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1. 发明授权

US07308432B2 Vehicle motion model generating device and method for generating vehicle motion model 失效
标题翻译：车辆运动模型生成装置和车辆运动模型生成方法
公开(公告)号：US07308432B2
公开(公告)日：2007-12-11
申请号：US10779717
申请日：2004-02-18
申请人： Tsuyoshi Torii , Itaru Seta
发明人： Tsuyoshi Torii , Itaru Seta
IPC分类号： G06E1/00 , G06E3/00 , G06F15/18 , G06F7/00 , G06F19/00 , G06G7/00 , G05B13/02 , G01M17/00 , G01C21/00
CPC分类号： G06N3/0454 , B60G17/0162 , B60G17/0182 , B60G17/0195 , B60G2400/0521 , B60G2400/0522 , B60G2400/0523 , B60G2400/104 , B60G2400/106 , B60G2400/204 , B60G2400/41 , B60G2400/42 , B60G2400/44 , B60G2600/1877 , B60G2600/1878 , B60G2800/012 , B60G2800/24 , B60G2800/70 , B60G2800/90 , B60T8/174 , B60T2270/86 , B60W2050/0057 , B62D6/00 , G05B13/027 , G05B17/02 , G05D1/0825
摘要： There are equipped a first recurrent neural network formed by connecting plural nodes so as to have a loop in which the output from one node is input to another node in accordance with a predetermined coupling weight coefficient. Meanwhile, the output of at least one node is fed back to the node concerned or another node, and an optimizing unit for determining the optimum solution of the coupling weight coefficient in the first recurrent neural network based on a learning rule using a hereditary algorithm. In this case, the first recurrent neural network outputs a first parameter indicating a motion state of a vehicle based on predetermined input information, thereby functioning as a vehicle motion model.
摘要翻译：配备了通过连接多个节点形成的第一循环神经网络，以便具有根据预定的耦合权重系数将一个节点的输出输入到另一个节点的循环。同时，至少一个节点的输出被反馈到相关节点或另一个节点，以及优化单元，用于基于使用遗传算法的学习规则来确定第一循环神经网络中耦合权重系数的最优解。在这种情况下，第一循环神经网络基于预定的输入信息输出指示车辆的运动状态的第一参数，从而用作车辆运动模型。

2. 发明申请

US20080069399A1 Image Processor 审中-公开
标题翻译：图像处理器
公开(公告)号：US20080069399A1
公开(公告)日：2008-03-20
申请号：US11658135
申请日：2005-12-22
申请人： Tomoharu Nagao , Wataru Yokoi , Genya Ogawa , Katsuyuki Kise , Tsuyoshi Torii
发明人： Tomoharu Nagao , Wataru Yokoi , Genya Ogawa , Katsuyuki Kise , Tsuyoshi Torii
IPC分类号： G06K9/00
CPC分类号： G06T7/215 , G06T7/194 , G06T2207/10016 , G06T2207/30261
摘要： An image processor (1) for subjecting an image picked up by an imaging apparatus (21) to image processing to extract a specific object from the image, the image processor comprising: an image processing section (3) which subjects a plurality kinds of images (t, t−1, . . . , t−k) picked up by the imaging apparatus to the image processing based on a processing program comprising image filters (F) combined in a form of a tree structure, and which forms an output image (O) in which the specific object is extracted.
摘要翻译：一种用于使由成像装置（21）拾取的图像进行图像处理以从图像提取特定对象的图像处理器（1），所述图像处理器包括：图像处理部（3），其对多种图像进行拍摄（t，t-1，...，tk）基于包括以树结构的形式组合的图像滤波器（F）的处理程序的图像处理，并且形成输出图像 O），其中提取特定对象。

3. 发明授权

US5938704A Autonomous running control system for vehicle and the method there 失效
标题翻译：车辆自动运行控制系统及方法
公开(公告)号：US5938704A
公开(公告)日：1999-08-17
申请号：US740075
申请日：1996-10-24
申请人： Tsuyoshi Torii
发明人： Tsuyoshi Torii
IPC分类号： A01B69/00 , G01C21/00 , G01S5/02 , G01S19/14 , G01S19/41 , G01S19/49 , G05D1/02 , G06F165/00
CPC分类号： G05D1/0278 , G05D1/0227 , G05D1/0265 , G01S19/41 , G01S19/47 , G05D2201/0208
摘要： An autonomous running control system capable of guiding a lawn-mowing work vehicle to a target point unmanned with high accuracy. Normally, the vehicle runs autonomously according to the D-GPS/dead reckoning navigation method. When the vehicle runs in an area where obstacles and ups-and-downs exists, the running control is switched to a magnetic guidance and the vehicle moves along the magnetic rail underground. When the vehicle comes into a normal operation again, the running control is shifted to the G-GPS/dead reckoning navigation method again. Further, when the vehicle comes near a target points, the running control is switched to the dead reckoning navigation method capable of guiding the vehicle accurately to the target point. When the vehicle arrives at the work area, it conducts a lawn mowing work according to the trace running control, finding the boundary between mowed and unmowed areas. Thus, the autonomous running control system can make an accurate guidance under any geographical conditions by means of selectively changing the running control method according to terrains and works.
摘要翻译：一种自动运行控制系统，能够以高精度将割草作业车辆引导到目标点。通常，车辆根据D-GPS /航位推算导航方式自主运行。当车辆在存在障碍物和上下颠倒的区域中行驶时，运行控制被切换到磁性引导，并且车辆沿着磁力轨道地下运动。当车辆再次进入正常操作时，运行控制再次移动到G-GPS /航位推算导航方法。此外，当车辆靠近目标点时，将行驶控制切换到能够将车辆准确地引导到目标点的航位推算导航方法。当车辆到达工作区时，根据追踪运行控制进行草坪割草工作，找到割草区和未割草区之间的边界。因此，自主运行控制系统可以通过根据地形和作业选择性地改变运行控制方法，在任何地理条件下进行准确的指导。

4. 发明授权

US06968866B2 Tent fabric, twisted union yarn of kenaf, and process for producing the same 失效
标题翻译：洋麻织物，洋麻扭绞纱，及其生产方法
公开(公告)号：US06968866B2
公开(公告)日：2005-11-29
申请号：US10275578
申请日：2001-10-04
申请人： Tsuyoshi Torii , Hiroshi Toyoda , Kenji Tada , Haruyoshi Kinoshita
发明人： Tsuyoshi Torii , Hiroshi Toyoda , Kenji Tada , Haruyoshi Kinoshita
IPC分类号： E04H15/54 , D02G3/04 , D02G3/26 , D03D1/00 , D03D15/00 , D03D15/02
CPC分类号： D02G3/042 , D02G3/04 , D02G3/26 , D03D15/00 , D10B2201/01 , D10B2201/02 , D10B2201/06 , D10B2201/24 , D10B2331/04 , D10B2401/063 , D10B2505/18 , Y10T428/2913 , Y10T428/2931 , Y10T442/30 , Y10T442/313 , Y10T442/3146
摘要： A tent fabric comprising a woven fabric made of yarns containing kenaf fibers in an amount of 10 wt. % or more. The tent fabric after use can easily be recycled and hence contributes to resource saving and environmental protection.
摘要翻译：一种帐篷织物，包括由含有10重量％的洋麻纤维的纱线制成的机织织物。％或者更多。使用后的帐篷织物可以轻松回收，从而有助于资源节约和环保。

5. 发明授权

US06480768B1 Control apparatus for autonomous traveling vehicle and method thereof 失效
标题翻译：自动行车的控制装置及其方法
公开(公告)号：US06480768B1
公开(公告)日：2002-11-12
申请号：US09349720
申请日：1999-07-08
申请人： Tsuyoshi Torii
发明人： Tsuyoshi Torii
IPC分类号： G01L2200
CPC分类号： G05D1/0272 , B62D1/28 , G05D1/0221 , G05D1/0227 , G05D1/0238 , G05D1/0255 , G05D1/027 , G05D1/0278 , G05D2201/0208
摘要： A control apparatus and method for an autonomous traveling vehicle having a teaching mode in which a vehicle position and a vehicle azimuth in respective points on a running path are memorized and a play-back mode in which the vehicle is operated autonomously based on the vehicle position and vehicle azimuth memorized in the teaching mode comprises a virtual traction point establishing means for establishing a virtual traction point located away from a vehicle position by a specified distance in a direction of a vehicle azimuth, a current vehicle position determining means for determining a current vehicle position corresponding to the vehicle position in a play-back mode, a target azimuth calculating means for calculating a target azimuth based on a positional relationship between the current vehicle position and the virtual traction point, a vehicle steering means for steering the vehicle in a direction of the target azimuth in the play-back mode and a vehicle speed control means for controlling a vehicle speed such that a distance between the virtual traction point and the vehicle comes within a specified range in the play-back mode.
摘要翻译：一种用于自动行驶车辆的控制装置和方法，其具有其中存储有行驶路径上的各个点中的车辆位置和车辆方位角的教学模式以及基于车辆位置自动地操作车辆的重放模式并且在教学模式中存储的车辆方位角包括：虚拟牵引点建立装置，用于在车辆方位的方向上建立远离车辆位置指定距离的虚拟牵引点;当前车辆位置确定装置，用于确定当前车辆基于当前车辆位置与虚拟牵引点之间的位置关系来计算目标方位角的目标方位计算装置，用于在车辆方向上转向的车辆转向装置，的播放模式中的目标方位角以及用于的车速控制装置控制车速使得虚拟牵引点与车辆之间的距离在回放模式中达到规定的范围。

6. 发明授权

US5563786A Autonomous running control system for vehicle and the method thereof 失效
标题翻译：车辆自动运行控制系统及其方法
公开(公告)号：US5563786A
公开(公告)日：1996-10-08
申请号：US383082
申请日：1995-02-02
申请人： Tsuyoshi Torii
发明人： Tsuyoshi Torii
IPC分类号： A01B69/00 , G01C21/00 , G01S5/00 , G01S5/02 , G01S19/14 , G01S19/41 , G01S19/49 , G05D1/02 , G06F165/00
CPC分类号： G01S5/0009 , G01C21/00 , G01S19/47 , G05D1/0219 , G05D1/0227 , G05D1/0278 , G01S19/41 , G05D2201/0208
摘要： The position of the vehicle is detected by the position information from satellites and by the correction information based on the position data of a known point. On the other hand, the position of the vehicle is found based on the running histories since the reference point. Next, the difference between the position data from satellites and the position data based on the running histories at each moment when the position data is received from satellites is calculated and those differences are averaged to obtain a correction value. Finally the current position of the vehicle is calculated by correcting the position data based on the running histories by the newest correction value. Consequently, in the autonomous running control system an accurate position of the vehicle can be found without stopping the vehicle, even when the position data from satellites does not have a sufficient accuracy. Thus, according to the present invention an efficient and accurate autonomous running can be achieved.
摘要翻译：通过来自卫星的位置信息和基于已知点的位置数据的校正信息检测车辆的位置。另一方面，基于从参考点开始的运行历史来找到车辆的位置。接下来，计算来自卫星的位置数据和基于从卫星接收到位置数据的每一时刻的运行历史的位置数据之间的差异，并且对这些差进行平均以获得校正值。最后，通过根据运行历史校正最新校正值来计算位置数据来计算车辆的当前位置。因此，在自主运行控制系统中，即使当来自卫星的位置数据的准确性不足时，也可以在不停止车辆的情况下，发现车辆的准确位置。因此，根据本发明，可以实现有效且准确的自主运行。

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