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1. 发明专利

JP2002071325A METHOD AND APPARATUS FOR MEASURING OBJECT SHAPE 失效
公开(公告)号：JP2002071325A
公开(公告)日：2002-03-08
申请号：JP2000265201
申请日：2000-09-01
申请人： KOBE STEEL LTD
发明人： NISHIKAWA KOHEI , AKAMATSU MASARU
IPC分类号： G01B11/24
摘要： PROBLEM TO BE SOLVED: To solve the problem that in a conventional objective measuring apparatus which measures the shape of an object to be measured by using an optical cutting method, the center position of the image of slit light is deviated from the center position in the width direction of intrinsic slit light, when the object to be measured has a curved surface, such as a circular cylinder, since the center position of the image of the slit light is found by performing a load-averaging operation along the arrangement direction of image sensors used to image an optical cutting image, and that the measurement accuracy of the shape is lowered. SOLUTION: Since the width direction of local slit light is found along the found width direction of the slit light, and load-averaging operation is performed, the center position of the slit light is decided. As a result, the shape can be measured with high accuracy, irrespective of the shape of the object to be measured.

2. 发明专利

JP2000310521A METHOD FOR MEASURING LENGTH OF NON-WELDED PART OF ANGULAR JOINT 失效
公开(公告)号：JP2000310521A
公开(公告)日：2000-11-07
申请号：JP12225199
申请日：1999-04-28
申请人： KOBE STEEL LTD
发明人： WASA YASUHIRO , SUZUKI AKIO , NISHIKAWA KOHEI
IPC分类号： G01B17/00 , G01N29/04
摘要： PROBLEM TO BE SOLVED: To enable the accurate measurement of the length of a non-welded part of a partial-penetration angular joint through the use of ultrasonic waves. SOLUTION: In a method to measure the length of a non-welded part of an angular joint formed by subjecting a flange 1 and a web 2 to partial- penetration welding through the use of ultrasonic waves, ultrasonic waves from a probe 3 is brought into incidence from the face 1a of the flange 1 toward the non-welded part of the angular joint. An echo E from the base end of the non-fused part on the side of the penetration tip and an echo B from the bottom surface 2a of the web 2 are received by the probe 3 to measure the length of the non-welded part of the angular joint on the basis of the difference ΔT in arrival time between both echoes.

3. 发明专利

JPH11333770A LOADING POSITION AND ATTITUDE RECOGNIZING DEVICE 失效
公开(公告)号：JPH11333770A
公开(公告)日：1999-12-07
申请号：JP6982999
申请日：1999-03-16
申请人： KOBE STEEL LTD
发明人： NISHIKAWA KOHEI , OKAMOTO AKIRA , SENDA RIKIYA , TAKAHASHI EIJI , YAMAMOTO NAOKI , SHIGEYOSHI MASAYUKI
IPC分类号： H04N7/18 , B25J13/08 , B65G61/00 , G01B11/00 , G06T1/00 , G06T7/00
摘要： PROBLEM TO BE SOLVED: To recognize the position and attitude of a cargo with high reliability, and to shorten the processing time required for recognition. SOLUTION: In this device, a sensor head comprising a camera installed above a cargo and a slit light projector or the like capable of scanning the strip-like light is controlled, the three-dimensional coordinates of each part on an upper surface of the cargo arranged on an upper stage and a lower stage of the cargo are obtained as the distance data, and a work area L on the uppermost stage of the cargo is obtained from the height component of the distance data. A corner point 32 is detected from a shape of a contour line of the work area L, and a work boundary point 34 is obtained inside the work area. After a corner part 35b of a template 35 of the cargo is matched with the corner point 32 of the work area L, the processing to obtain the cargo presence based on a contour point 33 and the work boundary point 34 present in the vicinity of four sides of the template 35 is effected for the detected corner point 32 to recognize the position and attitude of the template 35 to indicate the maximum cargo presence, and the individual work position and attitude.

4. 发明专利

JPH09257414A OBJECT POSITION DETECTOR 失效
公开(公告)号：JPH09257414A
公开(公告)日：1997-10-03
申请号：JP9624696
申请日：1996-03-25
申请人： KOBE STEEL LTD
发明人： OKAMOTO AKIRA , NISHIKAWA KOHEI , SANO KO
IPC分类号： G01B11/00 , B25J13/08 , G06T1/00 , G06T7/00 , G06T7/60
摘要： PROBLEM TO BE SOLVED: To achieve accurate detection of existing position by a method wherein a distance data undergoes a coordinate conversion to a three-dimensional coordinate in a calculation coordinate system and is converted to a two-dimensional quantization data by a quantization pitch of a planar coordinate component in the coordinate system to determine analogy by a two-dimensional temperature matching. SOLUTION: A slit light 5 emitted from a slit light projector 6 is reflected on a reflection mirror 7 to be linearly injected onto a cargo 2 on a pallet 1. An image data taken by a camera 9 is brought into a positional detection control panel 4 to be stored into an image data memory area 17a of an RAM17. Thereafter, a three-dimensional position in an actual coordinate system of an intersection between a radial straight line, aligning a projection line of the slit light 5 with the center of a lens 10, and the plane of the slit light is determined as distance data to be stored into a memory area 17b. The distance data thus obtained in read out of the memory area 17b to be converted to a distance data in a calculation coordinate system. Then, the results are quantized by a quantization pitch of a planar coordinate component, thereby obtaining a two-dimensional quantization distance data.

5. 发明专利

JPH08271223A DEVICE FOR RECOGNIZING OBJECT POSITION 失效
公开(公告)号：JPH08271223A
公开(公告)日：1996-10-18
申请号：JP28384795
申请日：1995-10-31
申请人： KOBE STEEL LTD
发明人： OKAMOTO AKIRA , NISHIKAWA KOHEI , SANO KO
IPC分类号： G01B11/00 , G06K9/64 , G06T1/00 , G06T7/60 , G06T7/00
摘要： PURPOSE: To accurately recognize a position of an object by extracting the contour line of a detection object from an image which is formed by collating the extracted contour line with that of a stored recognition target for judging whether they are identical, and judging upper/lower positions based on the information on the density of the image when the detection targets overlap. CONSTITUTION: The image information of an image pick-up region 17 is generated by an image reading part 5 from the image pick-up output of a camera 4 for inputting image and is binarized by a feature extraction part 7 to detect the contour lines of parts P1 and P2 placed at a region 17. A model comparison part 11 reads model information stored at a model storage part 9 and compares it with the contour line information to obtain the type and layout information of the parts P1 and P2 for constituting the contour line. An overlapping state judgment part 13 judges the overlapping of parts from the layout information of the parts P1 and P2 and transmits the information to an upper/lower judgment part 15 when the parts overlap. The judgment part 13 judges the upper/lower relationship from the combination of overlapped parts, position information, and image information from the image reading part 5 and transmits the information to a robot controller 3, thus picking parts.

6. 发明专利

JPH085333A THREE-DIMENSIONAL POSITION-ATTITUDE RECOGNIZING APPARATUS 失效
公开(公告)号：JPH085333A
公开(公告)日：1996-01-12
申请号：JP13858594
申请日：1994-06-21
申请人： KOBE STEEL LTD
发明人： OKAMOTO AKIRA , NISHIKAWA KOHEI
IPC分类号： G01B11/00 , G06T1/00 , G06T7/00
摘要： PURPOSE:To recognize the position and attitude of an object of recognition in high reliability by providing a model memory part, which stores an arbitrary triangle on a model shape corresponding to the object of recognition beforehand, and the like. CONSTITUTION:A model memory part 1 stores a model triangle, which is formed of three arbitrary feature points on a model shape corresponding to an object work (object of recognision) beforehand. Feature extracting parts 2a and 2b extract the feature points from the respective measured images of the work, which are picked up with two cameras. A corresponding-candidate extracting part 3 extracts the corresponding candidates of the feature points of the measured images. A correspondence determining part 4 forms the combination of the correspondence of the measured triangles, where the corresponding candidates are combined, and the model triangle. A model collating part 5 compares the measured triangle and the model triangle. When both triangles do not agree, the new combination is formed with the correspondence determining part 4. When both triangles are regarded to be agreed, the model collating part 5 operates the coordinate converting coefficients between both triangles for recognizing the position and attitude of the work.

7. 发明专利

JPH06328251A JOINT DETECTING METHOD 失效
公开(公告)号：JPH06328251A
公开(公告)日：1994-11-29
申请号：JP11946293
申请日：1993-05-21
申请人： KOBE STEEL LTD
发明人： NISHIKAWA KOHEI
IPC分类号： B23K9/127 , G01B11/24
摘要： PURPOSE:To provide a joint detecting method capable of detecting the position of joint line with identifying for a joint line or tack welded part when tack welded part exists in the course of welding joint. CONSTITUTION:When a tack welded part 23 exists in the course of a joint line 22 to be welded, the detected point 31 detected at a tack welded part 23 by the surface ruggedness of a tack welded part 23 is found in scattered dot state, when a linear regression remainder value is larger than a decision threshold value, the detecting point is recognized as a tack welded part 23, when a linear regression remainder value is smaller than the decision threshold value, the detected point is recognized as a joint line 22. As a result, by identifying for a joint line 22 or tack welded part 23, the joint line 22 is detected.

8. 发明专利

JPH04326084A APPARATUS FOR CONFIRMING THREE-DIMENSIONAL POSITION 失效
公开(公告)号：JPH04326084A
公开(公告)日：1992-11-16
申请号：JP9597591
申请日：1991-04-26
申请人： KOBE STEEL LTD
发明人： KAMIGAKI TOSHIO , NISHIKAWA KOHEI
IPC分类号： G01S13/04 , G01S17/06
摘要： PURPOSE:To measure the three-dimensional position of a target using a range finder which depends on a light pulse. CONSTITUTION:A range finder 1 projects a light pulse toward the parts (a), (b) of a target 5 to receive the reflected pulse from the target and measures the distance to the target 5 from the time from the projection of the light pulse to the reflection thereof. The relation between the reflected pulse when the projected pulse impinges against the end or corner of the target 5 and the shape of the target 5 is preliminarily stored in the range finder 1 as a mathematical model and the projection angle of the projected pulse is changed so as to allow the beam width of the projected pulse to overlap with the end or corner of the target 1 to detect the reflected pulses at a plurality of points. By allowing the obtained data to correspond to the stored model, the position of the end or corner of the target can be calculated.

9. 发明专利

JPH03265815A PLOTTING DEVICE USING LASER BEAM 失效
公开(公告)号：JPH03265815A
公开(公告)日：1991-11-26
申请号：JP6428690
申请日：1990-03-16
申请人： KOBE STEEL LTD
发明人： HATTORI SHUZO , HANE KAZUHIRO , NISHIMOTO YOSHIRO , SUZUKI AKIO , JIN YASUHARU , YONEDA YASUSHI , TAKAMATSU HIROYUKI , NISHIKAWA KOHEI
IPC分类号： G02B26/10 , G03H1/08 , H01L21/027
摘要： PURPOSE:To make plotting line width and the extent of exposure uniform, and to improve the plotting accuracy by reflecting a scanning position, and the projection intensity, spot size, and scanning speed of a laser beam upon intensity modulation control over the laser beam. CONSTITUTION:The scanning position, and the projection intensity and spot size of the laser beam are detected by a scanning position detecting means 8, and a projection intensity detecting means 9 and a spot size detecting means 4, and the scanning speed is calculated by the scanning speed arithmetic means in a signal processing part 10. The control means in the signal processing part 10 adjusts the gain and timing of modulation by an optical modulation 2 according to the detection results and arithmetic result, so the intensity variation, scanning speed variation, and spot size variation of the laser beam are reflected on plotting control. Consequently, the plotting line width comes to uniform, the extent of exposure also becomes uniform, and the plotting accuracy is improved.

10. 发明专利

JPH02114600A MAGNETIC SHIELD ASSEMBLY 失效
公开(公告)号：JPH02114600A
公开(公告)日：1990-04-26
申请号：JP26917088
申请日：1988-10-24
申请人： KOBE STEEL LTD
发明人： HASE TAKASHI , NISHIKAWA KOHEI , TSURUYA SABURO
IPC分类号： H05K9/00
摘要： PURPOSE:To prevent magnetism from being leaked to the outside by a method wherein superconducting films are formed on one side of structure bodies having coolant circulation spaces, superconducting film faces are connected and are assembled so as to be arranged on an identical plane side and a superconducting film is formed on the surface of a boundary of a connection part. CONSTITUTION:End parts of structure materials K having coolant circulation spaces in hollow parts are worked to be stepped alternately; they are jointed mechanically by using a screw B; the coolant circulation spaces A are connected by using a bypass tube l1. The surface at a boundary part of a jointed part is coated with a Y-Ba-Cu-O-based superconducting film 3c so as to fill the boundary part; Y-Ba-Cu-O-based superconducting films 3a, 3b originally formed on the surface on one side of the structure materials K are united by using the superconducting film 3c. Thereby, a surface current or a transfer current which flows in a superconducting layer can flow without an interruption; a magnetic leak is not caused on the whole surface of this assembly; an excellent magnetic shielding efficiency can be displayed.

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