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1. 发明专利

JP2002170105A METHOD AND APPARATUS FOR PHOTOGRAPHING MOVING OBJECT AND METHOD AND APPARATUS FOR RECOGNIZING MOVING OBJECT 审中-公开
公开(公告)号：JP2002170105A
公开(公告)日：2002-06-14
申请号：JP2001252177
申请日：2001-08-23
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： TAKAHASHI HIROKO , TANAKA KOICHI , OHARA SHUICHI , SHIO AKIO , OTSUKA SAKUICHI , ARAI HIROYUKI , YOSHIDA MASAHARU
IPC分类号： G07D5/02 , G06T1/00 , G06T7/00 , G06T7/20 , G07D7/20
摘要： PROBLEM TO BE SOLVED: To provide a method and apparatus for recognizing a moving object enabling the object to be recognized even if there is no instance when all of subjects cannot be viewed or if the object has rotation symmetry and rotates. SOLUTION: A reference image of an assumed object moving through a specific path is prepared as a dictionary 1-4. Time series line images 1-1 of the moving object are obtained from line sensor cameras installed across the path of movement. At the same time, the position information 1-2 of the time- series line images is obtained in synchronism with the time-series line images. In a position-based similarity calculating process 1-5, the position information 1-2 of each of the time-series line images 1-1 is checked against the dictionary 1-4 to calculate their similarity. Next, in a total checking process 1-6, a determination is made as to whether or not the object resembles the dictionary, based on the conformity between all the similarities obtained for all the positions and the entire dictionary 1-4 checked.

2. 发明专利

JP2002010127A METHOD AND APPARATUS FOR IMAGING MOVING OBJECT AND MEDIUM RECORDING EXECUTION PROGRAM THEREOF 失效
公开(公告)号：JP2002010127A
公开(公告)日：2002-01-11
申请号：JP2000184319
申请日：2000-06-20
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： OHARA SHUICHI , TANAKA KOICHI , MEGURO SHINICHI , YOSHIDA MASAHARU , SHIO AKIO , TAKAHASHI HIROKO , OTSUKA SAKUICHI
IPC分类号： H04N5/232 , H04N5/225 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a method and an apparatus for imaging in synchronism with arrival of a signal at the imaging position of a moving object using the inner clock signal of a camera without modifying the circuitry. SOLUTION: Arrival at the imaging position 3 of a moving object 1 is detected by means of a sensor 4. An image reading circuit 20 manages the time relation of the detection signal, the field scan period, the vertical scan blanking period and the illumination light emitting time. A decision is then made whether the time arriving at the imaging position 3 of the moving object 1 falls within the field scan period of a camera 5. Light is emitted from an illuminator 6 instantaneously if the arriving time falls within the field scan period otherwise light is emitted immediately before or after the field scan period thus acquiring an image picked by means of the camera 5. Even if the arriving at the imaging position 3 of the moving object 1 enters the vertical scan blanking period, the image can be picked up or acquired and a fixed position of the moving object 1 can be imaged.

3. 发明专利

JP2002008011A INSPECTION AND COLLATION DEVICE, INSPECTION AND COLLATION METHOD, AND RECORDING MEDIUM WITH PROGRAM THEREFOR RECORDED THEREON 失效
公开(公告)号：JP2002008011A
公开(公告)日：2002-01-11
申请号：JP2000184320
申请日：2000-06-20
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： TANAKA KOICHI , OHARA SHUICHI , MEGURO SHINICHI , YOSHIDA MASAHARU , SHIO AKIO , TAKAHASHI HIROKO , OTSUKA SAKUICHI
IPC分类号： G06T1/00
摘要： PROBLEM TO BE SOLVED: To perform the correction of the assembling error of a device and the fluctuation of position, angle, magnification or luminance of a taken image by environmental fluctuation or secular change without requiring a troublesome work. SOLUTION: A correction timing generation part 4 judges whether the correction of position, angle, magnification or luminance of the taken image is required or not, and generates a correction timing signal when the correction is required. A correction quantity calculation part 5 calculates the correction quantity of position, angle, magnification or luminance of the taken image when the correction timing generation part outputs the correction timing signal. An inspection and collation calculation part 3 performs the inspection and collation of the corrected image or performs the inspection and collation without correction according to the result of the correction quantity calculation by the correction quantity calculation part. An output part 6 outputs the inspection and collation result from the inspection and collation calculation part and also the correction processing result from the correction quantity calculation part.

4. 发明专利

JP2000048120A METHOD FOR EXTRACTING CHARACTER AREA OF GRAY LEVEL IMAGE AND RECORDING MEDIUM HAVING RECORDED THE PROGRAM THEREON 失效
公开(公告)号：JP2000048120A
公开(公告)日：2000-02-18
申请号：JP21225898
申请日：1998-07-28
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： KATABUCHI NORIFUMI , OHARA SHUICHI , TANAKA KOICHI , OKUDAIRA MASASHI
IPC分类号： G06K9/20 , G06T7/00 , G06T7/40 , H04N1/40
摘要： PROBLEM TO BE SOLVED: To improve precision in reading and recognizing characters by extracting and specifying only a part including a character from the image of a processing object so as to execute image processing and character collation only in a partial area. SOLUTION: Based on the density value of each divided partial area, a distributed quantity is calculated to judge the area to be a character block or a background block (S201). Each partial area is rotated to calculate a distribution value from the distribution of the projecting values of each direction to judge the area to be the character block or the background block (S202). Whether the partial area is the character block or the background block is totally judged by these discriminated result to finally establish the character area (S203). Only the character area is extracted by limiting to the partial area including a character specified from the image of the processing object. Otherwise, the shape of a character boundary where variation of density is steep is extracted (S204). Thus, character reading and recognition hardly influenced by density variation and a noise pattern existing in the background area of an original image.

5. 发明专利

JPH05313731A ROBOT DIRECT TEACHING DEVICE 失效
公开(公告)号：JPH05313731A
公开(公告)日：1993-11-26
申请号：JP12177992
申请日：1992-05-14
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： TAKAHASHI YUICHI , OHARA SHUICHI , YANAGIHARA YOSHIMASA
IPC分类号： B25J9/22 , B25J13/02 , G05B19/409 , G05B19/42 , G05B19/405
摘要： PURPOSE:To easily teach the motion of a robot in a position distant from the robot by adding a 6-degree-freedom pointing device having translating direction, translation extent, rotating direction, rotation extent, and motor switching functions. CONSTITUTION:A robot direct teaching device consists of a robot 1, a controller 2, and a pendant 3 having a 6-degree-freedom pointing device 4. The pendant 3 having the 6-degree-freedom pointing device 4 can teach the motion by not only conventional keys and joystick but also 6-degree-freedom pointing. Thus, the position and the attitude of the robot 1 of which direct instruction with keys has been difficult become possible to be taught from a distant place. Consequently, the motion of the robot 1 can be easily taught in the position distant from the robot 1.

6. 发明专利

JPH04348885A METHOD FOR DETECTING FITTING POSITION IN ASSEMBLY OF PARTS BY USE OF ROBOT 失效
公开(公告)号：JPH04348885A
公开(公告)日：1992-12-03
申请号：JP11996391
申请日：1991-05-24
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： OHARA SHUICHI
IPC分类号： B25J9/10 , B25J13/08 , G05D3/12
摘要： PURPOSE:To readily and precisely position parts to be fitted in an assembly with the use of a robot. CONSTITUTION:When a part 1 makes contact with a part 2 formed therein with a hole 3 so that the part 1 cannot be fitted into the hole 3, the part 1 is tilted by a slight angle about the center of the contacted bottom surface thereof. When the part 1 is rotated about a position 13, a force the part 1 receives from the part 2 increases. Meanwhile when it is rotated about a position 14, the force the part 1 receives from the part 2 decreases. These forces are detected and stored in memory. When the part 1 is tilted in any direcion so that the center axis of the part 1 is laid along the side surface 16 of a cone having its axis common to the axis 15 of the part and having an apex 10. The force the part 1 receives from the part 2 gradually varies so that a direction in which the force become maximum can be detected, thereby it is possible to detect a direction in which the part 1 is shifted.

7. 发明专利

JPH04256526A POSITION DETECTING METHOD FOR ASSEMBLY PARTS 失效
公开(公告)号：JPH04256526A
公开(公告)日：1992-09-11
申请号：JP3138891
申请日：1991-02-01
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： OHARA SHUICHI , YANAGIHARA YOSHIMASA , TAKAHASHI YUICHI
IPC分类号： B23P19/02 , B25J9/06 , B25J9/10 , B25J13/08 , G05B19/18 , G05B19/404 , G05D3/00
摘要： PURPOSE:To detect the position of a part which is to be assembled to a part held by an end effector of a robot among two parts with a shaft and hole fitted closely to each other. CONSTITUTION:A position detecting jig 10 is held by a gripper 5 so that its center axis may be parallel with the center axis of a part 2 (hole 3) and its tapered portion may be faced downward. When the position detecting jig 10 is lowered along its center axis by a robot 4, the side surface of the tapered portion is made in contact with the edge of the hole 3 and the position detecting jig 10 receives a force in the direction perpendicular to the center axis. The force increases as the position detecting jig 10 lowers over a limited value, and then the actions by which the position detecting jig 10 is moved by an amount in the direction of a force perpendicular to the center axis and the position detecting jig 10 is lowered further from that position until it is pressed against the part 2 are made repeatedly. Then, when the shaft of the position detecting jig 10 is inserted into the hole 3, it does not receive any force and, therefore, alignment of the center shaft of the position detecting jig 10 with that of the hole 3 is detected to detect the position of the part 2.

8. 发明专利

JPH04112210A SIMPLE ROBOT TEACHING DEVICE 失效
公开(公告)号：JPH04112210A
公开(公告)日：1992-04-14
申请号：JP23052590
申请日：1990-09-03
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： TAKAHASHI YUICHI , OHARA SHUICHI
IPC分类号： B25J9/22 , G05B19/4093 , G05B19/42
摘要： PURPOSE:To easily teach the operation to a robot by recording a work unit as a pattern and converting the pattern to a control language string peculiar to the robot to generate operation procedures and controlling the manipulated variable of each robot of the robot based on operation procedures and information from a sensor. CONSTITUTION:A simple robot teaching device 5 controls a robot 6 consisting of a robot controller 4, a mechanism device 7, and a sensor 8. An operation procedure storage means 1 where the work unit completed under supposed work circumstances as a pattern and an operation procedure generating means 2 which converts the pattern to a control language string peculiar to the controller 4 of the robot 6 to generate the operation procedures are provided. An operation control means 3 is provided which controls the manipulated variable of each pat of the robot based on operation procedures consisting of the control language string and information of actual work circumstances inputted from the sensor 8 of the robot. Thus, an operator can operate the robot though being skilled in the control method peculiar to the robot.

9. 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.

10. 发明专利

JPH0274883A METHOD FOR MEASURING OVERWRITING CHARACTERISTIC OF MAGNETIC RECORDING MEDIUM 失效
公开(公告)号：JPH0274883A
公开(公告)日：1990-03-14
申请号：JP22635688
申请日：1988-09-12
申请人： NIPPON TELEGRAPH & TELEPHONE
发明人： OHARA SHUICHI , SATO TOSHITAKE
IPC分类号： G01R33/12 , G11B5/09 , G11B5/84
摘要： PURPOSE:To facilitate measurement by obtaining a ratio between a peak-to-peak voltage formed by subjecting a magnetic recording medium to erasure with a DC and regenerating two-bit pattern and a voltage obtained by subjecting the medium to erasure with a DC in the reverse direction and regenerating the pattern in the same way. CONSTITUTION:A switch 52 is connected to a DC supplying circuit 54. A DC is supplied to a head 1 through a record, regenerating and erase circuit 51, and a magnetic recording medium 3 is subjected to erasure with the DC. Then, the switch 52 is switched to a two-bit pattern generating circuit 53, and a two-bit pattern is recorded in the medium 3. Then, the two-bit pattern is read out and displayed on an oscilloscope 56, and a waveform 57 is observed. Then, the switch 52 is switched to a DC-power- source supplying circuit 55, and the medium is subjected to erasure with a DC having the reverse polarity with respect to the previous time. Thereafter, the two-bit pattern is recorded from the signal supplying circuit 53. The two-bit pattern is read out of the medium 3 by the same way at the previous time. The difference between peak-to- peak voltages 33 and 43 or the difference between movements 34 and 44 of peak points is obtained based on both read-out waveforms. Thus the measurement can be performed accurately and readily.

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