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    • 21. 发明授权
    • Workpiece removing device and method
    • 工件拆卸装置及方法
    • US08380342B2
    • 2013-02-19
    • US13184721
    • 2011-07-18
    • Kazunori BanHidetoshi KumiyaToshiyuki Ando
    • Kazunori BanHidetoshi KumiyaToshiyuki Ando
    • G06F7/00
    • B25J9/1679B25J9/1697G05B2219/40053
    • A workpiece removing device including a camera for imaging a workpiece loading area including a plurality of workpieces loaded in bulk; a workpiece detection section for detecting a workpiece, based on a camera image taken with the camera; a workpiece selection section for selecting a workpiece adapted to be removed, based on a detection result by the workpiece detection section; a robot for removing the workpiece selected by the workpiece selection section; a loading state determination section for determining whether a loading state of the workpieces in the workpiece loading area has changed due to a operation of the robot; and an area setting section for setting a workpiece detection area where the workpiece detection section detects a workpiece. If the loading state determination section determines that the loading state of the workpieces has changed, the area setting section sets the workpiece detection area in a peripheral area of a changing position of the loading state, i.e., in a portion of the workpiece loading area.
    • 一种工件移除装置,包括用于对包括多个装载的工件的工件装载区域进行成像的照相机; 基于用所述照相机拍摄的照相机图像来检测工件的工件检测部; 工件选择部,其基于所述工件检测部的检测结果来选择适于被去除的工件; 用于去除由工件选择部选择的工件的机器人; 装载状态判定部,其判定由于所述机器人的动作而使所述工件装载区域内的工件的装载状态发生了变化; 以及区域设定部,用于设定工件检测部检测出工件的工件检测区域。 如果装载状态确定部确定工件的装载状态已经改变,则区域设定部将工件检测区域设定在装载状态的变更位置的周边区域中,即在工件装载区域的一部分中。
    • 23. 发明申请
    • Apparatus and method for inspecting screw portion
    • 用于检查螺丝部分的装置和方法
    • US20070002315A1
    • 2007-01-04
    • US11478634
    • 2006-07-03
    • Kazunori BanFumikazu WarashinaToshiyuki Ando
    • Kazunori BanFumikazu WarashinaToshiyuki Ando
    • G01N21/88
    • G01B11/2425G01N21/954
    • A screw portion inspection apparatus for inspecting, by image processing, a screw portion provided in an object. The apparatus includes an imaging section for picking up an image of a region, including a screw portion, in an object along a direction inclined with respect to a center axis of the screw portion, and obtaining a two-dimensional image of the object; an image processing section for subjecting image data of the screw portion in the two-dimensional image obtained by the imaging section to a filtering process; and a thread judging section for judging whether a thread exists in the screw portion, based on output image data, of the screw portion, resulting from the filtering process. The filtering process performed by the image processing section includes an edge detection process, and the output image data of the screw portion includes edge data in the screw portion. The thread judging section judges whether the thread exists in the screw portion, based on an amount of information in the edge data resulting from the edge detection process.
    • 一种用于通过图像处理检查设置在物体中的螺纹部分的螺纹部分检查装置。 该装置包括成像部分,用于沿着相对于螺钉部分的中心轴线倾斜的方向,在物体中拾取包括螺纹部分的区域的图像,并获得物体的二维图像; 图像处理部,其对由所述摄像部获得的二维图像中的所述螺纹部的图像数据进行滤波处理; 以及螺纹判断部,其基于由过滤处理得到的螺纹部的输出图像数据,判断螺纹部是否存在螺纹部。 由图像处理部执行的滤波处理包括边缘检测处理,螺旋部分的输出图像数据包括螺纹部分中的边缘数据。 螺纹判断部基于从边缘检测处理得到的边缘数据中的信息量来判断螺纹是否存在于螺纹部。