Method of calibrating camera to robot, system, and non-transitory computer-readable storage medium storing computer program

    公开(公告)号:US12190544B2

    公开(公告)日:2025-01-07

    申请号:US18338389

    申请日:2023-06-21

    Inventor: Akinobu Sato

    Abstract: A method according to the present disclosure includes (a) estimating pixel coordinate values of a plurality of characteristic points set in advance in a robot arm from an image of the robot arm taken by a camera using a first machine learning model, (b) estimating first coordinate values of the plurality of characteristic points in a 3D camera coordinate system from the pixel coordinate values of the plurality of characteristic points using a second machine learning model, (c) calculating second coordinate values of the plurality of characteristic points in a 3D robot coordinate system using an encoder value of the robot arm, and (d) executing the steps (a) through (c) with respect to a plurality of postures of the robot arm to estimate calibration parameters including an external parameter of the camera using the first coordinate values and the second coordinate values of the plurality of characteristic points in the plurality of postures.

    Image processing device that performs image processing when a position of a terminal device is within a predetermined range

    公开(公告)号:US12190006B2

    公开(公告)日:2025-01-07

    申请号:US18455064

    申请日:2023-08-24

    Abstract: A distance information acquisition unit acquires distance information representing a distance between a terminal device and an image processing device, based on a radio wave arriving from the terminal device. A direction information acquisition unit acquires direction information representing a direction of the terminal device in relation to the image processing device, based on the radio wave arriving from the terminal device. A controller performs processing to perform image processing, based on the distance information and the direction information. The controller performs processing to perform image processing, when a position of the terminal device is within a predetermined range in relation to the image processing device and a rate of change in at least one of the distance from the terminal device and the direction of the terminal device is equal to or lower than a threshold.

    Liquid ejecting apparatus
    53.
    发明授权

    公开(公告)号:US12187056B2

    公开(公告)日:2025-01-07

    申请号:US18186982

    申请日:2023-03-21

    Abstract: A liquid ejecting apparatus includes an ejecting head and a camera unit for acquiring a state of the ejecting head, in which the camera unit includes a camera for imaging an object, a housing in which the camera is housed and which includes an opening on an imaging path that couples the camera and the object, and an opening/closing member, the opening/closing member includes a reference chart serving as a reference for adjustment of the camera and a chart cover, in a first mode, the opening/closing member brings the opening into a closed state, and the chart cover covers the reference chart, in a second mode, the opening/closing member brings the opening into an open state, and the chart cover covers the reference chart, and in a third mode, the opening/closing member brings the opening into the closed state, and the chart cover does not cover the reference chart.

    Liquid ejecting apparatus and liquid ejecting head

    公开(公告)号:US12187037B2

    公开(公告)日:2025-01-07

    申请号:US17823331

    申请日:2022-08-30

    Abstract: A liquid ejecting apparatus includes a liquid ejecting head that has an ejection surface including a first nozzle row configured to eject a first ink and a second nozzle row configured to eject a second ink. The liquid ejecting head is configured to be held in a first posture in which the ejection surface is inclined with respect to a horizontal plane. A dynamic surface tension of the second ink is higher than a dynamic surface tension of the first ink. In the first posture, the first nozzle row is positioned above the second nozzle row with respect to a gravity direction.

    ILLUMINATOR AND PROJECTOR
    55.
    发明申请

    公开(公告)号:US20250008062A1

    公开(公告)日:2025-01-02

    申请号:US18759203

    申请日:2024-06-28

    Inventor: Koichi AKIYAMA

    Abstract: An illuminator includes a first light source that emits first light; a second light source that emits second light; a light combining member that combines the first light and the second light with each other and emits combined light; a first diffuser including a first substrate having a first diffusion surface that diffuses the combined light incident thereon and emits diffused combined light, and a first driver that rotates the first substrate; a light collector that is disposed between the light combining member and the first diffuser and collects the combined light at the first diffusion surface of the first diffuser; a collimator that parallelizes the combined light emitted from the first diffuser; and a second diffuser that is disposed between the light collector and the first diffuser and temporally changes the state of a spot of the combined light at the first diffusion surface.

    Molding Material
    56.
    发明申请

    公开(公告)号:US20250002713A1

    公开(公告)日:2025-01-02

    申请号:US18757700

    申请日:2024-06-28

    Abstract: A molding material according to one embodiment of the present disclosure is a molding material containing cellulose fibers and a resin, and the resin includes a saturated aliphatic polyester and a highly polar polyester. In a molecular weight distribution curve by a GPC method, the resin has a maximum value 2 at a weight average molecular weight of 100,000 or more and a maximum value 1 at a weight average molecular weight less than that at the maximum value 2, and an area value in the maximum value 2 is smaller than an area value in the maximum value 1.

    MEDIUM TRANSPORT APPARATUS, LIQUID EJECTION APPARATUS, AND MEDIUM TRANSPORT METHOD

    公开(公告)号:US20250002276A1

    公开(公告)日:2025-01-02

    申请号:US18755077

    申请日:2024-06-26

    Abstract: A medium transport apparatus includes a sheet feeding tray on which a medium is placed, a transport unit transporting the medium placed on the sheet feeding tray, a sheet ejection tray on which the medium transported by the transport unit is placed, a braking member braking the medium transported to the sheet ejection tray, a switching mechanism switching a position of the braking member, and an acquisition unit acquiring an index related to a state of the medium, wherein the switching mechanism sets the position of the braking member to a first position for braking the medium or a second position different from the first position based on the index acquired by the acquisition unit.

    Oscillation circuit, oscillator, electronic apparatus and moving object

    公开(公告)号:USRE50256E1

    公开(公告)日:2024-12-31

    申请号:US17528960

    申请日:2021-11-17

    Abstract: An oscillation circuit includes a circuit for oscillation that oscillates a resonator, an output circuit that has a signal, output from the circuit for oscillation, input thereto to thereby output an oscillation signal, a connection terminal to which power is applied, a first wiring that connects from the connection terminal to the output circuit, and a second wiring that is connected to the first wiring through a connection node provided on the first wiring and connects from the connection node to the circuit for oscillation. The circuit for oscillation, the output circuit, the connection terminal, the first wiring, and the second wiring are provided on a semiconductor substrate. The length of a wiring extending from the connection terminal of the first wiring to the connection node is shorter than the length of the second wiring.

    Projector, image projection system, and method for controlling projector

    公开(公告)号:US12182978B2

    公开(公告)日:2024-12-31

    申请号:US17835119

    申请日:2022-06-08

    Abstract: A projector includes a projection section that projects a first image on a projection surface, a control section that causes the projection section to project a pattern image for installation including a first pattern that is located at an end of the first image, which overlaps with a second image, and a second pattern that is so disposed that a first straight line section is located in a position separate from the end by a distance, and a correction section that corrects the first image based on a captured image containing an image of a first area of the second image, and the first area is an area that overlaps with an area having a width corresponding to the distance measured from the end of the first image in a state in which the first image and the second image overlap with each other.

    Laser interferometer
    60.
    发明授权

    公开(公告)号:US12181277B2

    公开(公告)日:2024-12-31

    申请号:US18325729

    申请日:2023-05-30

    Abstract: A laser interferometer includes a light source that emits first laser light, an optical modulator that includes a vibrator and modulates the first laser light by using the vibrator to generate second laser light including a modulated signal, a photodetector that receives interference light between third laser light including a sample signal generated by reflecting the first laser light on an object and the second laser light to output a light reception signal, a demodulation circuit that demodulates the sample signal from the light reception signal based on a reference signal, and an oscillation circuit that outputs the reference signal to the demodulation circuit, and the vibrator is a signal source of the oscillation circuit.

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