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1. 发明授权

US08294769B2 Surveying device and automatic tracking method 有权
标题翻译：测量装置和自动跟踪方法
公开(公告)号：US08294769B2
公开(公告)日：2012-10-23
申请号：US12456822
申请日：2009-06-22
申请人： Hitoshi Otani , Kaoru Kumagai
发明人： Hitoshi Otani , Kaoru Kumagai
IPC分类号： H04N7/18 , G06K9/00
CPC分类号： G01C15/00 , E02F3/847 , G01C15/002
摘要： A surveying device, comprising a first image pickup unit for projecting a laser beam and for receiving a reflection light from a target, a second image pickup unit for acquiring an image including the target, drive units for shifting collimating directions of the image pickup units, an image processing unit for processing images taken by the image pickup units, and a control arithmetic unit for controlling the drive units so that the image pickup units are directed toward the target is disclosed. The image processing of the image by the first image pickup unit is a light spot detection processing. The image processing of the image by the second image pickup unit is an image matching with a template image. The control arithmetic unit controls the drive units so that the target is tracked based on the result of the light spot detection processing or the image matching.
摘要翻译：一种测量装置，包括用于投射激光束并用于接收来自目标的反射光的第一图像拾取单元，用于获取包括目标的图像的第二图像拾取单元，用于移动图像拾取单元的准直方向的驱动单元，公开了一种图像处理单元，用于处理由图像拾取单元拍摄的图像，以及控制运算单元，用于控制驱动单元，使得图像拾取单元指向目标。由第一图像拾取单元进行的图像的图像处理是光点检测处理。由第二图像拾取单元进行的图像的图像处理是与模板图像匹配的图像。控制运算单元基于光点检测处理或图像匹配的结果来控制驱动单元，从而跟踪目标。

2. 发明授权

US08224030B2 Position measuring method and position measuring instrument 有权
标题翻译：位置测量方法和位置测量仪
公开(公告)号：US08224030B2
公开(公告)日：2012-07-17
申请号：US12825750
申请日：2010-06-29
申请人： Hitoshi Otani , Kaoru Kumagai
发明人： Hitoshi Otani , Kaoru Kumagai
IPC分类号： G06K9/00
CPC分类号： G01C21/005 , G01C11/30
摘要： The present invention provides a position measuring instrument, comprising a GPS position detecting device 7, an image pickup device 9 for continuously taking a digital image, a laser distance measuring device 8, and a measuring instrument main unit 2, wherein the GPS position detecting device measures positional data at a first point and a second point, the image pickup device continuously takes digital images on sceneries in surroundings during a process where the image pickup device moves from the first point, which is a known point, via the second point to a third point, which is an unknown point, the laser distance measuring device measures a distance to the object of image pickup in parallel to the image pickup by the image pickup device, and the measuring instrument main unit generates tracking point from the image obtained at the first point, sequentially identifies the tracking points from the tracing of points generated on the images to be acquired continuously, calculates three-dimensional positional data of the tracking points of the images acquired at the first point and the images acquired at the second point from the positional data at the first point and the second point, compares the result of calculation with the result of distance measurement by the laser distance measuring device, adopts the result of calculation within a predetermined limit of errors with respect to the measurement results as positional data of the tracking point, and calculates positional data of the third point from the positional data of the tracking point.
摘要翻译：本发明提供了一种位置测量仪器，包括GPS位置检测装置7，用于连续拍摄数字图像的图像拾取装置9，激光测距装置8和测量仪器主单元2，其中GPS位置检测装置在第一点和第二点处测量位置数据，图像拾取装置在图像拾取装置从已知点的第一点经由第二点移动到第一点的处理期间，在环境中连续地拍摄数字图像第三点，这是未知点，激光测距装置测量与摄像装置的图像拾取并行的图像拾取对象的距离，并且测量仪器主单元从根据图像拾取装置获得的图像生成跟踪点第一点，从连续地获取的图像上生成的点的跟踪顺序地识别跟踪点，计算th 在第一点获取的图像的跟踪点的再维度位置数据和在第一点和第二点处的位置数据在第二点获取的图像的比较结果，将计算结果与距离测量的结果进行比较激光距离测量装置将相对于测量结果的预定的误差范围内的计算结果作为跟踪点的位置数据，并根据跟踪点的位置数据计算第三点的位置数据。

3. 发明申请

US20120162360A1 Wide-Angle Image Pickup Unit And Measuring Device 有权
标题翻译：广角图像拾取单元和测量装置
公开(公告)号：US20120162360A1
公开(公告)日：2012-06-28
申请号：US13393354
申请日：2010-09-08
申请人： Fumio Ohtomo , Kaoru Kumagai , Hitoshi Otani
发明人： Fumio Ohtomo , Kaoru Kumagai , Hitoshi Otani
IPC分类号： H04N7/00 , G06F3/041 , H04N13/02
CPC分类号： G01C11/06 , G03B15/00 , H04N13/239
摘要： The invention provides a wide-angle image pickup unit, comprising at least two cameras (4a and 4b) to take digital images, wherein the two cameras are arranged in such a manner that optical axes (11a and 11b) of the two cameras cross perpendicularly each other on a same plane and images of wide field angle α with the crossing point O as a center enable to be acquired, and wherein parts of field angles of the two cameras are superimposed on each other and an overlapping portion is formed by the two images superimposed on each other, and stereoscopic measurement can be performed based on the two images of the overlapping portion.
摘要翻译：本发明提供了一种广角摄像单元，包括至少两个用于拍摄数字图像的照相机（4a和4b），其中两个照相机以两个照相机的光轴（11a和11b）垂直交叉的方式排列彼此在同一平面上，并且可以获取以交点O为中心的宽视场角α的图像，并且其中两个照相机的视场角的一部分彼此重叠，并且由两者形成重叠部分可以叠加在一起的图像，并且可以基于重叠部分的两个图像来执行立体测量。

4. 发明申请

US20110158475A1 Position Measuring Method And Position Measuring Instrument 有权
标题翻译：位置测量方法和位置测量仪器
公开(公告)号：US20110158475A1
公开(公告)日：2011-06-30
申请号：US12825750
申请日：2010-06-29
申请人： Hitoshi Otani , Kaoru Kumagai
发明人： Hitoshi Otani , Kaoru Kumagai
IPC分类号： G06K9/78 , G01C3/08
CPC分类号： G01C21/005 , G01C11/30
摘要： The present invention provides a position measuring instrument, comprising a GPS position detecting device 7, an image pickup device 9 for continuously taking a digital image, a laser distance measuring device 8, and a measuring instrument main unit 2, wherein the GPS position detecting device measures positional data at a first point and a second point, the image pickup device continuously takes digital images on sceneries in surroundings during a process where the image pickup device moves from the first point, which is a known point, via the second point to a third point, which is an unknown point, the laser distance measuring device measures a distance to the object of image pickup in parallel to the image pickup by the image pickup device, and the measuring instrument main unit generates tracking point from the image obtained at the first point, sequentially identifies the tracking points from the tracing of points generated on the images to be acquired continuously, calculates three-dimensional positional data of the tracking points of the images acquired at the first point and the images acquired at the second point from the positional data at the first point and the second point, compares the result of calculation with the result of distance measurement by the laser distance measuring device, adopts the result of calculation within a predetermined limit of errors with respect to the measurement results as positional data of the tracking point, and calculates positional data of the third point from the positional data of the tracking point.
摘要翻译：本发明提供了一种位置测量仪器，包括GPS位置检测装置7，用于连续拍摄数字图像的图像拾取装置9，激光测距装置8和测量仪器主单元2，其中GPS位置检测装置在第一点和第二点处测量位置数据，图像拾取装置在图像拾取装置从已知点的第一点经由第二点移动到第一点的处理期间，在环境中连续地拍摄数字图像第三点，这是未知点，激光测距装置测量与摄像装置的图像拾取并行的图像拾取对象的距离，并且测量仪器主单元从根据图像拾取装置获得的图像生成跟踪点第一点，从连续地获取的图像上生成的点的跟踪顺序地识别跟踪点，计算th 在第一点获取的图像的跟踪点的再维度位置数据和在第一点和第二点处的位置数据在第二点获取的图像的比较结果，将计算结果与距离测量的结果进行比较激光距离测量装置将相对于测量结果的预定的误差范围内的计算结果作为跟踪点的位置数据，并根据跟踪点的位置数据计算第三点的位置数据。

5. 发明授权

US08412418B2 Industrial machine 有权
标题翻译：工业机械
公开(公告)号：US08412418B2
公开(公告)日：2013-04-02
申请号：US12387971
申请日：2009-05-11
申请人： Kaoru Kumagai , Atsushi Tanahashi , Hitoshi Otani
发明人： Kaoru Kumagai , Atsushi Tanahashi , Hitoshi Otani
IPC分类号： G06F19/00
CPC分类号： G01C11/06 , E02F3/7618 , E02F3/847 , G01S5/163
摘要： An industrial machine comprises an industrial machine main unit, a construction working implement installed on the industrial machine main unit, two cameras each mounted at a known position with respect to a machine center of the industrial machine main unit, at least three targets being installed on the working implement so that the targets are within visual field of each of the two cameras, and an arithmetic processing device. The arithmetic processing device is used for extracting the images of at least three targets in common to the images from stereo-images taken by the two cameras, for obtaining a three-dimensional position of each target image, and for calculating a position and a posture of the working implement with respect to the industrial machine main unit based on the three-dimensional position obtained.
摘要翻译：一种工业机械包括工业机械主体，安装在工业机器主体上的施工作业工具，两台相机相对于工业机器主机的机器中心安装在已知位置的两个摄像机，至少安装三个目标所述工作装置使得所述目标在所述两个摄像机中的每一个的视野内，以及运算处理装置。算术处理装置用于从由两个照相机拍摄的立体图像中共同提取至少三个目标的图像，以获得每个目标图像的三维位置，并且用于计算位置和姿势基于获得的三维位置的工业机器主体的工作装置。

6. 发明申请

US20100121540A1 Industrial machine 有权
标题翻译：工业机械
公开(公告)号：US20100121540A1
公开(公告)日：2010-05-13
申请号：US12387971
申请日：2009-05-11
申请人： Kaoru Kumagai , Atsushi Tanahashi , Hitoshi Otani
发明人： Kaoru Kumagai , Atsushi Tanahashi , Hitoshi Otani
IPC分类号： G06F19/00
CPC分类号： G01C11/06 , E02F3/7618 , E02F3/847 , G01S5/163
摘要： The present invention provides an industrial machine, which comprises an industrial machine main unit 14, a construction working implement 8 installed on the industrial machine main unit, two cameras 18 and 19 each mounted at a known position with respect to a machine center of the industrial machine main unit, at least three targets 21 being installed on the working implement so that the targets are within visual field of each of the two cameras, and an arithmetic processing device 23 for extracting the images of at least three targets in common to the images from stereo-images taken by the two cameras, for obtaining a three-dimensional position of each target image, and for calculating a position and a posture of the working implement with respect to the industrial machine main unit based on the three-dimensional position obtained.
摘要翻译：本发明提供一种工业机械，其包括工业机械主单元14，安装在工业机械主单元上的施工作业工具8，两个摄像机18和19，每个相机18和19相对于工业机器的机器中心安装在已知位置机器主单元，至少三个目标21安装在工作工具上，使得目标在两个相机中的每一个的视野内;以及算术处理装置23，用于将至少三个目标的图像共同地提取到图像从由两个照相机拍摄的立体图像中，获得每个目标图像的三维位置，并且基于获得的三维位置来计算相对于工业机器主单元的工作机器的位置和姿势。

7. 发明申请

US20100007739A1 Surveying device and automatic tracking method 有权
标题翻译：测量装置和自动跟踪方法
公开(公告)号：US20100007739A1
公开(公告)日：2010-01-14
申请号：US12456822
申请日：2009-06-22
申请人： Hitoshi Otani , Kaoru Kumagai
发明人： Hitoshi Otani , Kaoru Kumagai
IPC分类号： H04N7/18
CPC分类号： G01C15/00 , E02F3/847 , G01C15/002
摘要： The present invention provides a surveying device, comprising a first image pickup unit 11 for projecting a laser beam and for receiving a reflection light from a target supported by a support member, a second image pickup unit 12 for acquiring an image including the target and with a field angle wider than a field angle of the first image pickup unit, drive units 15 and 17 for shifting collimating directions of the first image pickup unit and the second image pickup unit in a horizontal direction and in a vertical direction respectively, an image processing unit 24 for processing images taken by the first image pickup unit and by the second image pickup unit, and a control arithmetic unit 22 for controlling said drive units so that the first image pickup unit and the second image pickup unit are directed toward the target based on the image processing of the image taken by the first image pickup unit and on the image processing of the image taken by the second image pickup unit, wherein the image processing of the image by the first image pickup unit is a light spot detection processing to obtain a light spot from the target, wherein the image processing of the image by the second image pickup unit is an image matching with a template image as set up according to the image of said support member, and wherein the control arithmetic unit controls the drive units so that a tracking of the target is performed based on the either result of said light spot detection processing or the result of said image matching.
摘要翻译：本发明提供了一种测量装置，包括：第一图像拾取单元11，用于投射激光束并用于接收来自由支撑构件支撑的目标的反射光;第二图像拾取单元12，用于获取包括目标的图像，并且具有比第一图像拾取单元的场角更宽的场角，分别在水平方向和垂直方向上移动第一摄像单元和第二摄像单元的准直方向的驱动单元15和17，图像处理用于处理由第一图像拾取单元和第二图像拾取单元拍摄的图像的单元24，以及用于控制所述驱动单元以使得第一图像拾取单元和第二图像拾取单元指向基于目标的控制运算单元22 对由第一图像拾取单元拍摄的图像的图像处理和由第二图像拾取单元拍摄的图像的图像处理，其中在由第一图像拾取单元进行的图像的图像处理中，是从目标获得光点的光点检测处理，其中，第二图像拾取单元的图像的图像处理是与模板图像匹配的图像，根据所述支撑构件的图像设置，并且其中所述控制运算单元控制所述驱动单元，使得基于所述光点检测处理的所述结果或所述图像匹配的结果来执行所述目标的跟踪。

8. 发明授权

US09733080B2 Wide-angle image pickup unit and measuring device 有权
公开(公告)号：US09733080B2
公开(公告)日：2017-08-15
申请号：US13393354
申请日：2010-09-08
申请人： Fumio Ohtomo , Kaoru Kumagai , Hitoshi Otani
发明人： Fumio Ohtomo , Kaoru Kumagai , Hitoshi Otani
IPC分类号： H04N7/00 , H04N13/04 , G01C11/06 , G03B15/00 , H04N13/02
CPC分类号： G01C11/06 , G03B15/00 , H04N13/239
摘要： The invention provides a wide-angle image pickup unit, comprising at least two cameras (4a and 4b) to take digital images, wherein the two cameras are arranged in such a manner that optical axes (11a and 11b) of the two cameras cross perpendicularly each other on a same plane and images of wide field angle α with the crossing point O as a center enable to be acquired, and wherein parts of field angles of the two cameras are superimposed on each other and an overlapping portion is formed by the two images superimposed on each other, and stereoscopic measurement can be performed based on the two images of the overlapping portion.

9. 发明申请

US20120162376A1 Three-Dimensional Data Preparing Method And Three-Dimensional Data Preparing Device 审中-公开
标题翻译：三维数据准备方法和三维数据准备装置
公开(公告)号：US20120162376A1
公开(公告)日：2012-06-28
申请号：US13393347
申请日：2010-09-27
申请人： Fumio Ohtomo , Kaoru Kumagai , Hitoshi Otani
发明人： Fumio Ohtomo , Kaoru Kumagai , Hitoshi Otani
IPC分类号： H04N13/02
CPC分类号： G01C15/00 , G01C11/02 , G01C21/00 , G06T7/593 , G06T7/74 , G06T2207/10012 , G06T2207/30252
摘要： The invention provides a three-dimensional data preparing method, using image pickup units 8a and 8b to take an image of scenery in the surroundings and to acquire digital image data, comprising a step of continuously taking images of scenery in the surroundings by the image pickup unit while moving, a step of acquiring the images taken at predetermined time interval as images for measurement, a step of extracting a landmark from the image for measurement through pattern recognition by using the landmark as a template, a step of carrying out a matching of two adjacent images for measurement as time passes, and a step of obtaining three-dimensional coordinates of a point to take the image for measurement based on three-dimensional coordinates of a landmark of the image for measurement where three-dimensional coordinates of the landmark included at least in the first one image for measurement is already known.
摘要翻译：本发明提供一种三维数据准备方法，使用图像拾取单元8a和8b拍摄环境中的风景图像并获取数字图像数据，包括通过图像拾取器连续拍摄周围环境中的风景的步骤在步骤中获取以预定时间间隔拍摄的图像作为用于测量的图像的步骤，通过使用该地标作为模板从通过图案识别的测量图像提取地标的步骤，执行匹配的步骤用于随时间测量的两个相邻的图像，以及基于包括的地标的三维坐标的基准的测量图像的里程碑的三维坐标获得用于测量图像的点的三维坐标的步骤至少在第一个图像中进行测量是已知的。

10. 发明授权

US08741969B2 Anti-adhesion membrane 有权
标题翻译：防粘膜
公开(公告)号：US08741969B2
公开(公告)日：2014-06-03
申请号：US11989701
申请日：2006-08-02
申请人： Hitoshi Otani , Shojiro Matsuda , Tsuguyoshi Taira , Noriyuki Morikawa
发明人： Hitoshi Otani , Shojiro Matsuda , Tsuguyoshi Taira , Noriyuki Morikawa
IPC分类号： A61K47/42 , C07K1/00 , C07K14/78 , A61P19/04
CPC分类号： A61K47/42 , A61L31/045 , C07K1/00 , C07K14/78
摘要： An object of the present invention is to provide an anti-adhesion membrane that has no toxicity to a living body, has flexibility allowing itself to fit an affected part as a hydrated gel, is uniformly crosslinked, and is immediately absorbed in a living body after maintaining its shape in the living body for a certain period of time.The present invention provides anti-adhesion material, which comprises a thermally crosslinked gelatin film, and has a water content of 60 to 85% calculated by the following formula (1): water content (%)=[(Ws−Wd)/Ws]×100(%) (1), in the formula (1), Ws representing a weight (wet weight) of the anti-adhesion material immersed in a phosphate buffered saline solution at a temperature of 25° C. for one hour, and Wd representing a weight (dry weight) of the anti-adhesion material dried completely using a vacuum drying apparatus.
摘要翻译：本发明的目的是提供一种对生物体无毒性的抗粘附膜，具有使其自身适合作为水合凝胶的患部的柔软性，均匀交联，并且立即被吸收在生物体内保持其在生命体中的形状一段时间。本发明提供一种抗粘连材料，其包含热交联明胶膜，并且通过下式（1）计算的水含量为60-85％：水含量（％）= [（Ws-Wd）/ Ws ]×100（％）（1）在式（1）中，Ws表示浸渍在磷酸盐缓冲盐水溶液中的温度为25℃的抗粘附材料的重量（湿重）1小时， Wd表示使用真空干燥装置完全干燥的防粘附材料的重量（干重）。

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