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1. 发明专利

JP2013152219A Speed measurement system, speed measurement method and program 有权
标题翻译：速度测量系统，速度测量方法和程序
公开(公告)号：JP2013152219A
公开(公告)日：2013-08-08
申请号：JP2012270188
申请日：2012-12-11
申请人： Japan Traffic Management Technology Association , 公益財団法人日本交通管理技術協会 , Jp Systems:Kk , 株式会社ジェイ・ピー・システムズ , Applied Vision Systems Corp , 株式会社アプライド・ビジョン・システムズ
发明人： MIZUMACHI KAZUHIRO , SUGIMORI KATSUMI , TAKAHASHI HIRONOBU , MIZUGUCHI YUJI
IPC分类号： G01P3/36 , G01P3/68 , G06T1/00 , G08G1/04 , G08G1/052
摘要： PROBLEM TO BE SOLVED: To provide a speed measurement system that accurately measures a vehicle speed running on a road by simple processing.SOLUTION: A vehicle 10 running on a road is photographed by a first camera 20 and a second camera 21 from a direction substantially orthogonal to the running direction. When a variation amount of a total of pixel values is equal to or more than a predetermined value, a peak of the variation amount is detected from a photographed image of the first camera 20 to select target images having the variation amount equal to or more than a predetermined ratio with respect to the peak thereof. A frame image in which an image of a vehicle estimated part is present at a substantially center of the target image is specified, and the same image as the vehicle estimated part of the frame image is generated as a template. With respect to images photographed by the first camera 20 and the second camera 21 at two times out of the target images, template matching is performed. Based on a position relative to the frame image of a reference point in the template, a three-dimensional coordinate of a position indicated by the reference point is obtained to calculate a speed of the vehicle 10 based on a time difference between two times and a movement amount of two three-dimensional coordinates.
摘要翻译：要解决的问题：提供一种通过简单的处理精确地测量在道路上行驶的车辆速度的速度测量系统。解决方案：在第一摄像机20和第二摄像机21上从基本上与运行方向正交。当像素值的总和的变化量等于或大于预定值时，从第一照相机20的拍摄图像中检测出变化量的峰值，以选择具有等于或大于相对于其峰值的预定比例。指定在目标图像的大致中心处存在车辆估计部分的图像的帧图像，并且生成与帧图像的车辆估计部分相同的图像作为模板。对于由第一照相机20和第二照相机21在目标图像中的两次拍摄的图像，执行模板匹配。基于相对于模板中的参考点的帧图像的位置，获得由参考点指示的位置的三维坐标，以基于两次之间的时间差来计算车辆10的速度，运动量为两个三维坐标。

2. 发明专利

JP2012067462A Reinforcement photograph-taking tool and method of acquiring reinforcement arrangement information 有权
标题翻译：加固摄影工具及获取加固安排信息的方法
公开(公告)号：JP2012067462A
公开(公告)日：2012-04-05
申请号：JP2010211111
申请日：2010-09-21
申请人： Applied Vision Systems Corp , Ohbayashi Corp , 株式会社アプライド・ビジョン・システムズ , 株式会社大林組
发明人： IKEDA YUICHI , SUZUKI SATOSHI , TAKAHASHI HIRONOBU , MIZUGUCHI YUJI
IPC分类号： E04G21/12
摘要： PROBLEM TO BE SOLVED: To obtain reinforcement arrangement information simply and accurately.SOLUTION: A portable terminal 4 acquires an image of modified reinforcements with a background bar as a background, a camera focus distance, a reference length in markers and a distance between markers (S802), and corrects and binarizes the image (S803). Next, an angle θ formed by a main reinforcement and a vertical line and an angle φ formed by a background bar and a horizontal line are measured from the binarized image (S804). Subsequently, the original image is rotated by -φ so as to set the background bar to be horizontal (S805). Then, an image only including the background bar portion is extracted (S806), and the maximum pixel number along the background bar of the markers is counted (S807). Moreover, the distances from a camera to the markers and the background bar are measured (S808) and the diameter in each reinforcement is estimated (S809).
摘要翻译：要解决的问题：简单而准确地获得加固布置信息。解决方案：便携式终端4以背景栏为背景，相机对焦距离，标记中的参考长度和标记之间的距离（S802）获取修改的加强件的图像，并对图像进行校正和二值化（S803 ）。接下来，从二值化图像测量由主加强件和垂直线形成的角度θ和由背景条和水平线形成的角度φ（S804）。随后，通过-φ旋转原始图像，以将背景条设置为水平（S805）。然后，提取仅包括背景条部分的图像（S806），并且对标记的背景栏的最大像素数进行计数（S807）。此外，测量从相机到标记和背景条的距离（S808），并且估计每个加强件中的直径（S809）。版权所有（C）2012，JPO＆INPIT

3. 发明专利

JP2015059768A 段差計測装置、段差計測方法及びプログラム审中-公开
标题翻译：水平差异测量装置，水平差异测量方法和程序
公开(公告)号：JP2015059768A
公开(公告)日：2015-03-30
申请号：JP2013192199
申请日：2013-09-17
申请人：株式会社Ntec , Ntec:Kk , 株式会社アプライド・ビジョン・システムズ , Applied Vision Systems Corp
发明人： OHASHI TOSHIAKI , MASUDA JUNICHI , FUJIMURA KOTA , TAKAHASHI HIRONOBU
IPC分类号： G01B11/02 , G01B11/24 , G01B11/245
摘要：【課題】簡易な構成で正確にマンホールの蓋の周囲に生じた段差を計測することのできる段差計測装置等を提供する。【解決手段】画像取得部が取得した道路40を撮影した画像から楕円の輪郭を検出する。計測点選択部は、楕円の輪郭を上領域、右領域、下領域、左領域からなる4領域に分割し、各領域内の少なくとも1点の計測点を選択する。暗域幅取得部は、選択した計測点における輪郭の法線方向でかつ計測点から楕円の内側に向かう方向に配置する複数の画素の輝度を取得し、輝度プロファイルから暗域の幅を取得する。段差算出部は、上領域の暗域幅から右領域と左領域の暗域の平均値を差し引いた差分値と、下領域の暗域幅から右領域と左領域の暗域の平均値を差し引いた差分値とを比較して蓋50が受け枠に対して浮いているか沈んでいるかを判定し、差分値に基づく段差を出力する。【選択図】図2
摘要翻译：要解决的问题：提供一种能够以简单的结构精确地测量在人孔盖周边发生的水平差的液位差测量装置等。解决方案：提供一种液位差测量装置，其中检测路面40的图像，其中检测到椭圆形轮廓; 测量点选择部分将椭圆轮廓划分为包括上部区域，右侧区域，下部区域和左侧区域的四个区域，并且在每个区域中选择至少一个测量点; 暗区域宽度获取部分针对所选择的测量点获取沿轮廓的法线方向布置的多个像素的亮度以及从测量点朝向椭圆的内侧的方向，获取宽度黑色区域从亮度轮廓; 电平差计算部分将通过从上部区域的暗区域宽度中减去左右区域的平均暗区域宽度而得到的微分值与通过减去右边区域的平均黑色区域宽度而获得的微分值进行比较，从下部区域的暗区域宽度的左侧区域确定盖子50相对于接收框架是上升还是下沉，并且基于差分值输出电平差。

4. 发明专利

JP2013154457A Workpiece transfer system, workpiece transfer method, and program 审中-公开
标题翻译：工作转移系统，工作转移方法和程序
公开(公告)号：JP2013154457A
公开(公告)日：2013-08-15
申请号：JP2012019072
申请日：2012-01-31
申请人： Asahi Kosan Kk , 旭興産株式会社 , Yoods:Kk , 株式会社Yoods , Applied Vision Systems Corp , 株式会社アプライド・ビジョン・システムズ
发明人： YOKOYAMA HIFUMI , TAKADA HIROSHI , HAMADA MAKOTO , MORIWAKI YOJI , HARADA HIROSHI , NAKAO YOSHIJI , KAWAMURA MIYUKI , TAKAHASHI HIRONOBU , FUJIMURA KOTA
IPC分类号： B25J13/08 , G01B11/00 , G01B11/245
摘要： PROBLEM TO BE SOLVED: To provide a compact and inexpensive workpiece transfer system capable of surely lifting a loaded workpiece and transferring the same.SOLUTION: Three-dimensional coordinates of the surface of a workpiece 40 are calculated on the basis of images imaged by a first camera 10 and a second camera 11, and the three dimensional shape and the position of the surface of the workpiece 40 of the highest stage are obtained from the calculated three-dimensional coordinates. The position and the direction of a suction hand 31 are decided on the basis of the three-dimensional shape and the position of the surface of the workpiece 40 are determined, and an arm 32 is driven so that the suction hand 31 can be set in this position and this direction. The intake port 311 of the suction hand 31 is fitted to the workpiece 40, and then air is sucked from the intake port 311 respectively by a plurality of intake systems to adsorb the workpiece 40. Depending on whether intake inner pressure at this time is equal to or higher than a prescribed value, whether the suction hand 31 grips the workpiece 40 is determined, and when determined to be gripped, the workpiece 40 is lifted by the suction hand 31 to be moved.
摘要翻译：要解决的问题：提供一种紧凑且便宜的工件传送系统，其能够可靠地提升加载的工件并传送相同的工件。解决方案：基于通过第一部件成像的图像来计算工件40的表面的三维坐标相机10和第二相机11，并且从所计算的三维坐标获得最高级的工件40的三维形状和表面的位置。抽吸手31的位置和方向基于三维形状确定，并且确定工件40的表面的位置，并且驱动臂32使得吸力手31可以被设定在这个位置和这个方向。抽吸手31的进气口311装配到工件40上，然后通过多个进气系统分别从进气口311吸入空气以吸附工件40.根据此时的进气内压是否相等达到或高于规定值时，确定吸手31抓握工件40是否被夹持，并且当被确定为夹紧时，工件40被吸引手31提升以移动。

5. 发明专利

JP2013015452A Reinforcement range extraction device, reinforcement range extraction method, and reinforcement range extraction program 有权
标题翻译：增强范围提取装置，加强范围提取方法和加强范围提取程序
公开(公告)号：JP2013015452A
公开(公告)日：2013-01-24
申请号：JP2011149332
申请日：2011-07-05
申请人： Ohbayashi Corp , 株式会社大林組 , Applied Vision Systems Corp , 株式会社アプライド・ビジョン・システムズ
发明人： IKEDA YUICHI , SAKAGAMI HAJIME , TAKAHASHI HIRONOBU , MIZUGUCHI YUJI
IPC分类号： G01B11/00 , G01B11/08 , G01B11/14
摘要： PROBLEM TO BE SOLVED: To simply and accurately acquire information on reinforcement arrangement.SOLUTION: In a reinforcement information acquisition system 1, a portable terminal 4 detects markers MK1 and MK2 from the whole image corresponding to a part of a background bar B (S901). Next, an image existing between the marker MK1 and the marker MK2 is cut out (S902). In the cut image, by detecting locations where the brightness of pixel is discontinued in a direction perpendicular to the axis direction of a reinforcement, edges serving as area boundary lines are extracted (S903). Then, from the extracted edges, unnecessary edges are removed (S904). Next, frequency distribution for brightness distribution of the image is created, and based on the frequency distribution, representative brightness values in three ranges of reinforcement, shadow and background are calculated, and using the representative brightness values, the range encircled by respective edges is determined as any of the three (S905). Furthermore, when among the determined ranges, two adjacent ranges sandwiching an edge are the same, the two ranges are integrated as one range (S906).
摘要翻译：要解决的问题：简单准确地获取有关加固安排的信息。解决方案：在强化信息获取系统1中，便携式终端4从对应于背景条B的一部分的整个图像中检测标记MK1和MK2（S901）。接下来，剪切存在于标记MK1与标记MK2之间的图像（S902）。在切割图像中，通过检测像素的亮度在与加强件的轴向垂直的方向上中断的位置，提取用作区域边界线的边缘（S903）。然后，从提取的边缘去除不必要的边缘（S904）。接下来，创建图像的亮度分布的频率分布，并且基于频率分布，计算加强，阴影和背景的三个范围中的代表性亮度值，并且使用代表性亮度值，确定由各个边缘包围的范围作为三个中的任何一个（S905）。此外，在确定的范围中，夹着边缘的两个相邻范围相同时，两个范围被积分为一个范围（S906）。版权所有（C）2013，JPO＆INPIT

6. 发明专利

JP2012087569A Bar arrangement information acquisition device and bar arrangement information acquisition method 有权
标题翻译：条形布置信息获取装置和条形布置信息获取方法
公开(公告)号：JP2012087569A
公开(公告)日：2012-05-10
申请号：JP2010236617
申请日：2010-10-21
申请人： Applied Vision Systems Corp , Ohbayashi Corp , 株式会社アプライド・ビジョン・システムズ , 株式会社大林組
发明人： IKEDA YUICHI , SUZUKI SATOSHI , TAKAHASHI HIRONOBU , MIZUGUCHI YUJI
IPC分类号： E04G21/00 , E04G21/12 , G01B11/08 , G01B11/14
摘要： PROBLEM TO BE SOLVED: To acquire bar arrangement information of three-dimensionally arranged reinforcing bars.SOLUTION: A photographer determines a photographing object part 2 (S702), attaches a marker MK to the reinforcing bars at four corners among the reinforcing bars of the photographing object part 2, and attaches a marker DMK for azimuth confirmation to one reinforcing bar (S703). Then, an omnidirectional camera 3 is inserted near the center part on the reinforcing bar inner side (S706), the reinforcing bars of the entire periphery in 360 degrees from the center part are photographed by the omnidirectional camera 3 (S707), and the data of the photographed entire peripheral images is fetched from the omnidirectional camera 3 to a portable terminal 4 (S708). The portable terminal 4 develops the fetched entire peripheral images into a planar image on the basis of the marker DMK for the azimuth confirmation (S709). Then, by detecting the marker DMK for the azimuth confirmation and the marker MK in the developed planar image, the planar image is divided into images of four planes (S710). Further, image processing is performed to the divided images of the respective surfaces, and the diameter length and pitch of the reinforcing bars are calculated (S711).
摘要翻译：要解决的问题：获取三维布置的钢筋的杆布置信息。摄影者确定拍摄对象部分2（S702），将拍摄对象部分2的钢筋中的四角的标记MK附着在钢筋上，并将用于方位确认的标记DMK附接到一个加强件酒吧（S703）。然后，将全向照相机3插入到钢筋内侧的中心部附近（S706），通过全向照相机3拍摄距离中心部360度的全周的钢筋（S707），并且数据将拍摄的整个周边图像从全向照相机3取出到便携式终端4（S708）。便携式终端4基于用于方位确认的标记DMK将获取的整个外围图像展开成平面图像（S709）。然后，通过在显影的平面图像中检测方位确认的标记DMK和标记MK，将平面图像划分为四个平面的图像（S710）。此外，对各个表面的分割图像执行图像处理，并且计算钢筋的直径长度和间距（S711）。版权所有（C）2012，JPO＆INPIT

7. 发明专利

JP2014002536A Bar arrangement inspection system 有权
标题翻译： BAR安排检查系统
公开(公告)号：JP2014002536A
公开(公告)日：2014-01-09
申请号：JP2012137090
申请日：2012-06-18
申请人： Ohbayashi Corp , 株式会社大林組 , Applied Vision Systems Corp , 株式会社アプライド・ビジョン・システムズ , Geosurf Corp , ジオサーフ株式会社
发明人： IKEDA YUICHI , SAKAGAMI HAJIME , TAKAHASHI HIRONOBU , MIZUGUCHI YUJI , NII KAZUHIRO , KITAMURA YO
IPC分类号： G06Q50/08
CPC分类号： G10L2019/0005
摘要： PROBLEM TO BE SOLVED: To perform a bar arrangement inspection system quickly without mistaking a place.SOLUTION: In a bar arrangement inspection system 1, a portable terminal 4 obtains design information of the bar arrangement from a server, stores the information (S401), inputs base line distance data, and stores the data. Then the portable terminal 4 receives a GPS coordinate from a GPS receiver 3 and converts the GPS coordinate into a local coordinate and base line distance data (S403). If the portable terminal 4 determines that a current place thereof is a place for photographing (Yes of S404) by comparing the input base line distance data with the converted base line distance data, the portable terminal 4 stores the converted base line distance data (S405). The portable terminal 4A obtains photographic image of the bar arrangement from a digital camera 2, and stores the base line distance data attached to the image (S407). If the portable terminal 4 can extract markers from the image (Yes of S409), the portable terminal 4 measures the number, the diameter and pitch of steel bars from a region among the markers (S411). If the measured information matches the design information (Yes of S412), the portable terminal 4 writes the measured information into attribute information of the image and stores the information (S415).
摘要翻译：要解决的问题：快速执行条形排列检查系统而不会误认为一个位置。解决方案：在条形排列检查系统1中，便携式终端4从服务器获得条排列的设计信息，存储信息（S401），输入基线距离数据，并存储数据。然后，便携式终端4从GPS接收机3接收GPS坐标，并将GPS坐标转换为局部坐标和基线距离数据（S403）。如果便携式终端4通过将输入基线距离数据与转换的基线距离数据进行比较来确定其当前位置是拍摄地点（S404为“是”），则便携式终端4存储经转换的基线距离数据（S405 ）。便携式终端4A从数字照相机2获得条布置的摄影图像，并且存储附加到图像上的基线距离数据（S407）。如果便携式终端4可以从图像中提取标记（S409的“是”），则便携式终端4从标记之间的区域测量钢条的数量，直径和间距（S411）。如果测量信息与设计信息匹配（S412为是），则便携式终端4将测量信息写入图像的属性信息并存储该信息（S415）。

8. 发明专利

JP2013117548A Stereo fluoroscopic device and stereo observation method using the same 有权
标题翻译：立体荧光装置和使用其的立体观察方法
公开(公告)号：JP2013117548A
公开(公告)日：2013-06-13
申请号：JP2013057074
申请日：2013-03-19
申请人： Beamsense Co Ltd , 株式会社ビームセンス , National Institute Of Advanced Industrial & Technology , 独立行政法人産業技術総合研究所 , Applied Vision Systems Corp , 株式会社アプライド・ビジョン・システムズ
发明人： BABA MATSUKI , TOMITA FUMIAKI , TAKAHASHI HIRONOBU
IPC分类号： G01N23/04
摘要： PROBLEM TO BE SOLVED: To provide a stereo fluoroscopic device which is excellent in versatility and handleability for observing an inner structure or detecting an internal defect or the like regardless of the dimension or shape of an analyte by using radiant rays transmitting through the analyte such as X-rays, and for reducing the size of the device with a simple structure in which the analyte is rotated.SOLUTION: The stereo fluoroscopic device includes: an X-ray source 5; a position setting mechanism 6 by which an analyte 20 is held so as to be freely movable; a planar image sensor 10 arranged so as to face the X-ray source 5 with the analyte 20 interposed for detecting a transmission image of the analyte; and a coordinate data generation unit (control unit 3) for generating three-dimensional coordinate data showing a three-dimensional structure of the analyte 20 on the basis of the transmission image of the analyte 20 to be obtained by the image sensor 10 when the analyte is held by at least two types of rotational angles by the position setting mechanism 6.
摘要翻译：要解决的问题：提供一种立体荧光检查装置，其通用性和操作性优异，用于观察内部结构或检测内部缺陷等，而不管分析物的尺寸或形状如何，通过使用通过分析物例如X射线，并且用于以分析物旋转的简单结构来减小装置的尺寸。解决方案：立体荧光检查装置包括：X射线源5; 分析物20被保持以便可自由移动的位置设定机构6; 布置成面对X射线源5的平面图像传感器10，分析物20被插入以检测分析物的透射图像; 以及坐标数据生成单元（控制单元3），用于根据要由图像传感器10获得的分析物20的透射图像生成表示分析物20的三维结构的三维坐标数据，当分析物由位置设定机构6由至少两种旋转角度保持。（C）版权所有（C）2013，JPO＆INPIT

9. 发明专利

JP2011104759A Teaching auxiliary tool for robot control system, teaching method using the teaching auxiliary tool, and robot control system performing teaching by the teaching method 审中-公开
标题翻译：用于机器人控制系统的辅助辅助工具，使用辅助工具的教学方法以及通过教学方法执行教学的机器人控制系统
公开(公告)号：JP2011104759A
公开(公告)日：2011-06-02
申请号：JP2009265704
申请日：2009-11-20
申请人： Applied Vision Systems Corp , Idec Corp , Idec株式会社 , 株式会社アプライド・ビジョン・システムズ
发明人： YONEZAWA HIROSHI , NOMURA MITSUTOSHI , HAMADA KOICHI , TAKAHASHI HIRONOBU , CHO KENSHIN , SATO ATSUSHI , KADOUCHI MASAKAZU
IPC分类号： B25J9/22 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To provide a teaching auxiliary tool for a robot control system capable of further simplifying teaching work and shortening a teaching time, a teaching method using the teaching auxiliary tool, and a robot control system for performing teaching by the teaching method.
SOLUTION: A teaching tool 50, i.e., one embodiment of the teaching auxiliary tool for the robot control system capable of performing teaching using an imaging device includes a tool body 51 having a triangular pyramid 52 in which colors of pyramid surfaces 52a, 52b, 52c are different from one another; and a handle 54 connected to the tool body 51.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了能够进一步简化教学工作并缩短教学时间的机器人控制系统的教学辅助工具，使用教学辅助工具的教学方法和用于执行教学的教学的机器人控制系统教学法。解决方案：教学工具50，即能够使用成像装置执行教学的用于机器人控制系统的教学辅助工具的一个实施例包括具有三角锥52的工具主体51，其中金字塔表面52a， 52b，52c彼此不同; 和与工具主体51连接的手柄54.版权所有（C）2011，JPO＆INPIT

10. 发明专利

JP2010122008A Reinforcement arrangement information acquisition device and method 有权
标题翻译：加固装置信息获取装置和方法
公开(公告)号：JP2010122008A
公开(公告)日：2010-06-03
申请号：JP2008294623
申请日：2008-11-18
申请人： Applied Vision Systems Corp , Ohbayashi Corp , 株式会社アプライド・ビジョン・システムズ , 株式会社大林組
发明人： IKEDA YUICHI , SUZUKI SATOSHI , TAKAHASHI HIRONOBU , MIZUGUCHI YUJI
IPC分类号： G01B11/02 , E04G21/00 , G06Q50/00 , G06Q50/08
摘要： PROBLEM TO BE SOLVED: To acquire simply and accurately reinforcement arrangement information of a deformed reinforcement. SOLUTION: A digital camera capable of setting 4 million pixels or more, and obtaining an autofocus function is determined (S701, S702), and a photographing object portion including a deformed reinforcement is determined (S705). Then, markers are applied to both two ends among a plurality of deformed reinforcements which are photographing objects (S707), and photographed from a position separated by 2 meters by using the digital camera (S708). Then, image data of the photographed deformed reinforcements are transferred from the digital camera to a portable terminal, and image processing is executed by using the portable terminal (S714). In the image processing, one pixel length which is a length per pixel in the image data is specified, and the number of pixels of a diameter length of the deformed reinforcement in the image data is counted, and the number of pixels of the diameter length and the one pixel length are multiplied together, to thereby calculate the diameter length. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：简单而准确地获取变形钢筋的加固布置信息。（S701，S702）确定能够设定400万像素以上的数码相机，获得自动对焦功能（S701，S702），确定包括变形钢筋的拍摄对象部分（S705）。然后，通过使用数字照相机（S708），将标记施加到作为拍摄对象的多个变形的增强件中的两端（S707），并从由2米分开的位置拍摄。然后，拍摄的变形的增强材料的图像数据从数字照相机传送到便携式终端，并且通过使用便携式终端执行图像处理（S714）。在图像处理中，指定作为图像数据中的每像素长度的一个像素长度，并且对图像数据中的变形加强件的直径长度的像素数进行计数，并且直径长度的像素数并且将一个像素长度相乘，从而计算直径长度。版权所有（C）2010，JPO＆INPIT

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