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1. 发明专利

JP2017077614A 教示点補正方法、プログラム、記録媒体、ロボット装置、撮影点作成方法、及び撮影点作成装置审中-公开
公开(公告)号：JP2017077614A
公开(公告)日：2017-04-27
申请号：JP2015207631
申请日：2015-10-22
申请人：キヤノン株式会社 , Canon Inc
发明人： DAN KEITA , SUZUKI HIDEAKI
IPC分类号： B25J9/22 , G05B19/42
CPC分类号： B25J9/1697
摘要：【課題】三次元視覚センサの性能に被写界深度方向の制約があっても、作業部の教示点を正確に補正できる教示点補正方法を提供する。【解決手段】指標は、作業台104に位置決められたマーカ105に目標教示点に対応させて設定される。ステレオカメラ103は、ロボットハンド102に位置決められた状態で指標を撮影してマーカ105の三次元の位置を測定する。ロボットアーム制御工程では、オフライン教示点に対してステレオカメラ103の被写界深度方向を含む方向にオフセットしたオフライン補正用教示点にロボットハンド102を位置させる。撮影工程では、ロボットハンド102をオフライン補正用教示点に位置させた状態で、ステレオカメラ103により指標を撮影する。補正工程では、指標の撮影結果に基づいて、オフライン教示点を目標教示点に向かって補正してオンライン教示点を取得する。【選択図】図1

2. 发明专利

JP2012200805A Robot control device, robot control method, program, and recording medium 有权
标题翻译：机器人控制装置，机器人控制方法，程序和记录介质
公开(公告)号：JP2012200805A
公开(公告)日：2012-10-22
申请号：JP2011066000
申请日：2011-03-24
申请人： Canon Inc , キヤノン株式会社
发明人： NEGISHI MASATO , SUZUKI HIDEAKI , IIZUKA SHINSUKE
IPC分类号： B25J13/08 , G05B19/42
CPC分类号： B25J9/1607 , B25J9/1679 , B25J9/1697 , G05B2219/39022 , G05B2219/39063 , G05B2219/40609
摘要： PROBLEM TO BE SOLVED: To achieve precision assembly even when a gripping position in a first workpiece gripped by a hand portion varies or the first workpiece is deformed, without performing calibration between a camera coordinate system and a robot coordinate system even when a camera position varies.SOLUTION: A first coordinate system Cof a hand portion, a second coordinate system Cof a first workpiece, and a third coordinate system Cof a second workpiece, in a camera coordinate system, are calculated (S2, S3, and S4). A first coordinate transformation matrixTand a second coordinate transformation matrixTare calculated (S5 and S6). Coordinate data of a target point is set in the coordinate system of the first workpiece (S7). Coordinate data of a teaching point is set in the coordinate system of the second workpiece (S8). Coordinate transformation is performed on the coordinate data of the target point using the first coordinate transformation matrixT(S9). Coordinate transformation is performed on the coordinate data of the teaching point using the second coordinate transformation matrixT(S10). Operation instructions are generated using the transformed coordinate data (S11).
摘要翻译：要解决的问题：即使当由手部握持的第一工件中的夹持位置变化或第一工件变形时，即使在相机坐标系和机器人坐标系之间进行校准，即使在相机位置不同。
解决方案：手部的第一坐标系C A ，第一工件的第二坐标系C B ，并且在相机坐标系中计算第二工件的第三坐标系C C （S2，S3和S4）。第一坐标变换矩阵 A T B 和第二坐标变换矩阵 A T C （S5和S6）。在第一工件的坐标系中设定目标点的坐标数据（S7）。在第二工件的坐标系中设定示教点的坐标数据（S8）。使用第一坐标变换矩阵 A T B 对目标点的坐标数据进行坐标变换（S9）。使用第二坐标变换矩阵 A T C 对教导点的坐标数据进行坐标变换。使用经变换的坐标数据生成操作指令（S11）。版权所有（C）2013，JPO＆INPIT

3. 发明专利

JP2011048117A Image forming apparatus 有权
标题翻译：图像形成装置
公开(公告)号：JP2011048117A
公开(公告)日：2011-03-10
申请号：JP2009196129
申请日：2009-08-26
申请人： Canon Inc , キヤノン株式会社
发明人： HIROBE FUMITAKE , SUZUKI HIDEAKI , TSUKADA YOSHIAKI , OTSUKA MASAHIRO
IPC分类号： G03G15/08 , G03G21/00
CPC分类号： G03G15/0893 , G03G15/0877 , G03G2215/0609
摘要： PROBLEM TO BE SOLVED: To provide an image forming apparatus improving accuracy in the management of an amount of developer circulating in a developing container, without incurring increase or the like in the size of a developing device, by utilizing existing component configuration. SOLUTION: While supply developer containing the magnetic carrier of 10% is supplied to the developing container 22, excessive developer is caused to overflow from an exhaust portion 40 formed in the internal wall of a developing chamber 23. The amount of developer in the developing container 22 is thereby kept to be constant. When the temperature of developer increases and its fluidity decreases, however, an overflow through the exhaust portion 40 is hindered, with the result that the amount of developer in the developing container 22 becomes excessive. Then a forcible exhaust mode in which image formation is stopped and conveying screws 25 and 26 are rotated at a speed higher than usual, is executed. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种图像形成装置，通过利用现有的部件构造，提高了在显影容器中循环的显影剂的量的管理精度，而不会增加显影装置的尺寸等。解决方案：当包含10％的磁性载体的供应显影剂被供应到显影容器22时，使过量的显影剂从形成在显影室23的内壁中的排气部分40溢出。显影剂的量因此显影容器22保持恒定。然而，当显影剂的温度增加并且其流动性降低时，妨碍排出部分40的溢流，导致显影容器22中的显影剂的量变得过大。然后执行图像形成停止并且输送螺钉25和26以比通常高的速度旋转的强制排气模式。版权所有（C）2011，JPO＆INPIT

4. 发明专利

JP2010191178A Image forming apparatus 有权
标题翻译：图像形成装置
公开(公告)号：JP2010191178A
公开(公告)日：2010-09-02
申请号：JP2009035294
申请日：2009-02-18
申请人： Canon Inc , キヤノン株式会社
发明人： SUZUKI HIDEAKI
IPC分类号： G03G15/08 , G03G21/14
摘要： PROBLEM TO BE SOLVED: To provide an image forming apparatus which suppresses excessive replenishment of toner associated with erroneous detection of toner concentration by an inductance detecting sensor, so as to suppress fogging and toner scattering and obtain a high-quality image. SOLUTION: The image forming apparatus includes: an image carrier; a conveying means equipped with a developer carrier that carries developer containing non-magnetic toner and magnetic carrier, and configured to stir and convey the developer; a detection means configured to detect information concerning magnetic permeability of the developer in a developing device; a drive control means configured to control drive of the conveying means so that drive speed of the conveying means in a non-developing operation period out of a developing operation period in which an area corresponding to a recording material passing area in an image carrier surface moving direction on a surface of the image carrier passes through a developing part may be lower than drive speed of the conveying means in the developing operation period; and a replenishment amount control means configured to control an amount of toner to be supplied to the developing device based on the detected result detected by the detection means in the non-developing operation period. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种图像形成装置，其抑制由电感检测传感器对与调色剂浓度的错误检测相关联的调色剂的过度补充，以抑制起雾和调色剂飞散并获得高质量图像。图像形成装置包括：图像载体; 装有显影剂载体的输送装置，所述显影剂载体承载包含非磁性调色剂和磁性载体的显影剂，并且构造成搅拌和输送显影剂; 检测装置，被配置为检测关于显影装置中的显影剂的磁导率的信息; 驱动控制装置，被配置为控制传送装置的驱动，使得在非显影操作期间内的传送装置的驱动速度在显影操作期间内，在显影操作期间，与图像载体表面中的记录材料通过区域相对应的区域移动图像载体的表面上通过显影部的方向可能低于显影操作期间输送装置的驱动速度; 以及补充量控制装置，被配置为基于在非显影操作时段中由检测装置检测到的检测结果来控制向显影装置供应的调色剂量。版权所有（C）2010，JPO＆INPIT

5. 发明专利

JP2005122118A Image forming apparatus 有权
标题翻译：图像形成装置
公开(公告)号：JP2005122118A
公开(公告)日：2005-05-12
申请号：JP2004226838
申请日：2004-08-03
申请人： Canon Inc , キヤノン株式会社
发明人： NISHIYAMA KAZUE , SUZUKI HIDEAKI , ISHIDA YUSUKE
IPC分类号： G03G15/00 , G03G15/08
摘要： PROBLEM TO BE SOLVED: To solve the problem wherein it takes a long time to decide that "there is toner", when patch detection output becomes equal to or under a prescribed lower limit value and the mode is shifted to a toner residual amount determining mode. SOLUTION: When the patch detection output becomes equal to or smaller the prescribed lower limit value and the mode is shifted to the toner remaining amount deciding mode, toner replenishing operation is performed. If the patch detection output, after the toner replenishing operation, rises to more than the patch detection output at the mode shifting time whether it exceeds the prescribed lower limit value, the mode is finished and a state is set where image forming can be started. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：为了解决在需要花费很长时间来确定“有调色剂”的问题，当补丁检测输出变得等于或低于规定的下限值并且模式转移到调色剂残留数量确定模式。解决方案：当贴片检测输出变得等于或小于规定的下限值并且模式转移到调色剂剩余量决定模式时，执行调色剂补充操作。如果在调色剂补充操作之后的补丁检测输出在模式移位时间上升到比补片检测输出大，超过规定的下限值，则模式结束，并且设定可以开始图像形成的状态。版权所有（C）2005，JPO＆NCIPI

6. 发明专利

JP2004271660A Image forming apparatus 审中-公开
公开(公告)号：JP2004271660A
公开(公告)日：2004-09-30
申请号：JP2003059375
申请日：2003-03-06
申请人： Canon Inc , キヤノン株式会社
发明人： YOSHIZAKI KAZUKI , OKADO KENJI , IKEDA NAOTAKA , BETSUSHIYO YUUJI , SUZUKI HIDEAKI
IPC分类号： G03G9/08 , G03G5/08 , G03G9/09 , G03G9/10 , G03G9/107 , G03G9/113 , G03G15/01 , G03G15/08
摘要： PROBLEM TO BE SOLVED: To provide an image forming apparatus capable of obtaining high-definition stable images throughout the service life of a main unit. SOLUTION: In the image forming apparatus comprising a developer carrier which supports a two-component developer comprising a nonmagnetic toner and a coated carrier surface-treated with a resin and/or a coupling agent, and a developer concentration control device with a developer concentration sensing means to sense the mixing ratio between the nonmagnetic toner and the coated carrier of the two-component developer by the quantity of reflected light from the developer on the developer carrier, the developer concentration sensing means is in a non-contact state to the developer on the developer carrier, and the coated carrier has a true specific gravity of 2.0-4.5, an intensity σ 1,000 of magnetization of 25-60 (Am 2 /kg) at 1,000/4π (kA/m), and a volume average particle diameter of 25-60 μm. COPYRIGHT: (C)2004,JPO&NCIPI

7. 发明专利

JP2004264471A Image forming apparatus 审中-公开
公开(公告)号：JP2004264471A
公开(公告)日：2004-09-24
申请号：JP2003053629
申请日：2003-02-28
申请人： Canon Inc , キヤノン株式会社
发明人： SUZUKI HIDEAKI
IPC分类号： G03G15/00 , G03G15/01 , G03G15/08 , G03G21/14
摘要： PROBLEM TO BE SOLVED: To provide an image forming apparatus that always appropriately controls, through long-term durability, the rotation of a rotating body for conveying a discharged developer, lessens downtime, and maintains high image quality. SOLUTION: In the image forming apparatus, a developing device 1 discharges two-component developer moved over a discharging opening 11 from a development container 2 storing the two-component developer, the discharging opening 11 being provided in the development container 2 and having a specific height. The discharged developer is conveyed to a discharged developer storage part by the rotation of the rotating body. The weight of the two-component developer which the development container 2 can hold therein is estimated. Based upon the estimated value, the rotation of the rotating body is controlled. COPYRIGHT: (C)2004,JPO&NCIPI

8. 发明专利

JP2004233605A Image forming apparatus 审中-公开
标题翻译：图像形成装置
公开(公告)号：JP2004233605A
公开(公告)日：2004-08-19
申请号：JP2003021474
申请日：2003-01-30
申请人： Canon Inc , キヤノン株式会社
发明人： SUZUKI HIDEAKI
IPC分类号： G03G15/00 , G03G15/08
摘要： PROBLEM TO BE SOLVED: To provide an image forming apparatus by which down time is reduced more and also a high image quality is maintained by properly controlling the rotating operation of a rotary body for feeding discharged developer even if an environment is fluctuated. SOLUTION: In the developing device 1, two-component developer stored inside is discharged to the outside of a developing container 2 only for a portion getting over the discharge port 11 of a specified height provided at the developing container 2 from the discharge port 11, and the discharged developer is fed to a discharged developer storing part by the rotating operation of the rotary body, and the weight of the two-component developer capable of being stored in the developing container 2 is predicted by the detected value of an environmental sensor, so that the rotating operation of the rotary body is controlled based on a predicted value. COPYRIGHT: (C)2004,JPO&NCIPI
摘要翻译：要解决的问题：为了提供一种图像形成装置，通过适当地控制用于输送显影剂的旋转体的旋转操作，即使环境波动，也可以更多地减少停机时间，并且还保持高图像质量。解决方案：在显影装置1中，储存在内部的双组分显影剂仅从设置在显影容器2处的特定高度的排出口11的一部分排出到显影容器2的外部端口11，并且通过旋转体的旋转操作将排出的显影剂供给到排出的显影剂储存部分，并且能够存储在显影容器2中的双组分显影剂的重量被预测为环境传感器，从而基于预测值来控制旋转体的旋转操作。版权所有（C）2004，JPO＆NCIPI

9. 发明专利

JP2004157186A Developer replenishing method 审中-公开
公开(公告)号：JP2004157186A
公开(公告)日：2004-06-03
申请号：JP2002320290
申请日：2002-11-01
申请人： Canon Inc , キヤノン株式会社
发明人： SUZUKI HIDEAKI
IPC分类号： G03G15/00 , G03G15/08
摘要： PROBLEM TO BE SOLVED: To maintain high image quality by determining an amount of a developer replenished in response to the concentration of the developer and the number of times of operation forming an image when the developer is gradually automatically exchanged and replenished. SOLUTION: When the developer is automatically exchanged and replenished to a developing device for developing an electrostatic latent image formed on an image carrier by the developer, concentration information expressing the concentration of the developer in the developing device is detected (S402 and S403). In the case that detected concentration information is equal to or more than prescribed concentration information (Yes of S405), the amount of the developer replenished to the developing device is determined in response to the number of the times of the operation forming an image (S406), and replenished to the developing device on the basis of a corrected amount of the developer (S407). COPYRIGHT: (C)2004,JPO

10. 发明专利

JP2003330694A Print system and its charging system 审中-公开
标题翻译：打印系统及其充电系统
公开(公告)号：JP2003330694A
公开(公告)日：2003-11-21
申请号：JP2002136371
申请日：2002-05-13
申请人： Canon Inc , キヤノン株式会社
发明人： KITAJIMA KENICHIRO , HASHIMOTO KOICHI , OKI MAKOTO , SUZUKI HIDEAKI
IPC分类号： B41J29/38 , B41J29/00 , G06F3/12 , G06Q10/00 , G06Q30/04 , G06Q30/06 , G06Q50/00 , G06Q50/10 , G06F17/60
摘要： PROBLEM TO BE SOLVED: To provide a charging system capable of simplifying price payment by charging the information communication use quantity with the manager of a mediating computer with which a user made a contract and the storage part use quantity of the mediating computer in a batch, and executing the printing of print data to be outputted by a user in a predetermined timing. SOLUTION: This print service system is configured by communicatively connecting a plurality of mutually communicative host devices used by a user through a predetermined mediating computer, and making the mediating computer temporarily receive and store electronic information transmitted from the plurality of host devices or electronic information transmitted from a third person to the plurality of host devices used by the user, and making the user use the host device equipped with a portable communicating means among the plurality of host devices, and transfer the electronic information to a printer for executing print. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种能够通过向用户作出合同的中介计算机的管理者和中介计算机的存储部分使用量的信息通信使用量进行计费来简化价格支付的计费系统批次，并且执行打印数据以由用户在预定定时输出。解决方案：该打印服务系统通过通过预定的中介计算机通信地连接用户使用的多个相互通信的主机设备并使中介计算机临时接收和存储从多个主机设备发送的电子信息或电子信息从第三人发送到用户使用的多个主机设备，并且使得用户在多个主机设备中使用配备有便携式通信装置的主机设备，并将电子信息传送到用于执行打印的打印机。版权所有（C）2004，JPO

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