公开(公告)号：US5692061A

公开(公告)日：1997-11-25

申请号：US391006

申请日：1995-02-21

申请人： Katsuhiro Sasada ,  Tomoharu Nakahara ,  Hidekazu Araki

发明人： Katsuhiro Sasada ,  Tomoharu Nakahara ,  Hidekazu Araki

IPC分类号： G06T1/00 ,  G06K9/00 ,  G06T7/00

CPC分类号： G06T7/0046 ,  G06K9/00201 ,  G06T7/0051

摘要： A method for recognizing a three-dimensional objective in which a two-dimensional image is obtained from the same viewing point as a distance image obtained by picking up the objective in a three-dimensional space and the two-dimensional image is utilized to previously limit an existence zone of the objective under detection for the distance image and to perform objective detecting operation over the partial distance image in the limited zone, thereby realizing a sufficiently high speed detection of, in particular, the three-dimensional objective.

摘要翻译： 一种用于识别三维物镜的方法，其中从与通过拾取三维空间中的物镜获得的距离图像相同的视点获得二维图像，并且二维图像被用于预先限定 对距离图像进行检测的目标的存在区域，并且在受限区域中对部分距离图像执行目标检测操作，从而实现特别是三维目标的足够高的速度检测。

公开(公告)号：US08930099B2

公开(公告)日：2015-01-06

申请号：US13510533

申请日：2010-11-19

申请人： Yasushi Inagawa ,  Shintaro Kameda ,  Atsuhiro Saeki ,  Takahiro Matsuda ,  Hidekazu Araki ,  Hiroyuki Okuda ,  Yuji Yasui

发明人： Yasushi Inagawa ,  Shintaro Kameda ,  Atsuhiro Saeki ,  Takahiro Matsuda ,  Hidekazu Araki ,  Hiroyuki Okuda ,  Yuji Yasui

IPC分类号： G06F7/00 ,  G06F17/00 ,  G06F19/00 ,  F02D29/02 ,  F16H63/50 ,  F16H59/48 ,  F16H61/00

CPC分类号： F02D29/02 ,  F16H59/48 ,  F16H61/061 ,  F16H63/502 ,  F16H2061/0087 ,  Y10T477/60 ,  Y10T477/73

摘要： In a control apparatus for an automatic transmission, it is configured to calculate a change amount (ΔNC estimation value) of an output rotational speed of the transmission (S10); calculate an average (I phase initial average G) of the change amount of the output rotational speed over a predetermined period of an initial inertia (I) phase of shifting; calculate an average (after-shift average G) of a vehicle acceleration after the completion of the shifting, assuming that the change amount of the output rotational speed indicates the vehicle acceleration G; calculate a difference (I phase initial G) between the average of the change amount of the output rotational speed and the average of the vehicle acceleration; incrementally and decrementally correct the desired value of the transmission torque of the frictional engaging element such that the calculated difference falls within a predetermined range; and control supply of hydraulic pressure to the frictional engaging element such that it becomes the corrected desired value (S14 to S20). With this, since the vehicle acceleration at shifting is estimated and evaluated and based thereon, variation in the transmission torque of the frictional engaging element, etc., is learned, it becomes possible to fully exploit the potential of the frictional engaging element, thereby improving a feel given to the vehicle occupant(s) at shifting.

摘要翻译： 在自动变速器的控制装置中，构成为计算变速器的输出转速的变化量（＆Dgr; NC估计值）（S10）。 计算在初始惯性（I）相位移动的预定周期内的输出转速的变化量的平均值（I相初始平均值G） 假设输出转速的变化量表示车辆加速度G，计算完成变速后的车辆加速度的平均值（变速后平均值G） 计算输出转速的变化量的平均值与车辆加速度的平均值之间的差（I相初始G）; 递增地和递减地校正摩擦接合元件的传递扭矩的期望值，使得所计算的差落在预定范围内; 并且控制向摩擦接合元件供应液压以使其成为校正的期望值（S14至S20）。 由此，由于估计和评估了换档时的车辆加速度，并且基于此，学习了摩擦接合元件等的传递扭矩的变化，所以可以充分利用摩擦接合元件的电位，从而改善 给予车辆乘员的转移感觉。

公开(公告)号：US5867592A

公开(公告)日：1999-02-02

申请号：US907161

申请日：1997-08-06

申请人： Katsuhiro Sasada ,  Tomoharu Nakahara ,  Hidekazu Araki

发明人： Katsuhiro Sasada ,  Tomoharu Nakahara ,  Hidekazu Araki

IPC分类号： G06T1/00 ,  G06K9/00 ,  G06T7/00 ,  G06K9/46

CPC分类号： G06T7/0046 ,  G06K9/00201 ,  G06T7/0051

摘要： A method for recognizing a three-dimensional objective in which a two-dimensional image is obtained from the same viewing point as a distance image obtained by picking up the objective in a three-dimensional space and the two-dimensional image is utilized to previously limit an existence zone of the objective under detection for the distance image and to perform objective detecting operation over the partial distance image in the limited zone, thereby realizing a sufficiently high speed detection of, in particular, the three-dimensional objective.

摘要翻译： 一种用于识别三维物镜的方法，其中从与通过拾取三维空间中的物镜获得的距离图像相同的视点获得二维图像，并且二维图像被用于预先限定 对距离图像进行检测的目标的存在区域，并且在受限区域中对部分距离图像执行目标检测操作，从而实现特别是三维目标的足够高的速度检测。

公开(公告)号：US20120232764A1

公开(公告)日：2012-09-13

申请号：US13510533

申请日：2010-11-19

申请人： Yasushi Inagawa ,  Shintaro Kameda ,  Atsuhiro Saeki ,  Takahiro Matsuda ,  Hidekazu Araki ,  Hiroyuki Okuda ,  Yuji Yasui

发明人： Yasushi Inagawa ,  Shintaro Kameda ,  Atsuhiro Saeki ,  Takahiro Matsuda ,  Hidekazu Araki ,  Hiroyuki Okuda ,  Yuji Yasui

IPC分类号： B60W10/06 ,  B60W10/10 ,  F16H59/36

CPC分类号： F02D29/02 ,  F16H59/48 ,  F16H61/061 ,  F16H63/502 ,  F16H2061/0087 ,  Y10T477/60 ,  Y10T477/73

摘要： In a control apparatus for an automatic transmission, it is configured to calculate a change amount (ΔNC estimation value) of an output rotational speed of the transmission (S10); calculate an average (I phase initial average G) of the change amount of the output rotational speed over a predetermined period of an initial inertia (I) phase of shifting; calculate an average (after-shift average G) of a vehicle acceleration after the completion of the shifting, assuming that the change amount of the output rotational speed indicates the vehicle acceleration G; calculate a difference (I phase initial G) between the average of the change amount of the output rotational speed and the average of the vehicle acceleration; incrementally and decrementally correct the desired value of the transmission torque of the frictional engaging element such that the calculated difference falls within a predetermined range; and control supply of hydraulic pressure to the frictional engaging element such that it becomes the corrected desired value (S14 to S20). With this, since the vehicle acceleration at shifting is estimated and evaluated and based thereon, variation in the transmission torque of the frictional engaging element, etc., is learned, it becomes possible to fully exploit the potential of the frictional engaging element, thereby improving a feel given to the vehicle occupant(s) at shifting.

摘要翻译： 在自动变速器的控制装置中，构成为计算变速器的输出转速的变化量（＆Dgr; NC估计值）（S10）。 计算在初始惯性（I）相位移动的预定周期内的输出转速的变化量的平均值（I相初始平均值G） 假设输出转速的变化量表示车辆加速度G，计算完成变速后的车辆加速度的平均值（变速后平均值G） 计算输出转速的变化量的平均值与车辆加速度的平均值之间的差（I相初始G） 递增地和递减地校正摩擦接合元件的传递扭矩的期望值，使得所计算的差落在预定范围内; 并且控制向摩擦接合元件供应液压以使其成为校正的期望值（S14至S20）。 由此，由于估计和评估了换档时的车辆加速度，并且基于此，学习了摩擦接合元件等的传递扭矩的变化，所以可以充分利用摩擦接合元件的电位，从而改善 给予车辆乘员的转移感觉。

公开(公告)号：US06721444B1

公开(公告)日：2004-04-13

申请号：US09581550

申请日：2000-07-13

申请人： Haisong Gu ,  Tomoharu Nakahara ,  Hidekazu Araki ,  Hiroyuki Fujii

发明人： Haisong Gu ,  Tomoharu Nakahara ,  Hidekazu Araki ,  Hiroyuki Fujii

IPC分类号： G06K900

CPC分类号： B25J9/1697 ,  G05B2219/40053 ,  G06T7/74 ,  G06T7/97

摘要： A 3-dimensional object recognition method, by use of which three-dimensional position and posture of an object can be accurately recognized at high speed, comprises the steps of (A) taking a pair of first and second images for making a stereo image of the object; (B) detecting a two-dimensional feature of the object on each of the first and second images; (C) evaluating a degree of reliability of the result of the step (B) by comparing with a model data of the object; (D) making a correspondence of the two-dimensional feature between the first and second images according to a stereoscopic measurement principle; (E) evaluating a degree of reliability of the result of the step (D) by comparing the two-dimensional feature detected on the first image with the corresponding two-dimensional feature detected on the second image; (F) recognizing the three-dimensional position and posture of the object according to information in three dimensions of the two-dimensional feature obtained by the correspondence; and (G) evaluating a degree of reliability of the recognized three-dimensional position and posture. It is preferred to use the 3-dimensional object recognition method to a bin-picking system for picking up an article from a bin, in which a plurality of articles are heaped up in confusion, and carrying the picked-up article to a required position.

摘要翻译： 通过使用能够高速准确识别对象的三维位置和姿势的三维物体识别方法，包括以下步骤：（A）拍摄一对第一和第二图像以使立体图像成为 物体; （B）在所述第一和第二图像中的每一个上检测所述对象的二维特征; （C）通过与对象的模型数据进行比较来评估步骤（B）的结果的可靠性程度; （D）根据立体测量原理对第一和第二图像之间的二维特征进行对应; （E）通过将在第一图像上检测到的二维特征与在第二图像上检测到的对应的二维特征进行比较来评估步骤（D）的结果的可靠性程度; （F）根据通过对应获得的二维特征的三维信息，识别物体的三维位置和姿势; 和（G）评估所识别的三维位置和姿势的可靠度。 优选的是，将三维物体识别方法用于拾取拾取系统，用于从垃圾箱拾取物品，其中多个物品混淆堆积，并将拾取的物品运送到所需位置 。