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公开(公告)号：US20230182289A1
公开(公告)日：2023-06-15
申请号：US18054306
申请日：2022-11-10
申请人： KONICA MINOLTA, INC.
CPC分类号： B25J9/1612 , B25J9/1635 , B25J13/081
摘要： A picking device includes: a workpiece holder in which a plurality of workpieces is stacked; a light receiver that receives reflected light from a workpiece stacked in the workpiece holder; a mover that relatively moves the light receiver with respect to the workpiece in such a manner that a distance between the light receiver and the workpiece is adjustable; an arm that picks the workpiece; a first hardware processor that calculates a distance between the light receiver and at least one workpiece among the plurality of workpieces; a second hardware processor that specifies a workpiece as a picking target among the plurality of workpieces or a region where the workpiece exists; and a third hardware processor that adjusts a distance between the light receiver and the workpiece calculated by the first hardware processor by controlling the mover in the region specified by the second hardware processor.
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2.发明公开公开(公告)号：US20230360195A1
公开(公告)日：2023-11-09
申请号：US18051940
申请日：2022-11-02
申请人： KONICA MINOLTA, INC.
CPC分类号： G06T7/001 , G06T7/55 , G06T2207/20212 , G06T2207/30164
摘要： In the first composite step, a plurality of images is superimposed. In the second composite step, a plurality of images of a second surface of the plurality of components is superimposed. In a first detection step, a feature amount of the first surface is detected using the plurality of images superimposed in the first composite step. In a second detection step, a feature amount of the second surface corresponding to the plurality of areas of the first surface is detected using the plurality of images superimposed in the second composite step. A difference in the feature amounts between each area of the first surface and each area of the second surface corresponding to each area of the first surface is calculated. In the determination-area decision step, an area where the difference in the feature amounts calculated in the calculation step is greater than a predetermined value is decided.
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3.发明公开公开(公告)号：US20230286162A1
公开(公告)日：2023-09-14
申请号：US18051932
申请日：2022-11-02
申请人： KONICA MINOLTA, INC.
CPC分类号： B25J9/1697 , B25J19/021
摘要： A posture of a component is to be accurately determined.
A posture determination method is to determine, based on an image acquired for a component having a plurality of surfaces, a posture of the component. This posture determination method includes recognizing an outer shape of the component from the image, detecting a feature amount of a surface shape in a determination area being a part of the component based on the outer shape of the component recognized in the recognizing, and determining. In the determining, the posture of the component is determined by comparing a first reference amount indicating a reference feature amount in the determination area of a first surface of the component and a second reference amount indicating a reference feature amount in the determination area of a second surface of the component with the feature amount detected in the detecting.-
公开(公告)号：US20210354443A1
公开(公告)日：2021-11-18
申请号：US17318518
申请日：2021-05-12
申请人： Konica Minolta, Inc.
发明人： Yasuyuki KAMAI
摘要： It is intended to allow whether or not a noise included in a read image is a noise due to an ink ejection failure to be more reliably determined. An image reading device includes an image reading unit that reads an image formation surface of paper by using a reducing optical system and a control unit. The image reading unit includes a plurality of read sensors disposed at positions displaced from each other in a main scanning direction. The plurality of read sensors are disposed to be able to read the image formation surface by using at least a local region of the image formation surface as a common region to be read. The control unit determines, based on a first image obtained by a first read sensor included in the plurality of read sensors and on a second image obtained by a second read sensor included in the plurality of read sensors, an amount of displacement of a noise resulting from a parallax between the first read sensor and the second read sensor and determines, based on the amount of displacement, whether or not the noise is present on the image formation surface.
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