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1. 发明申请

US20120212622A1 MOVING OBJECT IMAGE TRACKING APPARATUS AND METHOD 审中-公开
标题翻译：移动对象图像跟踪装置和方法
公开(公告)号：US20120212622A1
公开(公告)日：2012-08-23
申请号：US13224444
申请日：2011-09-02
申请人： Hiroaki Nakamura , Tadashi Kuroiwa
发明人： Hiroaki Nakamura , Tadashi Kuroiwa
IPC分类号： H04N5/225
CPC分类号： G01S3/7864
摘要： According to one embodiment, a moving object image tracking apparatus includes two drivers, a camera sensor, a tracking error detector, angle sensors, angular velocity sensors, a first calculator, a second calculator, a corrected tracking error detector, a generator, and a controller. The tracking error detector detects tracking errors as deviation amounts of a moving object from a visual field center from the image data as tracking error detection values. The corrected tracking error detector calculates corrected tracking errors for each period shorter than a sampling period, tracking error detection values being constant, from a velocity vector and a relationship between a visual axis vector and a position vector. The generator generates angular velocity command values required to drive the drivers to track the moving object using the corrected tracking errors. The controller controls the drivers so that differences between the angular velocity command values and angular velocities become zero.
摘要翻译：根据一个实施例，运动物体图像跟踪装置包括两个驱动器，相机传感器，跟踪误差检测器，角度传感器，角速度传感器，第一计算器，第二计算器，校正跟踪误差检测器，发生器和控制器。跟踪误差检测器将跟踪误差作为跟踪误差检测值从图像数据中检测作为来自视野中心的运动物体的偏移量。校正跟踪误差检测器从速度矢量和视轴向量与位置矢量之间的关系计算出比采样周期短的跟踪误差检测值为恒定的周期的校正跟踪误差。发电机产生使用纠正跟踪误差驱动司机追踪运动物体所需的角速度指令值。控制器控制驱动器，使得角速度指令值和角速度之间的差异变为零。

2. 发明授权

US08098893B2 Moving object image tracking apparatus and method 有权
标题翻译：移动物体图像跟踪装置及方法
公开(公告)号：US08098893B2
公开(公告)日：2012-01-17
申请号：US12550648
申请日：2009-08-31
申请人： Hiroaki Nakamura , Tadashi Kuroiwa
发明人： Hiroaki Nakamura , Tadashi Kuroiwa
IPC分类号： G06K9/00
CPC分类号： G06T7/246 , G06T2207/10016 , G06T2207/30232
摘要： An apparatus includes a first-computation unit computing first-angular-velocity-instruction values for driving first-and-second-rotation units to track a moving object, using a detected tracking error and a detected angles, when the moving object exists in a first range separate from a zenith by at least a preset distance, a second-computation unit computing second-angular-velocity-instruction values for driving the first-and-second-rotation units to track the moving object and avoid a zenith-singular point, using the detected angles, the detected tracking error and an estimated traveling direction, and a control unit controlling the first-and-second-rotation units to eliminate differences between the first-angular-velocity-instruction values and the angular velocities when the moving object exists in the first range, and controlling the first-and-second-rotation units to eliminate differences between the second-angular-velocity instruction values and the angular velocities when the moving object exists in a second range within the preset distance from the zenith.
摘要翻译：一种装置包括第一计算单元，当运动对象存在于一个运动对象中时，使用检测到的跟踪误差和检测到的角度来计算用于驱动第一和第二旋转单元以跟踪运动对象的第一角速度指令值第一范围与天顶分开至少预设距离，第二计算单元计算用于驱动第一和第二旋转单元以跟踪移动物体并避免天顶奇点的第二角速度指令值使用所检测的角度，检测到的跟踪误差和估计的行驶方向，以及控制单元，其控制第一和第二旋转单元以消除当移动时的第一角速度指令值和角速度之间的差异对象存在于第一范围内，并且控制第一和第二旋转单元以消除第二角速度指令值和角速度之间的差异 ving物体存在于距离天顶的预设距离内的第二范围内。

3. 发明申请

US20100246886A1 MOVING OBJECT IMAGE TRACKING APPARATUS AND METHOD 有权
标题翻译：移动对象图像跟踪装置和方法
公开(公告)号：US20100246886A1
公开(公告)日：2010-09-30
申请号：US12550648
申请日：2009-08-31
申请人： Hiroaki Nakamura , Tadashi Kuroiwa
发明人： Hiroaki Nakamura , Tadashi Kuroiwa
IPC分类号： G06K9/00
CPC分类号： G06T7/246 , G06T2207/10016 , G06T2207/30232
摘要： An apparatus includes a first-computation unit computing first-angular-velocity-instruction values for driving first-and-second-rotation units to track a moving object, using a detected tracking error and a detected angles, when the moving object exists in a first range separate from a zenith by at least a preset distance, a second-computation unit computing second-angular-velocity-instruction values for driving the first-and-second-rotation units to track the moving object and avoid a zenith-singular point, using the detected angles, the detected tracking error and an estimated traveling direction, and a control unit controlling the first-and-second-rotation units to eliminate differences between the first-angular-velocity-instruction values and the angular velocities when the moving object exists in the first range, and controlling the first-and-second-rotation units to eliminate differences between the second-angular-velocity instruction values and the angular velocities when the moving object exists in a second range within the preset distance from the zenith.
摘要翻译：一种装置包括第一计算单元，当运动对象存在于一个运动对象中时，使用检测到的跟踪误差和检测到的角度来计算用于驱动第一和第二旋转单元以跟踪运动对象的第一角速度指令值第一范围与天顶分开至少预设距离，第二计算单元计算用于驱动第一和第二旋转单元以跟踪移动物体并避免天顶奇点的第二角速度指令值使用所检测的角度，检测到的跟踪误差和估计的行驶方向，以及控制单元，其控制第一和第二旋转单元以消除当移动时的第一角速度指令值和角速度之间的差异对象存在于第一范围内，并且控制第一和第二旋转单元以消除第二角速度指令值和角速度之间的差异 ving物体存在于距离天顶的预设距离内的第二范围内。

4. 发明授权

US06984802B2 Laser beam machining device 有权
标题翻译：激光束加工装置
公开(公告)号：US06984802B2
公开(公告)日：2006-01-10
申请号：US10495781
申请日：2002-11-13
申请人： Tadashi Kuroiwa , Kenichi Ijima , Nobutaka Kobayashi
发明人： Tadashi Kuroiwa , Kenichi Ijima , Nobutaka Kobayashi
IPC分类号： B23K26/06
CPC分类号： B23K26/0608 , B23K26/067 , B23K26/382 , B23K2101/42 , B23K2103/50
摘要： A laser material processing apparatus for processing a workpiece (22) in such a way as to separate one laser light (26) into two laser beams (26a, 26b) via first polarizer (25), one laser beam being passed via the mirrors (24), the other laser beam being scanned biaxially by a first galvano scanner (29), and conduct two laser beams (26a, 26b) to a second polarizer (27) for scanning via a second galvano scanner (30), wherein an optical path is constituted such that the laser beam (26b) transmitted through the first polarizer (25) is reflected by the second polarizer (27), and the laser beam (26a) reflected by the first polarizer (25) is transmitted through the second polarizer (27).
摘要翻译：一种激光材料处理装置，用于通过第一偏振器（25）将一个激光束（26a）分离为两个激光束（26a，26b），一个激光束经由反射镜（24），另一激光束由第一电流扫描器（29）双轴扫描，并将两个激光束（26a，26b）传导到第二偏振器（27），用于经由第二电流扫描器（30）扫描，其特征在于，构成为使通过所述第一偏振片（25）透射的激光束（26b）被所述第二偏振片（27）反射的光路，由所述第一偏振片（25）反射的所述激光束（26a）透射通过第二偏振器（27）。

5. 发明申请

US20050247682A1 Laser beam machine 审中-公开
标题翻译：激光束机
公开(公告)号：US20050247682A1
公开(公告)日：2005-11-10
申请号：US10524241
申请日：2004-05-19
申请人： Tadashi Kuroiwa , Kenichi Ijima , Nobutaka Kobayashi
发明人： Tadashi Kuroiwa , Kenichi Ijima , Nobutaka Kobayashi
IPC分类号： B23K26/06 , B23K26/067 , B23K26/08
CPC分类号： B23K26/0613 , B23K26/0604 , B23K26/066 , B23K26/067 , B23K26/08 , B23K26/082
摘要： In a laser machining apparatus for machining a workpiece (13), a laser (2) emitted from an oscillator (1) is dispersed into a first laser beam (7) that is passed through a first polarizing means (6) and is reflected, via a mirror (5), by a second polarizing means (9), and a second laser beam (8) that is reflected by the first polarizing means (6), is scanned bi-axially by a first galvano-scanner (11), and is passed through the second polarizing means (9); scanning by a second galvano-scanner (12) is carried out, and a third polarizing means (15) for polarizing angle adjustment, capable of angle adjustment, is disposed before the first polarizing means (6).
摘要翻译：在用于加工工件（13）的激光加工装置中，从振荡器（1）发射的激光器（2）分散到通过第一偏振装置（6）的第一激光束（7）中并被反射，通过反射镜（5），由第二偏振装置（9）和被第一偏振装置（6）反射的第二激光束（8）由第一电流扫描器（11）双向扫描，并通过第二偏振装置（9）; 通过第二电流扫描仪（12）进行扫描，并且在第一偏振装置（6）之前设置用于角度调节的用于偏振角度调节的第三偏振装置（15）。

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