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1. 发明申请

US20070276541A1 Mobile robot, and control method and program for the same 审中-公开
标题翻译：移动机器人，以及控制方法和程序相同
公开(公告)号：US20070276541A1
公开(公告)日：2007-11-29
申请号：US11512338
申请日：2006-08-30
申请人： Naoyuki Sawasaki
发明人： Naoyuki Sawasaki
IPC分类号： G06F19/00
CPC分类号： G05D1/0246 , G05D1/0272
摘要： A path planning unit plans a travel path to a destination based on an estimated current travel position and outputs a travel command to a travel control unit to perform travel control so as to follow the travel path. A travel position prediction unit accumulates a travel distance, which is detected by a wheel turning-angle sensor, to the estimated current travel position so as to predict the current travel position. A predictive image generating unit generates a plurality of predictive edge images which are composed of edge information and captured when a camera is virtually disposed at the predicted current travel position and candidate positions in the vicinity of it based on layout information of the environment, and an edge image generating unit generates an actual edge image from the actual image captured by the camera. A position estimation unit compares the edge image with the plurality of predictive edge images, estimates the candidate position of the predictive edge image at which the degree of similarity is the maximum, and updates the travel position of the path planning unit and the travel position prediction unit.
摘要翻译：路径规划单元基于估计的当前行驶位置来计划到目的地的行驶路径，并且向行驶控制单元输出行驶命令，以执行行驶控制，以跟随行驶路径。行驶位置预测单元将由车轮转角传感器检测出的行驶距离累积到所述估计的当前行驶位置，以预测当前行驶位置。预测图像生成单元生成由边缘信息构成的多个预测边缘图像，并且在摄像机基于环境的布局信息虚拟地设置在预测的当前行驶位置和其附近的候选位置时捕获的预测边缘图像，边缘图像生成单元从由相机拍摄的实际图像生成实际边缘图像。位置估计单元将边缘图像与多个预测边缘图像进行比较，估计相似度最大的预测边缘图像的候选位置，并更新路径规划单元的行进位置和行驶位置预测单元。

2. 发明授权

US5838365A Tracking apparatus for tracking image in local region 失效
标题翻译：用于跟踪本地区域图像的设备
公开(公告)号：US5838365A
公开(公告)日：1998-11-17
申请号：US521076
申请日：1995-08-29
申请人： Naoyuki Sawasaki , Masahiko Sato
发明人： Naoyuki Sawasaki , Masahiko Sato
IPC分类号： G06T1/60 , G06F17/15 , G06T7/20 , G01S7/00
CPC分类号： G06T7/202 , G06F17/153 , G06T7/204 , G06T2207/10016
摘要： A local region image tracking apparatus continuously tracks an arbitrary local region within a search image that is described by search image data by comparing the search image data to be subjected to a tracking process out of input image data picked up by image pickup means with reference image data related to the arbitrary local region. The local region image tracking apparatus includes an image data bus transferring the input image data from the image pickup means, and a plurality of correlation tracking processors coupled in parallel to the image data bus and respectively capable of independently carrying out the tracking process with respect to at least one search image, where the tracking process with respect to one or a plurality of search images is distributively carried out by the correlation tracking processors.
摘要翻译：局部区域图像跟踪装置通过将由图像拾取装置拾取的输入图像数据与参考图像进行比较来跟踪处理的搜索图像数据，连续地跟踪由搜索图像数据描述的搜索图像内的任意局部区域与任意本地区域相关的数据。本地区域图像跟踪装置包括从图像拾取装置传送输入图像数据的图像数据总线和与图像数据总线并联耦合的多个相关跟踪处理器，并且分别能够相对于图像数据总线独立地执行跟踪处理至少一个搜索图像，其中关于一个或多个搜索图像的跟踪处理由相关跟踪处理器分发执行。

3. 发明授权

US5617335A System for and method of recognizating and tracking target mark 失效
标题翻译：识别和跟踪目标标记的系统和方法
公开(公告)号：US5617335A
公开(公告)日：1997-04-01
申请号：US588320
申请日：1996-01-18
申请人： Masayoshi Hashima , Fumi Hasegawa , Keiju Okabayashi , Ichiro Watanabe , Shinji Kanda , Naoyuki Sawasaki , Yuichi Murase
发明人： Masayoshi Hashima , Fumi Hasegawa , Keiju Okabayashi , Ichiro Watanabe , Shinji Kanda , Naoyuki Sawasaki , Yuichi Murase
IPC分类号： B25J9/16 , G01S3/786 , G01S5/16 , G05D1/02 , G06K9/46 , G06T7/20 , G01S5/00
CPC分类号： G06K9/4647 , B25J9/1697 , B64G1/646 , G01S3/7864 , G01S5/163 , G06K9/3216 , G06T7/2033 , G05B2219/39387 , G05B2219/39397 , G05B2219/40613 , G06K2009/3225
摘要： A system for and a method of recognizing and tracking a target mark with a video camera is disclosed. The system includes a target mark (10) disposed on an object (1) and composed of a black circle and a white triangle mounted centrally on the black circle and three-dimensionally shifted from the black circle, a video camera (20) for imaging the target mark (10), a robot (30) supporting the video camera (20) and movable in directions with six degrees of freedom, an image processor (40) for processing image data of the target mark which is produced by the video camera (20), a shift calculating unit (50) for detecting a shift of the target mark (10) from projected histogram information of the target mark (10) which is produced by the image processor (40), and a robot controller (60) for controlling movement of the robot depending on the shift to enable the video camera (20) to track the target mark (10). The system is capable of tracking the target mark (20) attached to the object (1) on a real-time basis. Mark recognizing apparatus capable of accurately recognizing target marks of other shapes is also disclosed.
摘要翻译：公开了一种使用摄像机识别和跟踪目标标记的系统和方法。该系统包括设置在物体（1）上并由黑色圆圈和白色三角形组成的目标标记（10），其安装在黑色圆圈的中心并从黑色圆圈三维位移，用于成像的摄像机（20）所述目标标记（10），支持所述摄像机（20）并且能够以六自由度的方向移动的机器人（30），用于处理由所述摄像机产生的所述目标标记的图像数据的图像处理器（20），用于根据由图像处理器（40）产生的目标标记（10）的投影直方图信息和机器人控制器（60）检测目标标记（10）的偏移的移位计算单元（50）），用于根据移动来控制机器人的运动，以使得摄像机（20）能够跟踪目标标记（10）。该系统能够实时跟踪附接到对象（1）的目标标记（20）。还公开了能够准确地识别其他形状的目标标记的标记识别装置。

4. 发明授权

US07120519B2 Remote-controlled robot and robot self-position identification method 有权
标题翻译：遥控机器人和机器人自定位识别方法
公开(公告)号：US07120519B2
公开(公告)日：2006-10-10
申请号：US10978439
申请日：2004-11-02
申请人： Keiju Okabayashi , Miwa Okabayashi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
发明人： Keiju Okabayashi , Miwa Okabayashi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
IPC分类号： G06F19/00
CPC分类号： G05D1/0038 , G05D1/0229 , G05D1/0242 , G05D1/0251 , G05D1/0272 , G05D1/0274 , G05D2201/0207 , G06K9/00664 , G06T7/74 , G06T2200/32 , G06T2207/20021 , G06T2207/30244
摘要： A remotely controlled robot comprises a unit storing the layout plan of a building, a unit receiving a position remotely designated in the layout plan from a remote location and a unit controlling the travel of the robot to the designated position. A self-position identification method is implemented by a robot with a camera whose shooting direction can be changed. The robot takes in advance a panoramic picture of a room where the robot may travel, generates a reference picture by extracting a plurality of block pictures from the panoramic picture and identifies a room where the robot is located, by applying correlation and DP matching, using both a picture taken in the room where the robot is located and the reference picture.
摘要翻译：遥控机器人包括存储建筑物的布局图的单元，从远程位置接收在布局图中远程指定的位置的单元和控制机器人到指定位置的行进的单元。自动位置识别方法由具有拍摄方向可改变的相机的机器人实现。机器人预先提取机器人可以行进的房间的全景照片，通过从全景图像中提取多个块图像并通过应用相关性和DP匹配来识别机器人所在的房间来生成参考图像，使用在机器人所在的房间中拍摄的照片和参考图片。

5. 发明申请

US20060113881A1 FLUSH MOUNTED OVERHEAD DISPLAY 审中-公开
标题翻译：冲洗安装显示
公开(公告)号：US20060113881A1
公开(公告)日：2006-06-01
申请号：US10904141
申请日：2004-10-26
申请人： Jeff Donovan , Miwa Okabayshi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
发明人： Jeff Donovan , Miwa Okabayshi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
IPC分类号： A47B67/02 , G06F1/16 , H04N5/64
CPC分类号： B60R11/0235 , B60R2011/0028 , B60R2011/0045 , B60R2011/0082 , B60R2011/0084 , B60R2011/0085
摘要： An automotive entertainment assembly is provided including a vehicle roof and a headliner. The headliner provides a substantially uniform internal surface. A mounting frame assembly is positioned between the headliner and the vehicle roof. A circuit board is mounted to the mounting frame assembly. A multi-media display assembly is rotatably mounted to the mounting frame assembly and includes an upper panel edge, a lower panel edge, a pair of panel side edges. The display assembly is rotatable between a stored position and a deployed position. The multi-media display assembly includes a rear display panel surface substantially flush with the uniform internal surface when in the stored position A flexible cable provides communication between the circuit board and the multi-media display assembly.
摘要翻译：提供了一种汽车娱乐组件，包括车顶和车顶篷。顶篷提供基本均匀的内表面。安装框架组件位于顶篷和车顶之间。电路板安装到安装框架组件。多媒体显示组件可旋转地安装到安装框架组件，并且包括上面板边缘，下面板边缘，一对面板侧边缘。显示组件可在存储位置和展开位置之间旋转。多媒体显示器组件包括当处于存储位置时基本上与均匀内表面齐平的后显示面板表面。柔性电缆提供电路板和多媒体显示组件之间的通信。

6. 发明授权

US07290707B2 Tele-inventory system, and in-shop terminal and remote management apparatus for the system 有权
标题翻译：远程库存系统，以及系统的店内终端和远程管理设备
公开(公告)号：US07290707B2
公开(公告)日：2007-11-06
申请号：US09982925
申请日：2001-10-22
申请人： Naoyuki Sawasaki
发明人： Naoyuki Sawasaki
IPC分类号： G06Q90/00
CPC分类号： G06Q10/087 , G06Q10/0875
摘要： A tele-inventory system for inventorying various kinds of commodities in a shop by an operator from a remote management apparatus installed remotely from the shop, includes, at shop, a camera for taking images of object commodities to be inventoried, a image-transmitter for transmitting the taken images of the object commodities to the remote management apparatus, and, at the remote management apparatus, an image-receiver for receiving the taken images of the object commodities from the image-transmitter and display for displaying the taken images of the object commodities, whereby the operator can make an inventory of the object commodities at the remote management apparatus with consulting the taken images of the object commodities which images have been displayed on the display. With this system, it is possible to inventory commodities sold and stocked in a department store or a convenience store from a remote place.
摘要翻译：一种用于从操作者从远程管理装置从商店安装的用于存储商店中的各种商品的远程库存系统，在商店中包括用于拍摄要被存储的对象商品的图像的照相机，用于将对象商品的拍摄图像发送到远程管理装置，并且在远程管理装置处，用于从图像发送器接收对象商品的拍摄图像的图像接收器和用于显示被拍摄对象的拍摄图像的显示商品，由此操作者可以通过查看已经在显示器上显示的图像的对象商品的拍摄图像来在远程管理装置处对目标商品进行盘点。通过这个系统，可以从偏远地方的百货公司或便利商店出售和库存商品。

7. 发明申请

US20050071047A1 Remote-controlled robot and robot self-position identification method 有权
标题翻译：遥控机器人和机器人自定位识别方法
公开(公告)号：US20050071047A1
公开(公告)日：2005-03-31
申请号：US10978439
申请日：2004-11-02
申请人： Keiju Okabayashi , Miwa Okabayashi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
发明人： Keiju Okabayashi , Miwa Okabayashi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
IPC分类号： G01C15/00 , G01S5/16 , G05D1/00 , G05D1/02 , G06K9/00 , G06K9/64 , G06T7/00 , G06F19/00
CPC分类号： G05D1/0038 , G05D1/0229 , G05D1/0242 , G05D1/0251 , G05D1/0272 , G05D1/0274 , G05D2201/0207 , G06K9/00664 , G06T7/74 , G06T2200/32 , G06T2207/20021 , G06T2207/30244
摘要： A remotely controlled robot comprises a unit storing the layout plan of a building, a unit receiving a position remotely designated in the layout plan from a remote location and a unit controlling the travel of the robot to the designated position. A self-position identification method is implemented by a robot with a camera whose shooting direction can be changed. The robot takes in advance a panoramic picture of a room where the robot may travel, generates a reference picture by extracting a plurality of block pictures from the panoramic picture and identifies a room where the robot is located, by applying correlation and DP matching, using both a picture taken in the room where the robot is located and the reference picture.
摘要翻译：遥控机器人包括存储建筑物的布局图的单元，从远程位置接收在布局图中远程指定的位置的单元和控制机器人到指定位置的行进的单元。自动位置识别方法由具有拍摄方向可改变的相机的机器人实现。机器人预先提取机器人可以行进的房间的全景照片，通过从全景图像中提取多个块图像并通过应用相关性和DP匹配来识别机器人所在的房间来生成参考图像，使用在机器人所在的房间中拍摄的照片和参考图片。

8. 发明授权

US06721462B2 Image processing unit 有权
标题翻译：图像处理单元
公开(公告)号：US06721462B2
公开(公告)日：2004-04-13
申请号：US09769521
申请日：2001-01-26
申请人： Keiju Okabayashi , Naoyuki Sawasaki
发明人： Keiju Okabayashi , Naoyuki Sawasaki
IPC分类号： G06K964
CPC分类号： G06F17/153 , G06T7/223 , G06T2200/28 , G06T2207/10016
摘要： In an image processing unit for performing an arithmetic operation between a reference image and a search image, a product-sum operation section comprises systoric array, a normalization and accumulation processing section and a correlation value memory control section. The product-sum operation section is used on a common basis for an operation for the addition of a square of a pixel value of a search image over a plurality of pixels and an operation for the addition of a multiplication of pixel values of pixels associated with the search image and the reference image over a plurality of pixels. An operation for a norm of the reference image is performed on a path (a reference image norm computing section) which is different from that of the product-sum operation section.
摘要翻译：在用于执行参考图像和搜索图像之间的算术运算的图像处理单元中，积和运算部分包括系统阵列，归一化和累积处理部分以及相关值存储器控制部分。产品总和运算部分用于在多个像素上添加搜索图像的像素值的平方的操作的通用基础，以及用于相加像素的像素的像素值的相乘的操作的操作搜索图像和参考图像在多个像素上。在与乘积和运算部的路径不同的路径（参照图像范围运算部）中进行参照图像的范围的动作。

9. 发明授权

US07218994B2 Robot 有权
标题翻译：机器人
公开(公告)号：US07218994B2
公开(公告)日：2007-05-15
申请号：US11083900
申请日：2005-03-21
申请人： Shinji Kanda , Yuichi Murase , Sumihisa Iwashita , Katsutoshi Shimizu , Naoyuki Sawasaki , Keiju Okabayashi
发明人： Shinji Kanda , Yuichi Murase , Sumihisa Iwashita , Katsutoshi Shimizu , Naoyuki Sawasaki , Keiju Okabayashi
IPC分类号： G06F19/00
CPC分类号： G05D1/0251 , G05D1/0285 , G05D2201/0207 , G06N3/008
摘要： A robot for freely moving about in an environment where there is an obstacle. The robot includes a communication section transmitting by wireless an image taken by a camera to a base station, and via the base station to a communication terminal making a radio communication with the base station, and receiving by wireless movement target position information specified on the image by an operation of the communication terminal via the base station, and a motion control section that moves the robot up to a movement target position specified by the movement target position information acquired in the communication section.
摘要翻译：在有障碍物的环境中自由移动的机器人。机器人包括通过无线方式通过摄像机拍摄的图像向基站发送的通信部，并且经由基站向与基站进行无线通信的通信终端进行通信，并且通过无线移动来接收在图像上指定的目标位置信息通过基站的通信终端的操作，以及运动控制部，其使所述机器人移动到通过所述通信部获取的所述移动目标位置信息指定的移动目标位置。

10. 发明申请

US20050165508A1 Robot 有权
标题翻译：机器人
公开(公告)号：US20050165508A1
公开(公告)日：2005-07-28
申请号：US11083900
申请日：2005-03-21
申请人： Shinji Kanda , Yuichi Murase , Sumihisa Iwashita , Katsutoshi Shimizu , Naoyuki Sawasaki , Keiju Okabayashi
发明人： Shinji Kanda , Yuichi Murase , Sumihisa Iwashita , Katsutoshi Shimizu , Naoyuki Sawasaki , Keiju Okabayashi
IPC分类号： A63H11/00 , B25J5/00 , B25J13/08 , G05D1/00 , G05D1/02 , G06F19/00 , G06N3/00
CPC分类号： G05D1/0251 , G05D1/0285 , G05D2201/0207 , G06N3/008
摘要： The present invention aims to provide a robot having the structure suitable for freely moving about in the environment where there is an obstacle within the house, for example. The robot includes a communication section transmitting by wireless an image taken by the camera to a base station, and via the base station to a communication terminal making the radio communication with the base station, and receiving by wireless the movement target position information specified on the image by an operation of the communication terminal via the base station, and a motion control section that moves the robot up to a movement target position specified by the movement target position information acquired in the communication section.
摘要翻译：本发明的目的在于提供一种机器人，其具有适于在房屋内存在障碍物的环境中自由移动的结构。机器人包括通过无线方式将由照相机拍摄的图像发送到基站的通信部分，并且经由基站到与基站进行无线电通信的通信终端，并且通过无线接收在该基站上指定的移动目标位置信息通过基站的通信终端的操作的图像;以及运动控制部，其将机器人移动到由通信部中获取的移动目标位置信息指定的移动目标位置。

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