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1. 发明专利

JPS6292646A VOICE DATA MONITOR SYSTEM 失效
公开(公告)号：JPS6292646A
公开(公告)日：1987-04-28
申请号：JP23245185
申请日：1985-10-18
申请人： FUJITSU LTD , NIPPON TELEGRAPH & TELEPHONE , OKI ELECTRIC IND CO LTD , NEC CORP , HITACHI LTD
发明人： MAENO SHINICHI , NAMIKAWA NATSUO , USHIWATARI ATSUSHI , IKEDA SABURO , TAKAHASHI YUICHI
IPC分类号： H04M11/00 , G10L13/00 , H04M1/64 , H04M3/24
摘要： PURPOSE:To improve the reliability of voice messages by comparing an average value at intervals of a prescribed time of the sound signal outputted from a voice response device with a reference level. CONSTITUTION:In a monitor circuit 5, a level measuring part 51 measures the output level of a sound signal V transmitted from a voice response device 3 and transmits a measured value L to an average value calculating part 52. A reference value generating part 55 generates a minimum allowable value of an average value Lm obtained from normal voice data as a reference level Ls and supplies it to a comparing part 54. The comparing part 54 compares the average value Lm transmitted from the average value calculating part 52 with the reference level Ls supplied from a reference value generating part 55; and if the average value is lower than the reference level Ls, voice data outputted from the voice response device 3 is decided to be abnormal, and an alarm signal A is outputted to call maintainer's attention.

2. 发明专利

JPS62293863A SYSTEM FOR SHIFTING EXCHANGE TO NORMAL OPERATION 失效
公开(公告)号：JPS62293863A
公开(公告)日：1987-12-21
申请号：JP13754586
申请日：1986-06-13
申请人： FUJITSU LTD , NIPPON TELEGRAPH & TELEPHONE , OKI ELECTRIC IND CO LTD , NEC CORP , HITACHI LTD
发明人： HIROSE TETSUHIKO , NAMIKAWA NATSUO , KIMURA NAOHIRO , IKEDA SABURO , TAKAHASHI YUICHI
IPC分类号： H04M3/00 , H04M3/08
摘要： PURPOSE:To execute automatic shifting with a normal operation as far as possible by providing a dictionary that store control information for shifting of an exchange to the normal operation in a terminal equipment and taking a control procedure automatically according to inputted information while referring to the dictionary. CONSTITUTION:At the time of the leading of an exchange, the occurrence of troubles, etc., information for shifting to the normal operation is inputted from an inputting means 1, and the information is used for referring to a dictionary by a command inputting means 3. A required command determined by control information obtained from the reference is sent in the central control unit of the exchange and a trial to shift the exchange to the normal operation is made by the command. Judging whether shifting to the normal operation is arisen or not by the trial is made by judging means 4. When the judgement is affirmative, the exchange is shifted to the normal operation or next information is inputted from the inputting means 1. When negative, the command inputting means 3 makes initial program loading to the central controlling unit of the exchange.

3. 发明专利

JPH05303425A 失效
公开(公告)号：JPH05303425A
公开(公告)日：1993-11-16
申请号：JP10790292
申请日：1992-04-27
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： OHARA SHUICHI , TAKAHASHI YUICHI , YANAGIHARA YOSHIMASA
IPC分类号： B25J9/10 , B25J9/22 , B25J13/08 , G05B19/4093 , G05B19/42 , G05D3/12 , G05D15/01 , G05B19/403
摘要： PURPOSE:To allow the tip of a handiwork effect device to accurately move along a required line or face. CONSTITUTION:The tip of the handiwork effect device 3 is positioned on respective points 12, 13 and the coordinates of the points 12, 13 are stored in a storage device 30. An arithmetic unit 31 forms a coordinate system F' defined by setting up a direction parallel with the direction connecting the points 12, 13 as the x axis and a conversion matrix for converting a value in a coordinate system 7 into a value in the system F' and converts the values of force F1 to F6 in the system 7 into the values of force F1' to F6' in the system F' by using the conversion matrix. A control parameter is determined so that the device 3 is moved on the x axis of the system F', a moving variable DELTAx' on the system F' is calculated and reversely converted into a value on the system 7 and the reversely converted value is supplied to a control device 8.

4. 发明专利

JPH04217480A TEACHING DEVICE FOR MOTION PROCEDURE OF ROBOT 失效
公开(公告)号：JPH04217480A
公开(公告)日：1992-08-07
申请号：JP40293490
申请日：1990-12-17
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： TAKAHASHI YUICHI
IPC分类号： B25J13/00
摘要： PURPOSE:To safely teach a motion procedure to a robot and to reduce the work quantity of a program preparation, by recognizing the movement of the assembly, processing works of a part which an operator executes in an imaginary work space, and converting it into the motion command for the robot in accordance with the character of the part. CONSTITUTION:An imaginary work space is created by a computer graphic on a computer display 2, etc., by copying an actual work space, from the data of the work environment of the kind and position, etc., of the part which a robot 10 works and the shape data described on a work part data base 1. In this imaginary space the movement of the hand of an operator is recognized by a movement recognition device 3. Then this movement is translated into the motion procedure of the robot in the actual work space by a robot procedure converting device 4, the consecutive motion command necessary for the motion of the robot in the actual work space is prepared, with the use of the data of the actual work space fed from a sensor, based on this procedure, and the robot is actuated.

5. 发明专利

JPH08190415A ROBOT CONTROLLER AND CONTROLLING METHOD 失效
公开(公告)号：JPH08190415A
公开(公告)日：1996-07-23
申请号：JP304195
申请日：1995-01-12
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： TSUDA MASAYUKI , TAKAHASHI YUICHI
IPC分类号： B25J13/00 , G05B19/4093
摘要： PURPOSE: To precisely control the operation of a robot on the basis of a model which is flexible to specification alterations of operation by using partial models which are small in information processing quantity as operation model and easily generated. CONSTITUTION: The action of a manipulator is divided into plural partial models for every partial feature part of a work and stored in a model storage part 1, and a sensing device 2 senses the operation state of the robot 6 for the partial feature parts of the work. Then, local operation schedules by the partial feature parts of the work are generated at an operation schedule part 3 on the basis of state information S2 obtained by the sensing device 2 and partial model information S1 stored in the model storage part 1 and then integrated to generate the operation schedule of the manipulator.

6. 发明专利

JPH06300542A SHAPE FEATURE EXTRACTION DEVICE WITH TWO-DIMENSIONAL LASER PATTERN AND TWO-DIMENSIONAL LASER PATTERN 失效
公开(公告)号：JPH06300542A
公开(公告)日：1994-10-28
申请号：JP8963493
申请日：1993-04-16
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： TAKAHASHI YUICHI , TATEISHI KAZUYOSHI , WATABE AKINORI
IPC分类号： G01B11/24 , G05B19/37 , G06K9/00 , G06T1/00 , G06T7/00 , G06F15/62 , G06F15/64
摘要： PURPOSE:To enable the shape change of an object to be easily followed, and allow the three-dimensional measurement thereof to be completed in a short time by obtaining a plane parameter from the three-dimensional position of the object exposed to a laser beam, and using a point for the change of a plane parameter as the feature point of the object. CONSTITUTION:A laser beam from a two-dimensional laser pattern generator 61 is projected in an arbitrary two-dimensional pattern form. A three-dimensional position measurement device 62 acts to synchronize laser beam emission timing with two-dimensional point detection timing, and calculates the three-dimensional position where the laser beam hits. Furthermore, the device 62 obtains plane parameters determined with the three-dimensional positions of a plurality of points, and compares the plane parameters every time the three dimensional positions are sequentially calculated, thereby determining the number of constitutional planes. Also, a pattern information generator 63 classifies a plurality of the parameters so obtained into the models of constituent planes, and changes a parameter to be projected, depending upon the results of the classification. In addition, a pattern interpretation device 64 detects the shape change of a projection object on the basis of features such as ridges and apexes determined with a plurality of the planes.

7. 发明专利

JPH05313810A 6-FREDOM DEGREE POINTING DEVICE USING TACTILE SENSOR 失效
公开(公告)号：JPH05313810A
公开(公告)日：1993-11-26
申请号：JP11771692
申请日：1992-05-11
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： TAKAHASHI YUICHI , OHARA SHUICHI
IPC分类号： B25J13/02 , B25J19/02 , G05D3/12 , G06F3/03 , G06F3/041 , G06F3/047 , G06F3/048
摘要： PURPOSE:To provide a 6-freedom degree pointing device using a tactile sensor which can instruct the parallel shifts of six axes in a three-dimensional space with a simple operation and without requiring small space. CONSTITUTION:A tactile sensor is attached onto a spherical surface including a point that can correspond to another point set on the spherical surface in 1:1. Thus, the positions are detected on the spherical surface with touching to the sensor. A spherical position detecting device 1 of such a constitution is provided together with a converting device 2 which converts the detected position into the pararell shifting direction and the shift extent to a designated coordinate axis with touch secured at a single point on the spherical surface and into the rotational momentum with touch secured at two points on the spherical surface respectively based on the rolling and pitching angles set against the designated coordinate axis and outputted from the device 1.

8. 发明专利

JPH05303422A 失效
公开(公告)号：JPH05303422A
公开(公告)日：1993-11-16
申请号：JP10790192
申请日：1992-04-27
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： OHARA SHUICHI , TAKAHASHI YUICHI , YANAGIHARA YOSHIMASA
IPC分类号： B25J9/10 , B25J9/22 , B25J13/08 , G05B19/42 , G05D3/12 , G05D15/01
摘要： PURPOSE:To make it possible to teach also the force operation of an operator's handiwork effect device. CONSTITUTION:A power sensing sensor 30 for detecting power applied to an object 5 to be worked when an operator works the object 5 by the handiwork effect device 3 is connected to the head part of a robot arm 1 by a bracket 31. A storage device 32 stores force applied by the operator through the device 3 and detected by the sensor 30 correspondingly to a teaching point on the object 5. A force sensing sensor 2 is prepared for inputting a teacher's moving command by force and provided with a handle 6 to be grasped by the operator to operate the robot. When the robot executes work based on teaching data, a control device 8 accesses the force information stored in the device 32 correspondingly to the individual position of the object 5 and reproduces positioning teached by the operator and a force applying method.

9. 发明专利

JPH05197416A TEACHING DEVICE FOR ROBOT OPERATION POINT 失效
公开(公告)号：JPH05197416A
公开(公告)日：1993-08-06
申请号：JP738792
申请日：1992-01-20
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： TAKAHASHI YUICHI
IPC分类号： G05B19/19 , G05B19/408 , G09G5/00
摘要： PURPOSE:To automatically generate robot control information such as information of a position and an attitude, which are required for working, by observing an actual working condition by means of camera-photographing and operating a virtual tool by means of three-dimensional pointing devices. CONSTITUTION:A position/attitude measurement instrument 4 measures a content obtained by permitting an operator to teach the terminal position of a robot and the attitude of the tool as against a work 11 in the three-dimensional pointing devices 1a and 1b to the work 11 displayed in a display 3, and transmits it to a data processor 5. It controls the terminal position of the robot 8 based on the teaching content on the display 3. Then, the temporary images of the tools 1a and 1b are overlapped with the picture of a camera 9. A position coordinate measured with an approximate sensor 10 at need is displayed by adjusting it to the picture of the camera near the job work 11. Taught information are collectively displayed and editing work is executed. The information is sent to a robot controller 7 and the robot 8 is controlled at the time of working.

10. 发明专利

JPH08285529A THREE-DIMENSIONAL POSITION MEASUREMENT METHOD 失效
公开(公告)号：JPH08285529A
公开(公告)日：1996-11-01
申请号：JP8536495
申请日：1995-04-11
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： TAKAHASHI YUICHI , KATAYAMA YUKIHISA
IPC分类号： G01B11/00 , G01B11/24 , G01C3/06 , G06T1/00 , G06T7/00
摘要： PURPOSE: To accurately measure a three-dimensional position by obtaining a laser calibration parameter and a camera calibration parameter, and then calculating a vector for indicating a position where the laser spot of a three- dimensional object hits and the measurement accuracy. CONSTITUTION: When the three-dimensional positions of the laser spot of a point Lx, Ly on a laser control surface 4, a point Cx, Cy on a sensor sensing surface 5, and a laser spot point 6 are set to Px, Py, and Pz in an object coordinate system, L=AP and C=BP are established in P=(Px, Py, Pz, 1) , C=(C*Cx, C*Cy, C) , and L=(L*Lx, L*Ly, L) . A is a calibration parameter for laser projection beams, B is a calibration parameter for a laser beam sensor, and they can be uniquely determined, when the distance and direction to a laser light source 1 and a laser beam sensor 2 are determined, thus Px, Py, and Pz can be measured from Cx, Cy, Lx, and Ly, and A and B.

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