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41. 发明授权

US08019971B2 Processor for executing highly efficient VLIW 有权
标题翻译：用于执行高效率VLIW的处理器
公开(公告)号：US08019971B2
公开(公告)日：2011-09-13
申请号：US12418965
申请日：2009-04-06
申请人： Shuichi Takayama , Nobuo Higaki
发明人： Shuichi Takayama , Nobuo Higaki
IPC分类号： G06F15/80
CPC分类号： G06F9/3822 , G06F9/30145 , G06F9/30149 , G06F9/30163 , G06F9/30167 , G06F9/30181 , G06F9/383 , G06F9/3853
摘要： A 32-bit instruction 50 is composed of a 4-bit format field 51, a 4-bit operation field 52, and two 12-bit operation fields 59 and 60. The 4-bit operation field 52 can only include (1) an operation code “cc” that indicates a branch operation which uses a stored value of the implicitly indicated constant register 36 as the branch address, or (2) a constant “const”. The content of the 4-bit operation field 52 is specified by a format code provided in the format field 51.
摘要翻译： 32位指令50由4位格式字段51，4位操作字段52和2位12位操作字段59和60组成.4位操作字段52只能包括（1）指示使用隐含指示的常数寄存器36的存储值作为分支地址的分支操作的操作代码“cc”，或者（2）常数“const”。 4位操作字段52的内容由格式字段51中提供的格式代码指定。

42. 发明授权

US08006076B2 Processor and program execution method capable of efficient program execution 有权
公开(公告)号：US08006076B2
公开(公告)日：2011-08-23
申请号：US12110491
申请日：2008-04-28
申请人： Kazushi Kurata , Tetsuya Tanaka , Nobuo Higaki , Kunihiko Hayashi , Hiroshi Kadota , Tokuzo Kiyohara , Kozo Kimura , Hideshi Nishida , Kazuya Furukawa , Shigeki Fujii , Toshio Sugimura
发明人： Kazushi Kurata , Tetsuya Tanaka , Nobuo Higaki , Kunihiko Hayashi , Hiroshi Kadota , Tokuzo Kiyohara , Kozo Kimura , Hideshi Nishida , Kazuya Furukawa , Shigeki Fujii , Toshio Sugimura
IPC分类号： G06F9/48 , G06F9/52
CPC分类号： G06F9/4881 , G06F9/3851 , G06F9/3867 , G06F9/462
摘要： A processor for sequentially executing a plurality of programs using a plurality of register value groups stored in a memory that correspond one-to-one with the programs. The processor includes a plurality of register groups; a select/switch unit operable to select one of the plurality of register groups as an execution target register group on which a program execution is based, and to switch the selection target every time a first predetermined period elapses; a restoring unit operable to restore, every time the switching is performed, one of the register value groups into one of the register groups that is not selected as the execution target register group; a saving unit operable to save, prior to the restoring, register values in the register group targeted for restoring, by overwriting a register value group in the memory that corresponds to the register values; and a program execution unit operable to execute, every time the switching is performed, a program corresponding to a register value group in the execution target register group.

43. 发明授权

US07840308B2 Robot device control based on environment and position of a movable robot 有权
标题翻译：基于可移动机器人的环境和位置的机器人装置控制
公开(公告)号：US07840308B2
公开(公告)日：2010-11-23
申请号：US11221903
申请日：2005-09-09
申请人： Shinichi Matsunaga , Nobuo Higaki , Takahiro Oohashi , Yuichi Yoshida
发明人： Shinichi Matsunaga , Nobuo Higaki , Takahiro Oohashi , Yuichi Yoshida
IPC分类号： G05B19/18
CPC分类号： B25J9/1694 , G05D1/0246 , G05D1/0255 , G05D1/0274 , G05D2201/0217
摘要： The control apparatus for a movable robot comprises: environment information acquisition means (such as video camera 3 and microphone 4); a current position detecting means (15); a map storage (7); a control parameter storage (9) for storing control parameters adjusted to different environments; and control means (11, 12) for determining a current position of the robot on the map data based on a signal from the current position detecting means, retrieving control parameters suitable for the current position from the parameter storage, and controlling the environment information acquisition means or actuators for moving the robot by using the retrieved control parameters.
摘要翻译：用于可移动机器人的控制装置包括：环境信息获取装置（诸如摄像机3和麦克风4）; 当前位置检测装置（15）; 地图存储（7）; 控制参数存储器（9），用于存储调整到不同环境的控制参数; 以及控制装置（11,12），用于基于来自当前位置检测装置的信号来确定机器人在地图数据上的当前位置，从参数存储器检索适合于当前位置的控制参数，以及控制环境信息采集用于通过使用检索到的控制参数来移动机器人的装置或致动器。

44. 发明授权

US07840036B2 Human being detection apparatus, method of detecting human being, and human being detecting program 有权
标题翻译：人类检测装置，人的检测方法以及人类检测程序
公开(公告)号：US07840036B2
公开(公告)日：2010-11-23
申请号：US11634315
申请日：2006-12-06
申请人： Nobuo Higaki
发明人： Nobuo Higaki
IPC分类号： G06K9/00
CPC分类号： G06K9/00362 , G06K9/00201 , G06K9/00228 , G06T7/251 , G06T2207/10004 , G06T2207/30196
摘要： A human being detection apparatus includes a moving object detecting part for detecting a target region from the picture image as a region of the moving object and a target distance as a distance to the moving object, a head region setting part for setting the head region corresponding to the target distance, a sample storing image part for storing a sample image having a predetermined size corresponding to the head region of the human being, and a human being determining part for determining whether or not the moving object is a human being by comparing the head region in the picture image converted to have a predetermined size with the sample image.
摘要翻译：人体检测装置包括：运动物体检测部分，用于从作为移动物体的区域的图像图像检测目标区域和作为到运动物体的距离的目标距离;头部区域设置部分，用于将头部区域对应与目标距离相对应的样本存储图像部分，用于存储与人的头部区域相对应的具有预定尺寸的样本图像;以及人类确定部分，用于通过比较所述移动物体是否是人类来确定移动物体是否是人类图像中的头部区域被转换为具有样本图像的预定大小。

45. 发明授权

US07720685B2 Receptionist robot system 有权
标题翻译：接待机器人系统
公开(公告)号：US07720685B2
公开(公告)日：2010-05-18
申请号：US10667964
申请日：2003-09-23
申请人： Yoshiaki Sakagami , Shinichi Matsunaga , Nobuo Higaki , Kazunori Kanai , Naoaki Sumida , Takahiro Oohashi , Sachie Hashimoto
发明人： Yoshiaki Sakagami , Shinichi Matsunaga , Nobuo Higaki , Kazunori Kanai , Naoaki Sumida , Takahiro Oohashi , Sachie Hashimoto
IPC分类号： G10L21/00 , G06K9/00
CPC分类号： G06Q99/00 , G10L15/26
摘要： To automate the work of recognizing a guest, check the appointment, notify a host of the arrival of the guest and conduct the guest to a designated place, a robot having a function to autonomously travel is equipped with camera/microphone for recognizing a guest at least according to image information. The system comprises management database adapted to communicate with the robot and equipped with an information database for identifying the recognized guest, and identifies the guest according to the information obtained from the camera/microphone and management database. The robot recognizes the guest from the image thereof, and the recognized guest is identified and verified by comparing the image of the visitor with the information contained in the database so that the robot can automatically conduct the guest to the designated meeting room according to the information of the appointment stored in the database.
摘要翻译：为了自动化识别客人的工作，检查约会，通知主人客人的到达并将客人送到指定的地点，具有自主旅行功能的机器人配备有用于识别客人的相机/麦克风最少根据图像信息。该系统包括适于与机器人通信并配备有用于识别识别的客人的信息数据库的管理数据库，并且根据从相机/麦克风和管理数据库获得的信息来识别客人。机器人从其图像中识别客人，并且通过将访问者的图像与包含在数据库中的信息进行比较来识别和验证识别的客人，使得机器人可以根据信息自动地将客人导向指定的会议室的约会存储在数据库中。

46. 发明授权

US07685351B2 External device access apparatus 有权
标题翻译：外部设备接入设备
公开(公告)号：US07685351B2
公开(公告)日：2010-03-23
申请号：US11916319
申请日：2006-06-06
申请人： Takao Kawakami , Masaitsu Nakajima , Tokuzo Kiyohara , Hiroyuki Morishita , Nobuo Higaki , Yousuke Kudo
发明人： Takao Kawakami , Masaitsu Nakajima , Tokuzo Kiyohara , Hiroyuki Morishita , Nobuo Higaki , Yousuke Kudo
IPC分类号： G06F13/00
CPC分类号： G06F13/385
摘要： In response to a write request from a master to write to an external device, a control unit holds a write address and write data from the master in a write address holding unit and in a write data holding unit, respectively, outputs a reception signal to the master, and writes the write data to the external device specified by the write address. When the master holds the read address in the read address holding unit, the control unit reads data from the external device specified by the read address, and holds the read data in the read data holding unit.
摘要翻译：响应于来自主机对外部设备的写入请求，控制单元分别保存写入地址并从写入地址保存单元和写入数据保持单元中写入数据，将接收信号输出到并将写入数据写入由写入地址指定的外部设备。当主机在读取地址保持单元中保持读取地址时，控制单元从读取地址指定的外部设备读取数据，并将读取的数据保存在读取数据保存单元中。

47. 发明授权

US07533243B2 Processor for executing highly efficient VLIW 有权
公开(公告)号：US07533243B2
公开(公告)日：2009-05-12
申请号：US10097759
申请日：2002-05-22
申请人： Shuichi Takayama , Nobuo Higaki
发明人： Shuichi Takayama , Nobuo Higaki
IPC分类号： G06F15/80
CPC分类号： G06F9/3822 , G06F9/30145 , G06F9/30149 , G06F9/30163 , G06F9/30167 , G06F9/30181 , G06F9/383 , G06F9/3853
摘要： A 32-bit instruction 50 is composed of a 4-bit format field 51, a 4-bit operation field 52, and two 12-bit operation fields 59 and 60. The 4-bit operation field 52 can only include (1) an operation code “cc” that indicates a branch operation which uses a stored value of the implicitly indicated constant register 36 as the branch address, or (2) a constant “const”. The content of the 4-bit operation field 52 is specified by a format code provided in the format field 51.

48. 发明授权

US07254253B2 Moving object detection system 有权
标题翻译：移动物体检测系统
公开(公告)号：US07254253B2
公开(公告)日：2007-08-07
申请号：US10808327
申请日：2004-03-25
申请人： Nobuo Higaki , Takamichi Shimada
发明人： Nobuo Higaki , Takamichi Shimada
IPC分类号： G06K9/00
CPC分类号： G06K9/00335 , G06T7/246 , G06T7/254 , G06T7/285
摘要： In a moving object detection system, an edge image is generated from captured images taken by CCD cameras and a moving object distance image indicative of a distance to a moving object (such as a human being) is generated by extracting pixel corresponding thereto. Then, pixels in the moving object distance image are summed to generate a histogram and a profile extraction region is set in the moving object distance image with its center line focusing on a position whose histogram is greatest, while the edge image is superposed on the moving object distance image to correct the center line of the profile extraction region such that the moving object is detected by extracting its profile in the region. With this, it becomes possible to detect the moving objects respectively even when the two or more objects are present in neighborhood.
摘要翻译：在运动物体检测系统中，由CCD照相机拍摄的图像产生边缘图像，并且通过提取与其相对应的像素来生成指示到运动物体（例如人类）的距离的移动物体距离图像。然后，将运动对象距离图像中的像素相加以生成直方图，并且在运动对象距离图像中设置轮廓提取区域，其中心线聚焦在直方图最大的位置，而边缘图像叠加在移动物体距离图像上物体距离图像以校正轮廓提取区域的中心线，使得通过在该区域中提取其轮廓来检测移动物体。由此，即使当两个或更多个物体在附近存在时，也可以分别检测移动物体。

49. 发明申请

US20060259662A1 DATA TRNASFER APPARATUS, DATA TRANSFER METHOD, AND PROGRAM 有权
标题翻译：数据传输设备，数据传输方法和程序
公开(公告)号：US20060259662A1
公开(公告)日：2006-11-16
申请号：US11382379
申请日：2006-05-09
申请人： Kazuya Furukawa , Nobuo Higaki , Hideyo Tsuruta , Kazushi Kurata , Shigeki Fujii , Kousuke Yoshioka , Hiroyuki Morishita
发明人： Kazuya Furukawa , Nobuo Higaki , Hideyo Tsuruta , Kazushi Kurata , Shigeki Fujii , Kousuke Yoshioka , Hiroyuki Morishita
IPC分类号： G06F3/00
CPC分类号： G06F3/0221 , G06F13/28 , Y02D10/14
摘要： A data transfer apparatus according to the present invention has; a DMAC and another DMAC which transfer data by direct memory access among a plurality of buses; a command queue which holds, as a queue, commands for instructing the data transfer; a bus information obtainment unit which obtains the commands from the command queue; a grouping unit which groups the held commands, based on a source and a destination designated in each of the obtained commands; a schedule unit which decides an order of issuing the commands sequentially from a group having more command, as a priority; and a selector which selects a command to be issued according to the decided order.
摘要翻译：根据本发明的数据传送装置具有： DMAC和另一个DMAC，其通过多个总线之间的直接存储器访问来传送数据; 作为队列保存用于指示数据传送的命令的命令队列; 总线信息获取单元，其从命令队列获取命令; 分组单元，其基于在每个所获得的命令中指定的源和目的地对保持的命令进行分组; 作为优先级，从具有更多命令的组中顺序地确定发出命令的顺序的调度单元; 以及选择器，其根据所决定的顺序选择要发出的命令。

50. 发明授权

US07076638B2 Processor, compiler and compilation method 有权
公开(公告)号：US07076638B2
公开(公告)日：2006-07-11
申请号：US10246482
申请日：2002-09-19
申请人： Taketo Heishi , Shuichi Takayama , Tetsuya Tanaka , Hajime Ogawa , Nobuo Higaki
发明人： Taketo Heishi , Shuichi Takayama , Tetsuya Tanaka , Hajime Ogawa , Nobuo Higaki
IPC分类号： G06F9/30
CPC分类号： G06F9/3853 , G06F9/30072 , G06F9/3822
摘要： In order to overcome the problem that conditionally executed instructions are executed as no-operation instructions if their condition is not fulfilled, leading to poor utilization efficiency of the hardware and lowering the effective performance, the processor decodes a number of instructions that is greater than the number of provided computing units and judges their execution conditions with an instruction issue control portion before the execution stage, Instructions for which the condition is false are invalidated, and subsequent valid instructions are assigned so that the computing units (hardware) is used efficiently. A compiler performs scheduling such that the number of instructions whose execution condition is true does not exceed the upper limit of the degree of parallelism of the hardware. The number of instructions arranged in parallel at each cycle may exceed the degree of parallelism of the hardware.

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