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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

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.

6. 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。

7. 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).

8. 发明申请

US20080147261A1 Guide Robot Device and Guide System 有权
标题翻译：指导机器人装置和导向系统
公开(公告)号：US20080147261A1
公开(公告)日：2008-06-19
申请号：US11957567
申请日：2007-12-17
申请人： Ryoko Ichinose , Junichi Tamamoto
发明人： Ryoko Ichinose , Junichi Tamamoto
IPC分类号： G01C22/00
CPC分类号： G01C22/006
摘要： A guide robot device including a guide display unit for displaying the guide information to an unguided person and a moving unit adapted to move with the guide display unit mounted thereon is disclosed. The guide robot device further includes the guide display unit variable in the direction of the guide information, a destination position setting unit for setting the destination position of the unguided person, an unguided person position detection unit for detecting the position of the unguided person, and a guide position calculation unit for calculating the guide position as related to the destination position, the detected position of the unguided person and the distance from the guide robot device to the unguided person. The guide robot device is moved to the calculated guide position and the direction of the guide information determined.
摘要翻译：公开了一种引导机器人装置，其包括用于向非导向人员显示引导信息的引导显示单元和适于与安装在其上的引导显示单元一起移动的移动单元。引导机器人装置还包括在引导信息的方向上可变的引导显示单元，用于设置非导向人的目的地位置的目的地位置设定单元，用于检测非导向人物的位置的非导向人位置检测单元，以及引导位置计算单元，用于计算与目的地位置相关的引导位置，未检测人的检测位置以及从引导机器人装置到非导向人的距离。引导机器人装置被移动到计算出的导向位置并确定导向信息的方向。

9. 发明授权

US08958910B2 Elevator system that autonomous mobile robot takes together with person 有权
标题翻译：自主移动机器人与人相处的电梯系统
公开(公告)号：US08958910B2
公开(公告)日：2015-02-17
申请号：US13177789
申请日：2011-07-07
申请人： Ryoko Ichinose , Ikuo Takeuchi , Takashi Teramoto
发明人： Ryoko Ichinose , Ikuo Takeuchi , Takashi Teramoto
IPC分类号： G05B15/00 , G05B19/00 , B66B1/24
CPC分类号： B66B1/2458
摘要： An elevator system which an autonomous mobile robot and human user can utilize safely and efficiently. The system has an available area detection unit to detect an available area in a cage, and a riding possibility/impossibility determination unit to determine whether or not the autonomous mobile robot can get on the cage based on information on size and position of the available area detected by the available area detection unit. The autonomous mobile robot gets on the cage only when the riding possibility/impossibility determination unit determines that riding is possible.
摘要翻译：自动移动机器人和人类用户可以安全有效地利用的电梯系统。该系统具有可用区域检测单元，用于检测笼中的可用区域;骑乘可能性/不可能性确定单元，用于基于有关可用区域的尺寸和位置的信息来确定自主移动机器人是否可以进入笼子由可用区域检测单元检测。仅当乘坐可能性/不可能性确定单元确定骑乘可能时，自主移动机器人才能进入轿厢。

10. 发明授权

US08195353B2 Guide robot device and guide system 有权
标题翻译：引导机器人装置和引导系统
公开(公告)号：US08195353B2
公开(公告)日：2012-06-05
申请号：US11957567
申请日：2007-12-17
申请人： Ryoko Ichinose , Junichi Tamamoto
发明人： Ryoko Ichinose , Junichi Tamamoto
IPC分类号： G01C22/00
CPC分类号： G01C22/006
摘要： A guide robot device including a guide display unit for displaying the guide information to an unguided person and a moving unit adapted to move with the guide display unit mounted thereon is disclosed. The guide robot device further includes the guide display unit variable in the direction of the guide information, a destination position setting unit for setting the destination position of the unguided person, an unguided person position detection unit for detecting the position of the unguided person, and a guide position calculation unit for calculating the guide position as related to the destination position, the detected position of the unguided person and the distance from the guide robot device to the unguided person. The guide robot device is moved to the calculated guide position and the direction of the guide information determined.
摘要翻译：公开了一种引导机器人装置，其包括用于向非导向人员显示引导信息的引导显示单元和适于与安装在其上的引导显示单元一起移动的移动单元。引导机器人装置还包括在引导信息的方向上可变的引导显示单元，用于设置非导向人的目的地位置的目的地位置设定单元，用于检测非导向人物的位置的非导向人位置检测单元，以及引导位置计算单元，用于计算与目的地位置相关的引导位置，未检测人的检测位置以及从引导机器人装置到非导向人的距离。引导机器人装置被移动到计算出的导向位置并确定导向信息的方向。

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