Patents by Inventor Shintaro Yoshizawa

Shintaro Yoshizawa has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 11188811
    Abstract: A communication apparatus that can improve communication quality is provided. A communication apparatus including a face unit for achieving a configuration simulating right and left eyes by a mechanical movement or a display. The communication apparatus includes a detection unit configured to detect a distance to and a direction of a communication partner, and a control unit configured to control the mechanical movement or the display of the configurations in such a way that viewpoints of the right and left eyes are directed to the distance and the direction detected by the detection unit.
    Type: Grant
    Filed: October 10, 2018
    Date of Patent: November 30, 2021
    Assignee: TOYOTA JIDOSHA KABUSHTKI KAISHA
    Inventors: Mina Funazukuri, Wataru Kaku, Shintaro Yoshizawa
  • Patent number: 11167418
    Abstract: An operation planning apparatus 1 of a robot 100 includes a non-interference path generation unit 3 and a time determination unit 5 configured to generate a time-space path. The time determination unit 5 includes a temporary time setting unit 8 configured to set, for each main point, temporary time in such a way that an operation speed does not exceed a maximum allowable speed between the plurality of main points; and a temporary time adjustment unit 9 configured to spatially smooth the spatial smoothing path in a first smoothing range that includes the main point using a mollifier function, and prolong, if the operation speed exceeds the maximum allowable acceleration in the first smoothing range, the temporary time of the plurality of main points after the main point in such a way that the operation speed does not exceed the maximum allowable acceleration in the first, smoothing range.
    Type: Grant
    Filed: June 6, 2019
    Date of Patent: November 9, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Shintaro Yoshizawa
  • Patent number: 11117261
    Abstract: An operation processor of the motion trajectory generation apparatus specifies the target object by extracting first point cloud data that corresponds to the target object from a depth image in the vicinity of the target object acquired by a depth image sensor, excludes the first point cloud data from second point cloud data, which is point cloud data in the vicinity of the target object, in the depth image, estimates, using the second point cloud data after the first point cloud data has been excluded, third point cloud data, which is point cloud data that corresponds to an obstacle that is present in a spatial area from which the first point cloud data is excluded in the depth image, and supplements the estimated third point cloud data in the spatial area from which the first point cloud data is excluded, and generates the plan of the motion trajectory.
    Type: Grant
    Filed: December 13, 2018
    Date of Patent: September 14, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Yuto Mori, Shintaro Yoshizawa
  • Publication number: 20210174538
    Abstract: A control apparatus capable of efficiently detecting a target object even when the target object is shielded by other objects is provided. An object recognition unit 114 recognizes a target object 80 present in a 3D environment 4 by using measurement data acquired from a sensor 12. An information generation unit 116 generates 3D environmental information by integrating a plurality of measurement data. A position determination unit 120 determines an optimal position of the sensor 12 for performing the next measurement. A sensor control unit 140 moves the sensor 12 to the determined optimal position. The position determination unit 120 determines, by using the 3D environmental information, a position of the sensor 12 where the sensor 12 can take an image in which a size of an area shielded by at least one first object is larger as the optimal position.
    Type: Application
    Filed: February 23, 2021
    Publication date: June 10, 2021
    Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Kei YOSHIKAWA, Shintaro YOSHIZAWA, Yuto MORI
  • Patent number: 10957067
    Abstract: A control apparatus capable of efficiently detecting a target object even when the target object is shielded by other objects is provided. An object recognition unit 114 recognizes a target object 80 present in a 3D environment 4 by using measurement data acquired from a sensor 12. An information generation unit 116 generates 3D environmental information by integrating a plurality of measurement data. A position determination unit 120 determines an optimal position of the sensor 12 for performing the next measurement. A sensor control unit 140 moves the sensor 12 to the determined optimal position. The position determination unit 120 determines, by using the 3D environmental information, a position of the sensor 12 where the sensor 12 can take an image in which a size of an area shielded by at least one first object is larger as the optimal position.
    Type: Grant
    Filed: March 20, 2019
    Date of Patent: March 23, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Kei Yoshikawa, Shintaro Yoshizawa, Yuto Mori
  • Patent number: 10861445
    Abstract: An interactive apparatus includes: acquisition means for acquiring profile information in which a topic in a user's speech and the number of predetermined parts of speech of words included in the speech are associated with each other; topic selection means for setting the probability that the topic is selected in such a way that topics whose numbers of predetermined parts of speech are larger are selected with a higher probability from among topics set in the profile information based on the profile information acquired by the acquisition means, and selecting the topic in accordance with the probability of the selection that has been set; and response generation means for generating a response to the user based on the topic that has been selected by the topic selection means.
    Type: Grant
    Filed: March 30, 2018
    Date of Patent: December 8, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Mina Funazukuri, Shintaro Yoshizawa
  • Patent number: 10783218
    Abstract: The present disclosure is applied to a variable group calculation apparatus for calculating an undetermined variable group that simultaneously minimizes a difference value and a data value. The difference value is a difference between an added composite value, which is obtained by adding and combining the undetermined variable group and a dictionary data group, and an observation data group. The data value includes the difference value and a regularization term of the undetermined variable group. The variable group calculation apparatus of the present disclosure includes a convolution unit configured to convert the regularization term to a convolution value for an L1 norm using the undetermined variable group and a mollifier function, and a calculation unit configured to perform the calculation using the regularization term, which is converted to the convolution value by the convolution unit.
    Type: Grant
    Filed: May 24, 2018
    Date of Patent: September 22, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Shintaro Yoshizawa, Norimasa Kobori
  • Patent number: 10778902
    Abstract: An information acquisition unit acquires three-dimensional environmental information from a three-dimensional environmental information storage unit. A placement region detection unit uses the three-dimensional environmental information to detect a placement region where a target object is placed. A calculation unit calculates a size of a placement region in an image including the placement region. A viewpoint position determination unit determines, among a plurality of sensor positions where a sensor photographing the image related to image data can be placed, a sensor position where the placement region is larger than the placement region in the case of using image data of another sensor position, as an optimal viewpoint position. A sensor position control unit performs control so as to move the sensor to the optimal viewpoint position, and then performs control so as to start a search for the target object.
    Type: Grant
    Filed: April 26, 2019
    Date of Patent: September 15, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Yuto Mori, Shintaro Yoshizawa, Kei Yoshikawa
  • Patent number: 10762329
    Abstract: An Inter-object relation recognition apparatus includes: a first learning device receiving an image, and outputting a first feature amount of the image; a second learning device receiving the first feature amount, outputting a second feature amount, and having a plurality of storage units holding internal states for predetermined steps; a triplet unit having a plurality of triplet-units, the triplet-units receiving the second feature amount, recognizing first to third elements, and constituted of first to third recognition units outputting probability information. The triplet unit selects at least one combination of the first to third elements, based on the probability information of the first to third elements output from the first to third recognition units of each of the triplet units, from the combinations of the first to third elements output from each of the triplet units, and recognizes and outputs the combination as a relation between objects.
    Type: Grant
    Filed: December 4, 2018
    Date of Patent: September 1, 2020
    Assignees: Toyota Jidosha Kabushiki Kaisha, The University of Tokyo
    Inventors: Hideki Nakayama, Kento Masui, Shintaro Yoshizawa, Akiyoshi Ochiai
  • Patent number: 10747229
    Abstract: An environment arrangement robot includes a map creation unit that divides the target space into a plurality of cell spaces and provides an evaluation value to each of the cell spaces, in which the evaluation value indicates a probability of whether or not there is an object in the corresponding cell space, and an environment change unit that changes, among the plurality of cell spaces, a specific cell space having the evaluation value within a range evaluated that the probability of whether or not there is an object in the specific cell is low in such a way that the probability that the object is present will become greater or change a surrounding cell space in such a way that the specific cell space will be excluded from the measurement by the distance sensor.
    Type: Grant
    Filed: March 27, 2018
    Date of Patent: August 18, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Nobuyuki Matsuno, Hidenori Yabushita, Kazuhito Tanaka, Shintaro Yoshizawa
  • Patent number: 10733992
    Abstract: A communication device including: an utterance acquisition part configured to acquire an utterance of a user to a character; an information acquisition part configured to acquire information different from the utterance; a voice generation part configured to generate a response voice to be emitted by the character based on a content of the utterance acquired by the utterance acquisition part; and an expression generation part configured to generate a response expression to be expressed by a face portion of the character based on the content of the utterance acquired by the utterance acquisition part, wherein when the information is acquired from the information acquisition part, the expression generation part generates the response expression using the information together with the content of the utterance, the response expression generated when the information is acquired being different from a response expression generated when the information is not acquired.
    Type: Grant
    Filed: June 7, 2018
    Date of Patent: August 4, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Mina Funazukuri, Shintaro Yoshizawa, Wataru Kaku, Hitoshi Yamada
  • Patent number: 10576633
    Abstract: A communication device includes a structure, a controller, and sensors that detect the relative position of an object around the structure. The structure has a face unit that is one of the units of the structure. The controller controls the movement of each unit of the structure, thereby causing the structure to perform a gesture expressing a communication behavior. The controller controls the movement of the units so that the structure performs different gestures depending on the angle between the direction of the face unit and the direction of the user's face as viewed from the face unit.
    Type: Grant
    Filed: September 20, 2017
    Date of Patent: March 3, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Wataru Kaku, Shintaro Yoshizawa
  • Publication number: 20190379836
    Abstract: An information acquisition unit 122 acquires three-dimensional environmental information from a three-dimensional environmental information storage unit 114. A placement region detection unit 126 uses the three-dimensional environmental information to detect a placement region where a target object 80 is placed. A calculation unit 130 calculates a size of a placement region in an image including the placement region. A viewpoint position determination unit 134 determines, among a plurality of sensor positions where a sensor 12 photographing the image related to image data can be placed, a sensor position where the placement region is larger than the placement region in the case of using image data of another sensor position, as an optimal viewpoint position. A sensor position control unit 142 performs control so as to move the sensor 12 to the optimal viewpoint position, and then performs control so as to start a search for the target object 80.
    Type: Application
    Filed: April 26, 2019
    Publication date: December 12, 2019
    Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Yuto MORI, Shintaro YOSHIZAWA, Kei YOSHIKAWA
  • Publication number: 20190375100
    Abstract: An operation planning apparatus 1 of a robot 100 includes a non-interference path generation unit 3 and a time determination unit 5 configured to generate a time-space path. The time determination unit 5 includes a temporary time setting unit 8 configured to set, for each main point, temporary time in such a way that an operation speed does not exceed a maximum allowable speed between the plurality of main points; and a temporary time adjustment unit 9 configured to spatially smooth the spatial smoothing path in a first smoothing range that includes the main point using a mollifier function, and prolong, if the operation speed exceeds the maximum allowable acceleration in the first smoothing range, the temporary time of the plurality of main points after the main point in such a way that the operation speed does not exceed the maximum allowable acceleration in the first, smoothing range.
    Type: Application
    Filed: June 6, 2019
    Publication date: December 12, 2019
    Inventor: Shintaro Yoshizawa
  • Publication number: 20190365322
    Abstract: The present disclosure provides a garment including a plurality of biometric sensors and adapted to cover a body part, a shoulder, and an upper limb of a subject, the plurality of biometric sensors being attached to the garment so that when the subject wears the garment each of them comes into contact with a respective one of a plurality of testing places, in which biometric sensors that are adjacent to each other across a shoulder joint are connected to each other by a wiring cable that passes above an acromial end, and biometric sensors that are adjacent to each other across an elbow joint are connected to each other by a wiring cable that passes an outer side of a lateral epicondyle.
    Type: Application
    Filed: April 19, 2019
    Publication date: December 5, 2019
    Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Kenichi HIROMOTO, Hitoshi YAMADA, Shintaro YOSHIZAWA
  • Patent number: 10464215
    Abstract: Provided is a voice interaction device capable of reducing a sense of unfriendliness given to a conversation partner. The voice interaction device is incorporated in an interactive robot. The voice interaction device includes a display unit disposed at positions of eyes of the interactive robot and configured to display the eyes of the interactive robot; a distance measurement unit configured to measure a distance between the interactive robot and the conversation partner; and an eye control unit configured to set a size of each of pupils of the interactive robot displayed on the display unit when the distance measured by the distance measurement unit is less than a predetermined distance to be larger than a size of each of the pupils displayed on the display unit when the measured distance is equal to or more than the predetermined distance.
    Type: Grant
    Filed: August 15, 2017
    Date of Patent: November 5, 2019
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Mina Yuki, Shintaro Yoshizawa
  • Patent number: 10464214
    Abstract: Provided is a voice interaction device capable of turning lines of sight of eyes of an interactive robot to a conversation partner without inhibiting voice interaction. The voice interaction device is incorporated in the interactive robot. The voice interaction device includes a photographing unit configured to photograph an image; an environment recognition unit configured to recognize a position of a conversation partner captured in the image; a display unit disposed at positions of the eyes of the interactive robot and configured to display the eyes of the interactive robot; and an eye control unit configured to turn the lines of sight of the eyes of the interactive robot displayed on the display unit to a position where the conversation partner is recognized.
    Type: Grant
    Filed: August 14, 2017
    Date of Patent: November 5, 2019
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Mina Yuki, Shintaro Yoshizawa
  • Publication number: 20190318498
    Abstract: A control apparatus capable of efficiently detecting a target object even when the target object is shielded by other objects is provided. An object recognition unit 114 recognizes a target object 80 present in a 3D environment 4 by using measurement data acquired from a sensor 12. An information generation unit 116 generates 3D environmental information by integrating a plurality of measurement data. A position determination unit 120 determines an optimal position of the sensor 12 for performing the next measurement. A sensor control unit 140 moves the sensor 12 to the determined optimal position. The position determination unit 120 determines, by using the 3D environmental information, a position of the sensor 12 where the sensor 12 can take an image in which a size of an area shielded by at least one first object is larger as the optimal position.
    Type: Application
    Filed: March 20, 2019
    Publication date: October 17, 2019
    Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Kei YOSHIKAWA, Shintaro YOSHIZAWA, Yuto MORI
  • Publication number: 20190240588
    Abstract: Provided is a communication apparatus in which, when the moving image data composed of a plurality of frame images for expressing an emotion is switched from first moving image data to second moving image data to be reproduced and displayed on a display unit, a display control unit selects a frame image to start reproducing from the second moving image data in order to reproduce and display the second moving image data in such a way that a next frame image of a frame image of the first moving image data reproduced and displayed immediately before the switching becomes similar to the frame image of the second moving image data to be reproduced and displayed immediately after the switching.
    Type: Application
    Filed: February 4, 2019
    Publication date: August 8, 2019
    Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Wataru Kaku, Shintaro Yoshizawa
  • Publication number: 20190232501
    Abstract: A communication robot controls a line-of-sight direction by changing at least one of an orientation of a head part and a position of a black eye. In the communication robot, in order to direct the line-of-sight direction to a reference direction of a communication target, when the reference direction is included in a specified range previously determined for a current line-of-sight direction, a control unit directs the line-of-sight direction to the reference direction by changing the position of the black eye without changing the orientation of the head part, whereas when the reference direction is not included in the specified range, the control unit directs the line-of-sight direction to the reference direction by changing both the orientation of the head part and the position of the black eye.
    Type: Application
    Filed: January 29, 2019
    Publication date: August 1, 2019
    Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Mina FUNAZUKURI, Wataru Kaku, Shintaro Yoshizawa