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公开(公告)号：US5471312A
公开(公告)日：1995-11-28
申请号：US975557
申请日：1993-02-19
CPC分类号： B25J9/1692 , G05B19/4015
摘要： A method for automatically effecting calibration between an image processing apparatus and a control device of an automatic machine. Jig data for calibration and the position of a robot, fitted with a jig which can be photographed by a camera at the time of calibration, are previously given as instructions. In response to a calibration command, the robot, fitted with the jig, moves to a point of instruction, the image processing apparatus photographs the jig and fetches an image after the movement. A calibration process is executed in accordance with data of the photographed image, set jig data, and robot position. When the jig data and the instruction point are first set and given once as instructions, the calibration thereafter can be automatically effected only by mounting the jig on the robot and inputting the calibration command.
摘要翻译： PCT No.PCT / JP92 / 00851 Sec。 371日期：1993年2月19日 102（e）日期1993年2月19日PCT提交1992年7月6日PCT公布。 第WO93 / 01029号公报 日期：1993年1月21日。一种用于在图像处理装置和自动机器的控制装置之间自动实现校准的方法。 用于校准的夹具数据和在校准时可由照相机装配的夹具的机器人的位置预先作为说明。 响应于校准命令，装配有夹具的机器人移动到指示点，图像处理设备拍摄夹具并在移动之后获取图像。 根据拍摄图像的数据，设置夹具数据和机器人位置执行校准处理。 当夹具数据和指令点首先设置并作为指令给出时，其后的校准可以仅通过将夹具安装在机器人上并输入校准命令来自动实现。
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2.发明授权Method of setting a second robots coordinate system based on a first robots coordinate system 失效基于第一机器人坐标系设置第二机器人坐标系的方法
公开(公告)号：US5333242A
公开(公告)日：1994-07-26
申请号：US910171
申请日：1992-07-14
IPC分类号： B25J13/00 , B25J9/16 , B25J9/18 , G05B19/18 , G05B19/404 , G05B19/408 , G05B19/4093 , G06F15/00
CPC分类号： B25J9/1692 , G05B19/4086 , G05B2219/39399
摘要： A robot coordinate system setting method is provided which facilitates the setting of a common coordinate system with respect to each of robots in a robot system or a robot installed in substitution for one of the robots. A coordinate transformation matrix for transforming a provisional coordinate system (X2Y2Z2), which a first robot has recognized by accessing a second jig, into a common coordinate system (X1Y1Z1), which the first robot has recognized by accessing a first jig, is calculated, and using this coordinate transformation matrix, a provisional coordinate system which a second robot has recognized by accessing the second jig is transformed into the common coordinate system which is to be recognized by the second robot, and is set with respect to the second robot. If a robot is installed in substitution for the second robot, method similar to the above is used to obtain a second provisional coordinate system, which the substitute robot has recognized by accessing the third jig, and is transformed into the common coordinate system which is to be recognized by the substitute robot, whereby the common coordinate system is set with respect to the substitute robot.
摘要翻译： PCT No.PCT / JP91 / 01566 Sec。 371日期：1992年7月14日 102（e）日期1992年7月14日PCT 1991年11月15日PCT公布。 第WO92 / 09019号公报 日期：1992年5月29日。提供了一种机器人坐标系设定方法，其有助于相对于机器人系统中的每个机器人或机器人中的一个机器人安装的机器人设置公共坐标系。 计算用于将第一机器人通过访问第二夹具识别的临时坐标系（X2Y2Z2）变换为通过访问第一夹具而识别出的第一机器人识别的公共坐标系（X1Y1Z1）的坐标变换矩阵， 并且使用该坐标变换矩阵，将通过访问第二夹具识别出的第二机器人的临时坐标系变换为将被第二机器人识别的公共坐标系，并且相对于第二机器人设定。 如果安装机器人代替第二机器人，则使用与上述类似的方法来获得替代机器人通过访问第三夹具而识别的第二临时坐标系，并且被转换为公共坐标系，即 由替代机器人识别，由此相对于替代机器人设置公共坐标系。
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公开(公告)号：US06356671B1
公开(公告)日：2002-03-12
申请号：US08954558
申请日：1997-10-20
IPC分类号： G06K903
CPC分类号： G06T7/001 , B25J9/1697 , G06T2207/10016 , G06T2207/30164
摘要： An image processing method for improving the reliability of an industrial visual sensor, in which image data picked up by a camera of the visual sensor are marked with flags such as data for specifying the image data or a detected value for the image data, program name, calibration data, correction data, etc., and are stored in an auxiliary storage device. After a production line is stopped, the image data having so far been stored in the auxiliary storage device are successively invoked to a frame memory of the visual sensor in accordance with the flags. An image processing program is reproductively executed for the invoked image data. Then, established teaching data are checked for reliability, and the cause of a failure in image data detection, if any, is examined, with reference to the information displayed on a monitor screen.
摘要翻译： 一种用于提高工业视觉传感器的可靠性的图像处理方法，其中由视觉传感器的照相机拾取的图像数据用诸如用于指定图像数据的数据或图像数据的检测值的标记等标记，程序名称 ，校准数据，校正数据等，并存储在辅助存储装置中。 在生产线停止之后，根据标志，至少存储在辅助存储装置中的图像数据被连续调用到视觉传感器的帧存储器。 对被调用的图像数据进行再生执行的图像处理程序。 然后，检查已建立的教学数据的可靠性，并参照显示在监视器屏幕上的信息来检查图像数据检测失败的原因（如果有的话）。
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公开(公告)号：US06236896B1
公开(公告)日：2001-05-22
申请号：US09004506
申请日：1998-01-08
IPC分类号： G05B1302
CPC分类号： B25J9/1692 , G05B2219/39016 , G05B2219/39057
摘要： A method of setting a coordinate system to an automatic machine with a stable accuracy in a non-contact manner. The desired coordinate system can be set even if it exists outside a moving range of the automatic machine. The operator operates a robot control device to move a robot to a first position A1 where a coordinate system setting jig is within the field of view of a camera supported by the robot. Matrix data [A1] representing the robot position A1 is stored and the jig is photographed by the camera. The image of a group of dots on the jig are analyzed by an image processor to obtain picture element values of the individual points. Based on the picture element values of the individual points and jig data (data of distances between and number of the points), matrix data [D1] representing a position and a posture of a coordinate system &Sgr;c to be set with respect to a sensor coordinate system &Sgr;s is obtained. In the same manner, a matrix data [D2] at a position A2 is obtained. According to a relationship [C]=[A1]·[S]·[D1]=[A2]·[S]·[D2], a matrix [C] is derived and stored as data for setting the coordinate system &Sgr;c to the robot control device.
摘要翻译： 以非接触的方式将坐标系设置为自动机器的方法以稳定的精度设置。 即使存在于自动机器的移动范围之外，也可以设定所需的坐标系。 操作者操作机器人控制装置将机器人移动到第一位置A1，其中坐标系设置夹具在由机器人支持的相机的视场内。 存储表示机器人位置A1的矩阵数据[A1]，通过照相机拍摄夹具。 通过图像处理器分析夹具上的一组点的图像，以获得各个点的图像元素值。 基于各个点和夹具数据（点之间的距离和数量的数据）的像素值，表示相对于传感器坐标设定的坐标系SIGMAc的位置和姿势的矩阵数据[D1] 获得系统SIGMA。 以相同的方式，获得位置A2处的矩阵数据[D2]。 根据[C] = [A1]。[S]。[D1] = [A2]。[S]。[D2]，导出并存储矩阵[C]，作为将坐标系SIGMAc设置为 机器人控制装置。
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公开(公告)号：US06763284B2
公开(公告)日：2004-07-13
申请号：US10001991
申请日：2001-12-05
申请人： Atsushi Watanabe , Tetsuya Kosaka , Katsutoshi Takizawa , Fumikazu Warashina , Kazunori Ban , Makoto Yamada , Akihiro Terada , Mitsuhiro Okuda
发明人： Atsushi Watanabe , Tetsuya Kosaka , Katsutoshi Takizawa , Fumikazu Warashina , Kazunori Ban , Makoto Yamada , Akihiro Terada , Mitsuhiro Okuda
IPC分类号： G05B1900
CPC分类号： B25J9/1697 , G05B19/4202 , G05B2219/35506 , G05B2219/36415 , G05B2219/37288 , G05B2219/37571 , G05B2219/37572 , G05B2219/40005
摘要： An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.
摘要翻译： 使用相机拍摄参考对象的图像并进行显示。 测量起点由图像位置指示装置指向。 使用图像上的位置和相机的位置和方向获得对应的视线，机器人接近参考对象，使得其不偏离投影方向移动到适合于测量的位置。 光照射在基准对象上，开始测量对象附近的测量点的面的倾斜度。 拍摄包括参考物体上的亮线图像的图像，并沿着工作线顺序地测量点的3维位置。 使用这些位置创建机器人的移动路径作为工作机器人的教导点。
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公开(公告)号：US5319443A
公开(公告)日：1994-06-07
申请号：US941071
申请日：1992-10-16
CPC分类号： G01S5/16 , B25J9/1692 , B25J9/1697 , G05B19/4015
摘要： After a calibration process has been carried out once for a sensor with respect to a certain position, the position of an object can be detected by the sensor in any other positions, so that the object can positionally be detected in a wide range. Specifically, calibration data (CDA) (32) is produced by calibration process in a position A before a camera moves, and calibration data (CDB) (33) for the camera after it is moved is calculated based on distance data CM (12) with respect to the position and attitude of the camera (3). Then, the position of an object (30) is detected on the basis of the calibration data (CDB) (33) and image data (WDB) (31) of the object (30) imaged by the camera (3) which is in the position B.
摘要翻译： PCT No.PCT / JP92 / 00241 Sec。 371日期：1992年10月16日 102（e）日期1992年10月16日PCT提交1990年2月28日PCT公布。 出版物WO92 / 15838 日期为1992年9月17日。对于传感器相对于某个位置进行了一次校准处理后，可以通过传感器在任何其他位置检测物体的位置，从而可以在物体上进行位置检测 在很大范围内。 具体地说，通过在相机移动之前的位置A中的校准处理产生校准数据（CDA）（32），并且基于距离数据CM（12）计算摄像机移动后的校准数据（CDB）（33） 相对于照相机（3）的位置和姿态。 然后，基于由相机（3）成像的物体（30）的校准数据（CDB）（33）和图像数据（30））检测物体（30）的位置， 位置B.
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公开(公告)号：US09163110B2
公开(公告)日：2015-10-20
申请号：US12671127
申请日：2007-08-13
CPC分类号： C08G18/664 , C05G3/0029 , C08G18/76
摘要： A coated granule is obtained by coating a bioactive substance-containing granule with a urethane resin obtained by reaction of an aromatic diisocyanate with a polyol mixture containing a polyesterpolyol and a C2-C8 polymethylene glycol, wherein the molar ratio of the polyesterpolyol to the polymethylene glycol is 1:20 to 20:1. The granule is capable of controlling elution of the bioactive substance appropriately, and the urethane resin forming the coating film shows degradability in soil.
摘要翻译： 通过用芳族二异氰酸酯与含有聚酯多元醇和C 2 -C 8聚亚甲基二醇的多元醇混合物反应获得的聚氨酯树脂涂布含生物活性物质的颗粒，得到包衣颗粒，其中聚酯多元醇与聚亚甲基二醇的摩尔比 是1:20至20：1。 该颗粒能够适当地控制生物活性物质的洗脱，形成涂膜的聚氨酯树脂在土壤中显示出降解性。
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公开(公告)号：US08911685B2
公开(公告)日：2014-12-16
申请号：US13147633
申请日：2010-02-03
CPC分类号： G01N35/025 , G01F23/00 , G01F23/263 , G01N35/1002 , G01N35/1009 , G01N2035/00673 , G01N2035/0443 , G01N2035/1025
摘要： Disclosed is an automated analyzer intended for qualitative/quantitative analysis of blood, urine, and other biological samples, and including a reagent disk for mounting a plurality of reagent containers thereon, wherein any errors in liquid-level measurement due to oscillation of a reagent liquid surface during rotation of the reagent disk are minimized, even when reagent containers of a large capacity are mounted. If a predetermined constant cycle time is defined as one unit, the reagent disk with reagent containers mounted thereon is transported to a liquid-level detection position using at least two units when a liquid level of a reagent is measured.
摘要翻译： 公开了一种用于血液，尿液和其他生物样品的定性/定量分析的自动分析装置，包括用于在其上安装多个试剂容器的试剂盘，其中由于试剂液体的振荡而导致的液位测量中的任何误差 即使安装了大容量的试剂容器，试剂盘旋转期间的表面也被最小化。 如果将预定的恒定循环时间定义为一个单位，则当测量试剂的液位时，将其上安装有试剂容器的试剂盘转移到液位检测位置，使用至少两个单位。
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9.发明授权公开(公告)号：US08875651B2
公开(公告)日：2014-11-04
申请号：US13381322
申请日：2010-06-25
申请人： Atsushi Watanabe
发明人： Atsushi Watanabe
IPC分类号： B05C3/12 , B05C13/02 , H01M4/04 , B05C9/04 , B65H23/022 , B65H23/032 , B65H23/038 , H01M4/88 , B05C5/02
CPC分类号： H01M4/0404 , B05C5/0254 , B05C9/04 , B05D2252/02 , B05D2252/10 , B65H23/022 , B65H23/0324 , B65H23/038 , H01M4/8828 , Y02E60/50
摘要： A double-sided coated substrate transport device (1) is described. A die head for front face coating (3) and a die head for back face coating (4) coat a coating liquid onto a substrate 1. A drying oven (5) dries the coating liquid applied to the substrate (1), to form coating films on the front and back faces of the substrate (1). A first and second rotating body unit (20A, 20B) are respectively furnished independently at widthwise edge sections of the substrate (1). Each of the first and second rotating body units has a free roller (21) and a drive roller (22) constituting a pair of rotating bodies, and a rotating body swivel section (23). The free roller (21) and the drive roller (22) grip the widthwise edge sections of the substrate (1) from the front and back sides. The rotating body swivel section (23) allows the orientation of the free roller (21) and the drive roller (22), respectively, to be modified separately for the first rotating body unit (20A) and the second rotating body unit (20B), so that the rotation axis of the free roller (21) and the drive roller (22) is inclined towards the downstream side in the substrate transport direction as seen from the outside in the substrate widthwise direction, with respect to a line perpendicular to the substrate transport direction.
摘要翻译： 对双面涂布基板输送装置（1）进行说明。 用于前面涂层的模头（3）和用于背面涂层的模头（4）将涂布液涂覆到基材1上。干燥箱（5）将施加到基材（1）上的涂布液干燥，形成 在基板（1）的前表面和背面上涂覆膜。 第一和第二旋转体单元（20A，20B）分别独立地设置在基板（1）的宽度方向的边缘部分。 第一和第二旋转体单元中的每一个具有构成一对旋转体的自由辊（21）和驱动辊（22），以及旋转体旋转部（23）。 自由辊（21）和驱动辊（22）从前侧和后侧夹紧基板（1）的宽度方向的边缘部分。 旋转体旋转部（23）能够分别对第一旋转体单元（20A）和第二旋转体单元（20B）分别改变自由辊（21）和驱动辊（22）的取向， 使得自由辊（21）和驱动辊（22）的旋转轴线在从基板宽度方向的外侧观察到的基板输送方向上的下游侧相对于垂直于基板横向的线倾斜 基材输送方向。
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公开(公告)号：US08863708B2
公开(公告)日：2014-10-21
申请号：US13614256
申请日：2012-09-13
IPC分类号： F01L1/34
CPC分类号： F01L1/3442 , F01L2001/34423 , F01L2001/3443 , F01L2001/34459 , F01L2001/34466
摘要： Even if an internal combustion engine is stopped having a lock pin of a vane rotor kept disengaged from a lock recess, subsequent engine starting can instantly move the vane rotor to a desired angular position where the lock member an be engaged with the lock recess. The vane rotor has therein two passage control mechanisms each having a hydraulically actuated valve body. When the valve body is moved to a given position, retarding and advancing hydraulic holes become communicated to each other through an annular groove of the valve body. Due to this ON communication, retarding and advancing operation chambers become communicated, so that reciprocative swing movement of the vane rotor induced by an alternating torque produced at the starting of the engine is effectively made and thus the vane rotor can be quickly turned to the desired angular position for ease of engine starting.
摘要翻译： 即使停止具有叶片转子的锁定销与锁定凹部脱离的内燃机，随后的发动机起动可以将叶片转子立即移动到锁定构件与锁定凹部接合的期望角度位置。 叶片转子具有两个通道控制机构，每个具有液压致动阀体。 当阀体移动到给定位置时，延迟和前进的液压孔通过阀体的环形槽相互连通。 由于这种ON通信，延迟和前进操作室变得通信，从而有效地在发动机启动时产生的交替转矩引起的叶片转子的往复摆动运动，从而可以将叶片转子快速转向所需的 角位置，便于发动机起动。
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