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1. 发明申请

US20100161126A1 Humanoid Fall Direction Change Among Multiple Objects 有权
标题翻译：人型生物落后方向改变多个对象
公开(公告)号：US20100161126A1
公开(公告)日：2010-06-24
申请号：US12641163
申请日：2009-12-17
申请人： Ambarish Goswami , Umashankar Nagarajan , Yoshiaki Sakagami
发明人： Ambarish Goswami , Umashankar Nagarajan , Yoshiaki Sakagami
IPC分类号： G05B19/04
CPC分类号： B62D57/032
摘要： A system and method is disclosed for controlling a robot having at least two legs, the robot falling down from an upright posture and the robot located near a plurality of surrounding objects. A plurality of predicted fall directions of the robot are determined, where each predicted fall direction is associated with a foot placement strategy, such as taking a step, for avoiding the surrounding objects. The degree to which each predicted fall direction avoids the surrounding objects is determined. A best strategy is selected from the various foot placement strategies based on the degree to which the associated fall direction avoids the surrounding objects. The robot is controlled to implement this best strategy.
摘要翻译：公开了一种用于控制具有至少两条腿的机器人的系统和方法，所述机器人从直立姿势落下并且所述机器人位于多个周围物体附近。确定机器人的多个预测的下降方向，其中每个预测的下降方向与脚部放置策略相关联，例如采取步骤以避免周围物体。确定每个预测的下降方向避免周围物体的程度。根据相关秋季方向避免周围物体的程度，从各种脚部放置策略中选择最佳策略。控制机器人实施这一最佳策略。

2. 发明授权

US07693514B2 Information gathering robot 有权
标题翻译：信息采集机器人
公开(公告)号：US07693514B2
公开(公告)日：2010-04-06
申请号：US10915535
申请日：2004-08-11
申请人： Yoshiaki Sakagami , Yoko Saito , Koji Kawabe , Takamichi Shimada , Nobuo Higaki
发明人： Yoshiaki Sakagami , Yoko Saito , Koji Kawabe , Takamichi Shimada , Nobuo Higaki
IPC分类号： H04Q7/20
CPC分类号： H04W4/02 , G05D1/0246 , G05D1/0274 , G05D2201/0207 , H04L67/12
摘要： In an event site or the like, a visitor may waste time and effort trying to find a spot where an event of interest may be taking place because the visitor is unable to look through the entire site from any particular spot. An information gathering robot roams in such an event site typically along a prescribed route, and notes spots of interest to transmit this information to a data server. The visitor can access the data server to find a spot of interest of his or her choice substantially on a real time basis.
摘要翻译：在事件现场等中，访客可能会浪费时间和精力去尝试寻找可能发生的兴趣事件的地点，因为访问者无法从任何特定的地点查看整个站点。信息收集机器人通常沿着规定的路线在这样的事件站点中漫游，并且记录将该信息发送到数据服务器的感兴趣点。访问者可以访问数据服务器，实质上基于实时地查找他或她选择的兴趣点。

3. 发明授权

US07340100B2 Posture recognition apparatus and autonomous robot 有权
标题翻译：姿势识别装置和自主机器人
公开(公告)号：US07340100B2
公开(公告)日：2008-03-04
申请号：US10635778
申请日：2003-08-07
申请人： Nobuo Higaki , Yoshiaki Sakagami , Naoaki Sumida
发明人： Nobuo Higaki , Yoshiaki Sakagami , Naoaki Sumida
IPC分类号： G06K9/48
CPC分类号： G06F3/017 , G06K9/00335
摘要： A posture recognition apparatus recognizes instructions signified by postures of persons present in the surroundings, from images obtained with an image capture device. The posture recognition apparatus includes an outline extraction device that extracts an outline of a body which is a candidate for a person from the images; a distance calculation device that calculates a distance to the body being the candidate, from distance information of each pixel within the outline in the image; a search device that searches for a candidate for a hand of a person based on the outline and the distance to the body represented by the outline; and a posture determination device that determines an instruction corresponding to the relative position of the candidate for a hand and the outline, and outputs this determination result as a posture determination result.
摘要翻译：姿势识别装置从通过图像拍摄装置获得的图像识别由周围的人存在的姿势所指示的指令。姿势识别装置包括：轮廓提取装置，从图像中提取作为人的候选者的身体的轮廓; 距离计算装置，从图像中的轮廓内的每个像素的距离信息计算到作为候选者的身体的距离; 搜索装置，其基于轮廓和与轮廓所表示的身体的距离来搜索人的手的候选人; 以及姿势确定装置，其确定与手的候选者和轮廓的相对位置相对应的指令，并将该确定结果作为姿势确定结果输出。

4. 发明申请

US20050054332A1 Information gathering robot 有权
标题翻译：信息采集机器人
公开(公告)号：US20050054332A1
公开(公告)日：2005-03-10
申请号：US10915535
申请日：2004-08-11
申请人： Yoshiaki Sakagami , Yoko Saito , Koji Kawabe , Takamichi Shimada , Nobuo Higaki
发明人： Yoshiaki Sakagami , Yoko Saito , Koji Kawabe , Takamichi Shimada , Nobuo Higaki
IPC分类号： G06F19/00 , G05D1/02 , G06F1/00 , H04L29/08 , H04W4/02 , H04Q7/20
CPC分类号： H04W4/02 , G05D1/0246 , G05D1/0274 , G05D2201/0207 , H04L67/12
摘要： In an event site or the like, a visitor may waste time and effort trying to find a spot where an event of interest may be taking place because the visitor is unable to look through the entire site from any particular spot. An information gathering robot roams in such an event site typically along a prescribed route, and notes spots of interest to transmit this information to a data server. The visitor can access the data server to find a spot of interest of his or her choice substantially on a real time basis.
摘要翻译：在事件现场等中，访客可能会浪费时间和精力去尝试寻找可能发生的兴趣事件的地点，因为访问者无法从任何特定的地点查看整个站点。信息收集机器人通常沿着规定的路线在这样的事件站点中漫游，并且记录将该信息发送到数据服务器的感兴趣点。访问者可以访问数据服务器，实质上基于实时地查找他或她选择的兴趣点。

5. 发明申请

US20050041839A1 Picture taking mobile robot 有权
标题翻译：图片拍摄移动机器人
公开(公告)号：US20050041839A1
公开(公告)日：2005-02-24
申请号：US10914338
申请日：2004-08-10
申请人： Youko Saitou , Koji Kawabe , Yoshiaki Sakagami , Tomonobu Gotou , Takamichi Shimada
发明人： Youko Saitou , Koji Kawabe , Yoshiaki Sakagami , Tomonobu Gotou , Takamichi Shimada
IPC分类号： G06F19/00 , G06K9/00 , H04N1/00
CPC分类号： H04N1/00127 , H04N1/00137 , H04N1/00164 , H04N1/00244 , H04N1/00307 , H04N2201/0084
摘要： A mobile robot that is fitted with a camera and can be controlled from a remote terminal such as a mobile phone moves about in an event site to detect and track a moving object such as a visitor and entertainer. Because the camera along with the robot itself can change its position freely autonomously and/or according to a command from the mobile terminal, a desired frame layout can be accomplished by moving the position of the robot. Therefore, the operator is not required to execute a complex image trimming process or other adjustment of the obtained picture image so that a desired picture can be obtained quickly and without any difficulty. If the user is allowed access the managing server, the user can download the desired picture images and have them printed out at will. Also, because the selected picture images can be transmitted to the managing server, the robot is prevented from running out of memory for storing the picture images.
摘要翻译：装有摄像机的移动机器人可以由移动电话等远程终端进行控制，在事件现场进行移动，以检测和跟踪诸如访客和艺人之类的移动物体。因为照相机和机器人本身可以自由地和/或根据来自移动终端的命令改变其位置，所以可以通过移动机器人的位置来实现期望的帧布局。因此，不需要操作者对所获得的图像图像执行复杂的图像修整处理或其他调整，使得可以快速且毫无困难地获得期望的图像。如果用户被允许访问管理服务器，则用户可以下载所需的图片图像并随意打印出来。此外，由于所选择的图像图像可以被发送到管理服务器，所以防止了机器人用尽存储图像图像的存储器。

6. 发明授权

US09135798B2 Vehicle periphery monitoring device 有权
标题翻译：车辆周边监控装置
公开(公告)号：US09135798B2
公开(公告)日：2015-09-15
申请号：US13602130
申请日：2012-09-01
申请人： Yoshiaki Sakagami , Christian Goerick , Jan Fritsch , Bernd Heisele
发明人： Yoshiaki Sakagami , Christian Goerick , Jan Fritsch , Bernd Heisele
IPC分类号： H04N7/18 , G08B13/22 , G08G1/16 , G06K9/00
CPC分类号： G08B13/22 , G06K9/00798 , G06K9/00805 , G06K9/00825 , G08G1/166
摘要： A vehicle periphery monitoring device 1 is equipped with a first recognizing unit 11 which recognizes a shape of a road in a traveling direction of a self vehicle C, a second recognizing unit 12 which recognizes a position of an object M existing in a periphery of the self vehicle C, an estimating unit 13 which estimates a moving direction of the object M from the position recognized by the second recognizing unit 12, and a contact avoiding process unit 15 which determines whether or not to perform an avoiding process for avoiding contact between the self vehicle C and the object M, on the basis of a relationship between the shape of the road recognized by the first recognizing unit 11 and the moving direction of the object M estimated by the estimating unit 13.
摘要翻译：车辆周边监视装置1配备有识别自车C的行进方向上的道路形状的第一识别单元11，识别存在于自车C的周边的物体M的位置的第二识别单元12 自身车辆C，从第二识别单元12识别的位置估计物体M的移动方向的估计单元13，以及确定是否执行避免接触的避免处理的接触避免处理单元15 基于由第一识别单元11识别的道路的形状与由估计单元13估计的物体M的移动方向之间的关系的自车C和物体M。

7. 发明授权

US07756322B2 Picture taking mobile robot 有权
标题翻译：图片拍摄移动机器人
公开(公告)号：US07756322B2
公开(公告)日：2010-07-13
申请号：US10914338
申请日：2004-08-10
申请人： Youko Saitou , Koji Kawabe , Yoshiaki Sakagami , Tomonobu Gotou , Takamichi Shimada
发明人： Youko Saitou , Koji Kawabe , Yoshiaki Sakagami , Tomonobu Gotou , Takamichi Shimada
IPC分类号： G06K9/00
CPC分类号： H04N1/00127 , H04N1/00137 , H04N1/00164 , H04N1/00244 , H04N1/00307 , H04N2201/0084
摘要： A mobile robot that is fitted with a camera and can be controlled from a remote terminal such as a mobile phone moves about in an event site to detect and track a moving object such as a visitor and entertainer. Because the camera along with the robot itself can change its position freely autonomously and/or according to a command from the mobile terminal, a desired frame layout can be accomplished by moving the position of the robot. Therefore, the operator is not required to execute a complex image trimming process or other adjustment of the obtained picture image so that a desired picture can be obtained quickly and without any difficulty. If the user is allowed access the managing server, the user can download the desired picture images and have them printed out at will. Also, because the selected picture images can be transmitted to the managing server, the robot is prevented from running out of memory for storing the picture images.
摘要翻译：装有摄像机的移动机器人可以由移动电话等远程终端进行控制，在事件现场进行移动，以检测和跟踪诸如访客和艺人之类的移动物体。因为照相机和机器人本身可以自由地和/或根据来自移动终端的命令改变其位置，所以可以通过移动机器人的位置来实现期望的帧布局。因此，不需要操作者对所获得的图像图像执行复杂的图像修整处理或其他调整，使得可以快速且毫无困难地获得期望的图像。如果用户被允许访问管理服务器，则用户可以下载所需的图片图像并随意打印出来。此外，由于所选择的图像图像可以被发送到管理服务器，所以防止了机器人用尽存储图像图像的存储器。

8. 发明授权

US07720685B2 Receptionist robot system 有权
标题翻译：接待机器人系统
公开(公告)号：US07720685B2
公开(公告)日：2010-05-18
申请号：US10667964
申请日：2003-09-23
申请人： Yoshiaki Sakagami , Shinichi Matsunaga , Nobuo Higaki , Kazunori Kanai , Naoaki Sumida , Takahiro Oohashi , Sachie Hashimoto
发明人： Yoshiaki Sakagami , Shinichi Matsunaga , Nobuo Higaki , Kazunori Kanai , Naoaki Sumida , Takahiro Oohashi , Sachie Hashimoto
IPC分类号： G10L21/00 , G06K9/00
CPC分类号： G06Q99/00 , G10L15/26
摘要： To automate the work of recognizing a guest, check the appointment, notify a host of the arrival of the guest and conduct the guest to a designated place, a robot having a function to autonomously travel is equipped with camera/microphone for recognizing a guest at least according to image information. The system comprises management database adapted to communicate with the robot and equipped with an information database for identifying the recognized guest, and identifies the guest according to the information obtained from the camera/microphone and management database. The robot recognizes the guest from the image thereof, and the recognized guest is identified and verified by comparing the image of the visitor with the information contained in the database so that the robot can automatically conduct the guest to the designated meeting room according to the information of the appointment stored in the database.
摘要翻译：为了自动化识别客人的工作，检查约会，通知主人客人的到达并将客人送到指定的地点，具有自主旅行功能的机器人配备有用于识别客人的相机/麦克风最少根据图像信息。该系统包括适于与机器人通信并配备有用于识别识别的客人的信息数据库的管理数据库，并且根据从相机/麦克风和管理数据库获得的信息来识别客人。机器人从其图像中识别客人，并且通过将访问者的图像与包含在数据库中的信息进行比较来识别和验证识别的客人，使得机器人可以根据信息自动地将客人导向指定的会议室的约会存储在数据库中。

9. 发明授权

US06853880B2 Autonomous action robot 有权
标题翻译：自主动作机器人
公开(公告)号：US06853880B2
公开(公告)日：2005-02-08
申请号：US10225287
申请日：2002-08-22
申请人： Yoshiaki Sakagami , Nobuo Higaki , Naoaki Sumida , Yuichi Yoshida
发明人： Yoshiaki Sakagami , Nobuo Higaki , Naoaki Sumida , Yuichi Yoshida
IPC分类号： A63H11/00 , B25J5/00 , B25J13/00 , G06N3/00 , G06T1/00 , G06T7/00 , G06T7/60 , G10L15/00 , G10L15/28 , G05B19/18 , G05B18/00
CPC分类号： G06N3/008 , G05B2219/39387
摘要： An autonomous action robot which can turn its line of sight to face a person who calls out, can recognize the face of a person, and can perform various actions in response to commands. First, a sound emitted from a person or other sound source is detected by a sound detector, and the direction of the sound source is specified based on the detected sound. Then, a robot head section is controlled, and the imaging direction of the robot head section is moved to face the specified direction of the sound source. Next, an image is captured in the direction of the sound source, and a target image of a specific shape is extracted from the captured image. Then, the imaging direction of the robot head section is controlled and moved to face in the direction of the extracted target image.
摘要翻译：能够将其视线转向面对呼出者的自主动作机器人，可以识别人的面部，并且可以响应命令执行各种动作。首先，由声音检测器检测从人或其他声源发出的声音，并且基于检测到的声音指定声源的方向。然后，控制机器人头部，并且机器人头部的成像方向移动到与声源的指定方向相对。接下来，沿着声源的方向拍摄图像，并且从拍摄图像中提取特定形状的目标图像。然后，机器人头部的成像方向被控制并移动到所提取的目标图像的方向上。

10. 发明授权

US6052632A Network system for vehicle-mounted electronic devices and vehicle-mounted operating system used therein 失效
标题翻译：用于车载电子设备的网络系统和其中使用的车载操作系统
公开(公告)号：US6052632A
公开(公告)日：2000-04-18
申请号：US26950
申请日：1998-02-20
申请人： Akira Iihoshi , Yoshiaki Sakagami
发明人： Akira Iihoshi , Yoshiaki Sakagami
IPC分类号： B60R16/02 , B60R16/023 , G06F7/00 , G06F12/00 , G06F13/00 , G06F15/00 , G06F15/16 , H04L12/40
CPC分类号： G06F15/17 , H04L12/40013 , H04L2012/40273
摘要： A network system includes a plurality of vehicle-mounted, microcomputer-based electronic devices each having & distributed operating system for performing data communication and distributed processes among the electronic devices. By virtue of the distributed operating system, information resources and hardware resources can be used in common by two or more of the vehicle-mounted electronic devices. Thus the network system has a higher level of network transparency. Because the electronic devices can operate independently and they are interconnected by a common interface called network, a revision to the program of one of the electronic devices or entry of a new electronic device to the network system does not induce tedious and time-consuming version-up of the program of any other electronic device.
摘要翻译：网络系统包括多个基于微处理器的电子设备，每个电子设备具有用于在电子设备之间执行数据通信和分布式处理的分布式操作系统。凭借分布式操作系统，可以通过两个或更多个车载电子设备共同使用信息资源和硬件资源。因此，网络系统具有更高的网络透明度。因为电子设备可以独立地操作，并且通过称为网络的通用接口互连，所以对电子设备之一的程序的修订或新的电子设备进入网络系统不会引起繁琐和耗时的版本 - 任何其他电子设备的程序。

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