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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。
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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
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。
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公开(公告)号：US08885221B2
公开(公告)日：2014-11-11
申请号：US13188221
申请日：2011-07-21
申请人： Shoji Tanaka
发明人： Shoji Tanaka
CPC分类号： H04N1/4052
摘要： Error diffusion processing is performed for each pixel in each region of an image divided into a plurality of regions, by scanning in both the first and second directions different to each other. A diffusion coefficient set for diffusing, to the pixel of interest to be processed, a quantization error generated upon quantizing a pixel near the pixel of interest is set in accordance with the position of the pixel of interest in scanning in the first direction in the region of interest. The pixel of interest to which an error has been diffused from a pixel position referring to the set diffusion coefficient set is quantized.
摘要翻译： 通过沿彼此不同的第一和第二方向进行扫描，对分割成多个区域的图像的每个区域中的每个像素进行误差扩散处理。 扩散系数设定用于扩散到待处理的感兴趣像素，在量化关注像素附近的像素时产生的量化误差，根据在该区域中的第一方向扫描的感兴趣像素的位置， 出于兴趣。 对参考设定的扩散系数集合的像素位置扩散的误差的像素进行量化。
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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
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。
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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
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。
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公开(公告)号：US20120179366A1
公开(公告)日：2012-07-12
申请号：US13496088
申请日：2009-10-27
申请人： Shoji Tanaka
发明人： Shoji Tanaka
CPC分类号： G01C21/3667 , G06T11/60 , G06T17/05 , G09B29/106
摘要： A map drawing device in accordance with the present invention includes a drawing data converting unit for converting map data acquired from a map database into map data in a data format which can be drawn, and for calculating degrees of importance of map objects each of which is a road, a background face or an icon, a drawing data sorting unit for rearranging the drawing data according to the degrees of importance, and a drawing data management unit for managing the drawing data processed by the drawing data sorting unit. The map drawing device further includes a drawing data cache unit for enabling control to either display or not display each of the map objects according to whether or not the corresponding calculated degrees of importance is equal to or higher than a threshold.
摘要翻译： 根据本发明的地图绘制装置包括：绘图数据转换单元，用于将从地图数据库获取的地图数据转换为可绘制的数据格式的地图数据，并且用于计算每个地图对象的重要性 道路，背景面或图标，用于根据重要度重新排列绘图数据的绘图数据分类单元，以及用于管理由绘图数据分类单元处理的绘制数据的绘图数据管理单元。 地图绘制装置还包括绘图数据高速缓存单元，用于根据对应的计算出的重要程度是否等于或高于阈值来进行控制以显示或不显示每个地图对象。
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公开(公告)号：US20110267370A1
公开(公告)日：2011-11-03
申请号：US13143307
申请日：2009-01-06
申请人： Shoji Tanaka
发明人： Shoji Tanaka
摘要： A drawing layer control device includes a drawing frequency monitoring unit 104 for monitoring drawing update frequency of each window. When drawing update frequencies of windows allocated to the same layer differ, a drawing layer managing unit 105 reallocates windows with nearly the same drawing update frequency to the same layer.
摘要翻译： 绘图层控制装置包括用于监视每个窗口的绘制更新频率的绘图频率监视单元104。 当绘制分配给同一层的窗口的更新频率不同时，绘图层管理单元105将具有几乎相同的绘图更新频率的窗口重新分配给同一层。
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公开(公告)号：US08044960B2
公开(公告)日：2011-10-25
申请号：US12323702
申请日：2008-11-26
CPC分类号： G09G5/225 , G09G2360/121
摘要： A character display apparatus searches through a cache means for vector font data which match character attributes of a character to be displayed to acquire the vector font data, and, when no vector font data which match the character attributes of the character to be displayed exist in the cache means, acquires the vector font data from a large-volume storage means. If there exists no corresponding luminance image data in the cache means, the character display apparatus acquires luminance image data generated from the vector font data. If there exists no corresponding display image in the cache means, the character display apparatus acquires display character image data generated from the luminance image data. The character display apparatus displays the display image which is thus acquired and which matches the character attributes of the character to be displayed on a display device.
摘要翻译： 字符显示装置通过高速缓存装置搜索与要显示的字符的字符属性匹配的矢量字体数据以获取矢量字体数据，并且当没有与要显示的字符的字符属性匹配的矢量字体数据存在于 高速缓存装置从大容量存储装置获取矢量字体数据。 如果高速缓存装置中没有对应的亮度图像数据，则字符显示装置获取从矢量字体数据生成的亮度图像数据。 如果高速缓存装置中没有相应的显示图像，则字符显示装置获取从亮度图像数据生成的显示字符图像数据。 字符显示装置显示如此获取的显示图像，并且与显示装置上要显示的字符的字符属性相匹配。
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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
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。
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70.发明申请公开(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
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。
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