1. An image processing apparatus comprising:
at least one processor configured to control:
a generation unit configured to scan a document to generate an original image;
a decoding unit configured to decode a two-dimensional code on the original image generated by the generation unit to obtain original information;
a determination unit configured to determine whether the original information obtained in the decoding unit contains information indicating a password;
an authentication information determination unit configured to determine whether the original information contains authentication information indicating whether input of the password is required to permit sending of an unencrypted electronic file generated from the original image;
a password receiving unit configured to receive a password input by a user; and
a conversion unit configured to
in a case where the determination unit determines that the original information contains the information indicating the password
convert the original image generated by the generation unit into an electronic file that is encrypted by applying the information indicating the password, if the authentication information determination unit determines that the authentication information requires input of the password to permit sending of the unencrypted electronic file, and no password is received by the password receiving unit,
convert the original image generated by the generation unit into an electronic file without encrypting by applying the information indicating the password, if the authentication information determination unit determines that the authentication information requires input of the password to permit sending of the unencrypted electronic file, and the password is received by the password receiving unit, and
convert the original image generated by the generation unit into an electronic file without encrypting by applying the information indicating the password, if the authentication information determination unit determines that the authentication information does not require input of the password to permit sending of the unencrypted electronic file, and
in a case where the determination unit determines that the original information does not contain the information indicating the password
convert the original image generated by the generation unit into an electronic file without encrypting by applying the information indicating a password; and
a sending unit configured to send the electronic file obtained by the conversion in the conversion unit.
2. An image processing method comprising:
using a processor to perform the following:
scanning a document to generate an original image;
decoding a two-dimensional code on the generated original image generated by the generation unit to obtain original information;
determining whether the obtained original information contains information indicating a password;
determining whether the original information contains authentication information indicating whether input of the password is required to permit sending of an unencrypted electronic file generated from the original image;
in a case where it is determined that the original information contains the information indicating the password
converting the generated original image into an electronic file that is encrypted by applying the information indicating the password, if it is determined that the authentication information requires input of the password to permit sending of the unencrypted electronic file, and no password is received from a user;
converting the original image into an electronic file without encrypting by applying the information indicating the password, if it is determined that the authentication information requires input of the password to permit sending of the unencrypted electronic file, and the password is received from the user, and
converting the original image into an electronic file without encrypting by applying the information indicating the password, if it is determined that the authentication information does not require input of the password to permit sending of the unencrypted electronic file, and
in a case where it is determined that the original information does not contain the information indicating the password
converting the generated original image into an electronic file without encrypting by applying the information indicating a password; and
sending the obtained electronic file.
3. A non-transitory computer-readable storage medium containing computer-executable instructions for executing image processing, the computer-readable storage medium comprising:
computer-executable instructions for scanning a document to generate an original image;
computer-executable instructions for decoding a two-dimensional code on the generated original image generated by the generation unit to obtain original information;
computer-executable instructions for determining whether the obtained original information contains information indicating a password;
computer-executable instructions for determining whether the original information contains authentication information indicating whether input of the password is required to permit sending of an unencrypted electronic file generated from the original image;
computer-executable instructions for
in a case where it is determined that the original information contains the information indicating the password
converting the generated original image into an electronic file that is encrypted by applying the information indicating the password, if it is determined that the authentication information requires input of the password to permit sending of the unencrypted electronic file, and no password is received from a user;
converting the original image into an electronic file without encrypting by applying the information indicating the password, if it is determined that the authentication information requires input of the password to permit sending of the unencrypted electronic file, and the password is received from the user, and
converting the original image into an electronic file without encrypting by applying the information indicating the password, if it is determined that the authentication information does not require input of the password to permit sending of the unencrypted electronic file, and
in a case where it is determined that the original information does not contain the information indicating the password
converting the generated original image into an electronic file without encrypting by applying the information indicating a password; and
computer-executable instructions for sending the obtained electronic file.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method of positionally calibrating a tip of an arm of a manipulated type of robot by using a computer, the arm tip being defined as a tip of a tool held by the arm, comprising steps of:
calculating with the computer, at a plurality of positions at which the arm tip is moved, n pieces of errors (\u0394\u03c6: \u0394\u03c61, \u0394\u03c62, . . . , \u0394\u03c6n, wherein n is a natural number larger than a value obtained by dividing the number of unknown parameters by 6), respectively, each of the errors being an error between a position of the arm tip measured by a measurement device and a position commanded by control at each of the plurality of positions;
calculating an inter-error difference (\u0394\u03b5y (1\u2266y\u2266n\u22121)) between a given reference error (\u0394\u03c6m (1\u2266m\u2266n)) arbitrarily selected from the n-piece errors (\u0394\u03c6) and other errors (\u0394\u03c6x (x\u2266n, except for m)) left other than the given reference error (\u0394\u03c6m) among the n-piece errors; and
making a parameter, which is a basis for calculating the inter-error differences (\u0394\u03b5y), converge until a sum of absolute values of the respective inter-error differences (\u0394\u03b5y) becomes equal to or less than a given threshold (\u03b50(\u03b50>0)),
wherein the converging step further includes steps of:
calculating a Jacobian determinant (J) for parameter matrices (q, \u03b8), wherein (q) is a matrix of the parameters arid \u03b8 is a matrix of angles of respective axes of the arm,
calculating an error matrix (\u0394q) of the parameter matrix q based on a product of an inter-error difference (\u0394\u03b5y) and a simulated inverse matrix of the Jacobian determinant (J),
updating the parameter matrix (q) by adding the error matrix (\u0394q) to the parameter matrix (q), and
re-calculating the position of the arm tip depending on the updated parameter matrix (q), so that the parameter matrix (q) is made to converge so as to calibrate the position of the arm tip.
2. The method of claim 1, wherein the position of the arm tip includes a spatial position and an attitude of the arm tip, and
the plurality of positions (n) includes a plurality of spatial positions and attitudes (n), wherein n is a natural number larger than a value obtained by dividing the number of unknown parameters by 3.
3. The method of claim 2, wherein the inter-error difference calculating step calculates the inter-error difference (\u0394\u03b5y) based on the following formula:
\u0394
\u2062
\u2062
\u025b
y
=
(
T
mea
,
x
–
T
mea
,
m
)
–
\u2003
R
rb
mb
\u2061
(
R
rb
,
x
mb
–
R
rb
,
m
mb
)
R
rb
mb
\u2061
(
P
rb
,
x
mb
–
P
rb
,
m
mb
)
0
0
\xd7
T
tool
fl
wherein
Tmea,x is a homogeneous transformation matrix representing a vector from a position of the measurement device, which vector is measured by the measurement device and is expressed depending on the number x;
Tmea,m is a homogeneous transformation matrix representing a vector from a position of the measurement device, which vector is measured by the measurement device and is expressed depending on the number m;
flTtool is a homogeneous transformation matrix representing a vector from a flange of the arm to the tip of the tool, which vector is measured by the measurement device;
mbRrb is a matrix representing a normal vector, an orientation vector, and an approach vector from the position of the measurement device to a base of the arm, the vectors being calculated;
mbRrb,x is a matrix expressed depending on the number x;
mbRrb,m is a matrix expressed depending on the number m;
mbPrb,x is a matrix representing a vector from the position of the measurement device to the base of the arm, which vector is calculated depending on the number x; and
mbPrb,m is a matrix representing a vector from the position of the measurement device to the base of the arm, which vector is calculated depending on the number m.
4. A method of positionally calibrating a tip of an arm of a manipulated type of robot by using a computer, the arm tip being defined as a tip of a tool held by the arm, comprising steps of:
calculating with the computer, at a plurality of positions at which the arm tip is moved, n pieces of errors (\u0394\u03c6: \u0394\u03c61, \u0394\u03c61, \u0394\u03c62, . . . , \u0394\u03c6n, wherein n is a natural number larger than a value obtained by dividing the number of unknown parameters by 6), respectively, each of the errors being an error between a position of the arm tip measured by a measurement device and a position commanded by control at each of the plurality of positions;
calculating an inter-error difference (\u0394\u03b5y (1\u2266y\u2266n\u22121)) between a given reference error (\u0394\u03c6m (1\u2266m\u2266n)) arbitrarily selected from the n-piece errors (\u0394\u03c6) and other errors (\u0394\u03c6x (x\u2266n, except for m)) left other than the given reference error (\u0394\u03c6m) among the n-piece errors; and
making a parameter, which is a basis for calculating the inter-error differences (\u0394\u03b5y), converge until a sum of absolute values of the respective inter-error differences (\u0394\u03b5y) becomes equal to or less than a given threshold (\u03b50(\u03b50>0)),
wherein the converging step further includes steps of:
calculating a Jacobian determinant (J) for parameter matrices (q, \u03b8), wherein (q) is a matrix of the parameters and \u03b8 is a matrix of angles of respective axes of the arm,
calculating an error matrix (\u0394q) of the parameter matrix q based on a product of an inter-error difference (\u0394\u03b5y) and a simulated inverse matrix of the Jacobian determinant (J),
updating the parameter matrix (q) by adding the error matrix (\u0394q) to the parameter matrix (q), and
re-calculating the position of the arm tip depending on the updated parameter matrix (q), so that the parameter matrix (q) is made to converge so as to calibrate the position of the arm tip,
wherein the given reference error (\u0394\u03c6m) is composed of a plurality of reference errors which are set at a plurality of positions among the positions (n),
the inter-error differences (\u0394\u03b5y), the Jacobian dominant J, and the error matrix (Dq) are calculated as for each of the plurality of reference errors, and
the parameter which is a basis for calculating each of the inter-error differences (\u0394\u03b5y) is made to converge until a sum of absolute values of the respective inter-error differences (\u0394\u03b5y) at the difference reference errors (\u0394\u03c6m) becomes equal to or less than a given threshold (\u03b51(\u03b51>0)),
wherein the position of the arm tip includes a spatial position and an attitude of the arm tip, and
the plurality of positions (n) includes a plurality of spatial positions and attitudes (n).
5. The method of claim 2, wherein the inter-error difference calculating step calculates the inter-error difference (\u0394\u03b5y) based on the following formula:
\u0394
\u2062
\u2062
\u025b
y
=
(
T
mea
,
x
–
T
mea
,
m
)
–
\u2003
R
rb
mb
\u2061
(
R
rb
,
x
mb
–
R
rb
,
m
mb
)
R
rb
mb
\u2061
(
P
rb
,
x
mb
–
P
rb
,
m
mb
)
0
0
\xd7
T
tool
fl
wherein
Tmea,x is a homogeneous transformation matrix representing a vector from a position of the measurement device, which vector is measured by the measurement device and is expressed depending on the number x;
Tmea,m is a homogeneous transformation matrix representing a vector from a position of the measurement device, which vector is measured by the measurement device and is expressed depending on the number m;
flTtool is a homogeneous transformation matrix representing a vector from a flange of the arm to the tip of the tool, which vector is measured by the measurement device;
mbRrb is a matrix representing a normal vector, an orientation vector, and an approach vector from the position of the measurement device to a base of the arm, the vectors being calculated;
mbRrb,x is a matrix expressed depending on the number x;
mbRrb,m is a matrix expressed depending on the number m;
mbPrb,x is a matrix representing a vector from the position of the measurement device to the base of the arm, which vector is calculated depending on the number x; and
mbPrb,m is a matrix representing a vector from the position of the measurement device to the base of the arm, which vector is calculated depending on the number m.
6. An apparatus for calibrating of a position of a tip of an arm of a manipulated type of robot, the arm tip being defined as a tip of a tool held by the arm, comprising:
an arm control unit that controls the arm to move to a plurality of positions (n);
an error calculating unit that calculates, at the plurality of positions, n-piece errors (\u0394\u03c6: \u0394\u03c61, \u0394\u03c62, . . . , \u0394\u03c6n, wherein n is a natural number larger than a value obtained by dividing the number of unknown parameters by 6), respectively, each of the errors being an error between a position of the arm tip measured by a measurement device and a position commanded by control at each of the plurality of positions;
an inter-error difference calculating unit that calculates an inter-error difference (\u0394\u03c6y (1\u2266y\u2266n\u22121)) between a given reference error (\u0394\u03c6m (1\u2266m\u2266n)) arbitrarily selected from the n-piece errors (\u0394\u03c6) and other errors (\u0394\u03c6x (x\u2266n, except for m)) other than the given reference error (\u0394\u03c6m) among the n-piece errors; and
a converging unit that makes a parameter, which is a basis for calibrating the inter-error differences (\u0394\u03b5y), converge until a sum of absolute values of the respective inter-error differences (\u0394\u03b5y) becomes equal to or less than a given threshold (\u03b50 (\u03b50>0)),
wherein the converging unit comprises
a Jacobian determinant calculating unit that calculates a Jacobian determinant (J) for parameter matrices (q, \u03b8), wherein (q) is a matrix of the parameters and \u03b8 is a matrix of angles of respective axes of the arm,
an error matrix calculating unit that calculates an error matrix (\u0394q) of the parameter matrix q based on a product of an inter-error difference (\u0394\u03b5y) and a simulated inverse matrix of the Jacobian determinant (J),
an updating unit that updates the parameter matrix (q) by adding the error matrix (\u0394q) to the parameter matrix (q), and
a re-calculating unit that re-calculates the position of the arm tip depending on the updated parameter matrix (q), so that the parameter matrix (q) is made to converge so as to calibrate the position of the arm tip,
wherein the position of the arm tip includes a spatial position and an attitude of the arm tip, and
the plurality of positions (n) includes a plurality of spatial positions and attitudes (n).
7. The apparatus of claim 6, wherein
the given reference error (\u0394\u03c6m) is composed of a plurality of reference errors which are set at a plurality of positions among the positions (n),
the inter-error differences (\u0394\u03b5y), the Jacobian dominant J, and the error matrix (\u0394q) are calculated as for each of the plurality of reference errors, and
the parameter which is a basis for calculating each of the inter-error differences (\u0394\u03b5y) is made to converge until a sum of absolute values of the respective inter-error differences (\u0394\u03b5y) at the difference reference errors (\u0394\u03c6m) becomes equal to or less than a given threshold (\u03b51(\u03b51>0)).
8. The apparatus of claim 7, wherein the inter-error difference calculating means calculates the inter-error difference (\u0394\u03b5y) based on the following formula:
\u0394
\u2062
\u2062
\u025b
y
=
(
T
mea
,
x
–
T
mea
,
m
)
–
\u2003
R
rb
mb
\u2061
(
R
rb
,
x
mb
–
R
rb
,
m
mb
)
R
rb
mb
\u2061
(
P
rb
,
x
mb
–
P
rb
,
m
mb
)
0
0
\xd7
T
tool
fl
wherein
Tmea,x is a homogeneous transformation matrix representing a vector from a position of the measurement device, which vector is measured by the measurement device and is expressed depending on the number x;
Tmea,m is a homogeneous transformation matrix representing a vector from a position of the measurement device, which vector is measured by the measurement device and is expressed depending on the number m;
flTtool is a homogeneous transformation matrix representing a vector from a flange of the arm to the tip of the tool, which vector is measured by the measurement device;
mbRrb is a matrix representing a normal vector, an orientation vector, and an approach vector from the position of the measurement device to a base of the arm, which vectors are calculated;
mbRrb,x is a matrix expressed depending on the number x;
mbRrb,m is a matrix expressed depending on the number m;
mbPrb,x is a matrix representing a vector from the position of the measurement device to the base of the arm, which vector is calculated depending on the number x; and
mbPrb,m is a matrix representing a vector from the position of the measurement device to the base of the arm, which vector is calculated depending on the number m.