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公开(公告)号：USD824978S1
公开(公告)日：2018-08-07
申请号：US29590645
申请日：2017-01-12
Applicant: Hitachi, Ltd.
Designer： Azusa Amino , Manabu Yanagimoto , Ryosuke Nakamura , Hisahiro Koshizuka , Akihiro Yamamoto
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公开(公告)号：US09952598B2
公开(公告)日：2018-04-24
申请号：US15157455
申请日：2016-05-18
Applicant: Hitachi, Ltd.
Inventor： Taishi Ueda , Ryosuke Nakamura , Azusa Amino
IPC: G05D1/02
CPC classification number: G05D1/0214 , Y10S901/01 , Y10S901/46 , Y10S901/47
Abstract: A mobile robot system capable of estimating the occurrence of various risks within its environment and executing appropriate processing to achieve an objective is provided. The mobile robot system includes an environment recognition unit for recognizing an external environment, a travelling unit, and a travelling control unit which controls the travelling unit on the basis of environment information from the environment recognition unit. The mobile robot system also includes a calculation unit which generates a travelling command to the travelling control unit, a potential risk area recognition unit, and a risk occurrence condition detection unit. When a risk occurrence condition is satisfied, the calculation unit calculates a degree of influence of the occurring risk on achievement of an objective quantitatively in each stage. When the possibility of achieving the object is low, a movement planning unit replans a moving route to raise the possibility of achieving the objective.
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公开(公告)号：US20140148989A1
公开(公告)日：2014-05-29
申请号：US14131046
申请日：2011-07-15
Applicant: Hitachi, Ltd.
Inventor： Taishi Ueda , Ryosuke Nakamura , Azusa Amino
IPC: G05D1/00
CPC classification number: G05D1/0088 , G05D1/02 , G05D1/024 , G05D2201/0206 , G05D2201/0217
Abstract: An autonomous moving device includes a travel unit with a wheel driven by a motor and an upper body including an environment-recognition sensor that detects an obstacle in a traveling direction. The upper body includes means that recognize device and obstacle positions, means that evaluates avoidance capability, and means that obtains priority of collision avoidance of an estimated passage area of the obstacle. The upper body further includes a control unit that moves the travel unit to an area where an estimated passage area of an obstacle whose priority of collision avoidance is high that does not overlap an area where the travel unit is located and which is an area where collision can be avoided even if an area where an estimated passage area of an obstacle whose priority of collision avoidance is low overlaps the area where the travel unit is located.
Abstract translation: 自主移动装置包括具有由马达驱动的轮的行进单元和包括检测行进方向的障碍物的环境识别传感器的上身。 上身包括识别装置和障碍物位置的装置，评估避免能力的手段，以及获得障碍物估计通过区域的避碰的优先级的手段。 上身还包括一个控制单元，该移动单元将行驶单元移动到与碰撞避免的优先级高的障碍物的估计通过区域不与旅行单元所在的区域重叠的区域，并且是碰撞区域 即使防止碰撞优先的障碍物的估计通过面积与行进单元所在的区域重叠的区域也能够避免。
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公开(公告)号：USD879853S1
公开(公告)日：2020-03-31
申请号：US29672094
申请日：2018-12-03
Applicant: Hitachi, Ltd.
Designer： Ryusuke Baba , Azusa Amino
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公开(公告)号：US10198008B2
公开(公告)日：2019-02-05
申请号：US15036270
申请日：2013-11-15
Applicant: Hitachi, Ltd.
Inventor： Taishi Ueda , Ryosuke Nakamura , Azusa Amino
Abstract: A mobile robot system includes an outside world sensor, a traveling unit, and a control unit. The control unit is configured to provide a history map data. Based on environment information obtained from the outside world sensor, a mobile object appearance point at which no mobile body exists at present but there is the possibility that a mobile body may appear in the future is recognized. In recognizing a door as the mobile object appearance location, if part of an object being obtained from the outside world sensor and having a width equal to or greater than a predetermined width set in advance belongs to an object movement position recorded in the velocity history map, then the part is recognized as a door.
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Patent Agency Ranking
公开(公告)号：US11180205B2
公开(公告)日：2021-11-23
申请号：US16087669
申请日：2017-03-08
Applicant: Hitachi, Ltd.
Inventor： Azusa Amino , Ryoko Ichinose , Ryosuke Nakamura , Akihiro Yamamoto
Abstract: A humanoid robot includes: a body portion; a head portion; a left arm and a right arm that have ends connected to the left and right at an upper portion of the body portion; a left foot and a right foot that have ends connected to the left and right at a lower portion of the body portion; and a left running unit and a right running unit provided to the other ends of the left foot and the right foot. The left running unit has a left drive wheel on a front side of an advancing direction and a left follower wheel on a rear side in the advancing direction, the right running unit has a right drive wheel on a front side of the advancing direction, and a right follower wheel on a rear side in the advancing direction.
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公开(公告)号：US11378960B2
公开(公告)日：2022-07-05
申请号：US16767196
申请日：2018-10-26
Applicant: HITACHI, LTD.
Inventor： Akihiro Yamamoto , Ryosuke Nakamura , Azusa Amino , Taishi Ueda
Abstract: A mobile entity includes: a position decision unit configured to determine a position of itself; an environment information acquisition unit configured to acquire environment information at the position; and a motion determination unit configured to determine whether a motion scheduled to be performed holds based on the environment information. The environment information includes at least one of environment information related to a vocal apparatus and environment information related to a display device.
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公开(公告)号：US09977044B2
公开(公告)日：2018-05-22
申请号：US15329503
申请日：2014-07-30
Applicant: HITACHI, LTD.
Inventor： Taishi Ueda , Ryosuke Nakamura , Azusa Amino
IPC: G01B11/14 , G01P3/36 , G01B11/00 , G01P15/093 , H01L27/146
CPC classification number: G01P3/36 , G01B11/002 , G01B11/14 , G01P3/38 , G01P15/093 , H01L27/146
Abstract: An optical velocity measuring apparatus which can restrict the effect of rotational motion of a moving object and estimate a velocity of its own with high accuracy, for a moving object with no wheels or a moving object of which the wheels slip includes an imager, provided in a moving object, for imaging a traveling surface such that a shift amount of each pixel at a time when an imaging target surface has shifted varies depending on a position of the pixel within an image, and the optical velocity measuring apparatus acquires a pixel shift amount gradient, which is a change in the shift amount of each pixel with respect to a predetermined axis, from a plurality of images captured by an image capturing device in a time series and a velocity of the moving object from the pixel shift amount gradient is acquired.
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公开(公告)号：US10365657B2
公开(公告)日：2019-07-30
申请号：US15300982
申请日：2014-04-03
Applicant: HITACHI, LTD.
Inventor： Mikio Tokuyama , Kenjiro Yamamoto , Taiki Iimura , Azusa Amino
IPC: G05D1/02
Abstract: An environment information acquisition unit acquires a signal state of a traffic light. A self-position estimation unit estimates a self-position of the autonomous moving object. A traveling route decision unit calculates a first time necessary to move along a first route from the self-position to an end point of a crosswalk and a second time necessary to move along a second route from the self-point to a start point of the crosswalk in a case in which the signal state is changed from blue to red on the crosswalk after a predetermined time or in a case in which the signal state is changed from blue to red, and selects a route corresponding to a time smaller between the first time and the second time. A vehicle control unit controls autonomous movement of the autonomous moving object so that the autonomous moving object moves along the selected route.
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公开(公告)号：US09317035B2
公开(公告)日：2016-04-19
申请号：US14432598
申请日：2013-03-15
Applicant: Hitachi, Ltd.
Inventor： Ryosuke Nakamura , Azusa Amino , Taishi Ueda
CPC classification number: G05D1/0038 , B25J9/1689 , G05D1/0214 , G05D1/024 , G05D1/0246 , G05D1/0248 , G05D2201/0207 , G06K9/00577 , G06K9/00805 , G06T1/0014 , G06T7/20 , G06T2207/10004 , G06T2207/10024 , G06T2207/30261
Abstract: When a moving body is remotely operated, a delay in transmission of an image and information acquired from the moving body becomes a problem since immediate transmission of an operation to the moving body cannot be expected. When a frame rate is decreased or a resolution is reduced to decrease the amount of image data to prevent transmission delay of the image data, it is difficult to grasp motions of other moving bodies. As a result, when a certain amount of time is required to transmit a camera image and a moving obstacle, the movement of the obstacle and the movement of the moving body are estimated. The estimated image is generated based on a current image, and is presented to an operator via a monitor. Accordingly, it is possible to reduce instability and a risk associated with transmission delay to safely operate the moving body.
Abstract translation: 当移动体被远程操作时，图像的传输延迟和从移动体获得的信息成为一个问题，因为不能期待对移动体的操作的立即传送。 当帧速率降低或分辨率降低以减少图像数据量以防止图像数据的传输延迟时，难以掌握其他移动体的运动。 结果，当需要一定时间来传送照相机图像和移动障碍物时，估计障碍物的移动和移动体的移动。 基于当前图像生成估计图像，并通过监视器将其呈现给操作者。 因此，可以减少与传输延迟相关联的不稳定性和风险以安全地操作移动体。
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