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21. 发明授权

US08630755B2 Automatic taking-off and landing system 有权
标题翻译：自动起降系统
公开(公告)号：US08630755B2
公开(公告)日：2014-01-14
申请号：US13238419
申请日：2011-09-21
申请人： Fumio Ohtomo , Kazuki Osaragi , Tetsuji Anai , Hitoshi Otani
发明人： Fumio Ohtomo , Kazuki Osaragi , Tetsuji Anai , Hitoshi Otani
IPC分类号： G05D1/10 , B64D45/00 , G06F19/00
CPC分类号： B64D45/08 , B64C39/024 , B64C2201/141 , B64C2201/145 , G01S5/16 , G01S19/15 , G01S19/51 , G05D1/0669 , G05D1/0676
摘要： The invention provides an automatic taking-off and landing system, comprising a flying object and a taking-off and landing target, wherein the flying object has an image pickup device 21 for taking images found in downward direction, navigation means 4, 5, 6, 8, 9, 10 and 11, and a control unit for processing images acquired by the image pickup device and for controlling the navigation means, and wherein the control unit calculates a positional relation between the taking-off and landing target and the flying object based on the image of the taking-off and landing target as acquired by the image pickup device and controls taking-off and landing operations of the flying object based on a result of the calculation.
摘要翻译：本发明提供了一种自动起飞和着陆系统，包括飞行物体和起飞着陆目标，其中飞行物体具有用于拍摄向下方向的图像的摄像装置21，导航装置4,5,6 ，8,9,10,11;以及控制单元，用于处理由图像拾取装置获取并用于控制导航装置的图像，并且其中控制单元计算起飞和着陆目标与飞行物体之间的位置关系基于由图像拾取装置获取的起飞和着陆目标的图像，并且基于计算结果控制飞行对象的起飞和着陆操作。

22. 发明授权

US08077293B2 Surveying device and surveying system 有权
标题翻译：测量装置和测量系统
公开(公告)号：US08077293B2
公开(公告)日：2011-12-13
申请号：US12381872
申请日：2009-03-17
申请人： Kunihiro Hayashi , Fumio Ohtomo , Kaoru Kumagai
发明人： Kunihiro Hayashi , Fumio Ohtomo , Kaoru Kumagai
IPC分类号： G01C3/08
CPC分类号： G01C15/002 , G01C3/02 , G01S17/42
摘要： The present invention provides a surveying device, which comprises rotators 53, 56 and 61 for deflecting a distance measuring light in horizontal direction and for projecting the distance measuring light in rotary irradiation, at least one extension member 62 for increasing a spreading angle in vertical direction of the distance measuring light, and a means for attaching or detaching the extension member so that the extension member can be inserted and removed to or from a distance measuring optical axis.
摘要翻译：本发明提供一种测量装置，该测量装置包括：旋转体53,56和61，用于使水平方向上的测距光偏转并且用于在旋转照射中投射距离测量光;至少一个延伸构件62，用于增加垂直方向的扩展角的距离测量光，以及用于附接或拆卸延伸构件的装置，使得延伸构件可以在距离测量光轴或从远距离测量光轴移除。

23. 发明授权

US07777865B2 Time difference measuring device, measuring method, distance measuring device, and distance measuring method 有权
标题翻译：时差测量装置，测量方法，距离测量装置和距离测量方法
公开(公告)号：US07777865B2
公开(公告)日：2010-08-17
申请号：US11664666
申请日：2005-09-30
申请人： Masahiro Ohishi , Fumio Ohtomo
发明人： Masahiro Ohishi , Fumio Ohtomo
IPC分类号： G01C3/08
CPC分类号： G01S17/105 , G01S7/497 , G04F10/06
摘要： A time difference measuring device can accurately measure a time difference between two pulse signals generated with a predetermined time difference by measuring the two pulse signals by one measurement. The time difference measuring device measures a time difference between a start signal (M1) and a stop signal (M2). The device has a reference signal generation unit (41) for generating two reference signals (S1, S2) having a π/2 phase difference. According to corresponding amplitude values (A11, A12) and (A21, A22) of the reference signals (S1, S2) at each generation timing of the start signal (M1) and the stop signal (M2), a phase difference detection unit (42) calculates a phase difference Δθ (=θstop−θstart) between the generation timings of the pulse signals (M1, M2). According to the detected phase difference Δθ and the cycle (Ts) of the reference signals (S1; S2), a time difference calculation unit (44) calculates the generation time difference Δt between the pulse signals (m1, M2).
摘要翻译：时差测量装置可以通过一次测量来测量两个脉冲信号来精确地测量以预定时间差产生的两个脉冲信号之间的时间差。时差测量装置测量起始信号（M1）和停止信号（M2）之间的时间差。该装置具有用于产生具有＆pgr / 2相位差的两个参考信号（S1，S2）的参考信号产生单元（41）。根据开始信号（M1）和停止信号（M2）的各生成定时的参考信号（S1，S2）的相应振幅值（A11，A12）和（A21，A22），相位差检测单元 42）计算相位差＆Dgr;＆Thetas; （M1，M2）的发生定时之间（=＆amp; t;停止 - 开始）。根据检测到的相位差＆Dgr;＆Thetas; 参考信号（S1; S2）的周期（Ts），时间差计算单元（44）计算脉冲信号（m1，M2）之间的生成时间差Dgr; t。

24. 发明申请

US20100033371A1 GPS-installed all-azimuth camera and spatial data collecting device 有权
标题翻译： GPS安装全方位摄像机和空间数据采集装置
公开(公告)号：US20100033371A1
公开(公告)日：2010-02-11
申请号：US12462004
申请日：2009-07-28
申请人： Kaoru Kumagai , Fumio Ohtomo
发明人： Kaoru Kumagai , Fumio Ohtomo
IPC分类号： G01S1/00
CPC分类号： G01C11/02 , G01C15/00 , G01S19/14 , G01S19/35 , G01S19/36
摘要： The present invention provides a GPS-installed all-azimuth camera, comprising at least a pair of GPS antennas (29a and 29b) disposed on up and down in parallel to each other, a plurality of cameras (28a-28f) which are disposed on a plane running in parallel to the GPS antennas and are capable of obtaining images in all azimuths, and a case (27) for accommodating the cameras and the GPS antennas, wherein a reference position of the GPS antennas is concurred with an image reference position of the cameras.
摘要翻译：本发明提供了一种GPS安装的全方位摄像机，包括至少一对彼此平行地上下设置的一对GPS天线（29a和29b），多个照相机（28a-28f）设置在与GPS天线平行运行并且能够获得所有方位图像的平面和用于容纳摄像机和GPS天线的情况（27），其中GPS天线的参考位置与图像参考位置一致相机。

25. 发明申请

US20090241358A1 Multi-Point Measuring Method and Surveying Device 有权
标题翻译：多点测量方法和测量装置
公开(公告)号：US20090241358A1
公开(公告)日：2009-10-01
申请号：US12309060
申请日：2008-04-18
申请人： Fumio Ohtomo , Hitoshi Otani , Junki Kaneko , Tetsuji Anai , Terukazu Nagashima
发明人： Fumio Ohtomo , Hitoshi Otani , Junki Kaneko , Tetsuji Anai , Terukazu Nagashima
IPC分类号： G01C3/04 , G06K9/00 , H04N7/00
CPC分类号： G01C15/002
摘要： There are provided a telescope unit (5) having a first image pickup unit for acquiring a wide-angle image and a second image pickup unit for acquiring a telescopic image with higher magnification than the wide-angle image, a distance measuring unit for performing distance measurement by projecting a distance measuring light and by receiving a light reflected from an object to be measured, an angle measuring unit for detecting a horizontal angle and a vertical angle of the telescope unit, a drive unit for rotating and driving the telescope unit in a horizontal direction and in a vertical direction, and a control device for controlling image pickup of the first image pickup unit and the second image pickup unit and for controlling the drive unit based on the results of detection from the angle measuring unit, wherein the control device synthesizes a panoramic image by connecting the wide-angle image obtained by the first image pickup unit, sets up a scheduled measuring point by edge processing of the wide-angle image, and extracts the measuring point corresponding to the scheduled measuring points in the telescopic image by scanning the scheduled measuring point and acquiring the telescopic image by the second image pickup unit with respect to scheduled measuring points, and distance measurement is performed on the measuring point.
摘要翻译：提供了具有用于获取广角图像的第一图像拾取单元和用于获取具有比广角图像更高放大率的望远图像的第二图像拾取单元的望远镜单元（5），用于执行距离的距离测量单元通过投射距离测量光并且接收从被测量物体反射的光的测量，用于检测望远镜单元的水平角度和垂直角度的角度测量单元，用于在望远镜单元中旋转和驱动望远镜单元的驱动单元水平方向和垂直方向的控制装置，以及用于控制第一图像拾取单元和第二图像拾取单元的图像拾取并基于来自角度测量单元的检测结果来控制驱动单元的控制装置，其中控制装置通过连接由第一图像拾取单元获得的广角图像来合成全景图像，通过边缘处理设置预定的测量点并且通过扫描预定测量点并且通过第二图像拾取单元相对于计划的测量点获取与伸缩图像中的预定测量点相对应的测量点并获取伸缩图像，以及距离测量在测量点进行。

26. 发明授权

US07515256B2 Position measuring instrument 有权
标题翻译：位置测量仪
公开(公告)号：US07515256B2
公开(公告)日：2009-04-07
申请号：US10686858
申请日：2003-10-16
申请人： Fumio Ohtomo , Kazuki Osaragi , Kunihiro Hayashi
发明人： Fumio Ohtomo , Kazuki Osaragi , Kunihiro Hayashi
IPC分类号： G01C3/08
CPC分类号： G01S7/4817 , G01C15/002 , G01S7/006 , G01S7/4813 , G01S7/497 , G01S17/023 , G01S17/42 , G01S17/89
摘要： The present invention relates to a position measuring instrument for, for example, scanning a photoreceiver as a target to be measured, and more particularly to an automatic position detection instrument capable of emitting distance measuring light and tracking light while turning directions of the distance measuring light and the tracking light so that three-dimensional measurement of a light receiving position is performed, and further capable of transmitting measured data to a photoreceiver provided on a target. A light source unit emits measuring light, and then a light receiving unit receives its reflected light. A scanning means emits measuring light in a scanning direction, and leads its reflected light to the light receiving unit. An angle detector detects a rotational position of the scanning means. The measuring light includes distance measuring light expanding in a fan-shaped manner. Its reflected light can be used to measure a distance to a reflector.
摘要翻译：本发明涉及一种用于例如扫描作为待测对象的光接收器的位置测量仪器，更具体地说，涉及一种能够在转动距离测量光的方向的同时发射距离测量光和跟踪光的自动位置检测仪器和跟踪光，从而执行光接收位置的三维测量，并且还能够将测量数据发送到设置在目标上的光接收器。光源单元发射测量光，然后光接收单元接收其反射光。扫描装置沿扫描方向发射测量光，并将其反射光引导到光接收单元。角度检测器检测扫描装置的旋转位置。测量光包括以扇形方式扩展的距离测量光。其反射光可用于测量到反射器的距离。

27. 发明授权

US07319511B2 Surveying instrument and electronic storage medium 有权
标题翻译：测量仪器和电子存储介质
公开(公告)号：US07319511B2
公开(公告)日：2008-01-15
申请号：US10501260
申请日：2003-11-12
申请人： Shunji Murai , Fumio Ohtomo , Hitoshi Otani
发明人： Shunji Murai , Fumio Ohtomo , Hitoshi Otani
IPC分类号： G01C3/08
CPC分类号： G01C15/002
摘要： The present invention relates to a surveying instrument for measuring the distance to a target to be measured, a horizontal angle, and a vertical angle by use of reflected light. An imager can be connected to the surveying instrument. In addition, an arithmetic processing means can determine a three-dimensional position of a plane part by determining from at least three measuring points an equation that includes the plane part as the target to be measured, and then by associating digital image data to which the plane part belongs with the equation so that the plane part is identified.
摘要翻译：本发明涉及一种测量仪器，用于通过使用反射光来测量与被测量物体的距离，水平角度和垂直角度。成像仪可以连接到测量仪器。此外，算术处理装置可以通过从至少三个测量点确定包括作为要测量的目标的平面部分的方程式，然后通过将数字图像数据相关联来确定平面部分的三维位置，平面部分属于方程，使得平面部分被识别。

28. 发明申请

US20070146683A1 Distance measuring method and distance measuring device 失效
标题翻译：距离测量方法和距离测量装置
公开(公告)号：US20070146683A1
公开(公告)日：2007-06-28
申请号：US11635115
申请日：2006-12-07
申请人： Fumio Ohtomo , Masahiro Ohishi , Ikuo Ishinabe , Kazuhiro Shida
发明人： Fumio Ohtomo , Masahiro Ohishi , Ikuo Ishinabe , Kazuhiro Shida
IPC分类号： G01C3/08
CPC分类号： G01C15/002
摘要： A distance measuring method for performing distance measurement by projecting a distance measuring light to an object to be measured and by receiving a reflected light, comprising: a step of projecting for scanning the distance measuring light which has at least one luminous flux with a predetermined spreading angle; a step of emitting the light by pulsed light emission at least two times during a period when the luminous flux traverses the object to be measured; a step of measuring a distance by receiving the reflected light at least two times; and a step of averaging the results of the distance measurement.
摘要翻译：一种距离测量方法，用于通过将距离测量光投射到待测对象并接收反射光来进行距离测量，所述距离测量方法包括：将具有至少一个光通量的距离测量光以预定扩展角度; 在光束穿过被测定物体的期间，通过脉冲发光发光至少两次的步骤; 通过接收反射光至少两次来测量距离的步骤; 以及对距离测量的结果进行平均的步骤。

29. 发明申请

US20070115354A1 Three-dimensional data preparing method and three-dimensional data preparing device 有权
标题翻译：三维数据准备方法和三维数据准备装置
公开(公告)号：US20070115354A1
公开(公告)日：2007-05-24
申请号：US11598498
申请日：2006-11-13
申请人： Fumio Ohtomo , Hitoshi Otani
发明人： Fumio Ohtomo , Hitoshi Otani
IPC分类号： H04N7/18
CPC分类号： G01C11/02
摘要： A 3-dimensional data preparing method, comprising a first step of continuously taking digital images of scenes in the surrounding when moving from a first point, which is a known point, via a second point, which is a known point, to a third point, which is an unknown point, a second step of generating tracking points from an image acquired at the first point, and sequentially specifying the tracking points by the pursuit of the points generated on the continuously acquired images, a third step of obtaining 3-dimensional data of the tracking points based on the result of orientation of the tracking points at the first point and at the second point and from position data of the first point and the second point, a fourth step of sequentially obtaining a position of the third point, i.e. an unknown point, based on the result of orientation of the tracking point acquired at the third point and based on 3-dimensional position data of the tracking point, a fifth step of obtaining 3-dimensional position data of an image including the tracking point from the result of orientation of the images including the tracking points at the first point and at the second point and from the position data at the first point and at the second point, and a sixth step of sequentially obtaining 3-dimensional position data of images including the tracking points from the result of orientation of the images including the tracking points at the second point and at the third point and from the position data at the second point and at the third point.
摘要翻译：一种三维数据准备方法，包括第一步骤，当从作为已知点的第一点经由已知点的第二点移动到第三点时，连续拍摄周围的场景的数字图像，其是未知点，第二步骤，从在第一点获取的图像产生跟踪点，并且通过追踪在连续获取的图像上产生的点来顺序地指定跟踪点;第三步骤，获得三维基于第一点和第二点处的跟踪点的取向结果和第一点和第二点的位置数据的跟踪点的数据，顺序获得第三点的位置的第四步骤，即基于在第三点获取的跟踪点的取向的结果并且基于跟踪点的三维位置数据的未知点，获得3维尺度的第五步骤从包括在第一点和第二点处的跟踪点的图像的方位结果以及从第一点和第二点处的位置数据的包括跟踪点的图像的位置数据，以及第六步骤从包括在第二点和第三点处的跟踪点的图像的取向结果以及从第二点和第三点处的位置数据顺序地获得包括跟踪点的图像的三维位置数据。

30. 发明授权

US07214917B2 Rotating position measuring instrument 有权
标题翻译：旋转位置测量仪
公开(公告)号：US07214917B2
公开(公告)日：2007-05-08
申请号：US10320235
申请日：2002-12-16
申请人： Fumio Ohtomo , Akio Kimura
发明人： Fumio Ohtomo , Akio Kimura
IPC分类号： G01C21/02 , G01C3/08 , G01B11/26
CPC分类号： G01C15/002
摘要： A position measuring instrument according to the present invention comprises a turning unit and a fixed unit, irradiates a target to be measured with measuring light to determine a distance, a direction, and a position on the basis of its reflected light. A light source unit emits measuring light; a light receiving unit receives its reflected light; a radiating means radiates measuring light in a direction which can be set freely, and directs its reflected light to the light receiving unit; an angle detecting means detects a direction in which the radiating means radiates light; the light source unit and the light receiving unit are fixedly provided; the light source unit emits measuring light toward the radiating means; and the light receiving unit receives reflected light from the target to be measured.
摘要翻译：根据本发明的位置测量仪器包括转动单元和固定单元，用测量光照射待测量的目标，以基于其反射光来确定距离，方向和位置。光源单元发射测量光; 光接收单元接收其反射光; 辐射装置在可自由设定的方向上照射测量光，并将其反射光引导到光接收单元; 角度检测装置检测辐射装置辐射光的方向; 光源单元和光接收单元固定地设置; 光源单元朝向辐射装置发射测量光; 并且光接收单元接收来自被测量目标物的反射光。

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