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1. 发明专利

JP2010276581A Sensing erroneous determination prevention method 审中-公开
标题翻译：感知错误确定预防方法
公开(公告)号：JP2010276581A
公开(公告)日：2010-12-09
申请号：JP2009132193
申请日：2009-06-01
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： MAYAMA HIDEKI , YOSHIDA RIKIYA , SAKAMOTO AKIHITO
IPC分类号： G01B11/00
摘要： PROBLEM TO BE SOLVED: To provide a sensing erroneous determination prevention method which prevents mixed detection generated peculiarly in a car body.
SOLUTION: A sensing erroneous determination prevention device 10 includes a camera 12 for imaging two areas (an area 1 and an area 2) on the car body 11, an operation/determination part 13 for operating and determining based on an image imaged by the camera 12, and a monitor 14 for displaying a result. Two or more areas are imaged, and it is determined based on the imaged result whether determination by a sensor is wrong or not. Consequently, in this sensing erroneous determination prevention method, mixed detection generated peculiarly in the car body is prevented.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种防止在车身中产生的混合检测的感测错误判定预防方法。解决方案：感测错误判定防止装置10包括用于对轿厢主体11上的两个区域（区域1和区域2）成像的照相机12，用于基于成像的图像进行操作和确定的操作/确定部13 通过相机12和用于显示结果的监视器14。对两个或更多个区域进行成像，并且基于成像结果确定传感器的判定是否错误。因此，在该检测错误判定防止方法中，防止了在车身中产生的混合检测。版权所有（C）2011，JPO＆INPIT

2. 发明专利

JP2014174628A Image recognition method 有权
标题翻译：图像识别方法
公开(公告)号：JP2014174628A
公开(公告)日：2014-09-22
申请号：JP2013044562
申请日：2013-03-06
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： FURUKAWA MAKOTO , WATANABE HIROYA , YOSHIDA RIKIYA , YAMAFUJI MASAHIKO
IPC分类号： G06T7/60 , B25J19/04
摘要： PROBLEM TO BE SOLVED: To provide an image recognition method that can calculate a position of a workpiece in a complexly overlapped state and a posture thereof with high reliability.SOLUTION: A preparation process is configured to: associate a sample reference supposition image supposed to be obtainable when a three-dimensional shape model of a workpiece W is photographed by an imaging device 12 from the same direction as a direction of actual photographing with a sample actual image obtained by actually photographing a workpiece W with the imaging device 12; map luminance of the sample actual image for each polygon mesh in the sample reference supposition image; calculate virtual luminance for each of the polygon meshes with respect to the sample supposition image supposed to have the three-dimensional shape model of the workpiece W photographed by the imaging device 12; classify a sample patch image dividing the supposition image into patches on the basis of the virtual luminance; and store position information on the workpiece W and posture information thereon in association with each other for each sample patch image.
摘要翻译：要解决的问题：提供一种图像识别方法，其能够以高可靠性计算复杂重叠状态的工件的位置和姿势。解决方案：准备处理被配置为：将应为当通过成像装置12从与实际拍摄方向相同的方向拍摄工件W的三维形状模型时，可以通过用成像装置12实际拍摄工件W而获得的样本实际图像获得; 在样本参考假想图像中针对每个多边形网格的样本实际图像的地图亮度; 针对假设具有由成像装置12拍摄的工件W的三维形状模型的样本假设图像计算每个多边形网格的虚拟亮度; 根据虚拟亮度将假想图像划分为斑块的样本补丁图像; 并且对于每个样本贴片图像，将关于工件W的位置信息和其上的姿势信息相关联地存储。

3. 发明专利

JP2013054629A Control apparatus and method 审中-公开
标题翻译：控制装置和方法
公开(公告)号：JP2013054629A
公开(公告)日：2013-03-21
申请号：JP2011193661
申请日：2011-09-06
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： MIZUTANI YOSHIKI , YOSHIDA RIKIYA
IPC分类号： G05B13/00 , G05B11/36 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide a control apparatus in which admittance control can be mitigated from becoming unstable.SOLUTION: A robot control apparatus 1 comprises virtual object motion calculation means 7 and position control means 8 within power control means 3 which controls an arm 10 including an actuator 12 generating a thrust, an encoder 15 and a force sensor 11. The virtual object motion calculation means 7 calculates a target position pby solving an equation of motion including parameters of a virtual mass m, virtual viscosity cand target power fas virtual power to be applied to a virtual object, predetermined for the virtual object having a mass which is smaller than a mass of the arm and is not 0, using a contact force (f) detected by the force sensor 11 as input. The position control means 8 calculates a trust (g) to be applied to the arm using proxy based sliding mode control with the target position pand a position (p) of the arm detected by the encoder 15 as input and defines the trust as a command value to the actuator 12.
摘要翻译：要解决的问题：提供一种可以减轻导纳控制变得不稳定的控制装置。解决方案：机器人控制装置1包括动力控制装置3内的虚拟物体运动计算装置7和位置控制装置8，该装置控制包括产生推力的致动器12的臂10，编码器15和力传感器11。虚拟对象运动计算装置7通过求解包含虚拟质量的参数的运动方程式来计算目标位置p d ，虚拟粘度c d 和目标功率f d 作为虚拟对象的虚拟功率，具有小于臂的质量的质量，并且使用由力传感器11检测到的接触力（f）作为输入而不为0。位置控制装置8使用基于代理的滑动模式控制来计算使用目标位置p d 的臂施加的信任（g）和臂的位置（p）由编码器15检测作为输入，并将该信任定义为致动器12的指令值。版权所有：（C）2013，JPO＆INPIT

4. 发明专利

JP2008279551A Workpiece positioning device and workpiece positioning method 有权
标题翻译：工作定位装置和工件定位方法
公开(公告)号：JP2008279551A
公开(公告)日：2008-11-20
申请号：JP2007126165
申请日：2007-05-10
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ARIKAWA TAKASHI , MARUYAMA MANABU , MAYAMA HIDEKI , YOSHIDA RIKIYA
IPC分类号： B25J9/22
摘要： PROBLEM TO BE SOLVED: To provide a workpiece positioning device and a workpiece positioning method wherein a teaching work is easily performed.
SOLUTION: A control device of a positioning device stores the pre-taught positions of main reference hole and a sub reference hole as the teaching data. In addition, the control device senses the main reference hole and the sub reference hole of a vehicle body by a sensing robot, collates the sensing result with the teaching data, calculates the displacements (Δϕ, Δθ, Δψ) in the direction of the sub reference hole with the main reference hole as a reference, controls a handling robot, positions a main reference pin 55 with the main reference hole, and a sub reference pin 56 is positioned to the sub reference, hole based on the calculated displacements (Δϕ, Δθ, Δψ).
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够容易地进行教学工作的工件定位装置和工件定位方法。解决方案：定位装置的控制装置将主参考孔和副参考孔的预先教导的位置存储为教学数据。此外，控制装置通过感测机器人感测车身的主基准孔和辅助基准孔，将感测结果与示教数据进行比较，计算子层的方向上的位移（Δφ，Δθ，Δψ）以主基准孔为参考的基准孔，控制搬运机器人，将主基准销55与主基准孔定位，并将副基准销56基于计算出的位移（Δφ， Δθ，Δψ）。版权所有（C）2009，JPO＆INPIT

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