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1. 发明授权

US08162083B2 Crawler device and automatic attitude control of the same 有权
标题翻译：履带式装置和自动姿态控制相同
公开(公告)号：US08162083B2
公开(公告)日：2012-04-24
申请号：US12523610
申请日：2008-01-24
申请人： Hidekazu Iwaki , Shingo Tsukui , Seiji Oomura
发明人： Hidekazu Iwaki , Shingo Tsukui , Seiji Oomura
IPC分类号： B62D55/00
CPC分类号： B62D55/075
摘要： ThemeTo provide a small-sized crawler device that can stably ride over bumps or steps or stairs.Means to SolveThe crawler device includes a device body (1) having main crawlers (20) on its left and right and auxiliary crawlers (30) provided as auxiliary members at one end portion of the device body. Before the crawler device ascends a step or stairs with the auxiliary crawler (30) positioned backward, the controller (65) brings the auxiliary crawler (30) into a preparatory state in which the auxiliary crawler (30) is freely rotatable with respect to the main crawler (20) or the auxiliary crawler (30) is maintained in a position above a line extending longitudinally from the main crawler by a predetermined angle. After the main crawler (20) starts ascending the step or stairs and when a tilt angle of the device body (1) detected by a tilt sensor (60) reaches or exceeds a threshold angle, the controller (65) controls the auxiliary crawler (30) to be rotated downward to reduce the tilt angle of the device body (1), thereby preventing the crawler device from toppling backward.
摘要翻译：主题提供一种可以稳定地靠近颠簸或台阶或台阶的小型履带装置。解决方案该履带装置包括在其左侧和右侧具有主履带（20）的装置主体（1）和在装置主体的一个端部设置为辅助构件的辅助履带（30）。在履带式装置升降台阶之前，辅助履带（30）位于后方，控制器（65）使辅助履带（30）进入准备状态，辅助履带（30）可相对于主履带（20）或辅助履带（30）保持在从主履带纵向延伸预定角度的线上方的位置。在主爬行器（20）开始上升步骤或楼梯之后，当由倾斜传感器（60）检测到的装置主体（1）的倾斜角度达到或超过阈值角度时，控制器（65）控制辅助履带 30）向下旋转以减小装置主体（1）的倾斜角度，从而防止履带装置向后倾斜。

2. 发明申请

US20100084204A1 CRAWLER DEVICE AND AUTOMATIC ATTITUDE CONTROL OF THE SAME 有权
标题翻译： CRAWLER设备及其自动控制
公开(公告)号：US20100084204A1
公开(公告)日：2010-04-08
申请号：US12523610
申请日：2008-01-24
申请人： Hidekazu Iwaki , Shingo Tsukui , Seiji Oomura
发明人： Hidekazu Iwaki , Shingo Tsukui , Seiji Oomura
IPC分类号： B62D55/065
CPC分类号： B62D55/075
摘要： Theme To provide a small-sized crawler device that can stably ride over bumps or steps or stairs.Means to Solve The crawler device includes a device body (1) having main crawlers (20) on its left and right and auxiliary crawlers (30) provided as auxiliary members at one end portion of the device body. Before the crawler device ascends a step or stairs with the auxiliary crawler (30) positioned backward, the controller (65) brings the auxiliary crawler (30) into a preparatory state in which the auxiliary crawler (30) is freely rotatable with respect to the main crawler (20) or the auxiliary crawler (30) is maintained in a position above a line extending longitudinally from the main crawler by a predetermined angle. After the main crawler (20) starts ascending the step or stairs and when a tilt angle of the device body (1) detected by a tilt sensor (60) reaches or exceeds a threshold angle, the controller (65) controls the auxiliary crawler (30) to be rotated downward to reduce the tilt angle of the device body (1), thereby preventing the crawler device from toppling backward.
摘要翻译：主题提供一种可以稳定地靠近颠簸或台阶或台阶的小型履带装置。解决方案该履带装置包括在其左侧和右侧具有主履带（20）的装置主体（1）和在装置主体的一个端部设置为辅助构件的辅助履带（30）。在履带式装置升降台阶之前，辅助履带（30）位于后方，控制器（65）使辅助履带（30）进入准备状态，辅助履带（30）能相对于主履带（20）或辅助履带（30）保持在从主履带纵向延伸预定角度的线上方的位置。在主爬行器（20）开始上升步骤或楼梯之后，当由倾斜传感器（60）检测到的装置主体（1）的倾斜角度达到或超过阈值角度时，控制器（65）控制辅助履带 30）向下旋转以减小装置主体（1）的倾斜角度，从而防止履带装置向后倾斜。

3. 发明授权

US07499638B2 Object recognition apparatus 失效
标题翻译：物体识别装置
公开(公告)号：US07499638B2
公开(公告)日：2009-03-03
申请号：US11286278
申请日：2005-11-23
申请人： Kazuhiko Arai , Hidekazu Iwaki , Takashi Miyoshi
发明人： Kazuhiko Arai , Hidekazu Iwaki , Takashi Miyoshi
IPC分类号： G03B13/00 , G01C23/00 , G08G1/01
CPC分类号： G01S17/023 , G01C3/18 , G01S7/4802 , G01S17/936
摘要： The object recognition apparatus has an active range finder having a floodlight unit which floodlights a light onto a target object, and determines a distance up to a target object on the basis of a reflected light therefrom, a stereo camera to determine a distance up to the target object on the basis of image information from the target object, an object recognition unit which recognizes the target object on the basis of an output signal from the active range finder and an output signal from the stereo camera, and a fill light control unit which controls the floodlight unit to operate so as to irradiate a light floodlit by the floodlight unit as a fill light of the stereo camera.
摘要翻译：物体识别装置具有主动测距装置，其具有泛光灯单元，其将光泛光到目标物体上，并基于来自其的反射光确定到达目标物体的距离;立体相机，用于确定直到基于来自目标对象的图像信息的目标对象，基于来自有源测距仪的输出信号识别目标对象的对象识别单元和来自立体摄像机的输出信号，以及填充光控制单元，控制泛光灯单元的操作，以便照射由泛光灯单元照明的照明灯，作为立体照相机的补光灯。

4. 发明授权

US07259870B2 3-dimensional image acquisition apparatus and method, 3-dimensional reconstruction system, and light projection unit and light projection method therefrom 有权
标题翻译：三维图像采集装置和方法，三维重建系统，以及光投影单元及其投影方法
公开(公告)号：US07259870B2
公开(公告)日：2007-08-21
申请号：US10803673
申请日：2004-03-18
申请人： Kazuhiko Arai , Akio Kosaka , Takashi Miyoshi , Kazuhiko Takahashi , Hidekazu Iwaki , Yasunori Ohki
发明人： Kazuhiko Arai , Akio Kosaka , Takashi Miyoshi , Kazuhiko Takahashi , Hidekazu Iwaki , Yasunori Ohki
IPC分类号： G01B11/24
CPC分类号： G01C11/06
摘要： A 3-dimensional image acquisition apparatus acquires images to be used for 3-dimensionally reconstructing an object by picking up the object by a camera twice or more in an image acquisition set including picking up at least once the object carrying a pattern projected onto it by a projection light source. The apparatus comprises a light projection information memory configured to store information on projection of light including information on the time for projecting light for the purpose of projecting the pattern in the image acquisition set, an image acquisition progress information memory configured to store information on the progress of image acquisition in the image acquisition set, and a controller configured to control the projection of light by the projection light source and the picking up by the camera on the basis of the stored information on projection of light and the stored information on the progress.
摘要翻译： 3维图像获取装置通过摄像机拍摄物体2次以上拍摄物体3次重构物体3次图像获取装置，该图像拍摄装置至少包含一次携带投射到其上的图案的物体投影光源。该装置包括光投射信息存储器，被配置为存储关于投影光的信息，包括用于投影光的时间的信息，用于将图案投影到图像获取集合中;图像获取进度信息存储器，被配置为存储关于进度的信息以及控制器，被配置为基于所存储的关于光的投射的信息和所存储的关于进度的信息来控制由投影光源投射的光和由照相机拾取的光。

5. 发明授权

US08330846B2 Image pickup apparatus 有权
标题翻译：摄像设备
公开(公告)号：US08330846B2
公开(公告)日：2012-12-11
申请号：US12345043
申请日：2008-12-29
申请人： Takashi Miyoshi , Akio Kosaka , Hidekazu Iwaki , Takayoshi Togino
发明人： Takashi Miyoshi , Akio Kosaka , Hidekazu Iwaki , Takayoshi Togino
IPC分类号： H04N5/225 , H04N7/14
CPC分类号： G02B27/0172 , A61B3/113 , G02B2027/0123 , G02B2027/0138 , G02B2027/0178 , G03B17/17 , H04N5/2254 , H04N13/239
摘要： An image pickup apparatus is provided with an imaging optical system (imaging lens), an image sensor for picking up a subject image formed by the imaging optical system, and a view division optical system (first mirror) which divides a view picked up by the image sensor into an environment imaging side view and an eyeball imaging side view.
摘要翻译：摄像装置具备成像光学系统（摄影透镜），摄像光学系统拍摄的被摄体图像的摄影传感器以及由摄像光学系统拍摄的视野的分割光学系统（第一反射镜）图像传感器进入环境成像侧视图和眼球成像侧视图。

6. 发明申请

US20100054580A1 IMAGE GENERATION DEVICE, IMAGE GENERATION METHOD, AND IMAGE GENERATION PROGRAM 审中-公开
标题翻译：图像生成装置，图像生成方法和图像生成程序
公开(公告)号：US20100054580A1
公开(公告)日：2010-03-04
申请号：US12617267
申请日：2009-11-12
申请人： Takashi Miyoshi , Hidekazu Iwaki , Akio Kosaka
发明人： Takashi Miyoshi , Hidekazu Iwaki , Akio Kosaka
IPC分类号： G06K9/00 , H04N7/18
CPC分类号： G06T15/20 , G08G1/16 , G08G1/167
摘要： The image generation device includes distance calculation means for calculating a distance between a space model and an imaging device arrangement object model which is a model such as a vehicle having a camera mounted, according to viewpoint conversion image data generated by viewpoint conversion means, captured image data representing captured image, a space model, or mapped space data. When displaying an image viewed from an arbitrary virtual viewpoint in the 3D space, the image display format is changed according to the distance calculated by the distance calculation means. When displaying a monitoring object such as a vicinity of a vehicle, a shop, a house or a city as an image viewed from an arbitrary virtual viewpoint in the 3D space, it is possible to display the monitoring object in such a manner that the relationship between the vehicle and the image of the monitoring object can be understood intuitionally.
摘要翻译：图像生成装置包括：距离计算装置，用于根据由视点转换装置生成的视点转换图像数据，计算作为具有安装了照相机的车辆的模型的成像装置配置对象模型和空间模型之间的距离;拍摄图像表示拍摄图像的数据，空间模型或映射空间数据。当在3D空间中显示从任意虚拟视点观看的图像时，图像显示格式根据由距离计算装置计算的距离而改变。当从3D空间中的任意虚拟视点看到作为从3D空间中的任意虚拟视点观看的图像的车辆，商店，房屋或城市附近的监视对象显示时，可以以如下方式显示监视对象：可以直观地了解车辆与监控对象的图像之间的距离。

7. 发明申请

US20080166020A1 Particle-Group Movement Analysis System, Particle-Group Movement Analysis Method and Program 审中-公开
标题翻译：粒子群运动分析系统，粒子群运动分析方法与程序
公开(公告)号：US20080166020A1
公开(公告)日：2008-07-10
申请号：US11795906
申请日：2006-01-19
申请人： Akio Kosaka , Hidekazu Iwaki
发明人： Akio Kosaka , Hidekazu Iwaki
IPC分类号： G06K9/00
CPC分类号： G06T7/20 , G06K9/0014 , G06K9/00295 , G06K9/00778 , G06T7/0012 , G06T2207/30024
摘要： There is provided a particle-group movement analysis system which is capable of detecting from a plurality of objects in a form of a particle, an object in the form of a particle which moves in a manner different from the other objects in the form of a particle, a particle-group movement analysis method, and a program. The particle-group movement analysis system includes an image capture section (101) which captures a time-series image of the plurality of objects in the form of a particle, a characteristic information computing section (104) which calculates an amount of a particle Pn in each small area R(i, j) corresponding to each pixel in the time-series image which is captured, a time-change detecting section (105) which detects a divergence of the number of particles, and a factor specifying section (106) which specifies an area which includes a particle Pab which has become a cause of a divergence change, or an abnormal area which is an area near the particle Pab which has become the cause of the divergence change.
摘要翻译：提供了一种粒子群运动分析系统，其能够以粒子的形式从多个物体中检测出粒子形式的物体，其以与其他物体形式不同的方式移动粒子，粒子群移动分析方法和程序。粒子群移动分析系统包括捕获粒子形式的多个物体的时间序列图像的图像捕获部（101），计算粒子Pn的量的特征信息计算部（104）在与捕获的时间序列图像中的每个像素相对应的每个小区域R（i，j）中，检测粒子数的发散的时变检测部（105），以及因子确定部），其指定了包括已经成为发散变化的原因的粒子Pab的区域，或者是成为发散变化原因的粒子Pab附近的区域的异常区域。

8. 发明申请

US20080079954A1 Distance measuring apparatus, distance measuring method, and computer program product 失效
标题翻译：测距仪，测距仪，计算机程序产品
公开(公告)号：US20080079954A1
公开(公告)日：2008-04-03
申请号：US11985991
申请日：2007-11-19
申请人： Hidekazu Iwaki , Akio Kosaka , Takashi Miyoshi
发明人： Hidekazu Iwaki , Akio Kosaka , Takashi Miyoshi
IPC分类号： G01B11/14
CPC分类号： G01C3/08 , G01S11/12 , G01S13/867 , G01S17/023
摘要： A distance measuring apparatus includes a detecting unit which detects a distance to an object located in a predetermined detection range; an imaging unit which generates an image signal group corresponding to a predetermined imaging field; a calculating unit which calculates the distance to the object located in the imaging field based on the image signal group; and an interpolating unit which either interpolates a detection result by the detecting unit by using a calculation result by the calculating unit, or interpolates the calculation result by the calculating unit by using the detection result by the detecting unit.
摘要翻译：距离测量装置包括：检测单元，其检测到位于预定检测范围内的物体的距离; 成像单元，其生成对应于预定成像场的图像信号组; 计算单元，其基于图像信号组计算到位于成像场中的物体的距离; 以及内插单元，其通过使用计算单元的计算结果来内插检测结果，或者通过使用检测单元的检测结果来插值计算单元的计算结果。

9. 发明授权

US07138645B2 Calibration pattern unit photographed by an imaging system to acquire an image for obtaining correction information 有权
标题翻译：由成像系统拍摄的校准图案单元，以获取用于获得校正信息的图像
公开(公告)号：US07138645B2
公开(公告)日：2006-11-21
申请号：US10650619
申请日：2003-08-28
申请人： Kazuhiko Arai , Akio Kosaka , Takashi Miyoshi , Kazuhiko Takahashi , Hidekazu Iwaki
发明人： Kazuhiko Arai , Akio Kosaka , Takashi Miyoshi , Kazuhiko Takahashi , Hidekazu Iwaki
IPC分类号： G01C11/22 , G06K9/00 , G01B7/00 , F16M11/00
CPC分类号： G01B11/2504 , G01B11/00
摘要： A calibration pattern unit which obtains correction information of an imaging system by imaging at the imaging system is formed by combining a plurality of three-dimensionally arranged planes. The calibration pattern unit comprises supporting members each of which has a predetermined surface corresponding to one of the planes, and a calibration pattern in which a predetermined pattern is formed on the predetermined surface of the supporting member. The supporting member can selectively set the calibration pattern unit to a first form for photographing when the correction information is obtained, and a second form for other purposes.
摘要翻译：通过组合多个三维布置的平面来形成通过在成像系统成像获得成像系统的校正信息的校准图案单元。校准图案单元包括每个具有对应于一个平面的预定表面的支撑构件，以及在支撑构件的预定表面上形成预定图案的校准图案。支撑构件可以在获得校正信息时选择性地将校准图案单元设置为用于拍摄的第一形式，以及用于其他目的的第二形式。

10. 发明授权

US07075735B2 Stereo imaging system 失效
标题翻译：立体成像系统
公开(公告)号：US07075735B2
公开(公告)日：2006-07-11
申请号：US10853003
申请日：2004-05-25
申请人： Toshihide Nozawa , Kazuhiko Arai , Takashi Miyoshi , Hidekazu Iwaki
发明人： Toshihide Nozawa , Kazuhiko Arai , Takashi Miyoshi , Hidekazu Iwaki
IPC分类号： G02B17/00 , G02B27/22 , G02B13/04
CPC分类号： G02B27/16 , G02B13/04 , G02B13/16 , G02B27/1073 , G02B27/14
摘要： The invention relates to a stereo imaging unit or system that can have a suitable degree of parallax and a wide angle of view even when used with an image pickup device smaller than film. The stereo imaging unit comprises a first entrance window 5L and a second entrance window 5R juxtaposed in the left-and-right direction, a plurality of reflecting surfaces 21L, 22L for guiding a light beam from the first entrance window 5L to a single image pickup device 4, a plurality of reflecting surfaces 21R, 22R for guiding a light beam from the second entrance window 5R to the image pickup device 4, a first negative lens group 1L for the light beam from the first entrance window 5L, a first positive lens group 3 located at an image side thereof via the longest air spacing in the lens system, a second lens group 1R for the light beam from the second entrance window 5R, and a second positive lens group 3 located on an image side thereof via the longest air spacing in the lens system, and satisfies conditions (1), (2), (3) and (4) for defining the focal lengths of the negative and positive lens groups in terms of the focal length of the overall lens system.
摘要翻译：本发明涉及一种立体成像单元或系统，即使当与小于胶片的图像拾取装置一起使用时，该立体成像单元也可以具有适当的视差程度和宽视角。立体成像单元包括沿左右方向并置的第一入口窗口5L和第二入口窗口5R，用于引导来自第一入口窗口5L的光束的多个反射面21L，22L 到单个图像拾取装置4，用于将来自第二入口窗口5R的光束引导到图像拾取装置4的多个反射表面21R，22R，用于来自第二入口窗口5的光束的第一负透镜组1L 第一入口窗口5L，通过透镜系统中最长的空气间隔位于其像侧的第一正透镜组3，来自第二入口窗口5R的光束的第二透镜组1R和第二入射窗口5 透镜组3通过透镜系统中最长的空气间隔位于图像侧，并且满足用于限定负透镜组和正透镜组的焦距的条件（1），（2），（3）和（4）术语整个镜头系统的焦距。

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