WO2021019677A1 - 監視ユニット - Google Patents

監視ユニット Download PDF

Info

Publication number
WO2021019677A1
WO2021019677A1 PCT/JP2019/029796 JP2019029796W WO2021019677A1 WO 2021019677 A1 WO2021019677 A1 WO 2021019677A1 JP 2019029796 W JP2019029796 W JP 2019029796W WO 2021019677 A1 WO2021019677 A1 WO 2021019677A1
Authority
WO
WIPO (PCT)
Prior art keywords
light
unit
monitoring unit
robot
monitoring
Prior art date
Application number
PCT/JP2019/029796
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
壮志 野村
篤規 平野
Original Assignee
株式会社Ｆｕｊｉ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to PCT/JP2019/029796 priority Critical patent/WO2021019677A1/ja
Priority to JP2021536511A priority patent/JP7197709B2/ja
Publication of WO2021019677A1 publication Critical patent/WO2021019677A1/ja

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices

Definitions

  • This specification discloses the monitoring unit.
  • This monitoring unit includes a sensor unit that monitors the intrusion of an object into the operating area including the movable area of the robot, and a visible light light source that emits visible light from a position higher than the robot toward the outer edge of the operating area. Then, the monitoring unit causes a person in the factory to grasp the operating area by emitting visible light from the visible light source, and stops the operation of the robot when it detects the intrusion of an object.
  • the monitoring unit In order to properly perform monitoring by the monitoring unit as described above, it is necessary that the monitoring unit is installed at an appropriate position so that the detection area of the sensor unit does not shift from the required monitoring area.
  • a radio wave sensor that irradiates radio waves
  • the operator cannot visually confirm the radio wave irradiation area when the monitoring unit is installed.
  • the main purpose of this disclosure is to make it possible for an operator to easily and surely set the monitoring area of the monitoring unit.
  • the present disclosure has taken the following measures to achieve the above-mentioned main purpose.
  • the monitoring unit of this disclosure is A monitoring unit that monitors the surroundings of a robot that performs a predetermined task.
  • a radio wave sensor that irradiates a predetermined irradiation area with radio waves, receives radio waves reflected by an object, and detects the object.
  • a monitoring control unit that outputs a detection signal of the radio wave sensor via communication with the control unit of the robot,
  • a light emitting portion that emits light along the outer edge of the irradiation region,
  • An input unit into which an operator gives an instruction to emit light from the light emitting unit, With The gist of the light emitting unit is that the robot emits light based on the light emitting instruction regardless of whether or not the robot is in the predetermined work.
  • the light emitting unit that emits light along the outer edge of the irradiation area emits light based on the light emission instruction of the operator regardless of whether the robot is performing a predetermined work or not.
  • the operator can confirm the outer edge of the irradiation region of the radio wave sensor by the light emitted by the light emitting unit. Therefore, when the monitoring unit is installed, the position of the monitoring unit can be easily adjusted so that the irradiation area of the radio wave sensor surely matches the required monitoring area. Therefore, the monitoring area of the monitoring unit can be easily and surely set by the operator.
  • FIG. 1 is a configuration diagram showing an outline of the configuration of the work system 10
  • FIG. 2 is a configuration diagram showing an outline of the configuration of the monitoring unit 20
  • FIG. 3 is an external perspective view showing the monitoring unit 20 and the irradiation area A. is there.
  • the work system 10 includes a workbench 12, a robot 14, a robot control device 16, a display operation panel 18, and a monitoring unit 20, and supplies workpieces such as mechanical parts and electronic parts, although not shown. It is equipped with a supply device and a transfer device for transporting a tray on which a work is placed.
  • the robot 14 includes, for example, a vertical articulated robot arm arranged on the upper surface of the workbench 12.
  • the robot 14 automatically performs predetermined work such as picking a work supplied by a supply device, aligning the work on a tray conveyed by the transfer device, and placing the work.
  • the display operation panel 18 is provided as a touch panel type liquid crystal display that can be touch-operated by the operator, displays various information such as the operating status of the robot 14, and accepts input operations related to various settings and various instructions. To do.
  • One or more monitoring units 20 are arranged on the side surface of the workbench 12 or the like, and monitor the intrusion of an object into a predetermined monitoring area around the robot 14.
  • the robot control device 16 is composed of a CPU, a ROM, an HDD, a RAM, and the like, and controls the robot 14, a supply device, a transfer device, and the like, and also performs display control and input control of the display operation panel 18. Further, the robot control device 16 is communicably connected to the monitoring unit 20, and when the monitoring unit 20 detects the intrusion of an object into a predetermined monitoring area, the operation of the robot 14 is stopped or the display operation panel is displayed. A warning is displayed on the 18th, or a warning is output using a speaker or a warning light (not shown).
  • the monitoring unit 20 includes a unit main body 21, a substrate 22, a radio wave sensor 24, an arithmetic processing unit 26, a visible light LED 27, and an operation switch 28.
  • the unit main body 21 is formed in a substantially rectangular parallelepiped shape, and is fixed by tightening a screw through a mounting hole (not shown) into a screw hole on the side surface of the workbench 12.
  • the radio wave sensor 24, the visible light LED 27, and the operation switch 28 are arranged on the front surface of the substrate 22, and the arithmetic processing unit 26 is arranged on the back surface.
  • the radio wave sensor 24 has an antenna 25 for transmitting and receiving radio waves in a predetermined frequency band such as 24 GHz or 77 GHz.
  • the radio wave sensor 24 can detect the presence or absence of an object by transmitting a radio wave from the antenna 25 to a predetermined irradiation area A and receiving the radio wave reflected by the object in the irradiation area A by the antenna 25.
  • the antenna 25 (radio wave sensor 24) is configured in a substantially rectangular shape, and the irradiation region A of the radio wave emitted from the antenna 25 is a substantially quadrangular pyramid-shaped (tapered) region (FIG. 3). reference).
  • the arithmetic processing unit 26 outputs the detection signal from the radio wave sensor 24, the result of the arithmetic processing, and the like to the robot control device 16, and inputs an instruction signal from the robot control device 16. For example, in the radio wave sensor 24, the calculation processing unit 26 calculates and processes the distance to the object detected by the FM-CW method, and outputs the result.
  • the visible light LED 27 emits a linear visible light VL along the outer edge of the irradiation area A.
  • a total of four visible light LEDs 27 are arranged at positions near the four corners of the antenna 25 (see FIG. 3).
  • Each visible light LED 27 is arranged on the substrate 22 in a state where the optical axis is fixed so as to emit visible light VL at an angle along the angle (irradiation angle) of the outer edge of the irradiation region A having a substantially quadrangular pyramid shape.
  • the operation switch 28 is arranged on the front surface of the unit main body 21 so that the operator can operate it, and is configured to switch on / off the light emission of the visible light LED 27 each time the operator presses the operation switch 28.
  • the monitoring unit 20 can emit the visible light LED 27 by operating the operation switch 28 regardless of whether the robot 14 is in the predetermined work.
  • the monitoring unit 20 monitors the monitoring area around the robot 14, and normally, the operator does not invade the monitoring area and operate the operation switch 28 during the predetermined work of the robot 14. The light emission of the visible light LED 27 cannot be switched on and off.
  • FIG. 4 is a process diagram showing an example of the monitoring unit installation process.
  • the operator first attaches the monitoring unit 20 to the workbench 12 at a temporary position (S100).
  • a temporary position For example, when the mounting hole of the screw of the monitoring unit 20 is formed as a long hole and the position can be adjusted in the left-right direction or the like, the operator temporarily tightens the screw at the substantially center of the long hole to temporarily position the screw. It shall be attached with.
  • the operator causes the visible light LED 27 to emit light by instructing the light emission by operating the operation switch 28 (S110).
  • FIG. 5 is an explanatory diagram of how the monitoring unit 20 emits visible light VL.
  • each visible light LED 27 emits visible light VL along the outer edge of the irradiation region A of the radio wave irradiated from the antenna 25 in a substantially quadrangular pyramid shape (tapered shape). Therefore, the operator can confirm the outer edge of the irradiation area A, that is, the monitoring area of the monitoring unit 20 by visually recognizing the visible light VL.
  • the operator adjusts the position of the monitoring unit 20 while checking the irradiation area A by looking at the visible light VL (S120). For example, when it is desired to include the shaded area of FIG. 5 in the irradiation area A, the operator adjusts the position of the monitoring unit 20 to the right side in the drawing. The position of the monitoring unit 20 may be adjusted not only in the horizontal direction but also in the vertical direction.
  • the operator fixes the monitoring unit 20 to the workbench 12 by fully tightening the screws (S130). Subsequently, the operator stops the light emission from the visible light LED 27 by instructing the light emission stop by operating the operation switch 28 (S140), and completes the monitoring unit installation process.
  • the robot 14 of this embodiment corresponds to a robot
  • the monitoring unit 20 corresponds to a monitoring unit
  • the radio wave sensor 24 corresponds to a radio wave sensor
  • the arithmetic processing unit 26 corresponds to a monitoring control unit
  • the visible light LED 27 corresponds to a light emitting unit.
  • the operation switch 28 corresponds to the input unit.
  • the visible light LED 27 that emits light along the outer edge of the irradiation region A emits light by the operation of the operator's operation switch 28 regardless of whether or not the robot 14 is performing a predetermined operation. To do. Therefore, when the monitoring unit 20 is installed, the operator looks at the visible light VL to check the outer edge of the irradiation area A, and at the same time, positions the monitoring unit 20 so that the irradiation area A surely matches the required monitoring area. It can be easily adjusted.
  • the operator since the operator promptly emits the visible light LED 27 by operating the operation switch 28, the workability of the position adjustment of the monitoring unit 20 can be improved. Further, the operator can promptly stop the light emission when the work of adjusting the position of the monitoring unit 20 is completed. Therefore, the monitoring unit 20 can emit light only when the position adjustment is required, such as when the monitoring unit 20 is installed, and the light emission can be stopped during the predetermined work of the robot 14. Therefore, it is possible to prevent the operator who works in the vicinity of the robot 14 from feeling that the light is annoying, and to save energy by emitting light only when necessary.
  • the visible light LED 27 is arranged on the substrate 22 on which the radio wave sensor 24 is arranged so as to emit light at an angle matched to the outer edge of the irradiation region A, the visible light LED 27 and the radio wave sensor 24 are arranged. It can be a compact configuration arranged on the same substrate.
  • the monitoring area can be set more easily and surely.
  • FIG. 6 is a flowchart showing an example of light emission control processing, which is executed by the arithmetic processing unit 26.
  • the arithmetic processing unit 26 first waits for determining that the visible light LED 27 is emitting light (S200) or that it has received a light emission instruction from the robot control device 16 (S210). ..
  • the robot control device 16 displays a light emission operation screen of the visible light LED 27 on the display operation panel 18 to accept a light emission on / off operation, and gives a light emission instruction or a light emission stop instruction to the arithmetic processing unit 26 based on the received operation. Shall be sent. Further, on this light emitting operation screen, a plurality of visible light LEDs 27 may be collectively turned on / off.
  • the arithmetic processing unit 26 determines that the robot control device 16 has received the light emission instruction in S210, it emits the visible light LED 27 (S220) and starts measuring the light emission time of the visible light LED 27 by a timer (not shown) (S220). S230).
  • the arithmetic processing unit 26 determines in S200 that the visible light LED 27 is emitting light, or receives a light emission stop instruction from the robot control device 16 when the measurement of the light emission time of the visible light LED 27 is started in S230 (S240). , Wait for the light emission time to elapse for a predetermined time or more (S250).
  • the predetermined time is set to a time of about several minutes to several tens of minutes depending on the time required for the position adjustment of the monitoring unit 20 by the operator.
  • the calculation processing unit 26 stops the light emission of the visible light LED 27 (S260) and returns to S200. In this way, the arithmetic processing unit 26 can switch the light emission of the visible light LED 27 on and off. Further, in this modified example, since the light emission of the visible light LED 27 is stopped at a predetermined timing when a predetermined time has elapsed, it is possible to stop the light emission even if the operator forgets the stop instruction, which saves energy more reliably. Can be planned.
  • the light emission of the visible light LED 27 is stopped when the light emission time elapses for a predetermined time or more, but the light emission is not limited to this, and the light emission is stopped based on the light emission stop instruction from the robot control device 16 to measure the light emission time. It does not have to be.
  • the robot control device 16 does not have to transmit the light emission stop instruction.
  • the arithmetic processing unit 26 is not limited to measuring the light emission time, the robot control device 16 measures the time after transmitting the light emission instruction to the monitoring unit 20, and when a predetermined time or more elapses, the light emission stop instruction is transmitted. It may be a thing.
  • the operation switch 28 may be used as a switch with a timer so that the visible light LED 27 is turned off after a predetermined time or more has passed since the visible light LED 27 was started to emit light by the operation of the operation switch 28.
  • the visible light LED 27 and the radio wave sensor 24 are arranged on the same substrate, but the present invention is not limited to this, and the visible light LED 27 and the radio wave sensor 24 may be arranged on different substrates.
  • a total of four visible light LEDs 27 are provided at each of the four corners of the rectangular radio wave sensor 24, but the present invention is not limited to this, and the positions of the diagonal corners of one of the rectangular radio wave sensor 24 are not limited to this.
  • a total of two may be provided, one for each, and may be provided not only at the corner position but also at a position on the side.
  • the radio wave sensor 24 is not limited to a rectangular shape but may have a circular shape, and a total of four visible light LEDs 27 may be provided at positions where the circumference is divided into four equal parts, or visible at a position where the circumference is divided into three equal parts.
  • a total of three optical LEDs 27 may be provided.
  • a plurality of visible light LEDs 27 may be provided in an amount of 5 or more.
  • the visible light LED 27 emits linear visible light VL, but the present invention is not limited to this, and planar visible light may be emitted.
  • the position adjustment at the time of installing the monitoring unit 20 has been described as an example, but the present invention is not limited to this, and the position of the monitoring unit 20 is not limited to this, for example, when the robot 14 is stopped after the monitoring unit 20 is installed. It may be applied when adjusting or checking the monitoring area.
  • the monitoring unit 20 is provided with the visible light LED 27 that emits visible light VL, but the present invention is not limited to this, and the invisible light LED 27B that emits invisible light may be provided.
  • FIG. 7 is an explanatory diagram of how the monitoring unit 20B of the modified example emits invisible light IL.
  • the invisible light LED 27B is similarly arranged at the same position as the visible light LED 27, except that it emits an invisible light IL such as infrared light instead of the visible light VL.
  • the worker confirms the invisible light IL with a mobile terminal such as a tablet 30.
  • the tablet 30 includes a display operation panel 32, an infrared camera 34 as an invisible light camera, and a display operation control unit 36 that controls image display on the display operation panel 32 and input operations on the display operation panel 32.
  • the tablet 30 displays the image captured by the infrared camera 34 on the display operation panel 32.
  • the operator can visually recognize the invisible light IL emitted by the invisible light LED 27B, so that the outer edge of the irradiation area A, that is, the monitoring area of the monitoring unit 20B can be confirmed.
  • the tablet 30 is provided with a normal camera (visible light camera) that captures visible light separately from the infrared camera 34, and the image of the invisible light IL is superimposed on the image of the monitoring unit 20B captured by the normal camera. It may be displayed on the display operation panel 32. Further, the display is not limited to that displayed on a mobile terminal such as a tablet 30, and may be displayed on a glasses-type display having a lens of glasses as a display, a head-mounted display worn on the head of an operator, or the like. When displaying on these displays, it is not necessary for the operator to hold the mobile terminal, so that the workability of the position adjustment can be improved.
  • a normal camera visible light camera
  • the monitoring unit 20B emits invisible light
  • the light cannot be visually observed, it is more likely that the operator forgets to operate the operation switch 28 after adjusting the position of the monitoring unit 20B. Therefore, as described in the light emission control process of FIG. 6, it is desirable to stop the light emission of the invisible light LED 27B with the lapse of the light emission time. As a result, the light emission of the invisible light LED 27B can be reliably stopped and the energy saving effect can be enhanced.
  • the visible light LED 27 and the invisible light LED 27B can emit light regardless of whether the robot 14 is in the predetermined work, but the robot 14 is not in the predetermined work. In some cases, light emission may be possible, and when the robot 14 is in a predetermined operation, light emission may not be possible.
  • the arithmetic processing unit 26 acquires information on the working state of the robot 14 by communicating with the robot control device 16, and if the robot 14 is in a predetermined work, it does not emit light even if a light emitting instruction is input from the operation switch 28. Alternatively, if the robot 14 starts a predetermined operation during light emission, the light emission may be stopped.
  • the monitoring unit of the present disclosure may be configured as follows.
  • the input unit may be an operation switch capable of inputting the light emission instruction and the light emission stop instruction by an operator.
  • the operator can quickly emit light from the light emitting unit by operating the operation switch, so that the workability of adjusting the position of the monitoring unit can be improved. ..
  • the worker can quickly stop the light emission from the light emitting unit, so that the worker can prevent the light from being annoying and save energy. be able to.
  • the monitoring control unit also serves as the input unit, the light emitting instruction is input via communication with the control unit of the robot, and the light emitting unit emits light based on the light emitting instruction.
  • the light emission of the light emitting unit may be stopped at a predetermined timing after the above. In this way, when the operator confirms the irradiation area of the radio wave sensor, the light emitting unit can be made to emit light by the operation input to the operation control unit of the robot. Further, since the monitoring control unit stops the light emission of the light emitting unit at a predetermined timing, it is possible to stop the light emission even if the operator forgets the stop instruction, and energy saving can be achieved.
  • the predetermined timing can be, for example, a timing at which a light emission stop instruction is input via communication with the robot control unit, a timing at which a predetermined time has elapsed after the light emitting unit emits light, and the like.
  • the light emitting unit may be arranged on a substrate on which the radio wave sensor is arranged so as to emit light at an angle matched to the outer edge of the irradiation region. In this way, the monitoring area can be easily and surely set by the operator with a compact configuration in which the light emitting unit and the radio wave sensor are arranged on the same substrate.
  • the light emitting unit may be one that emits visible light. By doing so, the operator can easily visually confirm the irradiation area of the radio wave sensor, so that the monitoring area can be set more easily and reliably.
  • the present invention can be used in the technical field of a monitoring unit that monitors the periphery of a robot.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2019/029796 2019-07-30 2019-07-30 監視ユニット WO2021019677A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2019/029796 WO2021019677A1 (ja) 2019-07-30 2019-07-30 監視ユニット
JP2021536511A JP7197709B2 (ja) 2019-07-30 2019-07-30 監視ユニット

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/029796 WO2021019677A1 (ja) 2019-07-30 2019-07-30 監視ユニット

Publications (1)

Publication Number Publication Date
WO2021019677A1 true WO2021019677A1 (ja) 2021-02-04

Family

ID=74229341

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/029796 WO2021019677A1 (ja) 2019-07-30 2019-07-30 監視ユニット

Country Status (2)

Country Link
JP (1) JP7197709B2 (US20110009641A1-20110113-C00256.png)
WO (1) WO2021019677A1 (US20110009641A1-20110113-C00256.png)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62163198A (ja) * 1986-01-14 1987-07-18 三菱電機株式会社 異常通報装置
JPS6419216U (US20110009641A1-20110113-C00256.png) * 1987-07-24 1989-01-31
JPH08219830A (ja) * 1995-02-10 1996-08-30 Toshiba Corp 水道使用量遠隔表示装置
JP2001042759A (ja) * 1999-07-28 2001-02-16 Taisei Corp センサ設置条件の評価シミュレーション装置及び評価方法
JP2008138440A (ja) * 2006-12-01 2008-06-19 Toto Ltd 自動ドア開閉装置
JP2009158190A (ja) * 2007-12-25 2009-07-16 Panasonic Electric Works Co Ltd 照明装置
JP2009289473A (ja) * 2008-05-27 2009-12-10 Panasonic Electric Works Co Ltd 照明器具
JP2011247561A (ja) * 2010-05-31 2011-12-08 Panasonic Corp 冷蔵庫
JP2014140920A (ja) * 2013-01-23 2014-08-07 Denso Wave Inc ロボット周辺への物体の侵入を監視する監視システムおよび監視方法
JP2018116343A (ja) * 2017-01-16 2018-07-26 オムロン株式会社 センサ支援システム、端末、センサおよびセンサ支援方法
JP2019010704A (ja) * 2017-06-30 2019-01-24 Idec株式会社 照光表示装置

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62163198A (ja) * 1986-01-14 1987-07-18 三菱電機株式会社 異常通報装置
JPS6419216U (US20110009641A1-20110113-C00256.png) * 1987-07-24 1989-01-31
JPH08219830A (ja) * 1995-02-10 1996-08-30 Toshiba Corp 水道使用量遠隔表示装置
JP2001042759A (ja) * 1999-07-28 2001-02-16 Taisei Corp センサ設置条件の評価シミュレーション装置及び評価方法
JP2008138440A (ja) * 2006-12-01 2008-06-19 Toto Ltd 自動ドア開閉装置
JP2009158190A (ja) * 2007-12-25 2009-07-16 Panasonic Electric Works Co Ltd 照明装置
JP2009289473A (ja) * 2008-05-27 2009-12-10 Panasonic Electric Works Co Ltd 照明器具
JP2011247561A (ja) * 2010-05-31 2011-12-08 Panasonic Corp 冷蔵庫
JP2014140920A (ja) * 2013-01-23 2014-08-07 Denso Wave Inc ロボット周辺への物体の侵入を監視する監視システムおよび監視方法
JP2018116343A (ja) * 2017-01-16 2018-07-26 オムロン株式会社 センサ支援システム、端末、センサおよびセンサ支援方法
JP2019010704A (ja) * 2017-06-30 2019-01-24 Idec株式会社 照光表示装置

Also Published As

Publication number Publication date
JP7197709B2 (ja) 2022-12-27
JPWO2021019677A1 (US20110009641A1-20110113-C00256.png) 2021-02-04

Similar Documents

Publication Publication Date Title
US20110157092A1 (en) Electronic device with touch input function
US9503184B2 (en) Method for aligning a sensor device
US20070165008A1 (en) Compact infrared touch screen apparatus
US20140070081A1 (en) Electronic Device With Light Sensor Alignment Structures
TW200634695A (en) Display device and driving method thereof
US20110096032A1 (en) Optical position detecting device and display device with position detecting function
US8838410B2 (en) Coordinate input apparatus
KR20160022162A (ko) Rf센서를 가진 디스플레이장치 및 디스플레이장치의 사용자 감지방법
US20150346383A1 (en) Light-based position control of a manual picking process
WO2020024785A1 (zh) 电子设备及其操作方法
WO2021019677A1 (ja) 監視ユニット
WO2014119305A1 (ja) 下受けピンの配置決定支援装置および配置決定支援方法
US8405715B2 (en) Inspection apparatus and inspection method
KR20040085303A (ko) 액정표시장치의 무선주파수신호 검출장치 및 이를 이용한무선주파수 신호 검출방법
JP2003174282A (ja) プリント基板実装装置
KR101657141B1 (ko) 눈부심 방지장치 및 그 제어방법
JP2010192772A (ja) 部品実装機の制御方法、部品実装機およびプログラム
JP5903589B2 (ja) 下受けピンの配置決定支援装置および配置決定支援方法
US10331274B2 (en) Light source device, electronic blackboard system, and method of controlling light source device
US7872589B2 (en) Apparatus and method for controlling flight deck light intensity
CN102568431A (zh) 显示器及其屏幕自动调整方法
WO2019127522A1 (zh) 激光对位系统及激光对位方法
US20160085345A1 (en) Touch-sensing apparatus, touch system, and touch-detection method
JP2008021821A (ja) Ｆａ装置
KR102281679B1 (ko) 눈부심 방지장치의 제어방법

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19939361

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021536511

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19939361

Country of ref document: EP

Kind code of ref document: A1