Patents by Inventor Yusuke Kinouchi
Yusuke Kinouchi 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).
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Publication number: 20240132332Abstract: 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.Type: ApplicationFiled: October 15, 2023Publication date: April 25, 2024Applicant: Mitsubishi Logisnext Co., Ltd.Inventors: Katsumasa KITAJIMA, Yusuke KINOUCHI, Masahiro YAMADA, Takumi FUJITA, Takuya AKASHI
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Publication number: 20240135573Abstract: A position estimating device is a position estimating device that estimates a position of a vehicle equipped with a camera and includes a position estimating unit configured to estimate the position of the vehicle by image processing of an image captured by the camera and a load control unit configured to control a processing load of the image processing by controlling an execution timing of the image processing performed by the position estimating unit and/or the image to be subjected to the image processing.Type: ApplicationFiled: October 15, 2023Publication date: April 25, 2024Applicant: Mitsubishi Logisnext Co., Ltd.Inventors: Katsumasa KITAJIMA, Yusuke KINOUCHI, Masahiro YAMADA, Takumi FUJITA, Takuya AKASHI
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Publication number: 20240044650Abstract: A bias estimation device includes a determination unit configured to determine whether a forklift is stationary based on a measurement value from a first sensor configured to detect information regarding movement of the forklift and a measurement value from a second sensor configured to detect information regarding a cargo handling device included in the forklift, an accumulation unit configured to accumulate an IMU measurement value that is a measurement value from an inertial measurement unit included in the forklift when the determination unit determines that the forklift is stationary and stop accumulation of the IMU measurement value when the determination unit determines that the forklift is not stationary, and a calculation unit configured to calculate a bias of the IMU measurement value based on the IMU measurement value accumulated in the accumulation unit.Type: ApplicationFiled: April 17, 2023Publication date: February 8, 2024Applicant: Mitsubishi Logisnext Co., Ltd.Inventors: Katsumasa KITAJIMA, Yusuke KINOUCHI, Masahiro YAMADA, Takumi FUJITA, Takuya AKASHI
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Patent number: 11858794Abstract: 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.Type: GrantFiled: March 30, 2021Date of Patent: January 2, 2024Assignee: MITSUBISHI HEAVY INDUSTRIES, LTD.Inventors: Kenji Takao, Yusuke Kinouchi, Noriyuki Hasegawa
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Patent number: 11768503Abstract: 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.Type: GrantFiled: January 26, 2021Date of Patent: September 26, 2023Assignee: MITSUBISHI HEAVY INDUSTRIES, LTD.Inventors: Katsumasa Kitajima, Yusuke Kinouchi, Takumi Fujita
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Patent number: 11427449Abstract: 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.Type: GrantFiled: June 26, 2019Date of Patent: August 30, 2022Assignee: MITSUBISHI HEAVY INDUSTRIES, LTD.Inventors: Noriyuki Hasegawa, Kensuke Futahashi, Naoto Kawauchi, Megumu Tsuruta, Yusuke Kinouchi, Yasuo Fujishima
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Publication number: 20220066464Abstract: A pallet detection device comprises: a point cloud acquisition unit configured to acquire point cloud data indicating a point cloud measured by a two-dimensional distance measurement device on a depth map; a straight line detection unit configured to detect 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; a line segment detection unit configured to detect a line segment indicating the front surface of the pallet based on the straight line; and a position/orientation acquisition unit configured to acquire position and orientation of the pallet based on the line segment.Type: ApplicationFiled: August 13, 2021Publication date: March 3, 2022Applicant: Mitsubishi Logisnext Co., Ltd.Inventors: Kenji TAKAO, Takumi FUJITA, Katsumasa KITAJIMA, Yusuke KINOUCHI
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Patent number: 11216973Abstract: 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.Type: GrantFiled: February 11, 2020Date of Patent: January 4, 2022Assignee: MITSUBISHI HEAVY INDUSTRIES, LTD.Inventors: Katsumasa Kitajima, Yusuke Kinouchi, Takumi Fujita
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Publication number: 20210333791Abstract: A terminal includes: a first acquisition unit configured to acquire designated work information, indicating details of work performed by a movable body, input from a user; an output unit configured to output the designated work information to an external device; a second acquisition unit configured to acquire, from the external device, set work information indicating the details of the work performed by the movable body generated based on the designated work information; and a display control unit configured to display the set work information on a display unit.Type: ApplicationFiled: March 31, 2021Publication date: October 28, 2021Inventors: Kenji TAKAO, Yusuke KINOUCHI, Noriyuki HASEGAWA
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Publication number: 20210309501Abstract: A control device includes a route acquisition unit configured to acquire a route of a movable body for moving a plurality of aligned 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 route at which the movable body picks up or drops a first target object at the target position, and an information output unit configured to output the information acquired by the route acquisition unit to the movable body, in which the route acquisition unit acquires routes of the movable body for moving second and subsequent target objects, based on the information acquired by the reference position/posture acquisition unit.Type: ApplicationFiled: March 30, 2021Publication date: October 7, 2021Inventors: Kenji TAKAO, Yusuke KINOUCHI, Noriyuki HASEGAWA
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Publication number: 20210263530Abstract: There is provided a position estimation device for estimating a position of an industrial 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 position estimation device includes an acquisition unit configured to acquire the point cloud data and the image, an estimation unit configured to estimate the position of the industrial vehicle based on at least one of the point cloud data and 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.Type: ApplicationFiled: January 26, 2021Publication date: August 26, 2021Inventors: Katsumasa KITAJIMA, Yusuke KINOUCHI, Takumi FUJITA
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Patent number: 10953869Abstract: 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.Type: GrantFiled: February 1, 2017Date of Patent: March 23, 2021Assignees: MITSUBISHI HEAVY INDUSTRIES, LTD., MITSUBISHI JIDOSHA KOGYO KABUSHIKI KAISHAInventors: Satoshi Iio, Tetsuya Tomonaka, Yusuke Kinouchi, Yasuo Fujishima, Kevin Walters
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Publication number: 20200286257Abstract: 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.Type: ApplicationFiled: February 11, 2020Publication date: September 10, 2020Inventors: Katsumasa KITAJIMA, Yusuke KINOUCHI, Takumi FUJITA
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Patent number: 10679507Abstract: 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.Type: GrantFiled: January 12, 2017Date of Patent: June 9, 2020Assignees: MITSUBISHI HEAVY INDUSTRIES, LTD., MITSUBISHI JIDOSHA KOGYO KABUSHIKI KAISHAInventors: Yasuo Fujishima, Yusuke Kinouchi, Satoshi Iio, Tetsuya Tomonaka, Kevin Walters
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Publication number: 20200002143Abstract: 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.Type: ApplicationFiled: June 26, 2019Publication date: January 2, 2020Applicant: MITSUBISHI HEAVY INDUSTRIES, LTD.Inventors: Noriyuki HASEGAWA, Kensuke FUTAHASHI, Naoto KAWAUCHI, Megumu TSURUTA, Yusuke KINOUCHI, Yasuo FUJISHIMA
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Patent number: 10220897Abstract: A mobile robot 1 having a plurality of kinds of moving forms includes a body unit 11 having a front face and a back face, four limb units 12 having a plurality of limb-side drive shafts, and front end tools 13 provided on a front end side of the limb units 12. A base end side of the limb unit 12 is connected to the body unit 11. The four limb units 12 are the same units. The body unit 11 and the four limb units 12 are 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 11.Type: GrantFiled: October 11, 2016Date of Patent: March 5, 2019Assignees: MITSUBISHI HEAVY INDUSTRIES, LTD., WASEDA UNIVERSITYInventors: Atsuo Takanishi, Kenji Hashimoto, Kazuhiro Uryu, Tomotaka Teramachi, Takashi Matsuzawa, Ayanori Koizumi, Shinya Hamamoto, Takuya Otani, Tatsuhiro Kishi, Tomohiro Tami, Hiroyuki Yamada, Shigetoshi Shiotani, Yusuke Kinouchi, Yasuo Fujishima
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Publication number: 20190039605Abstract: 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.Type: ApplicationFiled: February 1, 2017Publication date: February 7, 2019Inventors: Satoshi IIO, Tetsuya TOMONAKA, Yusuke KINOUCHI, Yasuo FUJISHIMA, Kevin WALTERS
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Publication number: 20190027042Abstract: 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.Type: ApplicationFiled: January 12, 2017Publication date: January 24, 2019Inventors: Yasuo FUJISHIMA, Yusuke KINOUCHI, Satoshi IIO, Tetsuya TOMONAKA, Kevin WALTERS
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Patent number: 9845122Abstract: A mobile robot 1 having a plurality of kinds of moving forms includes a body unit 11 having a front face and a back face, four limb units 12 having a plurality of limb-side drive shafts, and front end tools 13 provided on a front end side of the limb units 12. A base end side of the limb unit 12 is connected to the body unit 11. The four limb units 12 are the same units. The body unit 11 and the four limb units 12 are 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 11.Type: GrantFiled: August 24, 2015Date of Patent: December 19, 2017Assignees: MITSUBISHI HEAVY INDUSTRIES, LTD., WASEDA UNIVERITYInventors: Atsuo Takanishi, Kenji Hashimoto, Kazuhiro Uryu, Tomotaka Teramachi, Takashi Matsuzawa, Ayanori Koizumi, Shinya Hamamoto, Takuya Otani, Tatsuhiro Kishi, Tomohiro Tami, Hiroyuki Yamada, Shigetoshi Shiotani, Yusuke Kinouchi, Yasuo Fujishima
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Publication number: 20170029049Abstract: A mobile robot 1 having a plurality of kinds of moving forms includes a body unit 11 having a front face and a back face, four limb units 12 having a plurality of limb-side drive shafts, and front end tools 13 provided on a front end side of the limb units 12. A base end side of the limb unit 12 is connected to the body unit 11. The four limb units 12 are the same units. The body unit 11 and the four limb units 12 are 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 11.Type: ApplicationFiled: October 11, 2016Publication date: February 2, 2017Inventors: Atsuo TAKANISHI, Kenji HASHIMOTO, Kazuhiro URYU, Tomotaka TERAMACHI, Takashi MATSUZAWA, Ayanori KOIZUMI, Shinya HAMAMOTO, Takuya OTANI, Tatsuhiro KISHI, Tomohiro TAMI, Hiroyuki YAMADA, Shigetoshi SHIOTANI, Yusuke KINOUCHI, Yasuo FUJISHIMA