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1. 发明专利

JP2013153280A Travel control system and travel control method 有权
标题翻译：旅行控制系统和旅行控制方法
公开(公告)号：JP2013153280A
公开(公告)日：2013-08-08
申请号：JP2012012266
申请日：2012-01-24
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： MATSUMOTO TOMOHIRO , KURODA ATSUSHI , TOMONAKA TETSUYA , TAKUHARA MASAHITO , TAKAMA SUSUMU
IPC分类号： H04Q9/00 , G08G1/01
摘要： PROBLEM TO BE SOLVED: To provide a travel control system that collects positional information on a plurality of vehicles and peripheral image data in coordination among the vehicles, reduces the total amount of data transmission and reception between each vehicle and a center, effectively utilizes communication resources, and makes the plurality of vehicles work organically.SOLUTION: A travel control system according to the invention is a travel control system that performs travel control of a plurality of vehicles. The travel control system comprises: a travel information acquisition unit which is provided in each of the vehicles and acquires first vehicle information indicating a travel environment of the periphery of the travel position of each vehicle; a map data storage unit which stores second vehicle information commonly used for the plurality of vehicles; a request area selection unit which transmits third vehicle information which is vehicle information on the travel direction of each vehicle in the second vehicle information to each of the plurality of vehicles; a travel information difference extraction unit which is provided in each of the vehicles, and which compares the first vehicle information to the third vehicle information, and extracts differential vehicle information indicating difference between the first and third vehicle information; and an information update unit which updates the second vehicle information by adding the differential vehicle information to it.
摘要翻译：要解决的问题：为了提供在车辆之间协调地收集多个车辆上的位置信息和周边图像数据的行驶控制系统，减少了每个车辆与中心之间的数据发送和接收的总量，有效地利用通信资源，并使多个车辆有机地工作。解决方案：根据本发明的行驶控制系统是执行多个车辆的行驶控制的行驶控制系统。旅行控制系统包括：旅行信息获取单元，其设置在每个车辆中，并且获取指示每个车辆的行驶位置的周边的行驶环境的第一车辆信息; 地图数据存储单元，其存储多个车辆通常使用的第二车辆信息; 请求区域选择单元，其将作为第二车辆信息中的每个车辆的行驶方向的车辆信息的第三车辆信息发送给多个车辆; 行驶信息差提取单元，其设置在每个所述车辆中，并且将所述第一车辆信息与所述第三车辆信息进行比较，并且提取表示所述第一和第三车辆信息之间的差的差分车辆信息; 以及信息更新单元，通过向其添加差分车辆信息来更新第二车辆信息。

2. 发明专利

JP2005114588A Tracking device 审中-公开
标题翻译：跟踪装置
公开(公告)号：JP2005114588A
公开(公告)日：2005-04-28
申请号：JP2003350077
申请日：2003-10-08
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： TOMONAKA TETSUYA , SUGIMOTO KIICHI , KURODA ATSUSHI , KAMEO SHIGETOSHI
IPC分类号： G01B11/24 , G01C3/06 , G01S13/66 , G01S17/66 , G01S17/87 , G06T7/20 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a tracking device capable of more surely detecting a tracking object.
SOLUTION: This tracking device is equipped with a distance image collection part 14 for collecting distance images showing a three-dimensional shape in a visual field of a distance image sensor 2, a correlation calculation part 17 for extracting a distance image part having the largest correlation with distance image kernels 41, 42 from among the distance images, and a subject position calculating part 18 for calculating the subject position shown by the distance image part. The distance image kernels 41, 42 show the rough three-dimensional shape of an object whose center is projected to the front side. A moving body which is the tracking object usually has the three-dimensional shape, wherein the center is projected to the front side, as viewed from the distance image sensor 2. Hereby, the tracking object is detected, by comparing the distance image photographed this time with the distance image photographed the last time, the tracking object is detected more surely.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供能够更可靠地检测跟踪对象的跟踪装置。解决方案：该跟踪装置配备有距离图像收集部14，用于收集距离图像传感器2的视野中的三维形状的距离图像，相关计算部17，用于提取具有与远距离图像中的距离图像内核41,42的最大相关性以及用于计算距离图像部分所示的被摄体位置的被摄体位置计算部18。距离图像内核41,42示出了其中心投影到前侧的物体的粗略的三维形状。作为跟踪对象的移动体通常具有三维形状，其中，从远距离图像传感器2观察，中心突出到前侧。因此，通过比较拍摄的距离图像来检测跟踪对象时间与上次拍摄的距离图像，更确定地检测跟踪对象。版权所有（C）2005，JPO＆NCIPI

3. 发明专利

JP2004096504A Moving object imaging apparatus 审中-公开
公开(公告)号：JP2004096504A
公开(公告)日：2004-03-25
申请号：JP2002256060
申请日：2002-08-30
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： KURODA ATSUSHI , SUGIMOTO KIICHI , TOMONAKA TETSUYA
IPC分类号： G01P3/36 , G01P13/00 , G06T1/00 , G06T7/20 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a moving object imaging apparatus capable of calculating a moving direction or a moving speed from an image of a moving object which is picked up by a non-storing type CMOS camera.
SOLUTION: This moving object imaging apparatus is provided with the non-storing type CMOS camera 1 and an image processor 2. The camera 1 picks up the image of the moving object and transmits the picked-up image to the processor 2. The processor 2 receives the image from the camera 1, extracts distortion in part of the image of the moving object, and calculates the moving direction and moving speed of the moving object 3 from the direction and the distortion amount.
COPYRIGHT: (C)2004,JPO

4. 发明专利

JP2004096498A Moving object imaging system 审中-公开
公开(公告)号：JP2004096498A
公开(公告)日：2004-03-25
申请号：JP2002256022
申请日：2002-08-30
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： KURODA ATSUSHI , SUGIMOTO KIICHI , TOMONAKA TETSUYA
IPC分类号： H04N5/225 , G06T7/20 , G08G1/04 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a moving object imaging system capable of correcting the distortion of an image of a moving object shot by a non-storing type CMOS camera.
SOLUTION: This moving object imaging system is provided with the non-storing type CMOS camera 1 for imaging the moving object, an image processor 2 having a relationship or table capable of calculating the amount of distortion in the image of the moving object shot from the speed of the moving object, and a speed measuring mechanism. The image processor 2 receives the image of the moving object shot by the camera 1, acquires the speed of the moving object from the speed measuring mechanism, and calculates the distortion amount of the image of the moving object by using the relationship or table, thereby correcting the distortion of the image of the moving object shot by the camera 1.
COPYRIGHT: (C)2004,JPO

5. 发明专利

JP2014071655A Image processor for remote control, remote control system, and image processing method for remote control 有权
标题翻译：用于远程控制的图像处理器，远程控制系统和用于远程控制的图像处理方法
公开(公告)号：JP2014071655A
公开(公告)日：2014-04-21
申请号：JP2012217108
申请日：2012-09-28
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： KAMEO SHIGETOSHI , TOMONAKA TETSUYA , KURODA ATSUSHI , HAYASHI SHINICHI , MATSUURA HIROSHI
IPC分类号： G06T19/00 , G01S17/89 , G08G1/09
摘要： PROBLEM TO BE SOLVED: To accurately display the periphery of a control object on display means arranged at a remote place.SOLUTION: An image processor for remote control 26 for displaying an image for remotely controlling a vehicle on a monitor 22 includes: a laser radar 14 installed in a vehicle to three-dimensionally detect the position of a detection object; a storage part for vehicle 38 for storing three-dimensional coordinates of each detection object detected by the laser radar 14 as coordinates displayed on the screen of the monitor 22 by applying a voxel; an additional voxel extraction part 32 for extracting three-dimensional coordinates that are not stored in the storage part for vehicle 38 among the three-dimensional coordinates of each detection object detected by the laser radar 14 and additionally storing the three-dimensional coordinates in the storage part for vehicle 38; and a deletion voxel extraction part 36 for determining whether the detection object moves on the basis of a time change in the three-dimensional coordinates, and extracting the three-dimensional coordinates corresponding to the detection object determined to have moved as a deletion object from the storage part for vehicle 38.
摘要翻译：要解决的问题：准确地显示控制对象在周边设置在远程位置的显示装置。解决方案：用于在监视器22上显示用于远程控制车辆的图像的遥控器26的图像处理器包括：激光雷达 14安装在车辆中以三维地检测检测对象的位置; 用于通过应用体素将由激光雷达14检测的每个检测对象的三维坐标存储在监视器22的屏幕上显示的坐标的用于车辆38的存储部件; 用于提取在激光雷达14检测到的每个检测对象的三维坐标之间未被存储在用于车辆38的存储部分中的三维坐标的另外的体素提取部分32，并且另外将三维坐标存储在存储器车辆38的一部分; 以及删除体素提取部分36，用于基于三维坐标中的时间变化来确定检测对象是否移动，并且提取与被确定为已经作为删除对象移动的检测对象相对应的三维坐标车辆38的存放部件。

6. 发明专利

JP2011086163A Mobile object tracking apparatus and method for the same 有权
标题翻译：移动对象追踪装置及其相关方法
公开(公告)号：JP2011086163A
公开(公告)日：2011-04-28
申请号：JP2009239369
申请日：2009-10-16
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： MURATA HIDEAKI , SUGIMOTO KIICHI , KURODA ATSUSHI , SHIONO KENJI , ASANO SHIGETO , AMAUCHI YASUHARU , KOMIZO DAISUKE
IPC分类号： G06T7/20 , G06T7/00 , G06T7/60 , H04N5/232
摘要： PROBLEM TO BE SOLVED: To provide a mobile object tracking apparatus capable of improving the tracking accuracy, and to provide a method for the tracking apparatus. SOLUTION: The mobile object tracking apparatus 1 includes a plurality of tracking processing sections 31a to 31c for respectively detecting tracking points of a mobile object which is a tracking target, by mutually different tracking methods and outputting the detected tracking points; an evaluation sections 32 for inputting the tracking points output from respective tracking processing sections 31a to 31c and calculating a degree of dispersion of tracking points in a prescribed past period by a tracking method; and a selection section 33 for successively selecting and outputting tracking points of a tracking method whose degree of dispersion of tracking points calculated by the evaluation section 32 is minimum. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：解决的问题：提供能够提高跟踪精度的移动物体跟踪装置，并提供跟踪装置的方法。解决方案：移动物体跟踪装置1包括多个跟踪处理部分31a至31c，用于通过相互不同的跟踪方法分别检测作为跟踪目标的移动对象的跟踪点并输出检测到的跟踪点; 用于输入从各个跟踪处理部分31a至31c输出的跟踪点并通过跟踪方法计算在规定的过去时段内的跟踪点的分散程度的评估部分32; 以及选择部分33，用于连续选择和输出由评估部分32计算的跟踪点的分散度最小的跟踪方法的跟踪点。版权所有（C）2011，JPO＆INPIT

7. 发明专利

JP2014139538A Topography information acquisition device, topography information acquisition system, topography information acquisition method and program 有权
标题翻译：地形信息获取设备，地形信息获取系统，地形信息获取方法和程序
公开(公告)号：JP2014139538A
公开(公告)日：2014-07-31
申请号：JP2013008564
申请日：2013-01-21
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： MATSUMOTO TOMOHIRO , KURODA ATSUSHI , TAKUHARA MASAHITO , KAMEO SHIGETOSHI
IPC分类号： G01C7/02 , B64D47/08 , G01C11/04
摘要： PROBLEM TO BE SOLVED: To provide a topography information acquisition device that is capable of attaining an effect allowing for an accurate and efficient preparation of a three-dimensional map for a deficient amount unacquirable by a UGV.SOLUTION: A topography information acquisition device 1 comprises: an area identification section 100 that refers to a preliminary prepared three-dimensional map as to a part of topography in a predetermined area, and identifies, of the predetermined area, a complete area having the three-dimensional map completed, and an incomplete area having the three-dimensional map non-prepared; a topography gradient estimation section 101 that estimates a topography gradient in the incomplete area on the basis of the three-dimensional map; and a topography data acquisition section 11 that optimizes a topography data acquisition condition on the basis of the incomplete area and the estimated topography gradient in the incomplete area, and acquires topography data in the incomplete area.
摘要翻译：要解决的问题：提供一种能够获得允许准确有效地准备由UGV不可接受的不足量的三维地图的效果的地形信息获取装置。解决方案：地形信息获取装置1包括：区域识别部100，其参照关于规定区域的一部分形貌的预备准备的三维图，并且确定预定区域具有完成了三维图的完整区域和不完整区域具有三维地图未准备; 基于三维图估计不完整区域中的地形梯度的地形梯度估计部101; 以及地形数据获取部11，其根据不完整区域中的不完整区域和估计地形梯度优化地形数据获取条件，并获取不完整区域中的地形数据。

8. 发明专利

JP2012171363A Vehicle control device for amphibious vehicle 有权
标题翻译：用于大型车辆的车辆控制装置
公开(公告)号：JP2012171363A
公开(公告)日：2012-09-10
申请号：JP2011031762
申请日：2011-02-17
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： KAMEO SHIGETOSHI , KURODA ATSUSHI , TAKUHARA MASAHITO , MATSUNAGA TAKASHI , TAKAGI KATSUMI
IPC分类号： B60F3/00 , F02D29/00
摘要： PROBLEM TO BE SOLVED: To provide a vehicle control device for an amphibious vehicle that can, for example, automatically switch a mode of the amphibious vehicle.SOLUTION: A vehicle control device 27 of an amphibious vehicle 21 has a configuration which outputs signals to an engine output distributor 32 based on a load value (e.g., detected load value of a load sensor 41) of the amphibious vehicle 21, the signals being either an intermediate mode signal (c) for mode switching from a land mode to a waterside mode and a water mode signal (b) for mode switching from the waterside mode to the water mode when the amphibious vehicle 21 moves from land 23 to water 25 or an intermediate mode signal (c) for mode switching from the water mode to the waterside mode and a land mode signal (a) for mode switching from the waterside mode to the land mode when the vehicle moves from water 25 to land 23.
摘要翻译：要解决的问题：提供一种能够例如自动切换水陆两用车辆的模式的水陆两用车辆的车辆控制装置。解决方案：水陆两用车辆21的车辆控制装置27具有基于水陆两用车辆21的负载值（例如，负载传感器41的检测负载值）向发动机输出分配器32输出信号的结构，所述信号是用于从陆地模式切换到水边模式的中间模式信号（c）和水陆两用车辆21从陆地23移动时用于从水边模式切换到水模式的水模式信号（b）到水25或用于从水模式切换到水边模式的模式信号（c）和用于当车辆从水25移动到地面时从水边模式切换到陆地模式的陆地模式信号（a） 23.版权所有（C）2012，JPO＆INPIT

9. 发明专利

JP2011099742A Object detecting device and object detection method 有权
标题翻译：对象检测装置和对象检测方法
公开(公告)号：JP2011099742A
公开(公告)日：2011-05-19
申请号：JP2009254043
申请日：2009-11-05
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： TAKUHARA MASAHITO , SUGIMOTO KIICHI , KURODA ATSUSHI , AMAUCHI YASUHARU
IPC分类号： G01S17/89 , G01S17/93
摘要： PROBLEM TO BE SOLVED: To provide an object detecting device and an object detection method for detecting a target object with sufficient accuracy, and reducing erroneous detection of objects other than the target object. SOLUTION: A laser radar detects an object with a plurality of laser beams with rotation emitted thereto. The plurality of laser beams have different angles in elevation/depression angle directions. The laser radar includes: a prospective person extraction means for extracting a prospective person based on information of the distance to the object detected; and a person detection means for calculating the height of the prospective person based on information of the height of the object detected with the laser radar, and detecting a person from the prospective person extracted with the prospective person extraction means based on the calculated height of the prospective person and the predetermined height of a person. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于以足够的精度检测目标对象的对象检测装置和对象检测方法，并且减少对象物以外的对象的错误检测。解决方案：激光雷达通过多个激光束检测物体，旋转发射到其上。多个激光束在仰角/俯角方向上具有不同的角度。激光雷达包括：根据与所检测物体的距离的信息提取预期人员的预期人员提取装置; 以及人物检测装置，用于基于用激光雷达检测到的物体的高度的信息来计算预期人的身高，并且基于计算出的高度来检测来自预期人提取装置提取的预期人物的人预期的人和一个人的预定身高。版权所有（C）2011，JPO＆INPIT

10. 发明专利

JP2009177666A Tracking apparatus and tracking method 有权
标题翻译：跟踪装置和跟踪方法
公开(公告)号：JP2009177666A
公开(公告)日：2009-08-06
申请号：JP2008015862
申请日：2008-01-28
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： KURODA ATSUSHI , TOMONAKA TETSUYA , MURATA HIDEAKI , SUGIMOTO KIICHI , FUJITOMI YOSUKE , AMAUCHI YASUHARU
IPC分类号： H04N5/232 , H04N5/225
摘要： PROBLEM TO BE SOLVED: To improve precision of a tracking apparatus which uses matching of a taken image and a template.
SOLUTION: A self-location and posture are estimated based on information from a GPS 11 and an IMU 12. A gaze point of a tracking vehicle for tracking a tracked target is searched from the estimated location, the estimated posture, and a 3D image. A proper focal distance to the tracked target and a proper template size are decided based on the gaze point information.
COPYRIGHT: (C)2009,JPO&INPIT

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