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1. 发明授权

US5966129A System for, and method of displaying an image of an object responsive to an operator's command 失效
标题翻译：响应于操作员的命令显示对象的图像的系统和方法
公开(公告)号：US5966129A
公开(公告)日：1999-10-12
申请号：US731163
申请日：1996-10-10
申请人： Nobuhiko Matsukuma , Manabu Yanagimoto , Hiroaki Takatsuki , Narihiro Munemasa , Toshio Moriya , Nobuhiro Sekimoto , Tsuneya Kurihara , Masanori Miyoshi
发明人： Nobuhiko Matsukuma , Manabu Yanagimoto , Hiroaki Takatsuki , Narihiro Munemasa , Toshio Moriya , Nobuhiro Sekimoto , Tsuneya Kurihara , Masanori Miyoshi
IPC分类号： G06F3/14 , G06F3/048 , G06T19/20 , G09B29/00
CPC分类号： G06T13/20
摘要： An image producing/displaying apparatus capable of inputting a command for changing a state of an object regardless of a form of the object includes a virtual world expressing system for constructing a virtual world including at least one object and environment in which the object exists and producing an image for visually displaying at least part of the virtual world, an output system for visualizing the image produced by the virtual world expressing system and outputting the image, and a command input system for inputting a command to the virtual world expressing system. The command input system detects a movement state of a specific pixel pattern contained in an image formed by an imaging device and extracts feature quantity from the movement state to recognize the command so that the command is notified to the virtual world expressing system.
摘要翻译：能够输入用于改变对象的状态的命令的图像产生/显示装置，而不管对象的形式如何，包括虚拟世界表达系统，用于构建虚拟世界，该虚拟世界包括至少一个对象和存在对象的环境，并产生用于可视地显示虚拟世界的至少一部分的图像，用于可视化由虚拟世界表达系统产生的图像并输出图像的输出系统，以及用于向虚拟世界表达系统输入命令的命令输入系统。命令输入系统检测包含在由成像装置形成的图像中的特定像素图案的移动状态，并且从移动状态提取特征量以识别该命令，从而将命令通知给虚拟世界表达系统。

2. 发明申请

US20120083923A1 ROBOT CONTROL SYSTEM, ROBOT CONTROL TERMINAL, AND ROBOT CONTROL METHOD 有权
标题翻译：机器人控制系统，机器人控制终端和机器人控制方法
公开(公告)号：US20120083923A1
公开(公告)日：2012-04-05
申请号：US13375669
申请日：2010-05-27
申请人： Kosei Matsumoto , Toshio Moriya
发明人： Kosei Matsumoto , Toshio Moriya
IPC分类号： G05B15/00
CPC分类号： B25J9/1664 , G05B2219/40424 , G05B2219/40506 , G05B2219/40516 , G05D1/024 , G05D1/0274 , G05D2201/0207
摘要： The invention notifies a robot controller of the need to re-create map data. A robot control system (1) includes a robot (2) that moves along a path while detecting obstacles, and a robot control terminal (3) that records map data (321) and specifies the path of said robot (2), whereby said robot (2) uses lasers to make measurements while in motion and sends the results as sensor data (324) to said robot control terminal (3) which uses said sensor data to generate simulated sensor data (325) along the future path of said robot, and if the proportion of sections for which simulated sensor data and said map data (321) do not coincide exceeds a threshold value, the user is notified of a reconstruction of said map data (321).
摘要翻译：本发明通知机器人控制器需要重新创建地图数据。机器人控制系统（1）包括在检测障碍物的同时沿路径移动的机器人（2）和记录地图数据（321）并指定所述机器人（2）的路径的机器人控制终端（3），由此所述机器人机器人（2）使用激光器在运动中进行测量，并将结果作为传感器数据（324）发送到所述机器人控制终端（3），所述机器人控制终端（3）使用所述传感器数据沿着所述机器人的未来路径生成模拟传感器数据（325）并且如果模拟传感器数据和所述地图数据（321）不一致的部分的比例超过阈值，则向用户通知所述地图数据的重建（321）。

3. 发明授权

US08023727B2 Environment map generating apparatus, environment map generating method, and environment map generating program 有权
标题翻译：环境地图生成装置，环境地图生成方法和环境地图生成程序
公开(公告)号：US08023727B2
公开(公告)日：2011-09-20
申请号：US12118014
申请日：2008-05-09
申请人： Kosei Matsumoto , Toshio Moriya
发明人： Kosei Matsumoto , Toshio Moriya
IPC分类号： G06K9/00
CPC分类号： G06K9/00691
摘要： An environment map generating apparatus is provided. The environment map generating apparatus includes: a storage unit, a cross-sectional image generating unit, a model processing unit, an obtaining unit and an environment map generating unit. The storage unit stores a model of an obstacle. The cross-sectional image generating unit generates a cross-sectional image of a model of an obstacle at a predetermined height from a reference plane in an environment. The model processing unit generates a cross-sectional image-appended model by superimposing the cross-sectional image onto the model of the obstacle. The obtaining unit obtains an obstacle map at the predetermined height from the reference plane in the environment. The environment map generating unit generates an environment map where the cross-sectional image-appended model is superimposed in a semitransparent state onto the corresponding obstacle in the obstacle map.
摘要翻译：提供环境地图生成装置。环境地图生成装置包括：存储单元，截面图像生成单元，模型处理单元，获取单元和环境地图生成单元。存储单元存储障碍物的模型。横截面图像生成单元在环境中从参考平面生成预定高度的障碍物的模型的横截面图像。模型处理单元通过将横截面图像叠加在障碍物的模型上来生成横截面图像附加模型。获取单元从环境中的参考平面获得预定高度的障碍物图。环境地图生成单元生成将跨剖面图像附加模型以半透明状态叠加到障碍物图中的对应障碍物上的环境映射。

4. 发明申请

US20080066207A1 Transport system 有权
标题翻译：运输系统
公开(公告)号：US20080066207A1
公开(公告)日：2008-03-13
申请号：US11646381
申请日：2006-12-28
申请人： Fumiko Beniyama , Toshio Moriya , Nobutaka Kimura , Kosei Matsumoto
发明人： Fumiko Beniyama , Toshio Moriya , Nobutaka Kimura , Kosei Matsumoto
IPC分类号： B25J5/00
CPC分类号： B25J5/007 , B25J9/0003 , B25J9/1692
摘要： A computer in a transport system includes: a shooting part for shooting a first calibration tray by controlling a camera; a tray position computing part for computing a tray position of the first calibration tray within a captured image which the shooting part shot; a hand position acquisition part for acquiring a hand position indicative of a position of the hand robot of when the hand robot installs onto the first calibration tray a first transported article used for calibration; a calibration part for computing a calibration data based on the tray position and the hand position; and a transported article installing part which, when the mobile robot reached a predetermined arrival area, controls, based on the calibration data, the hand robot so as to install a second transported article onto a second tray, the second tray which the mobile robot being provided with.
摘要翻译：运输系统中的计算机包括：拍摄部件，用于通过控制相机来拍摄第一校准盘; 托盘位置计算部件，用于计算拍摄部分拍摄的拍摄图像内的第一校准托盘的托盘位置; 指针位置获取部分，用于获取指示手动机器人当手动机器人安装到第一校准托盘上时用于校准的第一输送物品的位置的指针位置; 基于托盘位置和手位置计算校准数据的校准部件; 以及运送物品安装部，其中当所述移动机器人到达预定到达区域时，基于所述校准数据来控制所述手持机器人，以将第二传送物品安装到第二托盘上，所述移动机器人的第二托盘随附。

5. 发明申请

US20070053679A1 360-° Image photographing apparatus 有权
标题翻译： 360°摄像装置
公开(公告)号：US20070053679A1
公开(公告)日：2007-03-08
申请号：US11385743
申请日：2006-03-22
申请人： Fumiko Beniyama , Toshio Moriya
发明人： Fumiko Beniyama , Toshio Moriya
IPC分类号： G03B35/00 , G03B41/00
CPC分类号： G03D9/02
摘要： A computer includes a photographing unit for photographing every time a turn table is rotated and acquiring images of the photographing target from a plurality of photographing devices; a coordinate-system setting unit for setting a coordinate system; position of an extracted feature point of the photographing target being defined as reference of the coordinate system; a viewpoint-parameter calculation unit for calculating viewpoint parameters on the basis of the coordinate system set by the coordinate-system setting unit and camera parameters such as focal lengths of the photographing devices, the viewpoint parameters including position data of the photographing devices and direction data of the photographing devices are oriented; and a correspondence-data storage unit for storing the images and the viewpoint parameters being made correlated with each other, the images being acquired by the photographing unit, the viewpoint parameters being calculated by the viewpoint-parameter calculation unit.
摘要翻译：计算机包括拍摄单元，用于每次旋转转盘时拍摄，并从多个拍摄装置获取拍摄对象的图像; 用于设定坐标系的坐标系设定单元; 拍摄目标的提取特征点的位置被定义为坐标系的参考; 视点参数计算单元，用于基于由坐标系设置单元设置的坐标系和诸如摄像设备的焦距的摄像机参数来计算视点参数，视点参数包括拍摄设备的位置数据和方向数据的摄影设备定向; 以及对应数据存储单元，用于存储图像和视点参数彼此相关，所述图像由所述拍摄单元获取，所述视点参数由所述视点参数计算单元计算。

6. 发明授权

US08150658B2 Three-dimensional object recognition system and inventory system using the same 有权
标题翻译：三维物体识别系统和库存系统使用相同
公开(公告)号：US08150658B2
公开(公告)日：2012-04-03
申请号：US12502719
申请日：2009-07-14
申请人： Fumiko Beniyama , Toshio Moriya , Yoshihiro Masuyama , Nobutaka Kimura
发明人： Fumiko Beniyama , Toshio Moriya , Yoshihiro Masuyama , Nobutaka Kimura
IPC分类号： G06F15/00 , G06F17/00
CPC分类号： G06F17/30259 , G06K9/00201 , G06Q10/087
摘要： A system recognizes an arrangement of an object and counts the number of objects, comprising: a sensor for measuring a distance between the sensor and an object; a moving mechanism for moving the sensor; and a computer that is connected with the sensor and includes an object information database, an object arrangement database; a sensor data integrating section; and the sensor an object comparison calculator adapted to create an object model based on the data.
摘要翻译：系统识别物体的布置并对物体的数量进行计数，包括：用于测量传感器和物体之间的距离的传感器; 用于移动传感器的移动机构; 以及与传感器连接并包括对象信息数据库，对象安排数据库的计算机; 传感器数据积分部; 所述传感器适于基于所述数据创建对象模型。

7. 发明授权

US07990415B2 Image input device and calibration method 失效
标题翻译：图像输入设备和校准方法
公开(公告)号：US07990415B2
公开(公告)日：2011-08-02
申请号：US11396641
申请日：2006-04-04
申请人： Kosei Matsumoto , Toshio Moriya , Tsuyoshi Minakawa
发明人： Kosei Matsumoto , Toshio Moriya , Tsuyoshi Minakawa
IPC分类号： H04N7/18
CPC分类号： G01C15/004 , G01C25/00 , G01S7/497 , G01S17/023
摘要： Provided is an image input device which includes a laser range finder and a camera, and is capable of automatically calibrating the laser range finder and the camera at an appropriate timing without using special equipment. The image input device includes the laser range finder which measures distance information of an object by using invisible light and the camera which measures color information of the object. In order to detect a calibration error between the laser range finder and the camera, an invisible light filter which blocks visible light and transmits invisible light is automatically attached to a lens of the camera by a switching operation between two kinds of lenses. By the camera to which the invisible light filter is being attached, a pattern of the invisible light projected onto the object from the laser range finder is photographed as a visible image. By the comparison between the thus obtained invisible light pattern image and a reference image, the calibration error between the laser range finder and the camera is calculated. When the calibration error exceeds a predetermined value, a relative position and a relative posture between the laser range finder and the camera are automatically calibrated by control of a platform or the like.
摘要翻译：提供了一种包括激光测距仪和照相机的图像输入装置，并且能够在不使用特殊设备的情况下在适当的时间自动校准激光测距仪和照相机。图像输入装置包括通过使用不可见光测量对象的距离信息的激光测距仪和测量对象的颜色信息的摄像机。为了检测激光测距仪和相机之间的校准误差，通过两种透镜之间的切换操作自动地将阻挡可见光和透射不可见光的不可见光滤光器附接到相机的透镜。通过安装有不可见光滤光器的相机，将从激光测距仪投影到物体上的不可见光的图案被拍摄为可视图像。通过这样获得的不可见光图案图像与参考图像之间的比较，计算出激光测距仪和相机之间的校准误差。当校准误差超过预定值时，通过平台等的控制来自动校准激光测距仪和摄像机之间的相对位置和相对姿态。

8. 发明授权

US07424342B2 Transport system 有权
公开(公告)号：US07424342B2
公开(公告)日：2008-09-09
申请号：US11646381
申请日：2006-12-28
申请人： Fumiko Beniyama , Toshio Moriya , Nobutaka Kimura , Kosei Matsumoto
发明人： Fumiko Beniyama , Toshio Moriya , Nobutaka Kimura , Kosei Matsumoto
IPC分类号： G06F19/00
CPC分类号： B25J5/007 , B25J9/0003 , B25J9/1692
摘要： A computer in a transport system includes: a shooting part for shooting a first calibration tray by controlling a camera; a tray position computing part for computing a tray position of the first calibration tray within a captured image which the shooting part shot; a hand position acquisition part for acquiring a hand position indicative of a position of the hand robot of when the hand robot installs onto the first calibration tray a first transported article used for calibration; a calibration part for computing a calibration data based on the tray position and the hand position; and a transported article installing part which, when the mobile robot reached a predetermined arrival area, controls, based on the calibration data, the hand robot so as to install a second transported article onto a second tray, the second tray which the mobile robot being provided with.

9. 发明申请

US20050016124A1 Filler 失效
标题翻译：填料
公开(公告)号：US20050016124A1
公开(公告)日：2005-01-27
申请号：US10499068
申请日：2002-12-26
申请人： Shigehiro Kinoshita , Toshio Moriya , Keiji Yano
发明人： Shigehiro Kinoshita , Toshio Moriya , Keiji Yano
IPC分类号： B65B9/20 , B65B9/213 , B65B57/00 , B65B9/06 , B65B57/02
CPC分类号： B65B51/225 , B29C53/48 , B29C65/08 , B29C65/3656 , B29C65/368 , B29C65/7451 , B29C65/7832 , B29C66/1122 , B29C66/346 , B29C66/4312 , B29C66/4322 , B29C66/49 , B29C66/72321 , B29C66/72328 , B29C66/81427 , B29C66/81431 , B29C66/81871 , B29C66/8322 , B29C66/83221 , B29C66/849 , B29K2305/02 , B29K2711/123 , B29L2009/003 , B29L2031/7166 , B65B9/2035 , B65B9/2049 , B65B9/213 , B65B51/306
摘要： An object of the present invention is to provide a filling apparatus capable of reliably correcting the position of an overlap portion. The filling apparatus includes a forming ring including a plurality of forming rollers and disposed at a predetermined position along the traveling direction of a packaging material (11) in order to deform the packaging material (11) from a web-like shape to a tubular shape, and a longitudinal sealing device (41) for longitudinally sealing opposite side edges of the tubular packaging material (11). One of the forming rollers includes a flange (71 or 84) which is moved axially by means of a moving mechanism section (72). In this case, even when, within the forming ring, a side edge portion of the packaging material (11) of a certain size impinges on the flange (71 or 84), the flange (71 or 84) is caused to move accordingly to thereby avoid interfering with correction on the position of the overlap portion (LP). Therefore, the position of the overlap portion (LP) can be reliably corrected.
摘要翻译：本发明的目的是提供能够可靠地校正重叠部分的位置的填充装置。填充装置包括：成形环，包括多个成形辊，并且沿着包装材料（11）的行进方向设置在预定位置，以使包装材料（11）从网状变形为管状以及用于纵向密封管状包装材料（11）的相对侧边缘的纵向密封装置（41）。一个成型辊包括通过移动机构部分（72）轴向移动的凸缘（71或84）。在这种情况下，即使在成形环内，一定尺寸的包装材料（11）的侧边缘部分撞击在凸缘（71或84）上时，也使凸缘（71或84）相应地移动到从而避免干扰重叠部分（LP）的位置的校正。因此，可以可靠地校正重叠部分（LP）的位置。

10. 发明授权

US5646382A Multiple push button switch assembly with multistage actuator interlock 失效
标题翻译：多按钮开关组合，带有多段执行器互锁
公开(公告)号：US5646382A
公开(公告)日：1997-07-08
申请号：US511753
申请日：1995-08-07
申请人： Toshio Moriya
发明人： Toshio Moriya
IPC分类号： H01H13/02 , H01H13/72 , H01H9/26
CPC分类号： H01H13/72
摘要： A push button switch provided with a multistage actuation interlock function is composed of a casing; a pair of push buttons arranged side by side passing through an upper lid of the casing; a plurality of movable bodies arranged movably in a direction perpendicular to a depression direction of the push buttons into the casing; a plurality of movable contacts attached to the movable bodies, respectively; and a plurality of fixed contacts arranged on a base portion of the casing in confronting positional relationship with respect to the movable contacts. When each of the push buttons is depressed at each of the multistage stroke, the movable body is shifted to bring the movable contact into contact with the fixed contact, respectively in sequence. Further, an interlock plate is interposed between and associated with the two push buttons in the casing.
摘要翻译：具有多级致动互锁功能的按钮开关由壳体构成; 一对并排配置的按钮，其通过所述壳体的上盖; 多个可移动体，其沿垂直于所述按钮的按压方向的方向可移动地设置到所述壳体中; 分别连接到所述移动体的多个可动触头; 以及多个固定触点，其以与所述可动触头相对的位置关系布置在所述壳体的基部上。当在多级行程中的每一个按压每个按钮时，可移动体分别依次移动以使可动触点与固定触点接触。此外，互锁板插入在壳体中并与壳体中的两个按钮相关联。

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