公开(公告)号：EP1834738A3

公开(公告)日：2011-01-19

申请号：EP07004540.6

申请日：2007-03-06

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Kanno, Ichiro ,  Shen, Gang FANUCmanshonharimomi ,  Takizawa, Katsutoshi

IPC分类号： B25J9/16 ,  G05B19/425

摘要： A teaching position correcting apparatus (1) corrects plural teaching point positions of a robot (2) in a robot operation program, by sequentially moving the robot (2) to each of the plural teaching points and by sequentially reading a current position of the robot (2) at each of the plural teaching points. The teaching position correcting apparatus (1) includes: a position correction amount calculating means (11a) that calculates a position correction amount (A), based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating means (11b) that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount (A). At the time of moving the robot to uncorrected teaching points, a moving means (15) moves the robot to corrected positions of the teaching point positions before correction. Based on the above operation, even when a posture change of the robot is large, teaching point positions in the operation program can be corrected accurately in short time.

公开(公告)号：EP1905548A3

公开(公告)日：2009-01-28

申请号：EP07019095.4

申请日：2007-09-27

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Kanno, Ichiro ,  Watanabe, Keisuke

IPC分类号： B25J9/16 ,  G06T1/00 ,  G06T7/00

CPC分类号： B25J9/1697 ,  G05B2219/40038 ,  G06T7/0004 ,  G06T7/73 ,  G06T2207/30164

摘要： A workpiece picking apparatus (11) includes a robot (13), a workpiece recognition device (15,19,25) for recognizing the workpieces (W) located in a wide area, an accurate measurement device (17,19,27) for accurately measuring the three-dimensional position of the workpiece (W), a workpiece select device (37) for selecting the workpiece (W) to be picked, and an NG workpiece storage device (35) for storing information on the rough position of a failed NG workpiece (Wf) when the measurement of the three-dimensional position or the picking for the workpiece (W) has failed. The workpiece select device (37) excludes the NG workpiece (Wf) stored in the NG workpiece storage device (35) and selects the next workpiece (W) to be measured. The robot (13) picks the selected workpiece (W) based on the three-dimensional position of the workpiece (W) measured by the accurate measurement device (17,19,27).

摘要翻译： 工件拾取装置（11）包括机器人（13），用于识别位于广阔区域的工件（W）的工件识别装置（15,19,25），用于准确测量装置（17,19,27） 精确地测量工件（W）的三维位置;工件选择装置（37），用于选择要拾取的工件（W）; NG工件存储装置（35），用于存储关于 当三维位置的测量或工件（W）的拾取失败时失败的NG工件（Wf）。 工件选择装置（37）将NG工件收纳装置（35）中收纳的NG工件（Wf）排除，选择下一个被测量工件（W）。 机器人（13）根据由精确测量装置（17,19,27）测量的工件（W）的三维位置来拾取选定的工件（W）。

公开(公告)号：EP1589483A2

公开(公告)日：2005-10-26

申请号：EP05008755.0

申请日：2005-04-21

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Kanno, Ichiro

IPC分类号： G06T7/00

CPC分类号： G06T1/0014 ,  B25J9/1697 ,  G05B2219/40014 ,  G05B2219/40053 ,  G06T7/75 ,  G06T2207/30164

摘要： 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.

摘要翻译： 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作为图像检测待拾取的对象之间进行检测; 存储部，其存储具有与要拾取的对象的外观相同的外观的参考对象的预定部分的外观信息; 确定部，根据所述检测部检测出的被拾取对象的图像，确定与所述参照对象的所述规定部分相对应的被检体的被检查部是否被另一物体隐藏， 存储在存储部中的参考对象的外观信息; 控制部，基于所述判定部的判定结果，判定所述拾取对象的拍摄动作，并输出所述拍摄动作的控制信号; 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：EP2045772A2

公开(公告)日：2009-04-08

申请号：EP08005778.9

申请日：2008-03-27

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Kanno, Ichiro ,  Kumiya, Hidetoshi ,  Takizawa, Shouta

IPC分类号： G06T1/00 ,  G06T7/00 ,  B25J9/16

CPC分类号： B25J9/1697 ,  G06T1/0007 ,  G06T7/13 ,  G06T7/75 ,  G06T7/77 ,  G06T2207/30164 ,  G06T2207/30248

摘要： An apparatus for picking up objects including a robot (1) for picking up an object (6), at least one part of the object having a curved shape, having a storing means (30) for storing a gray gradient distribution model of the object (6), a recognizing means (2) for recognizing a gray image of the object (6), a gradient extracting means (34) for extracting a gray gradient distribution from the gray image recognized by the recognizing means (2), an object detecting means (26) for detecting a position or position posture of the object (6) in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means (34) and the gray gradient distribution model stored by the storing means (30), a detection information converting means (37) for converting information of the position or position posture detected by the object detecting means (36) into information of position or position posture in a coordinate system regarding the robot (1); and a robot moving means (1a) for moving the robot (1) to the position or position posture converted by the detection information converting means (37) to pick up the object (6). Thus, the object (6) having a curved shape can be detected and picked up in a reasonably short period of time.

摘要翻译： 一种用于拾取物体的装置，包括用于拾取物体（6）的机器人（1），所述物体的至少一部分具有弯曲形状，具有用于存储所述物体的灰色梯度分布模型的存储装置（30） （6），用于识别对象（6）的灰色图像的识别装置（2），用于从由识别装置（2）识别的灰色图像中提取灰度梯度分布的梯度提取装置（34），对象 检测装置（26），用于根据梯度提取装置（34）提取的灰度梯度分布和由存储装置存储的灰度梯度分布模型，检测灰色图像中的对象（6）的位置或位置姿势（ 检测信息转换装置，用于将由对象检测装置检测到的位置或位置姿势的信息转换成关于机器人（1）的坐标系中的位置姿态信息; 以及用于将机器人（1）移动到由检测信息转换装置（37）转换的位置或位置姿势以拾取物体（6）的机器人移动装置（1a）。 因此，能够在相当短的时间内检测和拾取具有弯曲形状的物体（6）。

公开(公告)号：EP1607194B1

公开(公告)日：2008-10-29

申请号：EP05011702.7

申请日：2005-05-31

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Kanno, Ichiro ,  Yamada, Makoto ,  Inoue, Toshihiko

IPC分类号： B25J9/16

CPC分类号： B25J9/1692 ,  B25J9/1682 ,  G05B2219/39045 ,  G05B2219/39046 ,  G05B2219/39114 ,  G05B2219/39397

公开(公告)号：EP1555507A1

公开(公告)日：2005-07-20

申请号：EP05000816.8

申请日：2005-01-17

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Kanno, Ichiro

IPC分类号： G01B11/25 ,  B25J9/16

CPC分类号： G01B11/25 ,  G05B2219/37048 ,  G05B2219/37555 ,  G06T7/521

摘要： A three-dimensional visual sensor is disclosed. A two-dimensional image of a two-dimensional feature portion (15) including a point (11) determined on a work (13) is acquired, and N (N ≥ 2) points are determined. A slit of light is projected by a projector (1), an image of a projected portion (19) is obtained, and M (M ≥ 2) 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 (2) and the slit of light plane is determined on the sensor coordinate system, and transformed to the data on the reference coordinate system (on or parallel to the slit plane). The three-dimensional positions of M points are similarly subjected to coordinate transform to the data on the reference coordinate system. Straight lines (or curves) defined by the M and N points are determined, respectively, by the least squares method. The intersection point between the two straight lines is determined and returned to the data on the sensor coordinate system by inverse transform. The template matching method may alternatively be used for detecting the feature portion. As a result, the measurement accuracy and the reliability are improved for the three-dimensional visual sensor for measuring the three-dimensional position of a specific point by radiating the a slit (or a pseudo-slit) of light on the surface of the object.

公开(公告)号：EP1905548A2

公开(公告)日：2008-04-02

申请号：EP07019095.4

申请日：2007-09-27

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Kanno, Ichiro ,  Watanabe, Keisuke

IPC分类号： B25J9/16 ,  G06T1/00 ,  G06T7/00

CPC分类号： B25J9/1697 ,  G05B2219/40038 ,  G06T7/0004 ,  G06T7/73 ,  G06T2207/30164

摘要： A workpiece picking apparatus (11) includes a robot (13), a workpiece recognition device (15,19,25) for recognizing the workpieces (W) located in a wide area, an accurate measurement device (17,19,27) for accurately measuring the three-dimensional position of the workpiece (W), a workpiece select device (37) for selecting the workpiece (W) to be picked, and an NG workpiece storage device (35) for storing information on the rough position of a failed NG workpiece (Wf) when the measurement of the three-dimensional position or the picking for the workpiece (W) has failed. The workpiece select device (37) excludes the NG workpiece (Wf) stored in the NG workpiece storage device (35) and selects the next workpiece (W) to be measured. The robot (13) picks the selected workpiece (W) based on the three-dimensional position of the workpiece (W) measured by the accurate measurement device (17,19,27).

公开(公告)号：EP1834738A2

公开(公告)日：2007-09-19

申请号：EP07004540.6

申请日：2007-03-06

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Kanno, Ichiro ,  Shen, Gang FANUCmanshonharimomi ,  Takizawa, Katsutoshi

IPC分类号： B25J9/16 ,  G05B19/425

摘要： A teaching position correcting apparatus (1) corrects plural teaching point positions of a robot (2) in a robot operation program, by sequentially moving the robot (2) to each of the plural teaching points and by sequentially reading a current position of the robot (2) at each of the plural teaching points. The teaching position correcting apparatus (1) includes: a position correction amount calculating means (11a) that calculates a position correction amount (A), based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating means (11b) that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount (A). At the time of moving the robot to uncorrected teaching points, a moving means (15) moves the robot to corrected positions of the teaching point positions before correction. Based on the above operation, even when a posture change of the robot is large, teaching point positions in the operation program can be corrected accurately in short time.

摘要翻译： 甲示教位置修正装置（1）的机器人动作程序来校正机器人（2）的多个示教点位置，通过顺序地使机器人移动（2）到每个所述多个示教点的并通过顺序地读取所述机器人的当前位置 （2）在每一个所述多个示教点的。 示教位置修正装置（1）包括：位置校正量计算装置（11）那样计算基于校正之前校正示教点的位置和示教点位置的位置修正量（A）; 和校正位置计算手段（11B）并计算修正后的修正前示教点位置的位置从多个示教点的，根据位置校正量（A）。 在机器人移动至未修正示教点时，移动装置（15）移动所述机器人修正前的示教点位置的校正后的位置。 基于以上操作，即使当机器人的姿势变化是大的，在动作程序示教点的位置可被校正在短时间内准确地设定。

公开(公告)号：EP1607194A3

公开(公告)日：2006-10-04

申请号：EP05011702.7

申请日：2005-05-31

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Kanno, Ichiro ,  Yamada, Makoto ,  Inoue, Toshihiko

IPC分类号： B25J9/16

CPC分类号： B25J9/1692 ,  B25J9/1682 ,  G05B2219/39045 ,  G05B2219/39046 ,  G05B2219/39114 ,  G05B2219/39397

摘要： 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.

公开(公告)号：EP1621297A1

公开(公告)日：2006-02-01

申请号：EP05254725.4

申请日：2005-07-28

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Kanno, Ichiro

IPC分类号： B25J9/16 ,  G01B21/04

CPC分类号： B25J9/1692 ,  G01B21/042

摘要： A re-calibration method and device for a three-dimensional visual sensor of a robot system, whereby the work load required for re-calibration is mitigated. While the visual sensor is normal, the visual sensor and a measurement target are arranged in one or more relative positional relations by a robot, and the target is measured to acquire position/orientation information of a dot pattern etc. by using calibration parameters then held. During re-calibration, each relative positional relation is approximately reproduced, and the target is again measured to acquire feature amount information or position/orientation of the dot pattern etc. on the image. Based on the feature amount data and the position information, the parameters relating to calibration of the visual sensor are updated. At least one of the visual sensor and the target, which are brought into the relative positional relation, is mounted on the robot arm. During the re-calibration, position information may be calculated using the held calibration parameters as well as the feature amount information obtained during normal operation of the visual sensor and that obtained during the re-calibration, and the calibration parameters may be updated based on the calculation results.

摘要翻译： 用于机器人系统的三维视觉传感器的重新校准方法和装置，从而减轻了重新校准所需的工作负载。 当视觉传感器正常时，视觉传感器和测量对象由机器人以一个或多个相对位置关系布置，并且通过使用校准参数来测量目标来获取点图案等的位置/取向信息 。 在重新校准期间，大致再现每个相对位置关系，并且再次测量目标以获取图像上的点图案等的特征量信息或位置/取向。 基于特征量数据和位置信息，更新与视觉传感器的校准有关的参数。 将被置于相对位置关系的视觉传感器和目标物中的至少一个安装在机器人手臂上。 在重新校准期间，可以使用保持的校准参数以及在视觉传感器的正常操作期间获得的并且在重新校准期间获得的特征量信息来计算位置信息，并且校准参数可以基于 计算结果。