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1.发明授权System and method for calculating movement direction and position of an unmanned vehicle 失效用于计算无人驾驶车辆的运动方向和位置的系统和方法
公开(公告)号：US4819169A
公开(公告)日：1989-04-04
申请号：US100581
申请日：1987-09-24
申请人： Hiroshi Saitoh , Kazunori Noso , Kunihiko Kurami , Norimasa Kishi
发明人： Hiroshi Saitoh , Kazunori Noso , Kunihiko Kurami , Norimasa Kishi
CPC分类号： G06T7/0042 , G05D1/0246
摘要： A system for calculating a movement direction and position of a movable object such as an unmanned vehicle running within a factory and a method therefor are disclosed in which an image pick up camera such as a video camera photographs a background of the movable object to generate a background two-dimensional image. Positions of vanishing point and side ends of a passage on which the movable object is to move are derived from the background photographed two-dimensional image. The movement direction of the movable object is derived from the detected vanishing point. Distances of the movable object from both sides ends of the passage are derived on the basis of the detected vanishing point and positions of side ends of the passage. the movement direction and position of the movable object thus detected are used to control movement of the movable object. The vanishing point is detected on the basis of edge directions at all points constituting and edge on the background two-dimensional image.
摘要翻译： 公开了一种用于计算诸如在工厂内运行的无人驾驶车辆的可移动物体的运动方向和位置的方法及其方法，其中诸如摄像机的摄像摄像机拍摄可移动物体的背景以产生 背景二维图像。 可移动物体要移动的通道的消失点和侧端的位置是从背景拍摄的二维图像中导出的。 可移动物体的移动方向来自检测到的消失点。 根据检测到的消失点和通道的侧端的位置，导出可动物体从通道的两侧端部的距离。 这样检测出的可移动物体的移动方向和位置用于控制可移动物体的移动。 基于在背景二维图像上构成和边缘的所有点的边缘方向检测消失点。
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公开(公告)号：US5081585A
公开(公告)日：1992-01-14
申请号：US208313
申请日：1988-06-15
申请人： Kunihiko Kurami , Norimasa Kishi , Kazunori Noso , Akira Hattori
发明人： Kunihiko Kurami , Norimasa Kishi , Kazunori Noso , Akira Hattori
IPC分类号： G05D1/02
CPC分类号： G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/0274
摘要： An image processing section receives data from cameras mounted on the vehicle and produces an image or images from which a first set of so called "local" data is derived and compiled. A sensor section senses the rotational characteristics of two vehicle wheels and the conditions prevailing on either side of the vehicle and complies a second set of so called "global" data. The local and global data are compared and data is only accepted in the event that the differences between the two sets of data fall within predetermined limits and data which falls outside of the ranges deemed erroneous and rejected.
摘要翻译： 图像处理部分从安装在车辆上的摄像机接收数据，并产生一个图像或图像，从中导出和编译第一组所谓的“本地”数据。 传感器部分感测两个车轮的旋转特性以及车辆两侧的条件，并符合第二组所谓的“全局”数据。 对本地和全球数据进行比较，只有在两组数据之间的差异落在预定限度内且数据超出被认为是错误和被拒绝的范围的情况下，数据才被接受。
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公开(公告)号：US5208750A
公开(公告)日：1993-05-04
申请号：US206667
申请日：1988-06-15
申请人： Kunihiko Kurami , Norimasa Kishi , Kazunori Noso , Akira Hattori
发明人： Kunihiko Kurami , Norimasa Kishi , Kazunori Noso , Akira Hattori
CPC分类号： H04N13/0239 , G05D1/0251 , G05D1/0255 , G05D1/0272 , G05D2201/0213 , H04N13/0003 , H04N13/0296 , H04N2013/0081
摘要： Stereo image data depicting the lane on which the vehicle is running is rectified into a planar image on which one or more level lines can be generated in a manner to intersect one or both of the edges of the lane. Angles are measured between lines which extend from these the points if intersection in directions normal to the level line or lines and lines which extend tangentially to any curvature which occurs in the road edges at the point of intersection. These angles are recorded, the difference therebetween determined and compared in a manner which determines the attitude of the vehicle on the road. The curvature of the road and the vehicle speed are determined and the best steering angle for the road wheels determined in accordance With a schedule which is recorded in terms of attitude and a parameter variable with the vehicle speed and road curvature.
摘要翻译： 描绘车辆行驶的车道的立体图像数据被整流为可以以与车道的一个或两个边缘相交的方式产生一个或多个电平线的平面图像。 如果在垂直于水平线或线的方向上的交点以及在交叉点处的道路边缘中发生的任何曲率的切线延伸的线，则从这些点延伸的线之间测量角度。 记录这些角度，以确定车辆在道路上的姿态的方式确定和比较差异。 确定道路的曲率和车速，并且根据以姿态记录的调度确定车轮的最佳转向角，并且根据具有车速和道路曲率的参数变化来确定。
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公开(公告)号：US4532648A
公开(公告)日：1985-07-30
申请号：US428230
申请日：1982-09-29
申请人： Kazunori Noso , Norimasa Kishi , Toru Futami
发明人： Kazunori Noso , Norimasa Kishi , Toru Futami
IPC分类号： B60R16/02 , B60R16/037 , G10L11/00 , G10L11/02 , G10L15/04 , G10L15/06 , G10L15/20 , G10L15/22 , G10L21/02 , G10L1/00
CPC分类号： B60R16/0373 , G10L15/20 , G10L25/87
摘要： A speech recognition system for an automotive vehicle which can record or recognize spoken instruction phrases reliably even when engine noise increases high within the passenger compartment. When the engine begins to operate, the gain of an amplifier of a speech input section or the threshold level of a voice detector is so switched as to reduce the sensitivity to spoken instructions. As a result, the driver must necessarily utter a spoken instruction in a louder voice and thus the proportion of noise level to spoken instruction signal level is reduced. The system according to the present invention comprises engine operation detecting means, an analog switch, two amplifiers or two multipliers, etc. in addition to the conventional speech recognizer.
摘要翻译： 一种用于机动车辆的语音识别系统，即使在乘客舱内的发动机噪声增加高的情况下，也能够可靠地记录或识别口语指令语句。 当发动机开始运行时，语音输入部分的放大器的增益或语音检测器的阈值电平被切换，以便降低对说出的指令的灵敏度。 结果，驾驶者必须以较大的声音发出口语指令，因此噪音水平与口语指令信号电平的比例降低。 根据本发明的系统除了常规语音识别器之外还包括发动机操作检测装置，模拟开关，两个放大器或两个乘法器等。
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公开(公告)号：US4528687A
公开(公告)日：1985-07-09
申请号：US432379
申请日：1982-09-30
申请人： Kazunori Noso , Norimasa Kishi , Toru Futami
发明人： Kazunori Noso , Norimasa Kishi , Toru Futami
IPC分类号： B60R16/02 , B60R16/037 , G10L15/22 , G10L25/87 , G10L1/00
CPC分类号： B60R16/0373 , G10L15/22 , G10L25/87
摘要： A speech recognition and actuator system for auto device control includes a recognition switch which when operated a first time activates the system to accept a spoken command, and if operated a second time within a predetermined interval T1 (approximately 2 seconds) stops the actuation and awaits a new command. Additional timers provide interval T2 for a stop command, and T3 for enabling the speech recognizer. The system may also include a reset switch when operated returns the actuated device to its original state.
摘要翻译： 用于自动装置控制的语音识别和致动器系统包括识别开关，当第一次操作时，启动系统以接受口语命令，并且如果在预定间隔T1（约2秒）内第二次操作，则停止致动并等待 一个新的命令。 附加定时器提供停止命令的间隔T2，以及用于启用语音识别器的T3。 该系统还可以包括复位开关，当操作使致动装置恢复到其初始状态时。
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公开(公告)号：US4506377A
公开(公告)日：1985-03-19
申请号：US408702
申请日：1982-08-16
申请人： Norimasa Kishi , Kazunori Noso , Toru Futami
发明人： Norimasa Kishi , Kazunori Noso , Toru Futami
CPC分类号： B60R16/0373 , G10L15/22
摘要： A spoken-instruction controlled system for an automotive vehicle by which a single actuator can be activated repeatedly or a plurality of actuators can be activated sequentially by repeatedly depressing a recognition switch within a predetermined time period after a spoken instruction corresponding to the single actuator or actuators has been recognized by a speech recognizer. Therefore, it is possible to activate an actuator repeatedly or actuators sequentially without uttering the same spoken instruction repeatedly. The spoken-instruction controlled system according to the present invention comprises a two-circuit analog switch, at least one analog switch, at least one retriggerable timer unit, an AND gate, an OR gate, a shift register, etc., in addition to a speech recognizer.
摘要翻译： 一种用于机动车辆的口语指令控制系统，通过该语音指令控制系统可以重复地激活单个致动器或者可以在对应于单个致动器或致动器的语音指令之后在预定时间段内反复按压识别开关来顺序地激活多个致动器 已被语音识别器识别。 因此，可以重复地激活执行器或者顺序地执行致动器，而不会重复地发出相同的说明指令。 根据本发明的语音指令控制系统除了包括双电路模拟开关，至少一个模拟开关，至少一个可再触发定时器单元，与门，或门，移位寄存器等之外，还包括： 语音识别器
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公开(公告)号：US4501012A
公开(公告)日：1985-02-19
申请号：US379506
申请日：1982-05-18
申请人： Norimasa Kishi , Kazunori Noso
发明人： Norimasa Kishi , Kazunori Noso
CPC分类号： B60R16/0373 , G10L15/00 , G10L25/87
摘要： A speech recognition system for an automotive vehicle which can selectively activate actuators according to vehicle-travelling conditions in such a way that a spoken instruction such as "Door open" or "Trunk lid open" can be recognized only when vehicle speed is zero, "Headlight high/low beam" can be recognized only when vehicle speed reaches a predetermined value, and "Air conditioner on/off" or "Radio on/off" can be recognized regardless of vehicle speed. The speech recognition system for an automotive vehicle according to the present invention comprises a speed sensor or the like and a speed-dependent speech selection unit including AND gates or analog switches, in addition to the conventional speech recognizer.
摘要翻译： 一种用于机动车辆的语音识别系统，其可以根据车辆行驶状态选择性地激活致动器，使得仅当车辆速度为零时才能够识别诸如“开门”或“中继盖打开”的口语指令， 只有当车速达到预定值时，才能识别头灯高/低光束“，无论车速如何，都能够识别出”空调打开/关闭“或”无线电开/关“。 根据本发明的机动车辆的语音识别系统除了传统的语音识别器之外还包括速度传感器等以及包括与门或模拟开关的速度相关语音选择单元。
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公开(公告)号：US4637045A
公开(公告)日：1987-01-13
申请号：US809882
申请日：1985-12-17
申请人： Kazunori Noso , Norimasa Kishi , Toru Futami
发明人： Kazunori Noso , Norimasa Kishi , Toru Futami
CPC分类号： B60R16/0373
摘要： A speech recognition system for an automotive vehicle enables desired reference spoken instruction phrases to be easily re-recorded by repeatedly depressing a manual switch arrangement that commands skipping. Each activation of the switch shifts the system from a ready state for recording the current spoken instruction to a ready state for recording a succeeding spoken instruction. By repeatedly activating the skip switch ready state for re-recording any given spoken instruction is reached. In one embodiment, a separate skip switch is provided. In a second embodiment, logic circuitry responds to simultaneous activation of record and recognition switches to command skipping.
摘要翻译： 用于机动车辆的语音识别系统使得能够通过重复地按下指令跳过的手动开关装置来容易地重新记录期望的参考口语指令短语。 开关的每次激活将系统从用于记录当前语音指令的就绪状态转移到就绪状态，以便记录下一个口头指令。 通过重复激活跳过开关就绪状态以重新录制任何给定的语音指令。 在一个实施例中，提供单独的跳过开关。 在第二实施例中，逻辑电路响应于记录和识别开关的同时激活以跳转命令。
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公开(公告)号：US4558459A
公开(公告)日：1985-12-10
申请号：US456323
申请日：1983-01-06
申请人： Kazunori Noso , Norimasa Kishi , Toru Futami
发明人： Kazunori Noso , Norimasa Kishi , Toru Futami
CPC分类号： B60R16/0373 , G10L15/20 , G10L25/87
摘要： In a speech recognition and control system for an automobile, the microphone preamplifier gain is made inversely proportional to the background sound noise level. Noise level is determined by averaging the microphone output for 100 milliseconds after the recognition switch is closed, before speech.
摘要翻译： 在汽车的语音识别和控制系统中，麦克风前置放大器的增益与背景噪声电平成反比。 语音之前，通过在识别开关关闭之后将麦克风输出平均100毫秒来确定噪声电平。
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公开(公告)号：US4531228A
公开(公告)日：1985-07-23
申请号：US428233
申请日：1982-09-29
申请人： Kazunori Noso , Norimasa Kishi , Toru Futami
发明人： Kazunori Noso , Norimasa Kishi , Toru Futami
摘要： A speech recognition system includes speech presence detection which uses a first level threshold of ambient noise/silence above which speech start is decided for a signal. Speech end is decided when the signal falls to a second threshold equal to the first, unless a predetermined time interval of speech is exceeded after start, causing a corrected second threshold to be calculated and used.
摘要翻译： 语音识别系统包括语音存在检测，其使用环境噪声/静音的第一级阈值，在该噪声/沉默之上决定了语音开始信号。 除非在开始之后超出预定的语音时间间隔，否则当信号下降到等于第一阈值的第二阈值时，决定语音结束，从而计算和使用校正的第二阈值。
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