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1. 发明授权

US06088469A Identifying apparatus and method, position detecting apparatus and method, robot apparatus and color extracting apparatus 失效
公开(公告)号：US06088469A
公开(公告)日：2000-07-11
申请号：US938078
申请日：1997-09-26
申请人： Naohiro Fukumura , Osamu Hanagata , Kotaro Sabe , Makoto Inoue
发明人： Naohiro Fukumura , Osamu Hanagata , Kotaro Sabe , Makoto Inoue
IPC分类号： G06K9/46 , G06K9/00
CPC分类号： G06K9/3216 , G05D1/0246 , G06K9/46 , G06K9/4652 , G06K2009/3225
摘要： An identifying apparatus and method and a robot apparatus capable of reliably identifying other moving objects or other objects, a position detecting apparatus and method and a robot apparatus capable of accurately detecting the position of a moving object or itself within a region, and a color extracting apparatus capable of accurately extracting a desired color are difficult to be realized. Objects are provided with identifiers having different color patterns such that the color patterns are detected and identified through image processing. Also, the objects of interest are given color patterns different from each other, such that the position of the object can be detected by identifying the color pattern through image processing. Further, a plurality of wall surfaces having different colors are provided along the periphery of the region, such that the position of an object is detected on the basis of the colors of the wall surfaces through image processing. Further, a luminance level and color difference levels are sequentially detected for each of pixels to extract a color by determining whether or not the color difference levels are within a predetermined range.

2. 发明授权

US06453055B1 Identifying apparatus and method, position detecting apparatus and method, robot apparatus and color extracting apparatus 失效
标题翻译：识别装置和方法，位置检测装置和方法，机器人装置和抽色装置
公开(公告)号：US06453055B1
公开(公告)日：2002-09-17
申请号：US09328680
申请日：1999-06-09
申请人： Naohiro Fukumura , Osamu Hanagata , Kotaro Sabe , Makoto Inoue
发明人： Naohiro Fukumura , Osamu Hanagata , Kotaro Sabe , Makoto Inoue
IPC分类号： G06K900
CPC分类号： G06K9/3216 , G05D1/0246 , G06K9/46 , G06K9/4652 , G06K2009/3225
摘要： An identifying apparatus and method and a robot apparatus capable of reliably identifying other moving objects or other objects, a position detecting apparatus and method and a robot apparatus capable of accurately detecting the position of a moving object or itself within a region, and a color extracting apparatus capable of accurately extracting a desired color are difficult to be realized. Objects are provided with identifiers having different color patterns such that the color patterns are detected and identified through image processing. Also, the objects of interest are given color patterns different from each other, such that the position of the object can be detected by identifying the color pattern through image processing. Further, a plurality of wall surfaces having different colors are provided along the periphery of the region, such that the position of an object is detected on the basis of the colors of the wall surfaces through image processing. Further, a luminance level and color difference levels are sequentially detected for each of pixels to extract a color by determining whether or not the color difference levels are within a predetermined range.
摘要翻译：能够可靠地识别其他移动物体或其他物体的识别装置和方法和机器人装置，能够精确地检测区域内的移动物体或其本身的位置的位置检测装置和方法以及机器人装置，以及颜色提取能够精确地提取期望的颜色的装置难以实现。对象被提供有具有不同颜色图案的标识符，使得通过图像处理来检测和识别颜色图案。此外，感兴趣的对象被赋予彼此不同的颜色图案，使得可以通过图像处理识别颜色图案来检测对象的位置。此外，沿着该区域的周边设置具有不同颜色的多个壁表面，使得通过图像处理基于壁表面的颜色来检测物体的位置。此外，通过确定色差电平是否在预定范围内，针对每个像素顺序地检测亮度级和色差级别以提取颜色。

3. 发明授权

US07251606B2 Robot device with changing dialogue and control method therefor and storage medium 失效
标题翻译：具有改变对话和控制方法的机器人装置和存储介质
公开(公告)号：US07251606B2
公开(公告)日：2007-07-31
申请号：US10296403
申请日：2002-03-26
申请人： Rika Horinaka , Masahiro Fujita , Atsushi Okubo , Kenta Kawamoto , Gabriel Costa , Masaki Fukuchi , Osamu Hanagata , Kotaro Sabe
发明人： Rika Horinaka , Masahiro Fujita , Atsushi Okubo , Kenta Kawamoto , Gabriel Costa , Masaki Fukuchi , Osamu Hanagata , Kotaro Sabe
IPC分类号： G10L15/22
CPC分类号： G06N3/008 , B25J13/003 , G10L15/22 , G10L17/26
摘要： Sentences corresponding to internal statuses of a robot device or the like are created and uttered, thereby expressing the internal statuses. The robot device or the like comprise means for recognizing an external status, and means for generating an emotion based on the internals status, whereby a change in the emotion is reflected upon a dialogue. The internal status is not associated with a sentence, but it exists independently of the system and is always varied depending on various external inputs and internal changes of the system. Accordingly, even when the same question is made on the robot device or the like, the contents of a reply are changed depending on the internal status at that time, and a manner of providing a reply also differs depending on the internal status.
摘要翻译：创建并发出对应于机器人装置等的内部状态的句子，从而表示内部状态。机器人装置等包括用于识别外部状态的装置，以及用于基于内部状态产生情绪的装置，由此在对话中反映情绪的改变。内部状态与句子不相关，但它与系统无关，并且总是根据系统的各种外部输入和内部变化而变化。因此，即使在机器人装置等上进行同样的问题时，答复的内容根据当时的内部状态而变化，提供答复的方式也根据内部状态而不同。

4. 发明授权

US06381515B1 Robot apparatus 失效
标题翻译：机器人装置
公开(公告)号：US06381515B1
公开(公告)日：2002-04-30
申请号：US09646723
申请日：2000-09-21
申请人： Makoto Inoue , Naoyasu Hosonuma , Kyoko Furumura , Kotaro Sabe
发明人： Makoto Inoue , Naoyasu Hosonuma , Kyoko Furumura , Kotaro Sabe
IPC分类号： G06F1900
CPC分类号： G05B19/0423 , G05B2219/23417
摘要： In a robot device, its functions and performance can be improved with ease. According to the present invention, control device detachably mounted on a prescribed component unit for driving and controlling each of the component units in a prescribed state is provided and thereby, the control device can be easily exchanged for a new one. Thus the robot device in which its functions and performance can be improved can be realized. Further, according to the present invention, a robot device comprises storing device detachably mounted on the prescribed component unit for storing desired behavior type information and thereby, the storing device can be readily exchanged for storing device storing behavior type information different from the behavior type information stored in the former storing device. Thus, the robot device in which its functions and performance can be improved with ease can be realized.
摘要翻译：在机器人装置中，可以容易地改善其功能和性能。根据本发明，提供了可拆卸地安装在规定的部件单元上的控制装置，用于驱动和控制处于规定状态的每个部件单元，从而可以容易地更换控制装置。因此，可以实现其功能和性能可以提高的机器人装置。此外，根据本发明，机器人装置包括可拆卸地安装在规定的部件单元上的存储装置，用于存储期望的行为类型信息，从而可以容易地存储存储装置，以存储与行为类型信息不同的行为类型信息存储在前一个存储设备中。因此，可以实现其功能和性能可以容易地提高的机器人装置。

5. 发明授权

US07149603B2 Robot apparatus 失效
公开(公告)号：US07149603B2
公开(公告)日：2006-12-12
申请号：US11098926
申请日：2005-04-04
申请人： Kotaro Sabe , Masahiro Fujita
发明人： Kotaro Sabe , Masahiro Fujita
IPC分类号： G05F19/00
CPC分类号： G06N3/008 , A63H11/00 , B25J11/0005
摘要： A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

6. 发明授权

US07146252B2 Robot apparatus 失效
标题翻译：机器人装置
公开(公告)号：US07146252B2
公开(公告)日：2006-12-05
申请号：US11099394
申请日：2005-04-05
申请人： Kotaro Sabe , Masahiro Fujita
发明人： Kotaro Sabe , Masahiro Fujita
IPC分类号： G05F19/00
CPC分类号： G06N3/008 , A63H11/00 , B25J11/0005
摘要： A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.
摘要翻译：提供了一种机器人装置。 CPU15基于从触摸传感器20提供的信号来确定感觉模型的输出.CPU 15还解密感觉模型的输出值是否超过预先设定的阈值。如果CPU发现输出值超过预定阈值，则验证存储卡13中是否有空闲区域。如果CPU发现存储卡13中有空的区域，则会导致从CCD摄像机11捕获的图像数据被存储在存储卡13的空闲区域中。此时，CPU15将存储卡13中的时间和日期数据和感觉参数与图像相关联数据。 CPU15还按照感觉模型输出的衰减幅度的顺序重新排列存储在存储卡13中的图像数据。

7. 发明申请

US20050197741A1 Robot apparatus 失效
公开(公告)号：US20050197741A1
公开(公告)日：2005-09-08
申请号：US11099380
申请日：2005-04-05
申请人： Kotaro Sabe , Masahiro Fujita
发明人： Kotaro Sabe , Masahiro Fujita
IPC分类号： A63F13/00 , A63H11/00 , B25J5/00 , B25J9/18 , B25J13/00 , B25J13/08 , G06N3/00 , G06F19/00
CPC分类号： G06N3/008 , A63H11/00 , B25J11/0005
摘要： A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

8. 发明申请

US20050187662A1 Robot apparatus 审中-公开
标题翻译：机器人装置
公开(公告)号：US20050187662A1
公开(公告)日：2005-08-25
申请号：US11099139
申请日：2005-04-04
申请人： Kotaro Sabe , Masahiro Fujita
发明人： Kotaro Sabe , Masahiro Fujita
IPC分类号： A63F13/00 , A63H11/00 , B25J5/00 , B25J9/18 , B25J13/00 , B25J13/08 , G06N3/00 , G06F19/00
CPC分类号： G06N3/008 , A63H11/00 , B25J11/0005
摘要： A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.
摘要翻译：提供了一种机器人装置。 CPU15基于从触摸传感器20提供的信号确定感觉模型的输出。 CPU15还解密感觉模型的输出值是否超过预先设定的阈值。如果CPU发现输出值超过预定阈值，则验证存储卡13中是否有空的区域。如果CPU发现存储卡13中存在任何空闲区域，则将从CCD摄像机11捕获的图像数据存储在存储卡13的空闲区域中。此时，CPU15与图像数据相关联地导致存储卡13中的时间和日期数据和感觉参数。 CPU15还按照感觉模型输出的衰减幅度的顺序重新排列存储在存储卡13中的图像数据。

9. 发明申请

US20050177278A1 Robot apparatus 失效
公开(公告)号：US20050177278A1
公开(公告)日：2005-08-11
申请号：US11099394
申请日：2005-04-05
申请人： Kotaro Sabe , Masahiro Fujita
发明人： Kotaro Sabe , Masahiro Fujita
IPC分类号： A63F13/00 , A63H11/00 , B25J5/00 , B25J9/18 , B25J13/00 , B25J13/08 , G06N3/00 , G06F19/00
CPC分类号： G06N3/008 , A63H11/00 , B25J11/0005
摘要： A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

10. 发明申请

US20050171643A1 Robot apparatus 失效
公开(公告)号：US20050171643A1
公开(公告)日：2005-08-04
申请号：US11098933
申请日：2005-04-05
申请人： Kotaro Sabe , Masahiro Fujita
发明人： Kotaro Sabe , Masahiro Fujita
IPC分类号： A63F13/00 , A63H11/00 , B25J5/00 , B25J9/18 , B25J13/00 , B25J13/08 , G06N3/00 , G06F19/00
CPC分类号： G06N3/008 , A63H11/00 , B25J11/0005
摘要： A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

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