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公开(公告)号：US20100204828A1
公开(公告)日：2010-08-12
申请号：US12670958
申请日：2008-07-29
申请人： Shintaro Yoshizawa , Yutaka Hirano
发明人： Shintaro Yoshizawa , Yutaka Hirano
IPC分类号： G06F19/00
CPC分类号： B25J9/1666 , G05B2219/40264 , G05B2219/40475
摘要： A movement path generating device for a robot is provided which can generate a movement path of a jointed robot satisfying a constraint condition and accomplishing optimization of various estimation conditions. The movement path generating device for a robot generating a movement path of a jointed robot with a dynamic constraint includes: constraint condition acquiring means for acquiring a constraint condition of the robot; estimation condition acquiring means for acquiring an estimation condition of the robot; posture generating means for generating a plurality of postures of the robot satisfying the constraint condition; posture estimating means for estimating the plurality of postures generated by the posture generating means on the basis of the estimation condition; posture selecting means for selecting one posture out of the plurality of postures generated by the posture generating means on the basis of the estimation result by the posture estimating means; and movement path generating means for generating the movement path of the robot using the posture selected by the posture selecting means.
摘要翻译： 提供了一种用于机器人的移动路径生成装置，其可以生成满足约束条件的接合机器人的移动路径并且实现各种估计条件的优化。 用于产生具有动态约束的接合机器人的移动路径的机器人的移动路径生成装置包括：约束条件获取装置，用于获取机器人的约束条件; 估计条件获取装置，用于获取机器人的估计状况; 姿势产生装置，用于产生满足约束条件的机器人的多个姿势; 姿势估计装置，用于基于所述估计条件来估计由所述姿势产生装置产生的多个姿势; 姿势选择装置，用于根据姿态估计装置的估计结果，从姿势生成装置生成的多个姿势中选择一种姿势; 以及移动路径产生装置，用于使用由姿势选择装置选择的姿势来产生机器人的移动路径。
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公开(公告)号：US08947218B2
公开(公告)日：2015-02-03
申请号：US13504373
申请日：2010-03-23
申请人： Shintaro Yoshizawa , Hirotaka Kaji
发明人： Shintaro Yoshizawa , Hirotaka Kaji
IPC分类号： B60Q1/00 , G08G1/16 , B60R1/00 , B60R21/0134 , B60W30/08 , B60W30/095 , B60W40/04 , B60W50/16 , B60W50/14
CPC分类号： G08G1/163 , B60R1/00 , B60R21/0134 , B60R2300/302 , B60R2300/307 , B60W30/08 , B60W30/095 , B60W40/04 , B60W50/16 , B60W2050/143 , B60W2050/146 , B60W2520/10 , B60W2540/20 , B60W2550/10 , B60W2550/14 , B60W2550/141 , B60W2550/142 , B60W2550/146 , B60W2550/22 , B60W2550/406 , B60W2550/408 , B60Y2300/18158 , G08G1/166
摘要： An ECU of a driving support device predicts the risk of contact between a host vehicle and obstacles around the host vehicle when the host vehicle travels by a driving action related to at least one normative action candidate, which is a normative driving action candidate of the host vehicle for the surrounding conditions of the host vehicle. Therefore, it is possible to provide the normative action candidates considering the risk of contact between the host vehicle and the obstacles around the host vehicle.
摘要翻译： 驾驶辅助装置的ECU预测当主车辆通过与作为主机的规范驾驶动作候选的至少一个规范动作候选者相关的驾驶动作而行驶时，主车辆与主车辆之间的障碍物之间的接触的风险 适用于本车辆周围环境的车辆。 因此，考虑到主车辆与本车辆周围的障碍物之间的接触风险，可以提供规范动作候选者。
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公开(公告)号：US08452528B2
公开(公告)日：2013-05-28
申请号：US13143501
申请日：2009-05-12
申请人： Hiroki Mori , Shintaro Yoshizawa
发明人： Hiroki Mori , Shintaro Yoshizawa
CPC分类号： G06K9/00604 , G06K9/00805 , G06T7/70 , G06T2207/20132 , G06T2207/30268
摘要： An object of the invention is to provide a visual recognition area estimation device that can accurately estimate an area recognized by a driver in real time. The visual recognition area estimation device of the present invention calculates the visual recognition area recognized by the driver by means of the visual recognition area calculation portion 11 based on the eyes of the driver, and estimates a time series visual recognition area as the area currently recognized by the driver by means of the visual recognition time space map creation portion 14 based on histories of a plurality of visual recognition areas calculated from the past to the present for a predetermined time. In this manner, by estimating the time series visual recognition area also including the past visual recognition area, the area currently recognized by the driver can be accurately estimated, and the eyes of the driver are not correlated with the obstacle but based on the standard area. Thus, it is possible to prevent the throughput from becoming too large, whereby the estimation processing in real time is possible.
摘要翻译： 本发明的目的是提供一种可以准确地估计驾驶员识别的区域的视觉识别区域估计装置。 本发明的视觉识别区域估计装置基于驾驶员的眼睛，通过视觉识别区域计算部11计算驾驶员所识别的视觉识别区域，并且将时间序列视觉识别区域估计为当前识别的区域 由驾驶员借助于视觉识别时间空间图创建部分14，基于从过去到现在所计算的预定时间的多个视觉识别区域的历史。 以这种方式，通过估计还包括过去的视觉识别区域的时间序列视觉识别区域，可以准确地估计驾驶员当前识别的区域，并且驾驶员的眼睛不与障碍物相关，而是基于标准区域 。 因此，可以防止吞吐量变得过大，从而可以实时地进行估计处理。
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公开(公告)号：US20140236386A1
公开(公告)日：2014-08-21
申请号：US14346502
申请日：2011-09-22
申请人： Shintaro Yoshizawa , Hirokazu Kikuchi , Hiroki Okamura , Takuya Yamanashi , Quy Hung Nguyen Van
发明人： Shintaro Yoshizawa , Hirokazu Kikuchi , Hiroki Okamura , Takuya Yamanashi , Quy Hung Nguyen Van
IPC分类号： G08G1/16
CPC分类号： G08G1/166 , B60K31/0008 , B60W30/08 , B60W30/095 , B60W40/08 , B60W2050/0095 , B60W2540/30 , B60W2550/10
摘要： A driving assistance apparatus includes a plurality of model candidates that define a correspondence relationship between a driving operation performed by a driver and information indicating relative positions of a moving body detected on a periphery of a host vehicle and the host vehicle. The driving assistance apparatus determines a model to be used from among the plurality of model candidates on the basis of information relating to the detected moving body, and executes driving assistance on the basis of the determined model and a driving operation performed by the driver following detection of the moving body. Preferably, the determined model can be updated on the basis of the determined model and the driving operation performed by the driver following detection of the moving body.
摘要翻译： 驾驶辅助装置包括多个模型候选，其定义由驾驶员执行的驾驶操作和指示在本车辆的周边和主车辆之间检测的移动体的相对位置的信息之间的对应关系。 驾驶辅助装置根据与检测到的移动体有关的信息，从多个模型候选中确定要使用的模型，并且基于所确定的模型和驾驶员在检测到之后执行的驾驶操作来执行驾驶辅助 的移动体。 优选地，可以基于所确定的模型和驾驶员在检测到移动体之后执行的驾驶操作来更新所确定的模型。
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公开(公告)号：US08594774B2
公开(公告)日：2013-11-26
申请号：US13061185
申请日：2009-08-27
申请人： Shintaro Yoshizawa
发明人： Shintaro Yoshizawa
IPC分类号： A61B5/04
CPC分类号： A61B5/024 , A61B5/0456 , A61B5/4812
摘要： An object of the present invention is to provide a sleep determination device and a sleep determination method capable of precisely determining a sleep stage based on heartbeat information of a subject. The sleep determination device and the sleep determination method according to the present invention obtain the heartbeat of the subject, calculate a heartbeat cycle for each heartbeat based on the obtained heartbeat, calculate difference values until obtaining Nth-degree difference values set in advance with difference values between the successive heartbeat cycles as first-degree difference values and difference values between the successive first-degree difference values as second-degree difference values, generate a return map and a histogram indicative of a distribution of the respective values in a predetermined period of time for each of the heartbeat cycles and the difference values from the first-degree difference values to the Nth-degree difference values, and determine a sleep stage of the subject based on the generated return map and the histogram by referring to a return map and a histogram for determination set in advance for each sleep stage.
摘要翻译： 本发明的目的是提供一种能够基于对象的心跳信息精确地确定睡眠阶段的睡眠确定装置和睡眠确定方法。 根据本发明的睡眠确定装置和睡眠确定方法获得对象的心跳，基于获得的心跳来计算每个心跳的心跳周期，计算差值，直到获得预先设定的差值的N度差值 在连续的心跳周期之间作为第一度差值和作为第二度差值的连续第一度差值之间的差值，生成返回映射和指示在预定时间段内各个值的分布的直方图 对于每个心跳周期和从第一度差值到第N度差值的差值，并且通过参考返回图和基于生成的返回图和直方图来确定对象的睡眠阶段 每个睡眠阶段预先设定的确定直方图。
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公开(公告)号：US20110152704A1
公开(公告)日：2011-06-23
申请号：US13061185
申请日：2009-08-27
申请人： Shintaro Yoshizawa
发明人： Shintaro Yoshizawa
IPC分类号： A61B5/02
CPC分类号： A61B5/024 , A61B5/0456 , A61B5/4812
摘要： An object of the present invention is to provide a sleep determination device and a sleep determination method capable of precisely determining a sleep stage based on heartbeat information of a subject. The sleep determination device and the sleep determination method according to the present invention obtain the heartbeat of the subject, calculate a heartbeat cycle for each heartbeat based on the obtained heartbeat, calculate difference values until obtaining Nth-degree difference values set in advance with difference values between the successive heartbeat cycles as first-degree difference values and difference values between the successive first-degree difference values as second-degree difference values, generate a return map and a histogram indicative of a distribution of the respective values in a predetermined period of time for each of the heartbeat cycles and the difference values from the first-degree difference values to the Nth-degree difference values, and determine a sleep stage of the subject based on the generated return map and the histogram by referring to a return map and a histogram for determination set in advance for each sleep stage.
摘要翻译： 本发明的目的是提供一种能够基于对象的心跳信息精确地确定睡眠阶段的睡眠确定装置和睡眠确定方法。 根据本发明的睡眠确定装置和睡眠确定方法获得对象的心跳，基于获得的心跳来计算每个心跳的心跳周期，计算差值，直到获得预先设定的差值的N度差值 在连续的心跳周期之间作为第一度差值和作为第二度差值的连续第一度差值之间的差值，生成返回映射和指示在预定时间段内各个值的分布的直方图 对于每个心跳周期和从第一度差值到第N度差值的差值，并且通过参考返回图和基于生成的返回图和直方图来确定对象的睡眠阶段 每个睡眠阶段预先设定的确定直方图。
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公开(公告)号：US10762329B2
公开(公告)日：2020-09-01
申请号：US16209116
申请日：2018-12-04
摘要： An Inter-object relation recognition apparatus includes: a first learning device receiving an image, and outputting a first feature amount of the image; a second learning device receiving the first feature amount, outputting a second feature amount, and having a plurality of storage units holding internal states for predetermined steps; a triplet unit having a plurality of triplet-units, the triplet-units receiving the second feature amount, recognizing first to third elements, and constituted of first to third recognition units outputting probability information. The triplet unit selects at least one combination of the first to third elements, based on the probability information of the first to third elements output from the first to third recognition units of each of the triplet units, from the combinations of the first to third elements output from each of the triplet units, and recognizes and outputs the combination as a relation between objects.
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公开(公告)号：US20090019410A1
公开(公告)日：2009-01-15
申请号：US11815111
申请日：2006-05-01
申请人： Shintaro Yoshizawa
发明人： Shintaro Yoshizawa
IPC分类号： G06F17/50
CPC分类号： B25J9/1664 , G05B2219/39414 , G05B2219/40073 , G05B2219/40359 , G05B2219/40429 , G05B2219/40448 , G05B2219/40476 , G05B2219/40477 , G05B2219/40517
摘要： A path generating device 1 has a constraint mid-configuration generator 10. The constraint mid-configuration generator 10 defines a constraint surface in a joint angle space. The path generating device 1 probabilistically generates a mid-configuration in the joint angle space. The constraint mid-configuration generator 10 projects the probabilistically generated mid-configuration onto the constraint surface to generate a projected mid-configuration. Projected mid-configurations generated in this manner are joined to generate a path that does not interfere with any obstacle (environmental object) in a work space.
摘要翻译： 路径产生装置1具有约束中间配置生成器10.约束中间配置生成器10在关节角度空间中限定约束表面。 路径产生装置1概率地生成关节角度空间中的中间构造。 约束中间配置生成器10将概率产生的中间配置投影到约束表面上以产生预计的中间配置。 以这种方式产生的投影中间配置被连接以产生不干扰工作空间中的任何障碍物（环境对象）的路径。
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公开(公告)号：US08055383B2
公开(公告)日：2011-11-08
申请号：US11815111
申请日：2006-05-01
申请人： Shintaro Yoshizawa
发明人： Shintaro Yoshizawa
CPC分类号： B25J9/1664 , G05B2219/39414 , G05B2219/40073 , G05B2219/40359 , G05B2219/40429 , G05B2219/40448 , G05B2219/40476 , G05B2219/40477 , G05B2219/40517
摘要： A path generating device 1 has a constraint mid-configuration generator 10. The constraint mid-configuration generator 10 defines a constraint surface in a joint angle space. The path generating device 1 probabilistically generates a mid-configuration in the joint angle space. The constraint mid-configuration generator 10 projects the probabilistically generated mid-configuration onto the constraint surface to generate a projected mid-configuration. Projected mid-configurations generated in this manner are joined to generate a path that does not interfere with any obstacle (environmental object) in a work space.
摘要翻译： 路径产生装置1具有约束中间配置生成器10.约束中间配置生成器10在关节角度空间中限定约束表面。 路径产生装置1概率地生成关节角度空间中的中间构造。 约束中间配置生成器10将概率产生的中间配置投影到约束表面上以产生预计的中间配置。 以这种方式产生的投影中间配置被连接以产生不干扰工作空间中的任何障碍物（环境对象）的路径。
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10.发明申请公开(公告)号：US20190171864A1
公开(公告)日：2019-06-06
申请号：US16209116
申请日：2018-12-04
摘要： An Inter-object relation recognition apparatus includes: a first learning device receiving an image, and outputting a first feature amount of the image; a second learning device receiving the first feature amount, outputting a second feature amount, and having a plurality of storage units holding internal states for predetermined steps; a triplet unit having a plurality of triplet-units, the triplet-units receiving the second feature amount, recognizing first to third elements, and constituted of first to third recognition units outputting probability information. The triplet unit selects at least one combination of the first to third elements, based on the probability information of the first to third elements output from the first to third recognition units of each of the triplet units, from the combinations of the first to third elements output from each of the triplet units, and recognizes and outputs the combination as a relation between objects.
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