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1. 发明授权

US09113047B2 Peripheral monitoring device for working machine 有权
标题翻译：工作机外围监控装置
公开(公告)号：US09113047B2
公开(公告)日：2015-08-18
申请号：US13880490
申请日：2010-10-22
申请人： Chieko Onuma , Ryo Yumiba , Hidefumi Ishimoto
发明人： Chieko Onuma , Ryo Yumiba , Hidefumi Ishimoto
IPC分类号： E02F9/24 , H04N7/18 , E02F9/26 , G05B9/02 , F04B49/06
CPC分类号： H04N7/18 , E02F9/24 , E02F9/261 , E02F9/264 , F04B49/065 , G05B9/02
摘要： This invention includes: an obstacle detection unit 400 that detects obstacles present around the working machine, by use of an image acquired by a camera 13; a position calculating unit 500 that calculates positions of each of the detected obstacles; a hazard zone calculating unit 700 that calculates a hazard zone based upon an attitude and motion of the working machine; a determining unit 800 that determines whether further obstacles are present in the calculated hazard zone; a risk level setting unit 2000 that sets a contact risk level for each of any obstacles present in the hazard zone; an image generating unit 600 that converts the camera image into a bird's-eye image centering upon the working machine, and then generates an image inclusive of all elements of the working machine and hazard zone on the bird's-eye image by further imaging the bird's-eye image diagonally from above an obstacle for which the highest contact risk level has been set by the risk level setting unit; and a display device 1300 that displays the generated image.This configuration makes an operator instantly recognize a position of the most potentially hazardous obstacle relative to the working machine, and thus improves working efficiency of the machine.
摘要翻译：本发明包括：通过使用由照相机13获取的图像来检测作业机周围的障碍物的障碍物检测单元400; 位置计算单元500，其计算每个检测到的障碍物的位置; 危险区域计算单元700，其基于工作机器的姿态和运动来计算危险区域; 确定单元800，其确定在所计算的危险区域中是否存在进一步的障碍物; 风险级别设定单元2000，其设定危险区域中存在的每个障碍物的接触风险等级; 图像生成单元600，其将摄像机图像转换为以工作机为中心的鸟瞰图像，然后通过进一步对鸟瞰图像进行成像，生成包括作业机的所有元素和鸟瞰图中的危险区域的图像，由风险级别设定单位设定了最高接触风险等级的障碍物上方的斜上方的眼图像; 以及显示生成的图像的显示装置1300。这种配置使得操作者能够立即识别相对于作业机器的最具潜在危险的障碍物的位置，从而提高机器的工作效率。

2. 发明申请

US20050219523A1 Foreign matter detecting system 审中-公开
标题翻译：异物检测系统
公开(公告)号：US20050219523A1
公开(公告)日：2005-10-06
申请号：US11060499
申请日：2005-02-18
申请人： Chieko Onuma , Mitsuji Ikeda , Noriko Ilzumi , Jun Maeda , Takashi Matsuyama
发明人： Chieko Onuma , Mitsuji Ikeda , Noriko Ilzumi , Jun Maeda , Takashi Matsuyama
IPC分类号： G01B11/00 , G01N21/88 , G01N21/90
CPC分类号： G01N21/9027 , G01N21/8806
摘要： A foreign matter detecting system which can acquire a clear image and detect a foreign matter with high accuracy based on the acquired image regardless of whether a subject is located far or near from an image capturing device in spite of a depth variation or a level difference. An image capturing unit having an externally controllable focus position is disposed above or below a liquid surface, and a ray of light from an LED is illuminated toward the liquid surface from above or the side at least at a focus position of the image capturing unit so that a foreign matter on the liquid surface causes mirror reflection. The focus position of the image capturing unit is changed over the range from the top of a container containing a liquid to the bottom thereof. At each focus position, an input image from the image capturing unit is taken into an image input unit of an image processing section. An image selecting unit of the image processing section selects an image focused on the liquid surface or a clearest image of the liquid surface from among the input images. An image detecting unit of the image processing section checks the presence and position of the mirror reflection, thereby detecting the foreign matter.
摘要翻译：不管深度变化还是水平差，即使拍摄对象远离摄影装置，无论拍摄对象是远距离还是远离拍摄装置，均可以基于获取的图像，以高精度获取清晰图像并检测异物的异物检测系统。具有外部可控焦点位置的图像捕获单元设置在液面的上方或下方，并且来自LED的光线至少在图像捕获单元的焦点位置从上方或侧面向液体表面照射，液面上的异物引起镜面反射。图像拍摄单元的聚焦位置在从包含液体的容器的顶部到其底部的范围内改变。在每个焦点位置，将来自图像捕获单元的输入图像带入图像处理部分的图像输入单元。图像处理部分的图像选择单元从输入图像中选择聚焦在液面上的图像或液面的最清晰图像。图像处理部的图像检测单元检查镜面反射的存在和位置，从而检测异物。

3. 发明授权

US5095365A System for monitoring operating state of devices according to their degree of importance 失效
标题翻译：根据他们的重要程度监控设备的操作状态的系统
公开(公告)号：US5095365A
公开(公告)日：1992-03-10
申请号：US599096
申请日：1990-10-17
申请人： Masao Takatoo , Chieko Onuma , Junzo Kawakami , Masayuki Fukai , Tadaaki Kitamura , Seiitsu Nigawara
发明人： Masao Takatoo , Chieko Onuma , Junzo Kawakami , Masayuki Fukai , Tadaaki Kitamura , Seiitsu Nigawara
IPC分类号： G07C3/00 , G08B21/20
CPC分类号： G08B21/187 , G06K9/00771 , G07C3/00
摘要： An abnormality monitoring system comprises controller for changing monitoring frequency according to the operating state of devices to be monitored and the degree of monitoring importance and controller for correcting an inputted monitor picture by computing a positional shift of the monitor picture to a reference picture using a mark position of the monitor picture and a mark position of the reference picture, wherein, when abnormality is detected, the contents of the abnormality and the contents of processing against the abnormality are displayed as a guidance.
摘要翻译：异常监视系统包括：控制器，用于根据待监视的设备的操作状态和监控的重要程度改变监视频率;以及控制器，用于通过使用标记计算监视器图像到参考图像的位置偏移来校正输入的监视画面监视器图像的位置和参考图像的标记位置，其中当检测到异常时，显示异常的内容和针对异常的处理内容作为指导。

4. 发明授权

US07999846B2 Image processing apparatus, image processing system, and recording medium for programs therefor 有权
标题翻译：图像处理装置，图像处理系统和用于其的程序的记录介质
公开(公告)号：US07999846B2
公开(公告)日：2011-08-16
申请号：US11477779
申请日：2006-06-30
申请人： Masahiro Kiyohara , Kazunori Takahashi , Chieko Onuma , Wataru Ito
发明人： Masahiro Kiyohara , Kazunori Takahashi , Chieko Onuma , Wataru Ito
IPC分类号： H04N7/18 , G06K9/34
CPC分类号： G06K9/00255 , G06T7/246 , G06T2207/30241
摘要： An image processing apparatus connected to a monitoring camera and a display for processing an image input from the monitoring camera includes an image storage storing an image input from the monitoring camera, a characteristic parameter storage storing a characteristic parameter characterizing a specific image, a specific image extraction unit, wherein the specific image extraction unit cuts out images having a plurality of predetermined sizes from all parts of the input image stored in the image storage, executes character evaluation processing for checking whether or not cut out images have an identical character to the specific image for each cut out image, and extracts the cut out images which has an identical character to the specific image by the character evaluation processing, and a display image generation unit for generating a display image for displaying a whole image of the input image and the extraction specific image on the display.
摘要翻译：连接到监视摄像机的图像处理设备和用于处理从监视摄像机输入的图像的显示器包括存储从监视摄像机输入的图像的图像存储器，存储特征化特定图像的特征参数的特征参数存储器，特定图像提取单元，其中特定图像提取单元从存储在图像存储器中的输入图像的所有部分切出具有多个预定大小的图像，执行字符评估处理，用于检查是否切割图像与特定图像具有相同的字符图像，并且通过字符评估处理提取与特定图像具有相同字符的切出图像;以及显示图像生成单元，用于生成用于显示输入图像的整体图像的显示图像和在显示器上提取特定图像。

5. 发明申请

US20070126868A1 Image processing apparatus, image processing system, and recording medium for programs therefor 有权
标题翻译：图像处理装置，图像处理系统和用于其的程序的记录介质
公开(公告)号：US20070126868A1
公开(公告)日：2007-06-07
申请号：US11477779
申请日：2006-06-30
申请人： Masahiro Kiyohara , Kazunori Takahashi , Chieko Onuma , Wataru Ito
发明人： Masahiro Kiyohara , Kazunori Takahashi , Chieko Onuma , Wataru Ito
IPC分类号： H04N7/18 , H04N9/47
CPC分类号： G06K9/00255 , G06T7/246 , G06T2207/30241
摘要： An image processing apparatus connected to a monitoring camera and a display for processing an image input from the monitoring camera includes an image storage storing an image input from the monitoring camera, a characteristic parameter storage storing a characteristic parameter characterizing a specific image, a specific image extraction unit, wherein the specific image extraction unit cuts out images having a plurality of predetermined sizes from all parts of the input image stored in the image storage, executes character evaluation processing for checking whether or not cut out images have an identical character to the specific image for each cut out image, and extracts the cut out images which has an identical character to the specific image by the character evaluation processing, and a display image generation unit for generating a display image for displaying a whole image of the input image and the extraction specific image on the display.
摘要翻译：连接到监视摄像机的图像处理设备和用于处理从监视摄像机输入的图像的显示器包括存储从监视摄像机输入的图像的图像存储器，存储特征化特定图像的特征参数的特征参数存储器，特定图像提取单元，其中特定图像提取单元从存储在图像存储器中的输入图像的所有部分切出具有多个预定大小的图像，执行字符评估处理，用于检查是否切割图像与特定图像具有相同的字符图像，并且通过字符评估处理提取与特定图像具有相同字符的切出图像;以及显示图像生成单元，用于生成用于显示输入图像的整体图像的显示图像和在显示器上提取特定图像。

6. 发明授权

US06961447B2 Image monitoring method, image monitoring apparatus and storage media 失效
标题翻译：图像监控方法，图像监控装置和存储介质
公开(公告)号：US06961447B2
公开(公告)日：2005-11-01
申请号：US10079501
申请日：2002-02-22
申请人： Chieko Onuma , Yoshiki Kobayashi , Hisao Oodawa , Hiroshi Shojima
发明人： Chieko Onuma , Yoshiki Kobayashi , Hisao Oodawa , Hiroshi Shojima
IPC分类号： G06T1/00 , G06T7/00 , G06T7/20 , G08B13/194 , H04N7/18 , G06K9/00 , G06K9/36 , G06K9/46
CPC分类号： G08B13/19602 , G06T7/254 , G06T7/262 , G08B13/19606 , G08B13/19608 , G08B13/19671 , G08B13/19691
摘要： In order to detect abnormal objects with a low-cost arrangement at high speeds while avoiding unwanted influence of variations of a light source and/or regularly vibrating objects in the environment concerned, there is provided a block data calculation unit 4200 inputted from a camera into blocks, an object candidate extraction unit 4700 which compares image data of a frame to be processed and the immediately preceding frame in units of blocks to thereby extract an abnormal object candidate in accordance with the presence or absence of edges and a longitude-to-lateral edge ratio change rate, and an object judging unit 4800 for determining or “judging” whether the abnormal object candidate is a true abnormal object, wherein it is an abnormal object where movement of the abnormal object candidate is traceable for a prespecified length of time period.
摘要翻译：为了以高速度检测出低成本布置的异常物体，同时避免相关环境中的光源和/或规则振动物体的变化的不期望的影响，提供了从相机输入的块数据计算单元4200 块，对象候选提取单元4700，其以块为单位比较要处理的帧的图像数据和紧接在前的帧的图像数据，从而根据边缘的存在或不存在以及从经度到侧面的不同而提取异常对象候选边缘比率变化率，以及用于判断或“判断”异常目标候选是真实异常对象的对象判断单元4800，其中异常对象候选者的移动可追溯到预定时间长度。

7. 发明申请

US20130222573A1 PERIPHERAL MONITORING DEVICE FOR WORKING MACHINE 有权
标题翻译：工作机外围监控装置
公开(公告)号：US20130222573A1
公开(公告)日：2013-08-29
申请号：US13880490
申请日：2010-10-22
申请人： Chieko Onuma , Ryo Yumiba , Hidefumi Ishimoto
发明人： Chieko Onuma , Ryo Yumiba , Hidefumi Ishimoto
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , E02F9/24 , E02F9/261 , E02F9/264 , F04B49/065 , G05B9/02
摘要： This invention includes: an obstacle detection unit 400 that detects obstacles present around the working machine, by use of an image acquired by a camera 13; a position calculating unit 500 that calculates positions of each of the detected obstacles; a hazard zone calculating unit 700 that calculates a hazard zone based upon an attitude and motion of the working machine; a determining unit 800 that determines whether further obstacles are present in the calculated hazard zone; a risk level setting unit 2000 that sets a contact risk level for each of any obstacles present in the hazard zone; an image generating unit 600 that converts the camera image into a bird's-eye image centering upon the working machine, and then generates an image inclusive of all elements of the working machine and hazard zone on the bird's-eye image by further imaging the bird's-eye image diagonally from above an obstacle for which the highest contact risk level has been set by the risk level setting unit; and a display device 1300 that displays the generated image.This configuration makes an operator instantly recognize a position of the most potentially hazardous obstacle relative to the working machine, and thus improves working efficiency of the machine.
摘要翻译：本发明包括：通过使用由照相机13获取的图像来检测作业机周围的障碍物的障碍物检测单元400; 位置计算单元500，其计算每个检测到的障碍物的位置; 危险区域计算单元700，其基于工作机器的姿态和运动来计算危险区域; 确定单元800，其确定在所计算的危险区域中是否存在进一步的障碍物; 风险级别设定单元2000，其设定危险区域中存在的每个障碍物的接触风险等级; 图像生成单元600，其将摄像机图像转换为以工作机为中心的鸟瞰图像，然后通过进一步对鸟瞰图像进行成像，生成包括作业机的所有元素和鸟瞰图中的危险区域的图像，由风险级别设定单位设定了最高接触风险等级的障碍物上方的斜上方的眼图像; 以及显示生成的图像的显示装置1300。这种配置使得操作者能够立即识别相对于作业机器的最具潜在危险的障碍物的位置，从而提高机器的工作效率。

8. 发明授权

US5003616A Image processing apparatus 失效
标题翻译：图像处理装置
公开(公告)号：US5003616A
公开(公告)日：1991-03-26
申请号：US203643
申请日：1988-05-31
申请人： Miyahiko Orita , Morio Kanasaki , Yuji Toda , Tadaaki Mishima , Masato Suzuki , Chieko Onuma , Masao Takatoo
发明人： Miyahiko Orita , Morio Kanasaki , Yuji Toda , Tadaaki Mishima , Masato Suzuki , Chieko Onuma , Masao Takatoo
IPC分类号： G06T7/00
CPC分类号： G06T7/00
摘要： An image processing apparatus having a character extraction unit for extracting an area whose density distribution characteristic meets a predetermined condition such as a binarization threshold and a size and a type of local filtering, from an input image of multiple gray levels, and extracts an object area as an output image from the input image by using the characteristic extraction unit. An area designation means designates an area having a uniform density distribution and containing the object area, to the input image. Condition determination means determines the condition for the characteristic extraction unit based on the density distribution characteristic of the input image in the designated area. In an image processing expert system, the image characteristics of the object image and the background in the area designated by the area designation means are evaluated and analyzed and the inquiry in the form of message is effected to quantize the evaluation of the image characteristic. As a result, the area extraction procedure can be easily executed by the interaction with an operator.
摘要翻译：一种具有字符提取单元的图像处理装置，用于从多个灰度的输入图像中提取密度分布特性满足诸如二值化阈值和尺寸和类型的局部滤波的预定条件的区域，并且提取对象区域作为通过使用特征提取单元从输入图像输出的图像。区域指定装置将具有均匀密度分布并包含对象区域的区域指定给输入图像。条件确定装置基于指定区域中的输入图像的浓度分布特性来确定特征提取单元的条件。在图像处理专家系统中，评估和分析由区域指定装置指定的区域中的对象图像的图像特性和背景，并且以消息的形式进行查询以量化图像特性的评估。结果，可以通过与操作者的交互来容易地执行区域提取过程。

9. 发明申请

US20060013441A1 Image monitoring method, image monitoring apparatus and storage media 审中-公开
公开(公告)号：US20060013441A1
公开(公告)日：2006-01-19
申请号：US11229687
申请日：2005-09-20
申请人： Chieko Onuma , Yoshiki Kobayashi , Hisao Oodawa , Hiroshi Shojima
发明人： Chieko Onuma , Yoshiki Kobayashi , Hisao Oodawa , Hiroshi Shojima
IPC分类号： G06K9/00
CPC分类号： G08B13/19602 , G06T7/254 , G06T7/262 , G08B13/19606 , G08B13/19608 , G08B13/19671 , G08B13/19691
摘要： In order to precisely detect abnormal objects by use of a low-cost arrangement at high speeds while avoiding unwanted influence of variations of a light source and/or regularly vibrating objects in the environment concerned, there are provided a means 4200 for subdividing an image being input from a camera into blocks, an object candidate extraction unit 4700 which is operable to compare image data of a frame to be processed and image data of its immediately preceding frame in units of blocks to thereby extract an abnormal object candidate in accordance with the presence or absence of edges and a longitude-to-lateral edge radio change rate, and an object judging unit 4800 for determining or “judging” whether the abnormal object candidate is a true abnormal object or not, wherein the object judging unit 4800 regards it as an abnormal object in cases where movement of the abnormal object candidate was traceable for a prespecified length of time period.

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