Abstract: An adhered substance detection apparatus of an embodiment includes a calculator and a determiner. The calculator calculates an edge feature for each cell based on edge vectors of pixels within the cell in a captured image, and further calculates a region feature for each unit region based on the calculated edge features of the cells within the unit region. The determiner determines an adherence state of an adhered substance on a lens of a camera based on the region feature. The calculator calculates, as the region feature, number of the cells having an edge strength of zero. When the number of the cells having the zero edge strength is equal to or greater than a predetermined number in a predetermined attention area in the captured image, the determiner determines not to perform a determination for detecting whether the lens of the camera is entirely covered by the adhered substance.

Abstract: A deposit detection device according to an embodiment includes a detection module and a storage processing module. The detection module detects a deposit region corresponding to a deposit adhering to an imaging device, based on brightness information of an image captured by the imaging device. The storage processing module stores deposit information on the deposit region in a storage unit that is nonvolatile, when an ignition power of a vehicle is turned off in a state in which the deposit region is detected. For an initial detection process after the ignition power is turned on, the detection module detects the deposit region based on the deposit information stored in the storage unit.

Abstract: A deposit detection device according to an embodiment includes an extraction module and an exclusion module. The extraction module extracts a candidate region for a deposit from a captured image captured by an imaging device. The exclusion module excludes from the candidate region a region that satisfies a predetermined exception condition. The exclusion module excludes from the candidate region a region that satisfies a first exception region when adhesion of a deposit to the imaging device is not detected, and excludes from the candidate region a region that satisfies a second exception condition different from the first exception condition when adhesion of the deposit to the imaging device is detected.

Abstract: A composite substrate 10 includes a first substrate 10 comprised of a piezoelectric single crystal and a second substrate 20 comprised of a silicon single crystal bonded to the first substrate 10. In the second substrate, a planar orientation is (111), and ? of Euler angles (?, ?, ?) is offset from 0°. Due to this, a bulk wave spurious is reduced in a specific frequency band.

Abstract: According to one embodiment, an autonomous mobile robot has a driver, a first detector, a second detector, a localization estimation part, a route-generating part, and a control part. The localization estimation part is configured to calculate an estimated position of the autonomous mobile robot in a predetermined region in accordance with first data. The route-generating part is configured to calculate a position of an object present around the autonomous mobile robot in accordance with second data. The route-generating part is configured to calculate a route to a target position in accordance with the estimated position and the position of the object. The control part is configured to control the driver in accordance with the route. The control part is configured to cause the autonomous mobile robot to travel to the target position.

Abstract: An apparatus body of an image forming apparatus has a first guide portion having an inlet shape corresponding to an outer shape of an engagement portion provided in a cartridge when seen in an attachment direction of the cartridge to the apparatus body and guiding the engagement portion, a second guide portion for guiding a positioning target portion which is provided on the cartridge for positioning an attachment completion position of the cartridge with respect to the apparatus body, and a movable member being at a regulation position at which a guiding path of the positioning target portion by the second guide portion is blocked is immovable from the regulation position unless being pressed by the engagement portion.

Abstract: An unmanned transport vehicle according to an embodiment includes a vehicle body, a moving mechanism, and an operation control device. The vehicle body is combinable with a transport object. The moving mechanism causes the vehicle body to be moved. The operation control device controls an operation of the moving mechanism. The operation control device includes a pseudo-reference position setter, a path acquirer, an operation command generator, and a driving controller. The pseudo-reference position setter sets a pseudo-reference position serving as an operation reference position of a combination structure of the vehicle body and the transport object to be different from a vehicle body reference position that is an operation reference position of the vehicle body. The path acquirer acquires a movement path from a current position of the combination structure to a target position.

Abstract: An adhered substance detection apparatus determines whether a substance is adhered to an image-capturing apparatus. The adhered substance detection apparatus includes a controller configured to function as: an extractor that extracts candidate regions for being an adhered substance region in which the substance is adhered to the image-capturing apparatus, the candidate regions being extracted based on an edge that is detected from pixels in an image captured by the image-capturing apparatus; and a final determiner that finally determines whether the candidate regions are the adhered substance region, based on i) an area of the candidate region located in a first region of the captured image, the first region including a road surface region in the captured image and ii) an area of the candidate region located in a second region of the captured image, the second region including a region other than the road surface region in the captured image.

Abstract: A deposit detection device according to an embodiment includes a detection module and a determination module. The detection module detects a deposit region including a deposit adhering to a lens of an imaging device from a captured image captured by the imaging device. The determination module performs maintenance determination as to whether to maintain a detection history of detection by the detection module, based on brightness information of the captured image.

Abstract: A mobile body, a control device, a surrounding object detector, and a monitoring device capable of controlling a safety system of a mobile body having an omnidirectional movement mechanism with a simple configuration are provided. A mobile body according to an embodiment includes drive wheels, a rotational velocity detector, an object detector, a controller, and a changer. The drive wheels are three or more drive wheels that allows the mobile body to move in all directions, and the respective drive wheels are driven independently. The rotational velocity detector detects respective rotational velocities of the drive wheels. The object detector detects an object around the mobile body. The controller decelerates or stops the mobile body when an object is detected in a monitoring area by the object detector. The changer changes a range of the monitoring area on the basis of the respective rotational velocities of the drive wheels detected by the rotational velocity detector.

Abstract: A deposit detection device according to an embodiment includes a detection module, a determination module, and an identification module. The detection module detects a deposit region corresponding to a deposit adhering to an imaging device, based on brightness information of an image captured by the imaging device. The determination module determines whether variation in brightness information in a predetermined region of the image is within a predetermined range, in a period after a vehicle is stopped in a state in which the deposit region is detected by the detection module. The identification module identifies brightness information serving as a determination criterion of the deposit region when the determination module determines that the variation in brightness information is within a predetermined range.

Abstract: A movable body of an embodiment includes drive wheels, one or more rotational velocity detection units, a movement velocity detection unit, an object detection unit, a movement control unit, a stopping unit, and a changing unit. The drive wheels are three or more drive wheels to be driven independently from each other. The one or more rotational velocity detection units detect rotational velocities of the three or more drive wheels. The movement velocity detection unit detects a movement velocity of the movable body using the respective rotational velocities detected by the one or more rotational velocity detection units. The object detection unit detects an object within a monitoring area around the movable body. The movement control unit moves the movable body in accordance with a movement plan. The stopping unit stops the movable body when the movement velocity detected by the movement velocity detection unit reaches a threshold value of velocity.

Abstract: An image forming apparatus includes a control substrate, an operating unit including a button, a button member and a substrate including a switch provided below the button member. The button member includes a pressing portion for pressing the switch, first and second elastic portions, and an abutting portion capable of contacting a portion other than the switch of the substrate. As viewed from a pressing direction, the switch and the pressing member are disposed in a place other than a center of the button, the abutting portion is positioned in one side and the pressing portion is in the other side with respect to a virtual line connecting a first connecting portion and a second connecting portion connecting the first and second elastic portion and the button, respectively. The abutting portion is disposed on a position overlapping with a contour of the operating portion or a position non-overlapping with the operating portion.

Abstract: An apparatus body of an image forming apparatus has a first guide portion having an inlet shape corresponding to an outer shape of an engagement portion provided in a cartridge when seen in an attachment direction of the cartridge to the apparatus body and guiding the engagement portion, a second guide portion for guiding a positioning target portion which is provided on the cartridge for positioning an attachment completion position of the cartridge with respect to the apparatus body, and a movable member being at a regulation position at which a guiding path of the positioning target portion by the second guide portion is blocked is immovable from the regulation position unless being pressed by the engagement portion.

Abstract: A deposit detection device according to an embodiment includes a calculation module, an extraction module, and a decision module. The calculation module calculates a brightness average for each of small regions into which a predetermined region of an image captured by an imaging device is divided. The extraction module extracts, as a high-brightness region, the small region in which the brightness average calculated by the calculation module is equal to or larger than a predetermined value. The decision module decides on a brightness threshold value for detecting a deposit region corresponding to a deposit adhering to the imaging device, based on the area of the high-brightness region extracted by the extraction module.

Abstract: An image forming apparatus includes a cartridge including a portion-to-be-positioned, and an apparatus main body on which the cartridge is mounted in a mounting direction. The apparatus main body includes a positioning portion and a regulating portion. The positioning portion positions the cartridge by engaging with the portion-to-be-positioned. The regulating portion is provided on an upstream side of the positioning portion in the mounting direction. The cartridge includes a portion-to-be-regulated provided on an upstream side of the portion-to-be-positioned in the mounting direction. The portion-to-be-positioned engages with the regulating portion before engaging with the positioning portion, to regulate movement of the cartridge in the direction orthogonal to the mounting direction.

Abstract: A method of cleaning a filter cloth of a filter press including a first cleaning nozzle and a second cleaning nozzle which jet cleaning liquid from positions upper right and left of the filter cloth toward respective diagonal corners of the filter cloth, the method including: jetting the cleaning liquid from only the first cleaning nozzle; and jetting the cleaning liquid from only the second cleaning nozzle.

Abstract: A SAW element includes a piezoelectric substrate, a support substrate attached to a bottom surface of the piezoelectric substrate, and an IDT electrode on a top surface of the piezoelectric substrate. A resonance frequency and an anti-resonance frequency of a resonator including the IDT electrode are kept between a frequency of a lowest frequency bulk wave spurious and a frequency of a next lowest frequency bulk wave spurious.

Abstract: A movable object includes: a vehicle body; a distance measurement part configured to measure a distance to a physical object; an orientation measurement part configured to measure an orientation angle of the vehicle body; and a control device connected to the distance measurement part and the orientation measurement part. The control device acquires a measurement value of a detection range from the distance measurement part, calculates a valid range of the detection range on the basis of the orientation angle acquired from the orientation measurement part, and invalidates the measurement value of an invalid range not included in the valid range.

Abstract: An attached object detection apparatus includes a setting part, a calculator, and a detector. A setting part sets a plurality of divided regions within a captured image captured by an image capturing apparatus. A calculator calculates, for each of the plurality of divided regions and based on luminance of pixels in the divided region, a representative luminance value and an amount of luminance dispersion. A detector detects, as an attached region that has an attached object, a divided region among the plurality of divided regions that satisfies the following conditions: i) a first difference is equal to or smaller than a first predetermined difference, ii) a second difference is equal to or smaller than a second predetermined difference, and iii) the representative luminance value of the current divided region is equal to or smaller than a first predetermined value.