公开(公告)号：US20090059033A1

公开(公告)日：2009-03-05

申请号：US12230129

申请日：2008-08-25

申请人： Takamichi Shimada ,  Nobuo Higaki

发明人： Takamichi Shimada ,  Nobuo Higaki

IPC分类号： H04N5/235

CPC分类号： H04N5/2351 ,  B25J19/022 ,  G03B7/093 ,  G03B35/08 ,  H04N5/2353 ,  H04N13/239 ,  H04N13/296

摘要： In an exposure controller of a camera mounted on a robot for taking an image utilizing incident light from external world in which an object such as a human being is present, a brightness histogram of the image is generated and exposure parameters are set based on the generated histogram. Then, it is determined whether the set exposure parameters are within a predetermined range and when they are out of the range and if a high-brightness imaging region is present in the image due to high-brightness incident light, it is again determined whether it is necessary to remove the high-brightness imaging region. When it is determined to be necessary, the high-brightness imaging region is extracted and is removed from the image, thereby enabling the camera to image the object with suitable brightness even when a bright light source such as the sun is within the camera angle of view.

摘要翻译： 在安装在机器人上的摄像机的曝光控制器中，利用来自外部世界的入射光（其中存在诸如人的物体），生成图像的亮度直方图，并且基于产生的曝光参数来设置曝光参数 直方图。 然后，确定设定的曝光参数是否在预定范围内，并且当它们在超出该范围时，并且如果由于高亮度入射光而在图像中存在高亮度成像区域，则再次确定是否 是去除高亮度成像区域所必需的。 当确定需要时，提取高亮度成像区域并从图像中去除，从而即使当诸如太阳的明亮光源在相机角度内时，相机也可以以适当的亮度对对象进行成像 视图。

公开(公告)号：US20080215858A1

公开(公告)日：2008-09-04

申请号：US12110539

申请日：2008-04-28

申请人： Kazuya Furukawa ,  Tetsuya Tanaka ,  Nobuo Higaki ,  Kunihiko Hayashi ,  Hiroshi Kadota ,  Tokuzo Kiyohara ,  Kozo Kimura ,  Hideshi Nishida ,  Kazushi Kurata ,  Shigeki Fujii ,  Toshio Sugimura

发明人： Kazuya Furukawa ,  Tetsuya Tanaka ,  Nobuo Higaki ,  Kunihiko Hayashi ,  Hiroshi Kadota ,  Tokuzo Kiyohara ,  Kozo Kimura ,  Hideshi Nishida ,  Kazushi Kurata ,  Shigeki Fujii ,  Toshio Sugimura

IPC分类号： G06F9/30

CPC分类号： G06F9/4881 ,  G06F9/3851 ,  G06F9/3867 ,  G06F9/462

摘要： A processor for sequentially executing a plurality of programs using a plurality of register value groups stored in a memory that correspond one-to-one with the programs. The processor includes a plurality of register groups; a select/switch unit operable to select one of the plurality of register groups as an execution target register group on which a program execution is based, and to switch the selection target every time a first predetermined period elapses; a restoring unit operable to restore, every time the switching is performed, one of the register value groups into one of the register groups that is not selected as the execution target register group; a saving unit operable to save, prior to the restoring, register values in the register group targeted for restoring, by overwriting a register value group in the memory that corresponds to the register values; and a program execution unit operable to execute, every time the switching is performed, a program corresponding to a register value group in the execution target register group.

摘要翻译： 一种处理器，用于使用存储在与所述程序一对一的存储器中的多个寄存器值组来顺序地执行多个程序。 处理器包括多个寄存器组; 选择/切换单元，其可操作以选择所述多个寄存器组中的一个作为程序执行所基于的执行目标寄存器组，并且每当经过第一预定时间时切换所述选择目标; 恢复单元，其可操作以在每次执行切换时将所述寄存器值组中的一个恢复为未被选择为所述执行目标寄存器组的寄存器组之一; 保存单元，其可操作以通过重写与寄存器值相对应的存储器中的寄存器值组来在恢复之前保存用于恢复的寄存器组中的值; 以及程序执行单元，其可操作以在每次执行切换时执行与执行目标寄存器组中的寄存器值组相对应的程序。

公开(公告)号：US07398136B2

公开(公告)日：2008-07-08

申请号：US10808336

申请日：2004-03-25

申请人： Nobuo Higaki ,  Takamichi Shimada

发明人： Nobuo Higaki ,  Takamichi Shimada

IPC分类号： G05D1/02 ,  B25J9/16 ,  B25J13/00 ,  B25J19/00

CPC分类号： G06N3/008 ,  G06K9/00348

摘要： In a biped robot control system, stereoscopic images captured by CCD cameras are analyzed, the analyzed images are then utilized to detect presence of any moving object around the robot and if it present, to calculate moving object information, and based on the calculated moving object information, it is determined whether or not walking of the robot needs to be stopped. If it is determined to be stopped, the robot is controlled to stop within a period that brings the travel distance at stopping (distance moved between image capture by the CCD cameras and stopping of robot walking) to within a predetermined distance. With this, when the robot approaches a moving object during walking, it can be stopped within the predetermined distance to avoid collision with the moving object.

摘要翻译： 在双足机器人控制系统中，分析由CCD摄像机拍摄的立体图像，然后利用分析的图像来检测机器人周围的任何运动物体的存在，如果存在，则计算移动物体信息，并且基于计算的移动物体 信息，确定是否需要停止机器人的行走。 如果确定停止，则机器人被控制为在使停止行驶距离（CCD相机拍摄的图像与停止机器人步行之间移动的距离）到预定距离内的时间段内停止。 这样，当行走过程中机器人接近运动物体时，可以在预定距离内停止运动物体，以避免与运动物体的碰撞。

公开(公告)号：US07376250B2

公开(公告)日：2008-05-20

申请号：US11015796

申请日：2004-12-20

申请人： Nobuo Higaki ,  Takamichi Shimada

发明人： Nobuo Higaki ,  Takamichi Shimada

IPC分类号： G06K9/00

CPC分类号： G06K9/00362 ,  G06T7/251 ,  G06T7/254 ,  G06T7/285 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/30196

摘要： The present invention detects a moving object by generating the distance information of the moving object, detecting the object motion, determining the object distance, detecting the object image area and the object contour from the video image that includes the object image and contour, and provides a moving object detection apparatus to carry out such detection as well as detecting a contour of the specific moving object by detecting the center of the moving object in high precision.

摘要翻译： 本发明通过从包括对象图像和轮廓的视频图像生成运动对象的距离信息，检测对象运动，确定对象距离，检测对象图像区域和对象轮廓来检测移动对象，并且提供 移动物体检测装置，通过以高精度检测移动物体的中心，进行这种检测以及检测特定移动物体的轮廓。

公开(公告)号：US07251346B2

公开(公告)日：2007-07-31

申请号：US10713431

申请日：2003-11-17

申请人： Nobuo Higaki ,  Takamichi Shimada

发明人： Nobuo Higaki ,  Takamichi Shimada

IPC分类号： G06K9/00

CPC分类号： G06K9/32 ,  G01C11/00 ,  G06K9/00201 ,  G06T7/215 ,  G06T7/251 ,  G06T7/254 ,  G06T7/55 ,  G06T2207/10016 ,  G06T2207/30196

摘要： A moving object detection device comprising: an object distance setting part, determining the distance to a moving object that moves the most based on a distance image, in which information on distances to image-taken objects are embedded, and a difference image, in which the movements of moving objects are embedded as movement information; an object distance image generating part, generating an object distance image corresponding to the abovementioned distance; and a contour extraction part, extracting a contour inside the object distance image to detect a moving object.

摘要翻译： 一种移动物体检测装置，包括：物体距离设定部，基于距离图像确定与移动物体的距离最远的距离，所述距离图像中嵌入有对被摄体的距离的信息以及差分图像，其中， 移动物体的移动被嵌入作为移动信息; 对象距离图像生成部，生成与上述距离对应的物体距离图像; 以及轮廓提取部，提取物距离图像内的轮廓以检测移动物体。

公开(公告)号：US20060058920A1

公开(公告)日：2006-03-16

申请号：US11221903

申请日：2005-09-09

申请人： Shinichi Matsunaga ,  Nobuo Higaki ,  Takahiro Oohashi ,  Yuichi Yoshida

发明人： Shinichi Matsunaga ,  Nobuo Higaki ,  Takahiro Oohashi ,  Yuichi Yoshida

IPC分类号： G06F19/00

CPC分类号： B25J9/1694 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/0217

摘要： The control apparatus for a movable robot comprises: environment information acquisition means (such as video camera 3 and microphone 4); a current position detecting means (15); a map storage (7); a control parameter storage (9) for storing control parameters adjusted to different environments; and control means (11, 12) for determining a current position of the robot on the map data based on a signal from the current position detecting means, retrieving control parameters suitable for the current position from the parameter storage, and controlling the environment information acquisition means or actuators for moving the robot by using the retrieved control parameters.

摘要翻译： 用于可移动机器人的控制装置包括：环境信息获取装置（诸如摄像机3和麦克风4）; 当前位置检测装置（15）; 地图存储（7）; 控制参数存储器（9），用于存储调整到不同环境的控制参数; 以及控制装置（11,12），用于基于来自当前位置检测装置的信号来确定机器人在地图数据上的当前位置，从参数存储器检索适合于当前位置的控制参数，以及控制环境信息采集 用于通过使用检索到的控制参数来移动机器人的装置或致动器。

公开(公告)号：US6044157A

公开(公告)日：2000-03-28

申请号：US815404

申请日：1997-03-10

申请人： Yasushi Uesaka ,  Kazuhiko Yamauchi ,  Masayuki Kozuka ,  Nobuo Higaki ,  Koichi Horiuchi ,  Syusuke Haruna

发明人： Yasushi Uesaka ,  Kazuhiko Yamauchi ,  Masayuki Kozuka ,  Nobuo Higaki ,  Koichi Horiuchi ,  Syusuke Haruna

IPC分类号： G06F9/30 ,  G11B20/00 ,  G11B20/12 ,  H04N5/85 ,  H04N5/913 ,  H04N9/804 ,  H04N7/167

CPC分类号： G06F9/30003 ,  G11B20/00086 ,  G11B20/0021 ,  G11B20/00768 ,  G11B20/1251 ,  H04N9/8042 ,  H04N2005/91321 ,  H04N2005/91328 ,  H04N5/85 ,  H04N5/913

摘要： A microprocessor used in an image information processing system is provided. The microprocessor includes: decryption unit 59 for decrypting the encrypted compressed AV data; IDCT unit 58 for performing an inverse DCT to decompress the decrypted compressed AV data; and microprogram memory 54 for storing microprograms for executing the AV data reproduction instruction which performs decryption and decompression of the encrypted compressed AV data inseparably by using the decryption unit 59 and IDCT unit 58.

摘要翻译： 提供了一种用于图像信息处理系统的微处理器。 微处理器包括：用于解密加密的压缩AV数据的解密单元59; IDCT单元58，用于执行逆DCT以解压缩解密的压缩AV数据; 以及用于存储用于执行AV数据再现指令的微程序的微程序存储器54，其通过使用解密单元59和IDCT单元58不可分割地执行加密的压缩AV数据的解密和解压缩。

公开(公告)号：US5909565A

公开(公告)日：1999-06-01

申请号：US625627

申请日：1996-03-29

申请人： Toru Morikawa ,  Nobuo Higaki ,  Shinya Miyaji

发明人： Toru Morikawa ,  Nobuo Higaki ,  Shinya Miyaji

IPC分类号： G06F7/00 ,  G06F9/38 ,  G06F15/16

CPC分类号： G06F9/3877

摘要： An information processing device, including a main processor and a coprocessor for processing data according to instructions stored in memory, which is composed of an instruction bus for transmitting instructions from memory to the main processor and coprocessor; a first bus used for transmitting data from the main processor to the coprocessor; a second bus used for transmitting data from the coprocessor to the main processor; instruction detecting means for detecting coprocessor calculation instructions out of the instructions received from memory; operand identifying means for identifying source registers and destination registers specified by operands in a detected instruction; data supplying means for supplying data from the identified source registers to the coprocessor via the first bus; data storing means for storing coprocessor calculation results in the identified destination registers; coprocessor instruction detecting means for detecting coprocessor calculation instructions out of all of the instructions received from the memory; and coprocessor instruction executing means for executing the coprocessor calculation instructions detected by the coprocessor instruction detecting means using data supplied by the first bus and for supplying the calculation result on the second bus.

摘要翻译： 一种信息处理装置，包括主处理器和协处理器，用于根据存储在存储器中的指令来处理数据，该指令由用于从存储器向主处理器和协处理器发送指令的指令总线组成; 用于从主处理器向协处理器发送数据的第一总线; 用于将数据从协处理器传送到主处理器的第二总线; 指令检测装置，用于从存储器接收的指令中检测协处理器计算指令; 用于识别在检测到的指令中由操作数指定的源寄存器和目标寄存器的操作数识别装置; 数据提供装置，用于经由第一总线从识别的源寄存器向协处理器提供数据; 数据存储装置，用于将协处理器计算结果存储在所识别的目的地寄存器中; 协处理器指令检测装置，用于从存储器接收到的所有指令中检测协处理器计算指令; 以及协处理器指令执行装置，用于执行由协处理器指令检测装置检测的协处理器计算指令，使用由第一总线提供的数据并将计算结果提供给第二总线。

公开(公告)号：US07921281B2

公开(公告)日：2011-04-05

申请号：US12110513

申请日：2008-04-28

申请人： Kazushi Kurata ,  Tetsuya Tanaka ,  Nobuo Higaki ,  Kunihiko Hayashi ,  Hiroshi Kadota ,  Tokuzo Kiyohara ,  Kozo Kimura ,  Hideshi Nishida ,  Kazuya Furukawa ,  Shigeki Fujii ,  Toshio Sugimura

发明人： Kazushi Kurata ,  Tetsuya Tanaka ,  Nobuo Higaki ,  Kunihiko Hayashi ,  Hiroshi Kadota ,  Tokuzo Kiyohara ,  Kozo Kimura ,  Hideshi Nishida ,  Kazuya Furukawa ,  Shigeki Fujii ,  Toshio Sugimura

IPC分类号： G06F9/48 ,  G06F9/52

CPC分类号： G06F9/4881 ,  G06F9/3851 ,  G06F9/3867 ,  G06F9/462

摘要： A processor for sequentially executing a plurality of programs using a plurality of register value groups stored in a memory that correspond one-to-one with the programs. The processor includes a plurality of register groups; a select/switch unit operable to select one of the plurality of register groups as an execution target register group on which a program execution is based, and to switch the selection target every time a first predetermined period elapses; a restoring unit operable to restore, every time the switching is performed, one of the register value groups into one of the register groups that is not selected as the execution target register group; a saving unit operable to save, prior to the restoring, register values in the register group targeted for restoring, by overwriting a register value group in the memory that corresponds to the register values; and a program execution unit operable to execute, every time the switching is performed, a program corresponding to a register value group in the execution target register group.

摘要翻译： 一种处理器，用于使用存储在与所述程序一对一的存储器中的多个寄存器值组来顺序地执行多个程序。 处理器包括多个寄存器组; 选择/切换单元，其可操作以选择所述多个寄存器组中的一个作为程序执行所基于的执行目标寄存器组，并且每当经过第一预定时间时切换所述选择目标; 恢复单元，其可操作以在每次执行切换时将所述寄存器值组中的一个恢复为未被选择为所述执行目标寄存器组的寄存器组之一; 保存单元，其可操作以通过重写与寄存器值相对应的存储器中的寄存器值组来在恢复之前保存用于恢复的寄存器组中的值; 以及程序执行单元，其可操作以在每次执行切换时执行与执行目标寄存器组中的寄存器值组相对应的程序。

公开(公告)号：US20090148034A1

公开(公告)日：2009-06-11

申请号：US12315411

申请日：2008-12-03

申请人： Nobuo Higaki ,  Ryujin Watanabe

发明人： Nobuo Higaki ,  Ryujin Watanabe

IPC分类号： G06K9/00

CPC分类号： G06K9/3241 ,  G06K9/6857

摘要： There is disclosed a mobile robot including an image processor that generates recognition information regarding a target object included in a taken image, and a main controller integrally controlling the robot based on this recognition information. The image processor executes steps of: generating a low-resolution image and at least one high-resolution image whose resolution higher than that of the low-resolution image; generating first target object information regarding the target object from the low-resolution image; determining which high-resolution image should be processed if two or more high-resolution images are generated, and then defining a resolution process region in the low-resolution image; processing a region in the high-resolution region corresponding to the resolution process region in the low-resolution image, so as to generate second target object information in the high-resolution image; and determining whether or not the first and the second target object information are matched; and based on this determination, using at least either of the first and the second target object information, thereby to generate the recognition information.

摘要翻译： 公开了一种移动机器人，其包括：图像处理器，其生成关于包括在拍摄图像中的目标对象的识别信息;以及主控制器，基于该识别信息来一体地控制机器人。 图像处理器执行以下步骤：产生分辨率高于低分辨率图像的分辨率的低分辨率图像和至少一个高分辨率图像; 从所述低分辨率图像生成关于所述目标对象的第一目标对象信息; 如果生成两个或多个高分辨率图像，则确定应该处理哪个高分辨率图像，然后在低分辨率图像中定义分辨率处理区域; 处理对应于低分辨率图像中的分辨率处理区域的高分辨率区域中的区域，以便在高分辨率图像中产生第二目标对象信息; 以及确定所述第一和第二目标对象信息是否匹配; 并且基于该确定，使用第一和第二目标对象信息中的至少一个，从而生成识别信息。