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1. 发明授权

EP2682711B1 Apparatus and method for three-dimensional measurement and robot system comprising said apparatus 失效
标题翻译：设备和方法，用于三维测量和机器人系统，该装置
公开(公告)号：EP2682711B1
公开(公告)日：2016-02-03
申请号：EP13174627.3
申请日：2013-07-02
申请人： Canon Kabushiki Kaisha
发明人： Suzuki, Hideaki , Hayashi, Tadashi
IPC分类号： G01B11/00 , G06T7/00
CPC分类号： G06T7/593 , G01B11/002 , G06T2207/10012 , G06T2207/30164 , Y10S901/46
摘要： There are provided a three-dimensional measurement apparatus capable of speeding up image processing, and a robot system including the same. The three-dimensional measurement apparatus includes: a base camera 22 for capturing an image of a workpiece; a reference camera 23 for capturing an image of the workpiece from a view point different from the base camera 22; and a camera control unit 5 for calculating three-dimensional coordinates from a first image acquired by capturing the workpiece with the base camera 22 and preset virtual workpiece depth information, calculating the projection of a three-dimensional image of the workpiece to the reference camera 23 from the calculated three-dimensional coordinates and a posture parameter of the reference camera 23 relative to the base camera 22, setting a cropping range of the reference camera 23 based on the calculated projection, and measuring a three-dimensional position of the workpiece from the first image captured with the base camera 22 and a second image cropped in the cropping range of the reference camera 23.
摘要翻译：本发明提供能够加快图像处理的三维测量装置，和一个机器人系统包括相同。在三维测量装置，包括：用于捕获工件的图像的基础照相机22; 用于捕获从基地相机22不同的视点的工件的图像的参考相机23; 和照相机控制单元5，用于从通过拍摄所述工件与所述基部照相机22和预设的虚拟工件的深度信息，计算所述工件的所述参考照相机23的三维图像的投影获取的第一图像计算三维坐标从所计算的三维坐标和参照相机23相对于基座照相机22的姿势参数，设置基于所计算的投影的基准相机23的裁剪范围，并且测量从所述工件的三维位置与相机基部22和第二图像捕获第一图像裁剪在基准相机23的裁剪范围

2. 发明公开

EP2767370A3 Robot system and method for controlling the same 审中-公开
标题翻译：该机器人系统及其控制方法
公开(公告)号：EP2767370A3
公开(公告)日：2014-12-17
申请号：EP14153271.3
申请日：2014-01-30
申请人： Canon Kabushiki Kaisha
发明人： Suzuki, Hideaki
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1697 , G05B2219/39045 , G05B2219/39057 , G05B2219/45064 , Y10S901/09 , Y10S901/47
摘要： A robot system which requires no manual teaching operation in acquiring calibration values for coordinate transformation, and improves the calibration accuracy includes a robot body, a camera, and a control apparatus. The control apparatus measures, via the camera, a calibration plate at each position and orientation of a first position and orientation group including a reference measurement position and orientation and a position and orientation within a first offset range, calculates a first calibration value based on the measurement value, measures, via the camera, the calibration plate at each position and orientation of a second position and orientation group including a reference operation position and orientation different from the reference measurement position and orientation, and a position and orientation within a second offset range, calculates a second calibration value based on the measurement value, and activates the robot body by using the first and second calibration values.

3. 发明公开

EP1462869A2 Image forming apparatus for control of a developer supply container 审中-公开
标题翻译： Bilderzeugungsgerätmit Steuerung einesEntwicklerzufuhrbehälters
公开(公告)号：EP1462869A2
公开(公告)日：2004-09-29
申请号：EP04005567.5
申请日：2004-03-09
申请人： CANON KABUSHIKI KAISHA
发明人： Suzuki, Hideaki
IPC分类号： G03G15/08
CPC分类号： G03G15/0822 , G03G2215/00037 , G03G2215/0609
摘要： An image forming apparatus in which the presence or absence of a toner remaining in a toner storing portion (5) is judged by such a patch detecting method that a wrong judgment about presence or absence of the toner can be prevented and, still, a lowering of image forming density can be suppressed. The image forming apparatus has a first toner supply controller for controlling the driving time of a toner supplying portion (9) on the basis of the video count number of the density signal of an image information signal, and a second toner supply controller for correcting the driving time of the toner supplying portion (9,8) determined by the first toner controller, the presence or absence of the toner remaining in the toner storing portion (5) being judged on the basis of the density signal of a standard toner patch image as reference. When the density signal of this standard toner image is equal to or less than a predetermined value, the driving time of the toner supplying portion (8), additionally corrected gradually per image by the second toner supply controller, is made longer than when the density signal of the standard toner image is greater than the predetermined value.
摘要翻译：一种图像形成装置，其中通过这种补丁检测方法来判断残留在调色剂存储部分（5）中是否存在调色剂存储部分，可以防止调色剂存在或不存在的错误判断，并且还可以降低可以抑制图像形成密度。图像形成装置具有第一调色剂供给控制器，用于根据图像信息信号的浓度信号的视频计数来控制调色剂供应部分（9）的驱动时间;以及第二调色剂供应控制器，由第一调色剂控制器确定的调色剂供应部分（9,8）的驱动时间，基于标准调色剂片图像的浓度信号判断残留在调色剂存储部分（5）中的调色剂的存在或不存在作为参考。当该标准调色剂图像的浓度信号等于或小于预定值时，通过第二调色剂供应控制器逐渐地逐个校正图像的调色剂供应部分（8）的驱动时间比当密度标准调色剂图像的信号大于预定值。

4. 发明授权

EP2682710B1 Apparatus and method for three-dimensional measurement and robot system comprising said apparatus 失效
标题翻译：设备和方法，用于三维测量和机器人系统，该装置
公开(公告)号：EP2682710B1
公开(公告)日：2016-02-03
申请号：EP13174626.5
申请日：2013-07-02
申请人： Canon Kabushiki Kaisha
发明人： Suzuki, Hideaki
IPC分类号： G01B11/00 , G06T7/00 , H04N13/02
CPC分类号： G06T7/593 , G01B11/002 , G05B2219/37567 , G06T7/564 , G06T2207/10012 , G06T2207/30164 , H04N13/239 , H04N2013/0081 , Y10S901/46
摘要： The three-dimensional measurement apparatus includes: a base camera for capturing a workpiece to acquire a first image; a reference camera for capturing the workpiece from a view point different from the base camera to acquire a second image; and a camera control unit for extracting multiple edge lines from the first and second images, calculating line-of-sight errors with respect to provisional three-dimensional coordinates, wherein the line-of-sight errors are calculated at an endpoint of a first edge line selected from the multiple edge lines of the first image and an endpoint of a second edge line extracted from the multiple edge lines of the second image to correspond to the first edge line, setting an evaluation function from the line-of-sight errors, and a three-dimensional constraint condition set based on a shape of the workpiece, and making an optimization calculation of the evaluation function to measure the three-dimensional coordinates of the workpiece.
摘要翻译：在三维测量装置，包括：用于捕捉工件获取第一图像的基础照相机; 基准相机，用于捕获由从基部相机获取第二图像不同的视点的工件; 和用于从所述第一和第二图像中提取的多个边缘线，计算相对于临时三维坐标系的视线误差，worin线的视线的误差的摄像机控制单元在计算在第一边缘的端点从所述第一图像的所述多个边缘线，并在从所述第二图像的所述多个边缘线中提取对应于所述第一边缘线的第二边缘线的端点中选择，从线的视线的误差评价函数的设定线，和三维约束条件集基于所述工件的形状，并使得上的评价函数来测量工件的三维坐标的最优化计算。

5. 发明公开

EP2767370A2 Robot system and method for controlling the same 审中-公开
标题翻译：机器人系统和Verfahren zu seiner Steuerung
公开(公告)号：EP2767370A2
公开(公告)日：2014-08-20
申请号：EP14153271.3
申请日：2014-01-30
申请人： Canon Kabushiki Kaisha
发明人： Suzuki, Hideaki
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1697 , G05B2219/39045 , G05B2219/39057 , G05B2219/45064 , Y10S901/09 , Y10S901/47
摘要： A robot system which requires no manual teaching operation in acquiring calibration values for coordinate transformation, and improves the calibration accuracy includes a robot body, a camera, and a control apparatus. The control apparatus measures, via the camera, a calibration plate at each position and orientation of a first position and orientation group including a reference measurement position and orientation and a position and orientation within a first offset range, calculates a first calibration value based on the measurement value, measures, via the camera, the calibration plate at each position and orientation of a second position and orientation group including a reference operation position and orientation different from the reference measurement position and orientation, and a position and orientation within a second offset range, calculates a second calibration value based on the measurement value, and activates the robot body by using the first and second calibration values.
摘要翻译：一种机器人系统，其不需要手动教导操作来获取用于坐标变换的校准值，并且提高校准精度包括机器人主体，照相机和控制装置。所述控制装置经由所述照相机测量在第一位置和方向组的每个位置和方向上的校准板，所述第一位置和方向组包括参考测量位置和方位以及在第一偏移范围内的位置和取向，基于所述第一校准值测量值，通过照相机测量在每个位置处的校准板和第二位置的取向以及包括与参考测量位置和取向不同的参考操作位置和取向的定向组，以及在第二偏移范围内的位置和取向基于测量值计算第二校准值，并且通过使用第一和第二校准值来激活机器人主体。

6. 发明公开

EP2682711A1 Apparatus and method for three-dimensional measurement and robot system comprising said apparatus 失效
标题翻译：设备和方法，用于三维测量和机器人系统，该装置
公开(公告)号：EP2682711A1
公开(公告)日：2014-01-08
申请号：EP13174627.3
申请日：2013-07-02
申请人： Canon Kabushiki Kaisha
发明人： Suzuki, Hideaki , Hayashi, Tadashi
IPC分类号： G01B11/00 , B25J9/16 , H04N13/02
CPC分类号： G06T7/593 , G01B11/002 , G06T2207/10012 , G06T2207/30164 , Y10S901/46
摘要： There are provided a three-dimensional measurement apparatus capable of speeding up image processing, and a robot system including the same. The three-dimensional measurement apparatus includes: a base camera 22 for capturing an image of a workpiece; a reference camera 23 for capturing an image of the workpiece from a view point different from the base camera 22; and a camera control unit 5 for calculating three-dimensional coordinates from a first image acquired by capturing the workpiece with the base camera 22 and preset virtual workpiece depth information, calculating the projection of a three-dimensional image of the workpiece to the reference camera 23 from the calculated three-dimensional coordinates and a posture parameter of the reference camera 23 relative to the base camera 22, setting a cropping range of the reference camera 23 based on the calculated projection, and measuring a three-dimensional position of the workpiece from the first image captured with the base camera 22 and a second image cropped in the cropping range of the reference camera 23.

7. 发明授权

EP1462869B1 Image forming apparatus for control of a developer supply container 有权
公开(公告)号：EP1462869B1
公开(公告)日：2018-09-19
申请号：EP04005567.5
申请日：2004-03-09
申请人： CANON KABUSHIKI KAISHA
发明人： Suzuki, Hideaki
IPC分类号： G03G15/08
CPC分类号： G03G15/0822 , G03G2215/00037 , G03G2215/0609
摘要： An image forming apparatus in which the presence or absence of a toner remaining in a toner storing portion (5) is judged by such a patch detecting method that a wrong judgment about presence or absence of the toner can be prevented and, still, a lowering of image forming density can be suppressed. The image forming apparatus has a first toner supply controller for controlling the driving time of a toner supplying portion (9) on the basis of the video count number of the density signal of an image information signal, and a second toner supply controller for correcting the driving time of the toner supplying portion (9,8) determined by the first toner controller, the presence or absence of the toner remaining in the toner storing portion (5) being judged on the basis of the density signal of a standard toner patch image as reference. When the density signal of this standard toner image is equal to or less than a predetermined value, the driving time of the toner supplying portion (8), additionally corrected gradually per image by the second toner supply controller, is made longer than when the density signal of the standard toner image is greater than the predetermined value.

8. 发明公开

EP2682710A1 Apparatus and method for three-dimensional measurement and robot system comprising said apparatus 失效
标题翻译：用于三维测量的设备和方法以及包括所述设备的机器人系统
公开(公告)号：EP2682710A1
公开(公告)日：2014-01-08
申请号：EP13174626.5
申请日：2013-07-02
申请人： Canon Kabushiki Kaisha
发明人： Suzuki, Hideaki
IPC分类号： G01B11/00 , B25J9/16 , H04N13/02 , G06T7/00
CPC分类号： G06T7/593 , G01B11/002 , G05B2219/37567 , G06T7/564 , G06T2207/10012 , G06T2207/30164 , H04N13/239 , H04N2013/0081 , Y10S901/46
摘要： The three-dimensional measurement apparatus includes: a base camera for capturing a workpiece to acquire a first image; a reference camera for capturing the workpiece from a view point different from the base camera to acquire a second image; and a camera control unit for extracting multiple edge lines from the first and second images, calculating line-of-sight errors with respect to provisional three-dimensional coordinates, wherein the line-of-sight errors are calculated at an endpoint of a first edge line selected from the multiple edge lines of the first image and an endpoint of a second edge line extracted from the multiple edge lines of the second image to correspond to the first edge line, setting an evaluation function from the line-of-sight errors, and a three-dimensional constraint condition set based on a shape of the workpiece, and making an optimization calculation of the evaluation function to measure the three-dimensional coordinates of the workpiece.
摘要翻译：该三维测量设备包括：用于捕获工件以获取第一图像的基础相机; 基准照相机，用于从与基本照相机不同的视点捕捉工件以获取第二图像; 以及照相机控制单元，用于从第一和第二图像提取多条边缘线，计算关于临时三维坐标的视线误差，其中在第一边缘的端点处计算视线误差从第一图像的多个边缘线和从第二图像的多个边缘线提取的第二边缘线的端点选择与第一边缘线对应的线，根据视线误差设置评估函数，以及基于工件的形状设定的三维约束条件，并且对评价函数进行优化计算以测量工件的三维坐标。

9. 发明公开

EP1517193A1 Density detection of two-component developer in a color image forming apparatus 有权
标题翻译： einem nichtbenutztem的特许经营企业eeem Farbbildformungsapparat
公开(公告)号：EP1517193A1
公开(公告)日：2005-03-23
申请号：EP04022420.6
申请日：2004-09-21
申请人： CANON KABUSHIKI KAISHA
发明人： Suzuki, Hideaki , Ishida, Yusuke , Nishiyama, Kazushige
IPC分类号： G03G15/01 , G03G13/01 , G03G15/00
CPC分类号： G03G15/00 , G03G13/01 , G03G15/01
摘要： An image forming apparatus includes an image bearing member (25) for bearing an electrostatic latent image; developing means (17) for developing the latent image on the image bearing member with a developer including toner and carrier particles at a developing position, the developing means including a developer carrying member (3) for carrying the developer, a plurality of developing devices (1K,1Y,1M,1C) containing toner particles which have colors different from each other, and moving means (18) for carrying the developing devices to move a selected one of the developing devices to the developing position,
the apparatus further including density detecting means (91) for detecting a toner density on the developer carrying member (3) of the devices located at a position different from the developing position; control means (50), responsive to an output of the density detecting means (91), for controlling toner contents in the devices (1Y,1M,1C), wherein when the density detecting means effects its density detecting operation in an operation mode, in which only one of the devices is used, the control means effects the density detecting operation after the developer carrying member is rotated through a predetermined period of time, for the device which comes to the detecting a position by way of the developing position.
摘要翻译：图像形成装置包括用于承载静电潜像的图像承载部件（25）; 显影装置（17），用于在显影位置用包含调色剂和载体颗粒的显影剂在图像承载部件上显影潜像，所述显影装置包括用于承载显影剂的显影剂承载构件（3），多个显影装置 1K，1Y，1M，1C），以及移动装置（18），用于承载显影装置将所选择的一个显影装置移动到显影位置，该装置还包括浓度检测用于检测位于不同于显影位置的位置的装置的显影剂承载构件（3）上的调色剂浓度的装置（91）响应于所述浓度检测装置（91）的输出的用于控制所述装置（1Y，1M，1C）中的调色剂含量的控制装置（50），其中当所述浓度检测装置在操作模式下进行浓度检测操作时，在仅使用其中一个装置的情况下，控制装置在显影剂承载构件经过预定时间段之后对通过显影位置进行检测位置的装置进行浓度检测操作。

10. 发明公开

EP2853356A1 Robot calibrating apparatus and robot calibrating method, and robot apparatus and method of controlling robot apparatus 审中-公开
标题翻译：用于控制机器人Roboterkalibriervorrichtung和Roboterkalibrierverfahren和机器人装置和方法
公开(公告)号：EP2853356A1
公开(公告)日：2015-04-01
申请号：EP14185885.2
申请日：2014-09-23
申请人： Canon Kabushiki Kaisha
发明人： Suzuki, Hideaki , Amano, Shingo
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1697 , G05B2219/39008 , G05B2219/39044 , G05B2219/39045
摘要： A robot calibrating apparatus calibrating a command value for a robot body 2 whose position and orientation is controlled based on the command value, includes an operating unit configured to calculate a calibrating function of calibrating the command value, based on the difference between an ideal position and orientation of the robot body 2 and an actual position and orientation of the robot body 2. The ideal position and orientation is operated based on a command value R H T com for calibration used during calibration or on a control result value which is a result of control according to the command value. The actual position and orientation is operated based on a measurement value R H T' meas for calibration acquired by a camera 3 arranged at a prescribed relative position and orientation with respect to the robot body 2 during the robot body 2 being controlled according to the command value for calibration.
摘要翻译：一种机器人校准设备校准的机器人本体2，其位置和定向是基于所述指令值所控制的指令值，包括在被配置为计算校准指令值的校准功能的操作单元，基于对理想位置之间的差机器人本体2和实际位置与机器人主体2的理想位置和取向的取向的取向被操作基于校准过程中或上的控制结果值的所有使用的命令值RHT COM用于校准其是控制gemäß的结果指令值。的实际位置和取向被操作基于测量值RHT“MEAS用于由机器人本体2期间相对于机器人本体2在规定的相对位置和方向布置在照相机3取得校准被控制雅丁到命令值校准。

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