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1. 发明专利

JP2010087340A Device and method for detecting substrate 有权
标题翻译：用于检测基板的装置和方法
公开(公告)号：JP2010087340A
公开(公告)日：2010-04-15
申请号：JP2008256268
申请日：2008-10-01
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： ENOMOTO MASAYUKI , TAKATORI MASAO , NAKAMURA YOICHI
IPC分类号： H01L21/67
CPC分类号： H01L21/67265 , Y10S414/138
摘要： PROBLEM TO BE SOLVED: To promptly and surely detect a storage condition of a plurality of substrates in a cassette. SOLUTION: This device 1 for detecting a substrate includes: a collimating reflective plate 4 arranged beside a plurality of substrates 11; illumination means 2, 5 planarly emitting light toward the collimating reflective plate 4 and arranged to position ends of the plurality of substrates 11 in its optical path; an imaging means 3 to image an illumination transmission image formed on the collimating reflective plate 4 by the light planarly emitted from the illumination means 2, 5 and including the ends of the plurality of substrates 11; and an image processing means 6 to process the image of the illumination transmission image acquired by the imaging means 3 to detect the housing condition of the plurality of substrates 11. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：及时且可靠地检测盒中的多个基板的储存条件。解决方案：用于检测基板的装置1包括：布置在多个基板11旁边的准直反射板4; 照明装置2,5朝向准直反射板4平面地发射光，并且布置成将多个基板11的端部定位在其光路中; 成像装置3，通过由照明装置2,5平行地发射并包括多个基板11的端部的光来对形成在准直反射板4上的照明透射图像进行成像; 以及图像处理装置6，用于处理由成像装置3获取的照明透射图像的图像，以检测多个基板11的壳体状态。版权所有（C）2010，JPO＆INPIT

2. 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

3. 发明专利

JP2010230527A Apparatus and method for inspecting railroad rail fastening looseness 有权
标题翻译：用于检查铁路轨道疲劳的装置和方法
公开(公告)号：JP2010230527A
公开(公告)日：2010-10-14
申请号：JP2009078894
申请日：2009-03-27
申请人： Kawasaki Heavy Ind Ltd , West Japan Railway Co , 川崎重工業株式会社 , 西日本旅客鉄道株式会社
发明人： NUNOME TOORU , MITSUE MASAYUKI , NAKAMURA YOICHI , KOZUKI TOSHIHIRO , SHIMONO YUKI , YAMAGUCHI YOSHINOBU
IPC分类号： G01B11/02 , B61K9/08
摘要： PROBLEM TO BE SOLVED: To provide an apparatus for inspecting railroad rail fastening looseness, capable of exactly detecting the fastening looseness, or the like, even if the type of a rail fastening apparatus is changed, and capable of exactly identifying the position of a failed fastening apparatus.
SOLUTION: A line sensor 1 and a plurality of spot laser projectors 2 are structured so that one of spot laser beams is reflected on a rail tread, and at least one of other laser beams is reflected on a top face of a fastening bolt or a fastening nut. The apparatus for inspecting calculates the height of a light spot of an image input from the line sensor; calculates the height of the top face of the fastening bolt or the fastening nut, based on ID information to be inspected input from an ID information storage apparatus 21 and a laser beam reflection position; and compares the height with a reference value, thereby looseness of the fastening bolt or the fastening nut for confirmation of no looseness is detected and the result on a display unit 23 is displayed.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种用于检查铁路轨道紧固松动的装置，即使改变了轨道紧固装置的类型，也能够精确地检测紧固松动等，并且能够精确地识别位置的失效的紧固装置。解决方案：线传感器1和多个点激光投射器2被构造成使得点激光束中的一个在轨道胎面上反射，并且其他激光束中的至少一个在紧固件的顶面上反射螺栓或紧固螺母。用于检查的装置计算从线传感器输入的图像的光点的高度; 基于从ID信息存储装置21输入的要检查的ID信息和激光束反射位置，计算紧固螺栓或紧固螺母的顶面的高度; 并且将高度与参考值进行比较，从而检测到紧固螺栓或用于确认不松动的紧固螺母的松动，并且显示在显示单元23上的结果。版权所有（C）2011，JPO＆INPIT

4. 发明专利

JP2004050356A Position and attitude sensor of movable structure 有权
公开(公告)号：JP2004050356A
公开(公告)日：2004-02-19
申请号：JP2002211553
申请日：2002-07-19
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： KUBO SADAO , NAKAMURA YOICHI , OGATA TAKAMASA
IPC分类号： G01B11/00 , B25J9/10 , B25J19/02 , G01B11/26 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide a position and posture sensor of a movable body which precisely detects the reference point of the position and posture set at the movable body. SOLUTION: The sensor is provided with: a target unit 11 which has three targets not aligned on the same straight line and is mounted on a tool 30; a plurality of cameras 13 which images the target unit from a camera position where a absolute position is grasped in a robot coordinate system and creates an image data showing the image of the target unit; an image processing section 14 which finds the absolute posture of the reference point and the absolute of the tool set on the tool in the robot coordinate system based on the image data from the cameras; a gyro sensor 15 and an acceleration sensor 16 which are mounted on the tool and detect the relative angular displacement and relative slide displacement of the tool; and an operation section 18 which finds the position and posture of the reference point on the tool based on the relative slide displacement and relative angular displacement of the tool and the absolute position and absolute posture of the tool. COPYRIGHT: (C)2004,JPO

5. 发明专利

JPH11280494A Reduction device for nox discharged by gas turbine 失效
标题翻译：用于气体涡轮排放的NOX还原装置
公开(公告)号：JPH11280494A
公开(公告)日：1999-10-12
申请号：JP8689898
申请日：1998-03-31
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： MASUO HITOSHI , IMAI KAZUO , MIZOGUCHI KAZUHIKO , NAKAMURA YOICHI
IPC分类号： F02C3/30 , F02C7/143 , F02C9/00
摘要： PROBLEM TO BE SOLVED: To stably reduce density of NOx discharged from a gas turbine by heating water ejected from a water supply system to an intake system while partially extracting high temperature air which is compressed by a compressor, thereby increasing the temperature of air to be supplied to a compressor, always increasing a moisture amount in the air, and reducing a combustion temperature of a burner.
SOLUTION: A water supply pipe 7 is arranged on an upstream side of an intake chamber 4. An exhauster 9 is arranged on the water supply pipe 7 for evenly exhausting water. An extraction pipe 10 is connected to the exhauster 9 for partially extracting high temperature air compressed by a compressor C. Water exhausted by a discharger 9 is evaporated by the high temperature air extracted from the compressor C. Air of high temperature and high humidity is ejected from a steam exhauster 6a, and mixed with atmosphere 5. Wet air containing high moisture is always supplied to a burner B for reducing density of NOx.
COPYRIGHT: (C)1999,JPO
摘要翻译：要解决的问题：通过将从供水系统喷射的水加热到进气系统，同时部分地提取由压缩机压缩的高温空气来稳定地降低从燃气轮机排出的NOx的密度，从而将空气的温度提高到提供给压缩机，总是增加空气中的水分量，并降低燃烧器的燃烧温度。解决方案：供水管7布置在进气室4的上游侧。排水器9布置在供水管7上，用于均匀排水。抽出管10连接到排气器9，用于部分提取由压缩机C压缩的高温空气。由排出器9排出的水被从压缩机C抽出的高温空气蒸发。高温高湿空气被喷出来自蒸汽排出器6a，并与大气混合5.总是向燃烧器B供给含有高水分的湿空气以降低NOx的密度。

6. 发明专利

JP2011081082A Optical observation device and optical observation method using transmissive light illumination 审中-公开
标题翻译：光学观察装置和使用透射光照明的光学观测方法
公开(公告)号：JP2011081082A
公开(公告)日：2011-04-21
申请号：JP2009231645
申请日：2009-10-05
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： OJI OSAMU , NAKAMURA YOICHI , SAKURAI TAKASHI , WATAKABE KEIZO
IPC分类号： G02B21/08 , C12M1/34
摘要： PROBLEM TO BE SOLVED: To provide an optical observation device and an optical observation method which allow a wide range of observation to be conducted without using a special lens such as a telecentric lens or causing vignetting at low magnification.
SOLUTION: The optical observation device includes: a light source device 6 with a point light source 16 which emits illuminating light 7; a first convex lens 4 which makes the illuminating light 7 parallel light; a second convex lens 5 which condenses parallel light from the first convex lens 4 and irradiates an observation object 13 such as a dish on which cell culture is conducted, with the condensed parallel light; an imaging lens 14 for forming an image of the observation object 13; and an imaging device 14 comprising a CCD for imaging a formed image etc. In the optical observation device, illuminating light 7 emitted from the point light source 16 is condensed by the second convex lens 5 on the center position C of the aperture diaphragm surface of the imaging optical system (the center of the imaging lens 14), that is, since the direct light 9 of the illuminating light coincides with the key light 8 of the imaging optical system, a bright image is obtained in the whole of an imaging region L.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种允许在不使用诸如远心透镜的特殊透镜或在低倍率下进行晕影的情况下进行宽范围的观察的光学观察装置和光学观察方法。解决方案：光学观察装置包括：具有发射照明光7的点光源16的光源装置6; 使照明光7平行的第一凸透镜4; 第二凸透镜5，其将来自第一凸透镜4的平行光聚光，并且以冷凝的平行光照射进行细胞培养的盘等观察对象物13; 用于形成观察对象13的图像的摄像透镜14; 以及包括用于成像图像等的CCD的成像装置14.在光学观察装置中，从点光源16发射的照明光7被第二凸透镜5会聚在孔径光阑表面的中心位置C上成像光学系统（成像透镜14的中心），即，由于照明光的直接光9与成像光学系统的按键光8一致，所以在整个成像区域中获得明亮的图像版权所有（C）2011，JPO＆INPIT

7. 发明专利

JP2009302392A Substrate detecting device and method 审中-公开
标题翻译：基板检测装置及方法
公开(公告)号：JP2009302392A
公开(公告)日：2009-12-24
申请号：JP2008156872
申请日：2008-06-16
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： ENOMOTO MASAYUKI , TAKATORI MASAO , NAKAMURA YOICHI
IPC分类号： H01L21/68
摘要： PROBLEM TO BE SOLVED: To detect quickly and reliably a stored state of a plurality of substrates in a cassette. SOLUTION: A device for detecting a stored state of a plurality of substrates stored in a cassette having a front face where a loading/unloading opening is formed, is provided with: a lighting means having a lighting source for lighting the substrates stored in the cassette from the front side; an imaging means for imaging the substrates in the cassette from the front side; and an image processing means for processing the images of the substrates acquired by the imaging means. The image processing means processes lighting-reflected images formed on front end surfaces of the substrates by means of the lighting source, and detects the stored state of the substrates by analyzing characteristic amounts of the lighting-reflected images. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：快速可靠地检测盒中的多个基板的存储状态。解决方案：一种用于检测存储在具有形成有装载/卸载开口的正面的盒中的多个基板的存储状态的装置，具有：照明装置，具有用于照亮存储的基板的照明源在前面的磁带盒中; 用于从前侧成像盒中的基板的成像装置; 以及图像处理装置，用于处理由成像装置获取的基板的图像。图像处理装置通过照明源处理形成在基板的前端表面上的照明反射图像，并且通过分析照明反射图像的特征量来检测基板的存储状态。版权所有（C）2010，JPO＆INPIT

8. 发明专利

JP2008224631A Railroad rail fastening bolt slackness inspection apparatus 有权
标题翻译： RAILROAD RAIL FASTENING螺栓滑动检测装置
公开(公告)号：JP2008224631A
公开(公告)日：2008-09-25
申请号：JP2007067666
申请日：2007-03-15
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： ENOMOTO MASAYUKI , AKAMATSU MASAHIKO , NAKAMURA YOICHI
IPC分类号： G01B11/02 , B61K9/08 , B61K13/00 , E01B35/00
摘要： PROBLEM TO BE SOLVED: To provide a railroad fastening bolt slackness inspection apparatus which can be inspected even if there are a location variation of the fastening bolt or a swimming of a vehicle, in this apparatus which inspects the slackness condition of the rail fastening bolt during cruise and is arranged under floors, such as an orbit confirmation vehicle.
SOLUTION: A line sensor 1 is so arranged that a running surface 41 of the rail and a top surface 42 of one pair of the fastening bolts sandwiching the rail may go into field of view. Further, a plurality of spot laser projectors 2 and a detection axis of the line sensors 1 have to come in one plane, and one of the spot laser is reflected by the running surface 41. The other spot lasers are arranged by each top surface of one pair of fastening bolts in location in which at least one is reflected at the time of the measurement. The spot laser projector 2 is switched one by one, and is excited. The slackness of the fastening bolt is detected from the height of the top surface 42, based on the laser light reflection position obtained from the line sensor 1 for every lighting switching.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种铁路紧固螺栓松弛检查装置，即使在紧固螺栓的位置变化或车辆的游泳时也能够检查，在该装置中，检查轨道的松弛状况巡航期间紧固螺栓，并布置在地板下，如轨道确认车辆。解决方案：线传感器1被布置成使得轨道的行进表面41和夹在轨道中的一对紧固螺栓的顶表面42可以进入视场。此外，多个点状激光投射器2和线传感器1的检测轴必须进入一个平面，并且点激光中的一个被行进面41反射。另一个点激光由每个顶部表面在测量时至少有一个被反射的位置中的一对紧固螺栓。点激光投影仪2逐个切换，并被激发。基于从线路传感器1获得的每次照明切换的激光反射位置，从顶面42的高度检测紧固螺栓的松弛度。版权所有（C）2008，JPO＆INPIT

9. 发明专利

JP2005283600A Position and attitude detection device for movable body 有权
标题翻译：用于移动体的位置和姿态检测装置
公开(公告)号：JP2005283600A
公开(公告)日：2005-10-13
申请号：JP2005172874
申请日：2005-06-13
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： KUBO SADAO , NAKAMURA YOICHI , OGATA TAKAMASA
IPC分类号： G01B11/00 , B25J19/04 , G01B21/00
摘要： PROBLEM TO BE SOLVED: To provide a position and attitude detection device for a movable body, capable of detecting a position of a reference point set in the movable body and an attitude of the movable body with high accuracy. SOLUTION: This position and attitude detection device has: a target unit 11 having three targets not aligned on the same straight line, provided in a tool 30; a plurality of cameras 13 photographing the target unit from a photographing position wherein an absolute position in a robot coordinate system is grasped, and generating image data showing an image of the target unit; an image processing part 14 finding an absolute position of the reference point set in the tool in the robot coordinate system and an absolute attitude of the tool on the basis of the image data from the camera; an acceleration sensor 16 and a gyroscopic sensor 15 provided in the tool, detecting relative slide displacement and relative angle displacement of the tool; and an arithmetic part 18 finding the attitude and the position of the reference point of the tool on the basis of the absolute attitude and the absolute position of the reference point of the tool, and the relative angle displacement and the relative slide displacement of the tool. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于可移动体的位置和姿态检测装置，其能够高精度地检测可移动体中设定的参考点的位置和移动体的姿势。该位置和姿态检测装置具有：设置在工具30中的具有不在同一直线上对准的三个目标的目标单元11; 多个照相机13，从掌握机器人坐标系中的绝对位置的拍摄位置拍摄目标单元，生成表示目标单元的图像的图像数据; 根据来自摄像机的图像数据，找到机器人坐标系中的工具中设定的基准点的绝对位置和工具的绝对姿势的图像处理部14; 设置在工具中的加速度传感器16和陀螺传感器15，检测工具的相对滑动位移和相对角位移; 以及算术部件18，基于工具的基准点的绝对姿态和绝对位置以及刀具的相对角位移和相对滑动位移来求出工具的基准点的姿态和位置。版权所有（C）2006，JPO＆NCIPI

10. 发明专利

JP2004216446A Method and device for tracing target line 有权
标题翻译：跟踪目标线的方法和装置
公开(公告)号：JP2004216446A
公开(公告)日：2004-08-05
申请号：JP2003010196
申请日：2003-01-17
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： FUJIMOTO HIROAKI , SATO OSAMU , KUBOTA TETSUYA , KOJIMA KAZUHIKO , NAKAMURA YOICHI , YAGI EIICHI , MURATA TAKAYUKI , MATSUMOTO TOSHIFUMI
IPC分类号： B23K26/08 , B23K26/04 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To attain high accuracy of tracing a weld line in a YAG laser welder 1. SOLUTION: A laser machining head 8 and a tracing mechanism 11 are mounted onto the wrist 4 of a six-axis industrial robot 2. Further a detecting means 14 is loaded ahead of the laser machining head 8 in the welding direction 26. The detecting means 14 detects the position of the weld line 7 from the robot 2 simultaneously at two (2) different points along the welding direction 26. The detected points Ys1 and Ys2 are stored in a detected position memory 29 in turn. The teaching position Yrob of the robot 2 is stored in a teaching position memory 31, and interpolation operation is also performed. With the contents stored in these memories being read out, the presumed position Y^k and presumed positional error Y^rerr of a target line are computed, and an imitating action command value Yref is computed with the teaching position Yrob. An imitating action command value Yref is calculated so that the position of welding by the laser machining head 8 traces the welding line 7 to control the tracing mechanism 11. A value calculated at the current time is used as to the positional error of the robot. A value at the place where the laser machining head currently exists in relation to the welding direction is used as to the position of the weld line. COPYRIGHT: (C)2004,JPO&NCIPI
摘要翻译：要解决的问题：为了获得在YAG激光焊接机1中跟踪焊接线的高精度。解决方案：激光加工头8和跟踪机构11安装在六轴的手腕4上工业机器人2.此外，检测装置14在焊接方向26的前面装载在激光加工头8的前面。检测装置14沿着沿着焊接方向的两（2）个不同点同时检测来自机器人2的焊接线7的位置检测点Ys1和Ys2依次存储在检测位置存储器29中。机器人2的教学位置Yrob被存储在教学位置存储器31中，并且还执行插值操作。在存储在这些存储器中的内容被读出的情况下，计算目标行的推定位置Y ^ k和推测位置误差Y ^ rerr，并且用教学位置Yrob计算模拟动作指令值Yref。计算模拟动作指令值Yref，使得激光加工头8的焊接位置跟踪焊接线7以控制跟踪机构11.对于机器人的位置误差使用当前时间计算的值。使用激光加工头相对于焊接方向存在的地方的值，焊接线的位置。版权所有（C）2004，JPO＆NCIPI

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