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1. 发明授权

US07737975B2 Normal vector information generating device and normal vector information generating method 有权
标题翻译：标准矢量信息生成装置和法线矢量信息生成方法
公开(公告)号：US07737975B2
公开(公告)日：2010-06-15
申请号：US12361707
申请日：2009-01-29
申请人： Satoshi Sato , Katsuhiro Kanamori , Natsuki Saito , Mikiya Nakata
发明人： Satoshi Sato , Katsuhiro Kanamori , Natsuki Saito , Mikiya Nakata
IPC分类号： G06F17/00 , G06T1/00 , G06T15/00 , G06T15/50 , G06T15/60 , G06K9/34
CPC分类号： G01B11/002 , G01S15/02 , G06T7/11 , G06T7/514 , G06T7/70 , G06T15/50 , G06T15/60 , H04N5/232 , H04N5/2351
摘要： The normal vector information generating device generates normal vector information on the surface of an object, and includes: an image information obtaining unit obtaining information about an image of the object, the information including luminance information about luminance of light from the object and polarization information about polarization of the light; a shadow area extracting unit extracting an attached shadow area and a cast shadow area from the image based on the luminance information and the polarization information, the attached shadow area appearing on the surface of the object depending on an angle of incidence light, and the cast shadow area appearing on the surface of a material body when the light is blocked by the object; and a normal vector information generating unit generating normal vector information identifying a normal vector on the surface of the object in the attached shadow area using the polarization information.
摘要翻译：法线矢量信息生成装置在物体的表面上生成法线矢量信息，包括：图像信息获取单元获取关于对象的图像的信息，包括关于来自物体的光的亮度的亮度信息的信息和关于光的极化; 阴影区域提取单元基于亮度信息和偏振信息从图像提取附加的阴影区域和投影区域，根据入射光出现在物体的表面上的附加阴影区域，以及投射当物体被物体遮挡时，物体表面出现阴影区域; 以及法线信息生成单元，使用偏振信息生成用于识别所附加的阴影区域中的物体的表面上的法线矢量的法线矢量信息。

2. 发明申请

US20090135183A1 NORMAL VECTOR INFORMATION GENERATING DEVICE AND NORMAL VECTOR INFORMATION GENERATING METHOD 有权
标题翻译：正常矢量信息生成装置和正常矢量信息生成方法
公开(公告)号：US20090135183A1
公开(公告)日：2009-05-28
申请号：US12361707
申请日：2009-01-29
申请人： Satoshi Sato , Katsuhiro Kanamori , Natsuki Saito , Mikiya Nakata
发明人： Satoshi Sato , Katsuhiro Kanamori , Natsuki Saito , Mikiya Nakata
IPC分类号： G06T15/60
CPC分类号： G01B11/002 , G01S15/02 , G06T7/11 , G06T7/514 , G06T7/70 , G06T15/50 , G06T15/60 , H04N5/232 , H04N5/2351
摘要： The normal vector information generating device generates normal vector information on the surface of an object, and includes: an image information obtaining unit obtaining information about an image of the object, the information including luminance information about luminance of light from the object and polarization information about polarization of the light; a shadow area extracting unit extracting an attached shadow area and a cast shadow area from the image based on the luminance information and the polarization information, the attached shadow area appearing on the surface of the object depending on an angle of incidence light, and the cast shadow area appearing on the surface of a material body when the light is blocked by the object; and a normal vector information generating unit generating normal vector information identifying a normal vector on the surface of the object in the attached shadow area using the polarization information.
摘要翻译：法线矢量信息生成装置在物体的表面上生成法线矢量信息，包括：图像信息获取单元获取关于对象的图像的信息，包括关于来自物体的光的亮度的亮度信息的信息和关于光的极化; 阴影区域提取单元基于亮度信息和偏振信息从图像提取附加的阴影区域和投影区域，根据入射光出现在物体的表面上的附加阴影区域，以及投射当物体被物体遮挡时，物体表面出现阴影区域; 以及法线信息生成单元，使用偏振信息生成用于识别所附加的阴影区域中的物体的表面上的法线矢量的法线矢量信息。

3. 发明授权

US07936944B2 Image processing device and image processing method 有权
标题翻译：图像处理装置及图像处理方法
公开(公告)号：US07936944B2
公开(公告)日：2011-05-03
申请号：US12362958
申请日：2009-01-30
申请人： Satoshi Sato , Katsuhiro Kanamori , Mikiya Nakata
发明人： Satoshi Sato , Katsuhiro Kanamori , Mikiya Nakata
IPC分类号： G06K9/40 , G06K9/34 , G06T15/50
CPC分类号： G01B11/002 , G06K9/2036 , G06T15/60 , H04N5/232 , H04N5/2351
摘要： The image processing device performs processing on a shadow in an image of an object, and includes: an image information obtaining unit obtaining information about an image of the object, the information including luminance information about luminance of light from the object and polarization information about polarization of the light from the object; a shadow area extracting unit extracting an attached shadow area and a cast shadow area from the image of the object based on the luminance information and the polarization information, the attached shadow area appearing on the surface of the object depending on an angle of incidence light, and the cast shadow area appearing on the surface of a material body other than the object when the light is blocked by the object; and an output unit outputting information identifying the attached shadow area and cast shadow area.
摘要翻译：图像处理装置对对象的图像中的阴影进行处理，包括：图像信息获取单元获取关于对象的图像的信息，包括关于来自对象的光的亮度的亮度信息的信息和关于偏振的偏振信息来自对象的光; 阴影区域提取单元，基于亮度信息和偏振信息，从物体的图像中提取附着的阴影区域和投射阴影区域，根据入射光，出现在物体的表面上的阴影区域，并且当光被物体阻挡时，出现在物体以外的物体的表面上的投影区域; 以及输出单元，输出识别所附加的阴影区域和投影区域的信息。

4. 发明申请

US20090141027A1 IMAGE PROCESSING DEVICE AND IMAGE PROCESSING METHOD 有权
标题翻译：图像处理装置和图像处理方法
公开(公告)号：US20090141027A1
公开(公告)日：2009-06-04
申请号：US12362958
申请日：2009-01-30
申请人： Satoshi SATO , Katsuhiro Kanamori , Mikiya Nakata
发明人： Satoshi SATO , Katsuhiro Kanamori , Mikiya Nakata
IPC分类号： G06T15/50
CPC分类号： G01B11/002 , G06K9/2036 , G06T15/60 , H04N5/232 , H04N5/2351
摘要： The image processing device performs processing on a shadow in an image of an object, and includes: an image information obtaining unit obtaining information about an image of the object, the information including luminance information about luminance of light from the object and polarization information about polarization of the light from the object; a shadow area extracting unit extracting an attached shadow area and a cast shadow area from the image of the object based on the luminance information and the polarization information, the attached shadow area appearing on the surface of the object depending on an angle of incidence light, and the cast shadow area appearing on the surface of a material body other than the object when the light is blocked by the object; and an output unit outputting information identifying the attached shadow area and cast shadow area.
摘要翻译：图像处理装置对对象的图像中的阴影进行处理，包括：图像信息获取单元获取关于对象的图像的信息，包括关于来自对象的光的亮度的亮度信息的信息和关于偏振的偏振信息来自对象的光; 阴影区域提取单元，基于亮度信息和偏振信息，从物体的图像中提取附着的阴影区域和投射阴影区域，根据入射光，出现在物体的表面上的阴影区域，并且当光被物体阻挡时，出现在物体以外的物体的表面上的投影区域; 以及输出单元，输出识别所附加的阴影区域和投影区域的信息。

5. 发明授权

US07706918B2 Article holding system, robot, and method of controlling robot 有权
标题翻译：物品保持系统，机器人和控制机器人的方法
公开(公告)号：US07706918B2
公开(公告)日：2010-04-27
申请号：US11653470
申请日：2007-01-12
申请人： Satoshi Sato , Masamichi Nakagawa , Kunio Nobori , Mikiya Nakata , Kenji Kondo
发明人： Satoshi Sato , Masamichi Nakagawa , Kunio Nobori , Mikiya Nakata , Kenji Kondo
IPC分类号： B25J15/00
CPC分类号： B25J9/1612
摘要： An article holding system includes a recognizing device for recognizing the state of the holding object, a holding method specifying means for specifying the holding method according to the state recognized by the recognizing device, and a holding device for holding the holding object according to the holding method specified by the holding method specifying means.
摘要翻译：物品保持系统包括用于识别保持对象的状态的识别装置，根据识别装置识别的状态指定保持方法的保持方法指定装置，以及根据保持对象的保持对象的保持装置方法由保持方法指定装置指定。

6. 发明授权

US07515990B2 Article control system, article control server, article control method 有权
标题翻译：物品控制系统，物品控制服务器，物品控制方法
公开(公告)号：US07515990B2
公开(公告)日：2009-04-07
申请号：US10532157
申请日：2004-05-21
申请人： Satoshi Sato , Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Osamu Yamada , Tomonobu Naruoka , Yoshihiko Matsukawa , Yasuhiro Morinaka , Katsuji Aoki , Mikiya Nakata
发明人： Satoshi Sato , Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Osamu Yamada , Tomonobu Naruoka , Yoshihiko Matsukawa , Yasuhiro Morinaka , Katsuji Aoki , Mikiya Nakata
IPC分类号： G06F19/00
CPC分类号： G05D1/0246 , B25J5/007 , G05B2219/39107 , G05B2219/40298 , G05D1/0238 , G05D1/028
摘要： The system includes a sensor for detecting a state of a space; a robot for executing a handling job for an article; an article identifying part for identifying, when an article is handled by a movable body, the article in response to a detection result obtained by the sensor; and an article handling subject identifying part for identifying an article handling subject that handles the article. When the movable body that handles the article is the robot, the article handling subject identifying part identifies a subject having issued a job instruction to the robot as the article handling subject.
摘要翻译：该系统包括用于检测空间状态的传感器; 用于执行物品的处理作业的机器人; 物品识别部件，用于当物品被移动体处理时，根据由传感器获得的检测结果来识别物品; 以及用于识别处理该物品的物品处理对象的物品处理主体识别部件。当处理物品的可移动体是机器人时，物品处理对象识别部件将作为物品处理对象的向机器人发出作业指示的被摄体标识。

7. 发明申请

US20070239315A1 Article holding system, robot, and method of controlling robot 有权
标题翻译：物品保持系统，机器人和控制机器人的方法
公开(公告)号：US20070239315A1
公开(公告)日：2007-10-11
申请号：US11653470
申请日：2007-01-12
申请人： Satoshi Sato , Masamichi Nakagawa , Kunio Nobori , Mikiya Nakata , Kenji Kondo
发明人： Satoshi Sato , Masamichi Nakagawa , Kunio Nobori , Mikiya Nakata , Kenji Kondo
IPC分类号： G06F19/00
CPC分类号： B25J9/1612
摘要： An article holding system includes a recognizing device for recognizing the state of the holding object, a holding method specifying means for specifying the holding method according to the state recognized by the recognizing device, and a holding device for holding the holding object according to the holding method specified by the holding method specifying means.
摘要翻译：物品保持系统包括用于识别保持对象的状态的识别装置，根据识别装置识别的状态指定保持方法的保持方法指定装置，以及根据保持对象的保持对象的保持装置方法由保持方法指定装置指定。

8. 发明授权

US07110021B2 Vehicle surroundings monitoring device, and image production method/program 有权
标题翻译：车辆环境监控装置，图像制作方法/程序
公开(公告)号：US07110021B2
公开(公告)日：2006-09-19
申请号：US10447523
申请日：2003-05-29
申请人： Kunio Nobori , Masamichi Nakagawa , Satoshi Sato , Mikiya Nakata
发明人： Kunio Nobori , Masamichi Nakagawa , Satoshi Sato , Mikiya Nakata
IPC分类号： H04N7/18 , H04N9/47
CPC分类号： H04N7/181 , G01S5/16 , G01S11/12 , G06T7/74 , G06T7/97
摘要： A synthesized image showing the situation around a vehicle is produced from images taken with cameras capturing the surroundings of the vehicle and presented to a display. A position computation section computes position information and the reliability of the position information, for a plurality of points in the camera images. An image variable-synthesis section produces a first synthesized image from the camera images using the position information. An image fixed-synthesis section produces a second synthesized image by road surface projection, for example, without use of the position information. A synthesis scheme selection section selects either one of the first and second synthesized images according to the reliability as the synthesized image to be presented.
摘要翻译：显示车辆周围情况的合成图像是从拍摄车辆周围的摄像机拍摄的图像产生的，呈现给显示器。位置计算部分计算相机图像中的多个点的位置信息和位置信息的可靠性。图像可变合成部分使用位置信息从照相机图像产生第一合成图像。图像固定合成部，例如不使用位置信息，通过路面投影产生第二合成图像。合成方案选择部根据可靠性选择第一和第二合成图像中的任一个作为要呈现的合成图像。

9. 发明申请

US20060047361A1 Article control system ,article control server, article control method 有权
标题翻译：物品控制系统，物品控制服务器，物品控制方法
公开(公告)号：US20060047361A1
公开(公告)日：2006-03-02
申请号：US10532157
申请日：2004-05-21
申请人： Satoshi Sato , Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Osamu Yamada , Tomonobu Naruoka , Yoshihiko Matsukawa , Yasuhiro Morinaka , Katsuji Aoki , Mikiya Nakata
发明人： Satoshi Sato , Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Osamu Yamada , Tomonobu Naruoka , Yoshihiko Matsukawa , Yasuhiro Morinaka , Katsuji Aoki , Mikiya Nakata
IPC分类号： G06F19/00
CPC分类号： G05D1/0246 , B25J5/007 , G05B2219/39107 , G05B2219/40298 , G05D1/0238 , G05D1/028
摘要： The system includes sensing means 120 for detecting a state of a space; a robot 102 for executing a handling job for an article; an article identifying part 32 for identifying, when an article is handled by a movable body, the article in response to a detection result obtained by the sensing means 120; and an article handling subject identifying part 33 for identifying an article handling subject that handles the article. When the movable body that handles the article is the robot 102, the article handling subject identifying part 33 identifies a subject having issued a job instruction to the robot 102 as the article handling subject.
摘要翻译：该系统包括用于检测空间状态的检测装置120; 用于执行物品的处理作业的机器人102; 物品识别部件32，用于当物品被移动体处理时，根据感测装置120获得的检测结果识别物品; 以及用于识别处理物品的物品处理对象的物品处理对象标识部分33。当处理物品的移动体是机器人102时，物品处理对象识别部件33将作为物品处理对象的向机器人102发出作业指示的被检体标识。

10. 发明授权

US07185424B2 Electronic component mounting method and apparatus 失效
标题翻译：电子元件安装方法和装置
公开(公告)号：US07185424B2
公开(公告)日：2007-03-06
申请号：US10214357
申请日：2002-08-08
申请人： Yutaka Mitsumoto , Kazuhiro Ikurumi , Kazumasa Okumura , Mikiya Nakata , Masaharu Tsujimura
发明人： Yutaka Mitsumoto , Kazuhiro Ikurumi , Kazumasa Okumura , Mikiya Nakata , Masaharu Tsujimura
IPC分类号： H05K3/30
CPC分类号： H05K13/041 , H05K13/0812 , Y10T29/4913 , Y10T29/49131 , Y10T29/49133 , Y10T29/49144 , Y10T29/53087 , Y10T29/53174 , Y10T29/53178 , Y10T29/53183 , Y10T29/53191
摘要： All images of a plurality of sucked and held electronic components are picked up, sucked and held states of the electronic components are successively recognized by their respective images in an order of placing the electronic components onto a circuit board, and the electronic components for which such recognition processing is completed can be successively placed onto the circuit board in this order during a process of the recognition processing.
摘要翻译：多个被吸附和保持的电子部件的所有图像被拾取，吸取，并且电子部件的保持状态依次由它们各自的图像依次放置在电路板上，并且电子部件识别处理完成可以在识别处理的过程中依次放置到电路板上。

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