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1. 发明授权

US08976242B2 Visual inspection apparatus and visual inspection method 有权
标题翻译：目视检查仪器和目视检查方法
公开(公告)号：US08976242B2
公开(公告)日：2015-03-10
申请号：US12681625
申请日：2008-10-01
申请人： Tetsuro Aikawa , Yoshinori Satoh , Makoto Ochiai , Tatsuya Oodake , Hiroyuki Adachi , Yasuhiro Yuguchi , Junichi Takabayashi
发明人： Tetsuro Aikawa , Yoshinori Satoh , Makoto Ochiai , Tatsuya Oodake , Hiroyuki Adachi , Yasuhiro Yuguchi , Junichi Takabayashi
IPC分类号： H04N7/18 , G21C17/003 , G01N21/88 , G06T3/40 , G06T7/00 , G21C17/08 , G21F7/02
CPC分类号： G21C17/003 , G01N21/8803 , G01N21/8851 , G06T3/4069 , G06T7/0004 , G21C17/08 , G21F7/02
摘要： The present invention includes a camera which takes an image of a camera or an inspection target; a device which estimates the movement of the inspection target; a device which generates a high resolution image having a higher resolution than the pixel resolution of a video image taken by the camera from the video image taken by the camera; a device which evaluates the quality of the high resolution image generated by the generation device; and a device which presents an inspector who visually inspects the inspection target with the high resolution image together with the quality evaluation result of the high resolution image. The present invention can improve the reliability of inspection by use of the high resolution image as well as can reduce the inspection time, and further can guarantee the reliability of the inspection using a high resolution image.
摘要翻译：本发明包括拍摄相机或检查对象的图像的相机; 估计检查目标的移动的装置; 从相机拍摄的视频图像生成具有比由照相机拍摄的视频图像的像素分辨率高的分辨率的高分辨率图像的装置; 评估生成装置生成的高分辨率图像的质量的装置; 以及显示高分辨率图像的质量评价结果的高分辨率图像的视觉检查对象的检查器的装置。本发明可以通过使用高分辨率图像来提高检查的可靠性，并且可以减少检查时间，并且还可以使用高分辨率图像来保证检查的可靠性。

2. 发明申请

US20130021452A1 THREE-DIMENSIONAL DISTANCE MEASUREMENT APPARATUS AND METHOD THEREFOR 有权
标题翻译：三维距离测量装置及其方法
公开(公告)号：US20130021452A1
公开(公告)日：2013-01-24
申请号：US13637203
申请日：2011-03-16
申请人： Tatsuya Oodake , Tetsuro Aikawa , Yoshinori Satoh , Makoto Ochiai , Yasuhiro Yuguchi
发明人： Tatsuya Oodake , Tetsuro Aikawa , Yoshinori Satoh , Makoto Ochiai , Yasuhiro Yuguchi
IPC分类号： H04N13/02
CPC分类号： G06T7/0075 , G01B11/03 , G01B11/245 , G01S11/12 , G06T7/593 , G06T2207/10012
摘要： A three-dimensional imaging unit includes a plurality of image pickup devices that image an image and a rotation drive device which rotates the image pickup devices and adjusts optical axes such that reflections of an object to be measured in a space to be measured have a predetermined amount of overlap. An association calculating unit calculates position association information of pixels when a required measurement point is mapped onto a plurality of images. A three-dimensional shape calculating unit calculates a three-dimensional shape of the object to be measured using the position association information and rotational information of the rotation drive device. A three-dimensional shape estimation calculating unit estimates, from the three-dimensional shape, a three-dimensional shape of a region of the object to be measured where the three-dimensional shape is not obtained. A three-dimensional measurement coordinates calculating unit calculates, from an estimation result, three-dimensional coordinates of two distance measurement points designated on the object to be measured. A distance calculating unit calculates a distance between the two points using the three-dimensional coordinates.
摘要翻译：三维成像单元包括对图像进行成像的多个图像拾取装置和旋转图像拾取装置的旋转驱动装置，并且调整光轴，使得待测量空间中待测量物体的反射具有预定的重叠量。关联计算单元，当所需测量点映射到多个图像上时，计算像素的位置关联信息。三维形状计算单元使用位置关联信息和旋转驱动装置的旋转信息来计算被测量物体的三维形状。三维形状估计计算单元从三维形状估计未获得三维形状的待测量对象的区域的三维形状。三维测量坐标计算单元从估计结果计算在被测量物体上指定的两个距离测量点的三维坐标。距离计算单元使用三维坐标来计算两点之间的距离。

3. 发明授权

US09214024B2 Three-dimensional distance measurement apparatus and method therefor 有权
标题翻译：三维距离测量装置及其方法
公开(公告)号：US09214024B2
公开(公告)日：2015-12-15
申请号：US13637203
申请日：2011-03-16
申请人： Tatsuya Oodake , Tetsuro Aikawa , Yoshinori Satoh , Makoto Ochiai , Yasuhiro Yuguchi
发明人： Tatsuya Oodake , Tetsuro Aikawa , Yoshinori Satoh , Makoto Ochiai , Yasuhiro Yuguchi
IPC分类号： H04N13/02 , H04N15/00 , G06T7/00 , G01S11/12 , G01B11/03 , G01B11/245
CPC分类号： G06T7/0075 , G01B11/03 , G01B11/245 , G01S11/12 , G06T7/593 , G06T2207/10012
摘要： A three-dimensional imaging unit includes a plurality of image pickup devices that image an image and a rotation drive device which rotates the image pickup devices and adjusts optical axes such that reflections of an object to be measured in a space to be measured have a predetermined amount of overlap. An association calculating unit calculates position association information of pixels when a required measurement point is mapped onto a plurality of images. A three-dimensional shape calculating unit calculates a three-dimensional shape of the object to be measured using the position association information and rotational information of the rotation drive device. A three-dimensional shape estimation calculating unit estimates, from the three-dimensional shape, a three-dimensional shape of a region of the object to be measured where the three-dimensional shape is not obtained. A three-dimensional measurement coordinates calculating unit calculates, from an estimation result, three-dimensional coordinates of two distance measurement points designated on the object to be measured. A distance calculating unit calculates a distance between the two points using the three-dimensional coordinates.
摘要翻译：三维成像单元包括对图像进行成像的多个图像拾取装置和旋转图像拾取装置的旋转驱动装置，并且调整光轴，使得待测量空间中待测量物体的反射具有预定的重叠量。关联计算单元，当所需测量点映射到多个图像上时，计算像素的位置关联信息。三维形状计算单元使用位置关联信息和旋转驱动装置的旋转信息来计算被测量物体的三维形状。三维形状估计计算单元从三维形状估计未获得三维形状的待测量对象的区域的三维形状。三维测量坐标计算单元从估计结果计算在被测量物体上指定的两个距离测量点的三维坐标。距离计算单元使用三维坐标来计算两点之间的距离。

4. 发明申请

US20100283847A1 VISUAL INSPECTION APPARATUS AND VISUAL INSPECTION METHOD 有权
标题翻译：视觉检测设备和视觉检测方法
公开(公告)号：US20100283847A1
公开(公告)日：2010-11-11
申请号：US12681625
申请日：2008-10-01
申请人： Tetsuro Aikawa , Yoshinori Satoh , Makoto Ochiai , Tatsuya Oodake , Hiroyuki Adachi , Yasuhiro Yuguchi , Junichi Takabayashi
发明人： Tetsuro Aikawa , Yoshinori Satoh , Makoto Ochiai , Tatsuya Oodake , Hiroyuki Adachi , Yasuhiro Yuguchi , Junichi Takabayashi
IPC分类号： H04N7/18
CPC分类号： G21C17/003 , G01N21/8803 , G01N21/8851 , G06T3/4069 , G06T7/0004 , G21C17/08 , G21F7/02
摘要： The present invention includes a camera which takes an image of a camera or an inspection target; a device which estimates the movement of the inspection target; a device which generates a high resolution image having a higher resolution than the pixel resolution of a video image taken by the camera from the video image taken by the camera; a device which evaluates the quality of the high resolution image generated by the generation device; and a device which presents an inspector who visually inspects the inspection target with the high resolution image together with the quality evaluation result of the high resolution image. The present invention can improve the reliability of inspection by use of the high resolution image as well as can reduce the inspection time, and further can guarantee the reliability of the inspection using a high resolution image.
摘要翻译：本发明包括拍摄相机或检查对象的图像的相机; 估计检查目标的移动的装置; 从相机拍摄的视频图像生成具有比由照相机拍摄的视频图像的像素分辨率高的分辨率的高分辨率图像的装置; 评估生成装置生成的高分辨率图像的质量的装置; 以及显示高分辨率图像的质量评价结果的高分辨率图像的视觉检查对象的检查器的装置。本发明可以通过使用高分辨率图像来提高检查的可靠性，并且可以减少检查时间，并且还可以使用高分辨率图像来保证检查的可靠性。

5. 发明授权

US08483444B2 Apparatus for inspecting and measuring object to be measured 有权
标题翻译：用于检测和测量被测物体的装置
公开(公告)号：US08483444B2
公开(公告)日：2013-07-09
申请号：US12664749
申请日：2008-06-13
申请人： Tetsuro Aikawa , Yoshinori Satoh , Tatsuya Oodake , Naruhiko Mukai , Hisashi Hozumi , Yasuhiro Yuguchi
发明人： Tetsuro Aikawa , Yoshinori Satoh , Tatsuya Oodake , Naruhiko Mukai , Hisashi Hozumi , Yasuhiro Yuguchi
IPC分类号： G06K9/00
CPC分类号： G01C3/06 , G01B11/026 , G01B11/2513 , G01B11/2545
摘要： An apparatus for inspecting and measuring an object to be measured includes: a distance measurement device having a light projector that projects a two-dimensional optical pattern onto a measurement target of the measurement object, imaging devices disposed in a stereoscopic arrangement that image the measurement object, and a driving device that rotates a posture of at least one of the imaging devices to control a parallax angle between the imaging devices; a working distance control device that controls the driving device and adjusts a position at which optical axes of the imaging devices intersect; and a distance calculation device having a correspondence position calculation device that determines a correspondence position at which the same region is imaged among images of the imaging devices, and a distance calculation devices that calculates a distance to the measurement target of the measurement object based on a calculation result of the calculation device.
摘要翻译：一种用于检查和测量待测物体的装置，包括：具有将二维光学图案投影到测量对象的测量对象上的投影仪的距离测量装置，以测量对象成像的立体布置设置的成像装置以及驱动装置，其旋转所述成像装置中的至少一个的姿势，以控制所述成像装置之间的视差角; 工作距离控制装置，其控制所述驱动装置并调整所述摄像装置的光轴相交的位置; 以及距离计算装置，其具有对应位置计算装置，该对应位置计算装置确定在成像装置的图像之间成像相同区域的对应位置;以及距离计算装置，其计算与所述测量对象的测量对象的距离，计算装置的计算结果。

6. 发明申请

US20100183197A1 APPARATUS FOR INSPECTING AND MEASURING OBJECT TO BE MEASURED 有权
标题翻译：检测和测量对象要测量的装置
公开(公告)号：US20100183197A1
公开(公告)日：2010-07-22
申请号：US12664749
申请日：2008-06-13
申请人： Tetsuro Aikawa , Yoshinori Satoh , Tatsuya Oodake , Naruhiko Mukai , Hisashi Hozumi , Yasuhiro Yuguchi
发明人： Tetsuro Aikawa , Yoshinori Satoh , Tatsuya Oodake , Naruhiko Mukai , Hisashi Hozumi , Yasuhiro Yuguchi
IPC分类号： G06K9/00
CPC分类号： G01C3/06 , G01B11/026 , G01B11/2513 , G01B11/2545
摘要： An apparatus for inspecting and measuring an object to be measured includes: a distance measurement device having a light projector that projects a two-dimensional optical pattern onto a measurement target of the measurement object, imaging devices disposed in a stereoscopic arrangement that image the measurement object, and a driving device that rotates a posture of at least one of the imaging devices to control a parallax angle between the imaging devices; a working distance control device that controls the driving device and adjusts a position at which optical axes of the imaging devices intersect; and a distance calculation device having a correspondence position calculation device that determines a correspondence position at which the same region is imaged among images of the imaging devices, and a distance calculation devices that calculates a distance to the measurement target of the measurement object based on a calculation result of the calculation device.
摘要翻译：一种用于检查和测量待测物体的装置，包括：具有将二维光学图案投影到测量对象的测量对象上的投影仪的距离测量装置，以测量对象成像的立体布置设置的成像装置以及驱动装置，其旋转所述成像装置中的至少一个的姿势，以控制所述成像装置之间的视差角; 工作距离控制装置，其控制所述驱动装置并调整所述摄像装置的光轴相交的位置; 以及距离计算装置，其具有对应位置计算装置，该对应位置计算装置确定在成像装置的图像之间成像相同区域的对应位置;以及距离计算装置，其计算与所述测量对象的测量对象的距离，计算装置的计算结果。

7. 发明授权

US08325872B2 Working device and working method 有权
标题翻译：工作装置和工作方法
公开(公告)号：US08325872B2
公开(公告)日：2012-12-04
申请号：US12752783
申请日：2010-04-01
申请人： Mitsuaki Shimamura , Takeshi Maehara , Ikuko Kameyama , Hiroyuki Adachi , Yasuhiro Yuguchi , Toru Taguchi
发明人： Mitsuaki Shimamura , Takeshi Maehara , Ikuko Kameyama , Hiroyuki Adachi , Yasuhiro Yuguchi , Toru Taguchi
IPC分类号： G21C17/00
CPC分类号： G21C17/003 , B63C11/52 , G21C19/207 , G21Y2002/304 , G21Y2002/40 , G21Y2004/501 , G21Y2004/504
摘要： A working apparatus has: a working equipment for doing works on a structure; a folding/unfolding mechanism for conveying the working equipment to the working position in a folded state; a conveyance mechanism (such as a horizontal thruster) for conveying the working equipment and the folding/unfolding mechanism to the working position; a pressing mechanism (such as a ballast tank) for pressing the working equipment against the lower surface of the structure; and a traveling mechanism including a wheel for traveling along the lower surface of the structure and positioning the apparatus.
摘要翻译：工作设备有：在结构上进行工作的工作设备; 用于将工作设备以折叠状态传送到工作位置的折叠/展开机构; 用于将工作设备和折叠/展开机构输送到工作位置的输送机构（例如水平推进器）; 用于将工作设备压靠在结构的下表面上的按压机构（例如压载舱）; 以及行走机构，其包括用于沿着所述结构的下表面行进并定位所述装置的车轮。

8. 发明申请

US20120269311A1 IN-REACTOR PIPING WORK DEVICE AND IN-REACTOR PIPING WORK METHOD 审中-公开
标题翻译：反应器管道工作装置和反应器管道工作方法
公开(公告)号：US20120269311A1
公开(公告)日：2012-10-25
申请号：US13442243
申请日：2012-04-09
申请人： Yutaka TOGASAWA , Mitsuaki Shimamura , Hisashi Hozumi , Kenji Matsuzaki , Shinji Toki , Yasuhiro Yuguchi
发明人： Yutaka TOGASAWA , Mitsuaki Shimamura , Hisashi Hozumi , Kenji Matsuzaki , Shinji Toki , Yasuhiro Yuguchi
IPC分类号： G21C19/00 , G21C17/00
CPC分类号： G21C17/017 , G21C15/25 , G21C19/02 , G21C19/207
摘要： According to an embodiment, a horizontally moving stage is mounted on a cylindrical structure within a reactor pressure vessel, travels horizontally along the surface of the cylindrical structure by wheels, and is positioned above an in-reactor pipe by the operation of the horizontally moving stage. A hollow mast is carried by the horizontally moving stage, and is expandable and contractible in a vertical attitude. When the mast is in the vertical attitude, a probe is movable within the mast and performs work in the proximity to the inner surface of the in-reactor pipe. A cable passes through the mast to be connected to the probe.
摘要翻译：根据实施例，水平移动台安装在反应堆压力容器内的圆柱形结构上，通过轮沿着圆柱形结构的表面水平移动，并且通过水平移动台的操作而位于反应器内管。空心桅杆由水平移动的台架承载，并且以垂直姿态可展开和收缩。当桅杆处于垂直姿态时，探头可在桅杆内移动，并在反应器管内表面附近进行作业。电缆通过桅杆连接到探头。

9. 发明申请

US20070253518A1 Working device and working method 有权
标题翻译：工作装置和工作方法
公开(公告)号：US20070253518A1
公开(公告)日：2007-11-01
申请号：US11270823
申请日：2005-11-10
申请人： Mitsuaki Shimamura , Takeshi Maehara , Ikuko Kameyama , Hiroyuki Adachi , Yasuhiro Yuguchi , Toru Taguchi
发明人： Mitsuaki Shimamura , Takeshi Maehara , Ikuko Kameyama , Hiroyuki Adachi , Yasuhiro Yuguchi , Toru Taguchi
IPC分类号： G21C19/00
CPC分类号： G21C17/003 , B63C11/52 , G21C19/207 , G21Y2002/304 , G21Y2002/40 , G21Y2004/501 , G21Y2004/504
摘要： A working apparatus has: a working equipment for doing works on a structure; a folding/unfolding mechanism for conveying the working equipment to the working position in a folded state; a conveyance mechanism (such as a horizontal thruster) for conveying the working equipment and the folding/unfolding mechanism to the working position; a pressing mechanism (such as a ballast tank) for pressing the working equipment against the lower surface of the structure; and a traveling mechanism including a wheel for traveling along the lower surface of the structure and positioning the apparatus.
摘要翻译：工作设备有：在结构上进行工作的工作设备; 用于将工作设备以折叠状态传送到工作位置的折叠/展开机构; 用于将工作设备和折叠/展开机构输送到工作位置的输送机构（例如水平推进器）; 用于将工作设备压靠在结构的下表面上的按压机构（例如压载舱）; 以及行走机构，其包括用于沿着所述结构的下表面行进并定位所述装置的车轮。

10. 发明申请

US20100150296A1 PREVENTIVE MAINTENANCE/REPAIR DEVICE AND PREVENTIVE MAINTENANCE/REPAIR METHOD FOR CYLINDRICAL STRUCTURE 审中-公开
标题翻译：预防性维护/维修设备和预防性维护/缸体结构维修方法
公开(公告)号：US20100150296A1
公开(公告)日：2010-06-17
申请号：US12600774
申请日：2008-05-22
申请人： Yutaka Togasawa , Mitsuaki Shimamura , Hisashi Hozumi , Yasuhiro Yuguchi
发明人： Yutaka Togasawa , Mitsuaki Shimamura , Hisashi Hozumi , Yasuhiro Yuguchi
IPC分类号： G21C19/02
CPC分类号： G21C19/207 , G21C17/017
摘要： A preventive maintenance/repair device 10 of the present invention includes: a device body 11, and holding mechanisms 13a and 13b connected to the device body 11, the holding mechanisms 13a and 13b being configured to hold the device body 11 on an outer circumferential surface of a cylindrical structure 19. Further, the device body 11 is equipped with a traveling and driving part configured to be circumferentially movable along the outer circumferential surface of the cylindrical structure 19. Furthermore, each of the holding mechanisms 13a and 13b is equipped with a maintenance/repair mechanism 16 configured to maintain and repair the cylindrical structure 19.
摘要翻译：本发明的预防性维护/修理装置10包括：装置主体11和与装置主体11连接的保持机构13a，13b，保持机构13a，13b构成为将装置主体11保持在外周面另外，装置主体11配备有沿圆筒状结构体19的外周面周向移动的行进驱动部。另外，保持机构13a，13b中的每一个配备有维修/修理机构16构造成维持和修理圆柱形结构19。

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