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11. 发明授权

US08406505B2 Image brightness reduction for legged mobile robot 有权
标题翻译：腿式移动机器人的图像亮度降低
公开(公告)号：US08406505B2
公开(公告)日：2013-03-26
申请号：US12230130
申请日：2008-08-25
申请人： Takamichi Shimada , Taro Yokoyama
发明人： Takamichi Shimada , Taro Yokoyama
IPC分类号： G06K9/00 , G06K9/40
CPC分类号： B25J19/023 , B62D57/032
摘要： In a legged mobile robot having an imaging device (such as CCD camera) for taking an image utilizing incident light from external world in which a human being to be imaged is present, brightness reduction operation is executed to reduce brightness of a high-brightness imaging region produced by high-brightness incident light, when the high-brightness imaging region is present in the image taken by the imaging device. With this, when the imaged high-brightness imaging region is present owing to high-brightness incident light from the sun or the like, the legged mobile robot can reduce the brightness to image a human being or other object with suitable brightness.
摘要翻译：在具有成像装置（例如CCD照相机）的腿式移动机器人中，用于利用来自外部世界的入射光拍摄图像，其中存在要被成像的人的入射光，执行亮度降低操作以降低高亮度成像的亮度当由成像装置拍摄的图像中存在高亮度成像区域时，由高亮度入射光产生的区域。由此，当由于来自太阳等的高亮度入射光而存在成像的高亮度成像区域时，有腿的移动机器人可以降低亮度，以适当的亮度对人或其他物体进行成像。

12. 发明授权

US07593552B2 Gesture recognition apparatus, gesture recognition method, and gesture recognition program 有权
标题翻译：手势识别装置，手势识别方法和手势识别程序
公开(公告)号：US07593552B2
公开(公告)日：2009-09-22
申请号：US10805392
申请日：2004-03-22
申请人： Nobuo Higaki , Takamichi Shimada
发明人： Nobuo Higaki , Takamichi Shimada
IPC分类号： G06K9/00
CPC分类号： G06F3/017 , G06K9/00375
摘要： A gesture recognition apparatus for recognizing postures or gestures of an object person based on images of the object person captured by cameras. The gesture recognition apparatus includes: a face/fingertip position detection means which detects a face position and a fingertip position of the object person in three-dimensional space based on contour information and human skin region information of the object person to be produced by the images captured; and a posture/gesture recognition means which operates to detect changes of the fingertip position by a predetermined method, to process the detected results by a previously stored method, to determine a posture or a gesture of the object person, and to recognize a posture or a gesture of the object person.
摘要翻译：一种手势识别装置，用于基于由相机拍摄的对象人物的图像来识别对象人的姿势或手势。手势识别装置包括：面部/指尖位置检测装置，其基于由图像生成的对象人的轮廓信息和人体皮肤区域信息来检测被摄体人在三维空间中的脸部位置和指尖位置被捕以及姿势/手势识别装置，其操作以通过预定方法检测指尖位置的变化，以通过先前存储的方法处理检测结果，以确定对象人的姿势或手势，以及识别姿势或姿势对象人的姿态。

13. 发明申请

US20090059033A1 Camera exposure controller 有权
标题翻译：相机曝光控制器
公开(公告)号：US20090059033A1
公开(公告)日：2009-03-05
申请号：US12230129
申请日：2008-08-25
申请人： Takamichi Shimada , Nobuo Higaki
发明人： Takamichi Shimada , Nobuo Higaki
IPC分类号： H04N5/235
CPC分类号： H04N5/2351 , B25J19/022 , G03B7/093 , G03B35/08 , H04N5/2353 , H04N13/239 , H04N13/296
摘要： In an exposure controller of a camera mounted on a robot for taking an image utilizing incident light from external world in which an object such as a human being is present, a brightness histogram of the image is generated and exposure parameters are set based on the generated histogram. Then, it is determined whether the set exposure parameters are within a predetermined range and when they are out of the range and if a high-brightness imaging region is present in the image due to high-brightness incident light, it is again determined whether it is necessary to remove the high-brightness imaging region. When it is determined to be necessary, the high-brightness imaging region is extracted and is removed from the image, thereby enabling the camera to image the object with suitable brightness even when a bright light source such as the sun is within the camera angle of view.
摘要翻译：在安装在机器人上的摄像机的曝光控制器中，利用来自外部世界的入射光（其中存在诸如人的物体），生成图像的亮度直方图，并且基于产生的曝光参数来设置曝光参数直方图。然后，确定设定的曝光参数是否在预定范围内，并且当它们在超出该范围时，并且如果由于高亮度入射光而在图像中存在高亮度成像区域，则再次确定是否是去除高亮度成像区域所必需的。当确定需要时，提取高亮度成像区域并从图像中去除，从而即使当诸如太阳的明亮光源在相机角度内时，相机也可以以适当的亮度对对象进行成像视图。

14. 发明授权

US07398136B2 Biped robot control system 有权
标题翻译：双机器人控制系统
公开(公告)号：US07398136B2
公开(公告)日：2008-07-08
申请号：US10808336
申请日：2004-03-25
申请人： Nobuo Higaki , Takamichi Shimada
发明人： Nobuo Higaki , Takamichi Shimada
IPC分类号： G05D1/02 , B25J9/16 , B25J13/00 , B25J19/00
CPC分类号： G06N3/008 , G06K9/00348
摘要： In a biped robot control system, stereoscopic images captured by CCD cameras are analyzed, the analyzed images are then utilized to detect presence of any moving object around the robot and if it present, to calculate moving object information, and based on the calculated moving object information, it is determined whether or not walking of the robot needs to be stopped. If it is determined to be stopped, the robot is controlled to stop within a period that brings the travel distance at stopping (distance moved between image capture by the CCD cameras and stopping of robot walking) to within a predetermined distance. With this, when the robot approaches a moving object during walking, it can be stopped within the predetermined distance to avoid collision with the moving object.
摘要翻译：在双足机器人控制系统中，分析由CCD摄像机拍摄的立体图像，然后利用分析的图像来检测机器人周围的任何运动物体的存在，如果存在，则计算移动物体信息，并且基于计算的移动物体信息，确定是否需要停止机器人的行走。如果确定停止，则机器人被控制为在使停止行驶距离（CCD相机拍摄的图像与停止机器人步行之间移动的距离）到预定距离内的时间段内停止。这样，当行走过程中机器人接近运动物体时，可以在预定距离内停止运动物体，以避免与运动物体的碰撞。

15. 发明授权

US07376250B2 Apparatus, method and program for moving object detection 有权
标题翻译：用于移动物体检测的装置，方法和程序
公开(公告)号：US07376250B2
公开(公告)日：2008-05-20
申请号：US11015796
申请日：2004-12-20
申请人： Nobuo Higaki , Takamichi Shimada
发明人： Nobuo Higaki , Takamichi Shimada
IPC分类号： G06K9/00
CPC分类号： G06K9/00362 , G06T7/251 , G06T7/254 , G06T7/285 , G06T2207/10016 , G06T2207/10028 , G06T2207/30196
摘要： The present invention detects a moving object by generating the distance information of the moving object, detecting the object motion, determining the object distance, detecting the object image area and the object contour from the video image that includes the object image and contour, and provides a moving object detection apparatus to carry out such detection as well as detecting a contour of the specific moving object by detecting the center of the moving object in high precision.
摘要翻译：本发明通过从包括对象图像和轮廓的视频图像生成运动对象的距离信息，检测对象运动，确定对象距离，检测对象图像区域和对象轮廓来检测移动对象，并且提供移动物体检测装置，通过以高精度检测移动物体的中心，进行这种检测以及检测特定移动物体的轮廓。

16. 发明授权

US07251346B2 Moving object detection device, moving object detection method, and moving object detection program 有权
标题翻译：移动物体检测装置，移动物体检测方法和移动物体检测程序
公开(公告)号：US07251346B2
公开(公告)日：2007-07-31
申请号：US10713431
申请日：2003-11-17
申请人： Nobuo Higaki , Takamichi Shimada
发明人： Nobuo Higaki , Takamichi Shimada
IPC分类号： G06K9/00
CPC分类号： G06K9/32 , G01C11/00 , G06K9/00201 , G06T7/215 , G06T7/251 , G06T7/254 , G06T7/55 , G06T2207/10016 , G06T2207/30196
摘要： A moving object detection device comprising: an object distance setting part, determining the distance to a moving object that moves the most based on a distance image, in which information on distances to image-taken objects are embedded, and a difference image, in which the movements of moving objects are embedded as movement information; an object distance image generating part, generating an object distance image corresponding to the abovementioned distance; and a contour extraction part, extracting a contour inside the object distance image to detect a moving object.
摘要翻译：一种移动物体检测装置，包括：物体距离设定部，基于距离图像确定与移动物体的距离最远的距离，所述距离图像中嵌入有对被摄体的距离的信息以及差分图像，其中，移动物体的移动被嵌入作为移动信息; 对象距离图像生成部，生成与上述距离对应的物体距离图像; 以及轮廓提取部，提取物距离图像内的轮廓以检测移动物体。

17. 发明授权

US07191856B2 Power transmission system for hybrid vehicle 有权
标题翻译：混合动力车动力传动系统
公开(公告)号：US07191856B2
公开(公告)日：2007-03-20
申请号：US10224630
申请日：2002-08-21
申请人： Naohisa Morishita , Nobuhiro Kira , Masahiro Seki , Takamichi Shimada
发明人： Naohisa Morishita , Nobuhiro Kira , Masahiro Seki , Takamichi Shimada
IPC分类号： B60K6/02
CPC分类号： B60K6/26 , B60K6/40 , B60K6/485 , B60K2001/003 , B60L3/0061 , B60L11/14 , B60L15/2009 , B60L2240/12 , B60L2240/421 , B60L2240/423 , B60L2240/425 , B60L2240/441 , B60L2240/443 , F16H41/24 , F16H45/02 , F16H2045/0294 , H02K7/006 , Y02T10/6226 , Y02T10/641 , Y02T10/645 , Y02T10/70 , Y02T10/7077 , Y02T10/7275 , Y10S903/904 , Y10S903/952
摘要： A power transmission system for a hybrid vehicle includes a motor/generator and a torque converter. The motor/generator and the torque converter are disposed in series between a crankshaft of an engine and a main shaft of a transmission. A side plate of the torque converter and a rotor disc of the motor/generator are connected via a drive plate having heat shielding properties and heat releasing properties.
摘要翻译：用于混合动力车辆的动力传动系统包括马达/发电机和变矩器。马达/发电机和变矩器串联设置在发动机的曲轴和变速器的主轴之间。变矩器的侧板和马达/发电机的转子盘通过具有隔热性和散热特性的驱动板连接。

18. 发明授权

US06755760B2 Belt for non-stage transmissions 有权
标题翻译：皮带用于非舞台传动
公开(公告)号：US06755760B2
公开(公告)日：2004-06-29
申请号：US09926170
申请日：2002-01-15
申请人： Hirofumi Akagi , Takamichi Shimada
发明人： Hirofumi Akagi , Takamichi Shimada
IPC分类号： F16G122
CPC分类号： F16G5/16
摘要： In a belt for a continuously variable transmission, a first clearance CLNH is defined between a projection and a recess formed on front and rear surfaces of a metal element, and a second clearance CLy is defined between an upper surface of a metal ring assembly and a lower ear surface of the metal element. By setting a relation, CLY>CLNH ensures, that when the metal element has been pitched, the projection and the recess can be first brought into contact with each other, thereby preventing a reduction in durability of the metal ring assembly. If the thickness of the metal ring assembly is represented by TL, and the vertical opening of the ring slot is represented by D, when the value of D/TL exceeds 11/8, the power transmitting efficiency is reduced. Therefore, the reduction in power transmitting efficiency can be prevented while maintaining durability of metal ring assembly by setting D/TL at a smaller value than 11/8.
摘要翻译：在用于无级变速器的带中，在突出部和形成在金属元件的前表面和后表面上的凹部之间限定第一间隙CLNH，并且第二间隙CLy被限定在金属环组件的上表面和金属元件的下耳表面。通过设置关系，CLY> CLNH确保了当金属元件已经倾斜时，突起和凹部可以首先彼此接触，从而防止金属环组件的耐久性降低。如果金属环组件的厚度由TL表示，并且环槽的垂直开口由D表示，则当D / TL的值超过11/8时，功率传输效率降低。因此，通过将D / TL设定为小于11/8的值，可以在维持金属环组件的耐久性的同时，防止动力传递效率的降低。

19. 发明授权

US06409620B1 Belt for continuosly variable transmission 失效
标题翻译：皮带用于连续变速传动
公开(公告)号：US06409620B1
公开(公告)日：2002-06-25
申请号：US09615053
申请日：2000-07-12
申请人： Hideaki Yoshida , Takamichi Shimada
发明人： Hideaki Yoshida , Takamichi Shimada
IPC分类号： F16G516
CPC分类号： F16G5/16
摘要： In a section near a rocking edge of each of metal elements used in a metal belt for a continuously variable transmission, a pair of protrusions are formed at laterally opposite ends of a front main surface opposed to a preceding metal element, and flat surface portions are formed on a rear main surface opposed to a succeeding metal element. The metal elements can be wound in a correct attitude around a pulley without being yawed by the contact of the protrusions and the flat surface portions with each other, whereby they can be prevented from being damaged. Further the metal elements contacting with each other in a chord section of the metal belt can slide laterally. Thus, a misalignment between a drive pulley and a driven pulley can be absorbed.
摘要翻译：在用于无级变速器的金属带中使用的每个金属元件的摆动边缘附近的部分中，在与前一金属元件相对的前主表面的横向相对的端部处形成一对突起，并且平坦表面部分形成在与后面的金属元件相对的后主表面上。金属元件可以围绕皮带轮以正确的姿态卷绕，而不会被突起和平坦表面部分彼此接触而偏转，从而可以防止金属元件被损坏。此外，在金属带的弦部分中彼此接触的金属元件可以横向滑动。因此，可以吸收驱动带轮和从动带轮之间的未对准。

20. 发明授权

US5797821A Shift control apparatus for automatic transmission 失效
标题翻译：用于自动变速器的换档控制装置
公开(公告)号：US5797821A
公开(公告)日：1998-08-25
申请号：US627406
申请日：1996-04-04
申请人： Shuichi Fujimoto , Hisashi Kunii , Kazumi Sato , Yoshiyuki Ura , Takamichi Shimada
发明人： Shuichi Fujimoto , Hisashi Kunii , Kazumi Sato , Yoshiyuki Ura , Takamichi Shimada
IPC分类号： F16H61/06 , F16H59/36 , F16H59/38 , F16H59/68 , F16H61/02 , F16H61/04 , F16H1/28
CPC分类号： F16H61/0437 , F16H2059/385 , F16H2059/425 , F16H2059/6807 , F16H2061/0255 , F16H2061/0485 , F16H2061/0488 , F16H59/36 , F16H61/061 , Y10T477/6895
摘要： An automatic transmission includes a frictionally engaging element for establishing a predetermined speed range. This predetermined speed range may be a second or higher speed range, and it is set temporarily in N-D squat control and also used for establishing a reverse range. In this transmission, engagement-actuation control of the frictionally engaging element for establishing the predetermined speed range which is executed when a shift is made from a N range to a R range comprises a plurality of control stages. When a shift to the R range is made via the N range following a N-D shift, a shift control apparatus detects the engagement condition of the the frictionally engaging element for establishing the predetermined speed range, selects one of the control stages in correspondence with the engagement condition, and initiates the engagement-actuation control of the frictionally engaging element from the control stage selected, so as to execute an engagement control for establishing the reverse range. Thus, in-gear shifts are executed smoothly without any delay in a N-D-N-R range shift.
摘要翻译：自动变速器包括用于建立预定速度范围的摩擦接合元件。该预定速度范围可以是第二或更高速度范围，并且其被暂时设定在N-D蹲下控制中，并且也用于建立倒档范围。在该变速器中，摩擦接合元件的接合致动控制用于建立从N档向R档位移动时所执行的预定速度范围包括多个控制级。当通过ND移位后的N档进行向R范围的换档时，变速控制装置检测用于建立预定速度范围的摩擦接合元件的接合状态，与接合对应地选择一个控制级并且从所选择的控制级启动摩擦接合元件的接合致动控制，以便执行用于建立倒档范围的接合控制。因此，在N-D-N-R范围换档中没有任何延迟地平滑地执行换档。

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