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Patent Agency Ranking
公开(公告)号：JPH05158533A
公开(公告)日：1993-06-25
申请号：JP33555691
申请日：1991-11-26
Applicant: IBM
Inventor： KAWASE KATSURA , ISHIKAWA SHIGEKI , ASAKA SHUNICHI
IPC: G05D1/02
Abstract: PURPOSE: To make moving machines mounting active sensors using the same energy wave coexist closely to each other. CONSTITUTION: The moving machine enters an exclusive transmission mode with respect to the transmission of an energy wave when interference can occur between its active sensor and those of other moving machines. Before transmitting the energy wave, the moving machine judges whether or not a competitive moving machine has acquires a energy wave transmitting right (121). When the competitive moving machine has not acquired the transmitting right, the traveling machine broadcasts the declaration of the acquirement of the energy wave transmitting right (122) and transmits the energy wave (123). When the competitive machine has acquired the right, the machine joins a transmission queue (125) and, whenever machine receives the declaration of the waiver of the energy wave transmitting right from other moving machines, the machine increases its priority in the queue.
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公开(公告)号：JPH086969A
公开(公告)日：1996-01-12
申请号：JP13739994
申请日：1994-06-20
Applicant: IBM
Inventor： ECHIGO TOMIO , ASAKA SHUNICHI
Abstract: PURPOSE: To efficiently and two-dimensionally display information on an object. CONSTITUTION: A two-dimensional pattern 50 displayed on a two-dimensional tag is constituted of a first area 52 constituted of a square position reference area 60 for identifying a position and a posture at the center and an identification area 62 for one data cell at a periphery, a second area a54 where white and black patterns alternately appear for identifying the read start position of information and a third area 56 for displaying information on the encoded object. When the square area of the first area 52 is detected, the position of the two-dimensional tag where the two-dimensional pattern 50 is displayed can be detected. When the data cell where the black and white patterns alternately appear in the second area 54 is detected, the posture of the two-dimensional tag can be detected and corrected. Thus, an other peripheral part where much information quantity can be displayed can effectively be used.
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公开(公告)号：JPH07200061A
公开(公告)日：1995-08-04
申请号：JP30925593
申请日：1993-12-09
Applicant: IBM
Inventor： ISHIKAWA SHIGEKI , ASAKA SHUNICHI
Abstract: PURPOSE: To provide a control system in which an obstacle can be appropriately avoided in an unknown environment by using a relatively simple sensor without constructing any complicate rule base. CONSTITUTION: A distance with an obstacle in plural directional ranges, or the time changing amounts are used as input information, and this input information is empty spatial distances W1-W5, and time changing amounts DW1-DW5. Those input data are inputted as parameters to functions K1-K5 indicating degree of danger, steering control functions indicating a steering direction (traveling along right/left walls, steering right/left, and largely steering right or left), and decelerating functions Dv1-Dv5, and processed. The result undergoes a certain integration, and an a result, the direction for steering (a steering angle = a traveling direction angle) ST and the velocity V are outputted. A moving machine is controlled based on the output data, and prescribed guidance is operated.
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公开(公告)号：JPH07116981A
公开(公告)日：1995-05-09
申请号：JP26664793
申请日：1993-10-25
Applicant: IBM
Inventor： ECHIGO TOMIO , ISHIKAWA SHIGEKI , ASAKA SHUNICHI , HAJIKI SHINICHIRO
Abstract: PURPOSE: To safely and efficiently guide travel of a mobile robot based on environments obtained by plural different sensors. CONSTITUTION: A surface form of a subject is interpreted by a sonar interpretation part 28 using sonar data as distance information to the subject. The surface form of the subject is interpreted by a stereo interpretation part 30 using stereo data of three-dimensional information based on video signals from a stereo camera 12. A hypothesis generating part 32 generates a hypothesis for the form of the subject using an interpretation without geometrically having inconsistency based on an interpretation obtained from sensors, and it time-serially collates sensor data corresponding to the surface form of the hypothesis with actual sensor data using a table deciding priority to be put between the sonar data and stereo camera data based on the hypothesis to test the hypothesis. For movement of a mobile robot, the mobile robot is guided for avoiding action referring to a traveling passage and in accordance with the hypothesis related to current environments.
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公开(公告)号：CA2132359A1
公开(公告)日：1995-04-26
申请号：CA2132359
申请日：1994-09-19
Applicant: IBM
Inventor： ECHIGO TOMIO , ISHIKAWA SHIGEKI , ASAKA SHUNICHI , HAZEKI SHINICHIRO
Abstract: DEVICE FOR MOVING A MOBILE ROBOT To run and move a mobile robot safely and effectively in an environment obtained from a plurality of different sensors. Sonar data given as distance information for an object is used to interpret the surface configuration of an object at a sonar interpretation section. Three-dimensional information about stereo data based on image signals from stereo cameras is used to interpret the surface configuration of an object at a stereo interpretation section. At a hypothesis generation section, a geometrically consistent interpretation is used taken from interpretations obtained from each sensor to generate a hypothesis giving the configuration of an object. A table is used to determine which data is assigned priority, sonar or stereo, to check sensor data corresponding to the surface configuration of the hypothesis against actual sensor data with the passage of time to verify the hypothesis. The mobile robot moves to avoid an obstacle, or its movement is directed, in accordance with the hypothesis with respect to the current environment by referencing the run route.
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