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1. 发明授权

US06317652B1 Legged mobile robot 失效
标题翻译：有腿的移动机器人
公开(公告)号：US06317652B1
公开(公告)日：2001-11-13
申请号：US09390630
申请日：1999-09-07
申请人： Taku Osada
发明人： Taku Osada
IPC分类号： G06F1900
CPC分类号： G06N3/008 , B25J19/023 , B62D57/032
摘要： A legged mobile robot for accurately calculating the positional relationship between a leg and an obstacle to the walking of the robot has a base body and a plurality of legs operatively connected to the base body. A vision sensor mounted on the base body captures image data containing both an image of a portion of a foot of one of the legs and an image of an obstacle in the course of robot walking. The legged mobile robot calculates the positional relationship between the leg and the obstacle from the captured image data, and walks while recognizing the positional relationship as calculated between the obstacle and the foot.
摘要翻译：用于准确地计算腿部与障碍物之间的行走机器人的位置关系的有腿的移动机器人具有基部主体和可操作地连接到基体的多个腿。安装在基体上的视觉传感器在机器人行走过程中捕获包含一条脚的一部分的图像和障碍物的图像的图像数据。有腿移动机器人从捕获的图像数据计算腿部与障碍物之间的位置关系，并且在识别障碍物和脚部之间计算的位置关系的同时行走。

2. 发明申请

US20120271633A1 INTERACTIVE DEVICE 有权
标题翻译：互动设备
公开(公告)号：US20120271633A1
公开(公告)日：2012-10-25
申请号：US13450515
申请日：2012-04-19
申请人： Yuichi Yoshida , Taku Osada
发明人： Yuichi Yoshida , Taku Osada
IPC分类号： G10L17/00
CPC分类号： G10L15/22 , G06F17/2785 , G10L15/265 , G10L2015/223
摘要： The present invention provides an interactive device which allows quick utterance recognition results and sequential output thereof and which diminishes a recognition rate decrease even if user's utterance is divided by a short interval into frames for quick decision. The interactive device: sets a recognition section for voice recognition; performs voice recognition for the recognition section; when the voice recognition includes a key phrase, determines response actions corresponding thereto; and executes the response actions. The interactive device repeatedly updates the set recognition terminal point to a frame which is the predetermined time length ahead of the set recognition terminal point to set a plurality of recognition sections. The interactive device performs voice recognition for each recognition section.
摘要翻译：本发明提供了一种交互式设备，其允许快速话语识别结果及其顺序输出，并且即使用户的话语被短时间间隔划分成帧以便快速确定也减少了识别率降低。交互式设备：设置语音识别识别部分; 执行识别部分的语音识别; 当语音识别包括密钥短语时，确定与之对应的响应动作; 并执行响应动作。交互式设备将设置的识别终端点重新更新为设置的识别终端点之前的预定时间长度的帧，以设置多个识别部分。交互式设备为每个识别部分执行语音识别。

3. 发明授权

US07742840B2 Autonomous mobile robot 有权
标题翻译：自主移动机器人
公开(公告)号：US07742840B2
公开(公告)日：2010-06-22
申请号：US11294456
申请日：2005-12-06
申请人： Tomoki Watabe , Tsukasa Sugino , Koji Kawabe , Minami Asatani , Taku Osada , Takahide Yoshiike , Takashi Nakayama , Shintarou Fujita
发明人： Tomoki Watabe , Tsukasa Sugino , Koji Kawabe , Minami Asatani , Taku Osada , Takahide Yoshiike , Takashi Nakayama , Shintarou Fujita
IPC分类号： G06F19/00
CPC分类号： G05D1/0251 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/027 , G05D1/0274 , G05D1/0278 , G05D2201/0217
摘要： Disclosed is a space-saving autonomous mobile robot capable of switching two types of light irradiation appropriately. The robot includes a moving mechanism, an autonomous movement controller for controlling the moving mechanism, a self-location recognition unit for sensing a self-location of the robot, a map data storage unit for storing a map data on locations of marks, a slit light device for irradiating a detection area with slit light, an infrared device for irradiating a detection area with infrared rays, and a switch determination unit for comparing a mark-formed region and the self-location, and then, for switching between the slit light and infrared devices, based on the comparison result. Moreover, the infrared device irradiates the detection area when the self-location is within the mark-formed region, while the slit light device irradiates the detection area when the self-location is outside the mark-formed region.
摘要翻译：公开了一种能够适当地切换两种类型的光照射的节省空间的自主移动机器人。机器人包括移动机构，用于控制移动机构的自主运动控制器，用于感测机器人的自身位置的自身位置识别单元，用于存储关于标记位置的地图数据的地图数据存储单元，狭缝用于用狭缝光照射检测区域的光装置，用红外线照射检测区域的红外线装置，以及用于比较标记形成区域和自身位置的开关确定单元，然后用于在狭缝光和红外设备，基于比较结果。此外，当自身位置在标记形成区域内时，红外线装置照射检测区域，而当自身位置在标记形成区域外时，狭缝光装置照射检测区域。

4. 发明授权

US07653216B2 Polyhedron recognition system 有权
标题翻译：多面体识别系统
公开(公告)号：US07653216B2
公开(公告)日：2010-01-26
申请号：US10743299
申请日：2003-12-23
申请人： Takeo Kanade , Taku Osada
发明人： Takeo Kanade , Taku Osada
IPC分类号： G06K9/00 , G06K9/46
CPC分类号： G06K9/6203 , G06T7/593
摘要： A polyhedron recognition system that is not easily affected by the camera position and camera range when the shape of a staircase or other polyhedron is recognized from an image obtained by photography, and that can also recognize the shape with good accuracy. In the system, predetermined regions (staircase candidate regions) within the image input from two CCD cameras are selected, and a range image is obtained stereoscopically with the two cameras, while also a candidate region upon the range image obtained based on the selected region is set, and the shape of the staircase or other polyhedron is recognized based on the set range image within the candidate region.
摘要翻译：当通过摄影获得的图像识别阶梯或其他多面体的形状时，不容易受相机位置和照相机范围的影响的多面体识别系统，并且还可以以高精度识别形状。在该系统中，选择从两个CCD摄像机输入的图像内的预定区域（阶梯候选区域），并且利用两个摄像机立体地获得范围图像，同时基于所选择的区域获得的范围图像上的候选区域并且基于候选区域内的设定范围图像来识别楼梯或其他多面体的形状。

5. 发明申请

US20060129276A1 Autonomous mobile robot 有权
标题翻译：自主移动机器人
公开(公告)号：US20060129276A1
公开(公告)日：2006-06-15
申请号：US11294456
申请日：2005-12-06
申请人： Tomoki Watabe , Tsukasa Sugino , Koji Kawabe , Minami Asatani , Taku Osada , Takahide Yoshiike , Takashi Nakayama , Shintarou Fujita
发明人： Tomoki Watabe , Tsukasa Sugino , Koji Kawabe , Minami Asatani , Taku Osada , Takahide Yoshiike , Takashi Nakayama , Shintarou Fujita
IPC分类号： G06F19/00
CPC分类号： G05D1/0251 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/027 , G05D1/0274 , G05D1/0278 , G05D2201/0217
摘要： Disclosed is a space-saving autonomous mobile robot capable of switching two types of light irradiation appropriately. The robot includes a moving mechanism, an autonomous movement controller for controlling the moving mechanism, a self-location recognition unit for sensing a self-location of the robot, a map data storage unit for storing a map data on locations of marks, a slit light device for irradiating a detection area with slit light, an infrared device for irradiating a detection area with infrared rays, and a switch determination unit for comparing a mark-formed region and the self-location, and then, for switching between the slit light and infrared devices, based on the comparison result. Moreover, the infrared device irradiates the detection area when the self-location is within the mark-formed region, while the slit light device irradiates the detection area when the self-location is outside the mark-formed region.
摘要翻译：公开了一种能够适当地切换两种类型的光照射的节省空间的自主移动机器人。机器人包括移动机构，用于控制移动机构的自主运动控制器，用于感测机器人的自身位置的自身位置识别单元，用于存储关于标记位置的地图数据的地图数据存储单元，狭缝用于用狭缝光照射检测区域的光装置，用红外线照射检测区域的红外线装置，以及用于比较标记形成区域和自身位置的开关确定单元，然后用于在狭缝光和红外设备，基于比较结果。此外，当自身位置在标记形成区域内时，红外线装置照射检测区域，而当自身位置在标记形成区域外时，狭缝光装置照射检测区域。

6. 发明申请

US20050135680A1 Polyhedron recognition system 有权
标题翻译：多面体识别系统
公开(公告)号：US20050135680A1
公开(公告)日：2005-06-23
申请号：US10743299
申请日：2003-12-23
申请人： Takeo Kanade , Taku Osada
发明人： Takeo Kanade , Taku Osada
IPC分类号： G06T1/00 , G06K9/00 , G06K9/64 , G06T7/00
CPC分类号： G06K9/6203 , G06T7/593
摘要： A polyhedron recognition system that is not easily affected by the camera position and camera range when the shape of a staircase or other polyhedron is recognized from an image obtained by photography, and that can also recognize the shape with good accuracy. In the system, predetermined regions (staircase candidate regions) within the image input from two CCD cameras are selected, and a range image is obtained stereoscopically with the two cameras, while also a candidate region upon the range image obtained based on the selected region is set, and the shape of the staircase or other polyhedron is recognized based on the set range image within the candidate region.
摘要翻译：当通过摄影获得的图像识别阶梯或其他多面体的形状时，不容易受相机位置和照相机范围的影响的多面体识别系统，并且还可以以高精度识别形状。在该系统中，选择从两个CCD摄像机输入的图像内的预定区域（阶梯候选区域），并且利用两个摄像机立体地获得范围图像，同时基于所选择的区域获得的范围图像上的候选区域并且基于候选区域内的设定范围图像来识别楼梯或其他多面体的形状。

7. 发明授权

US5629989A Image line-segment extracting apparatus 失效
标题翻译：图像线段提取装置
公开(公告)号：US5629989A
公开(公告)日：1997-05-13
申请号：US229371
申请日：1994-04-18
申请人： Taku Osada
发明人： Taku Osada
IPC分类号： G06T7/60 , G06K9/46 , G06K9/00
CPC分类号： G06K9/4633
摘要： An image line-segment extracting apparatus which in processing steps to conduct Hough transformation of a sequence of edge pixels composing an image, to plot a histogram based on Hough function values, to successively detect peaks from the histogram and to extract a plurality of line segments existing in the image, can detect the only true peaks, effectively eliminating false peaks. The process also includes a feature by which region is defined and the amount of influence of a remarkable one of the peaks in a histogram upon frequency distribution on the histogram are determined and then histogram frequency values of other peaks in the defined region are corrected according to the determined amount of influence to partially rewrite the histogram.
摘要翻译：一种图像线段提取装置，在处理步骤中，对构成图像的边缘像素序列进行霍夫变换，基于霍夫函数值绘制直方图，以连续检测来自直方图的峰值，并提取多个线段存在于图像中，可以检测到唯一的真峰，有效消除假峰。该过程还包括定义区域的特征，并且确定在直方图上的频率分布上的直方图中显着的一个峰值的影响量，然后根据定义的区域校正定义区域中的其他峰的直方图频率值确定的部分重写直方图的影响量。

8. 发明授权

US5247587A Peak data extracting device and a rotary motion recurrence formula computing device 失效
标题翻译：峰值数据提取装置和旋转运动递推公式计算装置
公开(公告)号：US5247587A
公开(公告)日：1993-09-21
申请号：US939418
申请日：1992-09-08
申请人： Hiroshi Hasegawa , Yasushi Okada , Jun Ishii , Taku Osada , Shigeto Nakayama , Akira Nagao
发明人： Hiroshi Hasegawa , Yasushi Okada , Jun Ishii , Taku Osada , Shigeto Nakayama , Akira Nagao
IPC分类号： G06F7/24 , G06F7/544 , G06F7/548 , G06K9/46
CPC分类号： G06F9/30021 , G06F7/24 , G06F7/544 , G06F7/548 , G06K9/4633
摘要： The first aspect of this invention relates to a peak data extracting device used in picture processing devices. The peak data extracting device comprises a DDA (data differential analysis) computing unit, an peak filter and a sorting unit. The computing unit gives Hough curves (sine curves) based on points to be processed on an original picture. The peak filter extracts peak data. The sorting unit sorts the peak data extracted with the noise components removed.The second aspect of this invention relates to a rotary motion recurrence formula computing device which are used in the DDA computing unit. The device computes the rotary motion formulax.sub.i+1 =f.sub.x (x.sub.i, y.sub.i, .epsilon.)y.sub.i+1 =f.sub.y (x.sub.i, y.sub.i, .epsilon.).
摘要翻译：本发明的第一方面涉及在图像处理装置中使用的峰值数据提取装置。峰值数据提取装置包括DDA（数据差分分析）计算单元，峰值滤波器和分类单元。计算单元根据要在原始图像上处理的点给出霍夫曲线（正弦曲线）。峰值滤波器提取峰数据。排序单元对所除去的噪声成分提取的峰值数据进行排序。本发明的第二方面涉及在DDA计算单元中使用的旋转运动递推公式计算装置。该装置计算旋转运动公式xi + 1 = fx（xi，yi，epsilon）yi + 1 = fy（xi，yi，epsilon）。

9. 发明授权

US09002705B2 Interactive device that recognizes input voice of a user and contents of an utterance of the user, and performs a response corresponding to the recognized contents 有权
标题翻译：识别用户的输入语音和用户话语的内容的交互式设备，并且执行对应于所识别的内容的响应
公开(公告)号：US09002705B2
公开(公告)日：2015-04-07
申请号：US13450515
申请日：2012-04-19
申请人： Yuichi Yoshida , Taku Osada
发明人： Yuichi Yoshida , Taku Osada
IPC分类号： G10L17/00 , G10L15/22 , G10L15/26 , G06F17/27
CPC分类号： G10L15/22 , G06F17/2785 , G10L15/265 , G10L2015/223
摘要： The present invention provides an interactive device which allows quick utterance recognition results and sequential output thereof and which diminishes a recognition rate decrease even if user's utterance is divided by a short interval into frames for quick decision. The interactive device: sets a recognition section for voice recognition; performs voice recognition for the recognition section; when the voice recognition includes a key phrase, determines response actions corresponding thereto; and executes the response actions. The interactive device repeatedly updates the set recognition terminal point to a frame which is the predetermined time length ahead of the set recognition terminal point to set a plurality of recognition sections. The interactive device performs voice recognition for each recognition section.
摘要翻译：本发明提供了一种交互式设备，其允许快速话语识别结果及其顺序输出，并且即使用户的话语被短时间间隔划分成帧以便快速确定也减少了识别率降低。交互式设备：设置语音识别识别部分; 执行识别部分的语音识别; 当语音识别包括密钥短语时，确定与之对应的响应动作; 并执行响应动作。交互式设备将设置的识别终端点重新更新为设置的识别终端点之前的预定时间长度的帧，以设置多个识别部分。交互式设备为每个识别部分执行语音识别。

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