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31. 发明授权

US09307335B2 Device for estimating placement of physical objects 有权
标题翻译：用于估计物体物体放置的装置
公开(公告)号：US09307335B2
公开(公告)日：2016-04-05
申请号：US14370859
申请日：2013-01-30
申请人： Japan Science and Technology Agency
发明人： Shiro Ise , Kayo Matsuoka
IPC分类号： H04R3/00 , H04R29/00 , G01S5/18 , H04R3/12 , H04R1/40 , H04S7/00 , G01S5/30
CPC分类号： H04R29/00 , G01S5/18 , G01S5/30 , H04R1/403 , H04R1/406 , H04R3/12 , H04R2201/40 , H04S7/301 , H04S2400/11
摘要： An object position estimating apparatus which estimates positions of M objects in real space (M being an integer not less than 2), including: a characteristic vector generating unit operable to generate, for each of M objects, a characteristic vector, the characteristic vector including as its components measurements of the object measured on N scales (N being an integer not less than 3), each of N scales measuring closeness to each of N reference points in the real space; a dissimilarity matrix deriving unit operable to calculate a norm between the characteristic vectors of two objects for every pair from among M objects and to derive a dissimilarity matrix with M rows and M columns, the dissimilarity matrix including as its elements the calculated norms; and an estimation unit operable to estimate positions of M objects in the real space based on the dissimilarity matrix and to output an estimation result.
摘要翻译：一种物体位置估计装置，其估计实际空间中的M个物体的位置（M是不小于2的整数），包括：特征矢量生成单元，用于为M个物体中的每一个生成特征矢量，所述特征矢量包括作为在N个尺度（N是不小于3的整数）上测量的对象的组件测量，N个尺度中的每一个测量与实际空间中的每个N个参考点的接近度; 一个不相似矩阵导出单元，用于计算M个对象中每对的两个对象的特征向量之间的范数，并导出具有M行和M列的不相似矩阵，该不相似矩阵包括作为其计算出的范数的元素; 以及估计单元，其可操作以基于所述不相似矩阵来估计所述实际空间中的M个对象的位置并输出估计结果。

32. 发明授权

US09140777B2 Ultrasonic locationing using enrollment mode 有权
标题翻译：超声波定位使用注册模式
公开(公告)号：US09140777B2
公开(公告)日：2015-09-22
申请号：US13893509
申请日：2013-05-14
申请人： Symbol Technologies, Inc.
发明人： Russell E. Calvarese
IPC分类号： G01S1/72 , G01S5/18 , G01S5/30 , G01S11/14 , G01S11/16
CPC分类号： G01S5/18 , G01S1/725 , G01S5/30 , G01S11/14 , G01S11/16
摘要： An ultrasonic locationing method and system for ultrasonic locationing of a mobile device within an environment includes a plurality of fixed ultrasonic emitters to transmit an instruction to listen for an enrollment tone to at least one communication device, and to sequentially emit an enrollment tone from each emitter at specific times to be received by those communication devices that implemented the instruction. A controller receives a response from each of those communication devices, the respective response including an identity of the communication device, a time the enrollment tone was received, and an indication of a hardware platform of the communication device. The controller can then assign a locationing mode to each communication device in accordance with its hardware platform. The communication device provides locationing information using its assigned locationing mode and locationing tones from active emitters.
摘要翻译：用于移动设备在环境中的超声波定位的超声波定位方法和系统包括多个固定超声波发射器，用于向至少一个通信设备发送用于监听登记音的指令，并且从每个发射器顺序发射登记音在特定的时间被实现该指令的那些通信设备接收。控制器从每个通信设备接收响应，相应的响应包括通信设备的身份，接收到登记音的时间以及通信设备的硬件平台的指示。然后，控制器可以根据其硬件平台向每个通信设备分配定位模式。通信设备使用其分配的定位模式和来自活动发射器的定位音来提供定位信息。

33. 发明授权

US09069058B2 Location system 有权
标题翻译：位置系统
公开(公告)号：US09069058B2
公开(公告)日：2015-06-30
申请号：US14110376
申请日：2012-04-05
申请人： Wilfred Edwin Booij , Øysten Haug Olsen
发明人： Wilfred Edwin Booij , Øysten Haug Olsen
IPC分类号： G01S5/00 , G01S5/18 , G01S1/72 , G01S1/74 , G01S1/80 , G01S5/26 , G01S5/30 , H04L27/18
CPC分类号： G01S5/18 , G01S1/725 , G01S1/74 , G01S1/805 , G01S1/807 , G01S5/26 , G01S5/30 , H04B11/00 , H04L27/18
摘要： Static transmitter stations are used to determine the position of a mobile receiver unit. Each transmitter station transmits an ultrasonic signal including a transmitter-specific phase-shifting signature. The receiver unit receives a signal and identifies a transmitter station by its signature. It uses the received signal and the identity of the source transmitter station to determine the position of the mobile receiver unit. The signature may include two patterns phase-shift-key (PSK)-encoded on respective carrier signals of the same frequency but different phase, with the patterns being offset from each other by a transmitter-specific offset. The signal from the transmitter station may also include a PSK-encoded message.
摘要翻译：静态发射机站用于确定移动接收机单元的位置。每个发射台发送包括发射机专用相移特征的超声波信号。接收机单元接收信号并通过其签名识别发射机站。它使用接收的信号和源发射机站的身份来确定移动接收机单元的位置。签名可以包括在相同频率但不同相位的相应载波信号上编码的两个模式相移键（PSK），其中模式彼此偏离发射机专用偏移。来自发射机站的信号还可以包括PSK编码的消息。

34. 发明申请

US20060077759A1 Ultrasonic locating system 有权
标题翻译：超声波定位系统
公开(公告)号：US20060077759A1
公开(公告)日：2006-04-13
申请号：US10534485
申请日：2003-12-02
申请人： Sverre Holm
发明人： Sverre Holm
IPC分类号： G01S3/808 , G01S5/30 , G01S11/14
CPC分类号： G01S5/26 , G01S5/0036
摘要： The invention relates to a method and a system for monitoring and position determination of objects and/or living beings within an area, such as, e.g. a room in a building or a road tunnel. The system comprises a plurality of identification tags equipped with an ultrasonic receiver and radio transmitter which is attached to the objects that have to be monitored. The identification tags receive ultrasonic signals whose arrival time they measure. This information together with the identification tags'ID code are transmitted by radio waves to a central unit which calculates the position of each of the identification tags.
摘要翻译：本发明涉及用于监测和定位区域内的物体和/或生物的方法和系统，例如，建筑物中的房间或道路隧道。该系统包括配备有超声波接收器和无线电发射器的多个识别标签，其附接到必须被监视的对象。识别标签接收其测量到达时间的超声波信号。该信息与识别标签的ID码一起通过无线电波发送到计算每个识别标签的位置的中央单元。

35. 发明申请

US20050113110A1 Bidirectional positioning system for ubiquitous computing 审中-公开
标题翻译：用于无所不在计算的双向定位系统
公开(公告)号：US20050113110A1
公开(公告)日：2005-05-26
申请号：US10882735
申请日：2004-06-30
申请人： Inone Joo , Wan-Sik Choi , Jae-Hoon Kim
发明人： Inone Joo , Wan-Sik Choi , Jae-Hoon Kim
IPC分类号： G06F19/00 , G01S5/00 , G01S5/30 , G01S11/16 , H04B7/005
CPC分类号： H04W64/00 , G01S5/0054 , G01S5/30 , G01S11/16 , H04W4/029
摘要： A bidirectional positioning system is disclosed. The system having a plurality of mobile stations radiating ultrasonic signals to notice a physical location of correspondence mobile station and to request additional information, the bidirectional positioning system, including: a plurality of ultrasonic transceivers for receiving the ultrasonic signal from the plurality of mobile stations and measuring a receiving time of the ultrasonic signal with a correspondence mobile station; and a positioning server for computing physical locations of the plurality of mobile stations by collecting three or more receiving times of correspondence mobile station from the plurality of ultrasonic transceivers, storing the computed physical locations of the plurality of mobile stations in a database, generating a radio frequency (RF) information signal to have information about computed physical location of the mobile stations by receiving the ultrasonic signal from the plurality of ultrasonic transceivers and transmitting the RF information signal to the mobile stations.
摘要翻译：公开了一种双向定位系统。该系统具有多个移动站，辐射超声波信号以通知对应移动站的物理位置并请求附加信息，所述双向定位系统包括：多个超声波收发器，用于从多个移动站接收超声信号;以及用通信移动站测量超声波信号的接收时间; 以及定位服务器，用于通过从所述多个超声波收发器中收集三个或更多个对应移动站的接收时间来计算所述多个移动站的物理位置，将所计算的所述多个移动站的物理位置存储在数据库中，生成无线电频率（RF）信息信号，通过从多个超声波收发器接收超声波信号并将RF信息信号发送到移动台，以具有关于移动台的计算物理位置的信息。

36. 发明授权

US06867699B2 Method of and apparatus for actuating an operation 有权
标题翻译：用于启动操作的方法和装置
公开(公告)号：US06867699B2
公开(公告)日：2005-03-15
申请号：US10267685
申请日：2002-10-09
申请人： Rupert William Meldrum Curwen , Peter Joseph Steggles , Robert Gordon Hague
发明人： Rupert William Meldrum Curwen , Peter Joseph Steggles , Robert Gordon Hague
IPC分类号： G01S5/30 , G01S15/87 , G08B23/00
CPC分类号： G01S15/876 , G01S5/30
摘要： A technique is provided for providing total flexibility of control of any desired operation within an environment where personnel work, such as an office suite. The location of transponders is determined by a location system. A user arbitrarily selects a convenient region for controlling an operation and the location system registers this in a memory. The location system then determines the position of each transducer and, when a transducer is within one of the selected regions, the location system responds by controlling the operation. For example, a region may be selected entirely arbitrarily so as to control room lighting.
摘要翻译：提供了一种技术，用于在人员工作的环境（例如办公室套件）中提供对任何期望操作的全面灵活性。应答器的位置由位置系统确定。用户任意选择用于控制操作的方便区域，并且定位系统将其注册到存储器中。定位系统然后确定每个换能器的位置，并且当换能器在选定区域之一内时，定位系统通过控制操作来进行响应。例如，可以完全任意地选择区域，以便控制室内照明。

37. 发明申请

US20050038341A1 Performing ultrasound ranging in the presence of ultrasound interference 有权
标题翻译：在存在超声波干扰的情况下进行超声波测距
公开(公告)号：US20050038341A1
公开(公告)日：2005-02-17
申请号：US10951853
申请日：2004-09-27
申请人： N. Willis
发明人： N. Willis
IPC分类号： A61B8/12 , A61B8/08 , G01S5/30 , G01S11/14 , G01S15/10 , A61B8/00
CPC分类号： G01S11/14 , A61B5/064 , A61B5/065 , A61B8/0833 , G01S5/30
摘要： A distance measuring system comprises first and second transducers, and an ultrasound ranging subsystem coupled to the first and second transducers for performing a plurality of distance measurements between the first and second transducers. The distance measurement system can have various applications, including medical applications, in which case, the first and second transducers can be mounted on a catheter. The distance measuring system further comprises a filter coupled to the ultrasound ranging subsystem for filtering ultrasound interference from the plurality of distance measurements (such as, e.g., eight), and outputting a distance based on the filtered distance measurements. The filter filters the ultrasound interference by selecting one of the plurality distance measurements, in which case, the outputted distance is the selected distance measurement. Because the ultrasound interference will typically represent itself as the shortest distance measurement, the selected distance measurement is preferably greater than the minimum distance measurement (such as, e.g., the maximum distance measurement), thereby filtering the ultrasound interference out.
摘要翻译：距离测量系统包括第一和第二换能器，以及耦合到第一和第二换能器的超声测距子系统，用于在第一和第二换能器之间执行多个距离测量。距离测量系统可以具有各种应用，包括医疗应用，在这种情况下，第一和第二换能器可以安装在导管上。距离测量系统还包括耦合到超声波测距子系统的滤波器，用于从多个距离测量（例如，8个）滤波超声波干扰，并且基于滤波的距离测量输出距离。滤波器通过选择多个距离测量中的一个来过滤超声波干扰，在这种情况下，输出的距离是所选择的距离测量。因为超声波干扰通常将自身表示为最短的距离测量，因此所选择的距离测量优选地大于最小距离测量（例如最大距离测量），从而过滤超声波干扰。

38. 发明申请

US20050021179A1 Method and apparatus for detecting position of mobile robot 有权
标题翻译：用于检测移动机器人位置的方法和装置
公开(公告)号：US20050021179A1
公开(公告)日：2005-01-27
申请号：US10743493
申请日：2003-12-23
申请人： Se-Wan Kim , Sung-Il Park
发明人： Se-Wan Kim , Sung-Il Park
IPC分类号： B25J5/00 , A47L9/28 , B25J19/02 , G01B11/26 , G01C3/00 , G01H5/00 , G01S20060101 , G01S1/72 , G01S5/00 , G01S5/16 , G01S5/18 , G01S5/30 , G01S11/16 , G05D1/02 , G06F19/00
CPC分类号： G01S5/30 , G01S11/16 , G05B2219/37266 , G05B2219/37269 , G05B2219/40298 , G05B2219/40555
摘要： A method and apparatus for detecting a position of a mobile robot are disclosed to accurately and precisely detect a position of a mobile robot on the basis of a time difference between an infrared signal and a ultrasonic signal. The infrared signal and the ultrasonic signals are received, a time difference between the received infrared signal and the ultrasonic signals, and then, a position of a mobile robot is detected on the basis of the calculated time difference value and a distance value previously stored between ultrasonic wave generators generating the ultrasonic signals.
摘要翻译：公开了一种用于检测移动机器人的位置的方法和装置，其基于红外信号和超声波信号之间的时间差准确且精确地检测移动机器人的位置。接收红外信号和超声波信号，接收到的红外信号与超声信号之间的时间差，然后根据计算出的时间差值和之前存储的超时信号之间的距离值来检测移动机器人的位置产生超声波信号的超声波发生器。

39. 发明授权

US06847587B2 System and method for identifying and locating an acoustic event 有权
标题翻译：用于识别和定位声学事件的系统和方法
公开(公告)号：US06847587B2
公开(公告)日：2005-01-25
申请号：US10248511
申请日：2003-01-24
申请人： Frank K. Patterson , Kevin C. Baxter , Fred H. Holmes
发明人： Frank K. Patterson , Kevin C. Baxter , Fred H. Holmes
IPC分类号： F41H11/00 , G01R31/08 , G01S5/00 , G01S5/14 , G01S5/30 , G01S7/539 , G01S19/18 , G01S19/44 , G01S19/46 , G01V1/00 , H02J3/40 , G01S3/80
CPC分类号： G01S5/0036 , F41H11/00 , G01R31/085 , G01S5/18 , G01S5/30 , G01S7/539 , G01S19/18 , G01V1/001 , H02J3/40 , Y10S367/906
摘要： A system and method for detecting, identifying, and fixing the location of the source of an acoustic event. The inventive system includes: a plurality of sensors dispersed at somewhat regular intervals throughout a monitored area; a communication network adapted to deliver information from the sensors to a host processor; and a process within the host processor for determining, from the absolute times of arrival of an event at two or more sensors, a position of the source of the event. Acoustic events are detected and analyzed at each sensor so that the sensor transmits over the network: an identifier for the sensor; an identifier for the type of event; and a precise absolute time of arrival of the event at the sensor. In a preferred embodiment, the system also identifies the type of weapon firing a gunshot.
摘要翻译：用于检测，识别和固定声学事件源的位置的系统和方法。本发明的系统包括：多个传感器以一定程度的间隔在整个监视区域内分散; 通信网络，适于将信息从传感器传送到主机处理器; 以及主处理器内的处理，用于从事件的两个或多个传感器的到达绝对时间确定事件源的位置。在每个传感器处检测和分析声学事件，使得传感器通过网络传输：传感器的标识符; 事件类型的标识符; 以及事件到达传感器的绝对绝对时间。在优选实施例中，该系统还识别发射枪支的武器的类型。

40. 发明授权

US6160371A Robot system, control method, and recording medium 失效
标题翻译：机器人系统，控制方法和记录介质
公开(公告)号：US6160371A
公开(公告)日：2000-12-12
申请号：US243177
申请日：1999-02-02
申请人： Jin Tachikawa
发明人： Jin Tachikawa
IPC分类号： B25J13/00 , B81B7/02 , G01S5/30 , G05B15/02 , G05G11/00 , G01S13/02
CPC分类号： G01S5/30
摘要： When the operator inputs a macro control command, each microrobot takes an actual action on the basis of the command. That action is autonomously controlled to successfully execute the macro command. The autonomous control is to feed back and control the deviation between sensor information (position, speed, and acceleration) of the microrobot and the control command. When a plurality of microrobots are used and must take distributed, cooperative actions, conditions required for task completion such as environmental conditions (temperature, humidity, and the like) are obtained via communications with the base controller and are used for control information compensation. Such control allows each microrobot to cope with complicated tasks independently of the number of sensors, communication performance, and computer processing performance.
摘要翻译：当操作员输入宏控制命令时，每个微型机器人将根据该命令进行实际操作。该操作被自动控制以成功执行宏命令。自主控制是反馈和控制微机器的传感器信息（位置，速度和加速度）与控制命令之间的偏差。当使用多个微型机器人并且必须采取分散的协作动作时，通过与基本控制器的通信获得诸如环境条件（温度，湿度等）的任务完成所需的条件，并且用于控制信息补偿。这种控制允许每个微型机器独立于传感器的数量，通信性能和计算机处理性能来处理复杂的任务。

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