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公开(公告)号：US5617335A
公开(公告)日：1997-04-01
申请号：US588320
申请日：1996-01-18
申请人： Masayoshi Hashima , Fumi Hasegawa , Keiju Okabayashi , Ichiro Watanabe , Shinji Kanda , Naoyuki Sawasaki , Yuichi Murase
发明人： Masayoshi Hashima , Fumi Hasegawa , Keiju Okabayashi , Ichiro Watanabe , Shinji Kanda , Naoyuki Sawasaki , Yuichi Murase
CPC分类号： G06K9/4647 , B25J9/1697 , B64G1/646 , G01S3/7864 , G01S5/163 , G06K9/3216 , G06T7/2033 , G05B2219/39387 , G05B2219/39397 , G05B2219/40613 , G06K2009/3225
摘要： A system for and a method of recognizing and tracking a target mark with a video camera is disclosed. The system includes a target mark (10) disposed on an object (1) and composed of a black circle and a white triangle mounted centrally on the black circle and three-dimensionally shifted from the black circle, a video camera (20) for imaging the target mark (10), a robot (30) supporting the video camera (20) and movable in directions with six degrees of freedom, an image processor (40) for processing image data of the target mark which is produced by the video camera (20), a shift calculating unit (50) for detecting a shift of the target mark (10) from projected histogram information of the target mark (10) which is produced by the image processor (40), and a robot controller (60) for controlling movement of the robot depending on the shift to enable the video camera (20) to track the target mark (10). The system is capable of tracking the target mark (20) attached to the object (1) on a real-time basis. Mark recognizing apparatus capable of accurately recognizing target marks of other shapes is also disclosed.
摘要翻译： 公开了一种使用摄像机识别和跟踪目标标记的系统和方法。 该系统包括设置在物体（1）上并由黑色圆圈和白色三角形组成的目标标记（10），其安装在黑色圆圈的中心并从黑色圆圈三维位移，用于成像的摄像机（20） 所述目标标记（10），支持所述摄像机（20）并且能够以六自由度的方向移动的机器人（30），用于处理由所述摄像机产生的所述目标标记的图像数据的图像处理器 （20），用于根据由图像处理器（40）产生的目标标记（10）的投影直方图信息和机器人控制器（60）检测目标标记（10）的偏移的移位计算单元（50） ），用于根据移动来控制机器人的运动，以使得摄像机（20）能够跟踪目标标记（10）。 该系统能够实时跟踪附接到对象（1）的目标标记（20）。 还公开了能够准确地识别其他形状的目标标记的标记识别装置。
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公开(公告)号：US5521843A
公开(公告)日：1996-05-28
申请号：US119228
申请日：1993-09-28
申请人： Masayoshi Hashima , Fumi Hasegawa , Keiju Okabayashi , Ichiro Watanabe , Shinji Kanda , Naoyuki Sawasaki , Yuichi Murase
发明人： Masayoshi Hashima , Fumi Hasegawa , Keiju Okabayashi , Ichiro Watanabe , Shinji Kanda , Naoyuki Sawasaki , Yuichi Murase
CPC分类号： G06K9/4647 , B25J9/1697 , B64G1/646 , G01S3/7864 , G01S5/163 , G06K9/3216 , G06T7/2033 , G05B2219/39387 , G05B2219/39397 , G05B2219/40613 , G06K2009/3225
摘要： A system for and a method of recognizing and tracking a target mark with a video camera is disclosed. The system includes a target mark (10) disposed on an object (1) and composed of a black circle and a white triangle mounted centrally on the black circle and three-dimensionally shifted from the black circle, a video camera (20) for imaging the target mark (10), a robot (30) supporting the video camera (20) and movable in directions with six degrees of freedom, an image processor (40) for processing image data of the target mark which is produced by the video camera (20), a shift calculating unit (50) for detecting a shift of the target mark (10) from projected histogram information of the target mark (10) which is produced by the image processor (40), and a robot controller (60) for controlling movement of the robot depending on the shift to enable the video camera (20) to track the target mark (10). The system is capable of tracking the target mark ( 20) attached to the object (1) on a real-time basis. Mark recognizing apparatus capable of accurately recognizing target marks of other shapes is also disclosed.
摘要翻译： PCT No.PCT / JP93 / 00107 Sec。 371日期：1993年9月28日 102（e）日期1993年9月28日PCT 1993年1月29日PCT公布。 第WO93 / 15376号公报 日期：1993年8月5日。公开了一种使用摄像机识别和跟踪目标标记的系统和方法。 该系统包括设置在物体（1）上并由黑色圆圈和白色三角形组成的目标标记（10），其安装在黑色圆圈的中心并从黑色圆圈三维位移，用于成像的摄像机（20） 所述目标标记（10），支持所述摄像机（20）并且能够以六自由度的方向移动的机器人（30），用于处理由所述摄像机产生的所述目标标记的图像数据的图像处理器 （20），用于根据由图像处理器（40）产生的目标标记（10）的投影直方图信息和机器人控制器（60）检测目标标记（10）的偏移的移位计算单元（50） ），用于根据移动来控制机器人的运动，以使得摄像机（20）能够跟踪目标标记（10）。 该系统能够实时跟踪附接到对象（1）的目标标记（20）。 还公开了能够准确地识别其他形状的目标标记的标记识别装置。
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公开(公告)号：US07218994B2
公开(公告)日：2007-05-15
申请号：US11083900
申请日：2005-03-21
申请人： Shinji Kanda , Yuichi Murase , Sumihisa Iwashita , Katsutoshi Shimizu , Naoyuki Sawasaki , Keiju Okabayashi
发明人： Shinji Kanda , Yuichi Murase , Sumihisa Iwashita , Katsutoshi Shimizu , Naoyuki Sawasaki , Keiju Okabayashi
IPC分类号： G06F19/00
CPC分类号： G05D1/0251 , G05D1/0285 , G05D2201/0207 , G06N3/008
摘要： A robot for freely moving about in an environment where there is an obstacle. The robot includes a communication section transmitting by wireless an image taken by a camera to a base station, and via the base station to a communication terminal making a radio communication with the base station, and receiving by wireless movement target position information specified on the image by an operation of the communication terminal via the base station, and a motion control section that moves the robot up to a movement target position specified by the movement target position information acquired in the communication section.
摘要翻译： 在有障碍物的环境中自由移动的机器人。 机器人包括通过无线方式通过摄像机拍摄的图像向基站发送的通信部，并且经由基站向与基站进行无线通信的通信终端进行通信，并且通过无线移动来接收在图像上指定的目标位置信息 通过基站的通信终端的操作，以及运动控制部，其使所述机器人移动到通过所述通信部获取的所述移动目标位置信息指定的移动目标位置。
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公开(公告)号：US20050165508A1
公开(公告)日：2005-07-28
申请号：US11083900
申请日：2005-03-21
申请人： Shinji Kanda , Yuichi Murase , Sumihisa Iwashita , Katsutoshi Shimizu , Naoyuki Sawasaki , Keiju Okabayashi
发明人： Shinji Kanda , Yuichi Murase , Sumihisa Iwashita , Katsutoshi Shimizu , Naoyuki Sawasaki , Keiju Okabayashi
CPC分类号： G05D1/0251 , G05D1/0285 , G05D2201/0207 , G06N3/008
摘要： The present invention aims to provide a robot having the structure suitable for freely moving about in the environment where there is an obstacle within the house, for example. The robot includes a communication section transmitting by wireless an image taken by the camera to a base station, and via the base station to a communication terminal making the radio communication with the base station, and receiving by wireless the movement target position information specified on the image by an operation of the communication terminal via the base station, and a motion control section that moves the robot up to a movement target position specified by the movement target position information acquired in the communication section.
摘要翻译： 本发明的目的在于提供一种机器人，其具有适于在房屋内存在障碍物的环境中自由移动的结构。 机器人包括通过无线方式将由照相机拍摄的图像发送到基站的通信部分，并且经由基站到与基站进行无线电通信的通信终端，并且通过无线接收在该基站上指定的移动目标位置信息 通过基站的通信终端的操作的图像;以及运动控制部，其将机器人移动到由通信部中获取的移动目标位置信息指定的移动目标位置。
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公开(公告)号：US20050071047A1
公开(公告)日：2005-03-31
申请号：US10978439
申请日：2004-11-02
申请人： Keiju Okabayashi , Miwa Okabayashi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
发明人： Keiju Okabayashi , Miwa Okabayashi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
CPC分类号： G05D1/0038 , G05D1/0229 , G05D1/0242 , G05D1/0251 , G05D1/0272 , G05D1/0274 , G05D2201/0207 , G06K9/00664 , G06T7/74 , G06T2200/32 , G06T2207/20021 , G06T2207/30244
摘要： A remotely controlled robot comprises a unit storing the layout plan of a building, a unit receiving a position remotely designated in the layout plan from a remote location and a unit controlling the travel of the robot to the designated position. A self-position identification method is implemented by a robot with a camera whose shooting direction can be changed. The robot takes in advance a panoramic picture of a room where the robot may travel, generates a reference picture by extracting a plurality of block pictures from the panoramic picture and identifies a room where the robot is located, by applying correlation and DP matching, using both a picture taken in the room where the robot is located and the reference picture.
摘要翻译： 遥控机器人包括存储建筑物的布局图的单元，从远程位置接收在布局图中远程指定的位置的单元和控制机器人到指定位置的行进的单元。 自动位置识别方法由具有拍摄方向可改变的相机的机器人实现。 机器人预先提取机器人可以行进的房间的全景照片，通过从全景图像中提取多个块图像并通过应用相关性和DP匹配来识别机器人所在的房间来生成参考图像，使用 在机器人所在的房间中拍摄的照片和参考图片。
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公开(公告)号：US07120519B2
公开(公告)日：2006-10-10
申请号：US10978439
申请日：2004-11-02
申请人： Keiju Okabayashi , Miwa Okabayashi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
发明人： Keiju Okabayashi , Miwa Okabayashi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
IPC分类号： G06F19/00
CPC分类号： G05D1/0038 , G05D1/0229 , G05D1/0242 , G05D1/0251 , G05D1/0272 , G05D1/0274 , G05D2201/0207 , G06K9/00664 , G06T7/74 , G06T2200/32 , G06T2207/20021 , G06T2207/30244
摘要： A remotely controlled robot comprises a unit storing the layout plan of a building, a unit receiving a position remotely designated in the layout plan from a remote location and a unit controlling the travel of the robot to the designated position. A self-position identification method is implemented by a robot with a camera whose shooting direction can be changed. The robot takes in advance a panoramic picture of a room where the robot may travel, generates a reference picture by extracting a plurality of block pictures from the panoramic picture and identifies a room where the robot is located, by applying correlation and DP matching, using both a picture taken in the room where the robot is located and the reference picture.
摘要翻译： 遥控机器人包括存储建筑物的布局图的单元，从远程位置接收在布局图中远程指定的位置的单元和控制机器人到指定位置的行进的单元。 自动位置识别方法由具有拍摄方向可改变的相机的机器人实现。 机器人预先提取机器人可以行进的房间的全景照片，通过从全景图像中提取多个块图像并通过应用相关性和DP匹配来识别机器人所在的房间来生成参考图像，使用 在机器人所在的房间中拍摄的照片和参考图片。
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公开(公告)号：US20060113881A1
公开(公告)日：2006-06-01
申请号：US10904141
申请日：2004-10-26
申请人： Jeff Donovan , Miwa Okabayshi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
发明人： Jeff Donovan , Miwa Okabayshi , Yuichi Murase , Katsutoshi Shimizu , Sumihisa Iwashita , Naoyuki Sawasaki
CPC分类号： B60R11/0235 , B60R2011/0028 , B60R2011/0045 , B60R2011/0082 , B60R2011/0084 , B60R2011/0085
摘要： An automotive entertainment assembly is provided including a vehicle roof and a headliner. The headliner provides a substantially uniform internal surface. A mounting frame assembly is positioned between the headliner and the vehicle roof. A circuit board is mounted to the mounting frame assembly. A multi-media display assembly is rotatably mounted to the mounting frame assembly and includes an upper panel edge, a lower panel edge, a pair of panel side edges. The display assembly is rotatable between a stored position and a deployed position. The multi-media display assembly includes a rear display panel surface substantially flush with the uniform internal surface when in the stored position A flexible cable provides communication between the circuit board and the multi-media display assembly.
摘要翻译： 提供了一种汽车娱乐组件，包括车顶和车顶篷。 顶篷提供基本均匀的内表面。 安装框架组件位于顶篷和车顶之间。 电路板安装到安装框架组件。 多媒体显示组件可旋转地安装到安装框架组件，并且包括上面板边缘，下面板边缘，一对面板侧边缘。 显示组件可在存储位置和展开位置之间旋转。 多媒体显示器组件包括当处于存储位置时基本上与均匀内表面齐平的后显示面板表面。柔性电缆提供电路板和多媒体显示组件之间的通信。
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公开(公告)号：US5765443A
公开(公告)日：1998-06-16
申请号：US789642
申请日：1997-01-27
申请人： Yuichi Murase , Hiroki Kobayashi
发明人： Yuichi Murase , Hiroki Kobayashi
CPC分类号： B25J17/0258 , Y10T74/18856 , Y10T74/20329
摘要： A robot having a joint mechanism including a first arm member; a second arm member supported to the first arm member so as to be rotatable about a first axis; a swinging member supported to the second arm member so as to be rotatable about a second axis intersecting the first axis at a bending point, the swinging member having a first connecting portion at a position spaced from the second axis; a power transmitting member supported to the first arm member so as to be rotatable about a third axis orthogonally intersecting the first axis at the bending point, the power transmitting member having a second connecting portion at a position spaced from the third axis, the power transmitting member being connected at the second connecting portion to the first connecting portion of the swinging member so as to be rotatable about a fourth axis intersecting the second axis at the bending point and obliquely intersecting the third axis at the bending point; and a driving motor mounted on the first arm member, for rotationally driving the power transmitting member about the third axis.
摘要翻译： 一种机器人，其具有包括第一臂构件的接合机构; 第二臂构件，其被支撑在所述第一臂构件上以便能够围绕第一轴线旋转; 支撑在所述第二臂构件上的摆动构件能够在弯曲点处绕与所述第一轴线相交的第二轴线旋转，所述摆动构件在与所述第二轴线间隔开的位置处具有第一连接部分; 动力传递构件，其被支撑在所述第一臂构件上，以能够围绕在所述弯曲点与所述第一轴正交的第三轴旋转，所述动力传递构件在与所述第三轴线间隔开的位置处具有第二连接部，所述动力传递 构件在第二连接部分处连接到摆动构件的第一连接部分，以便能够在弯曲点处绕与第二轴线交叉的第四轴线可旋转并且在弯曲点处与第三轴线倾斜交叉; 以及安装在第一臂构件上的驱动电机，用于围绕第三轴旋转地驱动动力传递构件。
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