Abstract: A counter unit, a counter unit control method, a control device, and a control system are provided. A counter unit (10) executes an output to an actuator (40) at a time point when a waiting time indicated by a timing adjustment value (Ta) received from PLC (20) has elapsed since it was determined that an actual measurement value obtained by using a pulse signal has matched with a target value.

Abstract: A semiconductor apparatus that selects a first packet from a plurality of packets stored in a buffer and transfers the first packet. The semiconductor apparatus switches a plurality of different conditions for grouping the plurality of packets according to a priority order of the plurality of conditions; and selects the first packet from a plurality of packets pertaining to a group extracted on a condition selected by the switching according to a given selecting scheme, and transfers the first packet from the buffer.

Abstract: Examples relate to methods of calibrating a printing device. A method comprises generating a calibration sheet of a calibrating medium having a length at least equal to the maximum printing width of a printbar of the printing device and printing a plurality of calibration patterns on the calibration sheet with the printing device to be calibrated.

Abstract: Described herein are techniques that may be used to facilitate object tracking within a video captured using a portable recording device based on movements associated with that recording device. Such techniques may comprise receiving, from an image capture device, a current image data and an indication of an offset value, determining at least one object to be identified within the image data, determining a previous location of the at least one object within previous image data, and determining, based on the previous location and the offset value, a region within the image data to be attributed to the at least one object, the region comprising less than the current image. The techniques may further comprise determining a location of the at least one object within the region using at least one object recognition technique.

Abstract: The invention relates to a gripper apparatus for a cannulation robot and for gripping a cannula having a cannula holder. The gripper apparatus comprises two gripper elements and a moving device. The two gripper elements can be moved relative to each other and work in concert to grip the cannula holder. The moving device is designed to move the two gripper elements relative to each other and at least one of the gripper elements relative to the cannula holder. The gripper apparatus can thereby be brought into a gripping state, in which at least one of the gripper elements is engaged with the cannula holder, by means of the moving device.

Abstract: A wafer bonding apparatus including a first stage having a first surface and being configured to hold a first wafer on the first surface; a second stage having a second surface and being configured to hold a second wafer on the second surface facing the first surface; a first target image sensor on an outer portion of the first stage; a second target image sensor on an outer portion of the second stage; and a target portion on the first or second stage, the target portion having a target plate fixedly installed and spaced apart from the first or second target image sensor by a predetermined distance, wherein, in an alignment measurement of the first and second stages, the first and second stages are movable so that the first and second target image sensors face each other and the target plate is between the first and second target image sensors.

Abstract: A method includes receiving, by a processing device, an indication of an application being opened. In response to receiving the indication, the method includes retrieving, from a storage connected to the processing device, a last captured photo. For the last captured photo as retrieved, the method includes extracting a device identifier from the last captured photo by the processing device. The extracted device identifier is stored in the storage.

Abstract: A machine tool includes: an imaging unit for capturing an image of a tool from a side of the tool; a shape extraction unit for extracting the shape of the tool from the image of the tool captured by the imaging unit; a wear detection unit for detecting the degree of wear of the tool based on the shape of the tool; and a changing unit for changing at least one of the pitch and the depth of cut according to the degree of wear.

Abstract: A gripper for finding, clamping and releasing spools having a circular grip part such as a flange or a bore hole as well as a method to operate such gripper. The gripper has a driveable clamp that is provided with a scanning system comprising ‘presence-absence detectors’ that detect the presence or the absence of the circular grip part. The gripper is slowly moved over the flange of the spool and by means of the detectors and some calculation the centre of the grip part is identified followed by the gripping of the spool. The gripper has the advantage that no back-and-forth movement is needed in order to locate the circular grip part and that the superfluous motion of the gripper is prevented.

Abstract: A method for generating and analyzing an overview contrast image of a specimen carrier and/or of specimens situated on a specimen carrier. A specimen carrier arranged at least partially in the focus of a detection optical unit is illuminated in transmitted light using a two-dimensional, array-like illumination pattern. At least two overview raw images are detected using different illuminations of the specimen carrier, and, according to information to be extracted from the overview contrast image, a combination algorithm is selected by means of which the at least two overview raw images are combined to form the overview contrast image. According to information to be extracted from the overview contrast image, an image evaluation algorithm is selected by means of which the information is extracted.

Abstract: Sensors comprising optical sensor fibers detect a laser light output from at least a laser delivery optical fiber to provide feedback of the laser light intensity detected by the optical sensor fiber. The optical sensor fibers may be integrated within a laser delivery bundle, or may be positioned between a delivery end of the laser delivery optical fiber and a plurality of work pieces to be welded. In various aspects, the feedback provided from the optical sensor fibers is used to control the laser light intensity or to alert an operator that the laser light intensity has fallen below a predetermined parameter.

Abstract: Embodiments include devices and methods for automatically calibrating a camera. In various embodiments, an image sensor may capture an image. Locations of one or more points including in the captured image frames may be predicted and detected. Calibration parameters may be calculated based on differences between predicted locations of a selected point within an image frame and observed locations of the selected point within the captured image frame. The automatic camera calibration method may be repeated until the calibration parameters satisfy a calibration quality threshold.

Abstract: A method for forming augmented image data, the method comprising: forming a primary image feed showing a subject illuminated by a lighting unit; estimating the location of the lighting unit; receiving overlay data defining an overlay of three-dimensional appearance; rendering the overlay data in dependence on the estimated location to form an augmentation image feed; and overlaying the augmentation image feed on the primary image feed to form a secondary image feed.

Abstract: A jig according to the present disclosure includes N planes (N is an integer equal to or larger than 4) respectively attached with patterns, in which ?90°<?<90°??(1) 0?0??(2) where ? is an angle formed by, with respect to a reference normal vector perpendicular to a jig reference plane, the jig reference plane being one plane among the N planes, and having a direction from the jig reference plane toward a space in which the stereo camera is disposed, a non-reference normal vector perpendicular to a non-reference plane different from the jig reference plane among the N planes and having a direction from the non-reference plane toward the space in which the stereo camera is disposed. Non-reference normal vectors corresponding to N?1 non-reference planes among the N planes have directions different from one another with respect to the reference normal vector and do not have directions symmetrical with respect to the reference normal vector.

Abstract: A method for testing a display module may include providing light to the display module, obtaining an image of the display module, measuring a first center of a hole in the display module, measuring a first distance from the first center to an edge of the hole, measuring a second center of a closed line formed by a signal line of the display module, measuring a second distance from the second center to the signal line, calculating a third distance between the first center and the second center, and comparing the second distance with a sum of the first distance and the third distance.

Abstract: A robot system includes a sensor, a robot equipped with a gripping device capable of gripping a detected article, and a controller. The controller includes a gripping area setting unit that, for each article, sets a gripping area in which the gripping device is to be positioned when it grips the article, a determination unit that determines presence or absence of interference between the gripping area and other articles, a storage unit that stores a result of determination on the presence or absence of interference determined by the determination unit in association with each detected article, a robot control unit that causes the gripping device to pick up an article for which no other article interferes with the gripping area thereof, and an updating unit that updates the result of determination stored in the storage unit every time an article is picked up by the gripping device.

Abstract: A vision-based manipulations system can be configured for, and can be operated with methods including, performing hand-eye calibrations at multiple workstations of the system, performing a cross-station calibration for the system, and determining relationships between the hand-eye calibrations and the cross-station calibration. In some embodiments, the system can be used to move a work object between the workstations based on the cross-station calibration.

Abstract: An adaptive electrical routing system for constructing an LED device. The system takes into account placement errors and tolerance regions for connection of one or more LEDs on a substrate. An optical device captures an image (e.g., comprising positional data of components of the LED device) of the LED device showing the actual placement of LEDs on the substrate and transfers the image to an analysis program. A customized pattern (e.g., a customized electrical routing pattern) can be created in one of several possible ways.

Abstract: A method of identifying an accurate assembly of a component onto a workpiece to an operator includes the use of a laser projector and a headset or goggles. The laser projector projects laser images relative to the workpiece. The headset or goggles includes an imaging device and a display element. A location of the laser projector, the imaging device and the display element is registered in a common coordinate system relative to the workpiece. The imaging device generates an image of a view of the workpiece appearing in the display element when viewed by the operator though the display element. A computer generated image of the component is overlaid upon the image of the workpiece being disposed in a geometrically accurate location on the image of the workpiece. The image of the workpiece appearing in the display element is registered to the three dimensional coordinate system defined relative to the workpiece.

Abstract: A hand section 40 includes a hand base section 40a attached to a link section, a first finger section 40b provided to extend in a direction non-parallel with a direction toward a tip end portion from a base end portion of the hand base section 40a, from the tip end portion of the hand base section 40a, and a camera 40f provided at a side surface of the hand base section 40a, and capable of imaging a sideward of the hand base section 40a.

Abstract: Various embodiments disclose a dimensioner apparatus including a projector configured to project structured light in a field of view of the dimensioner apparatus, a first image capturing device configured to capture a first structured light image of the field of view, and a processor configured to analyze the first structured light image to identify a hole region in the first structured light image. The hole region in the first structured light image indicates a presence of a structured light absorbing platform that absorbs the projected structured light. Further, the processor is configured to operate the dimensioner apparatus in a two-dimensional (2-D) mode based on the identification of the hole region. The dimensioner apparatus, in the 2-D mode, is configured to determine one or more dimensions of a 2-D object placed on the absorbing platform.

Abstract: A calibration system that calibrates robots installed in a process includes: a reference measuring element; a flange measuring element attached to a flange provided at an arm tip of each robot; a fixed measuring device configured to measure the flange measuring element of each robot and the reference measuring element; and a controller configured to control the robots, calculate a position and attitude relation between the flange measuring element of each robot and the reference measuring element based on a measured result measured by the fixed measuring device, and calculate an error between a design installation position and attitude of each robot and an actual installation position and attitude of the robot by using the measured position and attitude relation and position and attitude data of the flange measuring element in a robot coordinate system at the time when the robot has been measured by the fixed measuring device.

Abstract: A method for teaching an industrial robot to pick parts includes the steps of: placing a reference part on a picking surface; providing a reference image including information about the reference part; placing a gripping tool of the industrial robot in relation to the reference part so that the gripping tool is in a grasp configuration in relation to the reference part; and storing the grasp configuration. The reference image is a 2D image from below. When the reference part is resting on a known plane a 2D image taken from below is enough for defining the position of the same.

Abstract: An appearance inspection device that can easily determine optimum values of various imaging parameters is provided. An appearance inspection device includes: a moving means which changes relative positions of at least two or more portions within a work-piece, an imaging part, and an illumination part; an imaging processing part which performs, in a state that the illumination part irradiates a light to the work-piece, a processing for changing imaging parameters and taking a plurality of images by the imaging part under a condition that plural types of imaging parameters with mutually different properties are variably set, the plural types of imaging parameters including a change of the relative position between the work-piece and the imaging part caused by the moving means; and a parameter determining part determining a set of optimum values of the plural types of imaging parameters that are set variably based on the plurality of taken images.

Abstract: Various embodiments described herein relate to techniques for computing dimensions of a non-cuboid shaped object using angular estimates associated with 3D points captured in an image of a scene including the object. In this regard, a dimensioning system may capture at least one image of the scene including the object and identify one or more planes on the object from the captured at least one image. Further, a surface plane from amongst the one or more identified planes that contains a maximum number of three-dimensional (3D) surface points on the object is determined. Upon determination of the surface plane, angular estimation is determined representing angular values between a normal to the surface plane and a normal to a reference plane. Accordingly, the angular estimation is further used along with an estimated height of the object for computing the dimensions of the object.

Abstract: A device and method of dimensioning using digital images and depth data is provided. The device includes a camera and a depth sensing device whose fields of view generally overlap. Segments of shapes belonging to an object identified in a digital image from the camera are identified. Based on respective depth data, from the depth sensing device, associated with each of the segments of the shapes belonging to the object, it is determined whether each of the segments is associated with a same shape belonging to the object. Once all the segments are processed to determine their respective associations with the shapes of the object in the digital image, dimensions of the object are computed based on the respective depth data and the respective associations of the shapes.

Abstract: A construction template system includes a first template configured to removably secure to a structure, the first template having: a marker configured to mark a location for construction on the structure; and a first laser target and a second laser target; an alignment laser configured to emit a plurality of beams directed to predetermined locations.

Abstract: Systems and methods for performing automated localization are provided. In one example method, a plurality of coordinates representing positions of a plurality of locations may be received. The plurality of coordinates may be from two or more different coordinate systems. The numerical values of each of the plurality of coordinates may be evaluated to determine the coordinate system to which the coordinate belongs. The coordinates may be grouped into sets of coordinates based on their determined coordinate systems. Coordinates from one coordinate system may be paired with coordinates that represent the same locations from another coordinate system. A shape matching algorithm may be used to determine coordinates from different systems that represent the same locations. A localization process may then be used to convert the coordinates of the first coordinate system into coordinates of the second coordinate system based on the paired coordinates.

Abstract: A sensor comprising a light component in support of a light source operable to direct a beam of light onto an imaging device having an image sensor, such as a CCD or CMOS or N-type metal-oxide-semiconductor (NMOS or Live MOS) sensor. The sensor can also comprise an imaging device positioned proximate to the light component and operable to receive the beam of light, and to convert this into an electric signal, wherein the light component and the imaging device are movable relative to one another, and wherein relative movement of the light component and the imaging device is determinable in multiple degrees of freedom. The sensor can also comprise a light deflecting module designed to deflect light from a light component onto the imaging device. The light sources and the resulting beams of light therefrom can comprise a number of different types, orientations, configurations to facilitate different measurable and determinable degrees of freedom by the sensor.

Abstract: A method includes receiving, from an imaging device associated with a robotic apparatus, an image signal; identifying an object of interest that is represented in the image signal, wherein the object of interest is identified by the robotic apparatus using the image signal based on irradiation of the object of interest by an external agent; receiving, by the robotic apparatus from the external agent, a task indication that is representative of a task to be performed by the robotic apparatus. Responsive to receipt of the task indication, the method further includes saving a robotic context including information associating the task to be performed with the object of interest, and causing the robotic apparatus to perform the task with respect to the object of interest.

Abstract: An apparatus and a method are disclosed for the measurement of pattern placement and/or edge placement and/or size of a pattern on a surface of a substrate for the semiconductor industry. At least one source for detection and at least one assigned detector are used to measure the positions of a pattern on a substrate. With a movable stage the substrate is moved while detection takes place. A displacement measurement system determines the position of the movable stage during the movement. A computer is used for correlating detected signals of the at least one detector along the derived trace line with the actual positions of the stage during the movement of the stage.

Abstract: An information processing system for identifying a position of a workpiece conveyed on a conveyor is provided. A counter measures a movement amount of a conveyor a plurality of times at intervals shorter than a cycle of communication with a controller, and transmits measured movement amounts and respective measurement timings to the controller. The controller receives a position of a workpiece measured from an image obtained at a set imaging timing, identifies measurement timings relatively close to the imaging timing from among measurement timings, identifies a reference movement amount associated with the measurement timing, identifies a reference position of the workpiece at the imaging timing based on the position of the workpiece within the image, and adds a difference between the current movement amount of the conveyor and the reference movement amount to the reference position to calculate a current position of the workpiece.

Abstract: A sensor comprising a light component in support of a light source operable to direct a beam of light onto an imaging device having an image sensor, such as a CCD or CMOS or N-type metal-oxide-semiconductor (NMOS or Live MOS) sensor. The sensor can also comprise an imaging device positioned proximate to the light component and operable to receive the beam of light, and to convert this into an electric signal, wherein the light component and the imaging device are movable relative to one another, and wherein relative movement of the light component and the imaging device is determinable in multiple degrees of freedom. The sensor can also comprise a light deflecting module designed to deflect light from a light component onto the imaging device. The light sources and the resulting beams of light therefrom can comprise a number of different types, orientations, configurations to facilitate different measurable and determinable degrees of freedom by the sensor.

Abstract: A video conference system includes two cameras placed on opposite sides of a touch screen display. Multimedia processing is performed in order to automatically switch between the cameras and to display items on the touch screen display based on user position or user interactions with the system.

Abstract: Apparatus, systems, and methods are disclosed for tracking movement over the ground or other surfaces using two or more spaced apart cameras and an associated processing element to detect ground features in images from the cameras and determine tracking parameters based on the position of the detected ground features in the images.

Abstract: In an embodiment, a refuse container comprises a camera in electrical communication with a computing processor that is included in one or more computer processors. A radio is in electrical communication with a computing processor that is included in the one or more computer processors having the ability to transmit and/or receive data wirelessly. The digital camera is positioned relative to an included refuse collection point in a manner that allows one or more of an image of a refuse item to be captured as the refuse item enters the refuse collection point and an image of a recycler as the refuse item crosses the aperture threshold.

Abstract: In an embodiment, a refuse container comprises a camera in electrical communication with a computing processor that is included in one or more computer processors. A radio is in electrical communication with a computing processor that is included in the one or more computer processors having the ability to transmit and/or receive data wirelessly. The digital camera is positioned relative to an included refuse collection point in a manner that allows one or more of an image of a refuse item to be captured as the refuse item enters the refuse collection point and an image of a recycler as the refuse item crosses the aperture threshold.

Abstract: A control system may perform functions including (i) storing data indicating an association between an optical identifier and a first robot, (ii) sending, to the first robot, data encoding the optical identifier for display by the first robot, and (iii) after sending the data encoding the optical identifier, sending, to a second robot, the data indicating the association between the optical identifier and the first robot. In some examples, the first robot may receive, from the control system, data encoding a second optical identifier of the first robot so that the first robot may display the second optical identifier instead of the first optical identifier. In some examples, a first robot may capture an image of an indication of a priority status of a second robot and perform an action based on comparing a first priority status of the first robot to the second priority status of the second robot.

Abstract: A method of determining a contour segment for an object in an image captured by a camera is disclosed. A plurality of corner points located on a part of an object in the image is determined. Pairs of corner points are selected from the determined corner points. A path for at least one of the pairs of corner points is determined, the path connecting the corner points of the at least one pair of corner points along the boundary of the object. The contour segment is determined for the object using the determined path.

Abstract: During a description technique (100), a local descriptor for an object (300) is generated (122) by computing a 2-dimensional histogram (600) of pairs of angles (514, 516) between pairs of line segments (510, 512) that are aligned with edge pixels associated with the object (300). The pairs of line segments (510, 512) belong to a subset of k neighboring or proximate line segments (310). Moreover, this 2D histogram (600) may represent the relative displacement and the relative orientations of the pairs of line segments (510, 512) in the subset as weights in bins or cells defined by angular quantization values, and the 2D histogram (600 may exclude lengths of the line segments. Subsequently, the generated 2D histogram (600) may be compared (210) to predefined sets of descriptors in a model library that are associated with a set of objects, and the object may be identified (212) as one of the set of objects based on a group of match scores determined in the comparisons.

Abstract: A system, for planning a grasp for implementation by a grasping device having multiple grasping members, including a processor and a computer-readable storage device having stored thereon computer-executable instructions that, when executed by the processor, cause the processor to perform multiple operations. The operations include generating, for each of the multiple grasping members, multiple planar polygon representations of a three-dimensional object model. The operations also include transforming a planar polygon, of the multiple polygons generated, to a frame of a link of multiple links of a subject member of the multiple grasping members, forming a transformed polygon, being a cross-section of the object model taken along a member-curling plane of the subject member. The operations further include sweeping, in iterations associated respectively with each link of the subject member, the link from a fully-open position for the link to a point at which the link contacts the transformed planar polygon.

Abstract: A method and an apparatus for life cycle management for superpixels associated to frames of a sequence of frames are described. An area occupied by a superpixel in a frame of the sequence of frames is monitored. In case the area of the superpixel becomes smaller than a specified first value, the superpixel is terminated in the later frame. In case the area of the superpixel becomes larger than a specified second value, the superpixel is split in the later frame.

Abstract: An article take-out apparatus including: a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a 3D space so as to acquire position information of a plurality of 3D points; a connected set processing unit determining connected sets made by connecting 3D points which are close to each other, from the plurality of 3D points acquired by the 3D measuring device; an article identifying unit identifying positions and postures of the articles, based on position information of 3D points belonging to the connected sets; a hand position and posture processing unit determining positions and postures of the hand capable of taking out the identified articles; and a robot control unit controlling a robot to move the hand to the positions and postures determined by the hand position and posture processing unit and take out the articles.

Abstract: A system for detecting characteristics of a surface includes multiple sources of lights, a platform structure configured to support the surface, a lens aligned with the platform structure, a cropping aperture, and an image receiver. The platform structure is configured to receive light from the source of light and the lens is positioned such that the source of light is not in focus, but the detected surface is in focus. The cropping aperture is configured to crop light reflected from the surface, and the image receiver is configured to receive the light conditioned by the cropping aperture.

Abstract: An electronic component mounting system mounts an electronic component on a substrate to manufacture a mounting substrate, and can prevent a mounting failure due to a positional error in a height direction of a substrate and ensure mounting quality. A print test device for testing the substrate after solder printing measures a height position of a height measurement point set on the upper surface of the substrate 4 by a height measuring machine 22 and outputs a measurement result as substrate height data. In a component placing step using an electronic component placing device, a control parameter for controlling a component placing operation of the placing head 32 is updated. Accordingly, it is possible to correct a variation of the height position of an individual substrate and to prevent a mounting failure due to positional error in the height direction of the substrate.

Abstract: A method for calibrating a vehicle surroundings sensor (15) includes the steps of attaching at least one target pair (20, 22) to the rear wheels (12, 14) of a motor vehicle (7); recording the target pair (20, 22) using at least one measuring unit (32, 46) and determining the vehicle axis (64) from the recording; placing a target (16, 18) in a known position relative to a vehicle surroundings sensor adjustment or calibration element (62); fastening at least one measuring unit (32, 46) by means of fastening adapters (34, 48) to a running rail (4, 6); recording the target (18) placed on the vehicle surroundings sensor adjustment and determining the angular position of the vehicle surroundings sensor adjustment or calibration element (62) relative to the vehicle axis (64); aligning the vehicle surroundings sensor adjustment or calibration element (62) relative to the vehicle axis (64); and adjusting the vehicle surroundings sensor (15) relative to the vehicle axis (64).

Abstract: A robot apparatus includes a robot main body, a distance determining section, an order determining section, and an operation controlling section. The robot main body transfers a plurality of to-be-processed objects in order so as to subject every predetermined number of the to-be-processed objects to processing, and includes a robot arm and a robot hand. The distance determining section determines an entire transfer distance of each of the to-be-processed objects. The order determining section determines a transfer order of the to-be-processed objects based on a determination result of the distance determining section so that every predetermined number of the to-be-processed objects has uniform transfer time. The operation controlling section controls operations of the robot arm and the robot hand so as to transfer the to-be-processed objects in accordance with the transfer order determined by the order determining section.

Abstract: The present invention provides devices and methods for remotely illuminating the hook assembly and/or other load-end portions (e.g., a ball hook, block hook, crane spreader-bar and the like) of a crane rigging.

Abstract: In one embodiment, a substrate inspection apparatus performs, in its maintenance mode, operations including: guiding a light emitted from an illuminating unit to an imaging device via a light-guiding member disposed in a casing; judging whether or not a level of a brightness signal obtained by the imaging device falls within a predetermined allowable range when a light emitted from the illuminating unit falls on the imaging device via the light-guiding member; and alarming, if it is judged that the value of the brightness signal is out of the predetermined allowable range, that replacement of the illuminating unit is required.

Abstract: A measurement apparatus includes a projection unit configured to project pattern light onto an object to be measured, an imaging unit configured to capture an image of the object to be measured on which the pattern light is projected to acquire a captured image of the object to be measured, a measurement unit configured to measure a position and/or orientation of the object to be measured on the basis of the captured image, a position and orientation of the projection unit, and a position and orientation of the imaging unit, a setting unit configured to set identification resolution of the pattern light using a range of variation in the position and/or orientation of the object to be measured; and a change unit configured to change a pattern shape of the pattern light in accordance with the identification resolution.