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1. 发明授权

US5613261A Cleaner 失效
标题翻译：清洁器
公开(公告)号：US5613261A
公开(公告)日：1997-03-25
申请号：US420652
申请日：1995-04-12
申请人： Yuichi Kawakami , Takayuki Hamaguchi , Nobukazu Kawagoe , Hideaki Nakanishi , Natsuko Waki
发明人： Yuichi Kawakami , Takayuki Hamaguchi , Nobukazu Kawagoe , Hideaki Nakanishi , Natsuko Waki
IPC分类号： A47L11/00 , A47L9/28 , B08B13/00 , G05D1/02 , A47L11/14
CPC分类号： A47L9/2852 , A47L9/2815 , G05D1/0223 , G05D1/0272 , A47L2201/06 , G05D1/0242 , G05D2201/0203
摘要： A cleaner comprises a driving unit which moves the cleaner, a cleaner unit which cleans an object to be cleaned, a sensor by which a degree of dirt on the object is detected, and a driving controller which controls the driving unit on the basis of the detected degree of dirt. The cleaner unit further comprises a controller which compares the degrees of dirt detected by the sensor before and after a cleaning operation.
摘要翻译：清洁器包括使清洁器移动的驱动单元，清洁待清洁物体的清洁器单元，检测物体上的污物程度的传感器，以及基于该清洁器控制驱动单元的驱动控制器检测到污垢程度。清洁器单元还包括控制器，其对清洁操作之前和之后由传感器检测到的污垢的程度进行比较。

2. 发明授权

US5720077A Running robot carrying out prescribed work using working member and method of working using the same 失效
标题翻译：运行机器人使用工作人员执行规定的工作和使用相同的工作方法
公开(公告)号：US5720077A
公开(公告)日：1998-02-24
申请号：US452280
申请日：1995-05-26
申请人： Kyoko Nakamura , Hideaki Nakanishi , Yuichi Kawakami , Nobukazu Kawagoe , Shigeru Oyokota
发明人： Kyoko Nakamura , Hideaki Nakanishi , Yuichi Kawakami , Nobukazu Kawagoe , Shigeru Oyokota
IPC分类号： A47L9/28 , A47L5/28 , A47L11/00 , A47L11/40 , B08B13/00 , B25J5/00 , B25J9/00 , G05D1/02 , A47L11/12 , A47L5/00
CPC分类号： A47L11/4061 , B25J9/0003 , A47L2201/04
摘要： A running member is attached rotatably to a body member, and a working member is attached movably to the body member. Therefore, in a large area, a work can be carried out efficiently even in a corner portion, and a desired work can be implemented even in a narrowed portion by shifting the working member to a working area and directly operating the working member in the narrowed portion.
摘要翻译：行进构件可旋转地附接到主体构件，并且工作构件可移动地附接到主体构件。因此，在大面积的情况下，即使在角部也可以有效地进行作业，即使在狭窄部分中也可以实现所需的作业，通过将工作构件转移到工作区域并将工作构件直接操作在变窄的部分一部分。

3. 发明授权

US06574536B1 Moving apparatus for efficiently moving on floor with obstacle 失效
标题翻译：移动装置有效地在障碍物上移动
公开(公告)号：US06574536B1
公开(公告)日：2003-06-03
申请号：US08789127
申请日：1997-01-27
申请人： Nobukazu Kawagoe , Yuichi Kawakami , Kyoko Nakamura , Yasuhisa Kinto
发明人： Nobukazu Kawagoe , Yuichi Kawakami , Kyoko Nakamura , Yasuhisa Kinto
IPC分类号： G01C2200
CPC分类号： G05D1/0033 , G05D1/0219 , G05D1/0227 , G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： A moving robot first moves straight in a first forward path. When encountering an obstacle such as shelf, the robot makes a U-turn to move straight in a backward path located with a prescribed distance away from the first forward path. When encountering another obstacle, the robot again makes a U-turn to move straight in a second forward path extending in the same direction as that of the first forward path but located with a distance away from the backward path. When the robot exceeding the point of the U-turn in the first forward path is detected during running in the second forward path, presence of a region where the robot has not run yet is recognized, and running in that region is carried out thereafter.
摘要翻译：移动机器人首先在第一前进路径中直线移动。当遇到诸如搁板的障碍物时，机器人进行U形转动，以与第一前进路径相距规定距离的后退路径直线移动。当遇到另一个障碍物时，机器人再次进行U形转弯，沿着与第一前进路径相同方向延伸的第二前进路径直线移动，但距离后退路径一定距离。当在第二正向路径中行驶期间检测到机器人超过第一前进路径中的U形转弯点的位置时，机器人尚未运行的区域的存在被识别，此后执行该区域的行驶。

4. 发明授权

US6142252A Autonomous vehicle that runs while recognizing work area configuration, and method of selecting route 失效
标题翻译：识别工作区域配置时运行的自动车辆，以及选择路线的方法
公开(公告)号：US6142252A
公开(公告)日：2000-11-07
申请号：US892848
申请日：1997-07-11
申请人： Yasuhisa Kinto , Kyoko Nakamura , Yuichi Kawakami , Nobukazu Kawagoe
发明人： Yasuhisa Kinto , Kyoko Nakamura , Yuichi Kawakami , Nobukazu Kawagoe
IPC分类号： G01S17/89 , G01S17/93 , G05D1/02 , B60S9/00
CPC分类号： G01S17/936 , G01S17/89 , G05D1/0219 , G05D1/0221 , G05D1/0227 , G05D1/0238 , G05D1/0272 , A47L2201/04 , G05D2201/0203
摘要： When an autonomous vehicle detects an interruption in a wall, a plurality of optical distance measurement sensors provided in a driving unit measures the distance to a plurality of points of an object of interest located ahead. The configuration of the object of interest located ahead is recognized from the obtained distance information and from the attached angle of each optical distance measurement sensor to determine the subsequent operation of the autonomous vehicle.
摘要翻译：当自主车辆检测到墙壁中断时，设置在驱动单元中的多个光学距离测量传感器测量到位于前方的感兴趣对象的多个点的距离。根据所获得的距离信息和每个光学距离测量传感器的附着角度识别感兴趣的目标的配置，以确定自主车辆的后续操作。

5. 发明授权

US5947225A Automatic vehicle 失效
标题翻译：自动车
公开(公告)号：US5947225A
公开(公告)日：1999-09-07
申请号：US631014
申请日：1996-04-12
申请人： Yuichi Kawakami , Nobukazu Kawagoe
发明人： Yuichi Kawakami , Nobukazu Kawagoe
IPC分类号： G05D1/02 , B60D1/28
CPC分类号： G05D1/0219 , G05D1/0227 , G05D1/0272 , G05D1/0238 , G05D1/0242 , G05D1/0255 , G05D2201/0203
摘要： A vehicle has a sensor for detecting a first distance to a first object and a second distance to a second object located on the other side of the first object. The vehicle travels along a path between the first object and the second object based on the detected first and second distances.A vehicle has a sensor for detecting a distance to an object and a working unit which is movably connected with a main body. The working unit is moved based on the detected distance to the object.
摘要翻译：车辆具有用于检测到第一物体的第一距离的传感器和位于第一物体另一侧的第二物体的第二距离。基于检测到的第一和第二距离，车辆沿着第一物体和第二物体之间的路径行驶。车辆具有用于检测与物体的距离的传感器和与主体可移动地连接的作业单元。基于检测到的物体的距离来移动工作单元。

6. 发明申请

US20100007756A1 IMAGE PROCESSING APPARATUS, METHOD OF CONTROLLING IMAGE PROCESSING APPARATUS, AND PROGRAM FOR CONTROLLING IMAGE PROCESSING APPARATUS 有权
标题翻译：图像处理装置，图像处理装置的控制方法和用于控制图像处理装置的程序
公开(公告)号：US20100007756A1
公开(公告)日：2010-01-14
申请号：US12443262
申请日：2007-09-21
申请人： Yuichi Kawakami
发明人： Yuichi Kawakami
IPC分类号： H04N5/228
CPC分类号： G06T7/593
摘要： An apparatus received input of a base image and a reference image that are images picked up by two cameras provided on left and right. A window setting portion determines a size of a window based on an edge value of an image around a gaze point in the base image. A position deviation operation portion operates deviation between the image in the window of the base image and the image in the window of the reference image. A three-dimensional coordinate operation unit portion operates a three-dimensional coordinate of a surface of an object based on deviation between the images.
摘要翻译：接收输入基本图像和参考图像的输入，该参考图像是由左右两个摄像机拾取的图像。窗口设置部分基于基本图像中的凝视点周围的图像的边缘值来确定窗口的大小。位置偏移操作部分操作基本图像的窗口中的图像与参考图像的窗口中的图像之间的偏差。三维坐标操作单元部分基于图像之间的偏差来操作物体表面的三维坐标。

7. 发明授权

US07298918B2 Image processing apparatus capable of highly precise edge extraction 失效
标题翻译：具有高精度边缘提取的图像处理装置
公开(公告)号：US07298918B2
公开(公告)日：2007-11-20
申请号：US10601965
申请日：2003-06-23
申请人： Hironori Sumitomo , Yuichi Kawakami
发明人： Hironori Sumitomo , Yuichi Kawakami
IPC分类号： G06K9/40
CPC分类号： G06T5/50 , G06T7/12 , G06T2207/10024
摘要： An image processing apparatus first forms an edge image of an input image using, for example, SOBEL operator, and performs a smoothing process on the formed edge image by using an average filter. Thereafter, the image processing apparatus calculates a difference between the edge image and the edge smoothed image, and binarizes the edge image based on the difference.
摘要翻译：图像处理装置首先使用例如SOBEL算子形成输入图像的边缘图像，并使用平均滤波器对形成的边缘图像进行平滑处理。此后，图像处理装置计算边缘图像和边缘平滑图像之间的差异，并且基于该差异来二值化边缘图像。

8. 发明申请

US20070046662A1 Authentication apparatus and authentication method 审中-公开
标题翻译：验证设备和验证方法
公开(公告)号：US20070046662A1
公开(公告)日：2007-03-01
申请号：US11507351
申请日：2006-08-21
申请人： Yuichi Kawakami , Yuusuke Nakano
发明人： Yuichi Kawakami , Yuusuke Nakano
IPC分类号： G06T15/00
CPC分类号： G06K9/00275
摘要： An authentication apparatus comprises a first acquiring part for acquiring three-dimensional shape information of a face of a target person to be authenticated, a compressing part for compressing said three-dimensional shape information by using a predetermined mapping relation, thereby generating three-dimensional shape feature information, and an authenticating part for performing an operation of authenticating said target person by using said three-dimensional shape feature information. When a vector space expressing said three-dimensional shape information is virtually separated into a first subspace in which the influence of a change in facial expression is relatively small and which is suitable for discrimination among persons and a second subspace in which the influence of a change in facial expression is relatively large and which is not suitable for discrimination among persons, said predetermined mapping relation is decided so as to transform an arbitrary vector in said vector space into a vector in said first subspace.
摘要翻译：认证装置包括：第一获取部，用于获取要认证的目标人物的面部的三维形状信息;压缩部分，用于通过使用预定的映射关系来压缩所述三维形状信息，从而产生三维形状特征信息，以及用于通过使用所述三维形状特征信息执行认证所述目标人物的操作的认证部分。当将表示所述三维形状信息的向量空间实际上分成第一子空间，其中面部变化的影响相对较小并且适合于人与第二子空间之间的区别，其中变化的影响在面部表情相对较大并且不适合于人之间的区分时，所述预定映射关系被确定为将所述向量空间中的任意向量变换成所述第一子空间中的向量。

9. 发明授权

US5903124A Apparatus for positioning moving body allowing precise positioning of moving body 失效
标题翻译：用于定位移动体的装置，允许移动体的精确定位
公开(公告)号：US5903124A
公开(公告)日：1999-05-11
申请号：US937732
申请日：1997-09-25
申请人： Yuichi Kawakami
发明人： Yuichi Kawakami
IPC分类号： B25J5/00 , B64C13/18 , G05D1/02
CPC分类号： G05D1/0227 , A47L2201/04 , G05D1/0238 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0203
摘要： When a running vehicle moves backward and a right back portion of the robot, which is one end of it touches a wall, the robot is rotated to the left until a left back portion of the robot touches the wall. The angle of rotation .beta. at this time is measured and the value .beta./2 is represented by .alpha.. The robot is rotated to the right by the angle .beta.-.alpha.. Therefore, the robot is positioned perpendicular to the wall. Thereafter, the robot is moved backward until the back portion of the robot touches the wall. As a result, an apparatus for positioning the running robot relative to the wall is provided.
摘要翻译：当行驶的车辆向后移动时，机器人的一端的右后部接触壁时，机器人向左旋转直到机器人的左后部接触到壁。测量此时的旋转角β并用α表示β/ 2值。机器人向右旋转角度β-α。因此，机器人垂直于墙壁定位。此后，机器人向后移动直到机器人的后部接触到壁。结果，提供了一种用于使行进机器人相对于壁定位的装置。

10. 发明申请

US20070098230A1 Authentication system, registration system, and program 失效
标题翻译：认证系统，注册系统和程序
公开(公告)号：US20070098230A1
公开(公告)日：2007-05-03
申请号：US11588025
申请日：2006-10-26
申请人： Toshio Norita , Yuichi Kawakami
发明人： Toshio Norita , Yuichi Kawakami
IPC分类号： G06K9/00
CPC分类号： G06K9/00288 , G06K9/00214
摘要： An authentication system comprises: a generating part for generating face information including at least one of three-dimensional shape information and two-dimensional information in the face of a first person to be authenticated on the basis of measurement information of the first person; a model modifying part for modifying a standard model of a human face by using the face information, thereby generating an individual model of the face of the first person; a calculating part for calculating a first model perfection level as a perfection level of the individual model on the basis of reliability of the face information; an extracting part for extracting first feature information as feature information of the first person from the individual model; an obtaining part for obtaining second feature information as feature information of a second person to be compared which is pre-registered; and an authenticating part for performing an authenticating operation on the first person by using the first model perfection level in addition to similarity between the first feature information and the second feature information.
摘要翻译：认证系统包括：产生部件，用于基于第一人的测量信息，生成面对面信息，该面部信息包括面对要认证的第一人的三维形状信息和二维信息中的至少一个; 用于通过使用面部信息来修改人脸的标准模型的模型修改部分，从而生成第一人的面部的个人模型; 计算部分，用于基于面部信息的可靠性计算第一模型完成水平作为个体模型的完美水平; 提取部，用于从所述个人模型中提取作为所述第一人的特征信息的第一特征信息; 获取部分，用于获得第二特征信息作为预先注册的待比较的第二人的特征信息; 以及用于通过使用第一模型完成级别除了第一特征信息和第二特征信息之间的相似性来对第一人员执行认证操作的认证部分。

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