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1. 发明公开

EP4400278A1 ROBOT CONTROL SYSTEM 审中-实审
公开(公告)号：EP4400278A1
公开(公告)日：2024-07-17
申请号：EP22867441.2
申请日：2022-09-09
申请人： DENSO WAVE INCORPORATED
发明人： YAMAMOTO, Tomoya
IPC分类号： B25J19/06
CPC分类号： B25J19/06
摘要： There is provided a robot control system capable of suitably improving robot safety and work efficiency. The robot control system includes a safety-related unit, a situation identifying unit, and a determination criterion switching unit. The safety-related unit includes a motion judgment unit that judges a motion of a robot based on a safety-related input signal that includes parameters correlated with at least one of a force, a speed, and a position of the robot and determination criterion for the parameters stored in advance. The safety-related unit realizes a safety function of the robot by generating a safety-related output signal depending on a judged result of the motion judgment unit, thereby realizing the safety function. The situation identifying unit identifies a work condition of the robot which is in operation currently, from a plurality of work conditions which are set previously for work to be performed by the robot. The determination criterion switching unit switches the determination criterion for the parameters, which are referred by the motion judgment unit, to a determination criterion corresponding to the work condition identified by the situation identifying unit.

2. 发明公开

EP4300035A1 THREE-DIMENSIONAL MEASUREMENT SYSTEM 审中-实审
公开(公告)号：EP4300035A1
公开(公告)日：2024-01-03
申请号：EP22759171.6
申请日：2022-01-20
申请人： DENSO WAVE INCORPORATED
发明人： KATSURA, Shoji
IPC分类号： G01B11/25
摘要： To provide a three dimensional measurement system capable of removing a background with high precision. The three dimensional measurement system has a measurement unit 20 that images a measuring object and that has a light projecting device projecting a projected light PL onto the measuring object and a light receiving device receiving a reflected light RL. The three dimensional measurement system is equipped with a specular reflection member 31 that forms a mounting surface for mounting the measuring object and reflects the projected light at a specific angle. The three dimensional measurement system is equipped with a data acquisition unit that acquires an imaging data and a coordinate calculation unit that calculates a three dimensional coordinates for a part of the imaging data whose brightness is higher than a lower limit brightness and does not calculate the three dimensional coordinates for a part whose brightness is lower than the lower limit brightness. The light receiving device is arranged at a position where a brightness of a part where the specular reflection member is imaged is lower than the lower limit brightness.

3. 发明公开

EP3889824A1 INFORMATION CODE READING SYSTEM, INFORMATION CODE READER, AND INFORMATION CODE 审中-公开
公开(公告)号：EP3889824A1
公开(公告)日：2021-10-06
申请号：EP21165533.7
申请日：2021-03-29
申请人： DENSO WAVE INCORPORATED
发明人： SUGIYAMA, Wataru
IPC分类号： G06K7/10 , G06K19/06
摘要： There is provided an information code (C) in which first cells (Ce1) have lightness (Lr1) that is intermediate between lightness (Lr2) of second cells (Ce2) and lightness (Lrm) of a predetermined marginal area (Cm). The first cells and the second cells are configured to have a difference in lightness therebetween sufficiently smaller than a difference in lightness between the first cells and the predetermined marginal area, in a predetermined area occupying at least a part of the code area. There is also provided an information code reader (30) in which colors of an image of the information code captured by an imaging unit are corrected such that the difference in lightness between the first and second cells increases. Using the corrected image, decoding processing is performed to decode the information code.

4. 发明公开

EP3865906A1 TAG MEASUREMENT ENVIRONMENT EVALUATION DEVICE 有权
公开(公告)号：EP3865906A1
公开(公告)日：2021-08-18
申请号：EP21153901.0
申请日：2021-01-28
申请人： DENSO WAVE INCORPORATED
发明人： OGAWA, Masayuki
IPC分类号： G01S13/75 , G06K7/10
摘要： A tag measurement environment evaluation device includes an evaluation value determination section (S2) configured to determine a moving tag evaluation value of each of a plurality of wireless tags based on a radio wave transmitted from each of the wireless tags and received by a tag reader (10), a representative value determination section (S3) configured to determine a moving tag evaluation representative value that is a representative value of the moving tag evaluation values of the wireless tags, and an environment evaluation section (S5) configured to determine, based on the moving tag evaluation representative value, whether a measurement environment is suitable for a moving tag detection in which moving tags are detected while being distinguished from stop tags.

5. 发明公开

EP3809692A3 IMAGING DEVICE PROVIDED WITH EVENT-BASED CAMERA 有权
公开(公告)号：EP3809692A3
公开(公告)日：2021-06-30
申请号：EP20202301.6
申请日：2020-10-16
申请人： DENSO WAVE INCORPORATED
发明人： MITANI, Yusuke
IPC分类号： H04N5/341 , H04N5/232
摘要： An imaging device in which an autofocus function can be performed without using brightness information is provided. In an imaging device (10) according to one aspect, a density of points obtained by plotting two-dimensional point data of a plurality of event data (PD) as points on a plane (SH), the event data outputted from an imaging element (21) in a predetermined period in a state in which a focal point of a light receiving lens (22) is adjusted by an adjustment mechanism (23), is calculated as a point density. When the point density is calculated, a control unit (11) drives and controls the adjustment mechanism (23) based on comparison results between the point density currently calculated and the point density last calculated to thereby adjust the focal point toward the in-focus position. In another aspect, an imaging device having an autofocus function can be provided without using event data.

6. 发明公开

EP3809692A2 IMAGING DEVICE PROVIDED WITH EVENT-BASED CAMERA 有权
公开(公告)号：EP3809692A2
公开(公告)日：2021-04-21
申请号：EP20202301.6
申请日：2020-10-16
申请人： DENSO WAVE INCORPORATED
发明人： MITANI, Yusuke
IPC分类号： H04N5/341 , H04N5/232
摘要： An imaging device in which an autofocus function can be performed without using brightness information is provided. In an imaging device (10) according to one aspect, a density of points obtained by plotting two-dimensional point data of a plurality of event data (PD) as points on a plane (SH), the event data outputted from an imaging element (21) in a predetermined period in a state in which a focal point of a light receiving lens (22) is adjusted by an adjustment mechanism (23), is calculated as a point density. When the point density is calculated, a control unit (11) drives and controls the adjustment mechanism (23) based on comparison results between the point density currently calculated and the point density last calculated to thereby adjust the focal point toward the in-focus position. In another aspect, an imaging device having an autofocus function can be provided without using event data.

7. 发明授权

EP2937819B1 SYSTEM WHICH USES INFORMATION CODE 有权转让
公开(公告)号：EP2937819B1
公开(公告)日：2020-08-12
申请号：EP13864855.5
申请日：2013-12-18
申请人： Denso Wave Incorporated
发明人： NOSAKA, Kazuto , NAKAYAMA, Shin , TANAKA, Masami , YODA, Takuya
IPC分类号： G06K19/06 , G06K1/12 , G06K7/10 , G06K7/14 , G06K9/00 , G06Q10/00 , G06Q30/00 , G06Q50/26 , H04L29/06 , G06F16/955

8. 发明公开

EP3651443A1 OPTICAL INFORMATION READING DEVICE 审中-公开
公开(公告)号：EP3651443A1
公开(公告)日：2020-05-13
申请号：EP18827425.2
申请日：2018-07-02
申请人： Denso Wave Incorporated
发明人： ARAKI, Ryosuke , IKEDA, Kyosuke
IPC分类号： H04N1/10 , F21S2/00 , G06K7/10 , G06T1/00 , H03K17/96 , H04N1/00 , H04N5/222
摘要： There is provided an optical information reader (10). The reader includes a reflective member (50) that reflects illumination light (Lf) emitted from an illuminant (21) toward a reading surface (14), and an image former (27) that is ensured to present an imaging target held over the reading surface within an imaging region of an imager (23). The imaging region includes a first imaging region (AR1) defined between the image former and the reading surface, and a second imaging region (AR2) defined between the reading surface and the reflective member so as to be continuous to the first imaging region (AR1) when light is internally reflected on the reading surface inside the housing. The reflective member is arranged outside the first imaging region, while the illuminant, the imager and the image former are arranged outside the second imaging region. The illuminant emits illumination light toward a reflecting surface (55) of the reflective member in the second imaging region. Preferably, an operation part and a display may be arranged on the top surface of the housing of the reader (10) so as to be located at a surface portion at an end continuous to one side of the reading surface.

9. 发明公开

EP3511127A3 CONTROLLER FOR ROBOT AND INVERSE TRANSFORM METHOD FOR ROBOT 有权
公开(公告)号：EP3511127A3
公开(公告)日：2020-01-01
申请号：EP18207587.9
申请日：2018-11-21
申请人： DENSO WAVE INCORPORATED
发明人： KAWASE, Daisuke , KAWACHI, Yuto , SATO, Masanori
IPC分类号： B25J9/16
摘要： In an industrial robot provided with an offset arm, an inverse transform process can be used. One example is targeted to a robot (2) with a vertical 6-axis articulated arm having an offset arm (8), the offset am being provided with a fifth axis, mutually liking a fourth axis and a sixth axis, and having a link length (d5), shaft centers of the fourth and sixth axes being parallel with each other, the arm having a head portion designated as a control point, a position and an orientation targeted to the control point being processed by an inverse transform in order to calculate angles of the axes. The angle (θ 6A ) of the sixth axis provisionally decided, and from it angle, a direction of the offset arm (8) is obtained. A provisional target position (P 6A ) of the sixth axis is obtained by subtracting the link length d5 from a target position P 6 of the sixth axis. The link length (d5) to the provisional target position (P A ) is given zero in order to perform the inverse transform process. Processed results are then evaluated by an evaluation function. Until a difference between a calculated sixth-axis angles (θ 6 ) and the provisionally decided sixth-axis angles (θ 6A ) becomes equal to or less than a predetermined value, processes started from the angel provisional decision of the sixth axis are repeatedly performed.

10. 发明授权

EP3089071B1 OPTICAL INFORMATION READER MANUALLY HANDLED BY USERS 有权
公开(公告)号：EP3089071B1
公开(公告)日：2019-11-13
申请号：EP16167499.9
申请日：2016-04-28
申请人： Denso Wave Incorporated
发明人： YAMAMOTO, Kenryo
IPC分类号： G06K7/10

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