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1. 发明授权

US08751089B2 Trajectory tracking control system and method for mobile unit 有权
标题翻译：轨迹跟踪控制系统及移动单元的方法
公开(公告)号：US08751089B2
公开(公告)日：2014-06-10
申请号：US12282998
申请日：2007-03-09
申请人： Hidenori Yabushita , Kazuhiro Mima , Takemitsu Mori , Yoshiaki Asahara
发明人： Hidenori Yabushita , Kazuhiro Mima , Takemitsu Mori , Yoshiaki Asahara
IPC分类号： G01C22/00 , G05D1/00 , G06F19/00 , G05D1/02 , B60T8/172 , G06N3/00
CPC分类号： G05D1/0272 , B60T8/172 , G05D1/0212 , G06N3/008
摘要： A trajectory tracking control system according to the invention controls a robot (1) to track a target path (100). In this system, the target path (100) is approximated to an arc, and the curvature of the arc is calculated. At this time, the curvature is calculated in accordance with the moving speed of the robot (1). Then, the control of the robot (1) is set in accordance with the calculated curvature.
摘要翻译：根据本发明的轨迹跟踪控制系统控制机器人（1）来跟踪目标路径（100）。在该系统中，目标路径（100）近似为弧，并且计算弧的曲率。此时，根据机器人（1）的移动速度来计算曲率。然后，根据计算的曲率来设定机器人（1）的控制。

2. 发明申请

US20090099717A1 TRAJECTORY TRACKING CONTROL SYSTEM AND METHOD FOR MOBILE UNIT 有权
标题翻译：轨迹跟踪控制系统和移动单元的方法
公开(公告)号：US20090099717A1
公开(公告)日：2009-04-16
申请号：US12282998
申请日：2007-03-09
申请人： Hidenori Yabushita , Kazuhiro Mima , Takemitsu Mori , Yoshiaki Asahara
发明人： Hidenori Yabushita , Kazuhiro Mima , Takemitsu Mori , Yoshiaki Asahara
IPC分类号： G05D1/00
CPC分类号： G05D1/0272 , B60T8/172 , G05D1/0212 , G06N3/008
摘要： A trajectory tracking control system according to the invention controls a robot (1) to track a target path (100). In this system, the target path (100) is approximated to an arc, and the curvature of the arc is calculated. At this time, the curvature is calculated in accordance with the moving speed of the robot (1). Then, the control of the robot (1) is set in accordance with the calculated curvature.
摘要翻译：根据本发明的轨迹跟踪控制系统控制机器人（1）来跟踪目标路径（100）。在该系统中，目标路径（100）近似为弧，并且计算弧的曲率。此时，根据机器人（1）的移动速度来计算曲率。然后，根据计算的曲率来设定机器人（1）的控制。

3. 发明申请

US20110010033A1 AUTONOMOUS MOBILE ROBOT, SELF POSITION ESTIMATION METHOD, ENVIRONMENTAL MAP GENERATION METHOD, ENVIRONMENTAL MAP GENERATION APPARATUS, AND DATA STRUCTURE FOR ENVIRONMENTAL MAP 有权
标题翻译：自动移动机器人，自动位置估计方法，环境地图生成方法，环境地图生成装置和环境地图的数据结构
公开(公告)号：US20110010033A1
公开(公告)日：2011-01-13
申请号：US12919354
申请日：2009-01-26
申请人： Yoshiaki Asahara , Kazuhiro Mima , Hidenori Yabushita
发明人： Yoshiaki Asahara , Kazuhiro Mima , Hidenori Yabushita
IPC分类号： G05D1/02 , B25J5/00 , B25J13/08
CPC分类号： G05D1/0274 , G05D1/0231 , G05D1/024 , G05D1/0242 , G05D1/0251 , G05D1/0255
摘要： To improve the accuracy of the self position estimation of a mobile robot. A robot measures a distance to an object in the mobile environment by using a range sensor. An environmental map storage unit stores an environmental map containing a plurality of map data each corresponding to a respective one of a plurality of measurement directions from which a point in the mobile environment is to be observed. A self position estimation unit selects a map data corresponding to a measurement direction in which a distance to the object is measured by the range sensor from the plurality of map data. Then, the self position estimation unit estimates a self position of the mobile robot based on the selected map data and range data obtained by the range sensor.
摘要翻译：提高移动机器人自身位置估计的准确性。机器人通过使用量程传感器来测量与移动环境中物体的距离。环境地图存储单元存储包含多个地图数据的环境地图，每个地图数据对应于要从其观察移动环境中的点的多个测量方向中的相应一个。自身位置估计单元从多个地图数据中选择与由距离传感器测量到物体的距离的测量方向对应的地图数据。然后，自身位置估计单元基于所选择的地图数据和由距离传感器获得的范围数据来估计移动机器人的自身位置。

4. 发明申请

US20100082194A1 PATH PLANNING DEVICE AND METHOD, COST EVALUATION DEVICE, AND MOVING BODY 有权
标题翻译：路径规划设备和方法，成本评估设备和移动体
公开(公告)号：US20100082194A1
公开(公告)日：2010-04-01
申请号：US12442234
申请日：2008-07-04
申请人： Hidenori Yabushita , Kazuhiro Mima , Yoshiaki Asahara
发明人： Hidenori Yabushita , Kazuhiro Mima , Yoshiaki Asahara
IPC分类号： G05D1/02
CPC分类号： G05D1/0217 , G06Q10/047
摘要： To generate an optimal path in a search space represented by a grid. A path search device includes: an edge generation section that generates edges extending to neighboring nodes located at least forward and diagonally forward right and left of a focus node, assuming that each grid point is a node and that a minimum cost node among end nodes each located at an end of the edges is the focus node, when a cost from a start point to a given node is a cost of the given node; an edge cost calculation/readout section that reads out a shortest distance from a reference node to the neighboring node (first distance) and a shortest distance from the reference node to the focus node (second distance) from a database, assuming that a node obtained by tracing back a predetermined number of nodes from the focus node in a direction toward the start point along the path is the reference node; a path cost calculation section that calculates a cost of a path from the start point to the neighboring node as a sum of costs of edges constituting the path; and a path determination section that selects a path having a minimum cost from the start point to the end point.
摘要翻译：在网格表示的搜索空间中生成最佳路径。路径搜索装置包括：边缘生成部分，其生成延伸到聚焦节点的至少向前和向右前后左右的相邻节点的边缘，假设每个网格点是节点，并且每个节点中的最小成本节点当从起点到给定节点的成本是给定节点的成本时，位于边缘的末端的是焦点节点; 边缘成本计算/读出部，从数据库读出从参考节点到相邻节点的最短距离（第一距离）和从参考节点到聚焦节点（第二距离）的最短距离，假设获得的节点通过沿着路径沿朝着起点的方向从聚焦节点追溯预定数量的节点是参考节点; 路径成本计算部，其计算从起始点到相邻节点的路径的成本，作为构成路径的边缘的成本的总和; 以及路径决定部，从起始点到终点，选择具有最小成本的路径。

5. 发明授权

US08280574B2 Path planning device and method, cost evaluation device, and moving body 有权
标题翻译：路径规划设备和方法，成本评估装置和移动体
公开(公告)号：US08280574B2
公开(公告)日：2012-10-02
申请号：US12442234
申请日：2008-07-04
申请人： Hidenori Yabushita , Kazuhiro Mima , Yoshiaki Asahara
发明人： Hidenori Yabushita , Kazuhiro Mima , Yoshiaki Asahara
IPC分类号： G01C22/00
CPC分类号： G05D1/0217 , G06Q10/047
摘要： To generate an optimal path in a search space represented by a grid. A path search device includes: an edge generation section that generates edges extending to neighboring nodes located at least forward and diagonally forward right and left of a focus node, assuming that each grid point is a node and that a minimum cost node among end nodes each located at an end of the edges is the focus node, when a cost from a start point to a given node is a cost of the given node; an edge cost calculation/readout section that reads out a shortest distance from a reference node to the neighboring node (first distance) and a shortest distance from the reference node to the focus node (second distance) from a database, assuming that a node obtained by tracing back a predetermined number of nodes from the focus node in a direction toward the start point along the path is the reference node; a path cost calculation section that calculates a cost of a path from the start point to the neighboring node as a sum of costs of edges constituting the path; and a path determination section that selects a path having a minimum cost from the start point to the end point.
摘要翻译：在网格表示的搜索空间中生成最佳路径。路径搜索装置包括：边缘生成部分，其生成延伸到聚焦节点的至少向前和向右前后左右的相邻节点的边缘，假设每个网格点是节点，并且每个节点中的最小成本节点当从起点到给定节点的成本是给定节点的成本时，位于边缘的末端的是焦点节点; 边缘成本计算/读出部，从数据库读出从参考节点到相邻节点的最短距离（第一距离）和从参考节点到聚焦节点（第二距离）的最短距离，假设获得的节点通过沿着路径沿朝着起点的方向从聚焦节点追溯预定数量的节点是参考节点; 路径成本计算部，其计算从起始点到相邻节点的路径的成本，作为构成路径的边缘的成本的总和; 以及路径决定部，从起始点到终点，选择具有最小成本的路径。

6. 发明申请

US20100324771A1 AUTONOMOUS MOVING BODY, ITS CONTROL METHOD, AND CONTROL SYSTEM 有权
标题翻译：自动移动体，其控制方法和控制系统
公开(公告)号：US20100324771A1
公开(公告)日：2010-12-23
申请号：US12866555
申请日：2009-01-19
申请人： Hidenori Yabushita , Kazuhiro Mima , Yoshiaki Asahara
发明人： Hidenori Yabushita , Kazuhiro Mima , Yoshiaki Asahara
IPC分类号： G05D1/00
CPC分类号： G05D1/024 , G01C21/26 , G05D1/00 , G05D1/0246 , G05D1/0261 , G05D1/027 , G05D1/0274 , G05D1/0278
摘要： To provide an autonomous moving body capable of moving with efficiency along a path toward a travel end point while avoiding a collision with a moving obstacle, its control method, and its control system. An autonomous moving body in accordance with the present invention includes means to create a traveling path of the autonomous moving body that extends from a travel start point to a travel end point, means to calculate a point at which a moving obstacle located within the moving area crosses the created traveling path of the autonomous moving body as a collision prediction point, means to calculate a first passage time period during which the moving obstacle passes through the collision prediction point, and means to calculate a second passage time period during which the autonomous moving body passes through the collision prediction point. Further, if at least a part of the second passage time period overlaps the first passage time period, the traveling speed of the autonomous moving body is adjusted so that the second passage time period does not overlap the first passage time period.
摘要翻译：提供能够沿着朝向行驶终点的路径的效率移动的自主移动体，同时避免与移动障碍物的碰撞，其控制方法及其控制系统。根据本发明的自主移动体包括用于创建从行驶起点延伸到行驶终点的自主移动体的行进路径的装置，用于计算位于移动区域内的移动障碍物的点穿过所创建的自主移动体的行进路径作为碰撞预测点，计算移动障碍物通过碰撞预测点的第一通过时间段的装置，以及计算自主移动的第二通过时间段的装置身体通过碰撞预测点。此外，如果第二通过时间段的至少一部分与第一通过时间段重叠，则自动移动体的行进速度被调整为使得第二通过时间段不与第一通过时间段重叠。

7. 发明授权

US09239580B2 Autonomous mobile robot, self position estimation method, environmental map generation method, environmental map generation apparatus, and data structure for environmental map 有权
标题翻译：自动移动机器人，自我位置估计方法，环境地图生成方法，环境地图生成装置和环境地图数据结构
公开(公告)号：US09239580B2
公开(公告)日：2016-01-19
申请号：US12919354
申请日：2009-01-26
申请人： Yoshiaki Asahara , Kazuhiro Mima , Hidenori Yabushita
发明人： Yoshiaki Asahara , Kazuhiro Mima , Hidenori Yabushita
IPC分类号： G05D1/02
CPC分类号： G05D1/0274 , G05D1/0231 , G05D1/024 , G05D1/0242 , G05D1/0251 , G05D1/0255
摘要： To improve the accuracy of the self position estimation of a mobile robot. A robot measures a distance to an object in the mobile environment by using a range sensor. An environmental map storage unit stores an environmental map containing a plurality of map data each corresponding to a respective one of a plurality of measurement directions from which a point in the mobile environment is to be observed. A self position estimation unit selects a map data corresponding to a measurement direction in which a distance to the object is measured by the range sensor from the plurality of map data. Then, the self position estimation unit estimates a self position of the mobile robot based on the selected map data and range data obtained by the range sensor.
摘要翻译：提高移动机器人自身位置估计的准确性。机器人通过使用量程传感器来测量与移动环境中物体的距离。环境地图存储单元存储包含多个地图数据的环境地图，每个地图数据对应于要从其观察移动环境中的点的多个测量方向中的相应一个。自身位置估计单元从多个地图数据中选择与由距离传感器测量到物体的距离的测量方向对应的地图数据。然后，自身位置估计单元基于所选择的地图数据和由距离传感器获得的范围数据来估计移动机器人的自身位置。

8. 发明申请

US20100198443A1 PATH PLANNING DEVICE, PATH PLANNING METHOD, AND MOVING BODY 审中-公开
标题翻译：路径规划设备，路径规划方法和移动体
公开(公告)号：US20100198443A1
公开(公告)日：2010-08-05
申请号：US12669409
申请日：2008-07-04
申请人： Hidenori Yabushita , Kazuhiro Mima , Yoshiaki Asahara
发明人： Hidenori Yabushita , Kazuhiro Mima , Yoshiaki Asahara
IPC分类号： G05D1/00 , G01C21/00
CPC分类号： G05D1/0274 , G05D1/0246 , G05D2201/0214
摘要： To provide a path planning device and a path planning method capable of, when installed in a moving body such as a robot, exhibiting a natural moving action, and a moving body having such a path planning device installed therein. A path planning device includes a path guide area setting unit that sets a first movement prohibited area for assisting moving path generation on one or both sides of the robot, and a path decision unit that determines a path to a target position such that the robot does not move inside the path guide area. The path guide area setting unit sets the path guide area such that its perimeter passes through the center of that robot.
摘要翻译：提供一种路径规划装置和路径规划方法，其能够在安装在诸如机器人的移动体中时呈现自然的移动动作，并且具有安装有这样的路径规划装置的移动体。路径规划装置包括路径引导区域设定单元，其设定用于辅助机器人的一侧或两侧的移动路径生成的第一移动禁止区域，以及路径决定单元，其确定到机器人的目标位置的路径不能在路径引导区内移动。路径引导区域设定单元设置路径引导区域，使得其周边通过该机器人的中心。

9. 发明授权

US09182762B2 Autonomous moving body, its control method, and control system 有权
标题翻译：自动移动体，其控制方法和控制系统
公开(公告)号：US09182762B2
公开(公告)日：2015-11-10
申请号：US12866555
申请日：2009-01-19
申请人： Hidenori Yabushita , Kazuhiro Mima , Yoshiaki Asahara
发明人： Hidenori Yabushita , Kazuhiro Mima , Yoshiaki Asahara
IPC分类号： G05D1/02 , G01C21/26 , G05D1/00
CPC分类号： G05D1/024 , G01C21/26 , G05D1/00 , G05D1/0246 , G05D1/0261 , G05D1/027 , G05D1/0274 , G05D1/0278
摘要： To provide an autonomous moving body capable of moving with efficiency along a path toward a travel end point while avoiding a collision with a moving obstacle, its control method, and its control system. An autonomous moving body in accordance with the present invention includes means to create a traveling path of the autonomous moving body that extends from a travel start point to a travel end point, means to calculate a point at which a moving obstacle located within the moving area crosses the created traveling path of the autonomous moving body as a collision prediction point, means to calculate a first passage time period during which the moving obstacle passes through the collision prediction point, and means to calculate a second passage time period during which the autonomous moving body passes through the collision prediction point. Further, if at least a part of the second passage time period overlaps the first passage time period, the traveling speed of the autonomous moving body is adjusted so that the second passage time period does not overlap the first passage time period.
摘要翻译：提供能够沿着朝向行驶终点的路径的效率移动的自主移动体，同时避免与移动障碍物的碰撞，其控制方法及其控制系统。根据本发明的自主移动体包括用于创建从行驶起点延伸到行驶终点的自主移动体的行进路径的装置，用于计算位于移动区域内的移动障碍物的点穿过所创建的自主移动体的行进路径作为碰撞预测点，计算移动障碍物通过碰撞预测点的第一通过时间段的装置，以及计算自主移动的第二通过时间段的装置身体通过碰撞预测点。此外，如果第二通过时间段的至少一部分与第一通过时间段重叠，则自动移动体的行进速度被调整为使得第二通过时间段不与第一通过时间段重叠。

10. 发明申请

US20120035797A1 AUTONOMOUS MOVING BODY AND CONTROL METHOD THEREOF 有权
标题翻译：自动移动体及其控制方法
公开(公告)号：US20120035797A1
公开(公告)日：2012-02-09
申请号：US13126860
申请日：2009-11-27
申请人： Souichi Oobayashi , Hidenori Yabushita , Takashi Ogura
发明人： Souichi Oobayashi , Hidenori Yabushita , Takashi Ogura
IPC分类号： G05D1/02 , G08G1/16
CPC分类号： G05D1/0274 , G05D1/0214 , G05D1/024 , G05D1/0242 , G05D1/0255 , G05D1/0272
摘要： To enable stable collision avoidance operation without the need to install an infrastructure or the like even in a dangerous area where running out is likely to occur. An autonomous moving body according to the present invention includes: a distance measuring sensor that measures a distance to an object existing in an environment; a distance information acquisition unit that acquires a distance measurement value of the distance measuring sensor as distance information on a measurement point; and a dangerous area extraction unit that categorizes adjacent measurement points as an identical object according to a distance difference between the measurement points, and extracts an endpoint of the object as a dangerous area when the categorized object itself has a size equal to or larger than a predetermined threshold and when an opening formed between endpoints of the objects has a width equal to or larger than a predetermined threshold, in which the autonomous moving body travels so as to avoid a collision in the extracted dangerous area.
摘要翻译：即使在可能发生耗尽的危险区域中也能够进行稳定的避免碰撞操作，而无需安装基础设施等。根据本发明的自主移动体包括：距离测量传感器，其测量与存在于环境中的物体的距离; 距离信息获取单元，其将距离测量传感器的距离测量值作为测量点上的距离信息; 以及危险区域提取单元，其根据所述测量点之间的距离差将相邻测量点分类为相同对象，并且当所述分类对象本身具有等于或大于所述尺寸的尺寸时，将所述对象的端点提取为危险区域并且当在物体的端点之间形成的开口具有等于或大于预定阈值的宽度时，自动移动体行进，以避免在提取的危险区域中发生碰撞。

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