Patents by Inventor Mikio Bando

Mikio Bando has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 10248128
    Abstract: A haulage vehicle comprises: a position calculating system (220) calculating an estimated position of its own vehicle; a position range calculating unit (201b) calculating a position range which is centered around the estimated position and in which the haulage vehicle is present with a predetermined expected probability; a maximum deviation amount calculating unit (602) calculating a maximum deviation amount indicating a highest value among the amounts of deviations between a target route of the haulage vehicle and each of points included in the position range; a target vehicle-speed decision unit (603) setting a target vehicle speed of the haulage vehicle to be relatively low when the maximum deviation amount is relatively large; and a target route-tracing unit (201g) performing control for the haulage vehicle to travel along the target route in compliance with the target vehicle speed.
    Type: Grant
    Filed: March 3, 2015
    Date of Patent: April 2, 2019
    Assignee: Hitachi Construction Machinery Co., Ltd.
    Inventors: Wataru Tanaka, Shinjiro Saito, Mikio Bando, Masanori Ichinose
  • Publication number: 20180312170
    Abstract: A device of estimating a slip angle of vehicle wheel has an attitude-toward-road surface estimation section that uses a series of distances to measurement points on a road surface to estimate vehicle-body-road-surface coordinate conversion information (VCCI) for conversion from a vehicle-body coordinate system to a road-surface coordinate system, an on-road-surface inertia quantity calculation section that removes a gravity acceleration component from the vehicle-body inertia quantity to obtain inertia quantity caused by motion of a vehicle body and uses the VCCI to convert from the inertia quantity caused by the motion of the vehicle body to the road-surface coordinate system, and a wheel slip angle estimation section that estimates a sideslip angle of the vehicle wheel on the basis of a difference between a wheel acceleration vector and the acceleration vector converted to the road-surface coordinate system.
    Type: Application
    Filed: September 7, 2016
    Publication date: November 1, 2018
    Inventors: Mikio BANDO, Yukihiko ONO, Takayuki SATOU, Hidefumi ISHIMOTO
  • Patent number: 9766350
    Abstract: A relative position calculating system for work machines includes a first dump truck (101) which receives a navigation signal from at least one of a plurality of satellites (120), a second dump truck (111) which receives a navigation signal from at least one of the plurality of satellites (120), and a relative position calculating apparatus (102) which calculates a relative position between the first dump truck (101) and the second dump truck (111) based on the navigation signals which the first dump truck (101) and the second dump truck (111) receive, respectively, from a common satellite of the plurality of satellites (121). Thus, an influence of a positioning error due to a satellite positioning system is reduced, and accuracy of a calculation for the relative position between the two dump trucks (101, 111) can be enhanced.
    Type: Grant
    Filed: July 25, 2014
    Date of Patent: September 19, 2017
    Assignee: Hitachi Construction Machinery Co., Ltd.
    Inventors: Mikio Bando, Takayuki Sato, Hidefumi Ishimoto
  • Patent number: 9709391
    Abstract: A position calculating system for a haulage vehicle including wheels and a body frame mounted on the wheels. The system includes an attitude detection sensor fixed on the body frame, a wheel rotational speed sensor, a loading status information acquiring unit, a correction amount setting unit, a velocity vector calculating unit, and a position calculating unit. The loading status information acquiring unit acquires loading status information indicating whether the body frame is in a loaded state or in an unloaded state. The correction amount setting unit calculates, based on the attitude information, a correction amount required for bringing detection axes in the loaded state into coincidence with corresponding detection axes in the unloaded state. The velocity vector calculating unit calculates the velocity vector of the haulage vehicle. The position calculating unit calculates a position of the haulage vehicle by using the velocity vector.
    Type: Grant
    Filed: August 27, 2015
    Date of Patent: July 18, 2017
    Assignee: Hitachi Construction Machinery Co., Ltd.
    Inventors: Mikio Bando, Hidefumi Ishimoto, Shinjiro Saito
  • Patent number: 9605959
    Abstract: A dump truck includes a plurality of rear wheels (15) rotatably attached to a frame (11) and two GPS receivers (101, 102) arranged to be dislocated from each other in an anteroposterior direction of a vehicle. Any point selected from an area C, in the vehicle coordinates system B set in the dump truck, where the rear wheels contact a ground is defined as a reference point D. The two GPS receivers are arranged so that a vertical line descends from a line segment PQ, connecting two points P, Q of which positions are calculated by the two GPS receivers, to the reference point D. This makes it possible to accurately estimate an attitude of mining machinery by two position estimation means without stopping operation of the machinery.
    Type: Grant
    Filed: July 9, 2014
    Date of Patent: March 28, 2017
    Assignee: Hitachi Construction Machinery Co., Ltd.
    Inventors: Mikio Bando, Takayuki Sato, Hidefumi Ishimoto
  • Publication number: 20170017235
    Abstract: A haulage vehicle comprises: a position calculating system (220) calculating an estimated position of its own vehicle; a position range calculating unit (201b) calculating a position range which is centered around the estimated position and in which the haulage vehicle is present with a predetermined expected probability; a maximum deviation amount calculating unit (602) calculating a maximum deviation amount indicating a highest value among the amounts of deviations between a target route of the haulage vehicle and each of points included in the position range; a target vehicle-speed decision unit (603) setting a target vehicle speed of the haulage vehicle to be relatively low when the maximum deviation amount is relatively large; and a target route-tracing unit (201g) performing control for the haulage vehicle to travel along the target route in compliance with the target vehicle speed.
    Type: Application
    Filed: March 3, 2015
    Publication date: January 19, 2017
    Inventors: Wataru TANAKA, Shinjiro SAITO, Mikio BANDO, Masanori ICHINOSE
  • Patent number: 9418557
    Abstract: A fleet operation management system for a vehicle traveling on a predetermined travel route comprises: a storage unit (128, 142) which stores travel route information including the position, height and surface resistance of the vehicle's travel route; a speed prediction unit (102) which predicts future change in the speed of the vehicle coasting on the travel route based on the current position, the current speed, and the travel route information; and an operation timing calculation unit (104) which judges which of acceleration, deceleration and coasting should be performed at the current position based on the change in the coasting speed so that the vehicle speed after the lapse of a predetermined time will be within a predetermined range. This configuration makes it possible to properly judge which of the acceleration, the deceleration and the coasting should be performed on the vehicle's travel route from the viewpoint of fuel-efficient operation.
    Type: Grant
    Filed: February 19, 2013
    Date of Patent: August 16, 2016
    Assignee: Hitachi Construction Machinery Co., Ltd.
    Inventors: Yukihiro Kawamata, Mikio Bando, Hiroshi Ogura, Katsuaki Tanaka
  • Publication number: 20160069675
    Abstract: Disclosed is a position calculating system for a haulage vehicle including wheels and a body frame mounted on the wheels. The system includes an attitude detection sensor fixed on the body frame, a wheel rotational speed sensor, a loading status information acquiring unit, a correction amount setting unit, a velocity vector calculating unit, and a position calculating unit. The loading status information acquiring unit acquires loading status information indicating whether the body frame is in a loaded state or in an unloaded state . The correction amount setting unit calculates, based on the attitude information, a correction amount required for bringing detection axes in the loaded state into coincidence with corresponding detection axes in the unloaded state. The velocity vector calculating unit calculates the velocity vector of the haulage vehicle. The position calpulating unit calculates a position of the haulage vehicle by using the velocity vector.
    Type: Application
    Filed: August 27, 2015
    Publication date: March 10, 2016
    Inventors: Mikio BANDO, Hidefumi ISHIMOTO, Shinjiro SAITO
  • Publication number: 20160019792
    Abstract: A fleet operation management system for a vehicle traveling on a predetermined travel route comprises: a storage unit (128, 142) which stores travel route information including the position, height and surface resistance of the vehicle's travel route; a speed prediction unit (102) which predicts future change in the speed of the vehicle coasting on the travel route based on the current position, the current speed, and the travel route information; and an operation timing calculation unit (104) which judges which of acceleration, deceleration and coasting should be performed at the current position based on the change in the coasting speed so that the vehicle speed after the lapse of a predetermined time will be within a predetermined range. This configuration makes it possible to properly judge which of the acceleration, the deceleration and the coasting should be performed on the vehicle's travel route from the viewpoint of fuel-efficient operation.
    Type: Application
    Filed: February 19, 2013
    Publication date: January 21, 2016
    Inventors: Yukihiro KAWAMATA, Mikio BANDO, Hiroshi OGURA, Katsuaki TANAKA
  • Publication number: 20160018531
    Abstract: A relative position calculating system for work machines includes a first dump truck (101) which receives a navigation signal from at least one of a plurality of satellites (120), a second dump truck (111) which receives a navigation signal from at least one of the plurality of satellites (120), and a relative position calculating apparatus (102) which calculates a relative position between the first dump truck (101) and the second dump truck (111) based on the navigation signals which the first dump truck (101) and the second dump truck (111) receive, respectively, from a common satellite of the plurality of satellites (121). Thus, an influence of a positioning error due to a satellite positioning system is reduced, and accuracy of a calculation for the relative position between the two dump trucks (101, 111) can be enhanced.
    Type: Application
    Filed: July 25, 2014
    Publication date: January 21, 2016
    Inventors: Mikio BANDO, Takayuki SATO, Hidefumi ISHIMOTO
  • Publication number: 20160010988
    Abstract: A dump truck includes a plurality of rear wheels (15) rotatably attached to a frame (11) and two GPS receivers (101, 102) arranged to be dislocated from each other in an anteroposterior direction of a vehicle. Any point selected from an area C, in the vehicle coordinates system B set in the dump truck, where the rear wheels contact a ground is defined as a reference point D. The two GPS receivers are arranged so that a vertical line descends from a line segment PQ, connecting two points P, Q of which positions are calculated by the two GPS receivers, to the reference point D. This makes it possible to accurately estimate an attitude of mining machinery by two position estimation means without stopping operation of the machinery.
    Type: Application
    Filed: July 9, 2014
    Publication date: January 14, 2016
    Inventors: Mikio BANDO, Takayuki SATO, Hidefumi ISHIMOTO
  • Patent number: 9157749
    Abstract: A position calculation method includes: by using a current position of a mobile object, a link candidate point position, an error variance of positions of a plurality of links included in a region around the current position, and an error variance of azimuths of the plurality of links, calculating, an evaluation value that corresponds to a probability that the mobile object is traveling upon a road corresponding to each link candidate point, for each link including the each link candidate point; and calculating the current position based upon the evaluation value, by taking the mobile object as being positioned at a link candidate point, among a plurality of link candidate points, for which the probability is highest.
    Type: Grant
    Filed: April 11, 2012
    Date of Patent: October 13, 2015
    Assignee: Clarion Co., Ltd.
    Inventors: Toshiyuki Aoki, Mikio Bando, Tomoaki Hiruta, Hiroyuki Kohida, Koichi Kato, Akihiro Kawabata
  • Patent number: 9097541
    Abstract: A driving support device includes a maximum measurement range determination unit adapted to calculate a distance to a plurality of points on a surface of an object present at surroundings of a vehicle. A distance sensor such as a laser range finder or a stereo camera that measures a distance is used in order to estimate bias of an acceleration sensor with high accuracy upon correction of the bias by use of the distance sensor such as the stereo camera or the LRF in a GPS non-receiving section. A sensor parameter estimation unit is adapted to estimate a parameter of the acceleration sensor based on a behavior of an own vehicle obtained from a vehicle translation and rotation angle calculation means adapted to count backwards the vehicle behavior based on distance variation and also based on a measurement value of the acceleration sensor.
    Type: Grant
    Filed: December 6, 2011
    Date of Patent: August 4, 2015
    Assignee: Hitachi, Ltd.
    Inventors: Mikio Bando, Yukihiro Kawamata, Toshiyuki Aoki
  • Patent number: 9057781
    Abstract: A position estimation device includes: a mathematical expression model processing unit that calculates a position of a mobile object, a condition quantity indicating a moving condition of the mobile object and an error in the condition quantity through filtering processing executed by using a probability model based upon an attitude information and a positioning information of the mobile object having been obtained from sensors and a specific mathematical expression model among a plurality of mathematical expression models expressing behavior of the mobile object; a threshold calculation unit that calculates a threshold candidate value for a threshold value to be used as a criterion when selecting the specific mathematical expression model, by using the error; a threshold value determining unit that determines the threshold value based upon the threshold candidate value; and a mathematical expression model selection unit that selects the specific mathematical expression model based upon the threshold value.
    Type: Grant
    Filed: February 17, 2011
    Date of Patent: June 16, 2015
    Assignee: Clarion Co., Ltd.
    Inventors: Mikio Bando, Toshiyuki Aoki, Tomoaki Hiruta, Takayoshi Yokota, Hiroyuki Kohida, Kazuhiro Okada, Zhixing Liu
  • Patent number: 8983709
    Abstract: Provided is an autonomous travel system having an operation management unit including a map database with a combination of topological region maps, on which the range of travel of a vehicle is expressed as points and lines, and metric region maps, on which the travel range is expressed on planar maps; a vehicle position management unit for managing the position of the vehicle; and a vehicle travel planning unit for planning vehicle travel, which, if the vehicle is present near the boundary of a map, blocks the map boundary so that other vehicles will not advance into another map. The operation management unit is provided with a blockage setting unit for dividing a boundary section of a map into a plurality of regions and releasing the blockage of the boundary of a divided region in which no vehicles are present in front of the vehicle in the direction of travel.
    Type: Grant
    Filed: November 9, 2011
    Date of Patent: March 17, 2015
    Assignee: Hitachi, Ltd.
    Inventors: Mikio Bando, Yukihiro Kawamata
  • Publication number: 20140316635
    Abstract: Provided is an autonomous travel system having an operation management unit including a map database with a combination of topological region maps, on which the range of travel of a vehicle is expressed as points and lines, and metric region maps, on which the travel range is expressed on planar maps; a vehicle position management unit for managing the position of the vehicle; and a vehicle travel planning unit for planning vehicle travel, which, if the vehicle is present near the boundary of a map, blocks the map boundary so that other vehicles will not advance into another map. The operation management unit is provided with a blockage setting unit for dividing a boundary section of a map into a plurality of regions and releasing the blockage of the boundary of a divided region in which no vehicles are present in front of the vehicle in the direction of travel.
    Type: Application
    Filed: November 9, 2011
    Publication date: October 23, 2014
    Applicant: Hitachi, Ltd.
    Inventors: Mikio Bando, Yukihiro Kawamata
  • Publication number: 20140067256
    Abstract: A position calculation method includes: by using a current position of a mobile object, a link candidate point position, an error variance of positions of a plurality of links included in a region around the current position, and an error variance of azimuths of the plurality of links, calculating, an evaluation value that corresponds to a probability that the mobile object is traveling upon a road corresponding to each link candidate point, for each link including the each link candidate point; and calculating the current position based upon the evaluation value, by taking the mobile object as being positioned at a link candidate point, among a plurality of link candidate points, for which the probability is highest.
    Type: Application
    Filed: April 11, 2012
    Publication date: March 6, 2014
    Applicant: Clarion Co., Ltd.
    Inventors: Toshiyuki Aoki, Mikio Bando, Tomoaki Hiruta, Hiroyuki Kohida, Koichi Kato, Akihiro Kawabata
  • Publication number: 20130261921
    Abstract: A driving support device includes a maximum measurement range determination unit adapted to calculate a distance to a plurality of points on a surface of an object present at surroundings of a vehicle. A distance sensor such as a laser range finder or a stereo camera that measures a distance is used in order to estimate bias of an acceleration sensor with high accuracy upon correction of the bias by use of the distance sensor such as the stereo camera or the LRF in a GPS non-receiving section. A sensor parameter estimation unit is adapted to estimate a parameter of the acceleration sensor based on a behavior of an own vehicle obtained from a vehicle translation and rotation angle calculation means adapted to count backwards the vehicle behavior based on distance variation and also based on a measurement value of the acceleration sensor.
    Type: Application
    Filed: December 6, 2011
    Publication date: October 3, 2013
    Applicant: Hitachi, Ltd.
    Inventors: Mikio Bando, Yukihiro Kawamata, Toshiyuki Aoki
  • Patent number: 8548664
    Abstract: In an autonomic traveling apparatus for a vehicle, vehicles usually travel an independent travel lane and when there are two approaching vehicles on the independent travel lane, they switch to pass-by lanes to pass by each other. To do this switching operation effectively, respective vehicles check and obtain road conditions around them while they are traveling and the obtained road conditions are transmitted to and collected by a travel administration center so that the road conditions at various points along the lanes can be obtained from the travel administration center. Accordingly, when the autonomic traveling trucks approaching each other and supposed to pass by each other, switch to the associated pass-by lanes, they change travel lanes avoiding the point of bad road condition on the basis of the road conditions sent from the travel administration center.
    Type: Grant
    Filed: November 9, 2010
    Date of Patent: October 1, 2013
    Assignee: Hitachi, Ltd.
    Inventors: Takayuki Uchida, Yukihiro Kawamata, Katsuaki Tanaka, Mikio Bando
  • Patent number: 8301369
    Abstract: A position detection apparatus includes a storage unit for storing map information including road information; a detection unit for detecting information for calculating an absolute position of a moving object; a position calculation unit for calculating the absolute position of the moving object and an error variance relating to an error of the moving object from the detected information; a read-out unit for reading out from the storage unit the road information of a road relating to the calculated absolute position; an existence probability calculation unit for calculating an existence probability of the moving object existing on the road from the absolute position, the error variance, and the read-out road information; a selection unit for selecting a position whose existence probability is maximum out of the calculated existence probability; and a map-matching processing unit for making the selected position a position of the moving object on the road.
    Type: Grant
    Filed: June 18, 2010
    Date of Patent: October 30, 2012
    Assignee: Clarion Co., Ltd.
    Inventors: Tomoaki Hiruta, Toshiyuki Aoki, Takayoshi Yokota, Mikio Bando, Kazuhiro Okada