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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：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：US20130166134A1
公开(公告)日：2013-06-27
申请号：US13809699
申请日：2011-06-02
IPC分类号： G05D1/00
CPC分类号： G05D1/0274 , G05D1/0088 , G05D1/0223 , G05D1/024 , G05D1/0251 , G05D1/0255 , G05D1/0272 , G05D2201/0206 , G05D2201/0216
摘要： An autonomous mobile body includes a laser range sensor and an electronic control device. The electronic control device includes a storage unit that stores a size D2 of the autonomous mobile body, a width identification unit that identifies a spatial size D1 in a width direction of a passage which is a region where the autonomous mobile body can move, a calculation unit that calculates a size 8 of an interfering obstacle in a direction which is substantially perpendicular to a moving target direction on a road surface based on obstacle information, an action selection unit that selects a stopping action or a retreat action based on the spatial size D1, the size D2 of the autonomous mobile body, and the size D8 of the interfering obstacle, and a mobile control unit that controls the autonomous mobile body to stop when the stopping action is selected and control the autonomous mobile body to retreat when the retreat action is selected.
摘要翻译： 自主移动体包括激光测距传感器和电子控制装置。 电子控制装置包括：存储单元，其存储自主移动体的大小D2;宽度识别单元，其识别作为自主移动体可移动的区域的通道的宽度方向上的空间大小D1;计算 基于障碍物信息计算基本上垂直于路面上的移动目标方向的方向上的干扰障碍物的尺寸8的单元，基于空间尺寸D1选择停止动作或撤退动作的动作选择单元 ，自主移动体的大小D2以及干扰障碍物的大小D8;以及移动控制单元，其在选择停止动作时控制自主移动体停止，并且当撤退动作时控制自主移动体撤退 被选中。
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公开(公告)号：US08417063B2
公开(公告)日：2013-04-09
申请号：US13052770
申请日：2011-03-21
CPC分类号： G06T3/606
摘要： According to one embodiment, an image processing apparatus connected to an external memory and a cache memory. The apparatus includes a counter, a coordinate calculator, a tag checker, a pixel referring module, a pixel value calculator and an outputting module. The counter determines a converted coordinate according to a predetermined execution sequence. The coordinate calculator calculates a unconverted coordinate used to calculate a converted pixel value located at the converted coordinate. The tag checker generates a conversion request to calculate the converted pixel value with reference to an unconverted pixel located at the unconverted coordinate. The pixel referring module reads the unconverted pixel from the cache memory based on the conversion request when the unconverted pixel is stored in the cache memory. The pixel value calculator calculates the converted pixel value with reference to the read unconverted pixel. The outputting module writes the converted pixel having the calculated converted pixel value into the external memory.
摘要翻译： 根据一个实施例，连接到外部存储器和高速缓冲存储器的图像处理装置。 该装置包括计数器，坐标计算器，标签检查器，像素参考模块，像素值计算器和输出模块。 计数器根据预定的执行顺序确定转换的坐标。 坐标计算器计算用于计算位于转换坐标处的转换像素值的未转换坐标。 标签检查器产生转换请求，以参考位于未转换坐标处的未转换像素来计算转换后的像素值。 当未转换的像素存储在高速缓冲存储器中时，像素引用模块基于转换请求从高速缓冲存储器读取未转换的像素。 像素值计算器参考读取的未转换像素计算转换的像素值。 输出模块将具有计算的转换像素值的转换像素写入外部存储器。
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公开(公告)号：US20120183207A1
公开(公告)日：2012-07-19
申请号：US13052770
申请日：2011-03-21
IPC分类号： G06K9/00
CPC分类号： G06T3/606
摘要： According to one embodiment, an image processing apparatus connected to an external memory and a cache memory. The apparatus includes a counter, a coordinate calculator, a tag checker, a pixel referring module, a pixel value calculator and an outputting module. The counter determines a converted coordinate according to a predetermined execution sequence. The coordinate calculator calculates a unconverted coordinate used to calculate a converted pixel value located at the converted coordinate. The tag checker generates a conversion request to calculate the converted pixel value with reference to an unconverted pixel located at the unconverted coordinate. The pixel referring module reads the unconverted pixel from the cache memory based on the conversion request when the unconverted pixel is stored in the cache memory. The pixel value calculator calculates the converted pixel value with reference to the read unconverted pixel. The outputting module writes the converted pixel having the calculated converted pixel value into the external memory.
摘要翻译： 根据一个实施例，连接到外部存储器和高速缓冲存储器的图像处理装置。 该装置包括计数器，坐标计算器，标签检查器，像素参考模块，像素值计算器和输出模块。 计数器根据预定的执行顺序确定转换的坐标。 坐标计算器计算用于计算位于转换坐标处的转换像素值的未转换坐标。 标签检查器产生转换请求，以参考位于未转换坐标处的未转换像素来计算转换后的像素值。 当未转换的像素存储在高速缓冲存储器中时，像素引用模块基于转换请求从高速缓冲存储器读取未转换的像素。 像素值计算器参考读取的未转换像素计算转换的像素值。 输出模块将具有计算的转换像素值的转换像素写入外部存储器。
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8.发明授权公开(公告)号：US08022440B2
公开(公告)日：2011-09-20
申请号：US10545295
申请日：2004-02-04
申请人： Tsuyoshi Nakano , Masahiko Hata
发明人： Tsuyoshi Nakano , Masahiko Hata
IPC分类号： H01L31/0328 , H01L31/0336 , H01L29/06
CPC分类号： H01L29/205
摘要： A compound semiconductor epitaxial substrate having a pseudomorphic high electron mobility field effect transistor structure including an InGaAs layer as a strained channel layer and an AlGaAs layer containing n type impurities as a front side electron-donating layer, wherein said substrate contains an InGaP layer in an orderly state on the front side of the above described InGaAs layer as the strained channel layer.
摘要翻译： 一种具有假型高电子迁移率场效应晶体管结构的化合物半导体外延衬底，其包括作为应变沟道层的InGaAs层和含有n型杂质的AlGaAs层作为前侧电子给予层，其中所述衬底包含InGaP层， 在作为应变通道层的上述InGaAs层的正面上有序地形成。
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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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公开(公告)号：US20070211917A1
公开(公告)日：2007-09-13
申请号：US11598734
申请日：2006-11-14
申请人： Tsuyoshi Nakano , Susumu Kubota
发明人： Tsuyoshi Nakano , Susumu Kubota
IPC分类号： G06K9/00
CPC分类号： G06T7/20 , G06K9/00805 , G06K9/32
摘要： An obstacle tracking apparatus includes an image input unit which acquires image sequences; an obstacle detector which detects candidate areas of an obstacle at a current time from the image sequences; a state hypothesis storage which stores a state hypothesis group including at least one state hypothesis of the obstacle at a previous time; an measurement hypothesis generator which generates a measurement hypothesis group including at least one measurement hypothesis obtained by combining measurement hypotheses for the respective positions of candidate areas of the obstacle and a measurement hypothesis in case the obstacle is not detected; a likelihood calculator which calculates likelihoods of respective combinations of the respective state hypotheses included in the state hypothesis group and the respective measurement hypotheses included in the measurement hypothesis group; a state hypothesis updater which obtains a highest likelihood from the likelihoods of the respective combinations and updates the state hypotheses at the previous time stored in the state hypothesis storage using the state hypothesis group at the current time as the state hypothesis group having the highest likelihood; and a hypothesis selector which selects the state hypothesis having the highest likelihood from the state hypothesis group at the current time as a state in which the obstacle is detected.
摘要翻译： 障碍物跟踪装置包括获取图像序列的图像输入单元; 障碍物检测器，从图像序列检测当前时刻的障碍物的候补区域; 状态假设存储器，其存储在先前时间包括障碍物的至少一个状态假设的状态假设组; 测量假设生成器，其生成测量假设组，所述测量假设组包括通过组合用于障碍物的候选区域的各个位置的测量假设获得的至少一个测量假设以及在未检测到障碍物的情况下的测量假设; 计算包括在状态假设组中的各状态假设和测量假设组中包括的相应测量假设的各个组合的似然度的似然度计算器; 状态假设更新器，其从相应组合的似然性获得最高可能性，并使用当前时间的状态假设组来更新存储在状态假设存储器中的先前时间的状态假设作为具有最高可能性的状态假设组; 以及假设选择器，其将当前时间的状态假设组选择具有最高可能性的状态假设作为检测障碍物的状态。
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