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1. 发明授权

US06772233B2 Data storage device 失效
标题翻译：数据存储设备
公开(公告)号：US06772233B2
公开(公告)日：2004-08-03
申请号：US09939698
申请日：2001-08-28
申请人： Atsuo Iida , Keiju Okabayashi , Shinji Kanda , Mitsunori Fukazawa
发明人： Atsuo Iida , Keiju Okabayashi , Shinji Kanda , Mitsunori Fukazawa
IPC分类号： G06F300
CPC分类号： G06F3/0625 , G06F3/0655 , G06F3/0679 , Y02D10/154
摘要： A portable card type data storage device with a large capacity and low power consumption is provided which enalbes two storage mediums with different features to be installed into a single slot of an information processing device. The card type data storage device 100 of the invention includes a case 10 having a connection slot 10a, a first connector 11 adapted to be inserted into and connected with a connection slot 201 of an information processing device such as a PC 200, a hard disk 13 housed in the case 10, a second connector 12 for connection with a semiconductor memory 18 inserted into the connection slot 10a, and a storage device control section 20. When the first connector 11 is inserted into and connected with the information processing device 200, the storage device control section 20 receives electric power from the information processing device 200, and makes the hard disk 13 and the semiconductor memory 18, which is inserted into the connection slot 10a and connected with the second connector 12, function as external storages of the information processing device 200. Thus, two storage mediums comprising the semiconductor memory 18 of low power consumption and the hard disk 13 of a large capacity can be connected with the information processing device 200 through the single slot 201 thereof.
摘要翻译：提供了具有大容量和低功耗的便携式卡型数据存储装置，其将具有不同特征的两个存储介质安装到信息处理装置的单个时隙中。本发明的卡片类型数据存储装置100包括：具有连接槽10a的壳体10，适于插入并连接到诸如PC200的信息处理装置的连接槽201的第一连接器11;硬盘 13，用于与插入连接槽10a的半导体存储器18连接的第二连接器12以及存储装置控制部20.当将第一连接器11插入并与信息处理装置200连接时，存储装置控制部20从信息处理装置200接收电力，并且使插入连接槽10a并与第二连接器12连接的硬盘13和半导体存储器18作为外部存储器信息处理装置200.因此，包含低功率的半导体存储器18和大容量的硬盘13的两个存储介质可以通过其单个槽201与信息处理装置200连接。

2. 发明授权

US5617335A System for and method of recognizating and tracking target mark 失效
标题翻译：识别和跟踪目标标记的系统和方法
公开(公告)号：US5617335A
公开(公告)日：1997-04-01
申请号：US588320
申请日：1996-01-18
申请人： Masayoshi Hashima , Fumi Hasegawa , Keiju Okabayashi , Ichiro Watanabe , Shinji Kanda , Naoyuki Sawasaki , Yuichi Murase
发明人： Masayoshi Hashima , Fumi Hasegawa , Keiju Okabayashi , Ichiro Watanabe , Shinji Kanda , Naoyuki Sawasaki , Yuichi Murase
IPC分类号： B25J9/16 , G01S3/786 , G01S5/16 , G05D1/02 , G06K9/46 , G06T7/20 , G01S5/00
CPC分类号： G06K9/4647 , B25J9/1697 , B64G1/646 , G01S3/7864 , G01S5/163 , G06K9/3216 , G06T7/2033 , G05B2219/39387 , G05B2219/39397 , G05B2219/40613 , G06K2009/3225
摘要： A system for and a method of recognizing and tracking a target mark with a video camera is disclosed. The system includes a target mark (10) disposed on an object (1) and composed of a black circle and a white triangle mounted centrally on the black circle and three-dimensionally shifted from the black circle, a video camera (20) for imaging the target mark (10), a robot (30) supporting the video camera (20) and movable in directions with six degrees of freedom, an image processor (40) for processing image data of the target mark which is produced by the video camera (20), a shift calculating unit (50) for detecting a shift of the target mark (10) from projected histogram information of the target mark (10) which is produced by the image processor (40), and a robot controller (60) for controlling movement of the robot depending on the shift to enable the video camera (20) to track the target mark (10). The system is capable of tracking the target mark (20) attached to the object (1) on a real-time basis. Mark recognizing apparatus capable of accurately recognizing target marks of other shapes is also disclosed.
摘要翻译：公开了一种使用摄像机识别和跟踪目标标记的系统和方法。该系统包括设置在物体（1）上并由黑色圆圈和白色三角形组成的目标标记（10），其安装在黑色圆圈的中心并从黑色圆圈三维位移，用于成像的摄像机（20）所述目标标记（10），支持所述摄像机（20）并且能够以六自由度的方向移动的机器人（30），用于处理由所述摄像机产生的所述目标标记的图像数据的图像处理器（20），用于根据由图像处理器（40）产生的目标标记（10）的投影直方图信息和机器人控制器（60）检测目标标记（10）的偏移的移位计算单元（50）），用于根据移动来控制机器人的运动，以使得摄像机（20）能够跟踪目标标记（10）。该系统能够实时跟踪附接到对象（1）的目标标记（20）。还公开了能够准确地识别其他形状的目标标记的标记识别装置。

3. 发明授权

US07218994B2 Robot 有权
标题翻译：机器人
公开(公告)号：US07218994B2
公开(公告)日：2007-05-15
申请号：US11083900
申请日：2005-03-21
申请人： Shinji Kanda , Yuichi Murase , Sumihisa Iwashita , Katsutoshi Shimizu , Naoyuki Sawasaki , Keiju Okabayashi
发明人： Shinji Kanda , Yuichi Murase , Sumihisa Iwashita , Katsutoshi Shimizu , Naoyuki Sawasaki , Keiju Okabayashi
IPC分类号： G06F19/00
CPC分类号： G05D1/0251 , G05D1/0285 , G05D2201/0207 , G06N3/008
摘要： A robot for freely moving about in an environment where there is an obstacle. The robot includes a communication section transmitting by wireless an image taken by a camera to a base station, and via the base station to a communication terminal making a radio communication with the base station, and receiving by wireless movement target position information specified on the image by an operation of the communication terminal via the base station, and a motion control section that moves the robot up to a movement target position specified by the movement target position information acquired in the communication section.
摘要翻译：在有障碍物的环境中自由移动的机器人。机器人包括通过无线方式通过摄像机拍摄的图像向基站发送的通信部，并且经由基站向与基站进行无线通信的通信终端进行通信，并且通过无线移动来接收在图像上指定的目标位置信息通过基站的通信终端的操作，以及运动控制部，其使所述机器人移动到通过所述通信部获取的所述移动目标位置信息指定的移动目标位置。

4. 发明申请

US20050165508A1 Robot 有权
标题翻译：机器人
公开(公告)号：US20050165508A1
公开(公告)日：2005-07-28
申请号：US11083900
申请日：2005-03-21
申请人： Shinji Kanda , Yuichi Murase , Sumihisa Iwashita , Katsutoshi Shimizu , Naoyuki Sawasaki , Keiju Okabayashi
发明人： Shinji Kanda , Yuichi Murase , Sumihisa Iwashita , Katsutoshi Shimizu , Naoyuki Sawasaki , Keiju Okabayashi
IPC分类号： A63H11/00 , B25J5/00 , B25J13/08 , G05D1/00 , G05D1/02 , G06F19/00 , G06N3/00
CPC分类号： G05D1/0251 , G05D1/0285 , G05D2201/0207 , G06N3/008
摘要： The present invention aims to provide a robot having the structure suitable for freely moving about in the environment where there is an obstacle within the house, for example. The robot includes a communication section transmitting by wireless an image taken by the camera to a base station, and via the base station to a communication terminal making the radio communication with the base station, and receiving by wireless the movement target position information specified on the image by an operation of the communication terminal via the base station, and a motion control section that moves the robot up to a movement target position specified by the movement target position information acquired in the communication section.
摘要翻译：本发明的目的在于提供一种机器人，其具有适于在房屋内存在障碍物的环境中自由移动的结构。机器人包括通过无线方式将由照相机拍摄的图像发送到基站的通信部分，并且经由基站到与基站进行无线电通信的通信终端，并且通过无线接收在该基站上指定的移动目标位置信息通过基站的通信终端的操作的图像;以及运动控制部，其将机器人移动到由通信部中获取的移动目标位置信息指定的移动目标位置。

5. 发明授权

US5521843A System for and method of recognizing and tracking target mark 失效
标题翻译：识别和跟踪目标标记的系统和方法
公开(公告)号：US5521843A
公开(公告)日：1996-05-28
申请号：US119228
申请日：1993-09-28
申请人： Masayoshi Hashima , Fumi Hasegawa , Keiju Okabayashi , Ichiro Watanabe , Shinji Kanda , Naoyuki Sawasaki , Yuichi Murase
发明人： Masayoshi Hashima , Fumi Hasegawa , Keiju Okabayashi , Ichiro Watanabe , Shinji Kanda , Naoyuki Sawasaki , Yuichi Murase
IPC分类号： B25J9/16 , G01S3/786 , G01S5/16 , G05D1/02 , G06K9/46 , G06T7/20 , G01S15/06
CPC分类号： G06K9/4647 , B25J9/1697 , B64G1/646 , G01S3/7864 , G01S5/163 , G06K9/3216 , G06T7/2033 , G05B2219/39387 , G05B2219/39397 , G05B2219/40613 , G06K2009/3225
摘要： A system for and a method of recognizing and tracking a target mark with a video camera is disclosed. The system includes a target mark (10) disposed on an object (1) and composed of a black circle and a white triangle mounted centrally on the black circle and three-dimensionally shifted from the black circle, a video camera (20) for imaging the target mark (10), a robot (30) supporting the video camera (20) and movable in directions with six degrees of freedom, an image processor (40) for processing image data of the target mark which is produced by the video camera (20), a shift calculating unit (50) for detecting a shift of the target mark (10) from projected histogram information of the target mark (10) which is produced by the image processor (40), and a robot controller (60) for controlling movement of the robot depending on the shift to enable the video camera (20) to track the target mark (10). The system is capable of tracking the target mark ( 20) attached to the object (1) on a real-time basis. Mark recognizing apparatus capable of accurately recognizing target marks of other shapes is also disclosed.
摘要翻译： PCT No.PCT / JP93 / 00107 Sec。 371日期：1993年9月28日 102（e）日期1993年9月28日PCT 1993年1月29日PCT公布。第WO93 / 15376号公报日期：1993年8月5日。公开了一种使用摄像机识别和跟踪目标标记的系统和方法。该系统包括设置在物体（1）上并由黑色圆圈和白色三角形组成的目标标记（10），其安装在黑色圆圈的中心并从黑色圆圈三维位移，用于成像的摄像机（20）所述目标标记（10），支持所述摄像机（20）并且能够以六自由度的方向移动的机器人（30），用于处理由所述摄像机产生的所述目标标记的图像数据的图像处理器（20），用于根据由图像处理器（40）产生的目标标记（10）的投影直方图信息和机器人控制器（60）检测目标标记（10）的偏移的移位计算单元（50）），用于根据移动来控制机器人的运动，以使得摄像机（20）能够跟踪目标标记（10）。该系统能够实时跟踪附接到对象（1）的目标标记（20）。还公开了能够准确地识别其他形状的目标标记的标记识别装置。

6. 发明授权

US5870494A Method for determining orientation of contour line segment in local area and for determining straight line and corner 失效
标题翻译：确定局部区域轮廓线段方位和确定直线和拐角的方法
公开(公告)号：US5870494A
公开(公告)日：1999-02-09
申请号：US893256
申请日：1997-07-16
申请人： Shinji Kanda , Jun Wakitani , Tsugito Maruyama , Toshihiko Morita
发明人： Shinji Kanda , Jun Wakitani , Tsugito Maruyama , Toshihiko Morita
IPC分类号： G06K9/46 , G06T5/00 , G06T5/20 , G06T7/00
CPC分类号： G06K9/4633 , G06K9/4609 , G06T5/20 , G06T7/0042 , G06T7/0083 , G06T7/0085
摘要： A method for determining an orientation of a line segment in a contour in a local area of a binary contour image. The number of pixels having a predetermined value and located in each orientation in the local area, is obtained, and it is determined that a line segment exists in an orientation in which the number of pixels is large. Further, when it is determined that the number of pixels located in each of a plurality of orientations and having a predetermined value, is greater than a sum of the numbers of pixels in orientations adjacent to said each orientation on both sides thereof, it is determined that a line segment exists in said each orientation. Two orientations in which large numbers of pixels are located are detected, and it is determined whether the point is a constituent of a line segment, a line segment of the sub-straight-line form, or a near-corner point, depending on angles made by the two orientations is equal to 180.degree., or a difference of the angles made by the two orientations from 180.degree.. Contiguously arrayed pixels in the same orientation are detected as a line segment. A position and an orientation are obtained from points near a corner, and representative values of the positions and orientations of contiguously arrayed near-corner points are determined. (FIG. 3)
摘要翻译：一种用于确定二进制轮廓图像的局部区域中的轮廓中的线段的取向的方法。获得具有预定值并位于局部区域中的每个取向的像素数，并且确定在像素数量大的取向中存在线段。此外，当确定位于多个取向中的并且具有预定值的每个中的像素的数量大于与其两侧上的所述每个取向相邻的取向中的像素数的总和时，确定在所述每个取向上存在线段。检测到其中存在大量像素的两个取向，并且根据角度确定该点是线段，亚直线形式的线段还是近角点的组成由两个取向制成的角度等于180°，或者两个方向的角度与180°的差。以相同方向连续排列的像素被检测为线段。从拐角附近的点获得位置和取向，并且确定连续排列的近角点的位置和取向的代表值。（图3）

7. 发明授权

US5509090A Three-dimensional measuring apparatus having improved speed and resolution 失效
标题翻译：具有改善的速度和分辨率的三维测量装置
公开(公告)号：US5509090A
公开(公告)日：1996-04-16
申请号：US285441
申请日：1994-08-04
申请人： Tsugito Maruyama , Shinji Kanda , Jun Wakitani
发明人： Tsugito Maruyama , Shinji Kanda , Jun Wakitani
IPC分类号： G01B11/25 , G01S7/481 , G01S17/42 , G01S17/89 , G06K9/62
CPC分类号： G06T7/0057 , G01B11/2527 , G01S17/89 , G01S17/42 , G01S7/481
摘要： A three-dimensional measuring apparatus including a multi-slit projector has an actuator for displacing at least one of first and second diffraction gratings by only a minute distance in a direction perpendicular to the slit lights. An image recognizing apparatus includes an image arithmetic unit for changing, each time a coded multi-slit light pattern is changed, weights assigned to the binarized image signals, and for summing up the last weighted binarized image signals or the image signals of the last added results read out from an image memory, with newly weighted binarized image signals. This improves the image resolution reduces the memory capacity and increases the processing speed.
摘要翻译：包括多狭缝投影仪的三维测量装置具有用于使第一和第二衍射光栅中的至少一个在垂直于狭缝光的方向上仅移动微小距离的致动器。图像识别装置包括图像运算单元，用于每次改变编码的多狭缝光图案时，分配给二值化图像信号的权重，以及用于对最后加权的二值化图像信号或最后添加的图像信号结果从图像存储器读出，具有新加权的二值化图像信号。这提高了图像分辨率，降低了存储容量并提高了处理速度。

8. 发明授权

US4846576A Method for measuring a three-dimensional position of an object 失效
标题翻译：用于测量物体的三维位置的方法
公开(公告)号：US4846576A
公开(公告)日：1989-07-11
申请号：US864846
申请日：1986-05-20
申请人： Tsugito Maruyama , Shinji Kanda , Keishi Hanahara
发明人： Tsugito Maruyama , Shinji Kanda , Keishi Hanahara
IPC分类号： G01B11/00 , G01B11/03 , G01S7/491 , G01S17/46
CPC分类号： G01B11/00 , G01B11/005 , G01S17/46 , G01S7/4814 , G01S7/491
摘要： A method for measuring a three-dimensional position of an object with a single camera and a multislit light, i.e., a source of multiplanar light beams. A surface of the object is irradiated with multislit lights, i.e., multiplanar light beams, having a plurality of slit light faces and also irradiated with a single standard slit light having a slit light face identical to one of the plurality of slit light faces of the multislit lights. A plurality of slit light photo images corresponding to a plurality of slit light projected images and a standard slit light photo image corresponding to a slit light projected image formed on the object are obtained. One of the slit light photo images which corresponds to the standard slit light photo image is specified and made to correspond, to compute a three-dimensional position of the object in a predetermined coordinate.
摘要翻译：一种用单个照相机和多光照即多平面光束源测量物体的三维位置的方法。物体的表面被多光照射，即具有多个狭缝光面的多光束照射，并且还照射具有与所述多个狭缝光面的多个狭缝光面中的一个相同的狭缝光面的单个标准狭缝光多光照明获得与多个狭缝光投射图像对应的多个狭缝光照片图像和与形成在物体上的狭缝光投射图像相对应的标准狭缝光照片图像。指定对应于标准狭缝光照片图像的狭缝光照片图像之一并使其对应，以计算对象在预定坐标中的三维位置。

9. 发明授权

US5668893A Method for determining orientation of contour line segment in local area and for determining straight line and corner 失效
标题翻译：确定局部区域轮廓线段方位和确定直线和拐角的方法
公开(公告)号：US5668893A
公开(公告)日：1997-09-16
申请号：US676512
申请日：1996-07-08
申请人： Shinji Kanda , Jun Wakitani , Tsugito Maruyama , Toshihiko Morita
发明人： Shinji Kanda , Jun Wakitani , Tsugito Maruyama , Toshihiko Morita
IPC分类号： G06K9/46 , G06T5/00 , G06T5/20 , G06T7/00
CPC分类号： G06K9/4633 , G06K9/4609 , G06T5/20 , G06T7/0042 , G06T7/0083 , G06T7/0085
摘要： The present invention relates to a method for determining an orientation of a line segment in a contour in a local area of a binary contour image. The number of pixels having a predetermined value and located in each orientation in the local area, is obtained, and it is determined that a line segment exists in an orientation in which the number of pixels is large. Further, when it is determined that the number of pixels located in each of a plurality of orientations and having a predetermined value is greater than a sum of the numbers of pixels in orientations adjacent to said each orientation on both sides thereof, it is determined that a line segment exists in said each orientation. Two orientations in which large numbers of pixels are located are detected, and it is determined whether the point is a constituent of a line segment, a line segment of the sub-straight-line form, or a near-corner point, depending on angles made by the two orientations is equal to 180.degree., or a difference of the angles made by the two orientations from 180.degree.. Contiguously arrayed pixels in the same orientation are detected as a line segment. A position and an orientation are obtained from points near a corner, and representative values of the positions and orientations of contiguously arrayed near-corner points are determined.
摘要翻译：本发明涉及一种用于确定二进制轮廓图像的局部区域中的轮廓中的线段的取向的方法。获得具有预定值并位于局部区域中的每个取向的像素数，并且确定在像素数量大的取向中存在线段。此外，当确定位于多个取向中的并且具有预定值的每个中的像素的数量大于其两侧上与所述每个取向相邻的取向中的像素数的总和时，确定在所述每个取向上存在线段。检测到其中存在大量像素的两个取向，并且根据角度确定该点是线段，亚直线形式的线段还是近角点的组成由两个取向制成的角度等于180°，或者两个方向的角度与180°的差。以相同方向连续排列的像素被检测为线段。从拐角附近的点获得位置和取向，并且确定连续排列的近角点的位置和取向的代表值。

10. 发明授权

US5586199A Method for determining orientation of contour line segment in local area and for determining straight line and corner 失效
标题翻译：确定局部区域轮廓线段方位和确定直线和拐角的方法
公开(公告)号：US5586199A
公开(公告)日：1996-12-17
申请号：US70450
申请日：1993-06-02
申请人： Shinji Kanda , Jun Wakitani , Tsugito Maruyama , Toshihiko Morita
发明人： Shinji Kanda , Jun Wakitani , Tsugito Maruyama , Toshihiko Morita
IPC分类号： G06K9/46 , G06T5/00 , G06T5/20 , G06T7/00
CPC分类号： G06K9/4633 , G06K9/4609 , G06T5/20 , G06T7/0042 , G06T7/0083 , G06T7/0085
摘要： The present invention relates to a method for determining an orientation of a line segment in a contour in a local area of a binary contour image. The number of pixels having a predetermined value and located in each orientation in the local area, is obtained, and it is determined that a line segment exists in an orientation in which the number of pixels is large. Further, when it is determined that the number of pixels located in each of a plurality of orientations and having a predetermined value is greater than a sum of the numbers of pixels in orientations adjacent to said each orientation on both sides thereof, it is determined that a line segment exists in said each orientation. Two orientations in which large numbers of pixels are located are detected, and it is determined whether the point is a constituent of a line segment, a line segment of the sub-straight-line form, or a near-corner point, depending on angles made by the two orientations is equal to 180.degree., or a difference of the angles made by the two orientations from 180.degree.. Contiguously arrayed pixels in the same orientation are detected as a line segment. A position and an orientation are obtained from points near a corner, and representative values of the positions and orientations of contiguously arrayed near-corner points are determined.
摘要翻译： PCT No.PCT / JP92 / 01277 Sec。 371日期：1993年6月6日 102（e）日期1993年6月6日PCT提交1992年10月2日PCT公布。出版物WO93 / 07580 日期：1993年04月15日本发明涉及一种用于确定二值轮廓图像的局部区域中的轮廓中的线段的取向的方法。获得具有预定值并位于局部区域中的每个取向的像素数，并且确定在像素数量大的取向中存在线段。此外，当确定位于多个取向中的并且具有预定值的每个中的像素的数量大于其两侧上与所述每个取向相邻的取向中的像素数的总和时，确定在所述每个取向上存在线段。检测到其中存在大量像素的两个取向，并且根据角度确定该点是线段，亚直线形式的线段还是近角点的组成由两个取向制成的角度等于180°，或者两个方向的角度与180°的差。以相同方向连续排列的像素被检测为线段。从拐角附近的点获得位置和取向，并且确定连续排列的近角点的位置和取向的代表值。

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