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公开(公告)号:US08976242B2
公开(公告)日:2015-03-10
申请号:US12681625
申请日:2008-10-01
申请人: Tetsuro Aikawa , Yoshinori Satoh , Makoto Ochiai , Tatsuya Oodake , Hiroyuki Adachi , Yasuhiro Yuguchi , Junichi Takabayashi
发明人: Tetsuro Aikawa , Yoshinori Satoh , Makoto Ochiai , Tatsuya Oodake , Hiroyuki Adachi , Yasuhiro Yuguchi , Junichi Takabayashi
CPC分类号: G21C17/003 , G01N21/8803 , G01N21/8851 , G06T3/4069 , G06T7/0004 , G21C17/08 , G21F7/02
摘要: The present invention includes a camera which takes an image of a camera or an inspection target; a device which estimates the movement of the inspection target; a device which generates a high resolution image having a higher resolution than the pixel resolution of a video image taken by the camera from the video image taken by the camera; a device which evaluates the quality of the high resolution image generated by the generation device; and a device which presents an inspector who visually inspects the inspection target with the high resolution image together with the quality evaluation result of the high resolution image. The present invention can improve the reliability of inspection by use of the high resolution image as well as can reduce the inspection time, and further can guarantee the reliability of the inspection using a high resolution image.
摘要翻译: 本发明包括拍摄相机或检查对象的图像的相机; 估计检查目标的移动的装置; 从相机拍摄的视频图像生成具有比由照相机拍摄的视频图像的像素分辨率高的分辨率的高分辨率图像的装置; 评估生成装置生成的高分辨率图像的质量的装置; 以及显示高分辨率图像的质量评价结果的高分辨率图像的视觉检查对象的检查器的装置。 本发明可以通过使用高分辨率图像来提高检查的可靠性,并且可以减少检查时间,并且还可以使用高分辨率图像来保证检查的可靠性。
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公开(公告)号:US20130021452A1
公开(公告)日:2013-01-24
申请号:US13637203
申请日:2011-03-16
IPC分类号: H04N13/02
CPC分类号: G06T7/0075 , G01B11/03 , G01B11/245 , G01S11/12 , G06T7/593 , G06T2207/10012
摘要: A three-dimensional imaging unit includes a plurality of image pickup devices that image an image and a rotation drive device which rotates the image pickup devices and adjusts optical axes such that reflections of an object to be measured in a space to be measured have a predetermined amount of overlap. An association calculating unit calculates position association information of pixels when a required measurement point is mapped onto a plurality of images. A three-dimensional shape calculating unit calculates a three-dimensional shape of the object to be measured using the position association information and rotational information of the rotation drive device. A three-dimensional shape estimation calculating unit estimates, from the three-dimensional shape, a three-dimensional shape of a region of the object to be measured where the three-dimensional shape is not obtained. A three-dimensional measurement coordinates calculating unit calculates, from an estimation result, three-dimensional coordinates of two distance measurement points designated on the object to be measured. A distance calculating unit calculates a distance between the two points using the three-dimensional coordinates.
摘要翻译: 三维成像单元包括对图像进行成像的多个图像拾取装置和旋转图像拾取装置的旋转驱动装置,并且调整光轴,使得待测量空间中待测量物体的反射具有预定的 重叠量。 关联计算单元,当所需测量点映射到多个图像上时,计算像素的位置关联信息。 三维形状计算单元使用位置关联信息和旋转驱动装置的旋转信息来计算被测量物体的三维形状。 三维形状估计计算单元从三维形状估计未获得三维形状的待测量对象的区域的三维形状。 三维测量坐标计算单元从估计结果计算在被测量物体上指定的两个距离测量点的三维坐标。 距离计算单元使用三维坐标来计算两点之间的距离。
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公开(公告)号:US20130026148A1
公开(公告)日:2013-01-31
申请号:US13564867
申请日:2012-08-02
申请人: Kazuo AOYAMA , Tatsuya OODAKE , Shinsaku SATO , Mitsuo IWAKAWA
发明人: Kazuo AOYAMA , Tatsuya OODAKE , Shinsaku SATO , Mitsuo IWAKAWA
IPC分类号: B23K9/12
CPC分类号: G05B19/4086 , B23K9/235 , B23K37/00 , G05B2219/33259 , G05B2219/37116 , G05B2219/45104 , G05B2219/50353
摘要: A welding apparatus of an embodiment includes: a welding torch and a shape sensor attached to a welding robot; a shape data extraction unit extracting, from measured data measured by the shape sensor, shape data representing an outline of an object to be welded; a transformation data calculation unit calculating, based on a position and a posture of the shape sensor, coordinate transformation data for correcting the shape data; a shape data correction unit correcting the shape data based on the coordinate transformation data; an angle calculation unit calculating, based on the corrected shape data, an inclination angle of a groove of the object to be welded; and a welding position and posture determination unit determining, based on the inclination angle of the groove, a position and a posture of the welding torch.
摘要翻译: 一种实施方式的焊接装置包括:焊枪和安装在焊接机器人上的形状传感器; 形状数据提取单元,从由形状传感器测量的测量数据中提取表示待焊接物体的轮廓的形状数据; 变换数据计算单元,基于形状传感器的位置和姿势来计算用于校正形状数据的坐标变换数据; 形状数据校正单元,基于坐标变换数据校正形状数据; 角度计算单元,根据修正后的形状数据,计算待焊接物体的槽的倾斜角度; 以及焊接位置和姿势确定单元,基于所述凹槽的倾斜角确定所述焊炬的位置和姿势。
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公开(公告)号:US09214024B2
公开(公告)日:2015-12-15
申请号:US13637203
申请日:2011-03-16
CPC分类号: G06T7/0075 , G01B11/03 , G01B11/245 , G01S11/12 , G06T7/593 , G06T2207/10012
摘要: A three-dimensional imaging unit includes a plurality of image pickup devices that image an image and a rotation drive device which rotates the image pickup devices and adjusts optical axes such that reflections of an object to be measured in a space to be measured have a predetermined amount of overlap. An association calculating unit calculates position association information of pixels when a required measurement point is mapped onto a plurality of images. A three-dimensional shape calculating unit calculates a three-dimensional shape of the object to be measured using the position association information and rotational information of the rotation drive device. A three-dimensional shape estimation calculating unit estimates, from the three-dimensional shape, a three-dimensional shape of a region of the object to be measured where the three-dimensional shape is not obtained. A three-dimensional measurement coordinates calculating unit calculates, from an estimation result, three-dimensional coordinates of two distance measurement points designated on the object to be measured. A distance calculating unit calculates a distance between the two points using the three-dimensional coordinates.
摘要翻译: 三维成像单元包括对图像进行成像的多个图像拾取装置和旋转图像拾取装置的旋转驱动装置,并且调整光轴,使得待测量空间中待测量物体的反射具有预定的 重叠量。 关联计算单元,当所需测量点映射到多个图像上时,计算像素的位置关联信息。 三维形状计算单元使用位置关联信息和旋转驱动装置的旋转信息来计算被测量物体的三维形状。 三维形状估计计算单元从三维形状估计未获得三维形状的待测量对象的区域的三维形状。 三维测量坐标计算单元从估计结果计算在被测量物体上指定的两个距离测量点的三维坐标。 距离计算单元使用三维坐标来计算两点之间的距离。
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公开(公告)号:US08483444B2
公开(公告)日:2013-07-09
申请号:US12664749
申请日:2008-06-13
申请人: Tetsuro Aikawa , Yoshinori Satoh , Tatsuya Oodake , Naruhiko Mukai , Hisashi Hozumi , Yasuhiro Yuguchi
发明人: Tetsuro Aikawa , Yoshinori Satoh , Tatsuya Oodake , Naruhiko Mukai , Hisashi Hozumi , Yasuhiro Yuguchi
IPC分类号: G06K9/00
CPC分类号: G01C3/06 , G01B11/026 , G01B11/2513 , G01B11/2545
摘要: An apparatus for inspecting and measuring an object to be measured includes: a distance measurement device having a light projector that projects a two-dimensional optical pattern onto a measurement target of the measurement object, imaging devices disposed in a stereoscopic arrangement that image the measurement object, and a driving device that rotates a posture of at least one of the imaging devices to control a parallax angle between the imaging devices; a working distance control device that controls the driving device and adjusts a position at which optical axes of the imaging devices intersect; and a distance calculation device having a correspondence position calculation device that determines a correspondence position at which the same region is imaged among images of the imaging devices, and a distance calculation devices that calculates a distance to the measurement target of the measurement object based on a calculation result of the calculation device.
摘要翻译: 一种用于检查和测量待测物体的装置,包括:具有将二维光学图案投影到测量对象的测量对象上的投影仪的距离测量装置,以测量对象成像的立体布置设置的成像装置 以及驱动装置,其旋转所述成像装置中的至少一个的姿势,以控制所述成像装置之间的视差角; 工作距离控制装置,其控制所述驱动装置并调整所述摄像装置的光轴相交的位置; 以及距离计算装置,其具有对应位置计算装置,该对应位置计算装置确定在成像装置的图像之间成像相同区域的对应位置;以及距离计算装置,其计算与所述测量对象的测量对象的距离, 计算装置的计算结果。
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公开(公告)号:US20100283847A1
公开(公告)日:2010-11-11
申请号:US12681625
申请日:2008-10-01
申请人: Tetsuro Aikawa , Yoshinori Satoh , Makoto Ochiai , Tatsuya Oodake , Hiroyuki Adachi , Yasuhiro Yuguchi , Junichi Takabayashi
发明人: Tetsuro Aikawa , Yoshinori Satoh , Makoto Ochiai , Tatsuya Oodake , Hiroyuki Adachi , Yasuhiro Yuguchi , Junichi Takabayashi
IPC分类号: H04N7/18
CPC分类号: G21C17/003 , G01N21/8803 , G01N21/8851 , G06T3/4069 , G06T7/0004 , G21C17/08 , G21F7/02
摘要: The present invention includes a camera which takes an image of a camera or an inspection target; a device which estimates the movement of the inspection target; a device which generates a high resolution image having a higher resolution than the pixel resolution of a video image taken by the camera from the video image taken by the camera; a device which evaluates the quality of the high resolution image generated by the generation device; and a device which presents an inspector who visually inspects the inspection target with the high resolution image together with the quality evaluation result of the high resolution image. The present invention can improve the reliability of inspection by use of the high resolution image as well as can reduce the inspection time, and further can guarantee the reliability of the inspection using a high resolution image.
摘要翻译: 本发明包括拍摄相机或检查对象的图像的相机; 估计检查目标的移动的装置; 从相机拍摄的视频图像生成具有比由照相机拍摄的视频图像的像素分辨率高的分辨率的高分辨率图像的装置; 评估生成装置生成的高分辨率图像的质量的装置; 以及显示高分辨率图像的质量评价结果的高分辨率图像的视觉检查对象的检查器的装置。 本发明可以通过使用高分辨率图像来提高检查的可靠性,并且可以减少检查时间,并且还可以使用高分辨率图像来保证检查的可靠性。
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公开(公告)号:US20100183197A1
公开(公告)日:2010-07-22
申请号:US12664749
申请日:2008-06-13
申请人: Tetsuro Aikawa , Yoshinori Satoh , Tatsuya Oodake , Naruhiko Mukai , Hisashi Hozumi , Yasuhiro Yuguchi
发明人: Tetsuro Aikawa , Yoshinori Satoh , Tatsuya Oodake , Naruhiko Mukai , Hisashi Hozumi , Yasuhiro Yuguchi
IPC分类号: G06K9/00
CPC分类号: G01C3/06 , G01B11/026 , G01B11/2513 , G01B11/2545
摘要: An apparatus for inspecting and measuring an object to be measured includes: a distance measurement device having a light projector that projects a two-dimensional optical pattern onto a measurement target of the measurement object, imaging devices disposed in a stereoscopic arrangement that image the measurement object, and a driving device that rotates a posture of at least one of the imaging devices to control a parallax angle between the imaging devices; a working distance control device that controls the driving device and adjusts a position at which optical axes of the imaging devices intersect; and a distance calculation device having a correspondence position calculation device that determines a correspondence position at which the same region is imaged among images of the imaging devices, and a distance calculation devices that calculates a distance to the measurement target of the measurement object based on a calculation result of the calculation device.
摘要翻译: 一种用于检查和测量待测物体的装置,包括:具有将二维光学图案投影到测量对象的测量对象上的投影仪的距离测量装置,以测量对象成像的立体布置设置的成像装置 以及驱动装置,其旋转所述成像装置中的至少一个的姿势,以控制所述成像装置之间的视差角; 工作距离控制装置,其控制所述驱动装置并调整所述摄像装置的光轴相交的位置; 以及距离计算装置,其具有对应位置计算装置,该对应位置计算装置确定在成像装置的图像之间成像相同区域的对应位置;以及距离计算装置,其计算与所述测量对象的测量对象的距离, 计算装置的计算结果。
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