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公开(公告)号：US07720685B2
公开(公告)日：2010-05-18
申请号：US10667964
申请日：2003-09-23
申请人： Yoshiaki Sakagami , Shinichi Matsunaga , Nobuo Higaki , Kazunori Kanai , Naoaki Sumida , Takahiro Oohashi , Sachie Hashimoto
发明人： Yoshiaki Sakagami , Shinichi Matsunaga , Nobuo Higaki , Kazunori Kanai , Naoaki Sumida , Takahiro Oohashi , Sachie Hashimoto
摘要： To automate the work of recognizing a guest, check the appointment, notify a host of the arrival of the guest and conduct the guest to a designated place, a robot having a function to autonomously travel is equipped with camera/microphone for recognizing a guest at least according to image information. The system comprises management database adapted to communicate with the robot and equipped with an information database for identifying the recognized guest, and identifies the guest according to the information obtained from the camera/microphone and management database. The robot recognizes the guest from the image thereof, and the recognized guest is identified and verified by comparing the image of the visitor with the information contained in the database so that the robot can automatically conduct the guest to the designated meeting room according to the information of the appointment stored in the database.
摘要翻译： 为了自动化识别客人的工作，检查约会，通知主人客人的到达并将客人送到指定的地点，具有自主旅行功能的机器人配备有用于识别客人的相机/麦克风 最少根据图像信息。 该系统包括适于与机器人通信并配备有用于识别识别的客人的信息数据库的管理数据库，并且根据从相机/麦克风和管理数据库获得的信息来识别客人。 机器人从其图像中识别客人，并且通过将访问者的图像与包含在数据库中的信息进行比较来识别和验证识别的客人，使得机器人可以根据信息自动地将客人导向指定的会议室 的约会存储在数据库中。
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2.发明授权公开(公告)号：US07551980B2
公开(公告)日：2009-06-23
申请号：US10814782
申请日：2004-04-01
CPC分类号： G06N3/008 , G05D1/0251 , G05D1/027 , G05D1/0274 , G05D1/0278 , G05D2201/0217
摘要： An apparatus 1 for controlling a movable robot recognizes the person to be followed up from an image taken by a camera C by an image processing portion 20, controls leg portions R1 of a movable robot A so as to keep a prescribed interval between the movable robot A and the person by a portion 50 for detecting an action, and notify the degree of the distance between the movable robot A and the person to the person by a voice from a voice outputting portion 62.
摘要翻译： 用于控制可移动机器人的装置1通过图像处理部分20识别由照相机C拍摄的图像跟踪的人，控制可移动机器人A的腿部R1，以便在可移动机器人之间保持规定的间隔 A和通过用于检测动作的部分50的人员，并且从语音输出部分62通过语音通知可移动机器人A与人对人之间的距离的程度。
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公开(公告)号：US07467026B2
公开(公告)日：2008-12-16
申请号：US10917322
申请日：2004-08-13
IPC分类号： G06F19/00
CPC分类号： B25J9/1694 , G05B2219/31422 , G05B2219/35453 , G10L13/00 , G10L15/26
摘要： An autonomous robot is controlled by the local robot information controller which is connected to a robot application network to which the transceiver to communicate with the autonomous robot is attached. The robot application network, a user LAN adaptive controller an information distribution manager and the third party information provider subsystem are linked with a public network. The information distribution manager acquires the information from the third party information provider subsystem on the schedule which is set by the user LAN adaptive controller. The local robot information controller receives the information distribution manager and convert it into the data that generates robot gestures. The robot performs actions in accordance to the gesture data received from the local robot information controller.
摘要翻译： 自动机器人由本地机器人信息控制器控制，该控制器连接到与自主机器人通信的收发器所连接的机器人应用网络。 机器人应用网络，用户LAN自适应控制器，信息分发管理器和第三方信息提供者子系统与公共网络相连。 信息分配管理器根据由用户LAN自适应控制器设置的调度从第三方信息提供者子系统获取信息。 本地机器人信息控制器接收信息分发管理器并将其转换成生成机器人手势的数据。 机器人根据从本地机器人信息控制器接收到的手势数据执行动作。
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公开(公告)号：US20050065652A1
公开(公告)日：2005-03-24
申请号：US10917322
申请日：2004-08-13
IPC分类号： B25J13/00 , B25J5/00 , B25J9/16 , G06F19/00 , G10L13/04 , G10L15/26 , H04L12/28 , H04W84/12 , H04W88/08 , H04W88/18
CPC分类号： B25J9/1694 , G05B2219/31422 , G05B2219/35453 , G10L13/00 , G10L15/26
摘要： An autonomous robot is controlled by the local robot information controller which is connected to a robot application network to which the transceiver to communicate with the autonomous robot is attached. The robot application network, a user LAN adaptive controller an information distribution manager and the third party information provider subsystem are linked with a public network. The information distribution manager acquires the information from the third party information provider subsystem on the schedule which is set by the user LAN adaptive controller. The local robot information controller receives the information distribution manager and covert it into the data that generates robot gestures. The robot performs actions in accordance to the gesture data received from the local robot information controller.
摘要翻译： 自动机器人由本地机器人信息控制器控制，该控制器连接到与自主机器人通信的收发器所连接的机器人应用网络。 机器人应用网络，用户LAN自适应控制器，信息分发管理器和第三方信息提供者子系统与公共网络相连。 信息分配管理器根据由用户LAN自适应控制器设置的调度从第三方信息提供者子系统获取信息。 本地机器人信息控制器接收信息分发管理器并将其隐藏成生成机器人手势的数据。 机器人根据从本地机器人信息控制器接收到的手势数据执行动作。
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5.发明授权公开(公告)号：US07840308B2
公开(公告)日：2010-11-23
申请号：US11221903
申请日：2005-09-09
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。
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公开(公告)号：US20060058920A1
公开(公告)日：2006-03-16
申请号：US11221903
申请日：2005-09-09
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。
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7.发明授权Position detection apparatus, position detection method and position detection program 有权位置检测装置，位置检测方法和位置检测程序公开(公告)号：US07239339B2
公开(公告)日：2007-07-03
申请号：US09866151
申请日：2001-05-26
摘要： A position detection apparatus that is able to easily detect self-position during autonomous movement by a humanoid robot that moves by the use of legs or automobile. The position detection apparatus detects the position of a moving object, said position detection apparatus being provided with a brightness image acquisition device that acquires a brightness image of the forward field of view of the moving object, a distance image acquisition device having the same field of view as the brightness image acquisition device that acquires a distance image simultaneous to acquisition of a brightness image by the brightness image acquisition device, a characteristic point extraction device that extracts respective characteristic points from the brightness images of at least two consecutive frames, and a reference characteristic point selection device that calculates the amount of displacement of a position between two frames of a characteristic point extracted by the characteristic point extraction device based on a distance image, and selects a reference characteristic point for calculating self-position according to said amount of displacement.
摘要翻译： 一种位置检测装置，其能够通过使用腿部或汽车移动的类人机器人容易地检测自主运动期间的自身位置。 位置检测装置检测移动物体的位置，所述位置检测装置设置有获取所述移动物体的正视场的亮度图像的亮度图像获取装置，具有相同场的距离图像获取装置 作为通过亮度图像获取装置同时获取亮度图像的距离图像的亮度图像获取装置，从至少两个连续帧的亮度图像中提取各个特征点的特征点提取装置和参考 特征点选择装置，其基于距离图像计算由特征点提取装置提取的特征点的两帧之间的位置的位移量，并且根据所述位移量来选择用于计算自身位置的参考特征点 。
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公开(公告)号：US07277559B2
公开(公告)日：2007-10-02
申请号：US10702478
申请日：2003-11-07
申请人： Shinichi Matsunaga , Nobuo Higaki
发明人： Shinichi Matsunaga , Nobuo Higaki
CPC分类号： G05D1/0251 , B25J5/00 , B25J9/1676 , G05D1/0274 , G05D2201/0211
摘要： A mobile apparatus is provided, which includes a plurality of imaging devices, a measurement device for measuring a current position and direction of the imaging devices, a map data storing section which stores map data including at least registered information on positions of stationary objects, a recognized distance calculating section which obtains a parallax for a plurality of images, a reference distance calculating section which calculates a reference distance from the imaging devices to a front border of each stationary object, a retracting section for determining a range of image processing, which selects a set of pixels to be processed so as to generate a retracted image, a detecting section for detecting objects from the retracted image, a transport device, and a transport controller for controlling movement of the transport device according to information about the objects detected by the detecting section.
摘要翻译： 提供了一种移动装置，其包括多个成像装置，用于测量成像装置的当前位置和方向的测量装置，地图数据存储部分，其存储至少包括关于静止物体的位置的登记信息的地图数据， 获取多个图像的视差的识别距离计算部，计算从成像装置到各静止物体的前方边界的基准距离的基准距离计算部，确定图像处理范围的缩回部， 要处理的像素的集合以产生缩回图像，用于从缩回图像中检测对象的检测部分，传送装置和传送控制器，用于根据关于由所述缩回图像检测到的对象的信息来控制传送装置的移动 检测部分。
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公开(公告)号：US08447455B2
公开(公告)日：2013-05-21
申请号：US12666485
申请日：2008-10-24
申请人： Shinichi Matsunaga
发明人： Shinichi Matsunaga
CPC分类号： B25J9/1664 , G05B2219/40465 , G05D1/0212 , G05D1/0217 , G05D1/0225 , G05D2201/0217
摘要： A target route generation system which generates a target route for a robot (R) to travel along autonomously is provided with a route candidate generation element (110) which generates a plurality of travel route candidates to connect the terminating point and the starting point by connecting links stored at a link storing element (211), state recognition elements (115 to 118) which recognize a state of the robot (R), and a route evaluation IC element (120) which evaluates a cost of a travel route candidate including therein an action point stored in an action point storing element (212) lower as the necessity for passing by the action point is higher in view of the state of the robot (R) recognized by the state recognition elements (115 to 118). According to the system, the robot can be made to travel through the action point with a high necessity in view of the state of the robot.
摘要翻译： 产生用于机器人（R）自主行进的目标路线的目标路线产生系统设置有路线候选生成元件（110），其生成多个行驶路线候选，以通过连接来连接终点和起点 存储在链接存储元件（211）的链接，识别机器人（R）的状态的状态识别元件（115〜118）以及评估其中包括的旅行路线候选者的成本的路线评估IC元件（120） 鉴于由状态识别元件（115至118）识别的机器人（R）的状态，存储在动作点存储元件（212）中的动作点作为通过动作点的必要性较低。 根据该系统，考虑到机器人的状态，机器人可以以高的必要性使其行进通过动作点。
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公开(公告)号：US5795992A
公开(公告)日：1998-08-18
申请号：US765365
申请日：1997-02-10
申请人： Toshio Tanahashi , Masakatsu Sanada , Hiroyuki Domyo , Hiroshi Hirayama , Kazuaki Sobue , Tsuneo Higashi , Koji Yokota , Hideo Sobukawa , Tadashi Suzuki , Shinichi Matsunaga
发明人： Toshio Tanahashi , Masakatsu Sanada , Hiroyuki Domyo , Hiroshi Hirayama , Kazuaki Sobue , Tsuneo Higashi , Koji Yokota , Hideo Sobukawa , Tadashi Suzuki , Shinichi Matsunaga
CPC分类号： F01N11/002 , F02D41/1446 , F02D41/1495 , F01N2550/02 , F01N2550/20 , Y02T10/47
摘要： An internal combustion engine in which a three-way catalyst (12) for purification of the exhaust gas is arranged in the exhaust passage, wherein the relationship between the magnitude of the stress causing deterioration of the three-way catalyst (12), for example the catalytic bed temperature, and the rate of deterioration of the performance of the catalyst is found. A durability test is performed by raising the catalytic bed temperature higher than that of the vehicle under market driving. The length of the durability test at this time is determined from the relationship between the catalytic bed temperature and the rate of deterioration of the performance of the catalyst so as to give the same degree of deterioration of the performance of the catalyst as with market driving. The length of the durability test required for giving the same degree of deterioration of the performance of the catalyst is much shorter than the market driving time.
摘要翻译： PCT No.PCT / JP96 / 01318 Sec。 371日期1997年2月10日 102（e）日期1997年2月10日PCT提交1996年5月17日PCT公布。 WO96 / 36863 PCT出版物 日期：1996年11月21日在排气通路内配置有用于净化废气的三元催化剂（12）的内燃机，其中，三元催化剂的导致劣化的应力的大小 12），例如催化床温度和催化剂性能劣化的速率。 在市场驾驶下，通过提高催化床温度高于车辆的耐久性试验。 此时的耐久性试验的长度根据催化床温度与催化剂性能劣化的关系来确定，从而与催化剂的性能相同程度的劣化与市场驾驶相同。 给出相同程度的催化剂性能劣化所需的耐久性试验的长度比市场行驶时间短得多。
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