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：US09020682B2

公开(公告)日：2015-04-28

申请号：US13809699

申请日：2011-06-02

申请人： Hideo Shitamoto ,  Tsuyoshi Nakano ,  Toshiki Moriguchi

发明人： Hideo Shitamoto ,  Tsuyoshi Nakano ,  Toshiki Moriguchi

IPC分类号： G05D1/00 ,  G05D1/02

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 D8 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在路面上基本上垂直于移动目标方向的方向上的干扰障碍物的尺寸D8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。

公开(公告)号：US20130166134A1

公开(公告)日：2013-06-27

申请号：US13809699

申请日：2011-06-02

申请人： Hideo Shitamoto ,  Tsuyoshi Nakano ,  Toshiki Moriguchi

发明人： Hideo Shitamoto ,  Tsuyoshi Nakano ,  Toshiki Moriguchi

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。

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。