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1. 发明公开

EP3020517A3 METHOD FOR CALIBRATION OF A CONVEYOR TRACKING SYSTEM, AND GUIDANCE APPARATUS 审中-公开
标题翻译：方法用于校准的启动跟踪体系和管理设备
公开(公告)号：EP3020517A3
公开(公告)日：2016-08-03
申请号：EP15196939.1
申请日：2011-11-11
申请人： OMRON CORPORATION
发明人： IKEDA, Yasuyuki , NAKASHITA, Naoya
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1692 , G05B2219/40014 , G05B2219/40022 , G05B2219/40554 , G05B2219/40607 , G05B2219/45063
摘要： The present invention provides a method for calibration of a conveyor tracking system including an image capturing unit (110) that is disposed so as to capture workpieces (W) conveyed on a conveying apparatus (10, 20) and a moving machine (300) that is disposed downstream, on a conveyance path of the conveying apparatus (10, 20), from an image capturing range of the image capturing unit (110). The method comprises a first step of placing a calibration sheet (S) in which a target pattern is depicted within the field of view of the image capturing unit (110) and determining coordinates of a mark in the target pattern in a coordinate system of the image capturing unit (110), a second step of moving the conveying apparatus (10, 20) so as to bring the calibration sheet (S) to an upstream side within an operating range of the moving machine (300), and operating the moving machine (300) so as to associate the target pattern with the position of the moving machine (300) and determine coordinates of the mark at that position in the coordinate system of the moving machine (300), a third step of moving the conveying apparatus (10, 20) so as to bring the calibration sheet (S) to a downstream side within an operating range of the moving machine (300), and operating the moving machine (300) so as to associate the target pattern with the position of the moving machine (300) and determine coordinates of the mark at that position in the coordinate system of the moving machine (300), and a fourth step of obtaining a parameter set including parameters for transformation of coordinates in the coordinate system of the image capturing unit (110) to coordinates in the coordinate system of the moving machine (300).

2. 发明公开

EP3020517A2 METHOD FOR CALIBRATION OF A CONVEYOR TRACKING SYSTEM, AND GUIDANCE APPARATUS 审中-公开
标题翻译：输送机跟踪系统的校准方法和引导装置
公开(公告)号：EP3020517A2
公开(公告)日：2016-05-18
申请号：EP15196939.1
申请日：2011-11-11
申请人： OMRON CORPORATION
发明人： IKEDA, Yasuyuki , NAKASHITA, Naoya
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1692 , G05B2219/40014 , G05B2219/40022 , G05B2219/40554 , G05B2219/40607 , G05B2219/45063
摘要： The present invention provides a method for calibration of a conveyor tracking system including an image capturing unit (110) that is disposed so as to capture workpieces (W) conveyed on a conveying apparatus (10, 20) and a moving machine (300) that is disposed downstream, on a conveyance path of the conveying apparatus (10, 20), from an image capturing range of the image capturing unit (110). The method comprises a first step of placing a calibration sheet (S) in which a target pattern is depicted within the field of view of the image capturing unit (110) and determining coordinates of a mark in the target pattern in a coordinate system of the image capturing unit (110), a second step of moving the conveying apparatus (10, 20) so as to bring the calibration sheet (S) to an upstream side within an operating range of the moving machine (300), and operating the moving machine (300) so as to associate the target pattern with the position of the moving machine (300) and determine coordinates of the mark at that position in the coordinate system of the moving machine (300), a third step of moving the conveying apparatus (10, 20) so as to bring the calibration sheet (S) to a downstream side within an operating range of the moving machine (300), and operating the moving machine (300) so as to associate the target pattern with the position of the moving machine (300) and determine coordinates of the mark at that position in the coordinate system of the moving machine (300), and a fourth step of obtaining a parameter set including parameters for transformation of coordinates in the coordinate system of the image capturing unit (110) to coordinates in the coordinate system of the moving machine (300).
摘要翻译：本发明提供了一种用于校准传送带跟踪系统的方法，所述传送带跟踪系统包括图像捕捉单元（110），所述图像捕捉单元（110）被设置成捕捉在传送装置（10,20）和移动机器（300）上传送的工件（W）从所述摄像单元（110）的摄像范围设置在所述输送装置（10,20）的输送路径上的下游侧。该方法包括：第一步，在其中在图像捕获单元（110）的视场内描绘目标图案的校准片（S）;以及在第二步的坐标系中确定目标图案中的标记的坐标摄像单元（110）;第二步骤，移动传送设备（10,20）以使校准片材（S）在移动机器（300）的操作范围内的上游侧，并且操作移动设备以使所述目标图案与所述移动机械（300）的位置相关联，并确定所述移动机械（300）的坐标系中该位置处的所述标记的坐标;第三步骤，使所述输送装置（10,20），以使校准片材（S）在移动机器（300）的操作范围内的下游侧，并操作移动机器（300）以使目标图案与移动机器（300）并确定c （300）的坐标系中的该位置处的标记的坐标;以及第四步骤，获得参数集，该参数集包括用于将图像捕获单元（110）的坐标系中的坐标变换为参数移动机器（300）的坐标系统。

3. 发明授权

EP2653414B1 IMAGE PROCESSING APPARATUS AND IMAGE PROCESSING SYSTEM 有权
公开(公告)号：EP2653414B1
公开(公告)日：2019-02-27
申请号：EP11858578.5
申请日：2011-03-16
申请人： Omron Corporation
发明人： IKEDA, Yasuyuki , DOI, Yuichi , NAKASHITA, Naoya
IPC分类号： G01N21/84 , B23Q17/24 , G06T1/00

4. 发明公开

EP2653414A1 IMAGE PROCESSING APPARATUS AND IMAGE PROCESSING SYSTEM 有权
标题翻译：图像处理装置和图像处理系统
公开(公告)号：EP2653414A1
公开(公告)日：2013-10-23
申请号：EP11858578.5
申请日：2011-03-16
申请人： Omron Corporation
发明人： IKEDA, Yasuyuki , DOI, Yuichi , NAKASHITA, Naoya
IPC分类号： B65G47/90 , G01B11/00 , G06T1/00
CPC分类号： G06T7/0004 , B23Q17/2414 , G01N2021/845 , G05B2219/31432 , G06K2209/19 , G06T1/0007 , G06T1/0014 , G06T2207/30108
摘要： This image processing apparatus comprises: an interface (14) for receiving a signal indicating the travel of a conveying device (10) in a conveying route; an interface (NW) for communicating with a control device (200) for controlling a movement mechanism (300) for handling a workpiece, the movement mechanism (300) being disposed downstream of an imaging area of an imaging part in the conveying route; a means for synchronously maintaining the travel in the conveying route between the control device (200) and a means (100) for acquiring positional information about a region that corresponds to a pre-registered workpiece in an image, by measuring an image obtained by imaging performed by an imaging part (100); a means (100) for initiating imaging by the imaging part in response to an imaging command; and a means for transmitting, to the control device, positional information and the travel at the time imaging is performed involving the image used to acquire the position information.

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