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    • 24. 发明授权
    • Image sensing control method and apparatus, image transmission control method, apparatus, and system, and storage means storing program that implements the method
    • 图像感知控制方法和装置,图像传输控制方法,装置和系统,以及存储方法存储执行该方法的程序
    • US06646677B2
    • 2003-11-11
    • US08955213
    • 1997-10-21
    • Hideo NoroAkitomo SasakiShigeo SuzukiKiyoshi Oka
    • Hideo NoroAkitomo SasakiShigeo SuzukiKiyoshi Oka
    • H04N718
    • H04N7/186H04N7/181
    • This invention relates to an image sensing control method and apparatus, and an image transmission control method, apparatus, and system, in which a camera such as a video camera is connected, the operation of the camera is controlled in accordance with a control command sent from a client via a network, and an image signal sensed by the camera is transmitted to the client via the network. Upon reception of a control command of the pan and tilt angles, zoom value, or the like of the camera from the client, the position control of the camera is done in accordance with the command, and transmission of the image signal sensed by the camera is suspended until the instructed operation is complete. Alternatively, upon reception of such control command, the image signal sensed by the camera is compressed at a high compression ratio, and the compressed image signal is transmitted. On the client device, received image signal is directly displayed without buffering during the control operation, thus allowing real-time image display during the position control of the camera.
    • 本发明涉及一种图像传感控制方法和装置,以及图像传输控制方法,装置和系统,其中连接诸如摄像机的照相机,根据发送的控制命令来控制照相机的操作 通过网络从客户端发送,并且通过网络将由相机感测的图像信号发送到客户端。 在从客户端接收到相机的摇摄和倾斜角度,缩放值等的控制命令时,照相机的位置控制根据该命令完成,并且由相机感测的图像信号的传输 直到指示操作完成。 或者,在接收到这样的控制命令时,摄像机感测到的图像信号以高压缩率被压缩,并且压缩图像信号被发送。 在客户端设备上,在控制操作期间直接显示接收到的图像信号而不进行缓冲,从而允许在相机位置控制期间进行实时图像显示。
    • 25. 发明授权
    • Robot system, and control apparatus and method thereof
    • 机器人系统及其控制装置及方法
    • US09043023B2
    • 2015-05-26
    • US12972916
    • 2010-12-20
    • Hideo Noro
    • Hideo Noro
    • B25J15/00B25J9/00B25J9/16B25J13/02B25J15/10
    • B25J9/1687B25J9/1612B25J9/1664B25J9/1666B25J9/1676B25J13/02B25J15/00B25J15/10G05B2219/36504G05B2219/39487G05B2219/40032
    • A robot system, including an arm capable of controlling a position and orientation of an arm tip portion, a hand, which is attached to the arm tip portion and which includes a grasping mechanism configured to grasp an operation target, capable of controlling a relative position and orientation from the arm tip portion of the grasped operation target, and a position and orientation measurement apparatus configured to perform relative position and orientation measurement from the arm tip portion of the grasped operation target, wherein measurement of the relative position and orientation from the arm tip portion of the operation target is performed after the operation target is grasped by the grasping mechanism, while the arm tip portion is still moving, and correction of the relative position and orientation from the arm tip portion of the hand is performed based on a result of the position and orientation measurement so that the arm tip portion takes a predetermined relative position and orientation from the arm tip portion.
    • 一种机器人系统,包括能够控制臂末端部的位置和姿势的手臂,附接到臂末端部的手,其包括构造成抓住操作对象的抓握机构,能够控制相对位置 以及从被抓握的操作对象的手柄前端部取向的姿势取向测定装置,以及从所述抓持操作对象的手柄前端部进行相对位置取向测定的姿势测定装置,其特征在于, 在手臂前端部仍在移动的同时,通过把持机构掌握了操作对象之后,执行操作对象的前端部分,并且基于结果来执行相对于手指臂部的相对位置和姿势的校正 的位置和取向测量,使得臂尖部分采取预定的相对位置a 从臂尖部分取向。
    • 27. 发明申请
    • METHOD AND APPARATUS FOR DETECTING BETWEEN VIRTUAL OBJECTS
    • 用于检测虚拟对象之间的方法和装置
    • US20080303815A1
    • 2008-12-11
    • US12132940
    • 2008-06-04
    • Hideo Noro
    • Hideo Noro
    • G06T17/40
    • G06T19/00G06F17/504G06T2210/21Y10S345/949Y10S345/958
    • A collision target map and a collision target LUT are generated for each pixel to be subjected to rendering as collision target information with recorded identification information for CG data rendering on the pixel, while carrying out rendering of colliding object group CG data. Then, collision target information corresponding to a rendering pixel is referenced while carrying out rendering of collided object group CG data. In a case in which the colliding object group CG data is contained in the collision target information, it is determined that collision detection should be carried out for a virtual object being rendered, and collision detection information is generated. Such collision detection information allows collision between virtual objects to be detected at high speed.
    • 对于要进行渲染的每个像素,生成碰撞对象图和碰撞对象LUT,作为具有记录在像素上的CG​​数据呈现的识别信息的冲突对象信息,同时执行对对象组CG数据的渲染。 然后,在进行冲突对象组CG数据的渲染的同时参照与渲染像素对应的碰撞对象信息。 在冲突对象信息中包含碰撞对象组CG数据的情况下,确定对被呈现的虚拟对象进行碰撞检测,生成冲突检测信息。 这种碰撞检测信息允许高速检测的虚拟对象之间的冲突。