公开(公告)号：US06898486B2

公开(公告)日：2005-05-24

申请号：US10290535

申请日：2002-11-08

申请人： Atsushi Watanabe ,  Katsutoshi Takizawa

发明人： Atsushi Watanabe ,  Katsutoshi Takizawa

IPC分类号： G01B11/00 ,  B25J9/22 ,  B25J13/08 ,  B65G57/03 ,  B65G59/02 ,  G01B11/02 ,  G01B11/24 ,  G01B11/26 ,  G05B15/00 ,  G05B19/00 ,  G06T1/00 ,  G06T7/00 ,  G06T7/60

CPC分类号： G06T7/74 ,  G05B2219/37555 ,  G05B2219/37563 ,  G05B2219/40006 ,  G05B2219/40564 ,  Y10T29/53061

摘要： A position detecting device and a takeout apparatus capable of obtaining information on height or stage number of an object in a stack of objects by a two-dimensional image capturing device for an operation of taking out the object by a robot. A CCD camera is arranged at a position above a place where workpieces stacked in multiple stages are provided. An image processing device determines a size of the image of the uppermost workpiece in a two-dimensional image captured by the camera. The height or stage number of the workpiece is determined from the size of the workpiece image using a stored relation table or arithmetic expression representing relationship between the height or stage number of the workpiece and the size of the workpiece. For a plurality of kinds of workpieces, the relation table/arithmetic expression is stored for each kind of workpiece and selectively used in accordance of a mark on the workpiece which indicate the kind of workpiece. The obtained positional information on height or stage number is sent to a robot controller so that a robot is operated to a takeout position which is corrected based on the positional information for taking out the workpiece from a stack of workpieces.

摘要翻译： 一种位置检测装置和取出装置，其能够通过二维图像拍摄装置获得关于物体堆叠中的物体的高度或台数的信息，用于通过机器人取出物体的操作。 CCD摄像机设置在设置有多个工件的位置上方的位置。 图像处理装置确定由相机拍摄的二维图像中最上面的工件的图像的尺寸。 使用存储关系表的工件图像的尺寸或表示工件的高度或台数与工件尺寸之间的关系的算术表达式来确定工件的高度或台数。 对于多种工件，对于各种工件存储关系表/算术表达式，并根据工件上的标记选择性地使用，表示工件的种类。 获得的关于高度或台数的位置信息被发送到机器人控制器，使得机器人被操作到取出位置，其基于用于从工件的堆叠中取出工件的位置信息而被校正。

公开(公告)号：US20050071048A1

公开(公告)日：2005-03-31

申请号：US10952101

申请日：2004-09-29

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

IPC分类号： B25J19/06 ,  B25J9/16 ,  B25J13/08 ,  G05B19/4067 ,  G06F19/00

CPC分类号： G05B19/4069 ,  B25J9/1664 ,  B25J9/1674 ,  G05B2219/37555 ,  G05B2219/40053 ,  G05B2219/40125 ,  G05B2219/40213

摘要： A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.

摘要翻译： 机器人系统可以通过安装在机器人臂的前端的手抓住并取出放置在篮状容器中的多个工件中的一个。 通过视觉传感器检测工件，根据工件的位置和方向来控制机器人。 当发生诸如干扰等的问题时，与问题有关的信息存储在机器人控制单元或视觉传感器控制单元中。 与问题有关的信息包括从问题发生的时间点，机器人到达的位置，目标位置数据，由视觉传感器执行的处理的内容以及检测的追溯地追溯的预定量的最新数据 结果。 当问题复制时，这些数据用于通过使用模拟单元来模拟出现问题时的情况。 发生问题时的情况也可以通过使用实际的机器人而不使用模拟单元来再现。

公开(公告)号：US07684897B2

公开(公告)日：2010-03-23

申请号：US11239672

申请日：2005-09-30

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

IPC分类号： G06F19/00

CPC分类号： B25J9/1697 ,  B25J9/1671 ,  G05B2219/35346 ,  G05B2219/37205 ,  G05B2219/37208

摘要： A work model (or an image) is displayed on an image plane of a robot simulator (201), and a measuring portion and a measuring method are designated (202, 203) and a work shape and a work loading state are designated (204), and then it is judged whether or not the measuring portion and the measuring method are good (205). When the measuring portion and the measuring method are good, a program is generated and the processing is completed (207, 208). When the measuring portion and the measuring method are not good, an alarm is given (206), and the continuation (207) or the repetition (201) of the processing is directed. At the time of analyzing the program, the loading (101), the analysis and display of the measuring portion and the measuring method (102, 103) and the work information (104) are designated, and then it is judged whether or not the measuring portion and the measuring method, which have been analyzed, are good (105). When the measuring portion and the measuring method are good, the processing is finished (107). When the measuring portion and the measuring method are not good, an alarm is given (106), and either the completion of the processing (107) or the correction of the program (201) is selected. Due to the foregoing, a burden imposed for raising and maintaining the visual sensor robot system can be reduced.

摘要翻译： 工件模型（或图像）显示在机器人模拟器（201）的图像平面上，并且指定测量部分和测量方法（202,203），并且指定工件形状和加载状态（204 ），然后判断测量部分和测量方法是否良好（205）。 当测量部分和测量方法良好时，产生程序并完成处理（207,208）。 当测量部分和测量方法不好时，给出警报（206），并且指示处理的继续（207）或重复（201）。 在分析程序时，指定负载（101），测量部分的分析和显示以及测量方法（102,103）和工作信息（104），然后判断是否 测量部分和测量方法都很好（105）。 当测量部分和测量方法良好时，处理结束（107）。 当测量部分和测量方法不好时，给出警报（106），并且选择处理（107）的完成或程序（201）的校正。 由于上述原因，可以降低用于升高和维持视觉传感器机器人系统的负担。

公开(公告)号：US07002585B1

公开(公告)日：2006-02-21

申请号：US09688042

申请日：2000-10-12

申请人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

IPC分类号： G06T13/00 ,  G06T15/70

CPC分类号： B25J9/1671 ,  G05B2219/35314 ,  G05B2219/36071 ,  G05B2219/36315

摘要： 3-D models of various types of objects such as a robot body, and a peripheral equipment, a machine, a part (workpiece), of the robot, are stored in an object library in advance. Dimension line data of an edge line of which dimension can be changed, and constraint condition for constraining coordinate positions of apexes which can be changed are also stored in the object library. A model having the shape corresponding to the shape of the object to be used is selected from the object library, and the dimension of the shape is set. The dimension of the selected model is modified so that the shape of the model corresponds to the shape of the actual object. Using the model of which dimension was adjusted, animation motion of the robot is formed on a display screen. With the above arrangement, it is possible to easily set and change object 3-D models relating to a robot motion.

摘要翻译： 机器人的各种物体（例如机器人主体，周边设备，机器，部件（工件））的3-D型号预先存储在对象库中。 尺寸可以改变的边线的尺寸线数据，以及用于约束可以改变的顶点的坐标位置的约束条件也存储在对象库中。 从对象库中选择具有与要使用的对象的形状对应的形状的模型，并且设置形状的尺寸。 所选模型的尺寸被修改，使得模型的形状对应于实际对象的形状。 使用调整尺寸的模型，在显示屏上形成机器人的动画运动。 利用上述结构，可以容易地设置和改变与机器人运动相关的对象3-D模型。

公开(公告)号：US06928337B2

公开(公告)日：2005-08-09

申请号：US10269992

申请日：2002-10-15

申请人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

IPC分类号： B25J9/16 ,  B25J9/22 ,  G05B19/4068 ,  G06F19/00

CPC分类号： B25J9/1671 ,  G05B2219/32351 ,  G05B2219/40314 ,  Y02P90/26

摘要： A computer is connected to a system formed by combining a robot with a peripheral device (such as a welder). The computer receives robot mechanical unit motion position information supplied from a robot controller and command information to be outputted to the peripheral device, and displays motions of the robot mechanical unit and the peripheral device on its display screen in an animation form.

摘要翻译： 计算机连接到通过将机器人与外围设备（例如焊工）组合而形成的系统。 计算机接收从机器人控制器提供的机器人机械单元运动位置信息和要输出到外围设备的命令信息，并以动画形式在其显示屏上显示机器人机械单元和外围设备的运动。

公开(公告)号：US06377869B1

公开(公告)日：2002-04-23

申请号：US09605844

申请日：2000-06-29

申请人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Hiromitsu Takahashi

发明人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Hiromitsu Takahashi

IPC分类号： G06F1900

CPC分类号： B25J9/1674 ,  G05B19/4062

摘要： A robot controller having a function of monitoring abnormality of a robot operation to prevent an accident by stopping supply of energy or operational substance to an operational tool when the operational tool is abnormally stopped. Motion command pulses for a robot motion are obtained by computing operations when a motion statement of the operation program is read out and stored in a shared memory. Motors for driving respective robot axes are driven based on the motion command pulses. When an I/O output command is issued on a signal line to actuate an arc welder, the operation control software demands to set a predetermined waiting time period to a timer. The managing software demands to start a countdown of the timer and informs the operation control software of an elapse of the set waiting time period. The operation control software determines that an abnormality has occurred if all of the present motion command pulses stored in the shared memory are zero, and turns off the signal line to forcedly terminates the actuation of the operational tool. In the midst of the operation, if the operational tool remains unmoved over a predetermined time period, it is also determined that an abnormality has occurred and the operation is forcedly terminated.

摘要翻译： 具有监视机器人操作的异常的功能的机器人控制器，以在操作工具异常停止时通过停止向操作工具供应能量或操作物质来防止事故。 当操作程序的运动语句被读出并存储在共享存储器中时，通过计算操作来获得用于机器人运动的运动命令脉冲。 基于运动指令脉冲来驱动用于驱动各个机器人轴的马达。 当在信号线上发出I / O输出指令以启动电弧焊机时，操作控制软件要求将定时的等待时间设定为定时器。 管理软件需要开始定时器的倒计时，并通知操作控制软件设置等待时间段。 如果存储在共享存储器中的所有当前运动指令脉冲都为零，则操作控制软件确定已经发生异常，并且关闭信号线以强制终止操作工具的致动。 在操作中，如果操作工具在预定时间段内保持不动，则还确定发生异常并且强制终止操作。

公开(公告)号：US07386367B2

公开(公告)日：2008-06-10

申请号：US10780757

申请日：2004-02-19

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

IPC分类号： G05B15/00

CPC分类号： B25J9/1697 ,  B25J9/1612

摘要： A workpiece is gripped by a robot hand and an image of the workpiece is captured by a camera. An image processing device detects the position and posture of a characteristic portion of the workpiece. On the basis of the present position of the robot, the relative position and posture between a flange of the robot and the workpiece characteristic portion is detected. The relative position and posture is compared with that observed when the workpiece is gripped correctly, to determine a gripping error. If the gripping error exceeds a permissible error, the robot is stopped. If the gripping error is equal to or less than the permissible error, a taught position where the workpiece is to be released is corrected so as to cancel the adverse effect of the gripping error.

摘要翻译： 工件由机器人手握住，工件的图像由相机捕获。 图像处理装置检测工件的特征部分的位置和姿势。 基于机器人的当前位置，检测机器人的凸缘与工件特性部分之间的相对位置和姿势。 将相对位置和姿势与正确握住工件时观察到的相对位置和姿势进行比较，以确定夹紧误差。 如果夹紧误差超过允许误差，则机器人停止。 如果夹紧误差等于或小于允许误差，则校正要释放工件的教导位置，以消除夹紧误差的不利影响。

公开(公告)号：US20050195409A1

公开(公告)日：2005-09-08

申请号：US11073681

申请日：2005-03-08

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

IPC分类号： G06T1/00 ,  B25J9/16 ,  G01B11/24

CPC分类号： B25J9/1697 ,  G05B19/401 ,  G05B2219/37555 ,  G05B2219/40564

摘要： A measuring system for easily detecting Misjudged Detection (M/D). A camera for measurement attached to a robot is used to obtain an image for measurement of a workpiece so as to measure and detect a set point. Next, a camera for validation is used to obtain an image for validation of the workpiece so as to measure and detect the set point. One camera may capture both of the images for measurement and validation, by utilizing movement of the robot. It is judged whether the measured results obtained from the images represent the same point on the workpiece or not. If yes, the measured results are judged to be valid, otherwise, the measured results are judged to be invalid and an exception process, such as a retrial, is executed. The images by the camera may also be used for judging a moving path of the robot during measurement of a large object.

摘要翻译： 一种易于检测误判测（M / D）的测量系统。 使用附属于机器人的测量用照相机来获得用于测量工件的图像，以便测量和检测设定点。 接下来，使用用于验证的相机来获得用于确认工件的图像，以便测量和检测设定点。 一个相机可以通过利用机器人的移动来捕获两个图像以进行测量和验证。 判断从图像获得的测量结果是否表示工件上的相同点。 如果是，则将测量结果判定为有效，否则判断为无效，并执行例如重试等异常处理。 照相机的图像也可以用于在大物体的测量期间判断机器人的移动路径。

公开(公告)号：US06328523B1

公开(公告)日：2001-12-11

申请号：US09295364

申请日：1999-04-21

申请人： Atsushi Watanabe ,  Ryuichi Hara ,  Kazunori Ban ,  Hidetoshi Kumiya

发明人： Atsushi Watanabe ,  Ryuichi Hara ,  Kazunori Ban ,  Hidetoshi Kumiya

IPC分类号： B25J1308

CPC分类号： B25J9/1697 ,  B25J9/1687 ,  G05B2219/37555 ,  G05B2219/37563 ,  G05B2219/37572 ,  G05B2219/40053

摘要： A group of bolts are suppled into a placing surface of a tray, an isolated bolt is searched for by a visual sensor, and its deviation from a standard position at the time of teaching is determined. The isolated bolt is picked up by a robot that has been taught how to pick up an isolated bolt laying in a standard position. The position of the robot's hand is corrected according to the deviation from the standard position before the robot attempts to pick up the located isolated bolt. If no isolated bolt is found, a shaking device 1 is operated to loosen the piled-up bolts, and a new isolated bolt is again searched for by the visual sensor. The isolated bolt, if found, is picked up. The picking-up operation may be performed by searching for an isolated small set of bolts using a three-dimensional visual sensor. The oscillating excitation can also be provided by a robot. Also, the piled-up bolts may be loosened or disentangled using a robot equipped with a tool for leveling the pile of bolts or by using a gas jet.

摘要翻译： 一组螺栓被提供到托盘的放置表面中，由视觉传感器搜索隔离的螺栓，并且确定其在教导时与标准位置的偏差。 被隔离的螺栓由机器人拾取，该机器人已经被教导如何拿起放置在标准位置的隔离螺栓。 机器人的手的位置根据机器人试图拿起定位的隔离螺栓之前与标准位置的偏差进行校正。 如果没有发现隔离的螺栓，则操作摇动装置1以松开堆积螺栓，并且再次通过视觉传感器搜索新的隔离螺栓。 被隔离的螺栓，如果发现，被拾起。 可以通过使用三维视觉传感器搜索隔离的小套螺栓来执行拾取操作。 振荡激励也可由机器人提供。 此外，堆叠的螺栓可以使用装备有用于使螺栓堆整平或使用气体射流的工具的机器松动或解开。

公开(公告)号：US07590468B2

公开(公告)日：2009-09-15

申请号：US10952101

申请日：2004-09-29

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

IPC分类号： G05B19/00

CPC分类号： G05B19/4069 ,  B25J9/1664 ,  B25J9/1674 ,  G05B2219/37555 ,  G05B2219/40053 ,  G05B2219/40125 ,  G05B2219/40213

摘要： A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.

摘要翻译： 机器人系统可以通过安装在机器人臂的前端的手抓住并取出放置在篮状容器中的多个工件中的一个。 通过视觉传感器检测工件，根据工件的位置和方向来控制机器人。 当发生诸如干扰等的问题时，与问题有关的信息存储在机器人控制单元或视觉传感器控制单元中。 与问题有关的信息包括从问题发生的时间点，机器人到达的位置，目标位置数据，由视觉传感器执行的处理的内容以及检测的追溯地追溯的预定量的最新数据 结果。 当问题复制时，这些数据用于通过使用模拟单元来模拟出现问题时的情况。 发生问题时的情况也可以通过使用实际的机器人而不使用模拟单元来再现。