The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 16, 2013
Filed:
Nov. 25, 2009
Toru Kido, Shizuoka, JP;
Yorihide Takehara, Shizuoka, JP;
Masataka Ito, Saitama, JP;
Maki Sugimoto, Tokyo, JP;
Fumitoshi Matsuno, Kyoto, JP;
Toru Kido, Shizuoka, JP;
Yorihide Takehara, Shizuoka, JP;
Masataka Ito, Saitama, JP;
Maki Sugimoto, Tokyo, JP;
Fumitoshi Matsuno, Kyoto, JP;
Yamaha Hatsudoki Kabushiki Kaisha, Shizuoka, JP;
Abstract
A remote control system and a remote control apparatus allow a human operator to remotely control a mobile body easily even if the system uses a low-speed communications link. The remote control system includes a remote control apparatus, in which a CPU selects old information based on both old information and the latest mobile body information from a mobile body, and determines a virtual view point V. The CPU generates a three-dimensional environmental image K and the virtual view point V based on the selected old information, and also generates a mobile body model M, a reference point B and a clipping center point based on the latest mobile body information and data regarding a mobile body model M, in a global coordinate system GC. The CPU calculates an angle of view based on a distance d between the virtual viewpoint V and the reference point B, makes a perspective projection of the three-dimensional environmental image K and the mobile body model M from the virtual view point V toward the clipping center point to obtain a projected image, makes a clip from the projected image based on the angle of view thereby making a composite image, and converts the composite image into a display image of a predetermined size. The resulting display image is displayed on a monitor.