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1. 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。

2. 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。

3. 发明授权

US07120519B2 Remote-controlled robot and robot self-position identification method 有权
标题翻译：遥控机器人和机器人自定位识别方法
公开(公告)号：US07120519B2
公开(公告)日：2006-10-10
申请号：US10978439
申请日：2004-11-02
申请人： Keiju Okabayashi , Miwa Okabayashi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
发明人： Keiju Okabayashi , Miwa Okabayashi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
IPC分类号： G06F19/00
CPC分类号： G05D1/0038 , G05D1/0229 , G05D1/0242 , G05D1/0251 , G05D1/0272 , G05D1/0274 , G05D2201/0207 , G06K9/00664 , G06T7/74 , G06T2200/32 , G06T2207/20021 , G06T2207/30244
摘要： A remotely controlled robot comprises a unit storing the layout plan of a building, a unit receiving a position remotely designated in the layout plan from a remote location and a unit controlling the travel of the robot to the designated position. A self-position identification method is implemented by a robot with a camera whose shooting direction can be changed. The robot takes in advance a panoramic picture of a room where the robot may travel, generates a reference picture by extracting a plurality of block pictures from the panoramic picture and identifies a room where the robot is located, by applying correlation and DP matching, using both a picture taken in the room where the robot is located and the reference picture.
摘要翻译：遥控机器人包括存储建筑物的布局图的单元，从远程位置接收在布局图中远程指定的位置的单元和控制机器人到指定位置的行进的单元。自动位置识别方法由具有拍摄方向可改变的相机的机器人实现。机器人预先提取机器人可以行进的房间的全景照片，通过从全景图像中提取多个块图像并通过应用相关性和DP匹配来识别机器人所在的房间来生成参考图像，使用在机器人所在的房间中拍摄的照片和参考图片。

4. 发明申请

US20050071047A1 Remote-controlled robot and robot self-position identification method 有权
标题翻译：遥控机器人和机器人自定位识别方法
公开(公告)号：US20050071047A1
公开(公告)日：2005-03-31
申请号：US10978439
申请日：2004-11-02
申请人： Keiju Okabayashi , Miwa Okabayashi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
发明人： Keiju Okabayashi , Miwa Okabayashi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
IPC分类号： G01C15/00 , G01S5/16 , G05D1/00 , G05D1/02 , G06K9/00 , G06K9/64 , G06T7/00 , G06F19/00
CPC分类号： G05D1/0038 , G05D1/0229 , G05D1/0242 , G05D1/0251 , G05D1/0272 , G05D1/0274 , G05D2201/0207 , G06K9/00664 , G06T7/74 , G06T2200/32 , G06T2207/20021 , G06T2207/30244
摘要： A remotely controlled robot comprises a unit storing the layout plan of a building, a unit receiving a position remotely designated in the layout plan from a remote location and a unit controlling the travel of the robot to the designated position. A self-position identification method is implemented by a robot with a camera whose shooting direction can be changed. The robot takes in advance a panoramic picture of a room where the robot may travel, generates a reference picture by extracting a plurality of block pictures from the panoramic picture and identifies a room where the robot is located, by applying correlation and DP matching, using both a picture taken in the room where the robot is located and the reference picture.
摘要翻译：遥控机器人包括存储建筑物的布局图的单元，从远程位置接收在布局图中远程指定的位置的单元和控制机器人到指定位置的行进的单元。自动位置识别方法由具有拍摄方向可改变的相机的机器人实现。机器人预先提取机器人可以行进的房间的全景照片，通过从全景图像中提取多个块图像并通过应用相关性和DP匹配来识别机器人所在的房间来生成参考图像，使用在机器人所在的房间中拍摄的照片和参考图片。

5. 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。

6. 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。

7. 发明授权

US06721462B2 Image processing unit 有权
标题翻译：图像处理单元
公开(公告)号：US06721462B2
公开(公告)日：2004-04-13
申请号：US09769521
申请日：2001-01-26
申请人： Keiju Okabayashi , Naoyuki Sawasaki
发明人： Keiju Okabayashi , Naoyuki Sawasaki
IPC分类号： G06K964
CPC分类号： G06F17/153 , G06T7/223 , G06T2200/28 , G06T2207/10016
摘要： In an image processing unit for performing an arithmetic operation between a reference image and a search image, a product-sum operation section comprises systoric array, a normalization and accumulation processing section and a correlation value memory control section. The product-sum operation section is used on a common basis for an operation for the addition of a square of a pixel value of a search image over a plurality of pixels and an operation for the addition of a multiplication of pixel values of pixels associated with the search image and the reference image over a plurality of pixels. An operation for a norm of the reference image is performed on a path (a reference image norm computing section) which is different from that of the product-sum operation section.
摘要翻译：在用于执行参考图像和搜索图像之间的算术运算的图像处理单元中，积和运算部分包括系统阵列，归一化和累积处理部分以及相关值存储器控制部分。产品总和运算部分用于在多个像素上添加搜索图像的像素值的平方的操作的通用基础，以及用于相加像素的像素的像素值的相乘的操作的操作搜索图像和参考图像在多个像素上。在与乘积和运算部的路径不同的路径（参照图像范围运算部）中进行参照图像的范围的动作。

8. 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。

9. 发明授权

US5719953A Image processing apparatus for determining positions of objects based on a projection histogram 失效
标题翻译：用于基于投影直方图确定对象的位置的图像处理装置
公开(公告)号：US5719953A
公开(公告)日：1998-02-17
申请号：US590211
申请日：1996-01-23
申请人： Keiju Okabayashi , Yusuke Yasukawa
发明人： Keiju Okabayashi , Yusuke Yasukawa
IPC分类号： B25J13/00 , G06T7/00 , G06T7/20 , G06T7/60 , H04N7/18 , G06K9/00 , G06K9/20 , G06K9/34 , G06K9/36
CPC分类号： G06T7/0048
摘要： An image processing apparatus is provided which is capable of a high-speed process for obtaining a projection histogram. A digitizing unit subjects a video signal, obtained by acquiring an image of a target mark with a camera, to horizontal scanning and slicing to obtain a binary signal. A window signal output unit, coupled to the digitizing unit, outputs a window signal in accordance with a preset window area. An in-window signal output unit is connected to the outputs of the digital unit and the window signal output unit to perform a logical AND operation on the binary signal and the window signal and outputs an in-window binary signal. A histogram creating unit is coupled to the output of the in-window signal output unit to create a projection histogram by successively counting the high- and low-level states of the in-window binary signal generated as the horizontal scanning progresses. During a horizontal scanning (image scanning) corresponding to one screen, digitization of the video signal, window setting, and generation of the in-window binary signal are carried out, and further a histogram is created based on the in-window binary signal. Namely, scanning the video signal (image) once is sufficient to create a projection histogram.
摘要翻译：提供了能够获得投影直方图的高速处理的图像处理装置。数字化单元将通过用相机获取目标标记的图像获得的视频信号进行水平扫描和切片以获得二进制信号。耦合到数字化单元的窗口信号输出单元根据预设窗口区域输出窗口信号。窗口信号输出单元连接到数字单元和窗口信号输出单元的输出，以对二进制信号和窗口信号执行逻辑“与”运算，并输出窗口二进制信号。直方图创建单元耦合到窗口内信号输出单元的输出，以通过连续计数水平扫描进行中生成的窗口内二进制信号的高电平和低电平状态来创建投影直方图。在对应于一个屏幕的水平扫描（图像扫描）期间，执行视频信号的数字化，窗口设置和窗口二进制信号的生成，并且还基于窗口内的二进制信号创建直方图。即，一次扫描视频信号（图像）足以产生投影直方图。

10. 发明授权

US08565923B2 Robot 有权
标题翻译：机器人
公开(公告)号：US08565923B2
公开(公告)日：2013-10-22
申请号：US12654169
申请日：2009-12-11
申请人： Miwa Okabayashi , Keiju Okabayashi
发明人： Miwa Okabayashi , Keiju Okabayashi
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： B25J5/00 , G05D1/0246 , G05D1/0255 , G05D2201/0211 , G06Q90/00
摘要： A robot includes: a moving mechanism; a position recognition section that recognizes a current position of the robot within a guide zone having at least one guide location; and a movement control section that moves the robot to each of guide locations in the guide zone by using the moving mechanism, while causing the position recognition section to recognize the current position. The robot further includes a transmission section that transmits, every time the robot moves to each of the guide locations, contents information corresponding to the guide location to a mobile receive terminal held by a person to be guided near the robot.
摘要翻译：机器人包括：移动机构; 位置识别部，其识别在具有至少一个引导位置的引导区域内的所述机器人的当前位置; 以及移动控制部，其通过使用所述移动机构将所述机器人移动到所述引导区域中的每个引导位置，同时使所述位置识别部识别当前位置。机器人还包括发送部，其每当机器人移动到每个引导位置时，将与引导位置相对应的内容信息发送到由被引导在机器人附近的人所持有的移动接收终端。

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