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1. 发明申请

US20160236869A1 Transfer Robot System 审中-公开
标题翻译：传送机器人系统
公开(公告)号：US20160236869A1
公开(公告)日：2016-08-18
申请号：US15027892
申请日：2013-10-11
申请人： HITACHI, LTD.
发明人： Nobutaka KIMURA , Takashi WATANABE
IPC分类号： B65G1/137 , G06Q10/08 , G05D1/02 , B65G1/04 , B65G1/10
CPC分类号： B65G1/1378 , B65G1/0492 , B65G1/10 , G05D1/0291 , G05D1/0297 , G05D2201/0216 , G06Q10/087
摘要： Disclosed is a transfer robot system wherein: a robot has a connecting unit, which removably holds a rack, and which can be electrically connected to the rack, a driving unit, and a control unit; and the control unit moves the robot to the vicinity of a first rack by means of the drive unit, moves the robot and the first rack to the vicinity of a second rack by connecting the robot and the first rack to each other by means of the connecting unit, supplies power to a transfer unit of the first and/or second rack via the connecting unit, operates the transfer unit corresponding to positions where articles to be moved are placed, and moves the articles to predetermined areas on the other rack from the rack having the articles placed thereon.
摘要翻译：公开了一种传送机器人系统，其中：机器人具有可拆卸地保持架的连接单元，并且其可以电连接到机架，驱动单元和控制单元; 并且所述控制单元通过所述驱动单元将所述机器人移动到第一机架附近，通过将所述机器人和所述第一机架彼此连接，将所述机器人和所述第一机架移动到第二机架附近连接单元，经由连接单元向第一和/或第二机架的传送单元供电，对应于待移动物品的位置操作传送单元，并将物品从另一个机架上的预定区域移动到将物品放置在其上。

2. 发明申请

US20200342224A1 Article Recognition System and Article Recognition Method 审中-公开
公开(公告)号：US20200342224A1
公开(公告)日：2020-10-29
申请号：US16851647
申请日：2020-04-17
申请人： Hitachi, Ltd.
发明人： Nobuhiro CHIHARA , Takaomi NISHIGAITO , Nobutaka KIMURA , Taiki YANO , Fumiko BENIYAMA
IPC分类号： G06K9/00 , G08B21/18 , G06K9/46 , G06K9/62 , G06K9/44 , G06K9/20
摘要： A technology capable of dealing with a variation in appropriate recognition parameters due to a change in work environment at a work site at a time of recognizing an article in an image. An article recognition system includes: an input section to which a captured image is input; an output section that presents information to a user; a storage section that stores master data defining features of an object to be recognized; a recognition section that detects the object to be recognized in the image; and a recognition evaluation section that evaluates a recognition content of the recognition section and that presents an alert to the output section on the basis of an evaluation result.

3. 发明申请

US20200174473A1 AUTONOMOUS BODY SYSTEM AND CONTROL METHOD THEREOF 审中-公开
公开(公告)号：US20200174473A1
公开(公告)日：2020-06-04
申请号：US16669049
申请日：2019-10-30
申请人： HITACHI, LTD.
发明人： Toshio MORIYA , Takashi WATANABE , Nobutaka KIMURA
IPC分类号： G05D1/00 , G05D1/02
摘要： An autonomous system including a plurality of autonomous bodies, each of the autonomous bodies includes a situation grasping unit that grasps situation, an operation determining unit that determines an operation based on the grasped situation, and an operation executing unit that executes the determined operation, the plurality of autonomous bodies included in the autonomous body system includes one or more first autonomous bodies and two or more second autonomous bodies, situation grasped by the situation grasping unit of the first autonomous body includes situation of the second autonomous body, the situation grasped by the situation grasping unit of the second autonomous body includes a result of an operation executed by the operation executing unit of the first autonomous body, and the operation determining unit of the second autonomous body determines an operation based on the result of the operation executed by the operation executing unit of the first autonomous body.

4. 发明申请

US20180215539A1 SHELF TRANSPORT SYSTEM, SHELF TRANSPORT VEHICLE, AND SHELF TRANSPORT METHOD 审中-公开
公开(公告)号：US20180215539A1
公开(公告)日：2018-08-02
申请号：US15747559
申请日：2015-08-03
申请人： Hitachi, Ltd.
发明人： Nobutaka KIMURA , Fumiko BENIYAMA , Keisuke FUJIMOTO
IPC分类号： B65G1/02 , G05D1/02 , B65G1/04 , B65G1/10 , B65G1/137
摘要： A shelf transport system comprising a shelf transport vehicle transporting a shelf having shelf legs, the shelf transport vehicle comprising: a distance sensor measuring a distance to an obstacle; a shelf leg candidate detection module detecting shelf leg candidates, which are candidates for the shelf legs; a shelf arrangement candidate calculation module calculating shelf arrangement candidates, in each of which the shelf is virtually arranged on the shelf leg candidates; an excess/deficiency calculation module calculating, for each of the shelf arrangement candidates, the excessive and the deficient number of shelf leg candidates; a shelf arrangement determination module determining a shelf arrangement from among the shelf arrangement candidates based on the excessive and the deficient number of shelf leg candidates; and a movement destination determination module determining a shelf to which the shelf transport vehicle is to be moved based on the shelf arrangement.

5. 发明申请

US20210256317A1 SYSTEM FOR DETERMINING DIVERTING AVAILABILITY OF OBJECT RECOGNITION MODEL 有权
公开(公告)号：US20210256317A1
公开(公告)日：2021-08-19
申请号：US17163620
申请日：2021-02-01
申请人： Hitachi, Ltd.
发明人： Ryo SAKAI , Nobutaka KIMURA
IPC分类号： G06K9/62 , G06T7/20
摘要： To determine diverting availability of a trained recognition model of another object to a target object. A system includes one or more processors and one or more storage devices. The one or more storage devices store an image time series including a target object, and a trained object recognition model for one or more objects which are different from the target object. The one or more processors acquire a movement trajectory of the target object from a recognition result of the target object in the image time series by the object recognition model, and determine diverting availability of the object recognition model to the target object based on the movement trajectory of the target object.

6. 发明申请

US20200184269A1 MACHINE LEARNING SYSTEM, DOMAIN CONVERSION DEVICE, AND MACHINE LEARNING METHOD 审中-公开
公开(公告)号：US20200184269A1
公开(公告)日：2020-06-11
申请号：US16707647
申请日：2019-12-09
申请人： HITACHI, LTD.
发明人： Ryo SAKAI , Nobutaka KIMURA , Takahiro MIKI
IPC分类号： G06K9/62 , G06T7/50 , G06T7/70 , G06N20/00 , G06N5/04
摘要： A machine learning system includes a first determination model that determines whether an input image is a second domain image, and a second determination model that determines whether an extracted image obtained by extracting an area where an object is presented from the input image is from the second domain image. Either a pseudo second domain image or the second domain image is selected and input into the first determination model, and either a first extracted image in the pseudo second domain image or a second extracted image in the second domain image is selected and input into an image extracting unit. Learning of the first determination model is performed based on a first determination result, learning of the second determination model is performed based on a second determination result, and learning of a pseudo image generative model is performed based on the first and second determination results.

7. 发明申请

US20220343538A1 Model Creation Device and Model Creation Method 有权
公开(公告)号：US20220343538A1
公开(公告)日：2022-10-27
申请号：US17642615
申请日：2020-11-17
申请人： HITACHI, LTD.
发明人： Taiki YANO , Nobutaka KIMURA , Ryo SAKAI
IPC分类号： G06T7/73 , G06T17/20 , G06T19/20
摘要： A model creation apparatus being configured to: hold at least one image of the registration target object in one or more postures and a reference model indicating a shape of a reference object; acquire information indicating a feature of the registration target object in a first posture; and correct, when a shape in the first posture that is indicated by the reference model is determined to be dissimilar based on a predetermined first condition, the reference model based on the information indicating the feature to thereby create the model indicating the shape of the registration target object.

8. 发明申请

US20150321346A1 Robot 有权
标题翻译：机器人
公开(公告)号：US20150321346A1
公开(公告)日：2015-11-12
申请号：US14693282
申请日：2015-04-22
申请人： Hitachi, Ltd.
发明人： Keisuke FUJIMOTO , Nobutaka KIMURA , Toshio MORIYA , Taiki FUJI
IPC分类号： B25J9/10
CPC分类号： B25J9/10 , G05D1/024 , G05D1/0274 , G05D2201/0216 , Y10S901/01 , Y10S901/47
摘要： A robot is provided. A measurement unit measures an object in a space. An own-position estimation unit calculates an own position of a mobile unit moving through the space by matching measurement data acquired by the measurement unit with map data representing information about the object in the space. A classification unit acquires class-based measurement data obtained by classifying the measurement data into at least two predetermined classes. A class-based own-position estimation unit estimates an own position of the mobile unit for each of the at least two predetermined classes by matching a class-based map having a position of the objects recorded therein for each class with the class-based measurement data. An integration unit configured to integrate the own positions estimated for the respective at least two predetermined classes. A control unit controls the mobile unit based on information from the integration unit.
摘要翻译：提供机器人。测量单位测量空间中的物体。自身位置估计单元通过将由测量单元获取的测量数据与表示关于空间中的对象的信息的地图数据相匹配来计算移动通过空间的移动单元的自身位置。分类单元通过将测量数据分类为至少两个预定类别而获得的基于类的测量数据。基于类的自身位置估计单元通过将具有其中记录的每个类别的对象的位置的基于类的地图与基于类的测量相匹配来估计移动单元对于至少两个预定类别中的每一个的自身位置数据。一种整合单元，被配置为对针对相应的至少两个预定类别估计的自身位置进行积分。控制单元根据来自集成单元的信息来控制移动单元。

9. 发明申请

US20220289496A1 PALLETIZING SYSTEM AND PALLETIZING METHOD 有权
公开(公告)号：US20220289496A1
公开(公告)日：2022-09-15
申请号：US17639760
申请日：2020-03-13
申请人： HITACHI, LTD.
发明人： Sanato NAGATA , Kei UTSUGI , Nobutaka KIMURA
IPC分类号： B65G43/10 , B65G43/08 , B65G57/24
摘要： A plurality of workpieces include a plurality of first workpieces of a first workpiece group to be loaded onto a first loaded member according to a first loading sequence and a plurality of second workpieces of a second workpiece group to be loaded onto a second loaded member according to a second loading sequence. On a conveying device, workpieces are arranged at ransom with respect to respective arrangement sequences of the first workpiece group and the second workpiece group and the classifications of the first workpiece group and the second workpiece group. On a conveying device, workpieces of the first workpiece group are sequentially arranged based on the first loading sequence and workpieces of the second workpiece group are sequentially arranged based on the second loading sequence. At the same time, the workpieces of the first workpiece group and the second workpiece group are arranged together.

10. 发明申请

US20210087033A1 MACHINE LEARNING METHOD, FORKLIFT CONTROL METHOD, AND MACHINE LEARNING APPARATUS 有权
公开(公告)号：US20210087033A1
公开(公告)日：2021-03-25
申请号：US17007504
申请日：2020-08-31
申请人： HITACHI, LTD. , HITACHI SOLUTIONS, LTD.
发明人： Nobutaka KIMURA , Kouichi SETO , Yutaka IWAMOTO , Hidekazu ITO , Koji ARA
IPC分类号： B66F9/075 , G05D1/02 , G06N20/00
摘要： A forklift which carries a cargo is includes a machine learning apparatus which executes a procedure of: accepting input of learning data of a first category group and evaluation data of a second category group; extracting the learning data of at least one category from the first category group and calculating parameters of the estimation models for controlling the forklift by using the extracted learning data; extracting the evaluation data of at least one category from the second category group and evaluating the estimation models, for which the parameters are calculated, by using the extracted evaluation data; and outputting an estimation model M whose data evaluation result is equal to or larger than a specified threshold value, from among the estimation models for which the parameters are calculated, and a category of the evaluation data used for the evaluation of the estimation model M.

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