JPH1063336A - Device for detecting road surface information - Google Patents
Device for detecting road surface informationInfo
- Publication number
- JPH1063336A JPH1063336A JP8222652A JP22265296A JPH1063336A JP H1063336 A JPH1063336 A JP H1063336A JP 8222652 A JP8222652 A JP 8222652A JP 22265296 A JP22265296 A JP 22265296A JP H1063336 A JPH1063336 A JP H1063336A
- Authority
- JP
- Japan
- Prior art keywords
- road surface
- light
- disturbance light
- disturbance
- incident
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000010287 polarization Effects 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000002238 attenuated effect Effects 0.000 abstract description 8
- 230000003287 optical effect Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 9
- 239000000758 substrate Substances 0.000 description 2
- 239000007769 metal material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は路面情報検出装置に
関し、車両に設置されて路面の情報を検出する路面情報
検出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a road surface information detecting device, and more particularly, to a road surface information detecting device installed in a vehicle for detecting road surface information.
【０００２】[0002]
【従来の技術】従来より車両の自動操舵を行う等のため
に、走行路面に白線や反射テープやバーコード等を路面
情報として設置しておき、これらの路面情報を車両に設
けた路面情報検出装置で光学的に検出することが行われ
ている。例えば、実開平１−１０６９１０号（実願昭６
２−９７９３５号）には、車両の走行路に光学的に識別
可能な反射テープを設けておき、車両の走行方向と直角
方向に配置した光センサで上記反射テープからの反射光
を受光し受光量が常時等しくなるように車両の操舵を制
御することが開示されている。2. Description of the Related Art Conventionally, in order to perform automatic steering of a vehicle, a white line, a reflective tape, a bar code, or the like is provided as road surface information on a running road surface, and the road surface information is provided on the vehicle. Optical detection is performed by a device. For example, Japanese Utility Model Application Laid-Open No. 1-109910 (Jpn.
No. 2-97935), an optically identifiable reflection tape is provided on the traveling path of the vehicle, and light reflected from the reflection tape is received and received by an optical sensor arranged in a direction perpendicular to the traveling direction of the vehicle. It is disclosed to control the steering of the vehicle such that the amounts are always equal.
【０００３】[0003]
【発明が解決しようとする課題】従来の路面情報検出装
置を用いて屋外で車両の自動操舵を行う場合には路面情
報の検出を誤まるおそれがある。例えば雨天等で走行路
面が濡れたり、水溜まりが生じた状況では、太陽等の外
乱光が濡れた路面や水溜まり等で反射されて光センサに
入射し、この外乱光を反射テープと誤検出するおそれが
あるという問題があった。When a vehicle is automatically steered outdoors using a conventional road surface information detecting device, detection of road surface information may be erroneous. For example, in a situation where a running road surface is wet or a puddle is formed in rainy weather or the like, disturbance light such as the sun is reflected on a wet road surface or a puddle and is incident on an optical sensor, and this disturbance light may be erroneously detected as a reflection tape. There was a problem that there is.
【０００４】本発明は上記の点に鑑みなされたもので、
偏光フィルタの透過軸を、走行路面上で反射して入射す
る外乱光の入射方向に向けるよう偏光フィルタを回転駆
動することにより、外乱光を減衰させて検出手段に入射
する外乱光の光量を低減し、路面情報の誤検出を防止す
る路面情報検出装置を提供することを目的とする。[0004] The present invention has been made in view of the above points,
By rotating the polarization filter so that the transmission axis of the polarization filter is directed to the incident direction of the disturbance light that is reflected and incident on the traveling road surface, the disturbance light is attenuated and the amount of the disturbance light incident on the detection unit is reduced. It is another object of the present invention to provide a road surface information detection device that prevents erroneous detection of road surface information.
【０００５】[0005]
【課題を解決するための手段】請求項１に記載の発明
は、走行路面に設置された情報標示体を移動体に搭載さ
れた検出手段によって光学的に検出する路面情報検出装
置において、上記情報標示体と検出手段との間に配置さ
れ、その透過軸を上記走行路面に対して回転自在とされ
た偏光フィルタと、上記走行路面上で反射されて検出手
段に入射する外乱光の入射方向を検出する外乱光方向検
出手段と、上記外乱光方向検出手段で検出した外乱光の
入射方向に上記透過軸が向くよう上記偏光フィルタを回
転駆動する駆動手段とを有する。According to a first aspect of the present invention, there is provided a road surface information detecting apparatus for optically detecting an information sign placed on a traveling road surface by a detecting means mounted on a moving body. A polarizing filter disposed between the sign and the detecting means, the transmission axis of which is rotatable with respect to the traveling road surface, and the incident direction of disturbance light reflected on the traveling road surface and incident on the detecting means. A disturbance light direction detecting means for detecting the disturbance light direction, and a driving means for rotating and driving the polarization filter so that the transmission axis is directed to the incident direction of the disturbance light detected by the disturbance light direction detection means.
【０００６】このように、外乱光の入射する方向を検出
して、この外乱光の入射方向に偏光フィルタの透過軸が
向くよう偏光フィルタを回転駆動するため、外乱光が走
行路面上で反射された外乱反射光は偏光フィルタで大き
く減衰され、検出手段に入射する外乱光の光量を低減で
き、外乱反射光が路面情報と誤検出されることを防止で
きる。As described above, the direction in which the disturbance light is incident is detected, and the polarization filter is rotationally driven so that the transmission axis of the polarization filter is oriented in the incident direction of the disturbance light. Therefore, the disturbance light is reflected on the traveling road surface. The disturbed reflected light is greatly attenuated by the polarizing filter, and the amount of the disturbed light incident on the detection means can be reduced, thereby preventing the disturbed reflected light from being erroneously detected as road surface information.
【０００７】[0007]
【発明の実施の形態】図１は本発明の一実施例の概略構
成図を示す。同図中、移動体としての車両１０の車体前
部には路面情報検出装置の筐体１２が取り付け固定され
ている。筐体１２は太陽光等の外乱光が直接筐体内部に
入らないよう遮光している。筐体１２の内部には路面情
報を検出するための光学センサ（検出手段）１４が走行
路面１６に設置された情報標示体１８を検出するよう、
光軸を走行路面１６に向けて取り付け固定されている。FIG. 1 is a schematic block diagram of an embodiment of the present invention. In FIG. 1, a housing 12 of a road surface information detecting device is attached and fixed to a front portion of a vehicle 10 as a moving body. The housing 12 blocks light such that disturbance light such as sunlight does not directly enter the inside of the housing. An optical sensor (detection means) 14 for detecting road surface information is provided inside the housing 12 so as to detect an information signage object 18 installed on a traveling road surface 16.
The optical axis is attached and fixed to the traveling road surface 16.
【０００８】また、光学センサ１４と走行路面１６との
間には光学センサ１４の検出面を覆うように偏光フィル
タ２０が取り付けられている。この偏光フィルタ２０は
モータ２２で回転駆動され、偏光フィルタ２０の回転軸
は光学センサ１４の光軸と一致するように構成されてい
る。また、筐体１２の外部には太陽方向検出装置２４が
取り付け固定されている。A polarizing filter 20 is mounted between the optical sensor 14 and the traveling road surface 16 so as to cover the detection surface of the optical sensor 14. The polarization filter 20 is driven to rotate by a motor 22, and the rotation axis of the polarization filter 20 is configured to coincide with the optical axis of the optical sensor 14. Further, a sun direction detection device 24 is attached and fixed to the outside of the housing 12.
【０００９】外乱光方向検出手段としての太陽方向検出
装置２４は路面情報検出装置の取り付け位置から見て、
外乱光の光源である太陽がどの方向にあるかを検出する
ものであり、図２，図４に示す構造である。図２
（Ａ），（Ｂ）は太陽方向検出装置２４の第１実施例の
平面図、Ｂ−Ｂ’断面図を示す。図２（Ａ）において、
フード部材３０は半球状であり、外周面３２には球の中
心の回りに等角度間隔でスリット状の光導入孔３４1 〜
３４n が設けられている。これらの光導入孔３４1 〜３
４n 夫々は図２（Ｂ）に示すように断面が扇状の偏平な
光導入路３５1 〜３５ n に続いている。各光導入路３５
1 〜３５n は独立しており、他の光導入孔よりの光は入
らないようにされている。光導入路３５1 〜３５n 夫々
の中心位置には光導入孔３４1 〜３４n 夫々から入来す
る光を各別に検出するためのフォトセンサ３６1 〜３６
n が固定されている。Sun direction detection as disturbance light direction detection means
The device 24 is viewed from the mounting position of the road surface information detecting device,
Detects the direction of the sun, the light source of disturbance light
This is the structure shown in FIGS. FIG.
(A) and (B) of the first embodiment of the sun direction detection device 24
It shows a plan view and a B-B 'sectional view. In FIG. 2A,
The hood member 30 has a hemispherical shape, and the outer peripheral surface 32 has a spherical shape.
Slit-shaped light introduction holes 34 at equal angular intervals around the heart1~
34nIs provided. These light introduction holes 341~ 3
4nAs shown in FIG. 2 (B), each of them has a fan-shaped flat cross section.
Light introduction path 351~ 35 nFollowed by Each light introduction path 35
1~ 35nAre independent, and light from other light introduction holes
Not to be. Light introduction path 351~ 35nRespectively
Light-introducing hole 341~ 34nComing from each
Photo sensor 36 for detecting each of the1~ 36
nHas been fixed.
【００１０】各フォトセンサ３６1 〜３６n 夫々の出力
信号は図３に示す如く比較器３７に供給される。比較器
３７はフォトセンサ３６1 〜３６n 夫々の出力信号のレ
ベル比較を行って最大レベルの信号を出力したフォトセ
ンサの番号ｉ（１≦ｉ≦ｎ）を端子３８から出力する。
なお、フォトセンサ３６1 〜３６n は受光量が大なる
程、レベルが高くなる信号を出力する。このため、図２
（Ａ）に示すように太陽３９がフード部材３０の中心位
置から見て光導入孔３４1 方向にあるときフォトセンサ
３６1 の受光量が最大でその出力レベルが他のフォトセ
ンサの出力より大きくなり、比較器３７はフォトセンサ
３６1 を指示する番号１を出力する。The output signals of the respective photosensors 36 1 to 36 n are supplied to a comparator 37 as shown in FIG. The comparator 37 compares the output signals of the photosensors 36 1 to 36 n with each other and outputs the number i (1 ≦ i ≦ n) of the photosensor that has output the signal of the maximum level from the terminal 38.
The photosensors 36 1 to 36 n output signals whose levels increase as the amount of received light increases. Therefore, FIG.
The output level received light amount of the photo sensor 36 1 is at a maximum when the sun 39 as shown in (A) is in the light introducing hole 34 in one direction viewed from the center position of the hood member 30 is larger than the output of the other photo sensor becomes, the comparator 37 outputs the number 1 for instructing the photosensor 36 1.
【００１１】図４（Ａ），（Ｂ）は太陽方向検出装置２
４の第２実施例の平面図、Ｂ−Ｂ’断面図を示す。図４
（Ａ），（Ｂ）において、フード部材４０は透明な部分
球状であり、装置全体を覆っている。底面の基板４２の
中心には柱状部材４４が立設されており、この柱状部材
４４から所定距離だけ離間し、かつ柱状部材を中心とし
て等角度間隔でフォトセンサ４６1 〜４６n が設けられ
ている。図４（Ａ）に示すように基板４２の中心位置か
ら見てフォトセンサ４６1 方向に太陽３９があるとき、
柱状部材４４の作る影はフォトセンサ４６1 と１８０度
回転位置にあるフォトセンサ４６7 上に落ちる。FIGS. 4A and 4B show the sun direction detecting device 2.
4 shows a plan view and a cross-sectional view taken along line BB ′ of the second embodiment. FIG.
7A and 7B, the hood member 40 has a transparent partially spherical shape and covers the entire apparatus. A columnar member 44 is provided upright at the center of the substrate 42 on the bottom surface. Photosensors 46 1 to 46 n are provided at a predetermined distance from the columnar member 44 and at equal angular intervals around the columnar member. I have. When there is a photosensor 46 in one direction to the sun 39 as viewed from the center of the substrate 42 as shown in FIG. 4 (A),
Shadows make the columnar member 44 falls on the photosensor 46 7 in the photosensor 461 and 180-degree rotation position.
【００１２】各フォトセンサ４６1 〜４６n 夫々の出力
信号は図５に示す如く比較器４７に供給される。比較器
４７はフォトセンサ３６1 〜３６n 夫々の出力信号のレ
ベル比較を行って最小レベルの信号を出力したフォトセ
ンサと１８０度回転位置にあるフォトセンサの番号ｉ
（１≦ｉ≦ｎ）を端子４８から出力する。なお、フォト
センサ３６1 〜３６n は受光量が大なる程、レベルが高
くなる信号を出力する。このため、フォトセンサ４６7
に柱状部材４４の影が落ちている状態ではフォトセンサ
４６7 の出力レベルが最小となり、比較器４７はこのフ
ォトセンサ４６7と１８０度位置にあるフォトセンサ４
６1 を指示する番号１を出力する。The output signals of the respective photosensors 46 1 to 46 n are supplied to a comparator 47 as shown in FIG. The comparator 47 compares the level of the output signal of each of the photosensors 36 1 to 36 n and outputs the signal of the minimum level.
(1 ≦ i ≦ n) is output from the terminal 48. The photosensors 36 1 to 36 n output signals whose levels increase as the amount of received light increases. Therefore, the photo sensor 46 7
Photosensor 4 output level of the photosensor 46 7 in the state in which the shadow of the columnar member 44 is falling is minimized, comparator 47 is in this photosensor 46 7 180 located
And outputs the number 1 to indicate the 6 1.
【００１３】ここで、自然光の非金属性物質（屈折率
ｎ）による反射光は、入射・反射の両光線を含む平面に
垂直に振動する平面偏光と自然光との混合した部分偏光
であり、次式を満足する角αを入射角としたとき反射光
は完全な平面偏向である。 ｔａｎα＝ｎ このことから、図６（Ａ），（Ｂ）に示すように、偏光
フィルタ２０の透過軸２０ａを太陽３９方向に向け、透
過軸２０ａと太陽の反射光の偏光軸とが直角となるよう
に制御すれば太陽の反射光を大幅に減衰できる。Here, the reflected light of the natural light by the non-metallic substance (refractive index n) is a partial polarized light which is a mixture of the plane polarized light oscillating perpendicularly to the plane including both the incident and reflected light rays and the natural light, and When the angle α that satisfies the expression is the incident angle, the reflected light is a perfect plane deflection. From this, as shown in FIGS. 6A and 6B, the transmission axis 20a of the polarization filter 20 is directed toward the sun 39, and the transmission axis 20a and the polarization axis of the reflected light of the sun are perpendicular to each other. If it is controlled in such a way, the reflected light of the sun can be greatly attenuated.
【００１４】図７は本発明の一実施例のブロック図を示
す。同図中、太陽方向検出器２４の出力する太陽方向を
指示する番号は駆動制御回路５０に供給される。駆動制
御回路５０は上記太陽方向を指示する番号に基づいて、
偏光フィルタ２０の透過軸２０ａが外乱光の入射方向で
ある太陽方向を向く角度となるようにモータ２２を駆動
する。つまり、駆動制御回路５０とモータ２２とが駆動
手段に対応する。これによって偏光フィルタ２０が回転
駆動され、偏光フィルタ２０の透過軸２０ａと太陽の反
射光の偏光軸は直角となり、走行路面１６からの入射光
のうち濡れや水溜まりで反射された太陽の反射光は偏光
フィルタ２０で大きく減衰され、走行路面１６の自然光
は減衰されることなく透過される。FIG. 7 is a block diagram showing an embodiment of the present invention. In the figure, the number indicating the sun direction output from the sun direction detector 24 is supplied to the drive control circuit 50. Drive control circuit 50 is based on the number indicating the sun direction,
The motor 22 is driven such that the transmission axis 20a of the polarizing filter 20 is directed to the sun, which is the incident direction of disturbance light. That is, the drive control circuit 50 and the motor 22 correspond to a drive unit. As a result, the polarization filter 20 is driven to rotate, and the transmission axis 20a of the polarization filter 20 and the polarization axis of the reflected light of the sun become a right angle, and the reflected light of the sun reflected from the wet or puddle of the incident light from the traveling road surface 16 becomes The light is largely attenuated by the polarizing filter 20, and natural light on the traveling road surface 16 is transmitted without being attenuated.
【００１５】偏光フィルタ２０を透過された入射光はレ
ンズ５０を通して光学センサ１４に入射される。光学セ
ンサ１４の出力信号は処理回路５２に供給され、ここで
路面情報の読み取り処理が行われる。なお、情報標示体
１８としては走行路面に設置された白線、反射テープ、
バーコード等であり、光学センサ１４としてはフォトセ
ンサやＣＣＤカメラ等が用いられる。The incident light transmitted through the polarizing filter 20 enters the optical sensor 14 through the lens 50. The output signal of the optical sensor 14 is supplied to a processing circuit 52, where a process of reading road surface information is performed. In addition, as the information signage 18, a white line, a reflective tape,
The optical sensor 14 may be a photo sensor, a CCD camera, or the like.
【００１６】このように、外乱光である太陽光が入射す
る方向を検出して、この外乱光の入射方向に偏光フィル
タ２０の透過軸２０ａが向くよう偏光フィルタ２０を回
転駆動するため、外乱光が走行路面１６上で反射された
外乱反射光は偏光フィルタ２０で大きく減衰され、光学
センサ１４に入射する外乱光の光量を低減でき、外乱反
射光が路面情報と誤検出されることを防止できる。As described above, the direction in which sunlight, which is disturbance light, is incident is detected, and the polarization filter 20 is rotationally driven so that the transmission axis 20a of the polarization filter 20 is oriented in the incident direction of the disturbance light. The disturbance reflected light reflected on the traveling road surface 16 is greatly attenuated by the polarizing filter 20, the amount of disturbance light incident on the optical sensor 14 can be reduced, and the disturbance reflected light can be prevented from being erroneously detected as road surface information. .
【００１７】[0017]
【発明の効果】上述の如く、請求項１に記載の発明は、
走行路面に設置された情報標示体を移動体に搭載された
検出手段によって光学的に検出する路面情報検出装置に
おいて、上記情報標示体と検出手段との間に配置され、
その透過軸を上記走行路面に対して回転自在とされた偏
光フィルタと、上記走行路面上で反射されて検出手段に
入射する外乱光の入射方向を検出する外乱光方向検出手
段と、上記外乱光方向検出手段で検出した外乱光の入射
方向に上記透過軸が向くよう上記偏光フィルタを回転駆
動する駆動手段とを有する。As described above, the first aspect of the present invention provides
In a road surface information detection device that optically detects the information sign object installed on the traveling road surface by the detection means mounted on the moving body, the information sign object is disposed between the information sign object and the detection means,
A polarizing filter whose transmission axis is rotatable with respect to the traveling road surface, disturbance light direction detecting means for detecting the incident direction of disturbance light reflected on the traveling road surface and incident on the detecting means, and the disturbance light Driving means for rotating the polarization filter so that the transmission axis is oriented in the incident direction of the disturbance light detected by the direction detection means.
【００１８】このように、外乱光の入射する方向を検出
して、この外乱光の入射方向に偏光フィルタの透過軸が
向くよう偏光フィルタを回転駆動するため、外乱光が走
行路面上で反射された外乱反射光は偏光フィルタで大き
く減衰され、検出手段に入射する外乱光の光量を低減で
き、外乱反射光が路面情報と誤検出されることを防止で
きる。As described above, since the direction in which the disturbance light is incident is detected and the polarization filter is rotationally driven so that the transmission axis of the polarization filter is oriented in the incident direction of the disturbance light, the disturbance light is reflected on the traveling road surface. The disturbed reflected light is greatly attenuated by the polarizing filter, and the amount of the disturbed light incident on the detection means can be reduced, thereby preventing the disturbed reflected light from being erroneously detected as road surface information.
【図１】本発明の概略構成図である。FIG. 1 is a schematic configuration diagram of the present invention.
【図２】太陽方向検出装置を説明するための図である。FIG. 2 is a diagram illustrating a sun direction detection device.
【図３】太陽方向検出装置を説明するための図である。FIG. 3 is a diagram for explaining a sun direction detection device.
【図４】太陽方向検出装置を説明するための図である。FIG. 4 is a diagram for explaining a sun direction detection device.
【図５】太陽方向検出装置を説明するための図である。FIG. 5 is a diagram for explaining a sun direction detection device.
【図６】本発明の制御を説明するための図である。FIG. 6 is a diagram for explaining control according to the present invention.
【図７】本発明のブロック図である。FIG. 7 is a block diagram of the present invention.
１０ 車両 １２ 筐体 １４ 光学センサ １６ 走行路面 １８ 路面情報 ２０ 偏光フィルタ ２２ モータ ２４ 太陽方向検出装置 ３０，４２ フード部材 ３４1 〜３４n 光導入孔 ３５1 〜３５n 光導入路 ３６1 〜３６n ，４６1 〜４６n フォトセンサ ３７，４７ 比較器 ４４ 柱状部材DESCRIPTION OF SYMBOLS 10 Vehicle 12 Housing 14 Optical sensor 16 Road surface 18 Road surface information 20 Polarization filter 22 Motor 24 Sun direction detection device 30, 42 Hood member 34 1 to 34 n Light introduction hole 35 1 to 35 n Light introduction path 36 1 to 36 n , 46 1 to 46 n Photosensor 37, 47 Comparator 44 Columnar member
Claims (1)
体に搭載された検出手段によって光学的に検出する路面
情報検出装置において、 上記情報標示体と検出手段との間に配置され、その透過
軸を上記走行路面に対して回転自在とされた偏光フィル
タと、 上記走行路面上で反射されて検出手段に入射する外乱光
の入射方向を検出する外乱光方向検出手段と、 上記外乱光方向検出手段で検出した外乱光の入射方向に
上記透過軸が向くよう上記偏光フィルタを回転駆動する
駆動手段とを有することを特徴とする路面情報検出装
置。1. A road surface information detecting device for optically detecting an information sign placed on a traveling road surface by a detecting means mounted on a moving body, wherein the apparatus is disposed between the information sign and the detecting means. A polarizing filter whose transmission axis is rotatable with respect to the traveling road surface; a disturbance light direction detecting unit that detects an incident direction of disturbance light reflected on the traveling road surface and incident on the detection unit; and the disturbance light direction. A drive unit for rotating the polarization filter so that the transmission axis is directed to the incident direction of the disturbance light detected by the detection unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8222652A JPH1063336A (en) | 1996-08-23 | 1996-08-23 | Device for detecting road surface information |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8222652A JPH1063336A (en) | 1996-08-23 | 1996-08-23 | Device for detecting road surface information |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH1063336A true JPH1063336A (en) | 1998-03-06 |
Family
ID=16785815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8222652A Pending JPH1063336A (en) | 1996-08-23 | 1996-08-23 | Device for detecting road surface information |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH1063336A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130266690A1 (en) * | 2010-06-16 | 2013-10-10 | Fromagerie Guilloteau | Method for producing a blue cheese |
| JP2016161726A (en) * | 2015-02-27 | 2016-09-05 | シャープ株式会社 | Light shielding device, autonomous traveling body, and autonomous traveling body system |
-
1996
- 1996-08-23 JP JP8222652A patent/JPH1063336A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130266690A1 (en) * | 2010-06-16 | 2013-10-10 | Fromagerie Guilloteau | Method for producing a blue cheese |
| JP2016161726A (en) * | 2015-02-27 | 2016-09-05 | シャープ株式会社 | Light shielding device, autonomous traveling body, and autonomous traveling body system |
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