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1. 发明授权

US5611032A Numerical control unit to specify movement zone of moving part 失效
标题翻译：数字控制单元指定移动部件的移动区域
公开(公告)号：US5611032A
公开(公告)日：1997-03-11
申请号：US379657
申请日：1995-02-09
申请人： Syuji Matsuura , Kouji Yamamuro
发明人： Syuji Matsuura , Kouji Yamamuro
IPC分类号： G05B19/408 , B23Q15/00 , G05B19/4061 , G05B19/4093 , G06T3/00
CPC分类号： G05B19/40932 , G05B19/4061 , G05B2219/35141 , G05B2219/36257 , G05B2219/49137 , Y02P90/265
摘要： On a screen, a shape is specified by inputting the figure data (I, J, R) specifying the shape, and a zone is specified by specifying at least one side (limit region 0) of the zone divided by contour of the shape. With this method of specifying a zone, the movement zone or the prohibition zone of the moving part being controlled can easily be specified without strictly defining as numerical data the position information about the aftermove position or the movement limit of the moving part to be controlled.
摘要翻译： PCT No.PCT / JP94 / 00931 Sec。 371日期：1995年2月9日 102（e）1995年2月9日PCT PCT 1994年6月8日PCT公布。出版物WO94 / 29777 日期1994年12月22日在屏幕上，通过输入指定形状的图形数据（I，J，R）来指定形状，并且通过指定区域的至少一侧（极限区域0）来指定区域，形状的轮廓。通过这种指定区域的方法，可以容易地指定被控制的移动部件的移动区域或禁止区域，而不必严格地将数据数据定义为关于待控制的移动部件的后移位置或移动极限的位置信息。

2. 发明授权

US5410489A Method of specifying position to create fillet curved surface 失效
标题翻译：指定位置创建圆角曲面的方法
公开(公告)号：US5410489A
公开(公告)日：1995-04-25
申请号：US979867
申请日：1993-02-26
申请人： Masaki Seki , Osamu Hanaoka
发明人： Masaki Seki , Osamu Hanaoka
IPC分类号： G05B19/4093 , G05B19/4097 , G05B19/4099 , G06F15/46
CPC分类号： G05B19/4099 , G05B19/40938 , G05B2219/24139 , G05B2219/25232 , G05B2219/34098 , G05B2219/35114 , G05B2219/35141 , Y02P90/265
摘要： Disclosed is a method of specifying with a program language the location of a fillet to be created at the intersection of a compound curved surface. After the processings for inputting information on a curved surface and information for cutting the same (S1, S2) and calculating the curved surfaces (S3) have been completed, a system receives information on the alternative of inserting a concave fillet or inserting a convex fillet (S4). When the inputted information is for the concave fillet, based on the inputted information (S5), the system executes a predetermined calculation so as to create the concave fillet curved surface at the boundary between two curved surfaces, each on the side to which their respective normal vectors are directed (S6). On the other hand, when the input is the convex fillet, the system executes a predetermined calculation to create the convex fillet curved surface at the boundary between the two surfaces, each on the side opposite to the side to which their respective normal vectors are directed (S7).
摘要翻译： PCT No.PCT / JP92 / 00854 Sec。 371日期：1993年2月26日 102（e）日期1993年2月26日PCT提交1992年7月6日PCT公布。第WO93 / 01535号公报日期1993年1月21日。公开是一种使用程序语言指定要在复合曲面的交叉处创建的圆角的位置的方法。在完成了用于在曲面上输入信息的处理和用于切割曲面的信息（S1，S2）和计算曲面（S3）之后，系统接收关于插入凹角或插入凸角的替代方案的信息（S4）。当所输入的信息是针对凹面圆角时，基于输入的信息（S5），系统执行预定的计算，以便在两个曲面之间的边界处形成凹曲面曲面，法线向量被定向（S6）。另一方面，当输入为凸角时，系统执行预定的计算，以在两个表面之间的边界处产生凸角圆弧曲面，每个在与它们各自的法向量指向的一侧相对的一侧（S7）。

3. 发明公开

EP0664498A1 REGION DESIGNATING METHOD 失效
标题翻译： VERFAHREN ZUR BEZEICHNUNG EINES GEBIET。
公开(公告)号：EP0664498A1
公开(公告)日：1995-07-26
申请号：EP94917787.7
申请日：1994-06-08
申请人： FANUC LTD.
发明人： MATSUURA, Syuji , YAMAMURO, Kouji Fanuc Dai-3 Vira-karamatsu
IPC分类号： G05B19/405
CPC分类号： G05B19/40932 , G05B19/4061 , G05B2219/35141 , G05B2219/36257 , G05B2219/49137 , Y02P90/265
摘要： On a designated display screen, shape data (I, J, R) for specifying a shape is input to designate the shape, and at least one side (limit area 0) of a region which is defined by a profile of the shape is specified to designate the region. With this region designating method, designation of a region can be readily performed with respect to a moving region and a forbidden region in a movable portion to be controlled without accurately defining as numerical data positional information regarding positions of movement and bounds of movement in the movable portion to be controlled.
摘要翻译：在指定的显示屏幕上，输入用于指定形状的形状数据（I，J，R）以指定形状，并且指定由形状的轮廓限定的区域的至少一个侧面（极限区域0）指定该地区。利用该区域指定方法，可以容易地对待控制的可移动部分中的移动区域和禁止区域进行区域的指定，而无需精确定义关于可移动的移动位置和运动边界的数字数据位置信息待控制的部分。

4. 发明申请

WO1993001535A1 METHOD FOR SPECIFYING POSITION WHERE FILLET CURVED SURFACE IS LOCATED 审中-公开
标题翻译：用于指定填充表面弯曲位置的方法
公开(公告)号：WO1993001535A1
公开(公告)日：1993-01-21
申请号：PCT/JP1992000854
申请日：1992-07-06
申请人： FANUC LTD , SEKI, Masaki , HANAOKA, Osamu
发明人： FANUC LTD
IPC分类号： G05B19/403
CPC分类号： G05B19/4099 , G05B19/40938 , G05B2219/24139 , G05B2219/25232 , G05B2219/34098 , G05B2219/35114 , G05B2219/35141 , Y02P90/265
摘要： A method capable of specifying the position of a fillet curved surface to be created on the intersection part of composite curved surfaces by the use of a program language. In this method, after the information on the composite curved surfaces and on the cutting thereof are inputted (S1, S2), and the composite curved surfaces are calculated (S3), the information whether the fillet curved surface to be inserted is either convex or concave is given to a system (S4). Then, according to the information thereof, if the content of the input is a concave curved surface (S5), the system so executes a predetermined calculation that the fillet curved surface is created in the boundary part between the curved surfaces either of which is on the side where normal vectors point (S6). On the other hand, if the content of the input is a convex curved surface, the system so executes the predetermined calculation that the fillet curved surface is created in the boundary part between the curved surfaces either or which is on the side opposite to the directions where normal vectors point (S7).

5. 发明申请

WO1991011797A1 IMAGE PROCESSOR 审中-公开
标题翻译：图像处理器
公开(公告)号：WO1991011797A1
公开(公告)日：1991-08-08
申请号：PCT/JP1991000111
申请日：1991-01-30
申请人： OMRON CORPORATION , YONEDA, Satoshi
发明人： OMRON CORPORATION
IPC分类号： G09G05/00
CPC分类号： G06T1/0007 , G05B2219/35141
摘要： The image data representing an imaged object are output from an imaging device (17), and converted through an A/D converter circuit (16) whose output is stored in an image data memory (11). There is provided a display screen divided into predetermined measurement regions. Another data memory (13) stores in advance region designation data that indicate whether individual pixels are inside or outside the measurement regions. The image data and the region designation data stored in the memories (11) and (13) are read out in synchronism for each of the pixels and sent to a display control unit (15). A CPU (19) sets codes to the display control unit (15), such as a code indicating that a special form of display is required for a given region; a code indicating which of binary or halftone images is to be displayed inside and outside a given region, respectively; and a code for designating the threshold level for preparing binary image data. Depending upon the codes thus set, the display control unit (15) forms and outputs video signals that represent either a binary image or a halftone image for display both inside and outside each region.
摘要翻译：表示成像对象的图像数据从成像装置（17）输出，并通过其输出存储在图像数据存储器（11）中的A / D转换器电路（16）进行转换。提供分为预定测量区域的显示屏幕。另一数据存储器（13）预先存储指示各个像素是否在测量区域内部或外部的区域指定数据。存储在存储器（11）和（13）中的图像数据和区域指定数据对于每个像素被同步读出并发送到显示控制单元（15）。 CPU（19）向显示控制单元（15）设置代码，例如指示给定区域需要特殊形式的显示的代码; 分别指示在给定区域内和外部显示二进制或半色调图像中的哪一个的代码; 以及用于指定准备二值图像数据的阈值水平的代码。根据这样设置的代码，显示控制单元（15）形成并输出表示二进制图像或半色调图像的视频信号，用于在每个区域内外显示。

6. 发明申请

WO1994029777A1 REGION DESIGNATING METHOD 审中-公开
标题翻译：区域指定方法
公开(公告)号：WO1994029777A1
公开(公告)日：1994-12-22
申请号：PCT/JP1994000931
申请日：1994-06-08
申请人： FANUC LTD , MATSUURA, Syuji , YAMAMURO, Kouji
发明人： FANUC LTD
IPC分类号： G05B19/405
CPC分类号： G05B19/40932 , G05B19/4061 , G05B2219/35141 , G05B2219/36257 , G05B2219/49137 , Y02P90/265
摘要： On a designated display screen, shape data (I, J, R) for specifying a shape is input to designate the shape, and at least one side (limit area 0) of a region which is defined by a profile of the shape is specified to designate the region. With this region designating method, designation of a region can be readily performed with respect to a moving region and a forbidden region in a movable portion to be controlled without accurately defining as numerical data positional information regarding positions of movement and bounds of movement in the movable portion to be controlled.
摘要翻译：在指定的显示屏幕上，输入用于指定形状的形状数据（I，J，R）以指定形状，并且指定由形状轮廓限定的区域的至少一个侧面（极限区域0）指定该地区。利用该区域指定方法，可以容易地对待控制的可移动部分中的移动区域和禁止区域进行区域的指定，而无需精确定义关于可移动的移动位置和移动范围的数字数据位置信息待控制的部分。

7. 发明公开

EP0547244A4 METHOD FOR SPECIFYING POSITION WHERE FILLET CURVED SURFACE IS LOCATED 失效
标题翻译：用于指定填充表面弯曲位置的方法
公开(公告)号：EP0547244A4
公开(公告)日：1993-08-11
申请号：EP92914390
申请日：1992-07-06
申请人： FANUC LTD.
发明人： SEKI, MASAKI, 5-17-23, KUGAYAMA , HANAOKA, OSAMU, FANUC MANSHONHARIMOMI ROOM 9-304
IPC分类号： G05B19/4093 , G05B19/4097 , G05B19/4099 , G05B19/403
CPC分类号： G05B19/4099 , G05B19/40938 , G05B2219/24139 , G05B2219/25232 , G05B2219/34098 , G05B2219/35114 , G05B2219/35141 , Y02P90/265
摘要： A method capable of specifying the position of a fillet curved surface to be created on the intersection part of composite curved surfaces by the use of a program language. In this method, after the information on the composite curved surfaces and on the cutting thereof are inputted (S1, S2), and the composite curved surfaces are calculated (S3), the information whether the fillet curved surface to be inserted is either convex or concave is given to a system (S4). Then, according to the information thereof, if the content of the input is a concave curved surface (S5), the system so executes a predetermined calculation that the fillet curved surface is created in the boundary part between the curved surfaces either of which is on the side where normal vectors point (S6). On the other hand, if the content of the input is a convex curved surface, the system so executes the predetermined calculation that the fillet curved surface is created in the boundary part between the curved surfaces either or which is on the side opposite to the directions where normal vectors point (S7).

8. 发明公开

EP0547244A1 METHOD FOR SPECIFYING POSITION WHERE FILLET CURVED SURFACE IS LOCATED 失效
标题翻译： VERFAHREN ZUR BESTIMMUNG DER POSITION EINER AUSGERUNDETENBOGENFÖRMIGENOBERFLÄCHE。
公开(公告)号：EP0547244A1
公开(公告)日：1993-06-23
申请号：EP92914390.7
申请日：1992-07-06
申请人： FANUC LTD.
发明人： SEKI, Masaki, 5-17-23, Kugayama , HANAOKA, Osamu, Fanuc Manshonharimomi Room 9-304
IPC分类号： G05B19/403 , G05B19/405
CPC分类号： G05B19/4099 , G05B19/40938 , G05B2219/24139 , G05B2219/25232 , G05B2219/34098 , G05B2219/35114 , G05B2219/35141 , Y02P90/265
摘要： A method capable of specifying the position of a fillet curved surface to be created on the intersection part of composite curved surfaces by the use of a program language. In this method, after the information on the composite curved surfaces and on the cutting thereof are inputted (S1, S2), and the composite curved surfaces are calculated (S3), the information whether the fillet curved surface to be inserted is either convex or concave is given to a system (S4). Then, according to the information thereof, if the content of the input is a concave curved surface (S5), the system so executes a predetermined calculation that the fillet curved surface is created in the boundary part between the curved surfaces either of which is on the side where normal vectors point (S6). On the other hand, if the content of the input is a convex curved surface, the system so executes the predetermined calculation that the fillet curved surface is created in the boundary part between the curved surfaces either or which is on the side opposite to the directions where normal vectors point (S7).
摘要翻译：一种能够通过使用程序语言来指定要在复合曲面的交叉部分上产生的圆角曲面的位置的方法。在该方法中，在输入复合曲面和切割后的信息（S1，S2）之后，计算复合曲面（S3），判断要插入的圆角曲面是凸状还是凸状给予系统凹（S4）。然后，根据其信息，如果输入的内容是凹曲面（S5），则系统执行预定的计算，即在其中任何一个的曲面的曲面之间的边界部分中形成圆角曲面法线矢量指向的一侧（S6）。另一方面，如果输入的内容是凸曲面，则系统执行预定的计算，即在曲面之间或者与方向相反的一侧的边界部分中产生圆角曲面其中法向量点（S7）。

9. 发明专利

JP3574462B2 Area Specification 失效
公开(公告)号：JP3574462B2
公开(公告)日：2004-10-06
申请号：JP16506593
申请日：1993-06-11
申请人：ファナック株式会社
发明人：幸二山室 , 周二松浦
IPC分类号： G05B19/408 , B23Q15/00 , G05B19/4061 , G05B19/4093
CPC分类号： G05B19/40932 , G05B19/4061 , G05B2219/35141 , G05B2219/36257 , G05B2219/49137 , Y02P90/265

10. 发明公开

EP2409816A2 Manipulatorsteuerung 有权转让
公开(公告)号：EP2409816A2
公开(公告)日：2012-01-25
申请号：EP11005535.7
申请日：2011-07-06
申请人： KUKA Roboter GmbH
发明人： Hollmann, Stefan
IPC分类号： B25J9/16
CPC分类号： B25J9/1676 , G05B2219/35141 , G05B2219/36432 , G05B2219/40117 , G05B2219/40118 , G05B2219/40478 , G05B2219/49137
摘要： Ein erfindungsgemäßes Verfahren zum Steuern eines Manipulators, insbesondere eines Roboters (1), umfasst die Schritte:
(S1): Vorgeben einer virtuellen Störkontur (2) auf Basis einer
Manipulatoraufgabe, insbesondere einer anzufahrenden Pose (TCP → Z) oder abzufahrenden Bahn; und
(S3): automatisches Steuern des Manipulators in Relation zu der virtuellen
Störkontur.
摘要翻译：该方法涉及预先设定（S1）对应于操纵器任务的虚拟干涉轮廓，特别是行进路径，以及对应于虚拟干涉轮廓的机械手的自动控制（S3）。操纵器被引导或沿着干涉轮廓被控制。干涉轮廓接近（S2）动态或部分自动化。还包括以下独立权利要求：（1）用于控制机械手，特别是机器人的控制器; 和（2）计算机程序产品包括程序代码。

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