公开(公告)号：US07756322B2

公开(公告)日：2010-07-13

申请号：US10914338

申请日：2004-08-10

申请人： Youko Saitou ,  Koji Kawabe ,  Yoshiaki Sakagami ,  Tomonobu Gotou ,  Takamichi Shimada

发明人： Youko Saitou ,  Koji Kawabe ,  Yoshiaki Sakagami ,  Tomonobu Gotou ,  Takamichi Shimada

IPC分类号： G06K9/00

CPC分类号： H04N1/00127 ,  H04N1/00137 ,  H04N1/00164 ,  H04N1/00244 ,  H04N1/00307 ,  H04N2201/0084

摘要： A mobile robot that is fitted with a camera and can be controlled from a remote terminal such as a mobile phone moves about in an event site to detect and track a moving object such as a visitor and entertainer. Because the camera along with the robot itself can change its position freely autonomously and/or according to a command from the mobile terminal, a desired frame layout can be accomplished by moving the position of the robot. Therefore, the operator is not required to execute a complex image trimming process or other adjustment of the obtained picture image so that a desired picture can be obtained quickly and without any difficulty. If the user is allowed access the managing server, the user can download the desired picture images and have them printed out at will. Also, because the selected picture images can be transmitted to the managing server, the robot is prevented from running out of memory for storing the picture images.

摘要翻译： 装有摄像机的移动机器人可以由移动电话等远程终端进行控制，在事件现场进行移动，以检测和跟踪诸如访客和艺人之类的移动物体。 因为照相机和机器人本身可以自由地和/或根据来自移动终端的命令改变其位置，所以可以通过移动机器人的位置来实现期望的帧布局。 因此，不需要操作者对所获得的图像图像执行复杂的图像修整处理或其他调整，使得可以快速且毫无困难地获得期望的图像。 如果用户被允许访问管理服务器，则用户可以下载所需的图片图像并随意打印出来。 此外，由于所选择的图像图像可以被发送到管理服务器，所以防止了机器人用尽存储图像图像的存储器。

公开(公告)号：US20050041839A1

公开(公告)日：2005-02-24

申请号：US10914338

申请日：2004-08-10

申请人： Youko Saitou ,  Koji Kawabe ,  Yoshiaki Sakagami ,  Tomonobu Gotou ,  Takamichi Shimada

发明人： Youko Saitou ,  Koji Kawabe ,  Yoshiaki Sakagami ,  Tomonobu Gotou ,  Takamichi Shimada

IPC分类号： G06F19/00 ,  G06K9/00 ,  H04N1/00

CPC分类号： H04N1/00127 ,  H04N1/00137 ,  H04N1/00164 ,  H04N1/00244 ,  H04N1/00307 ,  H04N2201/0084

摘要： A mobile robot that is fitted with a camera and can be controlled from a remote terminal such as a mobile phone moves about in an event site to detect and track a moving object such as a visitor and entertainer. Because the camera along with the robot itself can change its position freely autonomously and/or according to a command from the mobile terminal, a desired frame layout can be accomplished by moving the position of the robot. Therefore, the operator is not required to execute a complex image trimming process or other adjustment of the obtained picture image so that a desired picture can be obtained quickly and without any difficulty. If the user is allowed access the managing server, the user can download the desired picture images and have them printed out at will. Also, because the selected picture images can be transmitted to the managing server, the robot is prevented from running out of memory for storing the picture images.

摘要翻译： 装有摄像机的移动机器人可以由移动电话等远程终端进行控制，在事件现场进行移动，以检测和跟踪诸如访客和艺人之类的移动物体。 因为照相机和机器人本身可以自由地和/或根据来自移动终端的命令改变其位置，所以可以通过移动机器人的位置来实现期望的帧布局。 因此，不需要操作者对所获得的图像图像执行复杂的图像修整处理或其他调整，使得可以快速且毫无困难地获得期望的图像。 如果用户被允许访问管理服务器，则用户可以下载所需的图片图像并随意打印出来。 此外，由于所选择的图像图像可以被发送到管理服务器，所以防止了机器人用尽存储图像图像的存储器。

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：US20050054332A1

公开(公告)日：2005-03-10

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： G06F19/00 ,  G05D1/02 ,  G06F1/00 ,  H04L29/08 ,  H04W4/02 ,  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：US20060224301A1

公开(公告)日：2006-10-05

申请号：US11365914

申请日：2006-03-02

申请人： Yoshiaki Sakagami ,  Takamichi Shimada

发明人： Yoshiaki Sakagami ,  Takamichi Shimada

IPC分类号： G01C21/00

CPC分类号： G01C21/26

摘要： A communication system between vehicles of the present invention is equipped in each of the vehicles with an image taking device for taking an image around the vehicle; a moving body detection unit for detecting a moving body from the image taken by the image taking device; a display unit for displaying the image; an image data generation unit for generating image data output to the display unit of the each vehicle; and a transmitting/receiving device for any of transmitting/receiving data, wherein the image data generation unit generates image data for displaying an existence of a moving body, of which an image is taken by said image taking device of one of the vehicles, and outputs the image data to the display unit of other vehicle.

摘要翻译： 本发明的车辆之间的通信系统在每个车辆中配备有用于拍摄车辆周围的图像的摄像装置; 移动体检测单元，用于从由图像摄取装置拍摄的图像中检测移动体; 用于显示图像的显示单元; 图像数据生成单元，用于生成输出到各车辆的显示单元的图像数据; 以及用于发送/接收数据的发送/接收装置，其中图像数据生成单元生成用于显示其中一个车辆的所述摄像装置拍摄图像的移动体的存在的图像数据，以及 将图像数据输出到其他车辆的显示单元。

公开(公告)号：US07778770B2

公开(公告)日：2010-08-17

申请号：US11365914

申请日：2006-03-02

申请人： Yoshiaki Sakagami ,  Takamichi Shimada

发明人： Yoshiaki Sakagami ,  Takamichi Shimada

IPC分类号： G01C21/00

CPC分类号： G01C21/26

摘要： A communication system between vehicles of the present invention is equipped in each of the vehicles with an image taking device for taking an image around the vehicle; a moving body detection unit for detecting a moving body from the image taken by the image taking device; a display unit for displaying the image; an image data generation unit for generating image data output to the display unit of the each vehicle; and a transmitting/receiving device for any of transmitting/receiving data, wherein the image data generation unit generates image data for displaying an existence of a moving body, of which an image is taken by said image taking device of one of the vehicles, and outputs the image data to the display unit of other vehicle.

摘要翻译： 本发明的车辆之间的通信系统在每个车辆中配备有用于拍摄车辆周围的图像的摄像装置; 移动体检测单元，用于从由图像摄取装置拍摄的图像中检测移动体; 用于显示图像的显示单元; 图像数据生成单元，用于生成输出到各车辆的显示单元的图像数据; 以及用于发送/接收数据的发送/接收装置，其中图像数据生成单元生成用于显示其中一个车辆的所述摄像装置拍摄图像的移动体的存在的图像数据，以及 将图像数据输出到其他车辆的显示单元。

公开(公告)号：US08026955B2

公开(公告)日：2011-09-27

申请号：US12230129

申请日：2008-08-25

申请人： Takamichi Shimada ,  Nobuo Higaki

发明人： Takamichi Shimada ,  Nobuo Higaki

IPC分类号： H04N5/235

CPC分类号： H04N5/2351 ,  B25J19/022 ,  G03B7/093 ,  G03B35/08 ,  H04N5/2353 ,  H04N13/239 ,  H04N13/296

摘要： In an exposure controller of a camera mounted on a robot for taking an image utilizing incident light from external world in which an object such as a human being is present, a brightness histogram of the image is generated and exposure parameters are set based on the generated histogram. Then, it is determined whether the set exposure parameters are within a predetermined range and when they are out of the range and if a high-brightness imaging region is present in the image due to high-brightness incident light, it is again determined whether it is necessary to remove the high-brightness imaging region. When it is determined to be necessary, the high-brightness imaging region is extracted and is removed from the image, thereby enabling the camera to image the object with suitable brightness even when a bright light source such as the sun is within the camera angle of view.

摘要翻译： 在安装在机器人上的摄像机的曝光控制器中，利用来自外部世界的入射光（其中存在诸如人的物体），生成图像的亮度直方图，并且基于产生的曝光参数来设置曝光参数 直方图。 然后，确定设定的曝光参数是否在预定范围内，并且当它们在超出该范围时，并且如果由于高亮度入射光而在图像中存在高亮度成像区域，则再次确定是否 是去除高亮度成像区域所必需的。 当确定需要时，提取高亮度成像区域并从图像中去除，从而即使当诸如太阳的明亮光源在相机角度内时，相机也可以以适当的亮度对对象进行成像 视图。

公开(公告)号：US07254253B2

公开(公告)日：2007-08-07

申请号：US10808327

申请日：2004-03-25

申请人： Nobuo Higaki ,  Takamichi Shimada

发明人： Nobuo Higaki ,  Takamichi Shimada

IPC分类号： G06K9/00

CPC分类号： G06K9/00335 ,  G06T7/246 ,  G06T7/254 ,  G06T7/285

摘要： In a moving object detection system, an edge image is generated from captured images taken by CCD cameras and a moving object distance image indicative of a distance to a moving object (such as a human being) is generated by extracting pixel corresponding thereto. Then, pixels in the moving object distance image are summed to generate a histogram and a profile extraction region is set in the moving object distance image with its center line focusing on a position whose histogram is greatest, while the edge image is superposed on the moving object distance image to correct the center line of the profile extraction region such that the moving object is detected by extracting its profile in the region. With this, it becomes possible to detect the moving objects respectively even when the two or more objects are present in neighborhood.

摘要翻译： 在运动物体检测系统中，由CCD照相机拍摄的图像产生边缘图像，并且通过提取与其相对应的像素来生成指示到运动物体（例如人类）的距离的移动物体距离图像。 然后，将运动对象距离图像中的像素相加以生成直方图，并且在运动对象距离图像中设置轮廓提取区域，其中心线聚焦在直方图最大的位置，而边缘图像叠加在移动物体距离图像上 物体距离图像以校正轮廓提取区域的中心线，使得通过在该区域中提取其轮廓来检测移动物体。 由此，即使当两个或更多个物体在附近存在时，也可以分别检测移动物体。

公开(公告)号：US20060082944A1

公开(公告)日：2006-04-20

申请号：US11251802

申请日：2005-10-18

申请人： Takuro Koyanagi ,  Takamichi Shimada

发明人： Takuro Koyanagi ,  Takamichi Shimada

IPC分类号： H02H3/08

CPC分类号： H02H7/0833 ,  H02H3/04 ,  H02H3/093

摘要： In an overcurrent prevention system for a robot having links connected by joints and an electrical system including electric motors installed at the joint, a power circuit connecting the electric motors to a power source, and drive circuits to supply current to the electric motors, there are provided a switching device installed in the power circuit, a current sensor detecting the current supplied to the electric motors, and the output of the current sensor is compared with a threshold value and the switching device is operated to execute a switching action to cut off the power circuit intermittently during a first predetermined period when the output of the current sensor exceeds the threshold value, thereby protecting the electrical system when overcurrent is detected, without causing functional disablement and/or posture instability of the robot.

摘要翻译： 在具有由接头连接的连杆的机器人的过电流防止系统和包括安装在接头处的电动马达的电气系统中，将电动机连接到电源的电力电路以及向电动机供应电流的驱动电路， 提供安装在电源电路中的开关装置，检测提供给电动机的电流的电流传感器和电流传感器的输出与阈值进行比较，并且切换装置被执行切换动作以切断 在电流传感器的输出超过阈值的第一预定时段期间间歇地进行电力回路，从而在检测到过电流时保护电气系统，而不会引起机器人的功能失灵和/或姿势不稳定。

公开(公告)号：US06516261B2

公开(公告)日：2003-02-04

申请号：US09382205

申请日：1999-08-23

申请人： Tatsuyuki Ohashi ,  Norio Nakauchi ,  Kazuyuki Konno ,  Yoshiharu Saito ,  Kenji Hagiwara ,  Hideki Wakamatsu ,  Yukio Morita ,  Takamichi Shimada

发明人： Tatsuyuki Ohashi ,  Norio Nakauchi ,  Kazuyuki Konno ,  Yoshiharu Saito ,  Kenji Hagiwara ,  Hideki Wakamatsu ,  Yukio Morita ,  Takamichi Shimada

IPC分类号： G06F1700

CPC分类号： F16H59/66 ,  B60W2550/402 ,  F16H59/52 ,  F16H61/0213 ,  F16H2059/663 ,  F16H2059/666 ,  F16H2061/0227 ,  Y10T477/65 ,  Y10T477/692

摘要： A system for controlling an automatic transmission of a vehicle which determines a downgrade or upgrade parameter based on the vehicle acceleration and selects one from among a plurality of shift programs based on the determined grade parameter to determine a gear ratio based on the selected shift program. The system includes a navigation system which determines the instantaneous vehicle position and outputs road information including upgrade/downgrade condition of road including the determined instantaneous vehicle position. In the system, the grade parameter is corrected based on the navigation information and the grade parameter such that the one from among a plurality of shift programs is selected based on the corrected grade parameter, thereby enhancing drivability during downgrade running, without being affected even if the navigation information is temporarily invalid.

摘要翻译： 一种用于控制车辆的自动变速器的系统，其基于车辆加速度确定降级或升级参数，并且基于所确定的等级参数从多个换档程序中选择一个，以基于所选择的换档程序来确定变速比。 该系统包括确定瞬时车辆位置并输出道路信息的导航系统，包括包括所确定的瞬时车辆位置的道路的升级/降级状态。 在该系统中，基于导航信息和等级参数来校正坡度参数，使得基于校正的坡度参数选择多个班次程序中的一个，从而提高降级运行期间的驾驶性能，即使不受影响 导航信息暂时无效。