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    • 2. 发明专利
    • DIRECT TEACHING DEVICE
    • JPH06110543A
    • 1994-04-22
    • JP26208792
    • 1992-09-30
    • NIPPON TELEGRAPH & TELEPHONE
    • YANAGIHARA YOSHIMASATATEISHI KAZUYOSHI
    • B25J9/10B25J9/22B25J13/08B25J19/02G05B19/19G05B19/42G05B19/427
    • PURPOSE:To provide the direct teaching device which can possess teaching data with simple operations. CONSTITUTION:A teaching operator positions a touch sensor 5, which is provided at the tip of the hand of a manipulator 1, at the desired teaching passage starting point of a teaching object 6. Based on a synchronizing signal from a synchronizing signal generation part 13, position/posture data at the central position of the touch sensor 5 are possessed by a position detection part 12 of a control part 8 and at the same time, sensor data concerning the passage are provided by the touch sensor 5. The position/posture data provided by the position detection part 12 are sent to a position storage part 17. The sensor data provided by the touch sensor 5 are sent to a sensor data recognition part 16 after preprocessing such as noise removal is executed by a sensor data processing part 14, and the teaching passage shape of the teaching object 6 is recognized by the sensor data recognition part 16. The position/posture data of the position storage part 17 and the sensor data of the sensor data recognition part 16 are sent to a passage calculation part 18, the position data of the passage are calculated, and this result is stored in a passage data storage part 19.
    • 10. 发明专利
    • PICTURE PROCESSING DEVICE
    • JPH03102575A
    • 1991-04-26
    • JP24109089
    • 1989-09-18
    • NIPPON TELEGRAPH & TELEPHONE
    • IIJIMA TETSUOYANAGIHARA YOSHIMASA
    • H04N7/18G05D3/00G05D3/12G06T1/00
    • PURPOSE:To trace a moving object at high speed by processing a picture by interlocking a first object recognizing means to recognize an object according to a taken-in two-dimensional picture and a second object recognizing means to recognize a high-speed moving object compared with the first object recognizing means. CONSTITUTION:In respect of a first picture screen 11 corresponding to a taken-in picture, the moving object is detected by a detecting means 17, and a window 12 including the moving object 2 is generated immediately by a window generating means 18. The position from a camera of the object caught by the window 12 is measured by a distance measuring means 20, and simultaneously, is fed back to a focus control part 21. Information other than the window 12 is executed by a processing circuit 23 independently of this. The device is constituted so that the picture of the object in the window 12 obtained as the result of focus control is reflected only in the window 12. Thus, since the processing of a background picture can be made slow compared with the tracing of the moving object, it can be executed correctly as well.