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1. 发明授权

US07899577B2 Measuring system and calibration method 有权
标题翻译：测量系统和校准方法
公开(公告)号：US07899577B2
公开(公告)日：2011-03-01
申请号：US11822093
申请日：2007-07-02
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
IPC分类号： G06F19/00
CPC分类号： B25J9/1692 , G01B21/042 , G05B2219/37555 , G05B2219/39008 , G05B2219/39045
摘要： A measuring system and a calibration method for automatically calculating errors of mechanical parameters with high accuracy and correcting the parameters, by means of a relatively small and inexpensive measuring device. In relation to a plurality of positions of measurement, a robot is automatically moved such that, on a light receiving surface of a camera, the distance between the centers of an ellipse indicating a mark of a target and a circle of representing the shape of the target, and the difference between the length of the long axis of the ellipse and the diameter of the circle are within a predetermined error range.
摘要翻译：一种测量系统和一种校准方法，用于通过相对较小且便宜的测量装置自动计算机械参数的误差并以高精度校正参数。关于多个测量位置，机器人自动移动，使得在相机的光接收表面上，指示目标的标记的椭圆的中心与表示目标的形状的圆之间的距离目标，并且椭圆的长轴的长度与圆的直径之间的差在预定的误差范围内。

2. 发明申请

US20080004750A1 Measuring system and calibration method 有权
标题翻译：测量系统和校准方法
公开(公告)号：US20080004750A1
公开(公告)日：2008-01-03
申请号：US11822093
申请日：2007-07-02
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
IPC分类号： G06F19/00
CPC分类号： B25J9/1692 , G01B21/042 , G05B2219/37555 , G05B2219/39008 , G05B2219/39045
摘要： A measuring system and a calibration method for automatically calculating errors of mechanical parameters with high accuracy and correcting the parameters, by means of a relatively small and inexpensive measuring device. In relation to a plurality of positions of measurement, a robot is automatically moved such that, on a light receiving surface of a camera, the distance between the centers of an ellipse indicating a mark of a target and a circle of representing the shape of the target, and the difference between the length of the long axis of the ellipse and the diameter of the circle are within a predetermined error range.
摘要翻译：一种测量系统和一种校准方法，用于通过相对较小且便宜的测量装置自动计算机械参数的误差并以高精度校正参数。关于多个测量位置，机器人自动移动，使得在相机的光接收表面上，指示目标的标记的椭圆的中心与表示目标的形状的圆之间的距离目标，并且椭圆的长轴的长度与圆的直径之间的差在预定的误差范围内。

3. 发明授权

US06665588B2 Workpiece unloading apparatus 有权
标题翻译：工件卸载装置
公开(公告)号：US06665588B2
公开(公告)日：2003-12-16
申请号：US10193172
申请日：2002-07-12
申请人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban , Ichiro Kanno
IPC分类号： G05B1500
CPC分类号： B23Q7/10 , B23Q7/04 , B23Q17/24 , B25J9/1697 , B65G61/00 , G05B2219/40053 , G05B2219/40613
摘要： A workpiece is gripped and unloaded by moving workpiece unloading means based on the results of measuring the workpiece position and orientation with a visual sensor. When a plurality of loaded workpieces are unloaded in a regular order one by one, or in groups, the position and orientation of the workpiece which is to be unloaded next change for each unloading. However, since a visual sensor is moved when necessary to the position appropriate for measuring the workpiece position and orientation, measurements of the workpieces with the visual sensor are conducted accurately. Therefore, the workpiece unloading is conducted reliably.
摘要翻译：基于通过视觉传感器测量工件位置和方向的结果，通过移动工件卸载装置来夹紧和卸载工件。当多个装载的工件以规则的顺序逐个或组合地卸载时，待卸载的工件的位置和取向接下来对于每次卸载而改变。然而，由于视觉传感器在必要时移动到适于测量工件位置和方位的位置，所以可以精确地进行用视觉传感器的工件的测量。因此，可靠地进行工件卸载。

4. 发明申请

US20100141776A1 CALIBRATING DEVICE FOR CALIBRATION AND IMAGE MEASUREMENT SYSTEM COMPRISING CALIBRATING DEVICE 有权
标题翻译：用于校准和图像测量系统的校准装置包括校准装置
公开(公告)号：US20100141776A1
公开(公告)日：2010-06-10
申请号：US12631094
申请日：2009-12-04
申请人： Kazunori BAN , Katsutoshi Takizawa , Gang Shen , Keisuke Watanabe
发明人： Kazunori BAN , Katsutoshi Takizawa , Gang Shen , Keisuke Watanabe
IPC分类号： H04N17/00
CPC分类号： B25J9/1692 , G05B2219/37563 , G05B2219/39045 , G06T7/80
摘要： A calibrating device for calibration of an image measurement system. The calibrating device includes a main body having an upper surface, and a characteristic portion, which serves as a benchmark for calibration and is in the form of a recess formed in the upper surface of the main body, wherein the characteristic portion includes a side surface extending in a direction crossing the upper surface, and a bottom surface extending in a direction crossing the side surface, the bottom surface has an optical reflectance lower than an optical reflectance of the upper surface in relation to light identical to each other. This can provide a calibrating device for calibration of an image measurement system, which can detect the characteristic portion on the calibrating device stably, precisely and independent of the illumination conditions, which is less costly and can be easily handled.
摘要翻译：用于校准图像测量系统的校准装置。校准装置包括具有上表面的主体和作为校准的基准的特征部分，并且形成在主体的上表面中的凹部的形式，其中特征部分包括侧表面在与上表面交叉的方向上延伸的底面和与该侧面相交的方向延伸的底面，底面的光反射率低于相对于彼此相同的光的上表面的光反射率。这可以提供用于校准图像测量系统的校准装置，其可以稳定，精确地且独立于照明条件来检测校准装置上的特征部分，其成本较低并且可以容易地处理。

5. 发明申请

US20080188983A1 Calibration device and method for robot mechanism 有权
标题翻译：机器人机构校准装置及方法
公开(公告)号：US20080188983A1
公开(公告)日：2008-08-07
申请号：US12068113
申请日：2008-02-01
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
IPC分类号： G06F17/00
CPC分类号： B25J9/1692 , G01B11/002 , G01B21/042 , G05B2219/39045 , G05B2219/39393
摘要： A calibration device and method for automatically determining the position and the orientation of a robot used for measurement. First, an initial position of a preliminary position is generated based on a designated basic position, and it is judged whether the initial position is within an operation range of the robot. If the robot cannot reach the initial position, the preliminary position is adjusted close to the basic position. Otherwise, the preliminary position is evaluated by calculating an evaluation index of the preliminary position. When the evaluation index does not satisfy a predetermined condition, an initial value of an posture angle is increased.
摘要翻译：一种用于自动确定用于测量的机器人的位置和方位的校准装置和方法。首先，基于指定的基本位置生成预备位置的初始位置，并且判断初始位置是否在机器人的操作范围内。如果机器人不能到达初始位置，则初步位置被调整为接近基本位置。否则，通过计算初步位置的评价指标来评价初步位置。当评价指标不满足预定条件时，姿势角的初始值增加。

6. 发明授权

US07315650B2 Image processor 失效
标题翻译：图像处理器
公开(公告)号：US07315650B2
公开(公告)日：2008-01-01
申请号：US10940773
申请日：2004-09-15
申请人： Hidetoshi Kumiya , Katsutoshi Takizawa
发明人： Hidetoshi Kumiya , Katsutoshi Takizawa
IPC分类号： G06K9/46 , G06K9/66
CPC分类号： G06K9/4647 , G06K9/522 , G06K9/6857
摘要： (1) Orthogonal transformation is applied to sample images based on the images of a normalized orthogonal system, and component groups are determined. A plurality of comparison target images are selected from an input image, and a partial normalized orthogonal system is created from the normalized orthogonal system by decreasing the dimensions. (2) Based on the partial normalized orthogonal system, orthogonal transformation is applied to the comparison target images, so as to determine the partial component group for each comparison target image. A comparison target image having high consistency with one of the sample images is extracted by comparison and collation between these partial component groups and the partial component groups which include each element of each partial normalized orthogonal system among component groups of each sample image. And a new comparison target image group is selected near the extracted image, and a new partial normalized orthogonal system is created by increasing the dimensions. Then (2) is repeated.
摘要翻译：（1）基于归一化正交系统的图像，对样本图像进行正交变换，并确定分量组。从输入图像中选择多个比较对象图像，并且通过减小尺寸从归一化正交系统创建部分归一化正交系统。（2）基于部分归一化正交系统，将正交变换应用于比较对象图像，以便确定每个比较目标图像的部分分量组。通过在每个样本图像的组件组中的这些部分组分组和包括每个部分归一化正交系统的每个元素的部分分量组之间进行比较和核对，提取与样本图像之一具有高一致性的比较对象图像。并且在提取的图像附近选择新的比较对象图像组，并且通过增加尺寸来创建新的部分归一化正交系统。然后重复（2）。

7. 发明授权

US06898486B2 Position detecting device and takeout apparatus with position detecting device 有权
标题翻译：位置检测装置和带位置检测装置的取出装置
公开(公告)号：US06898486B2
公开(公告)日：2005-05-24
申请号：US10290535
申请日：2002-11-08
申请人： Atsushi Watanabe , Katsutoshi Takizawa
发明人： Atsushi Watanabe , Katsutoshi Takizawa
IPC分类号： G01B11/00 , B25J9/22 , B25J13/08 , B65G57/03 , B65G59/02 , G01B11/02 , G01B11/24 , G01B11/26 , G05B15/00 , G05B19/00 , G06T1/00 , G06T7/00 , G06T7/60
CPC分类号： G06T7/74 , G05B2219/37555 , G05B2219/37563 , G05B2219/40006 , G05B2219/40564 , Y10T29/53061
摘要： A position detecting device and a takeout apparatus capable of obtaining information on height or stage number of an object in a stack of objects by a two-dimensional image capturing device for an operation of taking out the object by a robot. A CCD camera is arranged at a position above a place where workpieces stacked in multiple stages are provided. An image processing device determines a size of the image of the uppermost workpiece in a two-dimensional image captured by the camera. The height or stage number of the workpiece is determined from the size of the workpiece image using a stored relation table or arithmetic expression representing relationship between the height or stage number of the workpiece and the size of the workpiece. For a plurality of kinds of workpieces, the relation table/arithmetic expression is stored for each kind of workpiece and selectively used in accordance of a mark on the workpiece which indicate the kind of workpiece. The obtained positional information on height or stage number is sent to a robot controller so that a robot is operated to a takeout position which is corrected based on the positional information for taking out the workpiece from a stack of workpieces.
摘要翻译：一种位置检测装置和取出装置，其能够通过二维图像拍摄装置获得关于物体堆叠中的物体的高度或台数的信息，用于通过机器人取出物体的操作。 CCD摄像机设置在设置有多个工件的位置上方的位置。图像处理装置确定由相机拍摄的二维图像中最上面的工件的图像的尺寸。使用存储关系表的工件图像的尺寸或表示工件的高度或台数与工件尺寸之间的关系的算术表达式来确定工件的高度或台数。对于多种工件，对于各种工件存储关系表/算术表达式，并根据工件上的标记选择性地使用，表示工件的种类。获得的关于高度或台数的位置信息被发送到机器人控制器，使得机器人被操作到取出位置，其基于用于从工件的堆叠中取出工件的位置信息而被校正。

8. 发明申请

US20050002555A1 Image processing apparatus 有权
标题翻译：图像处理装置
公开(公告)号：US20050002555A1
公开(公告)日：2005-01-06
申请号：US10833003
申请日：2004-04-28
申请人： Hidetoshi Kumiya , Katsutoshi Takizawa
发明人： Hidetoshi Kumiya , Katsutoshi Takizawa
IPC分类号： G01B11/26 , B25J19/04 , G05D1/02 , G06T1/00 , G06T7/00 , G06K9/00 , G06K9/62
CPC分类号： G06T7/75 , G06T2207/30164
摘要： The entire region of variation in the viewing range of the attitude of a workpiece is divided roughly, and images of the workpiece are captured from each direction. The images are stored together with imaging direction data as a first teaching model. Images captured by varying the imaging direction at a narrow pitch within a predetermined range of attitude variation in the workpiece are then stored together with imaging direction data as a second teaching model. An image of the workpiece is then captured and compared with the first teaching model, whereupon the first teaching model most closely resembling the captured image is selected. A camera is then moved in accordance with the selected teaching model to a target moving position to obtain an image to be used in a comparison with the second teaching model, whereupon an image of the workpiece is captured. The captured image is compared with the second teaching model, and the second teaching model most closely resembling the captured image is selected. The position and attitude of the workpiece are determined by the imaging direction and imaging position of the selected teaching model.
摘要翻译：工件的姿态的观察范围的变化的整个区域被粗略地划分，并且从每个方向捕获工件的图像。图像作为第一教学模型与成像方向数据一起存储。作为第二教学模型，与成像方向数据一起存储在工件的姿态变化的预定范围内以窄间距改变成像方向所拍摄的图像。然后捕获工件的图像并将其与第一教学模型进行比较，由此选择与捕获的图像最相似的第一教学模型。然后根据所选择的教学模型将照相机移动到目标移动位置，以获得要与第二教学模型进行比较的图像，从而捕获工件的图像。将拍摄的图像与第二教学模型进行比较，并且选择与捕获的图像最相似的第二教学模型。工件的位置和姿态由所选择的教学模型的成像方向和成像位置决定。

9. 发明授权

US07853359B2 Calibration device and method for robot mechanism 有权
标题翻译：机器人机构校准装置及方法
公开(公告)号：US07853359B2
公开(公告)日：2010-12-14
申请号：US12068113
申请日：2008-02-01
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
IPC分类号： G06F17/00 , G05B19/02
CPC分类号： B25J9/1692 , G01B11/002 , G01B21/042 , G05B2219/39045 , G05B2219/39393
摘要： A calibration device and method for automatically determining the position and the orientation of a robot used for measurement. First, an initial position of a preliminary position is generated based on a designated basic position, and it is judged whether the initial position is within an operation range of the robot. If the robot cannot reach the initial position, the preliminary position is adjusted close to the basic position. Otherwise, the preliminary position is evaluated by calculating an evaluation index of the preliminary position. When the evaluation index does not satisfy a predetermined condition, an initial value of an posture angle is increased.
摘要翻译：一种用于自动确定用于测量的机器人的位置和方位的校准装置和方法。首先，基于指定的基本位置生成预备位置的初始位置，并且判断初始位置是否在机器人的操作范围内。如果机器人不能到达初始位置，则初步位置被调整为接近基本位置。否则，通过计算初步位置的评价指标来评价初步位置。当评价指标不满足预定条件时，姿势角的初始值增加。

10. 发明授权

US07400760B2 Image processing apparatus 失效
标题翻译：图像处理装置
公开(公告)号：US07400760B2
公开(公告)日：2008-07-15
申请号：US10845980
申请日：2004-05-17
申请人： Katsutoshi Takizawa , Hidetoshi Kumiya
发明人： Katsutoshi Takizawa , Hidetoshi Kumiya
IPC分类号： G06K9/00 , G06K9/62
CPC分类号： G06T7/0004 , G06K9/6203 , G06T7/74
摘要： A first masking image of an input image is created by assuming that pixels in an area including the area of a target in all sample images are valid pixels while pixels in the remaining area are invalid pixels. The first masking image is used in a first comparison between the input image and each sample image to select an image that provides a best match as a provisionally selected sample image. In a second comparison, a second masking image corresponding to the provisionally selected sample image is used to select a final sample image. The second masking image is created from an individual sample image by assuming that pixels in an area including the area of the target are valid pixels while pixels in the remaining area invalid pixels.
摘要翻译：通过假设包括所有样本图像中的目标区域的区域中的像素是有效像素，而剩余区域中的像素是无效像素来创建输入图像的第一掩蔽图像。第一掩蔽图像用于输入图像和每个样本图像之间的第一比较，以选择提供最佳匹配的图像作为临时选择的样本图像。在第二比较中，使用与临时选择的样本图像相对应的第二掩蔽图像来选择最终样本图像。通过假设包括目标区域的区域中的像素是有效像素，而剩余区域中的像素是无效像素，从单个采样图像创建第二掩蔽图像。

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