公开(公告)号：US07684897B2

公开(公告)日：2010-03-23

申请号：US11239672

申请日：2005-09-30

Applicant: Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

Inventor： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

IPC: G06F19/00

CPC classification number: B25J9/1697 ,  B25J9/1671 ,  G05B2219/35346 ,  G05B2219/37205 ,  G05B2219/37208

Abstract: A work model (or an image) is displayed on an image plane of a robot simulator (201), and a measuring portion and a measuring method are designated (202, 203) and a work shape and a work loading state are designated (204), and then it is judged whether or not the measuring portion and the measuring method are good (205). When the measuring portion and the measuring method are good, a program is generated and the processing is completed (207, 208). When the measuring portion and the measuring method are not good, an alarm is given (206), and the continuation (207) or the repetition (201) of the processing is directed. At the time of analyzing the program, the loading (101), the analysis and display of the measuring portion and the measuring method (102, 103) and the work information (104) are designated, and then it is judged whether or not the measuring portion and the measuring method, which have been analyzed, are good (105). When the measuring portion and the measuring method are good, the processing is finished (107). When the measuring portion and the measuring method are not good, an alarm is given (106), and either the completion of the processing (107) or the correction of the program (201) is selected. Due to the foregoing, a burden imposed for raising and maintaining the visual sensor robot system can be reduced.

Abstract translation: 工件模型（或图像）显示在机器人模拟器（201）的图像平面上，并且指定测量部分和测量方法（202,203），并且指定工件形状和加载状态（204 ），然后判断测量部分和测量方法是否良好（205）。 当测量部分和测量方法良好时，产生程序并完成处理（207,208）。 当测量部分和测量方法不好时，给出警报（206），并且指示处理的继续（207）或重复（201）。 在分析程序时，指定负载（101），测量部分的分析和显示以及测量方法（102,103）和工作信息（104），然后判断是否 测量部分和测量方法都很好（105）。 当测量部分和测量方法良好时，处理结束（107）。 当测量部分和测量方法不好时，给出警报（106），并且选择处理（107）的完成或程序（201）的校正。 由于上述原因，可以降低用于升高和维持视觉传感器机器人系统的负担。

公开(公告)号：US07657346B2

公开(公告)日：2010-02-02

申请号：US11111722

申请日：2005-04-22

Applicant: Kazunori Ban ,  Ichiro Kanno

Inventor： Kazunori Ban ,  Ichiro Kanno

IPC: B25J15/02 ,  B25J19/04 ,  G05B19/00

CPC classification number: G06T1/0014 ,  B25J9/1697 ,  G05B2219/40014 ,  G05B2219/40053 ,  G06T7/75 ,  G06T2207/30164

Abstract: The system includes a detecting section detecting an object to be picked, among a plurality of objects placed in a manner as to be at least partially superimposed on each other; a storage section storing appearance information of a predetermined portion of a reference object having an outward appearance identical to an outward appearance of the object to be picked; a determining section determining whether an inspected portion of the object to be picked, corresponding to the predetermined portion of the reference object, is concealed by another object, based on the appearance information of the reference object stored in the storage section; a control section deciding a picking motion for the object to be picked and outputting a control signal of the picking motion; and a picking mechanism performing the picking motion on the object to be picked in accordance with the control signal output from the control section.

Abstract translation: 该系统包括检测部件，其以至少部分地彼此重叠的方式放置在多个物体中，检测要被拾取的物体; 存储部，其存储具有与所述被拾取对象的外观相同的外观的参照物的规定部的外观信息; 基于存储在存储部中的参考对象的外观信息，确定与另一对象是否隐藏对应于参照对象的预定部分的要被拾取对象的被检查部分的确定部分; 决定所述被拾取物的拾取动作的控制部，输出所述拾取动作的控制信号; 以及拾取机构，根据从控制部输出的控制信号，对被拾取物进行拾取动作。

公开(公告)号：US20080071982A1

公开(公告)日：2008-03-20

申请号：US11600163

申请日：2006-11-16

Applicant: Shin-ichiro Kanno ,  Shoji Sugino ,  Toshimiti Kishimoto

Inventor： Shin-ichiro Kanno ,  Shoji Sugino ,  Toshimiti Kishimoto

IPC: G06F12/00

CPC classification number: G06F21/6218 ,  G06F3/0605 ,  G06F3/0632 ,  G06F3/067 ,  G06F21/552

Abstract: The present invention is a storage apparatus including a disk device having a storage medium for storing data, a controller unit configured to control the disk device, a setting unit configured to accept a setting operation for the disk device performed by a user and configure the setting according to the setting operation, a log information collection unit for collecting, as log information, the setting operation accepted by the setting unit, and a log information analysis unit for performing predetermined analysis processing on the setting operation based on the log information collected by the log information collection unit. The storage apparatus prevents unauthenticated operations by collecting and analyzing the log information about the setting operations, and achieves secure and smooth management.

Abstract translation: 本发明是一种存储装置，包括具有用于存储数据的存储介质的盘装置，被配置为控制盘装置的控制器单元，被配置为接受由用户执行的盘装置的设置操作的设置单元， 根据设定操作，日志信息收集单元收集由设置单元接受的设置操作作为日志信息，以及日志信息分析单元，用于基于由所述设置单元收集的日志信息执行关于设置操作的预定分析处理 日志信息收集单元。 存储装置通过收集和分析关于设置操作的日志信息来防止未认证的操作，并且实现安全和平稳的管理。

公开(公告)号：US07202957B2

公开(公告)日：2007-04-10

申请号：US11037330

申请日：2005-01-19

Applicant: Kazunori Ban ,  Ichiro Kanno

Inventor： Kazunori Ban ,  Ichiro Kanno

IPC: G01B11/24

CPC classification number: G01B11/25 ,  G05B2219/37048 ,  G05B2219/37555 ,  G06T7/521

Abstract: A three-dimensional visual sensor is disclosed. A two-dimensional image of a two-dimensional feature portion including a point determined on a work is acquired, and N points are determined. A slit of light is projected by a projector, an image of a projected portion is obtained, and M points are determined. The three-dimensional position of the intersection point between each straight line connecting the N points and a point in a camera and the slit of light plane is determined on the sensor coordinate system, and transformed to the data on the reference coordinate system. The three-dimensional positions of M points are similarly subjected to coordinate transform to the data on the reference coordinate system. Straight lines defined by the M and N points are determined. The intersection point between the two straight lines is determined and returned to the data on the sensor coordinate system by inverse transform.

Abstract translation: 公开了三维视觉传感器。 获取包括在工件上确定的点的二维特征部分的二维图像，并且确定N个点。 通过投影仪投影光的狭缝，获得投影部分的图像，并且确定M个点。 在传感器坐标系上确定连接N点和摄像机中的点与光平面之间的每条直线之间的交点的三维位置，并转换为参考坐标系上的数据。 M点的三维位置也类似地进行坐标变换到参考坐标系上的数据。 确定由M和N点定义的直线。 通过逆变换确定两条直线之间的交点，并将其返回到传感器坐标系上的数据。

公开(公告)号：US07123992B2

公开(公告)日：2006-10-17

申请号：US10701596

申请日：2003-11-06

Applicant: Kazunori Ban ,  Ichiro Kanno

Inventor： Kazunori Ban ,  Ichiro Kanno

IPC: G05B15/00 ,  G05B19/00

CPC classification number: G06T1/0014 ,  B07C5/10 ,  B25J9/1697 ,  G05B2219/40053 ,  G06T7/70 ,  G06T2207/10016 ,  G06T2207/30164

Abstract: The presence range for workpieces (the internal edge of a container's opening) is defined with a visual sensor attached to a robot and the range is divided into a specified number of sectional regions. A robot position suitable for sensing each of the sectional regions is determined, and sensing is performed at the position so that workpieces in the container are picked up.

Abstract translation: 工件的存在范围（容器开口的内部边缘）由连接到机器人的视觉传感器定义，并且该范围被划分为指定数量的截面区域。 确定适于感测每个截面区域的机器人位置，并且在该位置执行感测，使得拾取容器中的工件。

公开(公告)号：US20060104788A1

公开(公告)日：2006-05-18

申请号：US11111722

申请日：2005-04-22

Applicant: Kazunori Ban ,  Ichiro Kanno

Inventor： Kazunori Ban ,  Ichiro Kanno

IPC: B66C25/00

CPC classification number: G06T1/0014 ,  B25J9/1697 ,  G05B2219/40014 ,  G05B2219/40053 ,  G06T7/75 ,  G06T2207/30164

Abstract: An object picking system for picking up, one by one, a plurality of objects. The system includes a detecting section detecting, as an image, an object to be picked, among a plurality of objects placed in a manner as to be at least partially superimposed on each other; a storage section storing appearance information of a predetermined portion of a reference object having an outward appearance identical to an outward appearance of the object to be picked; a determining section determining, in the image of the object to be picked detected by the detecting section, whether an inspected portion of the object to be picked, corresponding to the predetermined portion of the reference object, is concealed by another object, based on the appearance information of the reference object stored in the storage section; a control section deciding a picking motion for the object to be picked and outputting a control signal of the picking motion, based on a determination result of the determining section; and a picking mechanism performing the picking motion on the object to be picked in accordance with the control signal output from the control section.

Abstract translation: 一种用于拾取多个物体的物体拾取系统。 该系统包括检测部分，其以至少部分地彼此重叠的方式在被放置的多个物体中检测作为图像的要被拾取的物体; 存储部，其存储具有与所述被拾取对象的外观相同的外观的参照物的规定部的外观信息; 确定部分，在由所述检测部检测到的要被拾取的对象的图像中确定与所述参考对象的所述预定部分相对应的要被拾取的对象的被检查部分是否被另一个对象隐藏，基于 存储在存储部中的参考对象的外观信息; 控制部，根据上述判定部的判定结果，判定上述被拾取物的拾取动作，并输出上述拾取动作的控制信号; 以及拾取机构，根据从控制部输出的控制信号，对被拾取物进行拾取动作。

公开(公告)号：US20050273199A1

公开(公告)日：2005-12-08

申请号：US11142496

申请日：2005-06-02

Applicant: Kazunori Ban ,  Ichiro Kanno ,  Makoto Yamada ,  Toshihiko Inoue

Inventor： Kazunori Ban ,  Ichiro Kanno ,  Makoto Yamada ,  Toshihiko Inoue

IPC: B25J13/08 ,  B25J9/10 ,  B25J9/16 ,  G05B19/18 ,  G05B19/19 ,  G06F19/00

CPC classification number: B25J9/1692 ,  B25J9/1682 ,  G05B2219/39045 ,  G05B2219/39046 ,  G05B2219/39114 ,  G05B2219/39397

Abstract: A robot system comprising a first robot (R1) with a camera of a visual sensor mounted thereon and a second robot (R2) having a feature portion, is disclosed. The robots (R1, R2) are set in the first initial states (G1), from which the first robot (R1) or the second robot (R2) is moved so that the image of the feature portion assumes a target position or size (G2), thereby to store the present positions (P1, Q1) (G3). The same process is repeated N times (N≧3) while changing the positions of the initial states of the robots (G4). Based on the positions P1, . . . , PN and Q1, . . . , QN obtained by the N repetitive above processes, a matrix T indicating the coordinate conversion from Σb to Σb′ is determined. One or two robot control units may be provided. As a result, the calibration to determine relative positions between the robots can be carried out easily and with high accuracy, thereby reducing the jig-related cost.

Abstract translation: 公开了一种机器人系统，其包括具有安装在其上的视觉传感器的照相机的第一机器人（R 1）和具有特征部分的第二机器人（R 2）。 机器人（R 1，R 2）被设定为第一初始状态（G 1），第一机器人（R 1）或第二机器人（R 2）从该初始状态（G1）移动，使得特征部分的图像呈现为 目标位置或大小（G 2），从而存储当前位置（P 1，Q 1）（G 3）。 在改变机器人的初始状态（G 4）的位置的同时，重复N次（N> = 3）。 基于位置P 1，。 。 。 ，PN和Q 1，。 。 。 ，通过N次重复上述处理获得的QN，确定表示从Sigmab到Sigmab'的坐标转换的矩阵T. 可以提供一个或两个机器人控制单元。 结果，可以容易且高精度地进行用于确定机器人之间的相对位置的校准，从而减少与夹具相关的成本。

公开(公告)号：US06845296B2

公开(公告)日：2005-01-18

申请号：US10603747

申请日：2003-06-26

Applicant: Kazunori Ban ,  Ichiro Kanno

Inventor： Kazunori Ban ,  Ichiro Kanno

IPC: G01B11/24 ,  B25J9/16 ,  B25J9/22 ,  B25J13/08 ,  G06T1/00 ,  G06T7/00 ,  G06T7/60 ,  G05B19/00

CPC classification number: G06T1/0014 ,  B25J9/1697 ,  G05B2219/40053 ,  G06T7/74 ,  G06T2207/30164

Abstract: An object taking out apparatus capable of taking out randomly stacked objects with high reliability and low cost. An image of one of workpieces as objects of taking out at a reference position is captured by a video camera. Whole feature information and partial feature information are extracted from the captured image by a model creating section and a partial model creating section, respectively, and stored in a memory with information on partial feature detecting regions. An image of randomly stacked workpieces is captured and analyzed to determine positions/orientations of images of the respective workpieces using the whole feature information. Partial feature detecting regions are set to the images of the respective workpieces using the determined positions/orientations of the respective workpieces and information on partial feature detecting regions stored in the memory. Partial features of the respective workpieces are detected in the partial feature detecting regions using the partial feature information, and priority of taking out the workpiece is determined based on results of detection of the partial features. A robot is controlled to successively take out the object of the first priority using data of the position/orientation of the object of the first priority.

Abstract translation: 一种能够以高可靠性和低成本取出随机堆叠物体的物体取出装置。 作为在参考位置取出的对象的工件之一的图像由摄像机捕获。 通过模型创建部分和部分模型创建部分分别从捕获的图像中提取整个特征信息和部分特征信息，并将其存储在具有关于部分特征检测区域的信息的存储器中。 捕获并分析随机堆叠的工件的图像，以使用整个特征信息来确定各个工件的图像的位置/取向。 使用确定的各个工件的位置/取向以及存储在存储器中的部分特征检测区域的信息将部分特征检测区域设置为各个工件的图像。 使用部分特征信息在部分特征检测区域中检测相应工件的部分特征，并且基于部分特征的检测结果确定取出工件的优先级。 控制机器人，使用第一优先级的对象的位置/取向的数据连续取出第一优先级的对象。

公开(公告)号：US20130079530A1

公开(公告)日：2013-03-28

申请号：US13261420

申请日：2011-03-04

Applicant: Tamotsu Takahashi ,  Ken-ichiro Kanno ,  Shi Li

Inventor： Tamotsu Takahashi ,  Ken-ichiro Kanno ,  Shi Li

IPC: C07C25/22 ,  C07F15/00 ,  C07C1/30 ,  C07D333/08

CPC classification number: C07C13/62 ,  C07C1/26 ,  C07C1/30 ,  C07C25/22 ,  C07C2603/52 ,  C07D333/08 ,  C07D333/18 ,  C07F15/006

Abstract: The present invention provides a 6,13-dihalogen-5,14-dihydropentacene derivative and a method for production thereof. Compounds (b) and (c) are reacted through cross-coupling reaction in the presence of a metal compound and a lithiating agent to synthesize compound (d), which is then halogenated to thereby obtain a 6,13-dihalogen-5,14-dihydropentacene derivative (compound (e)). [wherein X1 and X2 are each a halogen atom, and R1, R2, R3, R4, R5, R6, R7, R8, R9 and R10 are each a hydrogen atom, an optionally substituted C1-C20 hydrocarbon group, etc.]

Abstract translation: 本发明提供了6,13-​​二卤代-5,14-二氢并苯衍生物及其制备方法。 化合物（b）和（c）在金属化合物和锂化剂的存在下通过交叉偶联反应进行反应以合成化合物（d），然后将其卤化，由此得到6,13-​​二卤代-5,14 - 二氢并苯衍生物（化合物（e））。 [其中X1和X2各自为卤素原子，R1，R2，R3，R4，R5，R6，R7，R8，R9和R10各自为氢原子，任选取代的C 1 -C 20烃基等]

公开(公告)号：US08115197B2

公开(公告)日：2012-02-14

申请号：US11421295

申请日：2006-05-31

Applicant: Takahiro Ohe ,  Noriyuki Kawashima ,  Tamotsu Takahashi ,  Ken-Ichiro Kanno

Inventor： Takahiro Ohe ,  Noriyuki Kawashima ,  Tamotsu Takahashi ,  Ken-Ichiro Kanno

IPC: H01L51/00

CPC classification number: H01L51/0054 ,  H01L51/0003 ,  H01L51/0012 ,  H01L51/0055 ,  H01L51/0541 ,  H01L51/0545

Abstract: An organic semiconductor material is provided. The organic semiconductor material includes a polyacene derivative expressed by the following general formula (1): where each of R1 to R10 may be independently the same substituents or different substituents but all of R1, R4, R5, R6, R9 and R10 may never be hydrogen atoms at the same time, and where each of R1 to R10 is at least one kind of substituent selected from the group consisting of an aliphatic hydrocarbon group having a substituent and of which number of carbon atoms ranges of from 1 to 20, an aromatic hydrocarbon group having a substituent, a complex aromatic group having a substituent, a carboxyl group, a hydride, an ester group, a cyano group, a hydroxyl group, a halogen atom and a hydrogen atom. The organic semiconductor material can be dissolved into an organic solvent at low temperature (for example, room temperature) and is suitable for use with a coating process.

Abstract translation: 提供有机半导体材料。 有机半导体材料包括由以下通式（1）表示的多并苯衍生物：其中R 1至R 10各自可以独立地为相同的取代基或不同的取代基，但R 1，R 4，R 5，R 6，R 9和R 10全部可以不为 氢原子，R 1〜R 10各自为选自具有取代基的脂肪族烃基，碳原子数为1〜20的取代基的至少一种取代基，芳香族 具有取代基的烃基，具有取代基的络合芳基，羧基，氢化物，酯基，氰基，羟基，卤素原子和氢原子。 有机半导体材料可以在低温（例如室温）下溶解在有机溶剂中，适用于涂布工艺。