Mitsubishi Heavy Industries Limited

Mitsubishi Jidosha Kogyo Kabushiki Kaisha

Mitsubishi Logisnext Co. Ltd.

Waseda University

Mitsubishi Nichiyu Forklift Co., Ltd.

Waseda Univerity

Yusuke Kinouchi

Yasuo Fujishima

Takumi Fujita

Katsumasa Kitajima

Hiroyuki Yamada

Kensuke Futahashi

Kenji Takao

Kenji Hashimoto

Takashi Matsuzawa

Noriyuki Hasegawa

Satoshi Iio

Takuya Otani

Shinya Hamamoto

Tatsuhiro Kishi

Shigetoshi Shiotani

Tetsuya Tomonaka

Kevin Walters

Kazuhiro Uryu

Tomohiro Tami

Ayanori Koizumi

Tomotaka Teramachi

Atsuo Takanishi

Masahiro Yamada

Megumu Tsuruta

Naoto Kawauchi

Kiyomitsu Ogawa

Takuya Akashi

Takashi Shibutani

Masaru Higuchi

A position estimation system is a position estimation system for estimating a position of a forklift equipped with a camera and includes: a position estimation unit configured to estimate a position of the forklift on the basis of a feature included in an image captured by the camera; and an inclusion determination unit configured to calculate, on the basis of a position in a height direction of a mast with which the forklift is equipped, an inclusion range indicating a range in which the mast is in the image and determine to stop estimation of the position by using the position estimation unit when the inclusion range calculated exceeds an allowable range.

Position estimation system, forklift, position estimation method, and program

Pallet detection device that acquires point cloud data indicating a point cloud measured by a two-dimensional distance measurement device on a depth map; detects a straight line corresponding to a front surface of a pallet based on the point cloud in a region presumed to include the front surface of the pallet in the point cloud data; detects a line segment indicating the front surface of the pallet based on the straight line; acquires position and orientation of the pallet based on the line segment. Acquires one or more straight line candidates and assigns for each of the one or more straight line candidates a score to the point cloud and selects the straight line from the one or more straight line candidates based on a score accumulated value obtained by accumulating the score for the point cloud in the region presumed to include the front surface of the pallet.

Pallet detection device, forklift, pallet detection method, and program

A control device includes a route acquisition unit configured to acquire routes of a movable body for moving target objects to or from a target position at which the target objects are to be picked up or dropped, a reference position/posture acquisition unit configured to acquire information on a position at which the movable body picks up or drops a first target object of the target objects at the target position, and an information output unit configured to output information acquired by the route acquisition unit to the movable body. The route acquisition unit is configured to acquire the routes of the movable body for moving second and subsequent target objects of the target objects, based on the information acquired by the reference position/posture acquisition unit.

Control device, movement control system, control method, and program

A device is for estimating a position of a vehicle equipped with a laser scanner capable of acquiring point cloud data by scanning a laser beam and a camera capable of acquiring an image in a predetermined direction. The device includes an acquisition unit configured to acquire the point cloud data and the image, an estimation unit configured to estimate the position based on the point cloud data or the image, and an extraction unit configured to extract, from the point cloud data, valid point cloud data that is usable for estimating the position. The estimation unit is configured to estimate the position using: (i) the valid point cloud data if a number of pieces of valid point cloud data is equal to or greater than a predetermined number; and (ii) the image if the number of pieces of valid point cloud data is less than the predetermined number.

Position estimation device, control device, industrial vehicle, logistics support system, position estimation method, and program

A forklift apparatus includes: an error prediction unit configured to predict a first positional error which is a positional error after picking-up between a standard position of a fork and a central position of a pallet on the fork after the pallet is picked up and a first angle error which is an angle error after picking-up with respect to the fork in the pallet; a travel route correction unit configured to correct a travel route from a picking-up position of the pallet to a stacking position of the pallet to offset the first positional error and the first angle error when the pallet is stacked; and a conveyance travel control unit configured to perform travel control such that the pallet is conveyed along the corrected travel route.

Forklift apparatus, forklift control method, and non-transitory computer-readable medium

The self-localization device includes: an acquisition unit configured to acquire a sight image from a camera which is mounted in a mobile object; an estimation unit configured to perform a self-localization process of estimating a position and a posture of the mobile object in a world coordinate system on the basis of positions of feature points in the sight image and a map on which positions of a plurality of feature points in the world coordinate system are recorded; and a registration unit configured to register the sight image as a key frame for adding a new feature point included in the sight image to the map. The registration unit is configured to register the sight image as the key frame when movement of the mobile object satisfies a condition which is prescribed for at least one of the position and the posture of the mobile object.

Self-localization device, self-localization method, and non-transitory computer-readable medium

An automated driving control device includes a registration unit configured to generate automated driving information used for driving a vehicle automatically based on a first image obtained by capturing an environment around the vehicle in a mode of driver driving; and a control unit configured to automatically drive the vehicle based on the automated driving information and a second image obtained by capturing the environment around the vehicle in a mode of automated driving. The registration unit includes an extraction unit configured to extract candidate feature points existing in the environment around the vehicle based on the first image; and a generation unit configured to select the candidate feature points that are determined to be structures fixed around a target position of the vehicle based on the first images captured while the vehicle moves, as feature points.

Automated driving control device, vehicle, and automated driving control method

A parking support system includes a parking path planning unit that plans a trajectory of each unit path when moving a vehicle to a target parking position by repeating a movement of the unit path including one forward movement and one backward movement in succession and calculates a vehicle control signal that causes the vehicle to move along the trajectory such that a steering angle of the vehicle is substantially 0 degrees at an arrival position of each of the forward movement and the backward movement.

Parking support system, parking support method and program

A mobile robothaving a plurality of kinds of moving forms includes a body unithaving a front face and a back face, four limb unitshaving a plurality of limb-side drive shafts, and front end toolsprovided on a front end side of the limb units. A base end side of the limb unitis connected to the body unit. The four limb unitsare the same units. The body unitand the four limb unitsare movable by switching a front face side and a back face side so that a moving operation of the front face side and a moving operation of the back face side are symmetrical across the center of a thickness direction of the body unit

Mobile robot and front end tool

A hybrid industrial vehicle () has as a main configuration: an engine (); a cargo handling generator motor () used for cargo handling; a cargo handling apparatus () that can be driven by power received from both the engine () and the cargo handling generator motor (); and a hybrid control system (). The hybrid control system () suppresses an output of the cargo handling generator motor () according to a temperature of the cargo handling generator motor () during powering of the cargo handling generator motor (), and suppresses a regeneration amount of the cargo handling generator motor () according to the temperature of the cargo handling generator motor () during regeneration of the cargo handling generator motor ().

Hybrid industrial vehicle

Growing community of inventors

Tokyo, Japan

Yusuke Kinouchi