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1. 发明授权

US06088469A Identifying apparatus and method, position detecting apparatus and method, robot apparatus and color extracting apparatus 失效
公开(公告)号：US06088469A
公开(公告)日：2000-07-11
申请号：US938078
申请日：1997-09-26
申请人： Naohiro Fukumura , Osamu Hanagata , Kotaro Sabe , Makoto Inoue
发明人： Naohiro Fukumura , Osamu Hanagata , Kotaro Sabe , Makoto Inoue
IPC分类号： G06K9/46 , G06K9/00
CPC分类号： G06K9/3216 , G05D1/0246 , G06K9/46 , G06K9/4652 , G06K2009/3225
摘要： An identifying apparatus and method and a robot apparatus capable of reliably identifying other moving objects or other objects, a position detecting apparatus and method and a robot apparatus capable of accurately detecting the position of a moving object or itself within a region, and a color extracting apparatus capable of accurately extracting a desired color are difficult to be realized. Objects are provided with identifiers having different color patterns such that the color patterns are detected and identified through image processing. Also, the objects of interest are given color patterns different from each other, such that the position of the object can be detected by identifying the color pattern through image processing. Further, a plurality of wall surfaces having different colors are provided along the periphery of the region, such that the position of an object is detected on the basis of the colors of the wall surfaces through image processing. Further, a luminance level and color difference levels are sequentially detected for each of pixels to extract a color by determining whether or not the color difference levels are within a predetermined range.

2. 发明授权

US5963712A Selectively configurable robot apparatus 失效
标题翻译：可选配置的机器人装置
公开(公告)号：US5963712A
公开(公告)日：1999-10-05
申请号：US887624
申请日：1997-07-03
申请人： Masahiro Fujita , Koji Kageyama , Takayuki Sakamoto , Naohiro Fukumura
发明人： Masahiro Fujita , Koji Kageyama , Takayuki Sakamoto , Naohiro Fukumura
IPC分类号： B25J9/16 , B25J9/18 , G05B15/00
CPC分类号： B25J9/161 , B25J9/1615
摘要： A robot apparatus composed of a plurality of component units comprises a first storage unit for storing shape information for determining shapes of the component units, a second storage unit for storing motion information required to describe motions of the component units, a third storage unit for storing characteristic information on electric parts contained in the component parts, and a detector for detecting coupling states of the respective component units. A controller can automatically recognize the entire structure and motion characteristics of the respective component units based on the detection results of the detector. Thus, it is possible to realize a robot apparatus which can be applied to a configuration including two or more separate groups of arbitrary component units combined into a complete assembly, and thus facilitate the architecture of a new form.
摘要翻译：由多个部件组成的机器人装置包括：第一存储部，存储用于确定部件的形状的形状信息;第二存储部，存储用于描述部件的运动所需的运动信息;第三存储部，包含在组成部件中的电气部件的特征信息，以及用于检测各个部件单元的联接状态的检测器。控制器可以基于检测器的检测结果自动识别各个部件单元的整个结构和运动特性。因此，可以实现可以应用于组合为完整组件的包括两个或更多个组合的任意组件单元的配置的机器人装置，从而便于新形式的架构。

3. 发明授权

US06453055B1 Identifying apparatus and method, position detecting apparatus and method, robot apparatus and color extracting apparatus 失效
标题翻译：识别装置和方法，位置检测装置和方法，机器人装置和抽色装置
公开(公告)号：US06453055B1
公开(公告)日：2002-09-17
申请号：US09328680
申请日：1999-06-09
申请人： Naohiro Fukumura , Osamu Hanagata , Kotaro Sabe , Makoto Inoue
发明人： Naohiro Fukumura , Osamu Hanagata , Kotaro Sabe , Makoto Inoue
IPC分类号： G06K900
CPC分类号： G06K9/3216 , G05D1/0246 , G06K9/46 , G06K9/4652 , G06K2009/3225
摘要： An identifying apparatus and method and a robot apparatus capable of reliably identifying other moving objects or other objects, a position detecting apparatus and method and a robot apparatus capable of accurately detecting the position of a moving object or itself within a region, and a color extracting apparatus capable of accurately extracting a desired color are difficult to be realized. Objects are provided with identifiers having different color patterns such that the color patterns are detected and identified through image processing. Also, the objects of interest are given color patterns different from each other, such that the position of the object can be detected by identifying the color pattern through image processing. Further, a plurality of wall surfaces having different colors are provided along the periphery of the region, such that the position of an object is detected on the basis of the colors of the wall surfaces through image processing. Further, a luminance level and color difference levels are sequentially detected for each of pixels to extract a color by determining whether or not the color difference levels are within a predetermined range.
摘要翻译：能够可靠地识别其他移动物体或其他物体的识别装置和方法和机器人装置，能够精确地检测区域内的移动物体或其本身的位置的位置检测装置和方法以及机器人装置，以及颜色提取能够精确地提取期望的颜色的装置难以实现。对象被提供有具有不同颜色图案的标识符，使得通过图像处理来检测和识别颜色图案。此外，感兴趣的对象被赋予彼此不同的颜色图案，使得可以通过图像处理识别颜色图案来检测对象的位置。此外，沿着该区域的周边设置具有不同颜色的多个壁表面，使得通过图像处理基于壁表面的颜色来检测物体的位置。此外，通过确定色差电平是否在预定范围内，针对每个像素顺序地检测亮度级和色差级别以提取颜色。

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