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The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 11874679 B1

PDFFull Text
Date of Patent:
Jan. 16, 2024

Filed:

Jan. 09, 2019

Using an imaging device to correct positioning errors

Applicant:

Mitsubishi Electric Corporation, Tokyo, JP;

Inventors:

Akio Saito, Tokyo, JP;

Hiroyuki Sekiguchi, Tokyo, JP;

Takeyuki Kawata, Tokyo, JP;

Assignee:

MITSUBISHI ELECTRIC CORPORATION, Tokyo, JP;

Attorney:

XSENSUS LLP

Primary Examiner:

Tyler W Sullivan

Int. Cl.
CPC ...
G06T 5/00 (2006.01); G06T 7/00 (2017.01); G05B 23/02 (2006.01); G06T 3/00 (2006.01); G06V 10/24 (2022.01); G06V 10/44 (2022.01); G06V 10/88 (2022.01); G06V 30/146 (2022.01); G05D 3/12 (2006.01); H05K 13/08 (2006.01); G06V 10/75 (2022.01); B25J 9/00 (2006.01); B25J 15/06 (2006.01);
U.S. Cl.
CPC ...
G05D 3/12 (2013.01); G05B 23/0254 (2013.01); G06T 3/0068 (2013.01); G06T 5/003 (2013.01); G06T 7/001 (2013.01); G06V 10/24 (2022.01); G06V 10/443 (2022.01); G06V 10/75 (2022.01); G06V 10/88 (2022.01); G06V 30/146 (2022.01); H05K 13/081 (2018.08); B25J 9/0093 (2013.01); B25J 15/0616 (2013.01); G06T 2207/20201 (2013.01);
Abstract

A control device controls a control target apparatus including a moving part and an imaging device. The moving part is configured to change its position relative to a target as the moving part moves, and the imaging device is configured to acquire captured image of the target. Additionally, the control device includes a drive unit that drives the moving part, based on a drive command signal to move the moving part to a target position. Further, the control device includes a relative position estimation unit that calculates an estimated value of a relative position between the target and the imaging device, based on the drive command signal. Additionally, the control device includes a template image correction unit that corrects a preregistered template image, based on a time-series signal of the estimated value of the relative position within an imaging time of the imaging device, and a target position correction unit that corrects the target position using the corrected template image.

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