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1. 发明申请

US20070048118A1 Moving robot with arm mechanism 有权
标题翻译：手臂机构移动
公开(公告)号：US20070048118A1
公开(公告)日：2007-03-01
申请号：US11389379
申请日：2006-03-27
申请人： Hideki Ogawa , Nobuto Matsuhira , Junko Hirokawa , Toshiyuki Koga , Manabu Nishiyama , Takaki Inazumi , Teppei Nakamura , Rikako Bekku
发明人： Hideki Ogawa , Nobuto Matsuhira , Junko Hirokawa , Toshiyuki Koga , Manabu Nishiyama , Takaki Inazumi , Teppei Nakamura , Rikako Bekku
IPC分类号： B66F9/00
CPC分类号： B25J5/007
摘要： A moving robot includes a first arm portion is coupled to a first joint on a side portion of a main robot body. The first arm portion has concave portion with an opening. A folding mechanism is accommodated in the concave portion. In the folding mechanism, a second arm portion is connected to the first arm via a second joint portion. A third arm portion is also connected to the second arm portion via a third joint portion. The first arm portion is rotated around the first joint to orient the opening in an upper direction. The second joint portion can be slid along the concave portion to take out the folding mechanism through the opening. The third arm portion can be rotated around the third joint portion to extend the third arm portion.
摘要翻译：一种移动机器人包括：第一臂部分，联接到主机器人主体的侧部上的第一关节。第一臂部具有带开口的凹部。折叠机构容纳在凹部中。在折叠机构中，第二臂部分经由第二接合部分连接到第一臂。第三臂部分还经由第三接合部分连接到第二臂部分。第一臂部分围绕第一关节旋转以使开口沿上方向定向。第二关节部分可以沿着凹部滑动以通过开口取出折叠机构。第三臂部分可围绕第三关节部分旋转以延伸第三臂部分。

2. 发明授权

US07645110B2 Moving robot with arm mechanism 有权
标题翻译：手臂机构移动
公开(公告)号：US07645110B2
公开(公告)日：2010-01-12
申请号：US11389379
申请日：2006-03-27
申请人： Hideki Ogawa , Nobuto Matsuhira , Junko Hirokawa , Toshiyuki Koga , Manabu Nishiyama , Takaki Inazumi , Teppei Nakamura , Rikako Bekku
发明人： Hideki Ogawa , Nobuto Matsuhira , Junko Hirokawa , Toshiyuki Koga , Manabu Nishiyama , Takaki Inazumi , Teppei Nakamura , Rikako Bekku
IPC分类号： B60P1/00
CPC分类号： B25J5/007
摘要： A moving robot includes a first arm portion is coupled to a first joint on a side portion of a main robot body. The first arm portion has concave portion with an opening. A folding mechanism is accommodated in the concave portion. In the folding mechanism, a second arm portion is connected to the first arm via a second joint portion. A third arm portion is also connected to the second arm portion via a third joint portion. The first arm portion is rotated around the first joint to orient the opening in an upper direction. The second joint portion can be slid along the concave portion to take out the folding mechanism through the opening. The third arm portion can be rotated around the third joint portion to extend the third arm portion.
摘要翻译：一种移动机器人包括：第一臂部分，联接到主机器人主体的侧部上的第一关节。第一臂部具有带开口的凹部。折叠机构容纳在凹部中。在折叠机构中，第二臂部经由第二接合部与第一臂连接。第三臂部分还经由第三接合部分连接到第二臂部分。第一臂部分围绕第一关节旋转以使开口沿上方向定向。第二关节部分可以沿着凹部滑动以通过开口取出折叠机构。第三臂部分可围绕第三关节部分旋转以延伸第三臂部分。

3. 发明申请

US20060222238A1 Image processing apparatus and image processing method 有权
公开(公告)号：US20060222238A1
公开(公告)日：2006-10-05
申请号：US11387901
申请日：2006-03-24
申请人： Manabu Nishiyama
发明人： Manabu Nishiyama
IPC分类号： G06K9/00
CPC分类号： G06K9/32 , G06T7/285
摘要： A first image obtained by taking a moving object at a frame time point t by a first imaging device, a second image obtained by taking the moving object at a frame time point t+Δt by a second imaging device having a view point different from that of the first imaging device, and a third image obtained by taking the moving object at a frame time point t−Δt by the second imaging device are acquired. A first corresponding point on the first image corresponding to an arbitrary point on the second image is searched for, and the disparity of the arbitrary point is measured. Motion information of the arbitrary point is calculated on the basis of the third image, and by use of the motion information as a correction amount, the disparity is corrected. Three-dimensional position information of the arbitrary point is calculated on the basis of the corrected disparity.

4. 发明授权

US08428353B2 Calculation apparatus for amount of characteristic and discrimination apparatus 有权
标题翻译：特征量判别装置的计算装置
公开(公告)号：US08428353B2
公开(公告)日：2013-04-23
申请号：US13223646
申请日：2011-09-01
申请人： Manabu Nishiyama , Tomoki Watanabe , Masato Sumiyoshi
发明人： Manabu Nishiyama , Tomoki Watanabe , Masato Sumiyoshi
IPC分类号： G06K9/00
CPC分类号： G06F17/18
摘要： A calculation apparatus for amount of characteristic that calculates an amount of characteristic based on a histogram of an amount of characteristic of input data includes: a buffer for holding a portion of the input data; a memory, having a plurality of banks, for holding calculation results of the histogram; a generation unit for generating a table in which a position of a target data on the buffer of which the amount of characteristic is to be calculated corresponds to a position on the memory to which a category of the calculated amount of characteristic is voted; and a vote unit that determines a category of the amount of characteristic of the target data and that performs a vote to the position on the memory shown on the table.
摘要翻译：一种基于输入数据的特征量的直方图计算特征量的特性量的计算装置，包括：用于保存输入数据的一部分的缓冲器; 具有多个存储体的存储器，用于保持直方图的计算结果; 生成单元，用于生成表格，其中要计算特征量的缓冲器上的目标数据的位置对应于计算的特征量的类别被投票的存储器上的位置; 以及投票单元，其确定目标数据的特征量的类别并对表上所示的存储器上的位置执行投票。

5. 发明申请

US20120243778A1 IMAGE RECOGNIZING APPARATUS, METHOD FOR RECOGNIZING IMAGE AND NON-TRANSITORY COMPUTER READABLE MEDIUM 有权
标题翻译：图像识别装置，识别图像和非终端计算机可读介质的方法
公开(公告)号：US20120243778A1
公开(公告)日：2012-09-27
申请号：US13229625
申请日：2011-09-09
申请人： Masato Sumiyoshi , Manabu Nishiyama , Tomoki Watanabe
发明人： Masato Sumiyoshi , Manabu Nishiyama , Tomoki Watanabe
IPC分类号： G06K9/62
CPC分类号： G06K9/6255
摘要： An image recognizing apparatus includes a dictionary memory, a block determining module and a recognizing module. The dictionary memory stores dictionary data. The block determining module determines that a target block comprising a target pixel to be processed of a plurality of pixels in image data is a shared block to which the dictionary data is used or a mirror block to which the dictionary data to the shared block is used, based on a position of the target block. The recognizing module uses common dictionary data for the shared block and the mirror block, and recognizes a characteristic portion of the image expressed by the image data.
摘要翻译：图像识别装置包括字典存储器，块确定模块和识别模块。字典存储器存储字典数据。块确定模块确定包括图像数据中的多个像素的要处理的目标像素的目标块是使用字典数据的共享块或者使用到共享块的字典数据的镜像块，基于目标块的位置。识别模块使用共享块和镜像块的通用字典数据，并识别由图像数据表示的图像的特征部分。

6. 发明授权

US08116904B2 Object search apparatus and method 有权
标题翻译：对象搜索装置和方法
公开(公告)号：US08116904B2
公开(公告)日：2012-02-14
申请号：US12360511
申请日：2009-01-27
申请人： Manabu Nishiyama
发明人： Manabu Nishiyama
IPC分类号： G06F7/00
CPC分类号： B25J9/0003 , G05B2219/49302 , G06K9/00791
摘要： An object search apparatus acquires, from each IC tag of IC tags corresponding to objects respectively, an object information item including an identifier of an object, a hierarchical level, a detection method for detection of the object, and a manipulation method for the object, to obtain a plurality of object information items including a target object information item of a target object, selects, from the object information items, an object information item higher in the hierarchical level than the target object, detects an object corresponding to selected object information item by using the detection method in the selected object information item, manipulates detected object in accordance with the manipulation method in the selected object information item, selects target object information item from the object information items, and detects the target object from the detected object by using the detection method in the target object information item.
摘要翻译：对象搜索装置从对应于对象的IC标签的每个IC标签分别获取包括对象的标识符，层次级别，用于检测对象的检测方法和对象的操作方法的对象信息项，为了获得包括目标对象的目标对象信息项的多个对象信息项，从所述对象信息项中选择与所述目标对象相对应的层次级别以上的对象信息项，检测与所选择的对象信息项对应的对象通过使用所选择的对象信息项中的检测方法，根据所选择的对象信息项中的操作方法来操作检测对象，从对象信息项中选择目标对象信息项，并通过使用检测对象来检测目标对象目标对象信息项目中的检测方法。

7. 发明授权

US08035687B2 Image processing apparatus and program 有权
标题翻译：图像处理装置和程序
公开(公告)号：US08035687B2
公开(公告)日：2011-10-11
申请号：US12177423
申请日：2008-07-22
申请人： Manabu Nishiyama
发明人： Manabu Nishiyama
IPC分类号： H04N5/225
CPC分类号： G06K9/6288 , G06K9/6253 , G06K2209/27
摘要： An image processing apparatus includes unit reading, from first objects, information items for determining program procedures used to detect the first objects by image processing, unit selecting, from the program procedures, program procedures corresponding to the information items, and to determine an order of execution of the selected program procedures, unit acquiring an initial image including images corresponding to the first objects, the initial image being used for executing a first program procedure of a first order of execution, which is included in the selected program procedures, unit detecting, using the initial image, at least one of the first objects by executing the first program procedure corresponding to at least one of the first objects, and unit generating a post-removal image obtained by removing, from the initial image, image data corresponding to one of the images, which is on a first area corresponding to at least one detected object.
摘要翻译：一种图像处理装置，包括：从第一对象中读出用于确定用于通过图像处理检测第一对象的程序程序的信息项，从程序程序中选择与信息项对应的程序程序，并且确定顺序执行所选择的程序过程，单元获取包括与第一对象相对应的图像的初始图像，初始图像用于执行包括在所选择的程序过程中的第一执行顺序的第一程序过程，单元检测，使用初始图像，通过执行与第一对象中的至少一个相对应的第一程序过程来执行第一对象中的至少一个，以及生成通过从初始图像中去除与一个对应的图像数据而获得的去除后图像的单元的图像，其位于对应于至少一个检测到的对象的第一区域上。

8. 发明授权

US07599548B2 Image processing apparatus and image processing method 有权
标题翻译：图像处理装置和图像处理方法
公开(公告)号：US07599548B2
公开(公告)日：2009-10-06
申请号：US11387901
申请日：2006-03-24
申请人： Manabu Nishiyama
发明人： Manabu Nishiyama
IPC分类号： G06K9/00
CPC分类号： G06K9/32 , G06T7/285
摘要： A first image obtained by taking a moving object at a frame time point t by a first imaging device, a second image obtained by taking the moving object at a frame time point t+Δt by a second imaging device having a view point different from that of the first imaging device, and a third image obtained by taking the moving object at a frame time point t−Δt by the second imaging device are acquired. A first corresponding point on the first image corresponding to an arbitrary point on the second image is searched for, and the disparity of the arbitrary point is measured. Motion information of the arbitrary point is calculated on the basis of the third image, and by use of the motion information as a correction amount, the disparity is corrected. Three-dimensional position information of the arbitrary point is calculated on the basis of the corrected disparity.
摘要翻译：通过第一成像装置在帧时间点t拍摄移动物体获得的第一图像，通过具有不同于视点的第二成像装置在帧时间点t + Deltat拍摄移动物体而获得的第二图像并且获取通过由第二成像装置在帧时间点t-Deltat处拍摄移动对象而获得的第三图像。搜索与第二图像上的任意点对应的第一图像上的第一对应点，并测量任意点的视差。基于第三图像计算任意点的运动信息，并且通过使用运动信息作为校正量，校正视差。基于校正的视差来计算任意点的三维位置信息。

9. 发明申请

US20090033758A1 IMAGE PROCESSING APPARATUS AND PROGRAM 有权
标题翻译：图像处理设备和程序
公开(公告)号：US20090033758A1
公开(公告)日：2009-02-05
申请号：US12177423
申请日：2008-07-22
申请人： Manabu Nishiyama
发明人： Manabu Nishiyama
IPC分类号： H04N5/228 , G06K9/00
CPC分类号： G06K9/6288 , G06K9/6253 , G06K2209/27
摘要： An image processing apparatus includes unit reading, from first objects, information items for determining program procedures used to detect the first objects by image processing, unit selecting, from the program procedures, program procedures corresponding to the information items, and to determine an order of execution of the selected program procedures, unit acquiring an initial image including images corresponding to the first objects, the initial image being used for executing a first program procedure of a first order of execution, which is included in the selected program procedures, unit detecting, using the initial image, at least one of the first objects by executing the first program procedure corresponding to at least one of the first objects, and unit generating a post-removal image obtained by removing, from the initial image, image data corresponding to one of the images, which is on a first area corresponding to at least one detected object.
摘要翻译：一种图像处理装置，包括：从第一对象中读出用于确定用于通过图像处理检测第一对象的程序程序的信息项，从程序程序中选择与信息项对应的程序程序，并且确定顺序执行所选择的程序过程，单元获取包括与第一对象相对应的图像的初始图像，初始图像用于执行包括在所选择的程序过程中的第一执行顺序的第一程序过程，单元检测，使用初始图像，通过执行与第一对象中的至少一个相对应的第一程序过程来执行第一对象中的至少一个，以及生成通过从初始图像中去除与一个对应的图像数据而获得的去除后图像的单元的图像，其位于对应于至少一个检测到的对象的第一区域上。

10. 发明授权

US08655818B2 Discrimination apparatus and method using a decision tree 有权
标题翻译：歧视设备和方法使用决策树
公开(公告)号：US08655818B2
公开(公告)日：2014-02-18
申请号：US13010155
申请日：2011-01-20
申请人： Manabu Nishiyama
发明人： Manabu Nishiyama
IPC分类号： G06F17/00 , G06N5/00
CPC分类号： G06N99/005
摘要： An apparatus for discrimination includes a memory, an alignment unit configured to align nodes of a decision tree in the memory, wherein a node in which depth from a root node is not greater than a threshold is aligned in accordance with a breadth of first order, and a node in which depth from a root node is greater than a threshold is aligned in accordance with a depth of first order, and a discrimination unit, receiving an inputted data, configured to discriminate a class of the inputted data using the nodes aligned in the memory.
摘要翻译：用于鉴别的装置包括存储器，对准单元，其被配置为将存储器中的决策树的节点对准，其中，根节点的深度不大于阈值的节点根据第一级的宽度对齐，并且根据第一级的深度对来自根节点的深度大于阈值的节点进行对准，以及鉴别单元，接收输入的数据，被配置为使用对准的节点来区分输入数据的类别记忆。

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