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1. 发明授权

US06487303B1 Object detector 失效
标题翻译：物体探测器
公开(公告)号：US06487303B1
公开(公告)日：2002-11-26
申请号：US09284619
申请日：1999-06-15
申请人： Hiroyoshi Yamaguchi , Tetsuya Shinbo , Osamu Yoshimi , Seiichi Mizui
发明人： Hiroyoshi Yamaguchi , Tetsuya Shinbo , Osamu Yoshimi , Seiichi Mizui
IPC分类号： G06K900
CPC分类号： G06T7/74
摘要： In the device according to the present invention, it is possible readily to distinguish between a road of travel and an obstacle in an image, simply using a distance image, even in cases where such a distinction is difficult to make, for instance, when a moving body is inclined during travel or the road forms a slope. Three-dimensional co-ordinate position data in a three-dimensional co-ordinate system is calculated for each pixel of the distance image, on the basis of two-dimensional co-ordinate position data for each pixel in the distance image and distance data from a reference position for each of the pixels, in such a manner that a three-dimensional distribution of pixels corresponding to a plane and an object to be detected is generated. Therefore, the object to be detected corresponding to groups of pixels having a prescribed height or more with respect to this plane can be distinguished readily from groups of pixels corresponding to the plane, on the basis of this three-dimensional distribution of pixels.
摘要翻译：在根据本发明的装置中，即使在难以进行这样的区分的情况下，也可以简单地使用距离图像来区分行驶道路和图像中的障碍物，例如，当移动体在行驶期间倾斜或道路形成斜坡。基于二维坐标，针对距离图像的每个像素计算三维坐标系中的三维坐标位置数据产生距离图像中的每个像素的位置数据和每个像素的参考位置的距离数据，使得生成与要被检测的平面和对象相对应的像素的三维分布。因此，基于该像素的三维分布，可以容易地区分与具有规定高度或更多像素的像素对应的要检测对象相对于该平面的像素组。

2. 发明授权

US5199818A Method and apparatus for detecting collapse of natural ground in shield driving method 失效
标题翻译：用于检测盾构驱动方法中自然接地褶皱的方法和装置
公开(公告)号：US5199818A
公开(公告)日：1993-04-06
申请号：US773560
申请日：1991-11-06
申请人： Masahiko Yamamoto , Kanji Shibatani , Hiroaki Yamaguchi , Yasuo Kanemitsu , Tetsuya Shinbo , Tomoyuki Abe , Yasuhiko Ichimura , Shoichi Sakanishi
发明人： Masahiko Yamamoto , Kanji Shibatani , Hiroaki Yamaguchi , Yasuo Kanemitsu , Tetsuya Shinbo , Tomoyuki Abe , Yasuhiko Ichimura , Shoichi Sakanishi
IPC分类号： E21D9/06 , E21D9/087 , E21D9/093
CPC分类号： E21D9/093
摘要： A method and an apparatus for performing measurement by a resistivity method in order to detect the thickness of a sludge layer on the outer periphery of a shield machine. A Wenner electrode row (14) on the outer periphery of the machine is used to measure reference resistivities to thereby detect certain resistivities in the depth direction of the natural ground and the sludge layer thickness. At the same time, a dipole electrode row (16) is used to measure voltage distributions in the depth direction of the natural ground and in the direction of the arrangement of the electrodes. The ratios of the values measured by the measurement dipole electrodes to those measured by the reference Wenner electrodes are calculated, and their distribution is charted. When mutually equal values in the distribution map are connected together by continuous curves, a contour-pattern image is obtained, which enables a configuration of the collapse of natural ground to be determined. Such as image can be displayed either two-dimensionally or three-dimensionally by image processing. If a plurality of sets of electrode rows (14) and (16) are arranged in the circumferential direction of the machine, and resistivities are detected while current having different frequencies is supplied, the collapse of the natural ground can be measured quickly.
摘要翻译： PCT No.PCT / JP91 / 00317 Sec。 371日期1991年11月6日 102（e）日期1991年11月6日PCT 1991年3月8日PCT公布。出版物WO91 / 14078 日期1991年9月19日。一种用于通过电阻率法进行测量以便检测盾构机外周上的污泥层的厚度的方法和装置。使用机器外周的文纳电极列（14）来测量参考电阻，从而检测天然地面深度方向上的某些电阻率和污泥层厚度。同时，使用偶极电极列（16）测量自然地面的深度方向和电极排列方向上的电压分布。计算由测量偶极子电极测量的值与通过参考Wenner电极测量的值的比率，并绘制其分布。当通过连续曲线将分布图中的相互相等的值连接在一起时，获得轮廓图案图像，其能够确定自然地面的崩溃的配置。诸如图像可以通过图像处理二维或三维地显示。如果在机器的圆周方向上布置多组电极列（14）和（16），并且在提供具有不同频率的电流的同时检测电阻率，则可以快速测量自然地面的塌陷。

3. 发明授权

US5174385A Blade control system for bulldozer 失效
标题翻译： BULLDOZER刀片控制系统
公开(公告)号：US5174385A
公开(公告)日：1992-12-29
申请号：US700171
申请日：1991-05-07
申请人： Tetsuya Shinbo , Toyoichi Ono
发明人： Tetsuya Shinbo , Toyoichi Ono
IPC分类号： E02F3/84 , E02F3/85
CPC分类号： E02F3/842 , E02F3/847 , Y10S37/907
摘要： A blade control system for a bulldozer enables the bulldozer to effectively perform a ground leveling work or a grading work with high accuracy in a minimum amount of time. The system compensates for pitching of a tractor portion of the bulldozer, and for variations in the amount of earth to be moved by a blade of the bulldozer. The system comprises: a pair of photo receivers (2, 3) which are mounted on the tractor portion (1) along a longitudinal axis of the portion (1) while spaced apart from each other, each of which receivers (2, 3) detects an optical reference plane (6) produced by a photo projector (4) to issue a level signal; and a blade controller (13) which controls an hydraulic valve actuaor (14) for moving the blade (8) based on the level signals. The receivers (2, 3) can detect a three-dimensional position of the tractor portion (1), and the blade controler (13) controls the actuator (14) upon receipt of an output signal issued from a position-measuring controller (23) which receives the level signals issued from the receivers (2, 3) to calculate a progress of the work.

4. 发明授权

US5330292A System and method for transmitting and calculating data in shield machine 失效
标题翻译：盾构机数据传输和计算系统及方法
公开(公告)号：US5330292A
公开(公告)日：1994-07-19
申请号：US927672
申请日：1992-09-29
申请人： Shoichi Sakanishi , Tetsuya Shinbo , Tomoyuki Abe , Yasuhiko Ichimura , Yasuo Kanemitsu , Kanji Shibatani , Masahiko Yamamoto , Hiroaki Yamaguchi
发明人： Shoichi Sakanishi , Tetsuya Shinbo , Tomoyuki Abe , Yasuhiko Ichimura , Yasuo Kanemitsu , Kanji Shibatani , Masahiko Yamamoto , Hiroaki Yamaguchi
IPC分类号： E21D11/00 , E21D9/06 , E21D9/087 , G08C23/00
CPC分类号： G08C23/00 , E21D9/093
摘要： The present invention discloses a system and a method for transmitting data in a shield machine and for calculating the filling amount of a void by detecting the distance to the natural ground. The system and the method are capable of transmitting analogue signals or signals of relatively high frequencies with reliability, enabling an unskilled operator to accurately detect buried articles and accurately carry out the back-filling work. Therefore, an optical rotary joint (100) is disposed between a rotary cutter head (10) and a non-rotary shield body (2) to count time taken to detect the peak value of a reflected signal larger than a standard value or time taken to detect the zero cross position present prior to the peak value. In accordance with the counted time, the distance between the antenna and the natural ground is calculated and displayed. Then, the void volume is calculated in accordance with the distance so that a target value of the back-filling amount is set.
摘要翻译： PCT No.PCT / JP91 / 00316 Sec。 371日期：1992年9月29日 102（e）日期1992年9月29日PCT 1991年3月8日PCT公布。公开号WO91 / 14077 1991年9月19日，本发明公开了一种在屏蔽机中传送数据的系统和方法，用于通过检测距天然地面的距离来计算空隙的填充量。该系统和方法能够以可靠的方式传输相对较高频率的模拟信号或信号，使得不熟练的操作者能够精确地检测埋置的物品并准确地执行后备工作。因此，光学旋转接头（100）设置在旋转刀头（10）和非旋转屏蔽体（2）之间，以计数检测大于标准值或所用时间的反射信号的峰值所需的时间以检测峰值之前存在的零交叉位置。根据计时时间，计算并显示天线与天然地面之间的距离。然后，根据距离计算空隙体积，使得设定填充量的目标值。

5. 发明授权

US5929980A Distance measuring apparatus and shape measuring apparatus 失效
标题翻译：距离测量装置和形状测量装置
公开(公告)号：US5929980A
公开(公告)日：1999-07-27
申请号：US17938
申请日：1998-02-03
申请人： Hiroyoshi Yamaguchi , Tatsuya Ariga , Tetsuya Shinbo , Osamu Yoshimi
发明人： Hiroyoshi Yamaguchi , Tatsuya Ariga , Tetsuya Shinbo , Osamu Yoshimi
IPC分类号： G01B11/00 , G01B11/02 , G01B11/24 , G01C3/08 , G01C11/12 , G06K9/48
CPC分类号： G01B11/24 , G01B11/002 , G01B11/026
摘要： A small-sized precision distance measuring apparatus. When a laser beam 1b reflected from an article is received on a photodetector array (30) through a lens array (20), the effective area of the photodetector array (30) is calculated on the basis of the output from the photodetectors, and the distance from the lens array (20) to the article 11 is calculated from the calculated area and the angle of view of the lenses constituting the lens array (20). If pixels (33a, 33b, 33c) of an image on a sensor array, corresponding to the coordinates of elements in the space (12), are determined on the basis of the positional relationship between the lenses (41a, 41b, 41c) of a lens array and photodetectors (51a, 51b, 51c) of the sensor array, the comparison of image information on the pixels (33a, 33b, 33c) can be made to determine the coordinate positions representing the profile of the article 11 from the coordinate positions of the space (12), thereby determining the distance to the article (11) and its shape. The measuring apparatus is used on a moving body, a robot or the like.
摘要翻译：一种小型精密测距仪。当从物品反射的激光束1b通过透镜阵列（20）被接收在光电检测器阵列（30）上时，基于光电检测器的输出来计算光电检测器阵列（30）的有效面积，并且从构成透镜阵列（20）的透镜的计算面积和视角计算从透镜阵列（20）到制品11的距离。如果基于透镜（41a，41b，41c）之间的位置关系确定与传感器阵列上的图像的像素（33a，33b，33c）相对应的空间（12）中的元素的坐标，传感器阵列的透镜阵列和光电检测器（51a，51b，51c），可以对像素（33a，33b，33c）上的图像信息进行比较，从坐标来确定表示物品11的轮廓的坐标位置空间（12）的位置，从而确定到物品（11）的距离及其形状。测量装置用于移动体，机器人等。

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