公开(公告)号：US11220002B2

公开(公告)日：2022-01-11

申请号：US16377252

申请日：2019-04-08

Applicant: FANUC CORPORATION

Inventor： Hiroyuki Atohira

IPC: G06T17/00 ,  B25J9/16 ,  G06T19/20

Abstract: A robot simulation device includes an image display unit configured to display a three-dimensional model of a robot system having a robot, a workpiece, and a peripheral device, as a pseudo three-dimensional object existing in a three-dimensional space, and a simulation execution unit configured to perform simulation operation for the three-dimensional model of the robot system displayed by the image display unit.

公开(公告)号：US11135722B2

公开(公告)日：2021-10-05

申请号：US15787850

申请日：2017-10-19

Applicant: FANUC CORPORATION

Inventor： Hiroyuki Atohira ,  Yoshiharu Nagatsuka

IPC: B25J9/16 ,  B25J9/00 ,  G06F30/20

Abstract: A simulation device for simulating the operations of a robot that follows a workpiece when the workpiece is conveyed by a conveyer that conveys workpieces along an arc-shaped track. The simulation device includes a robot model arranging section that arranges a robot model in virtual space; a conveyer model arranging section that arranges a conveyer model in the virtual space, the conveyer model being capable of conveying a workpiece model along an arc-shaped virtual track; a workpiece model arranging section that arranges a workpiece model on the conveyer model in the virtual space; a detection device model arranging section that arranges a detection device model in the virtual space capable of detecting the workpiece model; an operation range setting section that sets a following operation range of the robot model in the virtual space; and a simulation execution section that executes simulations.

公开(公告)号：US09796083B2

公开(公告)日：2017-10-24

申请号：US14982182

申请日：2015-12-29

Applicant: FANUC Corporation

Inventor： Hiroyuki Atohira ,  Yoshiharu Nagatsuka

IPC: G06F17/50 ,  B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1605 ,  B25J9/0093 ,  B25J9/1671 ,  B25J9/1682 ,  Y10S901/09

Abstract: A simulation apparatus includes: a robot model arranging unit that arranges a robot model on a virtual space; a configuration information storage unit that stores configuration information of a robot system; a transport device arrangement position calculating unit that calculates a transport device arrangement position based on a follow-up operation reference coordinate system related to a follow-up operation of a robot, included in the configuration information; and a detection unit arrangement position calculating unit that calculates a detection unit arrangement position based on the follow-up operation reference coordinate system.

公开(公告)号：US09529945B2

公开(公告)日：2016-12-27

申请号：US14642961

申请日：2015-03-10

Applicant: FANUC Corporation

Inventor： Hiroyuki Atohira ,  Yoshiharu Nagatsuka

IPC: G06F17/50 ,  B25J9/16

CPC classification number: G06F17/5009 ,  B25J9/1671 ,  B25J9/1687 ,  G05B2219/40006 ,  G05B2219/40053 ,  G05B2219/40323 ,  G05B2219/40515

Abstract: A robot simulation system includes a first plane calculation part which calculates a group of first planes extending through focal points of two camera models and divide the fields of vision of the two camera models at equal intervals when capturing a measurement region, a second plane calculation part which calculates a group of second planes which intersect the first planes and extend along boundaries of light-dark contrast formed on the measurement region with stripe shaped patterns of light from the projector model, an intersecting line calculation part which calculates a plurality of intersecting lines between the first planes and the second planes, a three-dimensional information calculation part which calculates positions of intersecting points between the intersecting lines and surfaces of the workpiece models as three-dimensional information, and a position and posture calculation part which calculates positions and postures of the workpiece model based on the three-dimensional information.

Abstract translation: 机器人模拟系统包括第一平面计算部分，其计算延伸穿过两个相机模型的焦点的一组第一平面，并且在捕获测量区域时以相等的间隔划分两个相机模型的视野;第二平面计算部分 其计算与所述第一平面相交的一组第二平面，并且沿着形成在所述测量区域上的光 - 暗对比的边界沿着来自所述投影仪模型的条纹形状的光线延伸;相交线计算部分，其计算多个相交线， 第一平面和第二平面，三维信息计算部分，其计算工件模型的交叉线和表面之间的交点的位置作为三维信息;以及位置和姿势计算部，其计算位置和姿势 基于三维的工件模型 l信息。

公开(公告)号：US09418394B2

公开(公告)日：2016-08-16

申请号：US13790614

申请日：2013-03-08

Applicant: FANUC CORPORATION

Inventor： Hiroyuki Atohira

IPC: G06G7/48 ,  G06T1/00

CPC classification number: G06T1/00 ,  B25J9/1671 ,  G05B2219/40313 ,  G05B2219/40317 ,  G06T13/20 ,  G06T19/20 ,  G06T2219/2004

Abstract: An operation simulation system of a robot system for simulating operation of a robot system having a robot on a computer, including a setting unit setting a movement point moving together with a moving member, linked with the moving member which is included in the robot system and moves in accordance with a predetermined program; a data acquisition unit acquiring time series position data of the movement point when operating the robot system in accordance with the program on the computer; an image generation unit generating an image of the robot system operating in accordance with the program on the computer and generating an image of a movement path of the movement point based on the time series position data acquired by the data acquisition unit; and a display unit displaying the robot system image and the movement path image generated by the image generation unit.

Abstract translation: 一种机器人系统的操作模拟系统，用于模拟在计算机上具有机器人的机器人系统的操作，所述机器人系统包括设置单元，所述设置单元设置与移动构件一起移动的移动点，所述移动点与包括在所述机器人系统中的所述移动构件相连， 根据预定程序移动; 数据获取单元，根据所述计算机上的程序，获取在操作所述机器人系统时的所述移动点的时间序列位置数据; 图像生成单元，生成根据计算机上的程序操作的机器人系统的图像，并且基于由数据获取单元获取的时间序列位置数据生成移动点的移动路径的图像; 以及显示单元，显示机器人系统图像和由图像生成单元生成的移动路径图像。

公开(公告)号：US09352467B2

公开(公告)日：2016-05-31

申请号：US14603396

申请日：2015-01-23

Applicant: FANUC Corporation

Inventor： Hiroyuki Atohira ,  Yoshiharu Nagatsuka

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/1671 ,  B25J9/1692 ,  G05B2219/39397 ,  Y10S901/47

Abstract: A robot programming apparatus includes a virtual space creation unit for creating a virtual space that expresses a work space in three dimensions; a target portion designation unit for designating a target portion whose image is to be captured by an image pickup device, on a workpiece model arranged in the virtual space; a position determination unit for determining at least one position of the image pickup device for capturing the image of the target portion in the virtual space; a position storage unit for storing the at least one position of the image pickup device; and an image pickup program creation unit for creating an image pickup program to be taught to a robot so that the image pickup device captures the image of the target portion according to the at least one position of the image pickup device stored in the position storage unit.

Abstract translation: 机器人编程装置包括虚拟空间创建单元，用于创建在三维中表达工作空间的虚拟空间; 目标部分指定单元，用于在布置在虚拟空间中的工件模型上指定其图像将被图像拾取装置捕获的目标部分; 位置确定单元，用于确定用于在虚拟空间中捕获目标部分的图像的图像拾取装置的至少一个位置; 位置存储单元，用于存储图像拾取装置的至少一个位置; 以及图像拾取程序创建单元，用于创建要向机器人教导的图像拾取程序，使得图像拾取装置根据存储在位置存储单元中的图像拾取装置的至少一个位置捕获目标部分的图像 。

公开(公告)号：US08694158B2

公开(公告)日：2014-04-08

申请号：US13850807

申请日：2013-03-26

Applicant: Fanuc Corporation

Inventor： Hiroyuki Atohira

IPC: G05B19/00

CPC classification number: B25J9/1664 ,  B25J9/1671 ,  G05B2219/40121 ,  G05B2219/45065

Abstract: An off-line programming system (10) which includes a three-dimensional shape arranging unit (27) which fills in a curved surface or consecutive plurality of flat surfaces of a selected three-dimensional shape by selected operation patterns and arranges a three-dimensional shape in a virtual space so that the operation patterns will be projected on surfaces of the workpiece model, a working path preparing unit (28) which projects operation patterns on the surfaces of the workpiece model so as to prepare a working path of the tool, and a tool position/posture determining unit (29) which uses the prepared working path and normal direction of the surface of the workpiece model as the basis to automatically determined the position or position/posture of the tool model.

Abstract translation: 一种离线编程系统（10），其包括通过选择的操作模式填充所选择的三维形状的曲面或连续多个平坦表面的三维形状排列单元（27），并且布置三维 形成在虚拟空间中，使得操作模式投影在工件模型的表面上;工作路径准备单元（28），其将工件模型的表面上的操作模式投影到工件的工作路径上， 以及使用所准备的工件路径和工件模型的表面的法线方向作为自动确定工具模型的位置或姿势的基础的工具位置/姿势确定单元（29）。