公开(公告)号：EP0327069A2

公开(公告)日：1989-08-09

申请号：EP89101744.4

申请日：1989-02-01

申请人： TOYODA KOKI KABUSHIKI KAISHA

发明人： Sugita, Kazuhiko ,  Hotta, Shigeo ,  Matsuda, Osamu ,  Yamakawa, Yoichi

IPC分类号： G06K9/80

CPC分类号： G06K9/6203 ,  B25J9/1697 ,  G06K9/36

摘要： A method and a system for recognizing the location of a cylindrical shaft is provided for use in positioning an end effector of an industrial robot which handles said shaft. In the method and system, a multilevel gray image of the cylindrical shaft which is generated by a charge coupled device (CCD) image sensor is first differentiated, and the absolute values of picture elements constituting the differentiated gray image are then binarized on the basis of a threshold value so as to extract an accentuated pattern image which is inherent to the shape of the cylindrical shaft. The accentuated pattern image thus extracted is then collated with a reference accentuated pattern image (template) so as to generate a normal curve signal which has its peak point at a position where the axis of said cylindrical shaft is located. The normal curve data is then binarized on the basis of another predetermined threshold value to generate a single strip image. The center of the single strip image is calculated to determine the location of the cylindrical shaft.

摘要翻译： 提供用于识别圆柱形轴的位置的方法和系统，用于定位处理所述轴的工业机器人的末端执行器。 在该方法和系统中，首先区分由电荷耦合器件（CCD）图像传感器产生的圆柱形轴的多级灰度图像，然后基于构成差分灰度图像的像素的绝对值进行二值化 阈值，以提取圆柱形轴的形状固有的加强图案图像。 然后将如此提取的加强的图案图像与参考加强图案图像（模板）进行对照，以便产生在其所在圆柱轴的轴线位置处具有峰值点的法线曲线信号。 然后基于另一预定阈值对正常曲线数据进行二值化，以生成单条带图像。 计算单条图像的中心以确定圆柱轴的位置。

公开(公告)号：EP0599013A1

公开(公告)日：1994-06-01

申请号：EP93115442.1

申请日：1993-09-24

申请人： TOYODA KOKI KABUSHIKI KAISHA

发明人： Asano, Hiroaki ,  Kobayashi, Yasuhiro ,  Hotta, Shigeo ,  Yamakawa, Yoichi ,  Ito, Akira ,  Sugiura, Hirotaka

IPC分类号： G05B19/405 ,  G05B19/18 ,  B23Q15/22

CPC分类号： G05B19/18 ,  B23Q15/22 ,  G01N29/14 ,  G01N29/449 ,  G01N2291/2634 ,  G05B19/4065 ,  G05B19/408

摘要： An apparatus for detecting contact between a contact detection member and a rotating body such as a grinding wheel rotably carried on a wheel head which is movable toward the contact detection member in a grinding machine for example. The apparatus comprises an AE sensor, a rectangular pulse generator, a sampling circuit and a processing device such as a microcomputer. The AE sensor generates an electric signal in response to vibration of the contact detection member. The rectangular pulse generator outputs a rectangular pulse whose duration corresponds to that of vibration. The sampling circuit delivers to the processing device an output indicating the duration of the rectangular pulse. The processing device processes the output delivered thereto so as to decide the occurrence of an actual contact between the rotating body and the contact detection member.

摘要翻译： 一种用于检测接触检测构件和旋转体之间的接触的装置，例如可旋转地承载在例如在研磨机中的可接触检测构件的轮头上的砂轮。 该装置包括AE传感器，矩形脉冲发生器，采样电路和诸如微计算机的处理装置。 AE传感器响应于接触检测构件的振动而产生电信号。 矩形脉冲发生器输出其持续时间对应于振动的矩形脉冲。 采样电路向处理装置传送指示矩形脉冲的持续时间的输出。 处理装置处理输送到其上的输出，以便确定旋转体和接触检测构件之间的实际接触的发生。

公开(公告)号：EP0599013B1

公开(公告)日：1999-04-14

申请号：EP93115442.1

申请日：1993-09-24

申请人： TOYODA KOKI KABUSHIKI KAISHA

发明人： Asano, Hiroaki ,  Kobayashi, Yasuhiro ,  Hotta, Shigeo ,  Yamakawa, Yoichi ,  Ito, Akira ,  Sugiura, Hirotaka

IPC分类号： G05B19/406 ,  G05B19/18 ,  B23Q15/22

CPC分类号： G05B19/18 ,  B23Q15/22 ,  G01N29/14 ,  G01N29/449 ,  G01N2291/2634 ,  G05B19/4065 ,  G05B19/408

公开(公告)号：EP0327069A3

公开(公告)日：1992-08-26

申请号：EP89101744.4

申请日：1989-02-01

申请人： TOYODA KOKI KABUSHIKI KAISHA

发明人： Sugita, Kazuhiko ,  Hotta, Shigeo ,  Matsuda, Osamu ,  Yamakawa, Yoichi

IPC分类号： G06K9/80

CPC分类号： G06K9/6203 ,  B25J9/1697 ,  G06K9/36

摘要： A method and a system for recognizing the location of a cylindrical shaft is provided for use in positioning an end effector of an industrial robot which handles said shaft. In the method and system, a multilevel gray image of the cylindrical shaft which is generated by a charge coupled device (CCD) image sensor is first differentiated, and the absolute values of picture elements constituting the differentiated gray image are then binarized on the basis of a threshold value so as to extract an accentuated pattern image which is inherent to the shape of the cylindrical shaft. The accentuated pattern image thus extracted is then collated with a reference accentuated pattern image (template) so as to generate a normal curve signal which has its peak point at a position where the axis of said cylindrical shaft is located. The normal curve data is then binarized on the basis of another predetermined threshold value to generate a single strip image. The center of the single strip image is calculated to determine the location of the cylindrical shaft.