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    • 6. 发明授权
    • Passing person counting apparatus
    • 通过人数计数器
    • US4278878A
    • 1981-07-14
    • US41187
    • 1979-05-21
    • Toshio Kato
    • Toshio Kato
    • G07C9/00G06M3/14
    • G07C9/00
    • A passing person counting apparatus, installed at a path (passageway) having a width allowing one person to pass through, for counting the number of persons who pass there in a various different mode or posture, automatically and exactly. It is provided with a trunk portion sensing section with at least a pair of photo-switches, installed at a height of the trunk portion of a human body with an inter-distance slightly narrower than the thickness of the trunk portion, and a leg portion sensing section with at least a pair of photo-switches, installed beneath the former and very closely to each other. The apparatus is constructed such that it counts up one person when at least the under-mentioned three conditions have been fulfilled: (1) all of the photo-switches of the trunk portion sensing section are simultaneously interrupted at least once; (2) the photo-switches of the leg portion sensing section are interrupted while at least one of the photo-switches of the trunk portion sensing section is being interrupted; and (3) the leg which has interrupted the photo-switches of the leg portion sensing section advances in the passing direction without making a turning back.
    • 自动准确地安装在具有允许一个人通过的宽度的路径(通道)上的通行人计数装置,用于对以各种不同的模式或姿势通过那里的人数进行计数。 设置有具有至少一对光电开关的躯干部分感测部分,该至少一对光电开关安装在人体躯干部分的高度处,其间距稍小于躯干部分的厚度,腿部部分 感测部分具有至少一对光开关,安装在前者之下并且彼此非常接近。 该装置被构造成使得当至少满足下述三个条件时,它对一个人进行计数:(1)主干部分感测部分的所有光开关同时中断至少一次; (2)当中断部分感测部分的至少一个光开关中断时,腿部感测部分的光电开关被中断; 和(3)中断腿部感测部分的光电开关的腿在通过方向上前进而不返回。
    • 8. 发明授权
    • High-speed picking system for stacked parts
    • 用于堆叠零件的高速拣选系统
    • US5446835A
    • 1995-08-29
    • US968065
    • 1992-10-29
    • Yasuhiro IidaYasuo HibiToshio KatoHiroshi Harada
    • Yasuhiro IidaYasuo HibiToshio KatoHiroshi Harada
    • B25J9/16G06K9/64G06K9/00
    • B25J9/1687B25J9/1697G06K9/6202G05B2219/40053
    • A stacked-part high-speed picking system for extracting a plurality of constitutive line segments from a two-dimensional image corresponding to stacked parts so as to recognize the parts on the basis of the constitutive line segments, thereby allowing parts to be picked up by a robot. The picking system has a first storage unit that stores a plurality of collative models. Each collative model is based upon data that specifies a configuration when a plurality of specific portions of the parts are disposed in one of a plurality of basic positions. The picking system also has a second storage unit that stores information relating to the robot so as to allow the robot to pick up specific portions of the parts. The picking system detects as one of the plurality of specific portions a portion of the two-dimensional image, which is recognized through a collation with the plurality of collative models, and determines a position of the detected specific portion. A command signal is supplied to the robot, when the robot has a plurality of hands, so as to select one of the plurality of hands in accordance with the detected specific portion and position the hand at the determined position.
    • 一种堆叠部分高速拾取系统,用于从对应于堆叠部分的二维图像中提取多个本构线段,以便基于构成线段识别部分,从而允许部件被拾取 机器人 拾取系统具有存储多个整理模型的第一存储单元。 每个整理模型基于当多个部分的特定部分被布置在多个基本位置中的一个中时指定配置的数据。 拾取系统还具有第二存储单元,其存储与机器人相关的信息,以便机器人拾取部件的特定部分。 拾取系统通过与多个整理模型对照来识别二维图像的一部分,并且确定检测到的特定部分的位置,来检测多个特定部分中的一个。 当机器人具有多只手时,向机器人提供指令信号,以根据检测到的特定部分选择多只手中的一只,并将手放置在所确定的位置。