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1. 发明授权

US5881167A Method for position recognition 失效
标题翻译：位置识别方法
公开(公告)号：US5881167A
公开(公告)日：1999-03-09
申请号：US780322
申请日：1997-01-08
申请人： Misuzu Takano , Yoshihiro Itsuzaki , Kinji Horikami , Masaya Nakao
发明人： Misuzu Takano , Yoshihiro Itsuzaki , Kinji Horikami , Masaya Nakao
IPC分类号： G06T7/60 , G06T7/00 , G06T9/20 , H04N7/18 , G06K9/00
CPC分类号： G06T7/0042 , G06T2207/30164
摘要： A method of position recognition, includes a step of obtaining a gray image by picking up an image of an object by an image pickup device; a step of scanning the gray image by a profile scanning window composed of a plurality of gray-level detection areas which cross a scanning profile corresponding to a profile of the object on the gray image and using to measure a gray-level representative value of an inner-side gray-level detection area and a gray-level representative value of an outer-side gray-level detection area which are inside and outside of the scanning profile; a step of calculating for each gray-level detection area an absolute value of a difference between the measured gray-level representative value of an inner-side gray-level detection area and the measured gray-level representative value of an outer-side gray-level detection area, and a step of detecting a position of the profile scanning window where a number of such gray-level detection areas in which the absolute value is greater than a specified gray-level threshold value becomes a maximum, as a position of the object.
摘要翻译：一种位置识别方法包括通过摄像装置拾取物体的图像来获得灰度图像的步骤; 通过由多个灰度级检测区域组成的轮廓扫描窗扫描灰度图像的步骤，该灰度图像检测区域与灰色图像上的对象的轮廓相对应的扫描轮廓，并且使用该灰度级检测区域来测量灰度图像的灰度级代表值内侧灰度级检测区域和位于扫描轮廓内外的外侧灰度级检测区域的灰度代表值; 对于每个灰度级检测区域，计算内侧灰度级检测区域的测量灰度代表值与外侧灰度检测区域的测量灰度代表值之间的差的绝对值的步骤，水平检测区域，以及检测轮廓扫描窗口的位置的步骤，其中绝对值大于指定灰度阈值的灰度级检测区域的数量变为最大值，作为目的。

2. 发明授权

US5642434A Method for shape detection using density correlation valves 失效
标题翻译：使用密度相关阀的形状检测方法
公开(公告)号：US5642434A
公开(公告)日：1997-06-24
申请号：US273142
申请日：1994-07-14
申请人： Masaya Nakao , Yoshihiro Itsuzaki , Kinji Horikami , Misuzu Takano
发明人： Masaya Nakao , Yoshihiro Itsuzaki , Kinji Horikami , Misuzu Takano
IPC分类号： G06K9/64 , G06T7/00 , G06K9/66
CPC分类号： G06K9/6203 , G06T7/004
摘要： Each pixel of a density reference area of a reference image is assigned a predetermined coefficient value in accordance with whether the pixel is located within a peripheral boundary of a to be detected shape, external the peripheral boundary of the to-be-detected shape, or on the peripheral boundary of the to-be-detected shape. An actual image of an object containing the to-be-detected shape is then obtained, and after setting a target pixel of the resultant image, the image density of each pixel is multiplied by the coefficient values of the density reference area of the reference image. The resultant products are transformed into a density correlation value for the target pixel. The location of the target pixel is then scanned to determine the location of a target pixel at which a maximum or a minimum density correlation value is obtained. The thus determined location is detected as the location of the to-be-detected shape within the object.
摘要翻译：根据该像素是否位于待检测形状的外围边界内，外部的被检测形状的外围边界或者被检测的形状的外围边界，或者将被检测的形状的外围边界外部的参考图像的密度参考区域的每个像素分配给预定的系数值在待检测形状的外围边界。然后获得包含待检测形状的对象的实际图像，并且在设置所得到的图像的目标像素之后，将每个像素的图像浓度乘以参考图像的浓度参考区域的系数值。所得到的产物被转换成目标像素的密度相关值。然后扫描目标像素的位置，以确定获得最大或最小密度相关值的目标像素的位置。这样确定的位置被检测为对象内被检测形状的位置。

3. 发明授权

US5930406A Position detection apparatus 失效
标题翻译：位置检测装置
公开(公告)号：US5930406A
公开(公告)日：1999-07-27
申请号：US392214
申请日：1995-02-22
申请人： Yoshihiro Itsuzaki , Kinji Horikami , Masaya Nakao , Misuzu Takano
发明人： Yoshihiro Itsuzaki , Kinji Horikami , Masaya Nakao , Misuzu Takano
IPC分类号： H04N5/225 , G06K9/46 , G06T7/00 , G06T7/60 , H04N7/18 , G06K9/00 , G06K9/36
CPC分类号： G06K9/4609 , G06T7/0044
摘要： A position detection apparatus for detecting a position of an object includes a video image producer which produces a video image signal representing the object image. The video image signal is divided into first and second level portions by an edge point. An edge point detector detects the edge point where said level difference is greater than a threshold level. A window filter is provided to increase this level difference to a level greater than a threshold so that the edge point detector can detect the edge point even when the level difference is smaller than the threshold level. A shape detector detects the position of the object based on thus detected edge point.
摘要翻译：用于检测对象的位置的位置检测装置包括产生表示对象图像的视频信号的视频图像生成器。视频信号通过边缘点被分成第一和第二级部分。边缘点检测器检测所述电平差大于阈值电平的边缘点。提供了一个窗口滤波器，以将该电平差增加到大于阈值的电平，使得即使当电平差小于阈值电平时，边缘点检测器也可以检测边缘点。形状检测器基于这样检测的边缘点检测物体的位置。

4. 发明授权

US5742701A Alignment detection apparatus 失效
标题翻译：对准检测装置
公开(公告)号：US5742701A
公开(公告)日：1998-04-21
申请号：US389233
申请日：1995-02-15
申请人： Misuzu Takano , Kinji Horikami , Yoshihiro Itsuzaki , Masaya Nakao
发明人： Misuzu Takano , Kinji Horikami , Yoshihiro Itsuzaki , Masaya Nakao
IPC分类号： G06T7/00 , G06K9/00
CPC分类号： G06T7/0042 , G06T2207/30164
摘要： An alignment detection apparatus is able to accurately detect the alignment condition of an upper hole and a lower hole located under the upper hole even when a scanning window does not precisely match either of the two holes. This alignment detection apparatus comprises an image producer which produces a digital density image indicative of these two holes. A position detector detects positions of the holes based on the digital image signal and produces a position signal. A displacement detector detects a distance between the upper hole and lower hole based on the position signal and produces a displacement signal indicative of the thus detected distance. Based on the displacement signal, the alignment condition of two holes including the information of how the lower hole edge is displaced from the upper hole edge can be detected.
摘要翻译：即使当扫描窗口不精确地匹配两个孔中的任一个时，对准检测装置也能够精确地检测位于上孔下方的上孔和下孔的对准状态。该对准检测装置包括产生表示这两个孔的数字密度图像的图像生成器。位置检测器基于数字图像信号检测孔的位置并产生位置信号。位移检测器基于位置信号检测上孔和下孔之间的距离，并产生指示由此检测到的距离的位移信号。基于位移信号，可以检测包括下孔边缘从上孔边缘移位的信息的两个孔的对准状态。

5. 发明授权

US5579415A Computer implemented method of recognizing a position of an object 失效
标题翻译：计算机实现的方法来识别对象的位置
公开(公告)号：US5579415A
公开(公告)日：1996-11-26
申请号：US294858
申请日：1994-08-29
申请人： Misuzu Takano , Yoshihiro Itsuzaki , Kinji Horikami , Masaya Nakao , Kazumasa Okumura
发明人： Misuzu Takano , Yoshihiro Itsuzaki , Kinji Horikami , Masaya Nakao , Kazumasa Okumura
IPC分类号： G06K9/64 , G06T7/00 , G06K9/20
CPC分类号： G06T7/0044 , G06K9/6202 , G06T2207/30164
摘要： A method for position recognition, includes the steps of: picking up an image of an object having a circular arc shape as at least part of its profile, by an image pickup device; converting image information of the picked-up image in gray image data and storing the gray image data into a storage device; scanning the stored gray image with a profile scanning window composed of plural gray-level detection areas crossing an imaginary scanning circular profile corresponding to the shape on the gray image and arranged in circular along the scanning circular profile and using it to measure gray-level representative values of an inner- and outer-side gray-level detection areas inside and outside of the scanning circular profile; calculating, at each scanning position during scanning and for each detection area, an absolute value of a difference between the measured gray-level representative values of the inner- and outer-side gray-level detection areas; determining a number of such detection areas in which the absolute value of the difference is larger than a specified gray-level threshold value; detecting a position of the window where the calculated number of detection areas becomes a maximum with respect to their neighborhood, as a position of the shape of the object; and recognizing a position of the object from the detected position of the shape thereof.
摘要翻译：一种用于位置识别的方法，包括以下步骤：通过图像拾取装置拾取具有圆弧形状的对象的至少一部分的图像; 将所摄取的图像的图像信息转换成灰度图像数据并将灰度图像数据存储到存储装置中; 使用由多个灰度级检测区域组成的轮廓扫描窗扫描存储的灰度图像，所述多个灰度级检测区域与与灰色图像上的形状对应的假想扫描圆形轮廓交叉，并沿着扫描圆形轮廓布置成圆形，并使用它来测量灰度代表在扫描圆形轮廓内部和外部的内侧和外侧灰度级检测区域的值; 在扫描期间的每个扫描位置和对于每个检测区域计算内侧和外侧灰度级检测区域的测量的灰度代表值之间的差的绝对值; 确定差异的绝对值大于指定灰度阈值的这种检测区域的数量; 检测计算出的检测区域的数量相对于其邻域的最大值的窗口的位置作为对象的形状的位置; 并且从其形状的检测位置识别物体的位置。

6. 发明授权

US5446801A Recognizing methods of circular holes 失效
标题翻译：认识圆孔的方法
公开(公告)号：US5446801A
公开(公告)日：1995-08-29
申请号：US203291
申请日：1994-03-01
申请人： Yoshihiro Itsuzaki , Misuzu Takano , Kinji Horikami , Masaya Nakao
发明人： Yoshihiro Itsuzaki , Misuzu Takano , Kinji Horikami , Masaya Nakao
IPC分类号： G01B11/00 , G05B19/402 , G06T1/00 , G06T7/00 , G06K9/00
CPC分类号： G06T7/0042 , G05B19/402 , G05B2219/45091 , G05B2219/49113
摘要： Positions of overlapping first and second circular holes of respective first and second objects are detected, the first and second objects to be screwed together by a robotic screwing mechanism. An upper surface of the first object is viewed with an image pick-up device to obtain an image of the first circular hole and a partial image of the second circular hole which overlaps the image of the first circular hole. Two maximally spaced-apart boundary points from among the boundary points along an outer periphery of the partial image are detected. First and second circles within an image frame are defined which include the two maximally spaced-apart boundary points and which have respective centers of gravity which are symmetric to each other relative to a line segment connecting the maximally spaced-apart boundary points. The positions of the first and second circular holes are detected based on the defined first and second circles within the image frame.
摘要翻译：检测相应的第一和第二物体的重叠的第一和第二圆形孔的位置，第一和第二物体由机器人螺丝拧紧机构拧紧在一起。用图像拾取装置观察第一物体的上表面，以获得与第一圆形孔的图像重叠的第一圆形孔的图像和第二圆形孔的部分图像。检测到沿着部分图像的外周边界点的两个最大间隔开的边界点。定义了图像帧内的第一和第二圆，其包括两个最大间隔开的边界点，并且它们具有相对于连接最大间隔开的边界点的线段彼此对称的各自的重心。基于图像帧内限定的第一和第二圆形来检测第一和第二圆形孔的位置。

7. 发明授权

US5995663A Shape detection apparatus 失效
标题翻译：形状检测装置
公开(公告)号：US5995663A
公开(公告)日：1999-11-30
申请号：US985905
申请日：1997-12-05
申请人： Yoshihiro Itsuzaki , Masatoshi Nakamura , Noriyuki Suzuki , Misuzu Takano , Kinji Horikami
发明人： Yoshihiro Itsuzaki , Masatoshi Nakamura , Noriyuki Suzuki , Misuzu Takano , Kinji Horikami
IPC分类号： G06T7/60 , G06K9/48 , G06T7/00 , G06K9/46
CPC分类号： G06K9/48 , G06T7/0044 , G06T7/0083 , G06T2207/20168
摘要： A shape detection apparatus able to accurately detect the image position of a target object even when the shape of the scanning window does not match the shape of the image of the target, and even when the scanning position of the scanning window does not precisely match the image position of the target is provided. This shape detection apparatus comprises a video image producer; an image memory; an approximate position evaluator for evaluating the approximate position of the image of the target; an edge point detector for defining plural sampling line windows having a predetermined length for detecting the image density at the detected approximate position of the image, and detecting image density edge points in these sampling line windows as the contour point positions of the target image; and a detection window setter for setting the contour lines of the target image from the detected contour point positions.
摘要翻译：即使当扫描窗口的形状与目标的图像的形状不匹配时，即使扫描窗口的扫描位置与扫描窗口的扫描位置不精确匹配，也能够精确地检测目标对象的图像位置的形状检测装置提供目标的图像位置。该形状检测装置包括视频图像产生器; 图像存储器用于评估目标图像的近似位置的近似位置评估器; 用于定义具有预定长度的多个采样线窗口的边缘点检测器，用于检测所检测的图像近似位置处的图像浓度，并且检测这些采样行窗口中的图像浓度边缘点作为目标图像的轮廓点位置; 以及检测窗口设定器，用于根据检测到的轮廓点位置设定目标图像的轮廓线。

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