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1. 发明申请

US20070078624A1 Method and system for three-dimensional measurement and method and device for controlling manipulator 失效
标题翻译：用于三维测量的方法和系统以及用于控制机械手的方法和装置
公开(公告)号：US20070078624A1
公开(公告)日：2007-04-05
申请号：US11527283
申请日：2006-09-26
申请人： Shinichi Horita , Yoshihisa Abe
发明人： Shinichi Horita , Yoshihisa Abe
IPC分类号： G06F15/00
CPC分类号： G01B11/25 , G01B11/002
摘要： A method and system are provided which can easily determine relative positions and postures of a three-dimensional measurement device and an object when the measurement device is used to measure the object using a manipulator. The method includes fixing one of the measurement device and the object, supporting the other at a support point with the manipulator so that a position and support posture of the other can be changed, conducting first measurement with the support point being set to first position and posture, changing the support point to second position and posture so that the second position is a position where the posture is changed, about a reference position within a measurable area of the measurement device in the first measurement, to an opposite side by a degree equal to a portion corresponding to a change from the first posture to the second posture, and conducting second measurement.
摘要翻译：提供了一种方法和系统，其可以容易地确定当使用测量装置使用操纵器测量物体时三维测量装置和物体的相对位置和姿势。所述方法包括固定所述测量装置和所述物体中的一个，在所述操纵器的支撑点处支撑另一个，使得可以改变所述另一个的位置和支撑姿势，在所述支撑点被设置为第一位置的情况下进行第一测量，以及将支撑点改变为第二位置和姿势，使得第二位置是在第一测量中围绕测量装置的可测量区域内的参考位置改变姿势的位置，相对于等于到对应于从第一姿势到第二姿势的变化的部分，并进行第二测量。

2. 发明授权

US07764386B2 Method and system for three-dimensional measurement and method and device for controlling manipulator 失效
标题翻译：用于三维测量的方法和系统以及用于控制机械手的方法和装置
公开(公告)号：US07764386B2
公开(公告)日：2010-07-27
申请号：US11527283
申请日：2006-09-26
申请人： Shinichi Horita , Yoshihisa Abe
发明人： Shinichi Horita , Yoshihisa Abe
IPC分类号： G01B11/24
CPC分类号： G01B11/25 , G01B11/002
摘要： A method and system are provided which can easily determine relative positions and postures of a three-dimensional measurement device and an object when the measurement device is used to measure the object using a manipulator. The method includes fixing one of the measurement device and the object, supporting the other at a support point with the manipulator so that a position and support posture of the other can be changed, conducting first measurement with the support point being set to first position and posture, changing the support point to second position and posture so that the second position is a position where the posture is changed, about a reference position within a measurable area of the measurement device in the first measurement, to an opposite side by a degree equal to a portion corresponding to a change from the first posture to the second posture, and conducting second measurement.
摘要翻译：提供了一种方法和系统，其可以容易地确定当使用测量装置使用操纵器测量物体时三维测量装置和物体的相对位置和姿势。所述方法包括固定所述测量装置和所述物体中的一个，在所述操纵器的支撑点处支撑另一个，使得可以改变所述另一个的位置和支撑姿势，在所述支撑点被设置为第一位置的情况下进行第一测量，以及将支撑点改变为第二位置和姿势，使得第二位置是在第一测量中围绕测量装置的可测量区域内的参考位置改变姿势的位置，相对于等于到对应于从第一姿势到第二姿势的变化的部分，并进行第二测量。

3. 发明授权

US07495776B2 Three-dimensional measuring system 失效
标题翻译：三维测量系统
公开(公告)号：US07495776B2
公开(公告)日：2009-02-24
申请号：US11268948
申请日：2005-11-08
申请人： Akira Kubo , Shinichi Horita , Yoshihisa Abe
发明人： Akira Kubo , Shinichi Horita , Yoshihisa Abe
IPC分类号： G01B11/24 , G06T15/30
CPC分类号： G01B21/04
摘要： A three-dimensional measuring system for measuring a three-dimensional shape of a measurement object in a noncontact manner includes a first obtaining portion for obtaining arrangement information of the measurement object, a second obtaining portion for obtaining design shape information of the measurement object, a fourth obtaining portion for obtaining specifics information about one or more three-dimensional measuring devices, a determining portion for determining a measurable part that can be measured by the three-dimensional measuring device about a surface shape of the measurement object in accordance with the obtained arrangement information, the obtained design shape information and the obtained specifics information, and an output portion for outputting the determined measurable part.
摘要翻译：一种用于以非接触方式测量测量对象的三维形状的三维测量系统包括用于获得测量对象的布置信息的第一获取部分，用于获得测量对象的设计形状信息的第二获取部分，第四获取部分，用于获得关于一个或多个三维测量装置的细节信息;确定部分，用于根据获得的布置来确定可以由三维测量装置测量的关于测量对象的表面形状的可测量部分信息，所获得的设计形状信息和获得的细节信息，以及用于输出所确定的可测量部分的输出部分。

4. 发明申请

US20070296979A1 Three-dimensional shape measuring apparatus 失效
标题翻译：三维形状测量仪
公开(公告)号：US20070296979A1
公开(公告)日：2007-12-27
申请号：US11820972
申请日：2007-06-21
申请人： Koji Morimoto , Yoshihisa Abe , Shinichi Horita
发明人： Koji Morimoto , Yoshihisa Abe , Shinichi Horita
IPC分类号： G01B11/24 , G01B11/30
CPC分类号： G01B11/2545
摘要： A three-dimensional shape measuring apparatus includes a measuring section and a data integrating section. The measuring section has three-dimensional measurement dimensions, and measures a three-dimensional shape of a measurement object in a non-contact state. The measuring section measures a three-dimensional shape of a part of the measurement object multiple times by shifting the measurement dimensions to obtain multiple measurement data. The measurement dimensions are shifted in such a manner that at least portions of consecutive measurement dimensions by the shifting are lapped one over the other. The data integrating section integrates the multiple measurement data to obtain the three-dimensional shape of the measurement object. The data integrating section executes the data integration, using reliability information attributed to the respective measurement data.
摘要翻译：三维形状测量装置包括测量部分和数据积分部分。测量部具有三维测量尺寸，并且测量非接触状态下的测量对象的三维形状。测量部通过移动测量尺寸来测量测量对象的一部分的三维形状以获得多个测量数据。测量尺寸以这样的方式移动，使得通过移位的连续测量尺寸的至少一部分彼此重叠。数据积分部分集成了多个测量数据，以获得测量对象的三维形状。数据积分部使用归属于各测量数据的可靠性信息来执行数据积分。

5. 发明申请

US20060269123A1 Method and system for three-dimensional measurement 有权
标题翻译：三维测量方法和系统
公开(公告)号：US20060269123A1
公开(公告)日：2006-11-30
申请号：US11434310
申请日：2006-05-15
申请人： Shinichi Horita , Yoshihisa Abe
发明人： Shinichi Horita , Yoshihisa Abe
IPC分类号： G06K9/00
CPC分类号： G06T7/579 , G06T2200/08
摘要： A three-dimensional measurement method is provided for measuring an object shape in a non-contact manner by using a non-contact sensor and a sensor moving mechanism that changes a position and a posture of the sensor and can operate by numerical control, moving the non-contact sensor in accordance with measurement path information indicating plural positions and postures of the sensor at the respective positions. The measurement path information is set in advance by teaching. The method includes performing preliminary three-dimensional measurement of the object in accordance with preliminary measurement path information, using shape data obtained by the preliminary three-dimensional measurement and shape data of an imaginary object as a measurement target in the teaching to detect positioning error between the object and the imaginary object, modifying the measurement path information depending on the detected positioning error, and performing three-dimensional measurement of the object in accordance with the modified measurement path information.
摘要翻译：提供一种三维测量方法，用于通过使用改变传感器的位置和姿势并且可以通过数字控制操作的非接触传感器和传感器移动机构以非接触的方式测量物体形状，根据测量路径信息指示传感器在各个位置处的多个位置和姿势的非接触式传感器。通过教学预先设定测量路径信息。该方法包括根据初步测量路径信息，使用通过初步三维测量获得的形状数据和虚拟对象的形状数据作为测量对象来执行对象的初步三维测量，以检测教学中的定位误差物体和虚拟物体，根据检测出的定位误差来修正测量路径信息，并根据修改的测量路径信息进行物体的三维测量。

6. 发明授权

US07812969B2 Three-dimensional shape measuring apparatus 失效
标题翻译：三维形状测量仪
公开(公告)号：US07812969B2
公开(公告)日：2010-10-12
申请号：US11820972
申请日：2007-06-21
申请人： Koji Morimoto , Yoshihisa Abe , Shinichi Horita
发明人： Koji Morimoto , Yoshihisa Abe , Shinichi Horita
IPC分类号： G01B11/24
CPC分类号： G01B11/2545
摘要： A three-dimensional shape measuring apparatus includes a measuring section and a data integrating section. The measuring section has three-dimensional measurement dimensions, and measures a three-dimensional shape of a measurement object in a non-contact state. The measuring section measures a three-dimensional shape of a part of the measurement object multiple times by shifting the measurement dimensions to obtain multiple measurement data. The measurement dimensions are shifted in such a manner that at least portions of consecutive measurement dimensions by the shifting are lapped one over the other. The data integrating section integrates the multiple measurement data to obtain the three-dimensional shape of the measurement object. The data integrating section executes the data integration, using reliability information attributed to the respective measurement data.
摘要翻译：三维形状测量装置包括测量部分和数据积分部分。测量部具有三维测量尺寸，并且测量非接触状态下的测量对象的三维形状。测量部通过移动测量尺寸来测量测量对象的一部分的三维形状以获得多个测量数据。测量尺寸以这样的方式移动，使得通过移位的连续测量尺寸的至少一部分彼此重叠。数据积分部分集成了多个测量数据，以获得测量对象的三维形状。数据积分部使用归属于各测量数据的可靠性信息来执行数据积分。

7. 发明申请

US20060290945A1 Three-dimensional measuring system 失效
公开(公告)号：US20060290945A1
公开(公告)日：2006-12-28
申请号：US11268948
申请日：2005-11-08
申请人： Akira Kubo , Shinichi Horita , Yoshihisa Abe
发明人： Akira Kubo , Shinichi Horita , Yoshihisa Abe
IPC分类号： G01B11/24
CPC分类号： G01B21/04
摘要： A three-dimensional measuring system for measuring a three-dimensional shape of a measurement object in a noncontact manner includes a first obtaining portion for obtaining arrangement information of the measurement object, a second obtaining portion for obtaining design shape information of the measurement object, a fourth obtaining portion for obtaining specifics information about one or more three-dimensional measuring devices, a determining portion for determining a measurable part that can be measured by the three-dimensional measuring device about a surface shape of the measurement object in accordance with the obtained arrangement information, the obtained design shape information and the obtained specifics information, and an output portion for outputting the determined measurable part.

8. 发明授权

US07724380B2 Method and system for three-dimensional measurement 有权
标题翻译：三维测量方法和系统
公开(公告)号：US07724380B2
公开(公告)日：2010-05-25
申请号：US11434310
申请日：2006-05-15
申请人： Shinichi Horita , Yoshihisa Abe
发明人： Shinichi Horita , Yoshihisa Abe
IPC分类号： G06K5/00
CPC分类号： G06T7/579 , G06T2200/08
摘要： A three-dimensional measurement method is provided for measuring an object shape in a non-contact manner by using a non-contact sensor and a sensor moving mechanism that changes a position and a posture of the sensor and can operate by numerical control, moving the non-contact sensor in accordance with measurement path information indicating plural positions and postures of the sensor at the respective positions. The measurement path information is set in advance by teaching. The method includes performing preliminary three-dimensional measurement of the object in accordance with preliminary measurement path information, using shape data obtained by the preliminary three-dimensional measurement and shape data of an imaginary object as a measurement target in the teaching to detect positioning error between the object and the imaginary object, modifying the measurement path information depending on the detected positioning error, and performing three-dimensional measurement of the object in accordance with the modified measurement path information.
摘要翻译：提供一种三维测量方法，用于通过使用改变传感器的位置和姿势并且可以通过数字控制操作的非接触传感器和传感器移动机构以非接触的方式测量物体形状，根据测量路径信息指示传感器在各个位置处的多个位置和姿势的非接触式传感器。通过教学预先设定测量路径信息。该方法包括根据初步测量路径信息，使用通过初步三维测量获得的形状数据和虚拟对象的形状数据作为测量对象来执行对象的初步三维测量，以检测教学中的定位误差物体和虚拟物体，根据检测出的定位误差来修正测量路径信息，并根据修改的测量路径信息进行物体的三维测量。

9. 发明授权

US07715020B2 Three-dimensional shape measuring system 有权
标题翻译：三维形状测量系统
公开(公告)号：US07715020B2
公开(公告)日：2010-05-11
申请号：US11811781
申请日：2007-06-12
申请人： Wataru Yamaguchi , Shinichi Horita , Yoshihisa Abe
发明人： Wataru Yamaguchi , Shinichi Horita , Yoshihisa Abe
IPC分类号： G01B11/24 , G01B11/30
CPC分类号： G01B11/2518
摘要： A three-dimensional shape measuring system is provided with a measuring unit having a three-dimensional measurement range and adapted to measure the three-dimensional shape of a measurement object in a noncontact manner, a measurement range shifting unit for shifting the position of the measurement range of the measuring unit, a shape calculating unit for calculating the overall three-dimensional shape of the measurement object from a plurality of measurement data obtained by shifting the measurement range relative to the measurement object, and a judging unit for setting judgment areas in specified peripheral areas within the measurement range and judging the presence or absence of any unmeasured area of the measurement object outside the measurement range based on measurement data corresponding to the judgment areas. The measurement range shifting unit shifts the position of the measurement range in a direction toward the unmeasured area when the presence of the unmeasured area is judged by the judging unit.
摘要翻译：三维形状测量系统具有测量单元，该测量单元具有三维测量范围并适于以非接触方式测量测量对象的三维形状;测量范围移动单元，用于移动测量位置测量单元的范围，形状计算单元，用于根据通过相对于测量对象移动测量范围而获得的多个测量数据来计算测量对象的整体三维形状;以及判断单元，用于设置指定的测量对象的测量范围在测量范围内的外围区域，并且基于与判断区域相对应的测量数据，判断测量范围之外的测量对象的任何未测量区域的存在或不存在。当判断单元判断存在未测量区域时，测量范围移动单元将测量范围的位置朝向未测量区域的方向移动。

10. 发明申请

US20070291281A1 Three-dimensional shape measuring system 有权
标题翻译：三维形状测量系统
公开(公告)号：US20070291281A1
公开(公告)日：2007-12-20
申请号：US11811781
申请日：2007-06-12
申请人： Wataru Yamaguchi , Shinichi Horita , Yoshihisa Abe
发明人： Wataru Yamaguchi , Shinichi Horita , Yoshihisa Abe
IPC分类号： G01B11/24
CPC分类号： G01B11/2518
摘要： A three-dimensional shape measuring system is provided with a measuring unit having a three-dimensional measurement range and adapted to measure the three-dimensional shape of a measurement object in a noncontact manner, a measurement range shifting unit for shifting the position of the measurement range of the measuring unit, a shape calculating unit for calculating the overall three-dimensional shape of the measurement object from a plurality of measurement data obtained by shifting the measurement range relative to the measurement object, and a judging unit for setting judgment areas in specified peripheral areas within the measurement range and judging the presence or absence of any unmeasured area of the measurement object outside the measurement range based on measurement data corresponding to the judgment areas. The measurement range shifting unit shifts the position of the measurement range in a direction toward the unmeasured area when the presence of the unmeasured area is judged by the judging unit.
摘要翻译：三维形状测量系统具有测量单元，该测量单元具有三维测量范围并适于以非接触方式测量测量对象的三维形状;测量范围移动单元，用于移动测量位置测量单元的范围，形状计算单元，用于根据通过相对于测量对象移动测量范围而获得的多个测量数据来计算测量对象的整体三维形状;以及判断单元，用于设置指定的测量对象的测量范围在测量范围内的外围区域，并且基于与判断区域相对应的测量数据，判断测量范围之外的测量对象的任何未测量区域的存在或不存在。当判断单元判断存在未测量区域时，测量范围移动单元将测量范围的位置朝向未测量区域的方向移动。

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