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1. 发明申请

WO2012002152A1 THREE-DIMENSIONAL MEASUREMENT APPARATUS, THREE-DIMENSIONAL MEASUREMENT METHOD, AND STORAGE MEDIUM 审中-公开
标题翻译：三维测量装置，三维测量方法和存储介质
公开(公告)号：WO2012002152A1
公开(公告)日：2012-01-05
申请号：PCT/JP2011/063751
申请日：2011-06-09
申请人： CANON KABUSHIKI KAISHA , TAKABAYASHI, Shiki , SONODA, Tetsuri
发明人： TAKABAYASHI, Shiki , SONODA, Tetsuri
IPC分类号： G01B11/25 , G06T3/00
CPC分类号： G01B11/25 , G01B11/2536 , H04N7/18
摘要： A three-dimensional measurement apparatus for calculating three-dimensional shape information of a target object, comprising: capturing means for capturing reflected pattern light of stripe pattern light formed by alternately arranging a bright portion and a dark portion as first image data, and capturing reflected pattern light of reversed stripe pattern light formed by reversing the bright portion and the dark portion of the stripe pattern light as second image data; determination means for determining a boundary position between the bright portion and the dark portion based on the first image data and the second image data; and reliability calculation means for calculating a reliability indicating accuracy of the boundary position from a correlation between a first luminance gradient of the first image data and a second luminance gradient of the second image data.
摘要翻译：一种用于计算目标物体的三维形状信息的三维测量装置，包括：捕获装置，用于捕获通过交替布置亮部和暗部而形成的条纹图案光的反射图案光作为第一图像数据，并且捕获反射通过将条形图案光的亮部和暗部反转而形成的反转条纹图案光的图案光作为第二图像数据; 确定装置，用于基于第一图像数据和第二图像数据确定亮部和暗部之间的边界位置; 以及可靠性计算装置，用于根据第一图像数据的第一亮度梯度和第二图像数据的第二亮度梯度之间的相关性计算出边界位置的精度的可靠性。

2. 发明申请

WO2011077693A1 ROBOT SYSTEM FOR REORIENTING A HELD WORKPIECE 审中-公开
标题翻译：机器人系统，用于重新安装工作台
公开(公告)号：WO2011077693A1
公开(公告)日：2011-06-30
申请号：PCT/JP2010/007367
申请日：2010-12-20
申请人： CANON KABUSHIKI KAISHA , SONODA, Tetsuri , TAKABAYASHI, Shiki
发明人： SONODA, Tetsuri , TAKABAYASHI, Shiki
IPC分类号： B25J9/16
CPC分类号： G06K9/00664 , B25J9/1612 , B25J9/1697 , G05B2219/39246 , G05B2219/39508 , G05B2219/40032 , G05B2219/40431 , G05B2219/40609
摘要： In a robot system including an arm capable of adjusting a position/posture of an arm leading end portion thereof, a hand that is attached to the arm leading end portion, is provided with a holding portion for holding a workpiece, and is capable of adjusting a position/posture of the workpiece held by the holding portion relative to the arm leading end portion, and a position/posture measurement device configured to measure the position/posture of the workpiece relative to the arm leading end portion, the position/posture of the workpiece is measured while the arm leading end portion moves after the holding portion has held the workpiece and the position/posture of the hand relative to the arm leading end portion is corrected on the basis of a result of the measurement so that a predetermined position/posture of the workpiece relative to the arm leading end portion is set.
摘要翻译：在包括能够调节其臂前端的位置/姿势的臂的机器人系统中，安装在臂前端部的手设置有用于保持工件的保持部，并且能够调整由保持部相对于臂前端部保持的工件的位置/姿势，以及位置/姿势测量装置，其被配置为测量工件相对于臂前端部的位置/姿势，位置/姿势在保持部保持工件之后，臂前端部移动，并且基于测量结果来校正手相对于臂前端部的位置/姿势，从而在预定位置 /工件相对于臂前端部的姿势被设定。

3. 发明申请

WO2011013373A1 MEASURING APPARATUS, MEASURING METHOD, AND PROGRAM 审中-公开
标题翻译：测量装置，测量方法和程序
公开(公告)号：WO2011013373A1
公开(公告)日：2011-02-03
申请号：PCT/JP2010/004802
申请日：2010-07-28
申请人： CANON KABUSHIKI KAISHA , TAKABAYASHI, Shiki , YOSHIKAWA, Hiroshi
发明人： TAKABAYASHI, Shiki , YOSHIKAWA, Hiroshi
IPC分类号： G01B11/25 , G06T1/00
CPC分类号： G01B11/2536 , G06T7/521
摘要： A measuring apparatus includes a projection control unit configured to cause a projection unit to project, onto an object, a first light pattern with light and dark portions, a second light pattern, which is smaller in distance between the light and dark portions than that of the first light pattern and has a boundary position between the light and dark portions common to the first light pattern, and a third light pattern in which the light and dark portions of the second light pattern are reversed to each other, an acquisition unit configured to acquire a first captured image of the object onto which the first light pattern is projected, a second captured image of the object onto which the second light pattern is projected, and a third captured image of the object onto which the third light pattern is projected, and a calculation unit configured to calculate the boundary position between the light and dark portions of the first captured image based on the second and the third captured image to measure the position of the object.
摘要翻译：一种测量装置，包括：投影控制单元，其被配置为使投影单元向物体突出具有明暗部分的第一光图案;第二光图案，其在明暗部分之间的距离小于第一光图案，并且具有第一光图案共同的光和暗部分之间的边界位置，以及第三光图案，其中第二光图案的明暗部分彼此反转;获取单元，被配置为拍摄投影有第一光图案的物体的第一拍摄图像，投影有第二光图案的物体的第二拍摄图像和投影有第三光图案的物体的第三拍摄图像，以及计算单元，被配置为基于所捕获的第二和第三来计算第一拍摄图像的亮部和暗部之间的边界位置图像来测量对象的位置。

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