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1. 发明专利

JP2013073522A Data structure, computer program, and data acquisition device 有权
标题翻译：数据结构，计算机程序和数据采集设备
公开(公告)号：JP2013073522A
公开(公告)日：2013-04-22
申请号：JP2011213516
申请日：2011-09-28
申请人： Denso Wave Inc , 株式会社デンソーウェーブ , Japan Society For The Promotion Of Machine Industry , 一般財団法人機械振興協会
发明人： IWATA SHO , YOSHIDA YUKISHIGE , KANEDA MOTOKI , HIBINO HIRONORI
IPC分类号： G06T1/00
摘要： PROBLEM TO BE SOLVED: To allow application of identification data of a simulation object to three-dimensional image data, and suppress loss of the identification data in association with conversion of data format even when general three-dimensional data creation software is used.SOLUTION: Component data 20 is used for a simulation of a production line in a simulation device 10. The component data 20 includes component shape data 21 for identifying a three-dimensional image of a component, and component identification data 23 that is data for identifying a component. The component identification data 23 is designated as data of a QR code image drawn for a three-dimensional image of a component.
摘要翻译：要解决的问题：为了允许将模拟对象的识别数据应用于三维图像数据，并且即使在使用一般的三维数据创建软件时也与数据格式的转换相关联地抑制识别数据的丢失。组件数据20用于仿真设备10中的生产线的模拟。组件数据20包括用于识别组件的三维图像的组件形状数据21，以及组件识别数据23 用于识别组件的数据。部件识别数据23被指定为为部件的三维图像绘制的QR码图像的数据。版权所有（C）2013，JPO＆INPIT

2. 发明专利

JP2012063262A System for evaluating visual inspection device 审中-公开
标题翻译：评估视觉检测装置的系统
公开(公告)号：JP2012063262A
公开(公告)日：2012-03-29
申请号：JP2010207929
申请日：2010-09-16
申请人： Denso Wave Inc , Japan Society For The Promotion Of Machine Industry , 一般財団法人機械振興協会 , 株式会社デンソーウェーブ
发明人： YOSHIDA YUKISHIGE , IWATA SHO , INUKAI TOSHIHIRO , HIBINO HIRONORI
IPC分类号： G01N21/84 , G06T19/00
摘要： PROBLEM TO BE SOLVED: To provide a system for evaluating a visual inspection device, which easily reproduces and evaluates the work of a negative instance having a wide range of irregular color without obtaining the actual works of a positive instance and a negative instance.SOLUTION: An irregular color data generation part 23 generates irregular color data based on a work determined to be the negative instance by an existing visual inspection device 100. Thus, the irregular color data is obtained from the determination result of the existing visual inspection device 100 without allowing a designer, etc., to generate the irregular color data. A negative instance image composition part 25 adheres an irregular color texture image based on the irregular data onto the artificial 3D image of a work which is generated based on work data, and artificially composes a 3D negative instance image. A visual inspection device to be realized by the execution of a visual inspection program is evaluated by using the arbitrarily generated 3D negative instance image. Thus, the visual inspection device is evaluated concerning the works of the negative instances having various kinds of irregular color.
摘要翻译：要解决的问题：提供一种用于评估目视检查装置的系统，其可以容易地再现和评估具有宽范围的不规则颜色的负面实例的工作，而不获得正实例和否定实例的实际工作。解决方案：不规则颜色数据生成部分23基于由现有的视觉检查装置100确定为否定的工作来生成不规则的颜色数据。因此，从现有视觉的确定结果获得不规则的颜色数据检查装置100，而不允许设计者等产生不规则颜色数据。负面实例图像构图部分25将基于不规则数据的不规则颜色纹理图像粘贴到基于工作数据生成的作品的人造3D图像上，并人工构成3D负面实例图像。通过使用任意生成的3D负面实例图像来评估通过执行视觉检查程序来实现的目视检查装置。因此，对具有各种不规则颜色的负面实例的作品评价目视检查装置。版权所有（C）2012，JPO＆INPIT

3. 发明专利

JP2014069272A Calibration device; and calibration method of imaging device 有权
标题翻译：校准装置和成像装置的校准方法
公开(公告)号：JP2014069272A
公开(公告)日：2014-04-21
申请号：JP2012216472
申请日：2012-09-28
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： UEYAMA TAKESHI , IWATA SHO
IPC分类号： B25J9/10 , B25J19/04 , G01B11/00
摘要： PROBLEM TO BE SOLVED: To provide a technique which can raise the calibration precision of an imaging device in a short time.SOLUTION: The calibration device comprises: a similarity calculating part which, for each of a plurality of the captured images obtained by the imaging device which captures the calibration board having a feature point, calculates the similarity to each of a plurality of master images on which the calibration board is captured at mutually different positions; a classifying part which classifies a plurality of the captured images into a plurality of groups based on the similarity; a calibration processing part which, based on the representation image group in which the similarity extracted from a plurality of groups is beyond a predetermined value, determines a correction value to convert the physical position in the calibration board of the feature point and the position on the captured image; a deciding part which decides whether a conversion error due to the correction value is below a predetermined value; and a display part which displays information associated with the imaging number when the error is larger than a predetermined value.
摘要翻译：要解决的问题：提供一种可以在短时间内提高成像装置的校准精度的技术。解决方案：校准装置包括：相似度计算部分，对于通过成像获得的多个拍摄图像中的每一个，捕获具有特征点的校准板的装置，计算与相互不同位置捕获校准板的多个主图像中的每一个相似度; 分类部，其基于所述相似度将多个所述拍摄图像分类为多个组; 基于从多个组提取的相似度超过预定值的表示图像组的校准处理部确定校正值，以将特征点的校准板中的物理位置和拍摄图像; 决定部分，其判定由于所述校正值导致的转换误差是否低于预定值; 以及当误差大于预定值时显示与成像编号相关联的信息的显示部分。

4. 发明专利

JP2013073523A Computer program, and data acquisition device 有权
标题翻译：计算机程序和数据采集设备
公开(公告)号：JP2013073523A
公开(公告)日：2013-04-22
申请号：JP2011213517
申请日：2011-09-28
申请人： Denso Wave Inc , 株式会社デンソーウェーブ , Japan Society For The Promotion Of Machine Industry , 一般財団法人機械振興協会
发明人： IWATA SHO , YOSHIDA YUKISHIGE , KANEDA MOTOKI , HIBINO HIRONORI
IPC分类号： G06F17/50 , G06K7/10
摘要： PROBLEM TO BE SOLVED: To retrieve data of a two-dimensional image corresponding to identification data from a data structure in which the identification data is designated as data of a two-dimensional image drawn for a three-dimensional image.SOLUTION: Component data 20 includes component shape data 21, texture data 22 of a display texture, and component identification data 23. The texture data 22 is designated as data of an image drawn by a first magnification for a three-dimensional image of a component, and the component identification data 23 is designated as data of a QR code image drawn by a second magnification that is smaller than the first magnification for a three-dimensional image of a component. A computer program causes a simulation device 10 to execute a function for retrieving data designated as data of an image drawn by the smallest magnification for a three-dimensional image of a component, and a function for acquiring text data as identification data by analyzing the retrieved data.
摘要翻译：要解决的问题：从识别数据被指定为为三维图像绘制的二维图像的数据的数据结构中检索与识别数据相对应的二维图像的数据。解决方案：分量数据20包括分量形状数据21，显示纹理的纹理数据22和分量识别数据23.纹理数据22被指定为用于三维图像的第一放大率绘制的图像的数据并且部件识别数据23被指定为通过小于组件的三维图像的第一放大率的第二放大率绘制的QR码图像的数据。计算机程序使得仿真装置10执行用于检索被指定为用于组件的三维图像的由最小放大率绘制的图像的数据的数据的功能，以及用于通过分析检索到的用于获取文本数据作为识别数据的功能数据。版权所有（C）2013，JPO＆INPIT

5. 发明专利

JP2013073521A Data structure, computer program, and data acquisition device 有权
标题翻译：数据结构，计算机程序和数据采集设备
公开(公告)号：JP2013073521A
公开(公告)日：2013-04-22
申请号：JP2011213515
申请日：2011-09-28
申请人： Denso Wave Inc , 株式会社デンソーウェーブ , Japan Society For The Promotion Of Machine Industry , 一般財団法人機械振興協会
发明人： IWATA SHO , YOSHIDA YUKISHIGE , KANEDA MOTOKI , HIBINO HIRONORI
IPC分类号： G06T1/00
摘要： PROBLEM TO BE SOLVED: To allow application of identification data of a simulation object to three-dimensional image data, and suppress loss of the identification data in association with conversion of data format even when general three-dimensional data creation software is used.SOLUTION: Component data 20 is used for a simulation of a production line in a simulation device 10. The component data 20 includes component shape data 21 for identifying a three-dimensional image of a component, texture data 22 of a display texture that is displayed during execution of the simulation, and component identification data 23 that is data for identifying a component. The texture data 22 is designated as data of an image drawn for a three-dimensional image of a component by a first magnification, and the component identification data 23 is designated as data of a QR code image drawn for a three-dimensional image of a component by a second magnification that is smaller than the first magnification.
摘要翻译：要解决的问题：为了允许将模拟对象的识别数据应用于三维图像数据，并且即使在使用一般的三维数据创建软件时也与数据格式的转换相关联地抑制识别数据的丢失。组件数据20用于仿真设备10中的生产线的模拟。组件数据20包括用于识别组件的三维图像的组件形状数据21，显示纹理的纹理数据22 在模拟的执行期间显示的，以及作为用于识别部件的数据的部件识别数据23。纹理数据22被指定为通过第一倍率对部件的三维图像绘制的图像的数据，并且部件识别数据23被指定为为三维图像绘制的QR码图像的数据通过比第一放大率小的第二放大率的分量。版权所有（C）2013，JPO＆INPIT

6. 发明专利

JP2014070978A Calibration device, and calibration method of imaging apparatus 有权
标题翻译：校准装置和成像装置的校准方法
公开(公告)号：JP2014070978A
公开(公告)日：2014-04-21
申请号：JP2012216476
申请日：2012-09-28
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： IWATA SHO , UEYAMA TAKESHI
IPC分类号： G01B11/00 , B25J9/10 , B25J13/08 , B25J19/04
摘要： PROBLEM TO BE SOLVED: To provide a calibration device which improves calibration accuracy of an imaging apparatus in a short time.SOLUTION: A calibration device includes: a calibration processing unit 231 serving as a similarity calculation part which calculates similarities of a plurality of captured images to respective master images, a classifying part which classifies the plurality of captured images into a plurality of groups, a calibration processing part which determines correction values for conversion between positions on a calibration board of feature points and positions on captured images on the basis of representative image groups each of which is extracted for each group, and a similarity difference calculation part which obtains a similarity difference from a maximally similar image in each group. If an error is determined to be larger than a prescribed value when maximum similarity images in each group are taken as a representative image group, the calibration processing unit 231 substitutes at least one captured image in the representative image group with a captured image having the smallest or smaller similarity difference to determine a correction value. The determination part performs determination based on the correction value after substitution.
摘要翻译：要解决的问题：提供一种在短时间内提高成像装置的校准精度的校准装置。解决方案：校准装置包括：校正处理单元231，用作相似度计算部分，其计算多个捕获图像的相似度对于各个主图像，分类部，其将多个拍摄图像分类为多个组;校准处理部，其基于代表性，确定特征点的校准板上的位置和拍摄图像上的位置之间的转换的校正值对于每个组提取每个组的图像组，以及相似度差分计算部分，其从每个组中的最大相似图像获得相似性差异。如果将每组中的最大相似度图像作为代表图像组，将误差确定为大于规定值，则校准处理单元231将代表图像组中的至少一个拍摄图像替换为具有最小的捕获图像或更小的相似性差异来确定校正值。判定部根据替换后的修正值进行判定。

7. 发明专利

JP2013073520A Data structure, computer program, and data acquisition device 有权
标题翻译：数据结构，计算机程序和数据采集设备
公开(公告)号：JP2013073520A
公开(公告)日：2013-04-22
申请号：JP2011213514
申请日：2011-09-28
申请人： Denso Wave Inc , 株式会社デンソーウェーブ , Japan Society For The Promotion Of Machine Industry , 一般財団法人機械振興協会
发明人： IWATA SHO , YOSHIDA YUKISHIGE , KANEDA MOTOKI , HIBINO HIRONORI
IPC分类号： G06K7/00 , G06K19/06 , H04N1/387
CPC分类号： Y02P90/10 , Y02P90/12 , Y02P90/14 , Y02P90/26 , Y02P90/265
摘要： PROBLEM TO BE SOLVED: To allow application of identification data of a simulation object to three-dimensional image data, and suppress loss of the identification data in association with conversion of data format even when general three-dimensional data creation software is used.SOLUTION: Component data 20 is used for a simulation of a production line in a simulation device 10. The component data 20 includes component shape data 21 for identifying a three-dimensional image of a component, texture data 22 of a display texture that is displayed during execution of the simulation, and component identification data 23 that is data for identifying a component. The texture data 22 is designated as data of an image drawn for an outer surface of a component, and the component identification data 23 is designated as data of a QR code image drawn for an inner surface of a component.
摘要翻译：要解决的问题：为了允许将模拟对象的识别数据应用于三维图像数据，并且即使在使用一般的三维数据创建软件时也与数据格式的转换相关联地抑制识别数据的丢失。组件数据20用于仿真设备10中的生产线的模拟。组件数据20包括用于识别组件的三维图像的组件形状数据21，显示纹理的纹理数据22 在模拟的执行期间显示的，以及作为用于识别部件的数据的部件识别数据23。纹理数据22被指定为针对部件的外表面绘制的图像的数据，并且将部件识别数据23指定为为部件的内表面绘制的QR码图像的数据。版权所有（C）2013，JPO＆INPIT

8. 发明专利

JP2013073519A Data structure, computer program, and data acquisition device 有权
公开(公告)号：JP2013073519A
公开(公告)日：2013-04-22
申请号：JP2011213513
申请日：2011-09-28
申请人： Denso Wave Inc , 株式会社デンソーウェーブ , Japan Society For The Promotion Of Machine Industry , 一般財団法人機械振興協会
发明人： IWATA SHO , YOSHIDA YUKISHIGE , KANEDA MOTOKI , HIBINO HIRONORI
IPC分类号： G06T1/00
摘要： PROBLEM TO BE SOLVED: To allow application of identification data of a simulation object to three-dimensional image data, and suppress loss of the identification data in association with conversion of data format even when general three-dimensional data creation software is used.SOLUTION: Component data 20 is used for a simulation of a production line in a simulation device 10. The component data 20 includes component shape data 21 for identifying a three-dimensional image of a component, and component identification data 23 that is data for identifying a component. The component identification data 23 is designated as data of a QR code image drawn for a three-dimensional image of a component.

9. 发明专利

JP2012022600A Mask image creation system 审中-公开
标题翻译：掩蔽图像创建系统
公开(公告)号：JP2012022600A
公开(公告)日：2012-02-02
申请号：JP2010161496
申请日：2010-07-16
申请人： Denso Wave Inc , Japan Society For The Promotion Of Machine Industry , 一般財団法人機械振興協会 , 株式会社デンソーウェーブ
发明人： YOSHIDA YUKISHIGE , IWATA SHO , INUKAI TOSHIHIRO , HIBINO HIRONORI
IPC分类号： G06T1/00 , G01B11/30 , H04N5/225
摘要： PROBLEM TO BE SOLVED: To provide a mask image creation system which flexibly creates a mask image according to a view point of a camera moved by a multi-joint type robot and which can reduce labor and time for creating the mask image.SOLUTION: A mask image creation system comprises: a multi-joint type robot 20 which moves an arm 21 having multiple joints; a CCD camera 28 which is provided at the arm 21 and moved by a motion of the arm 21, images a workpiece W and obtains an actual image; and an image processing device 10. The image processing device 10 calculates a position and a direction of the camera 28 based on a position and a direction of the arm 21, and obtains a virtual image when assuming that the workpiece W is imaged by the camera 28 based on three dimensional data indicating a shape of the workpiece W, a position and a direction of the workpiece W, and the position and the direction of the camera 28. And the image processing device 10 creates a mask image masking a part of the actual image obtained by the camera 28 based on the virtual image.
摘要翻译：要解决的问题：提供一种根据由多关节型机器人移动的相机的视点灵活地创建掩模图像并且可以减少创建掩模图像的人力和时间的掩模图像创建系统。解决方案：掩模图像创建系统包括：多关节型机器人20，其移动具有多个关节的臂21; 设置在臂21处并通过臂21的运动而移动的CCD照相机28对工件W进行成像并获得实际图像; 和图像处理装置10.图像处理装置10基于臂21的位置和方向来计算照相机28的位置和方向，并且当假定工件W被照相机成像时获得虚像基于指示工件W的形状，工件W的位置和方向以及相机28的位置和方向的三维数据28，并且图像处理装置10创建掩模图像的一部分基于虚拟图像由相机28获得的实际图像。版权所有（C）2012，JPO＆INPIT

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