公开(公告)号：US08504202B2

公开(公告)日：2013-08-06

申请号：US12547666

申请日：2009-08-26

申请人： Ryoko Ichinose ,  Saku Egawa ,  Yuji Hosoda

发明人： Ryoko Ichinose ,  Saku Egawa ,  Yuji Hosoda

IPC分类号： G05B19/18 ,  G05B19/4061 ,  G05D1/00 ,  G08G1/16

CPC分类号： G05D1/024 ,  G05D1/0246 ,  G05D1/0289

摘要： An autonomous mobile robot apparatus and a method for avoiding collision due to rush-out, being applicable under the circumstances where persons and robots come and go each other, comprises an obstacle detector unit 3, which detects an obstacle, a route producer unit 7, which determines a route for reaching to a destination while avoiding the obstacle detected by the obstacle detector unit upon basis of a predetermined avoiding method, as well as, a velocity thereof, and a moving unit 2, which loads the obstacle detector unit and the route producer unit thereon and moves, thereby operating under circumstances mixing with a human being(s), wherein the obstacle detector unit, further, detects a terminal point of an article lying in an advancing direction of the autonomous mobile robot apparatus, and a distance between the terminal point and the autonomous mobile robot apparatus, and the route producer unit, when the obstacle detector unit detects the terminal end of said article, controls at least either one of the route and the velocity thereof, so as to avoid to collide on the obstacle, which rushes out from the terminal point, in the advancing direction of the autonomous mobile robot apparatus, centering around said terminal point, and thereby enabling quick movement while avoiding collision due to rush-out.

摘要翻译： 一种自动移动机器人装置和用于在人和机器人彼此相遇的情况下可以应用的避免冲突的冲突的方法，包括检测障碍物的障碍物检测单元3，路线生成单元7， 其基于预定的避免方法以及其速度来确定到达目的地的路线，同时避免由障碍物检测器单元检测到的障碍物，以及加载障碍物检测器单元和路线的移动单元2 并且移动，从而在与人类混合的情况下进行操作，其中所述障碍物检测器单元还检测位于所述自主移动机器人装置的前进方向上的物品的终点，以及 终端点和自主移动机器人装置，以及路线生成单元，当障碍物检测单元检测到所述物品的终端时，控制 s的路径和速度中的至少一个，以避免在以自动移动机器人装置的前进方向从终点冲出的障碍物以所述终点为中心围绕，从而 能够快速移动，同时避免由于冲出而产生碰撞。

公开(公告)号：US20100222954A1

公开(公告)日：2010-09-02

申请号：US12547666

申请日：2009-08-26

申请人： Ryoko Ichinose ,  Saku Egawa ,  Yuji Hosoda

发明人： Ryoko Ichinose ,  Saku Egawa ,  Yuji Hosoda

IPC分类号： G05D1/00 ,  G05B19/04

CPC分类号： G05D1/024 ,  G05D1/0246 ,  G05D1/0289

摘要： An autonomous mobile robot apparatus and a method for avoiding collision due to rush-out, being applicable under the circumstances where persons and robots come and go each other, comprises an obstacle detector unit 3, which detects an obstacle, a route producer unit 7, which determines a route for reaching to a destination while avoiding the obstacle detected by the obstacle detector unit upon basis of a predetermined avoiding method, as well as, a velocity thereof, and a moving unit 2, which loads the obstacle detector unit and the route producer unit thereon and moves, thereby operating under circumstances mixing with a human being(s), wherein the obstacle detector unit, further, detects a terminal point of an article lying in an advancing direction of the autonomous mobile robot apparatus, and a distance between the terminal point and the autonomous mobile robot apparatus, and the route producer unit, when the obstacle detector unit detects the terminal end of said article, controls at least either one of the route and the velocity thereof, so as to avoid to collide on the obstacle, which rushes out from the terminal point, in the advancing direction of the autonomous mobile robot apparatus, centering around said terminal point, and thereby enabling quick movement while avoiding collision due to rush-out.

摘要翻译： 一种自动移动机器人装置和用于在人和机器人彼此相遇的情况下可以应用的避免冲突的冲突的方法，包括检测障碍物的障碍物检测单元3，路线生成单元7， 其基于预定的避免方法以及其速度来确定到达目的地的路线，同时避免由障碍物检测器单元检测到的障碍物，以及加载障碍物检测器单元和路线的移动单元2 并且移动，从而在与人类混合的情况下进行操作，其中所述障碍物检测器单元还检测位于所述自主移动机器人装置的前进方向上的物品的终点，以及 终端点和自主移动机器人装置，以及路线生成单元，当障碍物检测单元检测到所述物品的终端时，控制 s的路径和速度中的至少一个，以避免在以自动移动机器人装置的前进方向从终点冲出的障碍物以所述终点为中心围绕，从而 能够快速移动，同时避免由于冲出而产生碰撞。

公开(公告)号：US07515991B2

公开(公告)日：2009-04-07

申请号：US10801861

申请日：2004-03-17

申请人： Saku Egawa ,  Yutaka Arai ,  Ryoko Ichinose ,  Yasuhiro Asa ,  Hirofumi Tanaka

发明人： Saku Egawa ,  Yutaka Arai ,  Ryoko Ichinose ,  Yasuhiro Asa ,  Hirofumi Tanaka

IPC分类号： G06F19/00

CPC分类号： G05D1/0274 ,  A47L2201/04 ,  G05D1/0219 ,  G05D2201/0215

摘要： In cleaning using a self-propelled cleaning device, firstly the cleaning device moves alongside a wall surface and then a reference direction is set. Next, the cleaning device advances alongside the wall surface at a prescribed distance, makes a right-angle turn, and travels in the reference direction. When the cleaning device reaches the surface of an opposing wall, it moves in a spiraling manner. At that time, the orientation angle of the cleaning device, which is estimated using a gyro sensor, is checked and corrected. If an obstacle is encountered while traveling, the cleaning device travels on a path that avoids the obstacle or travels in a spiral manner in a region in front of the obstacle.

摘要翻译： 在使用自走式清洁装置的清洁中，首先清洁装置沿壁表面移动，然后设定参考方向。 接下来，清洁装置以规定的距离与壁面一起前进，进行直角转弯，并在基准方向上行进。 当清洁装置到达相对壁的表面时，其以螺旋方式移动。 此时，检查并校正使用陀螺传感器估计的清洁装置的取向角度。 如果在行驶时遇到障碍物，则清洁装置在避开障碍物的路径上行进，或者在障碍物前方的区域以螺旋方式行进。

公开(公告)号：US20150199619A1

公开(公告)日：2015-07-16

申请号：US14419681

申请日：2012-08-07

申请人： Ryoko Ichinose ,  Takashi Sato ,  Ai Masuda ,  Kenjiro Yamamoto ,  Yukihiko Ono ,  Akira Oshima

发明人： Ryoko Ichinose ,  Takashi Sato ,  Ai Masuda ,  Kenjiro Yamamoto ,  Yukihiko Ono ,  Akira Oshima

IPC分类号： G06Q10/02 ,  G05D1/00 ,  G01C21/34 ,  G05D1/02

CPC分类号： G06Q10/02 ,  B60S3/00 ,  G01C21/3469 ,  G05D1/0022 ,  G05D1/0217

摘要： Provided are: a use-assisting tool for an autonomous mobile device that enhances convenience for a user of the autonomous mobile device; an operation management center; an operation system; and an autonomous mobile device. The use-assisting tool for an autonomous mobile device provides assistance for using the autonomous mobile device, which travels autonomously along a route to a destination, and is characterized by: being provided with a communication means that communicates with an operation management center, an input means, and a display means; a destination to be visited using the autonomous mobile device being input by means of the input means; and the display means displaying cooperation information established at the destination that is transmitted from the operation management center. The cooperation information established at the destination includes information regarding securing a mobility means at the destination and establishing a reservation at the destination.

摘要翻译： 提供：一种用于自主移动设备的使用辅助工具，其增强了对于自主移动设备的用户的便利性; 运营管理中心; 操作系统; 和自主移动设备。 用于自主移动设备的使用辅助工具为使用自主地沿着到达目的地的路线行进的自主移动设备提供帮助，其特征在于：设置有与操作管理中心通信的通信装置，输入 手段和显示装置; 使用通过输入装置输入的自主移动装置访问的目的地; 并且显示装置显示从操作管理中心发送的在目的地建立的协作信息。 在目的地建立的合作信息包括关于在目的地确保移动装置并在目的地建立预留的信息。

公开(公告)号：US09062980B2

公开(公告)日：2015-06-23

申请号：US14359335

申请日：2011-11-22

申请人： Yoshitaka Hara ,  Akira Oshima ,  Ryoko Ichinose ,  Kenjiro Yamamoto

发明人： Yoshitaka Hara ,  Akira Oshima ,  Ryoko Ichinose ,  Kenjiro Yamamoto

IPC分类号： G01C21/28 ,  G05D1/02 ,  G01S17/89 ,  G01C21/30 ,  G01C21/32

CPC分类号： G01C21/28 ,  G01C21/30 ,  G01C21/32 ,  G01S7/4808 ,  G01S17/89 ,  G05D1/024 ,  G05D1/0248 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0213

摘要： An autonomous mobile system for a mobile body which moves while localizing itself in a space includes a shape detector and travel distance detector for measuring whether objects are present in set regions determined by dividing a three-dimensional space into a plurality of segments, a storage device into which map data is stored that indicates a region of the set regions that has been set as having a stationary object in the region, a determining section that determines, from frequency of the object detection by the shape detector during a predetermined time for each of the set regions, whether the object that has been detected in each set region is a stationary object or a moving object, and a localizer that localizes a vehicle by matching the region that the determining section has determined to have a stationary object in the region, and the map data.

摘要翻译： 一种移动体的自主移动系统，其移动同时将其自身定位在空间中，包括形状检测器和行进距离检测器，用于测量物体是否存在于通过将三维空间分割成多个段所确定的设定区域中;存储装置 存储指示已经被设置为具有在该区域中具有静止对象的设定区域的区域的地图数据的确定部分，其根据形状检测器在预定时间内的每个物体检测的频率确定 设定区域，是否在每个集合区域中检测到的物体是静止物体或移动物体;以及定位器，其通过使确定部分已经确定具有在该区域中具有静止物体的区域匹配来定位车辆; 和地图数据。

公开(公告)号：US10055694B2

公开(公告)日：2018-08-21

申请号：US14419681

申请日：2012-08-07

申请人： Ryoko Ichinose ,  Takashi Sato ,  Ai Masuda ,  Kenjiro Yamamoto ,  Yukihiko Ono ,  Akira Oshima

发明人： Ryoko Ichinose ,  Takashi Sato ,  Ai Masuda ,  Kenjiro Yamamoto ,  Yukihiko Ono ,  Akira Oshima

IPC分类号： G01C22/00 ,  G06Q10/02 ,  G01C21/34 ,  G05D1/00 ,  G05D1/02

CPC分类号： G06Q10/02 ,  B60S3/00 ,  G01C21/3469 ,  G05D1/0022 ,  G05D1/0217

摘要： Provided are: a use-assisting tool for an autonomous mobile device that enhances convenience for a user of the autonomous mobile device; an operation management center; an operation system; and an autonomous mobile device. The use-assisting tool for an autonomous mobile device provides assistance for using the autonomous mobile device, which travels autonomously along a route to a destination, and is characterized by: being provided with a communication means that communicates with an operation management center, an input means, and a display means; a destination to be visited using the autonomous mobile device being input by means of the input means; and the display means displaying cooperation information established at the destination that is transmitted from the operation management center. The cooperation information established at the destination includes information regarding securing a mobility means at the destination and establishing a reservation at the destination.

公开(公告)号：US20080147261A1

公开(公告)日：2008-06-19

申请号：US11957567

申请日：2007-12-17

申请人： Ryoko Ichinose ,  Junichi Tamamoto

发明人： Ryoko Ichinose ,  Junichi Tamamoto

IPC分类号： G01C22/00

CPC分类号： G01C22/006

摘要： A guide robot device including a guide display unit for displaying the guide information to an unguided person and a moving unit adapted to move with the guide display unit mounted thereon is disclosed. The guide robot device further includes the guide display unit variable in the direction of the guide information, a destination position setting unit for setting the destination position of the unguided person, an unguided person position detection unit for detecting the position of the unguided person, and a guide position calculation unit for calculating the guide position as related to the destination position, the detected position of the unguided person and the distance from the guide robot device to the unguided person. The guide robot device is moved to the calculated guide position and the direction of the guide information determined.

摘要翻译： 公开了一种引导机器人装置，其包括用于向非导向人员显示引导信息的引导显示单元和适于与安装在其上的引导显示单元一起移动的移动单元。 引导机器人装置还包括在引导信息的方向上可变的引导显示单元，用于设置非导向人的目的地位置的目的地位置设定单元，用于检测非导向人物的位置的非导向人位置检测单元，以及 引导位置计算单元，用于计算与目的地位置相关的引导位置，未检测人的检测位置以及从引导机器人装置到非导向人的距离。 引导机器人装置被移动到计算出的导向位置并确定导向信息的方向。

公开(公告)号：US08958910B2

公开(公告)日：2015-02-17

申请号：US13177789

申请日：2011-07-07

申请人： Ryoko Ichinose ,  Ikuo Takeuchi ,  Takashi Teramoto

发明人： Ryoko Ichinose ,  Ikuo Takeuchi ,  Takashi Teramoto

IPC分类号： G05B15/00 ,  G05B19/00 ,  B66B1/24

CPC分类号： B66B1/2458

摘要： An elevator system which an autonomous mobile robot and human user can utilize safely and efficiently. The system has an available area detection unit to detect an available area in a cage, and a riding possibility/impossibility determination unit to determine whether or not the autonomous mobile robot can get on the cage based on information on size and position of the available area detected by the available area detection unit. The autonomous mobile robot gets on the cage only when the riding possibility/impossibility determination unit determines that riding is possible.

摘要翻译： 自动移动机器人和人类用户可以安全有效地利用的电梯系统。 该系统具有可用区域检测单元，用于检测笼中的可用区域;骑乘可能性/不可能性确定单元，用于基于有关可用区域的尺寸和位置的信息来确定自主移动机器人是否可以进入笼子 由可用区域检测单元检测。 仅当乘坐可能性/不可能性确定单元确定骑乘可能时，自主移动机器人才能进入轿厢。

公开(公告)号：US08195353B2

公开(公告)日：2012-06-05

申请号：US11957567

申请日：2007-12-17

申请人： Ryoko Ichinose ,  Junichi Tamamoto

发明人： Ryoko Ichinose ,  Junichi Tamamoto

IPC分类号： G01C22/00

CPC分类号： G01C22/006

摘要： A guide robot device including a guide display unit for displaying the guide information to an unguided person and a moving unit adapted to move with the guide display unit mounted thereon is disclosed. The guide robot device further includes the guide display unit variable in the direction of the guide information, a destination position setting unit for setting the destination position of the unguided person, an unguided person position detection unit for detecting the position of the unguided person, and a guide position calculation unit for calculating the guide position as related to the destination position, the detected position of the unguided person and the distance from the guide robot device to the unguided person. The guide robot device is moved to the calculated guide position and the direction of the guide information determined.

摘要翻译： 公开了一种引导机器人装置，其包括用于向非导向人员显示引导信息的引导显示单元和适于与安装在其上的引导显示单元一起移动的移动单元。 引导机器人装置还包括在引导信息的方向上可变的引导显示单元，用于设置非导向人的目的地位置的目的地位置设定单元，用于检测非导向人物的位置的非导向人位置检测单元，以及 引导位置计算单元，用于计算与目的地位置相关的引导位置，未检测人的检测位置以及从引导机器人装置到非导向人的距离。 引导机器人装置被移动到计算出的导向位置并确定导向信息的方向。

公开(公告)号：US20120041593A1

公开(公告)日：2012-02-16

申请号：US13177789

申请日：2011-07-07

申请人： Ryoko Ichinose ,  Ikuo Takeuchi ,  Takashi Teramoto

发明人： Ryoko Ichinose ,  Ikuo Takeuchi ,  Takashi Teramoto

IPC分类号： B25J13/08

CPC分类号： B66B1/2458

摘要： An elevator system which an autonomous mobile robot and human user can utilize safely and efficiently. The system has an available area detection unit to detect an available area in a cage, and a riding possibility/impossibility determination unit to determine whether or not the autonomous mobile robot can get on the cage based on information on size and position of the available area detected by the available area detection unit. The autonomous mobile robot gets on the cage only when the riding possibility/impossibility determination unit determines that riding is possible.

摘要翻译： 自动移动机器人和人类用户可以安全有效地利用的电梯系统。 该系统具有可用区域检测单元，用于检测笼中的可用区域;骑乘可能性/不可能性确定单元，用于基于有关可用区域的尺寸和位置的信息来确定自主移动机器人是否可以进入笼子 由可用区域检测单元检测。 仅当乘坐可能性/不可能性确定单元确定骑乘可能时，自主移动机器人才能进入轿厢。