公开(公告)号：US09886037B2

公开(公告)日：2018-02-06

申请号：US15337455

申请日：2016-10-28

申请人： iRobot Corporation

发明人： L. Niklas Karlsson ,  Paolo Pirjanian ,  Luis Filipe Domingues Goncalves ,  Enrico Di Bernardo

IPC分类号： G08G1/123 ,  G05D1/02 ,  G01C21/12 ,  G06T7/70

CPC分类号： G05D1/0246 ,  G01C21/12 ,  G05D1/0231 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0215 ,  G06T7/55 ,  G06T7/70 ,  G06T7/74 ,  G06T2207/30204 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47 ,  Y10S901/50

摘要： The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

公开(公告)号：US20180032949A1

公开(公告)日：2018-02-01

申请号：US15728080

申请日：2017-10-09

申请人： Thomas Galluzzo ,  Vladimir Altman ,  Jean-Sebastien Valois

发明人： Thomas Galluzzo ,  Vladimir Altman ,  Jean-Sebastien Valois

IPC分类号： G06Q10/08 ,  B65G1/137 ,  B25J9/16 ,  B25J11/00 ,  G05D1/02 ,  B25J15/06 ,  B25J19/02 ,  B60P1/54 ,  G05D1/00 ,  B25J5/00 ,  B25J9/00 ,  B25J15/00

CPC分类号： G06Q10/087 ,  B25J5/007 ,  B25J9/0093 ,  B25J9/162 ,  B25J9/1692 ,  B25J11/00 ,  B25J15/0028 ,  B25J15/0085 ,  B25J15/06 ,  B25J15/0608 ,  B25J15/0616 ,  B25J19/021 ,  B60P1/5423 ,  B65G1/1373 ,  B65G1/1375 ,  B65G2209/04 ,  G05B2219/37008 ,  G05B2219/39441 ,  G05B2219/40298 ,  G05B2219/40543 ,  G05B2219/40564 ,  G05B2219/45063 ,  G05D1/0011 ,  G05D1/0088 ,  G05D1/0248 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/31 ,  Y10S901/40 ,  Y10S901/47

摘要： A method and system for piece-picking or piece put-away within a logistics facility. The system includes a central server and at least one mobile manipulation robot. The central server is configured to communicate with the robots to send and receive piece-picking data which includes a unique identification for each piece to be picked, a location within the logistics facility of the pieces to be picked, and a route for the robot to take within the logistics facility. The robots can then autonomously navigate and position themselves within the logistics facility by recognition of landmarks by at least one of a plurality of sensors. The sensors also provide signals related to detection, identification, and location of a piece to be picked or put-away, and processors on the robots analyze the sensor information to generate movements of a unique articulated arm and end effector on the robot to pick or put-away the piece.

公开(公告)号：US20180032081A1

公开(公告)日：2018-02-01

申请号：US15648520

申请日：2017-07-13

申请人： Sharp Kabushiki Kaisha

发明人： Atsushi ETOH

IPC分类号： G05D1/02 ,  G05D1/10

CPC分类号： G05D1/0221 ,  G05D1/0248 ,  G05D1/0255 ,  G05D1/10

摘要： An autonomous traveling apparatus includes a body, a travel control unit that controls a drive member to cause the autonomous traveling apparatus to travel, an obstacle detection unit that detects an object located within a predetermined obstacle sensing area, a restart switch disposed on the body and operable to cause the autonomous traveling apparatus to resume traveling from a stop mode, and a restart control unit that, when an operation of activating the restart switch is performed by a user, causes the obstacle detection unit to resume obstacle detection so as not to detect the user as an obstacle until the user who has performed the operation of activating the restart switch moves out of the obstacle sensing area, and causes the autonomous traveling apparatus to resume traveling.

公开(公告)号：US20170364758A1

公开(公告)日：2017-12-21

申请号：US15693956

申请日：2017-09-01

申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

发明人： Gautier Minster

IPC分类号： G06K9/00 ,  G01S17/02 ,  G01S17/06 ,  G06K9/62 ,  G06T7/246 ,  G01S17/89 ,  G06K9/20 ,  G06T7/73 ,  G01S17/66 ,  G08G1/16 ,  G05D1/02

CPC分类号： G06K9/00825 ,  G01S17/023 ,  G01S17/026 ,  G01S17/06 ,  G01S17/66 ,  G01S17/89 ,  G05D1/0248 ,  G05D2201/0213 ,  G06K9/00798 ,  G06K9/2054 ,  G06K9/623 ,  G06K9/6288 ,  G06T7/246 ,  G06T7/73 ,  G06T2207/10028 ,  G06T2207/30256 ,  G08G1/166

摘要： Systems and methods are provided for analyzing vehicle signal lights in order to operate an autonomous vehicle. A method includes receiving an image from a camera regarding a vehicle proximate to the autonomous vehicle. Data from a lidar sensor regarding the proximate vehicle is used to determine object information for identifying a subsection within the camera image. The identified subsection corresponds to an area of the proximate vehicle containing one or more vehicle signals. One or more vehicle signal lights of the proximate vehicle is located by using the identified camera image subsection as an area of focus.

公开(公告)号：US20170322558A1

公开(公告)日：2017-11-09

申请号：US15522679

申请日：2015-10-27

申请人： DENSO CORPORATION

发明人： Kentaro TESHIMA ,  Tetsuya HARA ,  Daisuke TAKEMORI

IPC分类号： G05D1/02 ,  B60W10/20 ,  B60W30/09 ,  B60W40/08 ,  B60W50/12 ,  G05D1/00 ,  B60W10/18 ,  B60W50/14

CPC分类号： G05D1/0214 ,  B60K28/06 ,  B60Q3/20 ,  B60Q5/00 ,  B60T7/00 ,  B60W10/18 ,  B60W10/20 ,  B60W30/02 ,  B60W30/09 ,  B60W30/095 ,  B60W30/181 ,  B60W30/18109 ,  B60W30/18127 ,  B60W40/08 ,  B60W50/12 ,  B60W50/14 ,  B60W2040/0818 ,  B60W2050/143 ,  B60W2050/146 ,  B60W2420/42 ,  B60W2420/54 ,  B60W2420/62 ,  B60W2510/20 ,  B60W2510/244 ,  B60W2520/10 ,  B60W2540/00 ,  B60W2540/10 ,  B60W2540/22 ,  B60W2540/26 ,  B60W2550/12 ,  B60W2560/02 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/10 ,  F02D41/042 ,  F02D41/08 ,  F02D41/22 ,  G01C21/20 ,  G05D1/0061 ,  G05D1/0088 ,  G05D1/0248 ,  G05D1/0255 ,  G05D2201/0213 ,  G07C5/008 ,  G07C5/0808 ,  G07C5/085 ,  G08B13/19647 ,  G08G1/205 ,  H04L67/00 ,  H04L67/04 ,  H04L67/12

摘要： A vehicle control apparatus is mounted on a vehicle including an emergency stop function to detect an abnormal state of a driver and automatically stop the vehicle. The vehicle control apparatus provides control at a time of stopping the vehicle and includes process execution sections and a process stop section. The process execution sections perform predetermined emergency processes in response to the emergency stop function stopping the vehicle; the emergency processes control instruments mounted on the vehicle and use a battery of the vehicle as a driving power source. The process stop section stepwise stops at least part of the emergency processes performed by the process execution sections based on a predetermined stop sequence.

公开(公告)号：US20170316333A1

公开(公告)日：2017-11-02

申请号：US15498144

申请日：2017-04-26

申请人： Zoox, Inc.

发明人： Jesse Sol Levinson ,  Gabriel Thurston Sibley ,  Ashutosh Gajanan Rege

IPC分类号： G06N7/00 ,  G06N99/00 ,  G05D1/00

CPC分类号： G06N7/005 ,  B60W40/04 ,  B60W40/06 ,  G01S7/4972 ,  G01S13/865 ,  G01S13/867 ,  G01S13/87 ,  G01S17/87 ,  G01S17/936 ,  G01S2013/9357 ,  G01S2013/936 ,  G05D1/0088 ,  G05D1/0248 ,  G05D1/0274 ,  G05D2201/0213 ,  G06K9/00 ,  G06K9/00362 ,  G06K9/00805 ,  G06N20/00

摘要： Systems, methods and apparatus may be configured to implement automatic semantic classification of a detected object(s) disposed in a region of an environment external to an autonomous vehicle. The automatic semantic classification may include analyzing over a time period, patterns in a predicted behavior of the detected object(s) to infer a semantic classification of the detected object(s). Analysis may include processing of sensor data from the autonomous vehicle to generate heat maps indicative of a location of the detected object(s) in the region during the time period. Probabilistic statistical analysis may be applied to the sensor data to determine a confidence level in the inferred semantic classification. The inferred semantic classification may be applied to the detected object(s) when the confidence level exceeds a predetermined threshold value (e.g., greater than 50%).

公开(公告)号：US20170313325A1

公开(公告)日：2017-11-02

申请号：US15490997

申请日：2017-04-19

申请人： HONDA MOTOR CO., LTD.

发明人： Masahiko Asakura ,  Kunimichi Hatano ,  Naoto Sen ,  Masaaki Abe

IPC分类号： B60W50/12 ,  B60W50/14 ,  B60R1/00 ,  G05D1/02 ,  B60W30/14

CPC分类号： B60W50/12 ,  B60K2370/11 ,  B60K2370/126 ,  B60K2370/135 ,  B60K2370/143 ,  B60K2370/152 ,  B60K2370/21 ,  B60K2370/334 ,  B60K2370/77 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/107 ,  B60R2300/205 ,  B60R2300/301 ,  B60W30/12 ,  B60W30/143 ,  B60W30/16 ,  B60W50/14 ,  B60W2050/146 ,  B60W2510/18 ,  B60W2510/202 ,  B60W2520/105 ,  B60W2520/14 ,  B60W2540/16 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/106 ,  G05D1/0248

摘要： A vehicle control system includes an automated driving controller configured to execute automated driving of a vehicle by automatically performing at least one of speed control and steering control of the vehicle, an operation reception section configured to receive an operation to switch a shift position of the vehicle, and an operation controller configured to limit reception, by the operation reception section, of the operation to switch the shift position while the automated driving is being executed by the automated driving controller.

公开(公告)号：US09797247B1

公开(公告)日：2017-10-24

申请号：US15452329

申请日：2017-03-07

申请人： Caterpillar Inc.

发明人： Anthony Keith Nathan Nelson ,  Shane A. May ,  Suneel Venkata Kandula

IPC分类号： B60W30/095 ,  E21C35/08 ,  G05D1/00 ,  G08G1/16 ,  E21C35/24 ,  G05D1/02 ,  B60W30/14

CPC分类号： E21C35/24 ,  B60W30/0956 ,  B60W30/146 ,  B60W2300/17 ,  B60W2420/42 ,  B60W2420/62 ,  B60W2510/188 ,  B60W2520/06 ,  B60W2550/40 ,  B60W2710/188 ,  B60W2720/24 ,  E21C35/08 ,  E21F13/02 ,  E21F17/18 ,  G05D1/0022 ,  G05D1/0033 ,  G05D1/0044 ,  G05D1/0248 ,  G05D1/028 ,  G08G1/165

摘要： A control system and related method for controlling the machine in a mine. The control system may comprise a LADAR, an interface device, a processor and an AECM. The LADAR may be configured to capture scan data of physical mine walls. The interface device may be configured to display a mine map illustrating a section of the mine. The processor may be configured to add a virtual wall to the mine map in response to a first user input. The processor may be configured to add a temporary wall to the mine map in response to a second user input. The temporary wall may be based on scan data of a physical mine wall captured by the LADAR. The AECM is configured to control an operation of the machine, based on the mine map, to avoid collision of the machine with the virtual wall or the temporary wall.

公开(公告)号：US20170269598A1

公开(公告)日：2017-09-21

申请号：US15457399

申请日：2017-03-13

申请人： BALYO

发明人： Fabien Bardinet ,  Pierre Bureau

IPC分类号： G05D1/02 ,  B66F9/075

CPC分类号： G05D1/0212 ,  B60T7/22 ,  B60T2201/022 ,  B66F9/0755 ,  B66F9/20 ,  B66F17/003 ,  G05D1/0248 ,  G05D1/0274 ,  G05D2201/0216

摘要： An automatic guided vehicle comprising a fork carriage with a fork, a propulsion drive system, a sensor to acquire position data of objects located in a detection field and a computer. The vehicle comprises a reference member located in the detection field of the sensor rigidly secured to a common rigid frame with the sensor. The sensor periodically acquires control position data indicative of a position of the reference member. The computer periodically compares the control position data with a reference value stored in a memory.

公开(公告)号：US20170233004A1

公开(公告)日：2017-08-17

申请号：US15422649

申请日：2017-02-02

申请人： Honda Motor Co., Ltd.

发明人： Kunimichi Hatano

IPC分类号： B62D15/02 ,  B62D6/00 ,  G05D1/02 ,  B62D1/04

CPC分类号： B62D15/025 ,  B60Y2200/91 ,  B60Y2200/92 ,  B60Y2300/10 ,  B60Y2300/18166 ,  B62D1/04 ,  B62D6/002 ,  B62D15/0255 ,  B62D15/0265 ,  G05D1/021 ,  G05D1/0246 ,  G05D1/0248 ,  G05D1/0255 ,  G05D2201/0213 ,  Y10S903/902

摘要： A vehicle control device according to an embodiment of the present disclosure includes a path generating unit and a control unit. The path generating unit generates a target path used by a vehicle to reach a destination. The control unit controls at least steering of the vehicle such that the vehicle travels along the target path generated by the path generating unit and increases a degree by which deviation from the target path is suppressed in a particular situation.