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1. 发明授权

US09046496B2 Capturing method for images with different view-angles and capturing system using the same 有权
标题翻译：捕捉具有不同视角的图像并采用相同的捕获系统
公开(公告)号：US09046496B2
公开(公告)日：2015-06-02
申请号：US13371060
申请日：2012-02-10
申请人： Ya-Hui Tsai , Kuo-Tang Huang , Chin-Kuei Chang , Chun-Lung Chang
发明人： Ya-Hui Tsai , Kuo-Tang Huang , Chin-Kuei Chang , Chun-Lung Chang
IPC分类号： H04N13/02 , H04N13/00 , G01N21/88 , G01N21/956
CPC分类号： G01N21/8806 , G01N21/956 , G01N2021/8835 , G01N2021/95638
摘要： A capturing method for a plurality of images with different view-angles and a capturing system using the same are provided. The capturing method for the images with different view-angles includes the following steps. An appearance image of an object is captured by an image capturing unit at a capturing angle. A light reflection area of the appearance image is detected by a detecting unit, and a dimension characteristic of the light reflection area is analyzed by the same. Whether the dimension characteristic of the light reflection area is larger than a first predetermined value is determined. If the dimension characteristic of the light reflection area is larger than the first predetermined value, then the capturing angle is adjusted within a first adjusting range. After the step of adjusting the capturing angle within a first adjusting range is performed, the step of capturing the appearance image is performed again.
摘要翻译：提供了具有不同视角的多个图像的捕获方法和使用该捕获方法的捕获系统。具有不同视角的图像的捕获方法包括以下步骤。拍摄角度由图像拍摄单元拍摄物体的外观图像。通过检测单元检测外观图像的光反射区域，并且通过该光反射区域的光反射区域的尺寸特性进行分析。确定光反射区域的尺寸特性是否大于第一预定值。如果光反射区域的尺寸特性大于第一预定值，则在第一调整范围内调整拍摄角度。在执行在第一调整范围内调整拍摄角度的步骤之后，再次执行拍摄外观图像的步骤。

2. 发明申请

US20120249753A1 CAPTURING METHOD FOR IMAGES WITH DIFFERENT VIEW-ANGLES AND CAPTURING SYSTEM USING THE SAME 有权
标题翻译：使用不同视角的图像的捕获方法和使用它的捕获系统
公开(公告)号：US20120249753A1
公开(公告)日：2012-10-04
申请号：US13371060
申请日：2012-02-10
申请人： Ya-Hui Tsai , Kuo-Tang Huang , Chin-Kuei Chang , Chun-Lung Chang
发明人： Ya-Hui Tsai , Kuo-Tang Huang , Chin-Kuei Chang , Chun-Lung Chang
IPC分类号： H04N13/02
CPC分类号： G01N21/8806 , G01N21/956 , G01N2021/8835 , G01N2021/95638
摘要： A capturing method for a plurality of images with different view-angles and a capturing system using the same are provided. The capturing method for the images with different view-angles includes the following steps. An appearance image of an object is captured by an image capturing unit at a capturing angle. A light reflection area of the appearance image is detected by a detecting unit, and a dimension characteristic of the light reflection area is analyzed by the same. Whether the dimension characteristic of the light reflection area is larger than a first predetermined value is determined. If the dimension characteristic of the light reflection area is larger than the first predetermined value, then the capturing angle is adjusted within a first adjusting range. After the step of adjusting the capturing angle within a first adjusting range is performed, the step of capturing the appearance image is performed again.
摘要翻译：提供了具有不同视角的多个图像的捕获方法和使用该捕获方法的捕获系统。具有不同视角的图像的拍摄方法包括以下步骤。拍摄角度由图像拍摄单元拍摄物体的外观图像。通过检测单元检测外观图像的光反射区域，并且通过该光反射区域的光反射区域的尺寸特性进行分析。确定光反射区域的尺寸特性是否大于第一预定值。如果光反射区域的尺寸特性大于第一预定值，则在第一调整范围内调整拍摄角度。在执行在第一调整范围内调整拍摄角度的步骤之后，再次执行拍摄外观图像的步骤。

3. 发明申请

US20120143370A1 ROBOT POSITIONING METHOD AND CALIBRATION METHOD 有权
标题翻译：机器人定位方法和校准方法
公开(公告)号：US20120143370A1
公开(公告)日：2012-06-07
申请号：US13013690
申请日：2011-01-25
申请人： Po-Huang Shieh , Shang-Chieh Lu , Bor-Tung Jiang , Kuo-Tang Huang , Chin-Kuei Chang
发明人： Po-Huang Shieh , Shang-Chieh Lu , Bor-Tung Jiang , Kuo-Tang Huang , Chin-Kuei Chang
IPC分类号： B25J13/08
CPC分类号： B25J9/1692 , G05B2219/39045
摘要： A robot positioning method includes the following steps. A optical sensing device is configured at a front end of a robot. Then, the optical sensing device captures a calibration plate image, and a relative position of the optical sensing device with respective to a calibration plate is calculated according to a Bundle Adjustment. A robot calibration method includes the following steps. An optical sensing device is driven to rotate around a reference axis of a calibration plate, so as to calculate a translation matrix between the calibration plate and the robot, and the optical sensing device is driven to translate along three orthogonal reference axes of the calibration plate, so as to calculate a rotation matrix between the calibration plate and the robot.
摘要翻译：机器人定位方法包括以下步骤。光学感测装置构造在机器人的前端。然后，光学传感装置捕获校准板图像，并且根据捆绑调整计算光学传感装置相对于校准板的相对位置。机器人校准方法包括以下步骤。光学感测装置被驱动以围绕校准板的参考轴线旋转，以便计算校准板和机器人之间的平移矩阵，并且光学传感装置被驱动以沿校准板的三个正交参考轴平移，以计算校准板和机器人之间的旋转矩阵。

4. 发明授权

US08688274B2 Robot positioning method and calibration method 有权
标题翻译：机器人定位方法及校准方法
公开(公告)号：US08688274B2
公开(公告)日：2014-04-01
申请号：US13013690
申请日：2011-01-25
申请人： Po-Huang Shieh , Shang-Chieh Lu , Bor-Tung Jiang , Kuo-Tang Huang , Chin-Kuei Chang
发明人： Po-Huang Shieh , Shang-Chieh Lu , Bor-Tung Jiang , Kuo-Tang Huang , Chin-Kuei Chang
IPC分类号： G05B19/18 , G05B19/04
CPC分类号： B25J9/1692 , G05B2219/39045
摘要： A robot positioning method includes the following steps. A optical sensing device is configured at a front end of a robot. Then, the optical sensing device captures a calibration plate image, and a relative position of the optical sensing device with respective to a calibration plate is calculated according to a Bundle Adjustment. A robot calibration method includes the following steps. An optical sensing device is driven to rotate around a reference axis of a calibration plate, so as to calculate a translation matrix between the calibration plate and the robot, and the optical sensing device is driven to translate along three orthogonal reference axes of the calibration plate, so as to calculate a rotation matrix between the calibration plate and the robot.
摘要翻译：机器人定位方法包括以下步骤。光学感测装置构造在机器人的前端。然后，光学传感装置捕获校准板图像，并且根据捆绑调整计算光学传感装置相对于校准板的相对位置。机器人校准方法包括以下步骤。光学感测装置被驱动以围绕校准板的参考轴线旋转，以便计算校准板和机器人之间的平移矩阵，并且光学传感装置被驱动以沿校准板的三个正交参考轴平移，以计算校准板和机器人之间的旋转矩阵。

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