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    OPTICAL VELOCITY MEASURING APPARATUS AND MOVING OBJECT
    1.
    发明申请
    OPTICAL VELOCITY MEASURING APPARATUS AND MOVING OBJECT 有权

    公开(公告)号：US20170322232A1

    公开(公告)日：2017-11-09

    申请号：US15329503

    申请日：2014-07-30

    Applicant: HITACHI, LTD.

    Inventor： Taishi UEDA ,  Ryosuke NAKAMURA ,  Azusa AMINO

    IPC: G01P3/36 ,  G01P15/093 ,  G01B11/14 ,  H01L27/146 ,  G01B11/00

    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 the imaging means in a time series and a velocity of the moving object from the pixel shift amount gradient is acquired.

    Mobile Robot System
    2.
    发明申请
    Mobile Robot System 审中-公开
    移动机器人系统

    公开(公告)号：US20160299509A1

    公开(公告)日：2016-10-13

    申请号：US15036270

    申请日：2013-11-15

    Applicant: HITACHI, LTD.

    Inventor： Taishi UEDA ,  Ryosuke NAKAMURA ,  Azusa AMINO

    IPC: G05D1/02 ,  B25J9/16

    CPC classification number: G05D1/0274 ,  B25J9/1676 ,  G05D1/024 ,  Y10S901/01

    Abstract: The present invention provides a mobile robot system which predicts, in an environment in which mobile objects such as people come and go, a place at which the possibility that a mobile object may appear is high and a potential mobile object and can efficiently avoid collision with a mobile object. The mobile robot system includes an outside world sensor that measures a position of an object in a surrounding environment, a traveling unit that displaces an own position, and a control unit that controls the traveling unit. The mobile robot system is configured such that: history map data in which positions (object movement positions) at each of which an object has moved and velocity information of the object within a predetermined period are provided on map data indicative of a movement space of the robot; 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; the velocity information of an object which moved over a position in the neighborhood of the appearance point in the past is read out from the map data; a shape of a collision risk area which is an area in which the possibility that a mobile object may appear and collide with the robot in the future in response to the velocity information is high is determined; and the control unit controls at least one of an advancing direction and a velocity of the robot in response to a positional relationship between the collision risk area and the robot.

    Abstract translation: 本发明提供了一种移动机器人系统，其在诸如人们来来往的移动对象的环境中预测出可能出现移动对象的可能性高的位置和潜在的移动对象，并且可以有效地避免与 一个移动对象。 移动机器人系统包括测量周围环境中的物体的位置的外界传感器，移动自身位置的行进单元和控制行驶单元的控制单元。 移动机器人系统被配置为使得在其中在对象已经移动的位置（对象移动位置）和预定时间段内的对象的速度信息的历史地图数据被提供给指示该移动机器人的移动空间的地图数据 机器人; 基于从外界传感器获得的环境信息，识别目前没有移动体存在的移动体外观点，但是移动体将来可能出现的可能性; 从地图数据中读出在过去的出现点附近的位置上移动的物体的速度信息; 确定作为响应于速度信息的移动体可能在未来出现并与机器人碰撞的可能性的区域的碰撞风险区域的形状高; 并且所述控制单元响应于所述碰撞风险区域与所述机器人之间的位置关系来控制所述机器人的前进方向和速度中的至少一个。

    INFORMATION SEARCH DEVICE
    3.
    发明公开
    INFORMATION SEARCH DEVICE 审中-公开

    公开(公告)号：US20230297611A1

    公开(公告)日：2023-09-21

    申请号：US18008343

    申请日：2021-04-21

    Applicant: HITACHI, LTD.

    Inventor： Kentaroh SANO ,  Atsushi MAKI ,  Yuto KOMATSU ,  Azusa AMINO ,  Zhuonan YAO ,  Sachi TANAKA ,  Akiyoshi OOHIRA

    IPC: G06F16/632 ,  G06F40/40 ,  G06F16/638

    CPC classification number: G06F16/632 ,  G06F40/40 ,  G06F16/638

    Abstract: Information that matches personal hobbies, tastes, and trends is provided. An information search device comprises: an information acquisition unit that acquires sensor information; an information verbalization unit that verbalizes the sensor information acquired by the information acquisition unit; a general knowledge database storing language information and various information in association with each other; and a search unit that searches the general knowledge database on the basis of language information verbalized by the information verbalization unit, and outputs various information associated with the language information and with language information similar to such language information.

    Mobile Robot System and Method for Controlling Mobile Robot
    5.
    发明申请
    Mobile Robot System and Method for Controlling Mobile Robot 有权
    移动机器人系统和控制移动机器人的方法

    公开(公告)号：US20160370802A1

    公开(公告)日：2016-12-22

    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: According to the present device, a mobile robot system capable of estimating the occurrence of various risks within its environment and executing appropriate processing to achieve an objective is to be provided. A mobile robot system includes: an environment recognition unit for recognizing an external environment; a travelling unit; a travelling control unit which controls the travelling unit on the basis of environment information from the environment recognition unit; 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. The calculation unit includes an objective setting unit, an occurring risk attribute recognition unit, and an own location recognition unit, and also includes a movement planning unit. A potential risk area where there is a potential risk that occurs due to a change in weather or road surface and a risk occurrence condition are recognized by the potential risk area recognition unit. The risk occurrence condition is detected by the risk occurrence condition detection unit. When the risk occurrence condition is satisfied, the calculation unit calculates a degree of influence of the occurring risk on achievement of an objective quantitatively/in stages. A moving method/moving route near an area where the risk has occurred is planned. The system includes a mobile robot which autonomously moves on the basis of the plan.

    Abstract translation: 根据本装置，能够提供能够估计其环境中的各种风险的发生并执行适当的处​​理以实现目的的移动机器人系统。 移动机器人系统包括：用于识别外部环境的环境识别单元; 旅行单位 行驶控制单元，其基于来自环境识别单元的环境信息来控制行驶单元; 计算单元，其向行驶控制单元生成行驶命令; 潜在风险区域识别单位; 和风险发生条件检测单元。 计算单元包括目标设定单元，发生风险属性识别单元和自身位置识别单元，并且还包括移动计划单元。 由于天气或路面变化以及风险发生状况而发生潜在风险的潜在风险区域由潜在风险区域识别单元识别。 风险发生状况检测部检测风险发生状态。 当满足风险发生条件时，计算单元逐步计算出现的风险对实现目标的目标的影响程度。 计划在发生风险的地区附近的移动方式/移动路线。 该系统包括基于该计划自主移动的移动机器人。

    Small Flying Object
    6.
    发明申请
    Small Flying Object 审中-公开
    小型飞行物体

    公开(公告)号：US20160251077A1

    公开(公告)日：2016-09-01

    申请号：US15052255

    申请日：2016-02-24

    Applicant: Hitachi, Ltd.

    Inventor： Azusa AMINO ,  Yukio YAMAMOTO

    IPC: B64C27/10 ,  G05D1/08 ,  B64C39/02 ,  B64C27/00 ,  B64C27/52 ,  B64C27/12

    CPC classification number: G05D1/0858 ,  B64C17/02 ,  B64C27/10 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/042 ,  B64C2201/108 ,  B64C2201/165 ,  G05D1/0841

    Abstract: To provide a small flying object that is inexpensive and capable of stable flying. In order to solve the above problem, a representative example of the small flying object of the present invention includes an upper rotor that generates thrust by rotating, a lower rotor that is disposed below the upper rotor and rotates coaxially with the upper motor and in the opposite direction to the upper motor, and an inertia balancer that is connected to one of the rotors having a lower rotation speed during hovering among the upper rotor and the lower rotor, and rotates integrally with the one rotor. The inertia balancer compensates a difference between an angular momentum of the one rotor and an angular moment of the other rotor during hovering.

    Abstract translation: 提供廉价且能够稳定飞行的小型飞行物体。 为了解决上述问题，本发明的小型飞行物体的代表性例子包括通过旋转产生推力的上部转子，设置在上部转子下方并与上部电动机同轴旋转的下部转子， 以及惯性平衡器，其在上转子和下转子之间悬停的同时与具有较低转速的转子之一连接，并与一个转子一体地旋转。 惯性平衡器在悬停期间补偿一个转子的角动量与另一个转子的角动量之间的差异。

    HUMANOID ROBOT
    7.
    发明申请
    HUMANOID ROBOT 审中-公开

    公开(公告)号：US20190100263A1

    公开(公告)日：2019-04-04

    申请号：US16087669

    申请日：2017-03-08

    Applicant: Hitachi, Ltd.

    Inventor： Azusa AMINO ,  Ryoko ICHINOSE ,  Ryosuke NAKAMURA ,  Akihiro YAMAMOTO

    IPC: B62D57/028 ,  B25J5/00 ,  B25J13/08 ,  B25J18/00 ,  B25J19/00 ,  B25J19/02

    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.

    AUTONOMOUS MOVING OBJECT
    8.
    发明申请
    AUTONOMOUS MOVING OBJECT 审中-公开
    自动移动对象

    公开(公告)号：US20170017237A1

    公开(公告)日：2017-01-19

    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

    CPC classification number: G05D1/0246 ,  G05D1/024 ,  G05D2201/0213

    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.

    Abstract translation: 环境信息获取单元获取交通信号灯的信号状态。 自身位置估计单元估计自主移动物体的自身位置。 行驶路线决定单元计算第一时间沿着第一路线从人行横道的自身位置移动到终点，以及第二时间沿着第二路线从自点移动到起点 在预定时间之后或在信号状态从蓝色变为红色的情况下，信号状态在人行横道上从蓝色变为红色的情况下的人行横道，并且选择对应于第一 时间和第二次。 车辆控制单元控制自主运动物体的自动运动，使得自主运动物体沿所选择的路线移动。

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