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    Recognition device for recognizing the shape and the position of an object
    1.
    发明授权
    Recognition device for recognizing the shape and the position of an object 失效
    用于识别物体的形状和位置的识别装置

    公开(公告)号：US4136957A

    公开(公告)日：1979-01-30

    申请号：US762126

    申请日：1977-01-24

    申请人： Takeshi Uno ,  Sadahiro Ikeda ,  Toshikazu Yasue ,  Masakazu Ejiri

    发明人： Takeshi Uno ,  Sadahiro Ikeda ,  Toshikazu Yasue ,  Masakazu Ejiri

    IPC分类号： G01B11/02 ,  G06K9/00 ,  G01B11/30

    CPC分类号： G01B11/022 ,  G06K9/00201

    摘要： A recognition device for recognizing the shape and the position of an object includes means for applying a bundle of parallel light beams having a specific cross-section to a space containing the object, means for transducing the light informations from the space into image signals, means for extracting from said image signals a specific pattern corresponding to the portion to which the bundle of light beams is applied and means for determining the position of the pattern on the image surface, whereby the existence, shape and the position of the object are recognized from the information on the image surface.

    摘要翻译： 用于识别物体的形状和位置的识别装置包括用于将具有特定横截面的平行光束束施加到包含物体的空间的装置，用于将来自空间的光信息转换成图像信号的装置， 用于从所述图像信号中提取与所述光束束所施加的部分相对应的特定图案，以及用于确定所述图像在所述图像表面上的位置的装置，从而从所述图像信号中识别所述对象的存在，形状和位置 图像表面上的信息。

    Method and device for recognizing a specific pattern
    3.
    发明授权
    Method and device for recognizing a specific pattern 失效
    用于识别特定图案的方法和装置

    公开(公告)号：US4115761A

    公开(公告)日：1978-09-19

    申请号：US766486

    申请日：1977-02-07

    申请人： Hirotada Ueda ,  Takeshi Uno ,  Masakazu Ejiri ,  Sadahiro Ikeda ,  Shinji Matsuoka

    发明人： Hirotada Ueda ,  Takeshi Uno ,  Masakazu Ejiri ,  Sadahiro Ikeda ,  Shinji Matsuoka

    IPC分类号： G06K9/46 ,  G06K9/12

    CPC分类号： G06K9/4604

    摘要： This method for recognizing a specific pattern is characterized in a process of extracting feature parts wherein one or more certain feature parts of specific shape are extracted from an input pattern; the next feature part is then extracted from an extracting area which is determined from the position on the input pattern where a previous feature part was extracted; and in case that the next feature part fails to be extracted from the extracting area so determined, the initial condition is restored thereby extracting the feature part by successively limiting extracting areas.

    摘要翻译： 用于识别特定图案的方法的特征在于提取特征部分的处理，其中从输入图案提取特定形状的一个或多个特定特征部分; 从提取前一特征部分的输入图案上的位置确定的提取区域中提取下一特征部分; 并且在下一个特征部分不能从如此确定的提取区域中提取的情况下，恢复初始条件，从而通过连续限制提取区域来提取特征部分。

    Pattern recognition system
    6.
    发明授权
    Pattern recognition system 失效
    模式识别系统

    公开(公告)号：US4021778A

    公开(公告)日：1977-05-03

    申请号：US710417

    申请日：1976-08-02

    申请人： Hirotada Ueda ,  Takeshi Uno ,  Sadahiro Ikeda

    发明人： Hirotada Ueda ,  Takeshi Uno ,  Sadahiro Ikeda

    IPC分类号： G06T7/00 ,  G06K9/46 ,  G06K9/12

    CPC分类号： G06K9/4609

    摘要： A pattern recognition system comprises a partial pattern cutting out system which has a plurality of cutting out windows previously provided in correspondence with a plurality of regions in a specific pattern which respectively correspond to a characteristic part of the specific pattern to be recognized and which constitute patterns symmetric to each other. A binary input signal is cut out by the use of the partial pattern cutting out apparatus. The "EXCLUSIVE OR" function between the corresponding bits of the partial patterns obtained from the plurality of cutting out windows are evaluated by "EXCLUSIVE OR" circuits. The number of outputs of predetermined logic level among the outputs of the "EXCLUSIVE OR" circuits and a preset number are compared, and the coincidence between both the numbers is sought. When both numbers coincide, the inputted signal is recognized as being the specific pattern.

    摘要翻译： 模式识别系统包括部分图案切出系统，其具有与特定图案中的多个区域相对应地预先设置的多个切割窗口，其分别对应于将被识别的特定图案的特征部分，并且构成图案 彼此对称。 通过使用部分图案切出装置切断二进制输入信号。 通过“EXCLUSIVE OR”电路评估从多个切出窗口获得的部分图案的相应位之间的“EXCLUSIVE OR”功能。 比较“EXCLUSIVE OR”电路的输出和预设数字之间的预定逻辑电平的输出数，寻求两个数字之间的一致。 当两个数字一致时，输入的信号被识别为特定图案。

    Pattern recognition system utilizing a plurality of partial standard patterns
    7.
    发明授权
    Pattern recognition system utilizing a plurality of partial standard patterns 失效
    模式识别系统利用部分标准模式的多样性

    公开(公告)号：US4014000A

    公开(公告)日：1977-03-22

    申请号：US671048

    申请日：1976-03-29

    申请人： Takeshi Uno ,  Sadahiro Ikeda ,  Hirotada Ueda

    发明人： Takeshi Uno ,  Sadahiro Ikeda ,  Hirotada Ueda

    IPC分类号： G06T1/00 ,  G06K9/46 ,  G06T7/60 ,  G06K9/08

    CPC分类号： G06K9/4609

    摘要： A pattern recognition system comprises a picture tube for picking up an object to be recognized, a partial image pattern cutting out apparatus which, in turn, outputs a plurality of partial image patterns cut out from an image pattern obtained from the picture tube, the partial image patterns being output in synchronization with the scanning of the picture tube and a memory storing a plurality of partial standard patterns. Each of the partial image patterns is compared with the respective partial standard patterns and the respective partial image patterns similar to each partial standard pattern are grouped every partial standard pattern. A group of the partial image patterns, each of which is closely spaced from each other in a position of two-dimensional coordinate is selected from each group of the grouped partial image patterns and the respective representative positions of the respective elected groups of the partial image patterns are calculated. The shape and the position of the object to be recognized can be detected from the fact that the respective representative positions are closely spaced from each other in a position of a two-dimensional coordinate.

    Automatic working machine
    8.
    发明授权
    Automatic working machine 失效
    自动加工机

    公开(公告)号：US3967242A

    公开(公告)日：1976-06-29

    申请号：US479080

    申请日：1974-06-13

    申请人： Osamu Isoo ,  Shinji Matsuoka ,  Shigeru Matsuoka ,  Takeshi Uno ,  Sadahiro Ikeda ,  Ikuro Masuda ,  Koji Kurokawa

    发明人： Osamu Isoo ,  Shinji Matsuoka ,  Shigeru Matsuoka ,  Takeshi Uno ,  Sadahiro Ikeda ,  Ikuro Masuda ,  Koji Kurokawa

    IPC分类号： B23Q35/38 ,  B25J13/08 ,  B25J19/02 ,  G06K9/64 ,  G06K9/00

    CPC分类号： G06K9/6202 ,  B23Q35/38 ,  B25J13/084 ,  B25J19/021

    摘要： An automatic working machine adapted to carry out works such as cutting, filling, tightening and loosening, which comprises a visual unit for detecting, by means of the image information, a plurality of works and obstacles existing on an object, a working unit which works against a particular work and moves in relation to the object, and a tactile sensor provided in the vicinity of the working unit, the working unit being precisely positioned by the aid of the tactile sensor when the visual unit detects the particular work, the relative position being maintained during the operation, and the working unit along with the tactile sensor being retracted when the visual unit detects an obstacle, to avoid collision thereof with the obstacle.

    摘要翻译： 一种自动加工机，适用于进行切割，填充，紧固，松动等工作，其包括：通过图像信息检测存在于物体上的多个工件和障碍物的视觉单元，工作单元，其工作 相对于物体移动的特定工件和设置在工作单元附近的触觉传感器，当视觉单元检测到特定工作时，工作单元借助于触觉传感器精确定位，相对位置 在操作期间保持，并且当视觉单元检测到障碍物时，工作单元以及触觉传感器被缩回，以避免与障碍物的碰撞。