公开(公告)号：US20130116880A1

公开(公告)日：2013-05-09

申请号：US13809719

申请日：2011-06-02

申请人： Hideo Shitamoto ,  Tsuyoshi Nakano ,  Shoji Tanaka

发明人： Hideo Shitamoto ,  Tsuyoshi Nakano ,  Shoji Tanaka

IPC分类号： G05D1/02

CPC分类号： G05D1/024 ,  G05D1/0223 ,  G05D1/0236 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0216

摘要： An autonomous mobile body includes a storage unit arranged to store a size D2 of the autonomous mobile body, a laser range sensor arranged to acquire obstacle information, an obstacle identification unit arranged to identify, based on the acquired obstacle information, edge points indicating positions of both ends of a region in which an interfering obstacle exists, the both ends being both ends on a plane parallel or substantially parallel to a passage plane in a direction which is perpendicular or substantially perpendicular to a moving target direction of the autonomous mobile body, a direction setting unit arranged to set a pull-off direction based on the size D2 of the autonomous mobile body and the edge points, and a mobile controller arranged and programmed to control the autonomous mobile body to move toward the pull-off direction.

摘要翻译： 自主移动体包括存储单元，该存储单元被设置为存储自主移动体的尺寸D2，设置成获取障碍物信息的激光范围传感器;障碍物识别单元，被配置为基于获取的障碍物信息来识别指示位置的边缘点 存在干扰障碍的区域的两端，两端在与自主移动体的移动目标方向垂直或基本垂直的方向上平行或大致平行于通道平面的平面上的两端， 方向设定单元，其基于自主移动体和边缘点的大小D2来设定牵引方向;以及移动控制器，其被布置和编程为控制自主移动体朝向拉出方向移动。

公开(公告)号：US08924068B2

公开(公告)日：2014-12-30

申请号：US13809719

申请日：2011-06-02

申请人： Hideo Shitamoto ,  Tsuyoshi Nakano ,  Shoji Tanaka

发明人： Hideo Shitamoto ,  Tsuyoshi Nakano ,  Shoji Tanaka

IPC分类号： G05D1/02

CPC分类号： G05D1/024 ,  G05D1/0223 ,  G05D1/0236 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0216

摘要： An autonomous mobile body includes a storage unit arranged to store a size D2 of the autonomous mobile body, a laser range sensor arranged to acquire obstacle information, an obstacle identification unit arranged to identify, based on the acquired obstacle information, edge points indicating positions of both ends of a region in which an interfering obstacle exists, the both ends being both ends on a plane parallel or substantially parallel to a passage plane in a direction which is perpendicular or substantially perpendicular to a moving target direction of the autonomous mobile body, a direction setting unit arranged to set a pull-off direction based on the size D2 of the autonomous mobile body and the edge points, and a mobile controller arranged and programmed to control the autonomous mobile body to move toward the pull-off direction.

摘要翻译： 自主移动体包括存储单元，该存储单元被设置为存储自主移动体的尺寸D2，设置成获取障碍物信息的激光范围传感器;障碍物识别单元，被配置为基于获取的障碍物信息来识别指示位置的边缘点 存在干扰障碍的区域的两端，两端在与自主移动体的移动目标方向垂直或基本垂直的方向上平行或大致平行于通道平面的平面上的两端， 方向设定单元，其基于自主移动体和边缘点的大小D2来设定牵引方向;以及移动控制器，其被布置和编程为控制自主移动体朝向拉出方向移动。

公开(公告)号：US08515612B2

公开(公告)日：2013-08-20

申请号：US13061945

申请日：2009-08-24

申请人： Shoji Tanaka ,  Hideo Shitamoto

发明人： Shoji Tanaka ,  Hideo Shitamoto

IPC分类号： G01C22/00 ,  G05D1/00 ,  G01C21/00 ,  G06F19/00 ,  G05B19/04 ,  G05B19/18

CPC分类号： G05D1/0274 ,  G05D1/0217 ,  G05D1/024 ,  G05D1/0272

摘要： A route planning device that is capable of comprehending, in advance, a route clearance at a pass-through point on a planned travel route, includes a global map acquisition unit arranged to generate a global map showing an obstacle area in which an obstacle exists, an extended area generation unit arranged to generate an extended obstacle area and three extended area by extending stepwise an outline of the obstacle area contained in the global map, an integrated map generation unit arranged to generate an integrated map by superposing for integration of the extended obstacle area with the three extended areas; a movable area extraction unit arranged to extract a movable area from the integrated map and thinning the same, and a route planning unit arranged to acquire a route clearance at a sub goal according to the extended areas on the integrated map to which the sub goal on the travel route belongs, upon planning the travel route from the thinned movable area.

摘要翻译： 能够预先理解在计划行进路线上的通过点处的路线间隙的路线规划装置包括：全球地图获取单元，被配置为生成示出障碍物存在的障碍物区域的全局地图， 扩展区域生成单元，被布置成通过逐步地扩展包含在全局映射图中的障碍物区域的轮廓来生成扩展障碍区域和三个扩展区域;集成地图生成单元，被布置为通过叠加来扩展扩展障碍物 区域有三个扩展区域; 可移动区域提取单元，其被布置成从集成地图中提取可移动区域并使其变薄;以及路线规划单元，布置成根据子目标的集成地图上的扩展区域获取子目标的路线间隔 旅行路线属于，规划从变薄的可移动区域的旅行路线。

公开(公告)号：US20110166737A1

公开(公告)日：2011-07-07

申请号：US13061945

申请日：2009-08-24

申请人： Shoji Tanaka ,  Hideo Shitamoto

发明人： Shoji Tanaka ,  Hideo Shitamoto

IPC分类号： G05D1/02 ,  G01C21/00

CPC分类号： G05D1/0274 ,  G05D1/0217 ,  G05D1/024 ,  G05D1/0272

摘要： A route planning device that is capable of comprehending, in advance, a route clearance at a pass-through point on a planned travel route, includes a global map acquisition unit arranged to generate a global map showing an obstacle area in which an obstacle exists, an extended area generation unit arranged to generate an extended obstacle area and three extended area by extending stepwise an outline of the obstacle area contained in the global map, an integrated map generation unit arranged to generate an integrated map by superposing for integration of the extended obstacle area with the three extended areas; a movable area extraction unit arranged to extract a movable area from the integrated map and thinning the same, and a route planning unit arranged to acquire a route clearance at a sub goal according to the extended areas on the integrated map to which the sub goal on the travel route belongs, upon planning the travel route from the thinned movable area.

摘要翻译： 能够预先理解在计划行进路线上的通过点处的路线间隙的路线规划装置包括：全球地图获取单元，被配置为生成示出障碍物存在的障碍物区域的全局地图， 扩展区域生成单元，被布置成通过逐步地扩展包含在全局映射图中的障碍物区域的轮廓来生成扩展障碍区域和三个扩展区域;集成地图生成单元，被布置为通过叠加来扩展扩展障碍物 区域有三个扩展区域; 可移动区域提取单元，其被布置成从集成地图中提取可移动区域并使其变薄;以及路线规划单元，布置成根据子目标的集成地图上的扩展区域获取子目标的路线间隔 旅行路线属于，规划从变薄的可移动区域的旅行路线。

公开(公告)号：US08897917B2

公开(公告)日：2014-11-25

申请号：US13121995

申请日：2009-08-25

申请人： Shoji Tanaka ,  Tsuyoshi Nakano

发明人： Shoji Tanaka ,  Tsuyoshi Nakano

IPC分类号： G05B19/04 ,  G05B19/18 ,  G05B15/00 ,  G05B19/00 ,  G05D1/00 ,  G05D3/00 ,  G06F17/00 ,  G01C22/00 ,  G05D1/02

CPC分类号： G05D1/0088 ,  G05D1/024 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0207

摘要： An electronic controller defining an autonomous mobile device includes a self-location estimation unit to estimate a self-location based on a local map that is created according to distance/angle information relative to an object in the vicinity and the travel distance of an omni wheel, an environmental map creation unit to create an environmental map of a mobile area based on the self-location and the local map during the guided travel with using a joystick, a registration switch to register the self-location of the autonomous mobile device as the position coordinate of the setting point when the autonomous mobile device reaches a predetermined setting point during the guided travel, a storage unit to store the environmental map and the setting point, a route planning unit to plan the travel route by using the setting point on the environmental map stored in the storage unit, and a travel control unit to control the autonomous mobile device to autonomously travel along the travel route.

摘要翻译： 定义自主移动设备的电子控制器包括：自定位估计单元，用于基于根据距离/角度信息相对于附近的对象创建的局部映射来估计自身位置，以及全向轮的行进距离 环境地图创建单元，用于使用操纵杆在导航行进期间基于自身位置和局部地图创建移动区域的环境地图;注册开关，用于将自主移动设备的自身位置注册为 自动移动装置在导航行驶期间到达预定设定点时的设定点的位置坐标，存储环境地图和设定点的存储单元，通过使用设定点对路线规划单元进行规划的路线规划单元 环境地图存储在存储单元中，以及行驶控制单元，用于控制自主移动设备沿着行驶路线自主行驶 e。

公开(公告)号：US20110178669A1

公开(公告)日：2011-07-21

申请号：US13121995

申请日：2009-08-25

申请人： Shoji Tanaka ,  Tsuyoshi Nakano

发明人： Shoji Tanaka ,  Tsuyoshi Nakano

IPC分类号： G05D1/02

CPC分类号： G05D1/0088 ,  G05D1/024 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0207

摘要： An electronic controller defining an autonomous mobile device a self-location estimation unit to estimate a self-location based on a local map that is created according to distance/angle information relative to an object in the vicinity and the travel distance of an omni wheel, an environmental map creation unit to create an environmental map of a mobile area based on the self-location and the local map during the guided travel with using a joystick, a registration switch to register the self-location of the autonomous mobile device as the position coordinate of the setting point when the autonomous mobile device reaches a predetermined setting point during the guided travel, a storage unit to store the environmental map and the setting point, a route planning unit to plan the travel route by using the setting point on the environmental map stored in the storage unit, and a travel control unit to control the autonomous mobile device to autonomously travel along the travel route.

摘要翻译： 一种定义自主移动设备的自动定位估计单元的电子控制器，用于基于根据距离/角度信息相对于所述附近的物体和全方向行驶距离而产生的局部地图来估计自身位置， 环境地图创建单元，用于使用操纵杆在导航行进期间基于自身位置和局部地图创建移动区域的环境地图;登记开关，用于将自主移动设备的自身位置注册为位置 在自动移动装置在导航行驶期间到达预定设定点时的设定点的坐标，存储环境地图和设定点的存储单元，通过使用环境设定点来规划行驶路线的路线规划单元 映射存储在存储单元中，以及行驶控制单元，用于控制自主移动设备沿着行进路线自主行进。

公开(公告)号：US08897947B2

公开(公告)日：2014-11-25

申请号：US13514004

申请日：2010-10-22

申请人： Tsuyoshi Nakano ,  Shoji Tanaka

发明人： Tsuyoshi Nakano ,  Shoji Tanaka

IPC分类号： G05D1/00 ,  G09B29/00 ,  G05D1/02 ,  G09B29/10

CPC分类号： G05D1/0214 ,  G05D1/0238 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0206 ,  G09B29/007 ,  G09B29/10 ,  Y10S901/01 ,  Y10S901/46

摘要： An autonomous mobile device that moves while autonomously avoiding zones into which entry should be avoided even if no obstacle exists therein includes a laser range finder that acquires peripheral obstacle information, a storage unit that stores an environment map that shows an obstacle zone where an obstacle exists, and a no-entry zone map which shows a no-entry zone into which entry is prohibited, a self-location estimation unit that estimates the self-location of a host device by using the obstacle information acquired by the laser range finder and the environment map, and a travel control unit that controls the host device to autonomously travel to the destination by avoiding the obstacle zone and the no-entry zone based on the estimated self-location, the environment map, and the no-entry zone map.

摘要翻译： 一种自主移动装置，其自动移动避免即使没有障碍物也应避免入境的区域，其中包括获取周边障碍物信息的激光测距仪，存储显示障碍物存在障碍物区域的环境地图的存储单元 以及示出禁止条目的禁止进入区域的无条目区域映射，通过使用由激光测距仪获取的障碍物信息来估计主机设备的自身位置的自身位置估计单元，以及 环境地图和行驶控制单元，其通过基于所估计的自身位置，环境地图和无进入区域图来避免障碍物区域和不进入区域来控制主机设备自主行进到目的地。

公开(公告)号：US08676429B2

公开(公告)日：2014-03-18

申请号：US13513202

申请日：2010-10-22

申请人： Tsuyoshi Nakano ,  Shoji Tanaka

发明人： Tsuyoshi Nakano ,  Shoji Tanaka

IPC分类号： G01C22/00 ,  G05D1/00

CPC分类号： G05D1/024 ,  G05D1/0225 ,  G05D1/0274 ,  G05D2201/0206

摘要： An autonomous mobile device is capable of taking action that is suitable to execute a task in accordance with a given situation includes and executes a predetermined task upon autonomously moving to a destination. The autonomous mobile device includes a storage unit that stores an environment map, a laser range finder that acquires peripheral obstacle information, an unknown information identification unit that identifies unknown obstacle information from the peripheral obstacle information, an assessment information acquisition unit that acquires a plurality of types of assessment information including movement information, relative position information, and attribute information that are related to the unknown obstacle, when the unknown obstacle information is identified, and a scenario selection unit that selects, based on the assessment information, one action scenario among a plurality of action scenarios including an action scenario which is defined to execute the task and is other than an action scenario to cancel or continue the execution of the task.

摘要翻译： 自主移动设备能够采取适合于根据给定情况执行任务的动作包括并在自主移动到目的地时执行预定任务。 自主移动装置包括存储环境地图的存储单元，获取周边障碍物信息的激光测距装置，从周边障碍物信息识别未知障碍物信息的未知信息识别单元，获取多个 当识别出未知障碍物信息时，包括运动信息，相对位置信息和与未知障碍物相关的属性信息的评估信息的类型，以及基于评估信息选择一个动作场景的场景选择单元 多个动作场景包括被定义为执行该任务的动作场景，并且除了取消或继续执行任务的动作场景以外。

公开(公告)号：US08515613B2

公开(公告)日：2013-08-20

申请号：US13063962

申请日：2009-08-25

申请人： Shoji Tanaka ,  Tsuyoshi Nakano

发明人： Shoji Tanaka ,  Tsuyoshi Nakano

IPC分类号： G05D1/00 ,  G06F15/18 ,  G05D1/02

CPC分类号： G05D1/0274 ,  G05D1/024 ,  G05D1/0246 ,  G09B29/106

摘要： An environmental map correction device that acquires an environmental map that matches an actual ambient environment includes a conversion unit arranged to convert object existence probability information of respective grids configuring a global map into image information (shading information of a black and white image), a display unit arranged to display a global map image based on the converted image information, an operation input unit arranged to receive a correcting operation from a user, a correction unit arranged to correct the global map image displayed by the display unit according to the correcting operation by the user, and an inversion unit arranged to acquire a corrected global map by inverting the corrected global map image (shading information) into the object existence probability information.

摘要翻译： 获取与实际环境环境相匹配的环境地图的环境地图校正装置包括转换单元，被配置为将构成全局地图的各个格栅的对象存在概率信息转换为图像信息（黑白图像的阴影信息），显示 单元，其被布置为基于所转换的图像信息显示全局地图图像;操作输入单元，被布置为从用户接收校正操作;校正单元，被配置为根据校正操作校正由所述显示单元显示的全局地图图像 用户和反转单元，其被布置为通过将校正的全局地图图像（阴影信息）反转为对象存在概率信息来获取校正的全局映射。

公开(公告)号：US20110178668A1

公开(公告)日：2011-07-21

申请号：US13063962

申请日：2009-08-25

申请人： Shoji Tanaka ,  Tsuyoshi Nakano

发明人： Shoji Tanaka ,  Tsuyoshi Nakano

IPC分类号： G05D1/00 ,  G06F15/18

CPC分类号： G05D1/0274 ,  G05D1/024 ,  G05D1/0246 ,  G09B29/106

摘要： An environmental map correction device that acquires an environmental map that matches an actual ambient environment includes a conversion unit arranged to convert object existence probability information of respective grids configuring a global map into image information (shading information of a black and white image, a display unit arranged to display a global map image based on the converted image information, an operation input unit arranged to receive a correcting operation from a user, a correction unit arranged to correct the global map image displayed by the display unit according to the correcting operation by the user, and an inversion unit arranged to acquire a corrected global map by inverting the corrected global map image (shading information) into the object existence probability information.

摘要翻译： 获取与实际环境环境相匹配的环境地图的环境地图校正装置包括：转换单元，被配置为将构成全局地图的各个格栅的对象存在概率信息转换为图像信息（黑白图像的阴影信息，显示单元 被布置为基于所转换的图像信息显示全局地图图像;操作输入单元，被布置为从用户接收校正操作;校正单元，被配置为根据所述修正操作校正由所述显示单元显示的全局地图图像 用户和反转单元，其被布置为通过将校正的全局地图图像（阴影信息）反转为对象存在概率信息来获取校正的全局地图。