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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
Applicant: Hideo Shitamoto , Tsuyoshi Nakano , Shoji Tanaka
Inventor： Hideo Shitamoto , Tsuyoshi Nakano , Shoji Tanaka
IPC: G05D1/02
CPC classification number: G05D1/024 , G05D1/0223 , G05D1/0236 , G05D1/0274 , G05D2201/0206 , G05D2201/0216
Abstract: 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.
Abstract translation: 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
Applicant: Tsuyoshi Nakano , Shoji Tanaka
Inventor： Tsuyoshi Nakano , Shoji Tanaka
CPC classification number: G05D1/0214 , G05D1/0238 , G05D1/024 , G05D1/0274 , G05D2201/0206 , G09B29/007 , G09B29/10 , Y10S901/01 , Y10S901/46
Abstract: 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.
Abstract translation: 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：US20140155755A1
公开(公告)日：2014-06-05
申请号：US14091292
申请日：2014-02-13
Applicant: INTOUCH TECHNOLOGIES, INC.
Inventor： Marco Pinter , Timothy C. Wright , H. Neal Reynolds
CPC classification number: A61B34/30 , A61B5/0008 , A61B5/0013 , A61B5/0022 , A61B5/0075 , A61B5/0077 , A61B5/015 , A61B5/02055 , A61B5/024 , A61B5/1128 , A61B5/165 , A61B5/4064 , A61B5/4809 , A61B5/7264 , A61B5/7275 , A61B5/741 , A61B5/742 , A61B5/746 , B25J9/1689 , B25J11/009 , G05D1/0038 , G05D2201/0206 , G06F19/00 , G06F19/3418 , G16H40/67 , H04N7/148
Abstract: A telepresence device may autonomously check patients. The telepresence device may determine the frequency of checking based on whether the patient has a risk factor. The telepresence device may include an image sensor, a thermal camera, a depth sensor, one or more systems for interacting with patients, or the like. The telepresence device may be configured to evaluate the patient's condition using the one or more sensors. The telepresence device may measure physiological characteristics using Eulerian video magnification, may detect pallor, fluid level, or fluid color, may detect thermal asymmetry, may determine a psychological state from body position or movement, or the like. The telepresence device may determine whether the patient is experiencing a potentially harmful condition, such as sepsis or stroke, and may trigger an alarm if so. To overcome alarm fatigue, the telepresence device may annoy a care provider until the care provider responds to an alarm.
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公开(公告)号：US20140132082A1
公开(公告)日：2014-05-15
申请号：US14080333
申请日：2013-11-14
Applicant: THE PROVOST, FELLOWS, FOUNDATION & SCHOLARS, & THE OTHER MEMBERS OF THE BOARD, OF THE COLLEGE
Inventor： Conor McGinn , Mark Culleton
IPC: G05D1/00
CPC classification number: G05D1/0061 , A61G5/04 , A61G2203/14 , A61G2203/16 , G05D2201/0206 , Y10T307/826
Abstract: The invention provides a control interface configured to cooperate with a vehicle, such as a wheelchair or mobile robot, said interface comprising at least one sensor is adapted to detect the presence of at least one finger of a user and to act as a switching mechanism between manual and autonomous control of the vehicle. The invention provides a highly intuitive and effective means of switching between automatic and manual vehicle control-no user training required. The control interface allows for user to be comfortable in an autonomous vehicle—users can instantly gain full control when needed.
Abstract translation: 本发明提供了一种配置成与诸如轮椅或移动机器人的车辆协作的控制接口，所述包括至少一个传感器的接口适于检测用户的至少一根手指的存在，并且用作开关机构 车辆的手动和自主控制。 本发明提供了一种高度直观和有效的在自动和手动车辆控制之间切换的手段 - 不需要用户培训。 控制界面允许用户在自主车辆中舒适 - 用户可以在需要时立即获得完全控制。
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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
Applicant: Tsuyoshi Nakano , Shoji Tanaka
Inventor： Tsuyoshi Nakano , Shoji Tanaka
CPC classification number: G05D1/024 , G05D1/0225 , G05D1/0274 , G05D2201/0206
Abstract: 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.
Abstract translation: 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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Patent Agency Ranking
公开(公告)号：US08676420B2
公开(公告)日：2014-03-18
申请号：US13275555
申请日：2011-10-18
Applicant: Yohei Kume , Shohei Tsukada , Hideo Kawakami , Tohru Nakamura
Inventor： Yohei Kume , Shohei Tsukada , Hideo Kawakami , Tohru Nakamura
CPC classification number: B60L15/20 , B60L15/10 , B60L2200/34 , B60W30/0953 , B60W2300/38 , G05D1/024 , G05D2201/0206 , Y02T10/645 , Y02T10/72 , Y02T10/7275
Abstract: An electric wheelchair includes a body portion, an operating section to detect an operation by an operator, an obstacle sensor to detect an obstacle existing in the vicinity of the body portion, an obstacle determination section to form a search region extending from the body portion in an operating direction, and to determine an obstacle existing in the search region, as the obstacle to be avoided, a virtual repulsive force calculation section to calculate a virtual repulsive force to move the body portion away from the obstacle determined by the obstacle determination section, a resultant force calculation section to calculate a resultant force composed of an operating force and the virtual repulsive force, and a control section to control a movement of the body portion so that the body portion is moved in a direction of the resultant force.
Abstract translation: 电动轮椅包括主体部分，用于检测操作者的操作的操作部分，用于检测存在于身体部位附近的障碍物的障碍物传感器;障碍物确定部分，形成从主体部分延伸的搜索区域 操作方向，并且为了确定存在于搜索区域中的障碍物作为避免的障碍，虚拟排斥力计算部分计算使主体部分远离由障碍物确定部分确定的障碍物的虚拟排斥力， 合力计算部分，用于计算由操作力和虚拟排斥力组成的合力;以及控制部分，用于控制主体部分的运动，使得主体部分沿合力的方向移动。
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97.发明申请公开(公告)号：US20140039676A1
公开(公告)日：2014-02-06
申请号：US14046266
申请日：2013-10-04
Applicant: Panasonic Corporation
Inventor： Jeffry Bonar FERNANDO , Katsuyoshi YAMAGAMI , Eiichi NAITO , Toru TANIGAWA
IPC: G05D1/02
CPC classification number: G05D1/0214 , G05D1/024 , G05D1/0251 , G05D1/0274 , G05D2201/0206 , Y10S901/01
Abstract: An attribute about person's mobility capability is judged by a human movement attribute acquisition unit. Candidate paths for a detected person to move along are created by a human path candidate creation unit based on information about the person and a predicted time left for a collision between the autonomous locomotion apparatus and the person. A movement load for each candidate path is evaluated by a human path load evaluation unit based on an attribute of person's movement. A path which imposes a minimum movement load on the person, i.e., a path suitable for the person's mobility capability and the easiest for the person to avoid the autonomous locomotion apparatus is selected by a human path determination unit. A path for the autonomous locomotion apparatus to guide the person to the selected path is planned by a guide path planning unit.
Abstract translation: 关于人的移动能力的属性由人运动属性获取单元来判断。 被检测人物移动的候选路径是由人类路径候补创建单元基于关于人的信息和自主运动装置与人之间的碰撞所剩下的预测时间来创建的。 每个候选路径的移动负载由人的路径负载评估单元基于人的运动的属性进行评估。 通过人类路径确定单元来选择对该人施加最小移动负载的路径，即适合于该人的移动能力的路径，以及该人最容易避免该自主运动装置的路径。 通过引导路径规划单元计划用于将人引导到所选择的路径的自主运动装置的路径。
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公开(公告)号：US08634981B1
公开(公告)日：2014-01-21
申请号：US13630551
申请日：2012-09-28
Applicant: Elwha LLC
Inventor： Roderick A. Hyde , Stephen L. Malaska
CPC classification number: G05D1/0088 , A61G1/0275 , A61G1/0281 , A61G1/0287 , A61G5/04 , A61G7/05 , A61G7/0527 , A61G7/0528 , A61G7/08 , G05D1/0011 , G05D1/0016 , G05D1/0061 , G05D1/021 , G05D1/0214 , G05D1/0217 , G05D1/0227 , G05D1/0234 , G05D1/0238 , G05D1/0246 , G05D1/027 , G05D1/0274 , G05D2201/0206 , Y10S901/01
Abstract: Systems, devices, and methods are described for moving a patient to and from various locations, care units, etc., within a care facility. For example a transport and support vehicle includes a body structure including a plurality of rotatable members operable to frictionally interface the vehicle to a travel path and to move the vehicle along the travel path, and a surface structured and dimensioned to support an individual subject. A transport and support vehicle can include, for example, an imager operably coupled to one or more of a power source, a steering assembly, one or more of the plurality of rotatable members, etc., and having one or more modules operable to control the power source, steering assembly, one or more of the plurality of rotatable members, etc., so as to maintain an authorized operator in the image zone.
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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
Applicant: Hideo Shitamoto , Tsuyoshi Nakano , Toshiki Moriguchi
Inventor： Hideo Shitamoto , Tsuyoshi Nakano , Toshiki Moriguchi
IPC: G05D1/00
CPC classification number: G05D1/0274 , G05D1/0088 , G05D1/0223 , G05D1/024 , G05D1/0251 , G05D1/0255 , G05D1/0272 , G05D2201/0206 , G05D2201/0216
Abstract: 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.
Abstract translation: 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：US08463435B2
公开(公告)日：2013-06-11
申请号：US12349288
申请日：2009-01-06
Applicant: John Cody Herzog , Blair Whitney , Yulun Wang , Charles S. Jordan , Marco Pinter
Inventor： John Cody Herzog , Blair Whitney , Yulun Wang , Charles S. Jordan , Marco Pinter
IPC: G06F19/00 , G05B19/418
CPC classification number: B25J9/1689 , B25J5/00 , B25J5/007 , B25J19/023 , G05B2219/40153 , G05B2219/40178 , G05B2219/40195 , G05D1/0038 , G05D1/0246 , G05D2201/0206 , Y10S901/01 , Y10S901/47
Abstract: A robot system with a robot that has a camera and a remote control station that can connect to the robot. The connection can include a plurality of privileges. The system further includes a server that controls which privileges are provided to the remote control station. The privileges may include the ability to control the robot, joint in a multi-cast session and the reception of audio/video from the robot. The privileges can be established and edited through a manager control station. The server may contain a database that defines groups of remote control station that can be connected to groups of robots. The database can be edited to vary the stations and robots within a group. The system may also allow for connectivity between a remote control station at a user programmable time window.
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