公开(公告)号：US09851211B2

公开(公告)日：2017-12-26

申请号：US15175402

申请日：2016-06-07

申请人： Wataru Hatanaka ,  Daiki Inaba ,  Hiroshi Shimura

发明人： Wataru Hatanaka ,  Daiki Inaba ,  Hiroshi Shimura

IPC分类号： G01C21/34 ,  G05D1/02

CPC分类号： G01C21/34 ,  G05D1/0217 ,  G05D2201/0209

摘要： An information processing apparatus includes: a travel purpose acquisition unit that acquires a travel purpose of a mobile object; a setting unit that sets multiple travel routes in different travel directions in a forward area with respect to the mobile object; a calculation unit that calculates, regarding each of the multiple travel routes, a predictive value of a travel state in which the mobile object travels along each of the multiple travel routes; a computing unit that computes, regarding each of the multiple travel routes, an evaluation value for the mobile object to realize traveling according to the travel purpose from weighting values that are predetermined according to the travel purpose and the predictive values; and a determining unit that determines, as a travel route to be followed next, a travel route with the highest evaluation represented by the evaluation value among the multiple travel routes.

公开(公告)号：US10059004B2

公开(公告)日：2018-08-28

申请号：US15176799

申请日：2016-06-08

申请人： Daiki Inaba ,  Wataru Hatanaka ,  Hiroshi Shimura ,  Atsuo Kawaguchi

发明人： Daiki Inaba ,  Wataru Hatanaka ,  Hiroshi Shimura ,  Atsuo Kawaguchi

IPC分类号： B25J9/16 ,  B25J5/00 ,  B62D55/075 ,  G05D1/02 ,  G05D1/08

CPC分类号： B25J9/1697 ,  B25J5/00 ,  B25J5/005 ,  B25J5/007 ,  B62D55/075 ,  G05D1/0223 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0274 ,  G05D1/0891 ,  G05D2201/0207 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/47

摘要： A robot includes a three-dimensional shape detecting sensor to detect a three dimensional shape of a travel surface existing in a forward travelling direction of the robot, a posture stabilizer to stabilize a posture of a body of the robot, a feature data generator to generate feature data of the detected three dimensional shape, an inclination angle prediction generator to generate a prediction value of an inclination angle of the body when the robot is to reach a position on the travel surface in the forward travelling direction at a future time point based on the feature data and a prediction model, and an overturn prevention controller to control the posture stabilizer to prevent an overturn of the robot based on the prediction value.

公开(公告)号：US20160368149A1

公开(公告)日：2016-12-22

申请号：US15176799

申请日：2016-06-08

申请人： Daiki INABA ,  Wataru HATANAKA ,  Hiroshi SHIMURA ,  Atsuo KAWAGUCHI

发明人： Daiki INABA ,  Wataru HATANAKA ,  Hiroshi SHIMURA ,  Atsuo KAWAGUCHI

IPC分类号： B25J9/16 ,  B25J5/00 ,  B62D55/075

CPC分类号： B25J9/1697 ,  B25J5/00 ,  B25J5/005 ,  B25J5/007 ,  B62D55/075 ,  G05D1/0223 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0274 ,  G05D1/0891 ,  G05D2201/0207 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/47

摘要： A robot includes a three-dimensional shape detecting sensor to detect a three dimensional shape of a travel surface existing in a forward travelling direction of the robot, a posture stabilizer to stabilize a posture of a body of the robot, a feature data generator to generate feature data of the detected three dimensional shape, an inclination angle prediction generator to generate a prediction value of an inclination angle of the body when the robot is to reach a position on the travel surface in the forward travelling direction at a future time point based on the feature data and a prediction model, and an overturn prevention controller to control the posture stabilizer to prevent an overturn of the robot based on the prediction value.

摘要翻译： 机器人包括：三维形状检测传感器，用于检测存在于机器人的前进行进方向上的行进面的三维形状，稳定机器人身体姿势的姿势稳定器;特征数据发生器， 检测出的三维形状的特征数据，倾斜角度预测生成部，其基于以下的时间点，生成当机器人在未来时刻到达行驶面上的位置时的身体的倾斜角度的预测值 特征数据和预测模型，以及防翻转控制器，用于基于预测值来控制姿势稳定器以防止机器人的翻转。

公开(公告)号：US20160363454A1

公开(公告)日：2016-12-15

申请号：US15175402

申请日：2016-06-07

申请人： Wataru HATANAKA ,  Daiki INABA ,  Hiroshi SHIMURA

发明人： Wataru HATANAKA ,  Daiki INABA ,  Hiroshi SHIMURA

IPC分类号： G01C21/34 ,  G05D1/00

CPC分类号： G01C21/34 ,  G05D1/0217 ,  G05D2201/0209

摘要： An information processing apparatus includes: a travel purpose acquisition unit that acquires a travel purpose of a mobile object; a setting unit that sets multiple travel routes in different travel directions in a forward area with respect to the mobile object; a calculation unit that calculates, regarding each of the multiple travel routes, a predictive value of a travel state in which the mobile object travels along each of the multiple travel routes; a computing unit that computes, regarding each of the multiple travel routes, an evaluation value for the mobile object to realize traveling according to the travel purpose from weighting values that are predetermined according to the travel purpose and the predictive values; and a determining unit that determines, as a travel route to be followed next, a travel route with the highest evaluation represented by the evaluation value among the multiple travel routes.

摘要翻译： 信息处理设备包括：旅行目的获取单元，其获取移动对象的旅行目的; 设置单元，其相对于所述移动体在前方区域中，在不同的行进方向上设定多路行驶路线; 计算单元，其针对所述多个行驶路线中的每一个，计算所述移动体沿着所述多个行驶路线中的每一个行进的行驶状态的预测值; 计算单元，对于所述多个行驶路线中的每一个，根据所述行驶目的，从根据所述行驶目的和所述预测值预先确定的加权值，计算出所述移动体实现行驶的评价值; 以及确定单元，其确定在多个行驶路线中作为评估值所表示的具有最高评价的行驶路线作为下一个行驶路线。