公开(公告)号：US5029018A

公开(公告)日：1991-07-02

申请号：US272996

申请日：1988-11-17

Applicant: Kazunori Noso ,  Kiyoshi Akutagawa

Inventor： Kazunori Noso ,  Kiyoshi Akutagawa

IPC: G06F15/80 ,  G06T1/20

CPC classification number: G06T1/20 ,  G06F15/8007

Abstract: A structure of an image processing system is disclosed in which a common bus, a plurality of image memories (VRAMs), and a plurality of data processors are installed and in which a plurality of selectors connected between each bus line of the common bus and each input end of the image memories and between each bus line of the common bus and each input end of the data processors are provided so that each selector is capable of selecting at least any one of the respective bus lines of the common bus to connect to the corresponding input end of the image memories and data processors. Therefore, data transfer between different addresses becomes possible via the common bus and simultaneous executions of calculation processings of the image data become possible. Consequently, flexibility and general-purpose utility of the system and extension of the image memories and data processors can be achieved.

Abstract translation: 公开了一种图像处理系统的结构，其中安装有公共总线，多个图像存储器（VRAM）和多个数据处理器，并且其中连接在公共总线的每个总线之间的多个选择器和每个 提供图像存储器的输入端和公共总线的每个总线与数据处理器的每个输入端之间，使得每个选择器能够选择公共总线的各个总线中的至少任一个连接到 图像存储器和数据处理器的相应输入端。 因此，可以通过公共总线在不同地址之间进行数据传送，并且能够同时执行图像数据的计算处理。 因此，可以实现系统的灵活性和通用目的效用以及图像存储器和数据处理器的扩展。

公开(公告)号：US07659511B2

公开(公告)日：2010-02-09

申请号：US12020525

申请日：2008-01-26

Applicant: Kiyoshi Akutagawa

Inventor： Kiyoshi Akutagawa

IPC: G01J5/02

CPC classification number: H04N5/2354 ,  G03B15/05 ,  G03B2215/05 ,  H04N5/2256 ,  H04N5/33 ,  H04N5/332

Abstract: An image pickup apparatus includes an irradiation unit for radiating, to an object, light having a plurality of wavelength regions, and an image pickup unit for picking up an image that is obtained when the light having the wavelength regions is radiated by the irradiation unit and an image that is obtained when the light is not radiated by the irradiation unit. Based on both images, a wavelength region from among the wavelength regions is determined in which the intensity of external light is low. The irradiation unit is then controlled to radiate light having an increased emission intensity for the light having the wavelength region in which the intensity of external light is low.

Abstract translation: 一种图像拾取装置包括用于向目标发射具有多个波长区域的光的照射单元和用于拾取当具有由该照射单元辐射波长区域的光而获得的图像时的图像的图像拾取单元，以及 当光不被照射单元照射时获得的图像。 基于两个图像，确定波长区域中的外部光的强度低的波长区域。 然后控制照射单元以对具有外部光强度低的波长区域的光辐射具有增加的发射强度的光。

公开(公告)号：US20080251725A1

公开(公告)日：2008-10-16

申请号：US12020525

申请日：2008-01-26

Applicant: Kiyoshi Akutagawa

Inventor： Kiyoshi Akutagawa

IPC: G01J5/02 ,  G01J1/32 ,  G01J5/00

CPC classification number: H04N5/2354 ,  G03B15/05 ,  G03B2215/05 ,  H04N5/2256 ,  H04N5/33 ,  H04N5/332

Abstract: An image pickup apparatus includes an irradiation unit for radiating, to an object, light having a plurality of wavelength regions, and an image pickup unit for picking up an image that is obtained when the light having the wavelength regions is radiated by the irradiation unit and an image that is obtained when the light is not radiated by the irradiation unit. Based on both images, a wavelength region from among the wavelength regions is determined in which the intensity of external light is low. The irradiation unit is then controlled to radiate light having an increased emission intensity for the light having the wavelength region in which the intensity of external light is low.

Abstract translation: 一种图像拾取装置包括用于向目标发射具有多个波长区域的光的照射单元和用于拾取当具有由该照射单元辐射波长区域的光而获得的图像时的图像的图像拾取单元，以及 当光不被照射单元照射时获得的图像。 基于两个图像，确定波长区域中的外部光的强度低的波长区域。 然后控制照射单元以对具有外部光强度低的波长区域的光辐射具有增加的发射强度的光。

公开(公告)号：US07006667B2

公开(公告)日：2006-02-28

申请号：US09987258

申请日：2001-11-14

Applicant: Kiyoshi Akutagawa

Inventor： Kiyoshi Akutagawa

IPC: G06K9/00

CPC classification number: G05D1/0246 ,  B60T2201/08 ,  B60T2201/089 ,  G05D2201/0213 ,  G06T7/12 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/30256

Abstract: In road white line detecting apparatus and method, a CCD camera is installed to photograph a road surface, an edge image is generated from a road surface image photographed and outputted by the CCD camera, edge positions of a smear are detected from a region of the generated edge image which is determined on the basis of a previously detected position of a white line on the road surface, smear edges corresponding to the edge positions of the smear are generated from the generated edge image, and the present position of the white line are detected from the generated edge image from which the smear edges have been eliminated.

公开(公告)号：US06925206B2

公开(公告)日：2005-08-02

申请号：US10208836

申请日：2002-08-01

Applicant: Kiyoshi Akutagawa

Inventor： Kiyoshi Akutagawa

IPC: B60R21/00 ,  B60R1/00 ,  G06K9/00 ,  G06T1/00 ,  G06T5/00 ,  G06T5/40 ,  G06T7/00 ,  G06T7/60 ,  G08G1/16 ,  G06K9/34

CPC classification number: G06K9/00798 ,  G06T5/008 ,  G06T5/40 ,  G06T7/11 ,  G06T7/70 ,  G06T2207/10016 ,  G06T2207/20012 ,  G06T2207/30256

Abstract: A white line detection apparatus comprises an extraction device that extracts an image of a white line detection processing area set within a road image captured by an image-capturing device, a maximum value estimating device that estimates a maximum value among pixel values constituting an image of road surface areas other than the white line based upon the pixel values representing the image extracted by the extraction device, a contrast reducing device that reduces the contrast of an image corresponding to pixel values equal to or lower than the maximum value among the pixel values constituting the image of road surface areas other than the white line which has been estimated and a detection device that detects the white line based upon the image whose contrast has been lowered by the contrast reducing device.

Abstract translation: 白线检测装置包括提取装置，其提取由图像捕获装置捕获的道路图像内设置的白线检测处理区域的图像，估计构成图像的图像的像素值中的最大值的最大值估计装置 基于表示由提取装置提取的图像的像素值的白线以外的路面区域，对比度降低装置，其降低与构成的像素值中的等于或者低于最大值的像素值对应的图像的对比度 基于已经被估计的白线以外的路面区域的图像，以及基于由对比度降低装置降低了对比度的图像来检测白线的检测装置。

公开(公告)号：US4797835A

公开(公告)日：1989-01-10

申请号：US133686

申请日：1987-12-16

Applicant: Kunihiko Kurami ,  Kiyoshi Akutagawa

Inventor： Kunihiko Kurami ,  Kiyoshi Akutagawa

IPC: B25J9/16 ,  B25J9/18 ,  G05B19/19 ,  G05B13/00

CPC classification number: B25J9/1628 ,  G05B19/19

Abstract: An apparatus for model follower control of a robot. The apparatus comprises a source for generating target position data representing a target position for the robot, and an operation pattern generator responsive to the target position data for calculating target angular position data representing target angular positions of the robot for respective control periods. A step input calculating unit calculates step input data based on the target angular position data and the existing robot condition data from a first relationship programmed therein. A reference model responds to the step input data and calculates command data from a second relationship programmed therein. The second relationship is represented by a discrete equation. The command data are used along with the existing robot condition data in controlling the robot in a manner to perform continuous path operation of the robot. The first relationship is represented by an equation derived from the discrete equation used in calculating command data for a control period after a predetermined number of control periods. In another aspect, the reference model has a response characteristic determined by a first pole group and a second pole. The first pole group is set to have the shortest possible time constant, whereas the second pole is set to have a time constant to bring the reference model close to a model having a linear response characteristic.

Abstract translation: 一种用于机器人追踪器控制的装置。 该装置包括用于产生表示机器人的目标位置的目标位置数据的源，以及响应于目标位置数据的操作模式发生器，用于计算表示各个控制周期的机器人的目标角位置的目标角位置数据。 踏步输入计算单元根据目标角位置数据和现有的机器人条件数据根据其中编程的第一关系来计算步骤输入数据。 参考模型响应于步进输入数据，并从其中编程的第二关系计算命令数据。 第二个关系用离散方程表示。 命令数据与现有的机器人条件数据一起使用，以便以机器人的连续路径操作的方式控制机器人。 第一关系由在预定数量的控制周期之后的控制周期的计算命令数据中使用的离散方程导出的等式表示。 另一方面，参考模型具有由第一极组和第二极确定的响应特性。 第一极组被设置为具有最短可能的时间常数，而第二极被设置为具有时间常数以使参考模型接近具有线性响应特性的模型。