公开(公告)号：US06804396B2

公开(公告)日：2004-10-12

申请号：US09820130

申请日：2001-03-28

申请人： Nobuo Higaki ,  Yuichi Yoshida ,  Kikuo Fujimura

发明人： Nobuo Higaki ,  Yuichi Yoshida ,  Kikuo Fujimura

IPC分类号： G06K900

CPC分类号： G06K9/00335 ,  B25J11/0005 ,  B25J13/003 ,  G06F3/017 ,  G06F3/167 ,  G10L15/26

摘要： The present invention provides a system for recognizing gestures made by a moving subject. The system comprises a sound detector for detecting sound, one or more image sensors for capturing an image of the moving subject, a human recognizer for recognizing a human being from the image captured by said one or more image sensors, and a gesture recognizer, activated when human voice is identified by said sound detector, for recognizing a gesture of the human being. In a preferred embodiment, the system includes a hand recognizer for recognizing a hand of the human being. The gesture recognizer recognizes a gesture of the human being based on movement of the hand identified by the hand recognizer. The system may further include a voice recognizer that recognizes human voice and determines words from human voice input to the sound detector. The gesture recognizer is activated when the voice recognizer recognizes one of a plurality of predetermined keywords such as “hello!”, “bye”, and “move”.

摘要翻译： 本发明提供了一种用于识别由移动的被摄体制作的手势的系统。 该系统包括用于检测声音的声音检测器，用于捕获移动被摄体的图像的一个或多个图像传感器，用于从由所述一个或多个图像传感器捕获的图像中识别人的人类识别器，以及手势识别器，被激活 当由所述声音检测器识别人声时，用于识别人的手势。在优选实施例中，该系统包括用于识别人的手的手识别器。 手势识别器基于由手识别器识别的手的移动来识别人的手势。 该系统还可以包括语音识别器，其识别人类语音并且确定从人声输入到声音检测器的单词。 当语音识别器识别诸如“你好”，“再见”和“移动”的多个预定关键字之一时，手势识别器被激活。

公开(公告)号：US07840308B2

公开(公告)日：2010-11-23

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： G05B19/18

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：US06853880B2

公开(公告)日：2005-02-08

申请号：US10225287

申请日：2002-08-22

申请人： Yoshiaki Sakagami ,  Nobuo Higaki ,  Naoaki Sumida ,  Yuichi Yoshida

发明人： Yoshiaki Sakagami ,  Nobuo Higaki ,  Naoaki Sumida ,  Yuichi Yoshida

IPC分类号： A63H11/00 ,  B25J5/00 ,  B25J13/00 ,  G06N3/00 ,  G06T1/00 ,  G06T7/00 ,  G06T7/60 ,  G10L15/00 ,  G10L15/28 ,  G05B19/18 ,  G05B18/00

CPC分类号： G06N3/008 ,  G05B2219/39387

摘要： An autonomous action robot which can turn its line of sight to face a person who calls out, can recognize the face of a person, and can perform various actions in response to commands. First, a sound emitted from a person or other sound source is detected by a sound detector, and the direction of the sound source is specified based on the detected sound. Then, a robot head section is controlled, and the imaging direction of the robot head section is moved to face the specified direction of the sound source. Next, an image is captured in the direction of the sound source, and a target image of a specific shape is extracted from the captured image. Then, the imaging direction of the robot head section is controlled and moved to face in the direction of the extracted target image.

摘要翻译： 能够将其视线转向面对呼出者的自主动作机器人，可以识别人的面部，并且可以响应命令执行各种动作。 首先，由声音检测器检测从人或其他声源发出的声音，并且基于检测到的声音指定声源的方向。 然后，控制机器人头部，并且机器人头部的成像方向移动到与声源的指定方向相对。 接下来，沿着声源的方向拍摄图像，并且从拍摄图像中提取特定形状的目标图像。 然后，机器人头部的成像方向被控制并移动到所提取的目标图像的方向上。

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：US08719827B2

公开(公告)日：2014-05-06

申请号：US13179614

申请日：2011-07-11

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： G06F9/46 ,  G06F9/00 ,  G06F1/00

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：US20100318707A1

公开(公告)日：2010-12-16

申请号：US12866061

申请日：2008-08-13

申请人： Tsuyoshi Tanaka ,  Nobuo Higaki ,  Takasi Inoue ,  Yosuke Kudo ,  Kazushi Kurata

发明人： Tsuyoshi Tanaka ,  Nobuo Higaki ,  Takasi Inoue ,  Yosuke Kudo ,  Kazushi Kurata

IPC分类号： G06F13/24 ,  G06F9/30

CPC分类号： G06F13/385 ,  G06F3/0611 ,  G06F3/0656 ,  G06F3/0659 ,  G06F3/0683

摘要： An external device access apparatus according to the present invention includes: an address control unit that accepts a prefetch request and a prefetch data readout request from a master and performs a prefetch operation and a prefetch data readout operation; a readout data storage unit that stores data read out through the prefetch operation; a storage operation status holding unit that holds a prefetch operation status indicating whether or not the prefetch operation has been completed; and an acceptance signal generation unit that outputs, to the master, an acceptance signal indicating that the prefetch data readout request has been accepted from the master. First information indicating a status of the prefetch operation is outputted to the master based on the prefetch operation status.

摘要翻译： 根据本发明的外部设备接入装置包括：地址控制单元，其从主机接收预取请求和预取数据读出请求，并执行预取操作和预取数据读出操作; 读出数据存储单元，存储通过预取操作读出的数据; 存储操作状态保持单元，其保存指示预取操作是否已经完成的预取操作状态; 以及接收信号生成单元，其向主设备输出表示预取数据读出请求已经从主机接受的接收信号。 基于预取操作状态，将指示预取操作的状态的第一信息输出到主机。

公开(公告)号：US07693514B2

公开(公告)日：2010-04-06

申请号：US10915535

申请日：2004-08-11

申请人： Yoshiaki Sakagami ,  Yoko Saito ,  Koji Kawabe ,  Takamichi Shimada ,  Nobuo Higaki

发明人： Yoshiaki Sakagami ,  Yoko Saito ,  Koji Kawabe ,  Takamichi Shimada ,  Nobuo Higaki

IPC分类号： H04Q7/20

CPC分类号： H04W4/02 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0207 ,  H04L67/12

摘要： In an event site or the like, a visitor may waste time and effort trying to find a spot where an event of interest may be taking place because the visitor is unable to look through the entire site from any particular spot. An information gathering robot roams in such an event site typically along a prescribed route, and notes spots of interest to transmit this information to a data server. The visitor can access the data server to find a spot of interest of his or her choice substantially on a real time basis.

摘要翻译： 在事件现场等中，访客可能会浪费时间和精力去尝试寻找可能发生的兴趣事件的地点，因为访问者无法从任何特定的地点查看整个站点。 信息收集机器人通常沿着规定的路线在这样的事件站点中漫游，并且记录将该信息发送到数据服务器的感兴趣点。 访问者可以访问数据服务器，实质上基于实时地查找他或她选择的兴趣点。

公开(公告)号：US20080267286A1

公开(公告)日：2008-10-30

申请号：US11572680

申请日：2005-02-23

申请人： Hideki Kuroki ,  Shigeki Fujii ,  Akihiko Ootani ,  Nobuo Higaki

发明人： Hideki Kuroki ,  Shigeki Fujii ,  Akihiko Ootani ,  Nobuo Higaki

IPC分类号： H04N7/12 ,  H04N7/32

CPC分类号： H04N19/00 ,  H04N19/11 ,  H04N19/136 ,  H04N19/157 ,  H04N19/176

摘要： An image encoding device includes a prediction processing unit which performs prediction processing on m components among N components which constitute a quantized block; a first Coded Block Pattern (CBP) judging unit which judges whether or not (N−m) components include a non-zero component in a first operation mode, and whether or not (N−n) components include a non-zero component in a second operation mode; a second CBP judging unit which judges whether or not the m components on which the prediction processing has been performed include a non-zero component in the first operation mode, and whether or not n components include a non-zero component in the second operation mode; and a CBP generating unit which generates a CBP code indicating whether or not all the components of the block are 0 components based on the judgments made by the first and second judging units.

摘要翻译： 图像编码装置包括对构成量化块的N个成分中的m个成分进行预测处理的预测处理部; 第一编码块模式（CBP）判断单元，判定在第一操作模式中（Nm）分量是否包括非零分量，以及（Nn）分量是否包括第二操作模式中的非零分量 ; 第二CBP判断单元，判断在其中执行了预测处理的m个分量是否包括第一操作模式中的非零分量，以及n个分量是否包括第二操作模式中的非零分量 ; 以及CBP生成单元，其基于由所述第一判断单元和所述第二判断单元进行的判断，生成表示所述块的全部成分是否为0成分的CBP码。

公开(公告)号：US07386707B2

公开(公告)日：2008-06-10

申请号：US10338408

申请日：2003-01-08

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： G06F9/30 ,  G06F9/40

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：US07340100B2

公开(公告)日：2008-03-04

申请号：US10635778

申请日：2003-08-07

申请人： Nobuo Higaki ,  Yoshiaki Sakagami ,  Naoaki Sumida

发明人： Nobuo Higaki ,  Yoshiaki Sakagami ,  Naoaki Sumida

IPC分类号： G06K9/48

CPC分类号： G06F3/017 ,  G06K9/00335

摘要： A posture recognition apparatus recognizes instructions signified by postures of persons present in the surroundings, from images obtained with an image capture device. The posture recognition apparatus includes an outline extraction device that extracts an outline of a body which is a candidate for a person from the images; a distance calculation device that calculates a distance to the body being the candidate, from distance information of each pixel within the outline in the image; a search device that searches for a candidate for a hand of a person based on the outline and the distance to the body represented by the outline; and a posture determination device that determines an instruction corresponding to the relative position of the candidate for a hand and the outline, and outputs this determination result as a posture determination result.

摘要翻译： 姿势识别装置从通过图像拍摄装置获得的图像识别由周围的人存在的姿势所指示的指令。 姿势识别装置包括：轮廓提取装置，从图像中提取作为人的候选者的身体的轮廓; 距离计算装置，从图像中的轮廓内的每个像素的距离信息计算到作为候选者的身体的距离; 搜索装置，其基于轮廓和与轮廓所表示的身体的距离来搜索人的手的候选人; 以及姿势确定装置，其确定与手的候选者和轮廓的相对位置相对应的指令，并将该确定结果作为姿势确定结果输出。