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41. 发明专利

JPH01134573A IMAGE PROCESSING METHOD 失效
公开(公告)号：JPH01134573A
公开(公告)日：1989-05-26
申请号：JP29383287
申请日：1987-11-19
申请人： KAWASAKI HEAVY IND LTD
发明人： TANEDA SADAHIRO , KANAMARU TAKAO , HIRAMATSU ARATA , OGURA KAZUKI
IPC分类号： B25J19/04 , G05D3/12 , G06T1/00
摘要： PURPOSE:To shorten image processing time without deteriorating detecting resolution by processing the total of a picture with rough resolution at first and then processing an objective partial area with fine resolution. CONSTITUTION:An industrial TV camera 14 photographs bolts 11 in a box 10 from above and sends these video signals to a processor 15. The processor 15 applies A/D conversion to these video signals and stores the image data of fine resolution in a 1st memory 16 and the picture data of rough resolution in a 2nd memory 17 respectively. Then the processor 15 detects the contours of the bolts 11 in the box 10 based on the image data stored in the memory 17 and sets a partial area including the bolt 11 set at the highest position. Then the processor 15 reads the image corresponding to said partial area out of the memory 16 to obtain the attitude and the centroid position of the bolt 11 and sends a control signal to a robot controller 20.

42. 发明专利

JPS6046362B2 失效
公开(公告)号：JPS6046362B2
公开(公告)日：1985-10-15
申请号：JP6356680
申请日：1980-05-13
申请人： KAWASAKI HEAVY IND LTD
发明人： UEDA SUMIHIRO , KANAMARU TAKAO , ONO HIDEO
IPC分类号： G01B11/02 , G01B11/16 , G01N3/32

43. 发明专利

JP2007155982A Phase object detecting device and phase object detecting method 有权
标题翻译：相位检测装置和相位对象检测方法
公开(公告)号：JP2007155982A
公开(公告)日：2007-06-21
申请号：JP2005349098
申请日：2005-12-02
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： OJI OSAMU , NAKAMURA YOICHI , KANAMARU TAKAO , DOI TOSHINAO
IPC分类号： G02B21/00 , C12M1/34 , C12Q1/04 , G01B11/00 , G02B21/36
摘要： PROBLEM TO BE SOLVED: To detect a phase object in an image by simple device constitution. SOLUTION: The phase object detecting device is equipped with: a light source comprising a parallel light source or a point light source; an optical system to condense light emitted from the light source and transmitted through a sample; an imaging device to generate image data based on the light condensed by the optical system; a driving device to change the relative position of the sample to the focus of the optical system at least in an optical axis direction; and a controller. The controller sets image data obtained by arranging the focus between the sample and the optical system by controlling the driving device as front focus image data, and image data obtained by arranging the sample between the focus and the optical system by controlling the driving device as rear focus image data, so that the phase object is detected by using the front focus image data and the rear focus image data. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：通过简单的装置构造来检测图像中的相位对象。相位对象检测装置配备有：包括平行光源或点光源的光源; 光学系统，用于冷凝从光源发射并透过样品的光; 基于由所述光学系统聚光的光生成图像数据的成像装置; 驱动装置，至少在光轴方向上将样品的相对位置改变为光学系统的焦点; 和控制器。控制器通过将驱动装置控制为前焦点图像数据，并且通过将驱动装置控制为后方而将焦点和光学系统之间的样品配置而获得的图像数据来设置通过将样本与光学系统之间的焦点排列而获得的图像数据聚焦图像数据，使得通过使用前聚焦图像数据和后聚焦图像数据来检测相位对象。版权所有（C）2007，JPO＆INPIT

44. 发明专利

JP2003306200A Image navigation for rendezvous docking and navigation device 有权
标题翻译：用于RENDEZVOUS DOCKING和NAVIGATION DEVICE的图像导航
公开(公告)号：JP2003306200A
公开(公告)日：2003-10-28
申请号：JP2002111841
申请日：2002-04-15
申请人： Kawasaki Heavy Ind Ltd , Natl Space Development Agency Of Japan , 宇宙開発事業団 , 川崎重工業株式会社
发明人： KONO ISAO , ISHIJIMA YOSHIYUKI , YOKOO ATSUSHI , ENOMOTO MASAYUKI , KANAMARU TAKAO , KUBOTA NOBUYUKI
IPC分类号： B64G1/64 , B64G1/24 , B64G1/66 , G06T7/60
摘要： PROBLEM TO BE SOLVED: To provide an image navigation for a rendezvous docking and navigation device allowing a non-cooperative target satellite having no special marker launched in the past to effectively navigate at rendezvous docking (RVD) by moving a service satellite so as to approach a place, as a target, having an annular satellite-common structure such as a satellite frame part of a target satellite and corresponding to an object portion to be docked. SOLUTION: Image of the target satellite 2 is picked up including the satellite frame part 21 by the service satellite 1, relative distance between the service satellite 1 and the target satellite 2 is measured, relative position of the satellite frame part 21 for the service satellite 1 is calculated, and the satellite frame part 21 in the picked up image is recognized as at least either an ellipse or a circular arc. Thereby, relative attitude of the satellite frame part 21 for the service satellite 1 is calculated, and the service satellite 1 is moved so as for the satellite frame part 21 in the picked up image to be close to a circle on the basis of the calculated relative position and relative attitude. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供用于会合对接和导航装置的图像导航，允许不具有过去发射的特殊标记的非合作目标卫星通过移动服务卫星而在会合对接（RVD）中有效地导航作为目标接近具有诸如目标卫星的卫星帧部分的环形卫星共同结构并对应于待对接的对象部分的地方。解决方案：由服务卫星1拾取包括卫星帧部分21的目标卫星2的图像，测量服务卫星1和目标卫星2之间的相对距离，卫星帧部分21的相对位置用于计算服务卫星1，将拍摄图像中的卫星帧部21识别为椭圆或圆弧中的至少一个。由此，计算出服务卫星1的卫星帧部21的相对姿态，并且，服务卫星1被移动，使得所拾取图像中的卫星帧部21基于计算出的卫星帧部21接近圆相对位置和相对态度。版权所有（C）2004，JPO

45. 发明专利

JP2001179585A CURVED SURFACE FINISHING GRINDING AND POLISHING METHOD AND DEVICE 失效
公开(公告)号：JP2001179585A
公开(公告)日：2001-07-03
申请号：JP37320499
申请日：1999-12-28
申请人： KAWASAKI HEAVY IND LTD
发明人： KANAMARU TAKAO , SHIMADA MASAHIRO , KIMIKADO YASUHIRO , YAMAGUCHI MASAMICHI
IPC分类号： B24B17/10 , B24B27/00
摘要： PROBLEM TO BE SOLVED: To provide a curved surface finishing grinding and polishing method which does not require to obtain the detail shape design data of a workpiece, measuring for shape data and manual teaching. SOLUTION: A surface of the work W having a curved surface is automatically ground and polished along the surface with a disk sander 4. The disk sander is dropped from a state in which a working point P of a disk 4a lies over a worked point A on the upper surface of the work, an inner force sensor 3 detects two-axes directional force applied to the disk sander and moment about one axis when the disk contacts with the upper surface of the work, data when the disk sander is moved based on the detected values to match the working point of the disk to the worked point on the upper surface of the work is used as teaching data, the disk sander is moved based on the teaching data to match the working point of the disk to the worked point on the upper surface of the work, and a constant pressing force is applied to the disk sander for the finishing grinding and polishing.

46. 发明专利

JP2001022422A FINISHING METHOD AND FINISHING DEVICE 失效
公开(公告)号：JP2001022422A
公开(公告)日：2001-01-26
申请号：JP19494299
申请日：1999-07-08
申请人： KAWASAKI HEAVY IND LTD
发明人： KUBO SADAO , SHIMADA MASAHIRO , KANAMARU TAKAO , NAKANO YASUO , KIMIKADO YASUHIRO
IPC分类号： B23Q15/013 , B23Q17/00 , B23Q17/24 , G05B19/4155
摘要： PROBLEM TO BE SOLVED: To provide a finishing method for reducing the number of repeating times on work and measurement and improving work efficiency. SOLUTION: The shape of a work piece is measured in a step s1, and a measurement shape and a target shape are compared and the necessary removal quantity of the work piece is calculated in a step s2. In a step s3, a work parameter for designating the operation of a work tool is calculated from necessary removal quantity. In a step s4, work for sending the work tool along the surface of the work piece and cutting the surface of the work piece is executed. In steps s5 and s6, second shape measurement and target removal quantity calculation are executed. When target removal quantify by re-measurement is larger than a threshold in a step s7, target removal quantity is corrected in a step s8. Since a next work operation can be corrected based on a previous work result, a work error which occurs previous time is prevented from being repeated in the next work.

47. 发明专利

JP2001017882A WASTE DISINTEGRATION APPARATUS 失效
公开(公告)号：JP2001017882A
公开(公告)日：2001-01-23
申请号：JP18993499
申请日：1999-07-05
申请人： KAWASAKI HEAVY IND LTD
发明人： MURAKAMI SHOJI , SHIMADA TADAO , KANAMARU TAKAO , KATO YOSHIAKI
IPC分类号： B02C18/22 , B02C4/12 , B02C18/00 , B02C23/02 , B02C25/00
摘要： PROBLEM TO BE SOLVED: To provide a control device automating a process for supplying waste wherin large-sized waste and medium-small-sized waste are mixed to a crusher to enable efficient treatment even in a case treating any waste so as to be operated by a skilled operator. SOLUTION: The size of fed waste, the stagnation amt. of waste in a charging chute, the height of waste in front of a roll feeder, a measuring signal of a crushing sound or the like and the states of respective element devices are inputted and fuzzy control for medium-small-sized waste and sequence control for large-sized waste are changed over on the basis of a result judging large-sized waste and medium-small-sized waste on the basis of the waste on a feed conveyor to control the roll feeder and the feed conveyor to operate equipment.

48. 发明专利

JPH0912155A RELATIVE POSITION MEASURING DEVICE 失效
公开(公告)号：JPH0912155A
公开(公告)日：1997-01-14
申请号：JP18218595
申请日：1995-06-26
申请人： KAWASAKI HEAVY IND LTD
发明人： ENOMOTO MASAYUKI , UEDA SUMIHIRO , KANAMARU TAKAO , FURUTA MAMORU , NAKAGAMI YUGO , NAKANO TAKASHI
IPC分类号： B65G67/60 , B65G67/62 , G01S17/08
摘要： PURPOSE: To always grasp relative position relation between a hatch and a vertical boom by arranging a CCD camera and a light-wave range finder so that an aiming direction can be substantially same and measuring position relation to a object from the aiming direction by which the CCD camera can anticipate a prescribed object and a distance measurement value found out by the light-wave range finder. CONSTITUTION: A detection part 2 provided with a light-wave range finder, a CCD camera and an electric stand for adjusting the light axis direction of the camera is mounted on the upper end of a vertical boom 47. The CCD camera is controlled so as to aim an edge 61 of a hatch 59. The detection part 2 is provided with an image processing part and a control part and posture of an electric stand is controlled so that image of the edge 61 can always be in the center of a picture and a relative position measuring device is composed of an automatic tracking type distance sensor. The detection part 2 is provided by every one respectively for the edges 61 of four sides of the hatch 59 and a relative position for the hatch 44 of the vertical boom 48 is found out from the relative position relation to each edge 61 of the detection part 2.

49. 发明专利

JPH06150011A IMAGE PROCESSING METHOD 失效
公开(公告)号：JPH06150011A
公开(公告)日：1994-05-31
申请号：JP32608092
申请日：1992-11-10
申请人： KAWASAKI HEAVY IND LTD
发明人： TANEDA SADAHIRO , KANAMARU TAKAO , OGURA KAZUKI , NAKAMURA YOICHI , MAKINO YOSHINOBU
IPC分类号： G06T7/00 , G06F15/70
摘要： PURPOSE:To enable position detection to be performed even when a detecting object takes any posture different from that of a display object by moving the contour line image of the object of an image for detection corresponding to a new correlation vector and calculating a peak point from prepared overlapped images. CONSTITUTION:The detecting image is inputted, the posture of the detecting object is detected, and an angle theta2 formed by a main axis and an (x) axis is calculated. Next, difference DELTAtheta between that angle theta2 and an angle theta1 formed by the main axis of the object and the (x) axis calculated by teaching work is calculated, and a correlation vector cvn' (n=1 to 8) turning a correlation vector cvn just for the DELTAtheta is calculated. Then, the inputted image is differentiated by sober differentiation, for example, and binarized and the contour line image is prepared. Then, the contour line image provided like it is moved corresponding to the correlation vector cvn' (n=1 to 8) and overwritten, and the peak point of overlapped images is detected.

50. 发明专利

JPH03228183A DETECTING METHOD FOR LINEAR PART OF CONTOUR LINE 失效
公开(公告)号：JPH03228183A
公开(公告)日：1991-10-09
申请号：JP2388790
申请日：1990-02-01
申请人： KAWASAKI HEAVY IND LTD
发明人： IIJIMA GOHEI , TANEDA SADAHIRO , KANAMARU TAKAO , HIRAMATSU ARATA , OGURA KAZUKI , NAKAMURA YOICHI
IPC分类号： G06T3/00 , G06T7/00 , G06T7/60 , G06T9/20
摘要： PURPOSE:To easily detect a linear part in a short period by expressing the contour line of the image of an object in a chain code that is a data string representing a direction, and detecting the linear part from the chain code. CONSTITUTION:The contour line of the image of the object is expressed in the data string representing the direction i.e. the chain code, and the difference of the chain codes at two positions Ch(i+8) and Ch(i) separated by the pre scribed number (for example, eight) of the chain code is found, and moving average T(i) is found by integrating the difference extending over the range of the position of the prescribed number (eight) from each of the two positions. When the absolute value of the moving average T(i) shows a value less than the prescribed value (eight), the part of the contour line extending the position that is less than the prescribed number is judged as the linear part. In such a way, it is possible to detect the linear part of the contour line by simple computation and at high speed by identifying from a curve part.

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