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    Image-modification methods
    1.
    发明授权
    Image-modification methods 失效
    图像修改方法

    公开(公告)号：US06169840A

    公开(公告)日：2001-01-02

    申请号：US08008493

    申请日：1993-01-25

    申请人： Jerome H. Lemelson

    发明人： Jerome H. Lemelson

    IPC分类号： H04N576

    CPC分类号： G08B13/19602 ,  B07C5/10 ,  G01B11/022 ,  G05B2219/33192 ,  G05B2219/36395 ,  G05B2219/36511 ,  G05B2219/36513 ,  G05B2219/37572 ,  G05B2219/40283 ,  G05B2219/40284 ,  G06T1/0014 ,  G07D7/12 ,  G07D7/20 ,  G08B13/1963 ,  G08B13/19634 ,  G08B13/19652 ,  H04N5/765 ,  H04N5/77 ,  H04N5/782 ,  H04N5/7822 ,  H04N5/78263 ,  H04N5/9201 ,  H04N5/9205

    摘要： Methods for recording, reproducing, modifying, and displaying image information. An electro-optical scanner, such as a camera, scans an image field and generates signals that vary in accordance with variations in the optical characteristics of the matter and objects in the image field scanned. Bit codes define the locations on a recording member of groups of the output electrical signals, such as a frame of image information or an object in the scanned image field. Further codes define desired modifications to be made to such groups of signals, such as alteration of intensity or superimposition. The location codes and the modification codes are applied to the signals representing image information to modify those signals, and the modified groups of information signals are applied to generate a modified image on an electronic viewing screen.

    摘要翻译： 用于记录，再现，修改和显示图像信息的方法。 诸如相机的电光扫描器扫描图像场并产生根据所扫描的图像场中的物体和物体的光学特性的变化而变化的信号。 位代码定义输出电信号的组的记录构件上的位置，诸如图像信息的帧或扫描图像场中的对象。 进一步的代码定义了对这些信号组的所需的修改，例如强度的改变或叠加。 将位置代码和修改代码应用于表示图像信息的信号以修改这些信号，并且应用经修改的信息信号组以在电子观看屏幕上生成修改图像。

    Automatic manipulation system and method
    3.
    发明授权
    Automatic manipulation system and method 失效
    自动操纵系统及方法

    公开(公告)号：US4773815A

    公开(公告)日：1988-09-27

    申请号：US941554

    申请日：1986-12-11

    申请人： Jerome H. Lemelson

    发明人： Jerome H. Lemelson

    IPC分类号： B25J5/00 ,  B25J9/04 ,  B25J15/04 ,  B25J19/02 ,  G05B19/425 ,  B25J17/02

    CPC分类号： G05B19/425 ,  B25J15/0491 ,  B25J19/023 ,  B25J5/005 ,  B25J9/041 ,  G05B2219/33192 ,  G05B2219/33207 ,  G05B2219/36395 ,  G05B2219/36511 ,  G05B2219/36513 ,  G05B2219/37553 ,  G05B2219/37572 ,  G05B2219/40283 ,  G05B2219/40284 ,  G05B2219/40298 ,  G05B2219/45045 ,  Y10S483/901 ,  Y10T29/5107

    摘要： An automatic manipulator capable of performing various programs and adaptively controlled operations with respect to work including operations on work. Automatic tool changing means are provided wherein the manipulator changes tools with respect to its tool holding fixture, tool head or heads. In one form, a plurality of tools to be used are supported on a rack adjacent the manipulator and the manipulator is automatically operated to effect the uncoupling of one or more tools from its operating head and the coupling of one or more tools with respect to such operating head. In another form, the tools are supported by the manipulator itself and the manipulator is automatically controlled to effect the transfer of tools between its operating head and a storage location for the tools. In a third form, tool heads themselves are automtically changed and received either from storage on the manipulator or adjacent the manipulator. In a fourth form, the tool head is composed of a turret containing a plurality of different tools and manipulating devices, which turret is automatically operated to bring a selected tool or fixture into an operative location on the manipulator.

    摘要翻译： 一种能够执行各种程序和自动控制操作的自动操纵器，包括关于工作的操作。 提供自动换刀装置，其中操纵器相对于其工具夹具，工具头或头部改变工具。 在一种形式中，要使用的多个工具被支撑在与机械手相邻的机架上，并且操纵器被自动操作以实现一个或多个工具从其操作头的脱离，并且一个或多个工具相对于其的联接 操作头。 在另一种形式中，这些工具由操纵器本身支撑，并且自动控制操纵器来实现工具在其操作头和工具的存储位置之间的传送。 在第三种形式中，工具头自身被自动地改变并从操纵器上的存储器或与操纵器相邻接收。 在第四种形式中，工具头由包含多个不同工具和操纵装置的转台组成，该转台被自动操作以使选定的工具或固定装置进入操纵器上的操作位置。

    Tool and material manipulation apparatus and method
    4.
    发明授权
    Tool and material manipulation apparatus and method 失效
    工具和材料操纵装置及方法

    公开(公告)号：US4636137A

    公开(公告)日：1987-01-13

    申请号：US638432

    申请日：1984-08-06

    申请人： Jerome H. Lemelson

    发明人： Jerome H. Lemelson

    IPC分类号： B25J5/00 ,  B25J9/04 ,  B25J15/04 ,  B25J19/02 ,  G05B19/425 ,  B25J9/00

    CPC分类号： G05B19/425 ,  B25J15/0491 ,  B25J19/023 ,  B25J5/005 ,  B25J9/041 ,  G05B2219/33192 ,  G05B2219/33207 ,  G05B2219/36395 ,  G05B2219/36511 ,  G05B2219/36513 ,  G05B2219/37553 ,  G05B2219/37572 ,  G05B2219/40283 ,  G05B2219/40284 ,  G05B2219/40298 ,  G05B2219/45045

    摘要： A manipulator has a carriage adapted for free travel movement along a surface and a reversible first motor for driving the carriage. An upstanding support is mounted on the carriage and a manipulation arm assembly is supported for movement on the upstanding support. A reversible second motor drives the arm assembly on the upstanding support. An operating head includes a tool supported at the end of the manipulation arm assembly. A remote control mechanism operates the first and second motors and the operating head at a remote location. A first television camera is supported at the upper end of the upstanding support and adapted to scan a first image field in front of the manipulator. A second camera is supported by the manipulation arm assembly and adapted to scan a second image field including the operating head and an article to be operated on by the operating head. Video signals are transmitted by a transmitting mechanism and received to display picture information defined by the first and second image fields scanned by the first and second television cameras to permit a person operating the remote control mechanism at the remote location to view an area immediately in front of the manipulator, the operating head and an area immediately in front of the operating head. Another feature is directed to a cycle initiating circuit for initiating operation of a program control circuit to cause it to generate command control signals which operate a plurality of motors causing various movements in an article manipulation apparatus. A wireless signal transmitter and wireless receiver circuitry operate with short wave command control signals to effectuate remote control of the manipulation apparatus.

    摘要翻译： 机械手具有适于沿表面自由行进的滑架和用于驱动滑架的可逆的第一马达。 直立的支撑件安装在托架上，并且操纵臂组件支撑在直立支撑件上运动。 可逆的第二马达驱动臂组件在直立的支撑上。 操作头包括支撑在操纵臂组件的端部的工具。 远程控制机构在远程位置操作第一和第二电动机和操作头。 第一台电视摄像机在直立支撑的上端被支撑，并适用于扫描操纵器前面的第一个图像场。 第二相机由操纵臂组件支撑并且适于扫描包括操作头的第二图像场和由操作头操作的物品。 视频信号由发送机构发送并被接收以显示由第一和第二电视摄像机扫描的第一和第二图像字段定义的图像信息，以允许在远程位置操作远程控制机构的人员立即观看区域 操纵头和操作头前面的区域。 另一个特征涉及用于启动程序控制电路的操作以使其产生操作多个电动机的命令控制信号的循环启动电路，该多个电动机在物品操纵装置中产生各种移动。 无线信号发射器和无线接收器电路用短波指令控制信号进行操作，以实现对操纵装置的遥控。

    Methods and apparatus for scanning objects and generating image information
    6.
    发明授权
    Methods and apparatus for scanning objects and generating image information 失效
    用于扫描对象并生成图像信息的方法和装置

    公开(公告)号：US5144421A

    公开(公告)日：1992-09-01

    申请号：US872344

    申请日：1992-04-23

    申请人： Jerome H. Lemelson

    发明人： Jerome H. Lemelson

    IPC分类号： B07C5/10 ,  G01B11/02 ,  G06T1/00 ,  G07D7/12 ,  G07D7/20 ,  G08B13/194 ,  H04N5/782

    CPC分类号： G08B13/19602 ,  B07C5/10 ,  G01B11/022 ,  G06T1/0014 ,  G07D7/12 ,  G07D7/20 ,  G08B13/1963 ,  G08B13/19634 ,  G08B13/19652 ,  H04N5/782 ,  G05B2219/33192 ,  G05B2219/36395 ,  G05B2219/36511 ,  G05B2219/36513 ,  G05B2219/37572 ,  G05B2219/40283 ,  G05B2219/40284

    摘要： An automatic scanning apparatus and method for detecting the presence of one or more objects in an image field under investigation or inspection. Electro-optical scanning means, such as a television camera, is employed to scan an image field and generate output electrical signals which vary in accordance with variations in the optical characteristics of the matter and objects in the image field scanned. Such signals are computer processed and analyzed to generate coded electrical signals which define optical characteristics of portion of the image field scanned, such as objects or the images of objects scanned, their shape, color of a combination of color and shape. Electronic means is provided to generate further coded electrical signals which indicate the presence of one or more objects in the image field scanned and may be used to effect intelligent indications thereof, to control one or more devices such as a motor or motors, and/or to provide information for computational purposes to be processed and utilized by a computer. In one form, that shape of an object or objects is detected and coded signals generated are employed to effect a comparison of such shape with information relating to the shapes of known objects to identify the object or objects scanned. In another form, the color or surface characteristics of an object is detected and resulting signals indicative thereof are compared with information derived from a memory to identify either the object or its color or surface characteristics. In a third form both shape and color are detected and compared with recorded information for identification purposes.

    摘要翻译： 一种用于在被调查或检查的图像场中检测一个或多个物体的存在的自动扫描装置和方法。 采用诸如电视摄像机的电光扫描装置来扫描图像场并产生根据所扫描的图像场中的物体和物体的光学特性的变化而变化的输出电信号。 对这些信号进行计算机处理和分析，以生成编码的电信号，其定义扫描的图像场的部分的光学特性，例如被扫描的物体或其图像，其形状，颜色和形状的组合的颜色。 提供电子装置以产生指示在扫描的图像场中存在一个或多个物体的进一步编码的电信号，并且可以用于实现其智能指示，以控制一个或多个装置，例如马达或马达，和/或 以提供用于由计算机处理和利用的计算目的的信息。 在一种形式中，检测到对象或对象的形状，并且使用所生成的编码信号来实现这种形状与与已知对象的形状相关的信息的比较，以识别被扫描的对象或对象。 在另一种形式中，检测对象的颜色或表面特征，并将指示其的结果信号与从存储器导出的信息进行比较，以识别对象或其颜色或表面特性。 在第三种形式中，检测形状和颜色，并与记录的信息进行比较以进行识别。

    Industrial robot control method
    7.
    发明授权
    Industrial robot control method 失效
    工业机器人控制方法

    公开(公告)号：US4549276A

    公开(公告)日：1985-10-22

    申请号：US491426

    申请日：1983-03-25

    申请人： Hajimu Inaba ,  Shinsuke Sakakibara

    发明人： Hajimu Inaba ,  Shinsuke Sakakibara

    IPC分类号： G05B19/18 ,  B25J9/18 ,  G05B19/4155 ,  G05B19/418 ,  G06F15/46 ,  G05B19/42

    CPC分类号： G05B19/41825 ,  G05B2219/36511 ,  Y02P90/087

    摘要： An industrial robot control method for use in a system having a machine tool (MAC), a numerical control device (NCU) for controlling the machine tool, an industrial robot (RBT), and a robot control device (RCU) for controlling the industrial robot. In accordance with this industrial robot control method, a plurality of robot programs are stored beforehand in an internal memory (DMR) of the robot control device (RCU), and a plurality of NC programs are stored beforehand in an internal memory (DMN) of the numerical control device (NCU). The size or shape of a workpiece is sensed by a workpiece discriminating unit (WKD) to select the robot program conforming to the particular workpiece. An NC program number, corresponding to the robot program, is transmitted from the robot control device (RCU) to the numerical control device (NCU). The machine tool (MAC) is controlled in accordance with the NC program identified by NC program number, and the robot (RBT) is controlled based on the selected robot program.

    摘要翻译： PCT No.PCT / JP82 / 00305 Sec。 371日期1983年3月25日 102（e）1983年3月25日PCT申请日1982年8月4日PCT公开号 公开号WO83 / 00573 日期：1983年2月17日。一种用于具有机床（MAC）的系统的工业机器人控制方法，用于控制机床的数控装置（NCU），工业机器人（RBT）和机器人控制装置 （RCU），用于控制工业机器人。 根据该工业机器人控制方法，将多个机器人程序预先存储在机器人控制装置（RCU）的内部存储器（DMR）中，并且将多个NC程序预先存储在内部存储器（DMN）中 数控装置（NCU）。 通过工件识别单元（WKD）感测工件的尺寸或形状，以选择符合特定工件的机器人程序。 对应于机器人程序的NC程序号从机器人控制装置（RCU）发送到数控装置（NCU）。 机床（MAC）根据NC程序号识别的NC程序进行控制，机器人（RBT）根据所选择的机器人程序进行控制。

    Industrial robot control system
    9.
    发明授权
    Industrial robot control system 失效
    工业机器人控制系统

    公开(公告)号：US4347578A

    公开(公告)日：1982-08-31

    申请号：US29851

    申请日：1979-04-13

    申请人： Hajimu Inaba

    发明人： Hajimu Inaba

    IPC分类号： B25J9/04 ,  B25J9/16 ,  B25J9/18 ,  B25J9/22 ,  G05B19/409 ,  G05B19/4155 ,  G05B19/418 ,  G05B19/42 ,  G05B19/425 ,  G06F15/46

    CPC分类号： B25J9/161 ,  B25J9/041 ,  G05B19/409 ,  G05B19/41825 ,  G05B19/425 ,  G05B2219/36296 ,  G05B2219/36499 ,  G05B2219/36511 ,  G05B2219/36513 ,  G05B2219/36523 ,  G05B2219/45213 ,  Y02P90/087

    摘要： Teach data for directing the operation of an industrial robot is entered from a teach operating panel and set in a teaching memory. Machine work identify, insufficient machine work detect and other similar external data and data, such as the current and teach positions of the robot, are set in a work memory. A processor accomplishes write/read control of the teaching memory and the work memory and processing of the various data. In accordance with the result of processing by the processor, the robot is controlled and, in accordance with the contents of the external data, the teach data or the sequence by which the teach data controls is modified, thereby to efficiently operate the robot.

    摘要翻译： 用于指导工业机器人的操作的教导数据从教学操作面板输入并设置在教学存储器中。 机器工作识别，机器工作检测不足以及其他类似的外部数据和数据（如机器人的当前和教学位置）被设置在工作存储器中。 处理器完成对教学存储器和工作存储器的写入/读取控制以及各种数据的处理。 根据处理器的处理结果，控制机器人，并且根据外部数据的内容，教导数据或教导数据控制被修改的顺序，从而有效地操作机器人。

    Method and apparatus for scaning objects and generating image information
    10.
    发明授权
    Method and apparatus for scaning objects and generating image information 失效
    用于扫描物体并生成图像信息的方法和装置

    公开(公告)号：US5128753A

    公开(公告)日：1992-07-07

    申请号：US453789

    申请日：1989-12-20

    申请人： Jerome H. Lemelson

    发明人： Jerome H. Lemelson

    IPC分类号： B07C5/10 ,  G01B11/02 ,  G06T1/00 ,  G07D7/12 ,  G07D7/20 ,  G08B13/194 ,  H04N5/782

    CPC分类号： G08B13/19602 ,  B07C5/10 ,  G01B11/022 ,  G06T1/0014 ,  G07D7/12 ,  G07D7/20 ,  G08B13/1963 ,  G08B13/19634 ,  G08B13/19652 ,  H04N5/782 ,  G05B2219/33192 ,  G05B2219/36395 ,  G05B2219/36511 ,  G05B2219/36513 ,  G05B2219/37572 ,  G05B2219/40283 ,  G05B2219/40284

    摘要： An automatic scanning and control apparatus determines the location of a predetermined segment of an image field being scanned. The predetermined segment presents an image which is optically differentiatable from the surrounding area of the image field. The apparatus includes a beam device for selectively scanning the image field and producing an output signal thereof. The beam device includes means for modulating the output signal in accordance with variations in the image field. The predetermined segment of the image field causes modulation of the output signal of the beam device by providing an inflection therein when the beam scans across the segment. An analyzing circuit is adapted to accept the output signal from the beam device. Means generate a locating signal in predetermined time relation to the scanning. Comparator means compare the inflection in the output signal with the locating signal so that the location of the predetermimed segment of the image field can be determined.A method compares an image field to be inspected with a standard image field. A standard image field is scanned with a beam and a video signal is modulated in accordance with intensity variations in the standard field. The video signal is recorded on a recording member. The field to be inspected is then scanned by the beam and a second video signal is generated. Both the video signals are reproduced and passed to a comparator means. A point to point comparison is made between the inflections and variations in each signal resulting from the scanning image areas of contrasting intensity by generating pulse signals during the intervals that the areas do not coincide. The pulse signals are then automatically analyzed.

    摘要翻译： 自动扫描和控制装置确定被扫描的图像场的预定片段的位置。 预定的段呈现与图像场的周围区域光学上不同的图像。 该装置包括用于选择性地扫描图像场并产生其输出信号的束装置。 光束装置包括根据图像场的变化调制输出信号的装置。 当光束扫描跨越该段时，图像场的预定段通过在其中提供拐点来引起束装置的输出信号的调制。 分析电路适于接收来自光束装置的输出信号。 装置产生与扫描预定时间关系的定位信号。 比较器意味着将输出信号中的拐点与定位信号进行比较，使得可以确定图像场的预先计划的段的位置。 一种方法将要检查的图像字段与标准图像字段进行比较。 用光束扫描标准图像场，并根据标准场中的强度变化调制视频信号。 视频信号被记录在记录部件上。 然后通过光束扫描待检查的场，并产生第二视频信号。 视频信号都被再现并传递给比较器装置。 通过在区域不一致的间隔期间产生脉冲信号，在对比度强度的扫描图像区域产生的每个信号的变化和变化之间进行点对点比较。 然后自动分析脉冲信号。