖的三维体积的唯一标识，并且同时位置确定的信标（1）的（2），信标（1）的唯一标识由所述信标中的三维相机（2）的连续帧的表观距离的分析在微计算机来实现。

7. 发明公开

EP2960741A2 AUTONOMER SERVICEROBOTER 审中-公开
标题翻译：独立的服务机器人
公开(公告)号：EP2960741A2
公开(公告)日：2015-12-30
申请号：EP15170499.6
申请日：2015-06-03
申请人： ROBERT BOSCH GMBH
发明人： Biber, Peter , Hensel, Stefan
IPC分类号： G05D1/02
CPC分类号： G05D1/0236 , G01S17/936 , G05D1/0225 , G05D1/0248 , G05D1/0272 , G05D2201/0208 , G05D2201/0215
摘要： Die Erfindung geht aus von einem autonomen Serviceroboter, insbesondere von einem autonomen Rasenmäher, mit einer optischen Erfassungsvorrichtung (12) zu einer Umfelderfassung.
Es wird vorgeschlagen, dass die optische Erfassungsvorrichtung (12) eine Laufzeitmessungseinheit (14) aufweist, die zumindest teilweise zu einer Umfelderfassung mittels einer Laufzeitmessung vorgesehen ist.
摘要翻译：本发明是基于一个自主服务机器人，特别是自主的割草机，用光学检测装置（12），以检测环境。它建议，所述光学检测装置（12）具有一个传播时间的测量单元（14），其至少部分地提供给一个传输时间测量的环境检测手段。

8. 发明公开

EP2869157A2 Mobile unit and method of moving mobile unit 审中-公开
标题翻译： Mobile Einheit und Verfahren zum Bewegen der mobilen Einheit
公开(公告)号：EP2869157A2
公开(公告)日：2015-05-06
申请号：EP14191035.6
申请日：2014-10-30
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Shikina, Taku , Nakamura, Tamio , Kouno, Dai , Nishimura, Takashi
IPC分类号： G05D1/02 , B25J9/00
CPC分类号： B25J9/1676 , G01S17/936 , G05B2219/40298 , G05D1/0225 , G05D1/0236 , G05D2201/0216 , Y10S901/01 , Y10S901/47
摘要： A mobile unit (100, 600) according to an embodiment includes a main body (101, 601), a moving mechanism (103), a sensor (102), a recognizer (104), a first movement adjuster (105), a second landmark recognizer (106), and a second movement adjuster (107). The moving mechanism (103) moves the main body (101, 601). The sensor (102) detects a distance and a direction to an object around the main body (101, 601). The recognizer (104) recognizes a landmark based on a detection result of the sensor (102). The first movement adjuster (105) controls the moving mechanism (103) such that the main body (101, 601) is moved to a target position based on the landmark. If the distance to the landmark has become smaller than a first threshold, the second landmark recognizer (106) recognizes a second landmark. The second movement adjuster (107) controls the moving mechanism (103) such that the main body (101, 601) is moved to the target position based on the second landmark.
摘要翻译：根据实施例的移动单元（100,600）包括主体（101,601），移动机构（103），传感器（102），识别器（104），第一移动调节器（105），第二地标识别器（106）和第二移动调节器（107）。移动机构（103）使主体（101,601）移动。传感器（102）检测与主体（101,601）相对的物体的距离和方向。识别器（104）基于传感器（102）的检测结果来识别地标。第一移动调节器（105）控制移动机构（103），使得主体（101,601）基于地标移动到目标位置。如果到地标的距离变得小于第一阈值，则第二地标识别器（106）识别第二地标。第二移动调节器（107）控制移动机构（103），使得主体（101,601）基于第二标记移动到目标位置。

9. 发明公开

EP2354311A3 Vorrichtung zur Unterstützung einer Aufbringung einer Bodenmarkierung mit einem Fahrzeug sowie Fahrzeug 审中-公开
标题翻译：一种用于支承地面标记的与车辆的应用和该车辆设备
公开(公告)号：EP2354311A3
公开(公告)日：2014-09-03
申请号：EP10197280.0
申请日：2010-12-29
申请人： Robert Bosch GmbH
发明人： Breuing, Holger
IPC分类号： E01C23/16 , G05D1/02
CPC分类号： E01C23/163 , G05D1/0236 , G05D2201/0213
摘要： Die vorliegende Erfindung betrifft eine Vorrichtung (15) zur Unterstützung einer Aufbringung einer Bodenmarkierung (31,32) mit einem Fahrzeug, wobei die Vorrichtung Sensordaten einer Sensorik (13,14) auswertet, wobei die Sensorik eine Markierung (21) erfasst, dadurch gekennzeichnet, dass die Vorrichtung Daten ausgibt und die Daten eine Lenkung (11) des Fahrzeugs unterstützen. Verfahren für eine Aufbringung einer Bodenmarkierung mit einem Fahrzeug, wobei das Fahrzeug eine Sensorik aufweist, die Sensorik eine Altmarkierung oder eine Vormarkierung erfasst und von der Sensorik erfasste Daten ausgewertet werden. Dabei wird die Lenkung des Fahrzeugs von den ausgewerteten Daten unterstützt wird.

10. 发明授权

EP2016473B1 REFERENZSTRAHLGENERATOR ZUR ERZEUGUNG VON LEITSTRAHLEN FÜR MARKIERWAGEN 有权
标题翻译：参考光束发生器，用于产生信标进行标记
公开(公告)号：EP2016473B1
公开(公告)日：2012-07-04
申请号：EP07724766.6
申请日：2007-05-02
申请人： Leica Geosystems AG
发明人： WALSER, Bernd
IPC分类号： G05D1/02 , G01C15/00 , A63C19/06 , F16M11/32
CPC分类号： G01C15/004 , A63C19/06 , F16M11/10 , F16M11/36 , G05D1/0236
摘要： A reference beam generator (1c) for guiding a marking machine, which can be moved in relation to the reference beam generator (1c), for producing ground markings has a support element with at least three adjustable legs (2a', 2b) as positioning elements relative to the surface of the ground (EOB) and a source of electromagnetic radiation for generating a first and a second guide beam which is emitted with a prespecified opening angle in a fan-shaped manner. In this case, two legs (2a') of the at least three adjustable legs (2a', 2b) can be adjusted by an adjusting component in an associated manner in opposite directions.

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