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    Dual arm robot
    2.
    发明授权
    Dual arm robot 有权
    双臂机器人

    公开(公告)号：US08855824B2

    公开(公告)日：2014-10-07

    申请号：US13500961

    申请日：2010-11-29

    申请人： Kazunori Ogami

    发明人： Kazunori Ogami

    IPC分类号： G06F19/00 ,  G05B19/00 ,  G05B19/04 ,  G05B15/00 ,  B25J9/16

    CPC分类号： B25J9/1682 ,  B25J9/1697 ,  G05B2219/39123 ,  G05B2219/39529 ,  G05B2219/40307 ,  G05B2219/45064

    摘要： The dual arm robot includes a first arm including a first hand, a first visual sensor and a first force sensor, and a second arm including a second hand, a second visual sensor and a second force sensor, uses each visual sensor to detect positions of a lens barrel and a fixed barrel to hold and convey them to a central assembling area, uses the first visual sensor to measure a position of a flexible printed circuits to insert the flexible printed circuits into the fixed barrel, and uses outputs of the force sensors to fit and assemble the fixed barrel onto the lens barrel under force control. The dual arm robot converts a position coordinate of a workpiece detected by each visual sensor to a robot coordinate to calculate a trajectory of each hand and drive each arm, to thereby realize cooperative operation of the two arms.

    摘要翻译： 双臂机器人包括第一臂，包括第一只手，第一视觉传感器和第一力传感器，以及包括秒针，第二视觉传感器和第二力传感器的第二臂，使用每个视觉传感器来检测位置 透镜镜筒和固定镜筒，用于保持并将其传送到中央组装区域，使用第一视觉传感器来测量柔性印刷电路的位置以将柔性印刷电路插入固定筒中，并且使用力传感器 在力控制下将固定筒装配到镜筒上。 双臂机器人将由每个视觉传感器检测的工件的位置坐标转换为机器人坐标，以计算每只手的轨迹并驱动每个臂，从而实现两个臂的协同操作。

    FLEXIBLE WORKPIECE ASSEMBLING METHOD
    3.
    发明申请
    FLEXIBLE WORKPIECE ASSEMBLING METHOD 审中-公开
    柔性工件组装方法

    公开(公告)号：US20090025199A1

    公开(公告)日：2009-01-29

    申请号：US12128877

    申请日：2008-05-29

    申请人： Kazuo HARIKI ,  Masaru ODA ,  Shigenori KAJIO ,  Ryo NIHEI

    发明人： Kazuo HARIKI ,  Masaru ODA ,  Shigenori KAJIO ,  Ryo NIHEI

    IPC分类号： B23P11/00

    CPC分类号： B25J9/1682 ,  B25J9/1687 ,  G05B2219/39109 ,  G05B2219/39123 ,  G05B2219/39469 ,  G05B2219/40052 ,  G05B2219/40307 ,  G05B2219/45064 ,  Y10T29/49829

    摘要： A flexible workpiece assembling method for assembling a flexible workpiece (W) with an object by using a first robot comprising a first hand and a second robot comprising a second hand includes the steps of: gripping a first portion of the flexible workpiece by the first hand and gripping a second portion of the flexible workpiece different from the first portion by the second hand; moving the flexible workpiece to the object through a cooperating operation of the first and second robots; deforming the flexible workpiece into a shape corresponding to the nonflexible object by the first and second robots; and assembling the flexible workpiece onto the nonflexible object by the first and second robots. As a result, the flexible workpiece can be accurately assembled onto the nonflexible object without breaking or tearing. The first and second robots may comprise a pushing means for pushing the flexible workpiece into the object.

    摘要翻译： 通过使用包括第一只手的第一机器人和包括第二只手的第二机器人来组装柔性工件（W）与物体的柔性工件组装方法包括以下步骤：通过第一只手抓住柔性工件的第一部分 以及用所述秒针夹住与所述第一部分不同的所述柔性工件的第二部分; 通过第一和第二机器人的协作操作将柔性工件移动到物体; 通过第一和第二机器人将柔性工件变形成对应于非柔性物体的形状; 以及通过第一和第二机器人将柔性工件组装到非柔性物体上。 结果，柔性工件可以精确地组装到非挠性物体上而不破裂或撕裂。 第一和第二机器人可以包括用于将柔性工件推入物体的推动装置。

    System and method for detecting and tracking a curvilinear object in a three-dimensional space
    4.
    发明授权
    System and method for detecting and tracking a curvilinear object in a three-dimensional space 有权
    用于在三维空间中检测和跟踪曲线对象的系统和方法

    公开(公告)号：US09449241B2

    公开(公告)日：2016-09-20

    申请号：US13985815

    申请日：2012-02-23

    申请人： Gregory Donald Hager ,  Nicolas Padoy

    发明人： Gregory Donald Hager ,  Nicolas Padoy

    IPC分类号： G06K9/00 ,  G06K9/32 ,  B25J9/16

    CPC分类号： G06K9/3241 ,  A61B34/30 ,  A61B34/70 ,  A61B2034/2057 ,  A61B2034/2065 ,  B25J9/1697 ,  G05B2219/39123 ,  G05B2219/4705 ,  G06T7/40 ,  G06T7/70 ,  Y10S901/46 ,  Y10S901/47

    摘要： A system for detecting and tracking a curvilinear object in a three-dimensional space includes an image acquisition system including a video camera arranged to acquire a video image of the curvilinear object and output a corresponding video signal, the video image comprising a plurality n of image frames each at a respective time ti, where i=1, 2, . . . , n; and a data processing system adapted to communicate with the image acquisition system to receive the video signal. The data processing system is configured to determine a position, orientation and shape of the curvilinear object in the three-dimensional space at each time ti by forming a computational model of the curvilinear object at each time ti such that a projection of the computation model of the curvilinear object at each time ti onto a corresponding frame of the plurality of image frames of the video image matches a curvilinear image in the frame to a predetermined accuracy to thereby detect and track the curvilinear object from time ti to time tn.

    摘要翻译： 一种用于检测和跟踪三维空间中的曲线对象的系统包括：图像采集系统，包括摄像机，被配置为获取曲线对象的视频图像并输出相应的视频信号，所述视频图像包括多个n个图像 每个帧在相应的时间ti，其中i = 1,2。 。 。 ，n 以及适于与图像采集系统通信以接收视频信号的数据处理系统。 数据处理系统被配置为通过在每个时刻ti形成曲线对象的计算模型来确定每个时刻ti的三维空间中的曲线对象的位置，方向和形状，使得计算模型的投影 视频图像的多个图像帧中的每个时间ti的曲线对象与帧中的曲线图像匹配到预定精度，从而从时间ti到时间tn检测和跟踪曲线对象。

    SYSTEM AND METHOD FOR DETECTING AND TRACKING A CURVILINEAR OBJECT IN A THREE-DIMENSIONAL SPACE
    5.
    发明申请
    SYSTEM AND METHOD FOR DETECTING AND TRACKING A CURVILINEAR OBJECT IN A THREE-DIMENSIONAL SPACE 有权
    用于检测和跟踪三维空间中的曲线目标的系统和方法

    公开(公告)号：US20130329038A1

    公开(公告)日：2013-12-12

    申请号：US13985815

    申请日：2012-02-23

    申请人： Gregory Donald Hager ,  Nicolas Padoy

    发明人： Gregory Donald Hager ,  Nicolas Padoy

    IPC分类号： G06K9/32

    CPC分类号： G06K9/3241 ,  A61B34/30 ,  A61B34/70 ,  A61B2034/2057 ,  A61B2034/2065 ,  B25J9/1697 ,  G05B2219/39123 ,  G05B2219/4705 ,  G06T7/40 ,  G06T7/70 ,  Y10S901/46 ,  Y10S901/47

    摘要： A system for detecting and tracking a curvilinear object in a three-dimensional space includes an image acquisition system including a video camera arranged to acquire a video image of the curvilinear object and output a corresponding video signal, the video image comprising a plurality n of image frames each at a respective time ti, where i=1, 2, . . . , n; and a data processing system adapted to communicate with the image acquisition system to receive the video signal. The data processing system is configured to determine a position, orientation and shape of the curvilinear object in the three-dimensional space at each time ti by forming a computational model of the curvilinear object at each time ti such that a projection of the computation model of the curvilinear object at each time ti onto a corresponding frame of the plurality of image frames of the video image matches a curvilinear image in the frame to a predetermined accuracy to thereby detect and track the curvilinear object from time t1 to time tn.

    摘要翻译： 一种用于检测和跟踪三维空间中的曲线对象的系统包括：图像采集系统，包括摄像机，被配置为获取曲线对象的视频图像并输出相应的视频信号，所述视频图像包括多个n个图像 每个帧在相应的时间ti，其中i = 1,2。 。 。 ，n 以及适于与图像采集系统通信以接收视频信号的数据处理系统。 数据处理系统被配置为通过在每个时刻ti形成曲线对象的计算模型来确定每个时刻ti的三维空间中的曲线对象的位置，方向和形状，使得计算模型的投影 视频图像的多个图像帧中的每个时间ti的曲线对象与帧中的曲线图像匹配到预定的精度，从而从时间t1到时间tn检测和跟踪曲线对象。

    SYSTEM AND METHOD FOR DETECTING AND TRACKING A CURVILINEAR OBJECT IN A THREE-DIMENTIONAL SPACE
    7.
    发明申请
    SYSTEM AND METHOD FOR DETECTING AND TRACKING A CURVILINEAR OBJECT IN A THREE-DIMENTIONAL SPACE 有权
    在三维空间中检测和跟踪曲线目标的系统和方法

    公开(公告)号：US20170032208A1

    公开(公告)日：2017-02-02

    申请号：US15225610

    申请日：2016-08-01

    申请人： The Johns Hopkins University

    发明人： Gregory D. Hager ,  Nicolas Padoy

    IPC分类号： G06K9/32 ,  B25J9/16 ,  A61B34/30 ,  A61B34/00 ,  G06T7/00 ,  G06T7/40

    CPC分类号： G06K9/3241 ,  A61B34/30 ,  A61B34/70 ,  A61B2034/2057 ,  A61B2034/2065 ,  B25J9/1697 ,  G05B2219/39123 ,  G05B2219/4705 ,  G06T7/40 ,  G06T7/70 ,  Y10S901/46 ,  Y10S901/47

    摘要： A system for detecting and tracking a curvilinear object in a three-dimensional space includes an image acquisition system including a video camera arranged to acquire a video image of the curvilinear object and output a corresponding video signal, the video image comprising a plurality n of image frames each at a respective time ti, where i=1, 2, . . . , n; and a data processing system adapted to communicate with the image acquisition system to receive the video signal. The data processing system is configured to determine a position, orientation and shape of the curvilinear object in the three-dimensional space at each time ti by forming a computational model of the curvilinear object at each time ti such that a projection of the computation model of the curvilinear object at each time ti onto a corresponding frame of the plurality of image frames of the video image matches a curvilinear image in the frame to a predetermined accuracy to thereby detect and track the curvilinear object from time t1 to time tn.

    摘要翻译： 一种用于检测和跟踪三维空间中的曲线对象的系统包括：图像采集系统，包括摄像机，被配置为获取曲线对象的视频图像并输出相应的视频信号，所述视频图像包括多个n个图像 每个帧在相应的时间ti，其中i = 1,2。 。 。 ，n 以及适于与图像采集系统通信以接收视频信号的数据处理系统。 数据处理系统被配置为通过在每个时刻ti形成曲线对象的计算模型来确定每个时刻ti的三维空间中的曲线对象的位置，方向和形状，使得计算模型的投影 视频图像的多个图像帧中的每个时间ti的曲线对象与帧中的曲线图像匹配到预定的精度，从而从时间t1到时间tn检测和跟踪曲线对象。

    DUAL ARM ROBOT
    8.
    发明申请
    DUAL ARM ROBOT 有权
    双ARM机器人

    公开(公告)号：US20120197438A1

    公开(公告)日：2012-08-02

    申请号：US13500961

    申请日：2010-11-29

    申请人： Kazunori Ogami

    发明人： Kazunori Ogami

    IPC分类号： B25J13/08 ,  B25J19/04

    CPC分类号： B25J9/1682 ,  B25J9/1697 ,  G05B2219/39123 ,  G05B2219/39529 ,  G05B2219/40307 ,  G05B2219/45064

    摘要： The dual arm robot includes a first arm including a first hand, a first visual sensor and a first force sensor, and a second arm including a second hand, a second visual sensor and a second force sensor, uses each visual sensor to detect positions of a lens barrel and a fixed barrel to hold and convey them to a central assembling area, uses the first visual sensor to measure a position of a flexible printed circuits to insert the flexible printed circuits into the fixed barrel, and uses outputs of the force sensors to fit and assemble the fixed barrel onto the lens barrel under force control. The dual arm robot converts a position coordinate of a workpiece detected by each visual sensor to a robot coordinate to calculate a trajectory of each hand and drive each arm, to thereby realize cooperative operation of the two arms.

    摘要翻译： 双臂机器人包括第一臂，包括第一只手，第一视觉传感器和第一力传感器，以及包括秒针，第二视觉传感器和第二力传感器的第二臂，使用每个视觉传感器来检测位置 透镜镜筒和固定镜筒，用于保持并将其传送到中央组装区域，使用第一视觉传感器来测量柔性印刷电路的位置以将柔性印刷电路插入固定筒中，并且使用力传感器 在力控制下将固定筒装配到镜筒上。 双臂机器人将由每个视觉传感器检测的工件的位置坐标转换为机器人坐标，以计算每只手的轨迹并驱动每个臂，从而实现两个臂的协同操作。