公开(公告)号：US06763284B2

公开(公告)日：2004-07-13

申请号：US10001991

申请日：2001-12-05

申请人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Katsutoshi Takizawa ,  Fumikazu Warashina ,  Kazunori Ban ,  Makoto Yamada ,  Akihiro Terada ,  Mitsuhiro Okuda

发明人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Katsutoshi Takizawa ,  Fumikazu Warashina ,  Kazunori Ban ,  Makoto Yamada ,  Akihiro Terada ,  Mitsuhiro Okuda

IPC分类号： G05B1900

CPC分类号： B25J9/1697 ,  G05B19/4202 ,  G05B2219/35506 ,  G05B2219/36415 ,  G05B2219/37288 ,  G05B2219/37571 ,  G05B2219/37572 ,  G05B2219/40005

摘要： An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.

摘要翻译： 使用相机拍摄参考对象的图像并进行显示。 测量起点由图像位置指示装置指向。 使用图像上的位置和相机的位置和方向获得对应的视线，机器人接近参考对象，使得其不偏离投影方向移动到适合于测量的位置。 光照射在基准对象上，开始测量对象附近的测量点的面的倾斜度。 拍摄包括参考物体上的亮线图像的图像，并沿着工作线顺序地测量点的3维位置。 使用这些位置创建机器人的移动路径作为工作机器人的教导点。

公开(公告)号：US07720573B2

公开(公告)日：2010-05-18

申请号：US11812449

申请日：2007-06-19

申请人： Makoto Yamada ,  Kazunori Ban ,  Katsutoshi Takizawa

发明人： Makoto Yamada ,  Kazunori Ban ,  Katsutoshi Takizawa

IPC分类号： G06F19/00

CPC分类号： B25J13/06 ,  B25J19/023

摘要： A robot control apparatus includes a control apparatus body fixedly installed and connected to a robot and a portable teaching pendant connected to the control apparatus body to operate the robot through the teaching pendant. The teaching pendant includes an imaging device connector for connecting an imaging device to the teaching pendant so as to enable the image picked up by the imaging device to be directly input to the teaching pendant through the imaging device connector.

摘要翻译： 机器人控制装置包括固定地安装并连接到机器人的控制装置主体和连接到控制装置主体的便携式示教装置，以通过示教器操作机器人。 示教装置包括用于将成像装置连接到示教器的成像装置连接器，以便能够使由成像装置拍摄的图像通过成像装置连接器直接输入到教导吊坠。

公开(公告)号：US20080300723A1

公开(公告)日：2008-12-04

申请号：US12222002

申请日：2008-07-31

申请人： Kazunori Ban ,  Katsutoshi Takizawa

发明人： Kazunori Ban ,  Katsutoshi Takizawa

IPC分类号： G06F19/00

CPC分类号： G05B19/4083 ,  B25J9/1692 ,  G05B2219/36504 ,  G05B2219/37555 ,  G05B2219/39024 ,  G05B2219/39057

摘要： A teaching position correcting device which can easily correct, with high precision, teaching positions after shifting at least one of a robot and an object worked by the robot. Calibration is carried out using a vision sensor (i.e., CCD camera) that is mounted on a work tool. The vision sensor measures three-dimensional positions of at least three reference marks not aligned in a straight line on the object. The vision sensor is optionally detached from the work tool, and at least one of the robot and the object is shifted. After the shifting, calibration (this can be omitted when the vision sensor is not detached) and measuring of three-dimensional positions of the reference marks are carried out gain. A change in a relative positional relationship between the robot and the object is obtained using the result of measuring three-dimensional positions of the reference marks before and after the shifting respectively. To compensate for this change, the teaching position data that is valid before the shifting is corrected. The robot can have a measuring robot mechanical unit having a vision sensor, and a separate working robot mechanical unit that works the object. In this case, positions of the working robot mechanical unit before and after the shifting, respectively, are also measured.

摘要翻译： 一种教学位置校正装置，其能够在移动机器人和由机器人工作的对象中的至少一个之后以高精度的方式校正教学位置。 使用安装在工作工具上的视觉传感器（即，CCD照相机）进行校准。 视觉传感器测量至少三个参考标记的三维位置，该参考标记在物体上的直线上未排列。 视觉传感器可选地从工作工具分离，并且机器人和物体中的至少一个被移动。 移位后，校准（当视觉传感器未分离时可以省略），并且对参考标记的三维位置的测量进行增益。 使用分别测量前后的基准标记的三维位置的结果，获得机器人与物体之间的相对位置关系的变化。 为了补偿这种变化，校正在换档之前有效的教学位置数​​据。 机器人可以具有具有视觉传感器的测量机器人机械单元，以及工作该对象的单独的工作机器人机械单元。 在这种情况下，也分别测量移动前后的作业机器人机械单元的位置。

公开(公告)号：US20070293987A1

公开(公告)日：2007-12-20

申请号：US11812449

申请日：2007-06-19

申请人： Makoto Yamada ,  Kazunori Ban ,  Katsutoshi Takizawa

发明人： Makoto Yamada ,  Kazunori Ban ,  Katsutoshi Takizawa

IPC分类号： G06F19/00

CPC分类号： B25J13/06 ,  B25J19/023

摘要： A robot control apparatus includes a control apparatus body fixedly installed and connected to a robot and a portable teaching pendant connected to the control apparatus body to operate the robot through the teaching pendant. The teaching pendant includes an imaging device connector for connecting an imaging device to the teaching pendant so as to enable the image picked up by the imaging device to be directly input to the teaching pendant through the imaging device connector.

摘要翻译： 机器人控制装置包括固定地安装并连接到机器人的控制装置主体和连接到控制装置主体的便携式示教装置，以通过示教器操作机器人。 示教装置包括用于将成像装置连接到示教器的成像装置连接器，以便能够使由成像装置拍摄的图像通过成像装置连接器直接输入到教导吊坠。

公开(公告)号：US07996114B2

公开(公告)日：2011-08-09

申请号：US11802823

申请日：2007-05-25

申请人： Kazunori Ban ,  Keisuke Watanabe

发明人： Kazunori Ban ,  Keisuke Watanabe

IPC分类号： G06K9/00 ,  G05B15/00 ,  B66C1/42

CPC分类号： B25J9/1697 ,  G05B2219/37555 ,  G05B2219/40053

摘要： A workpiece picking device and method for reducing the cycle time of a picking operation of workpieces, by omitting or reducing the movement of a robot manipulator when an image of the workpieces is captured. An image processor of the picking device includes a camera controlling part for reading image data from a camera, a memory for storing the image data, a workpiece detecting part for extracting one or more images from the memory and detecting one or more workpieces in the image, and a workpiece selecting part for selecting a workpiece to be picked among the workpieces detected by the workpiece detecting part. The image processor further includes a stacked condition judging part for determining whether the condition of the stacked workpieces in a container is changed.

摘要翻译： 一种用于通过省略或减少当工件的图像被捕获时机器人操纵器的移动来减少工件的拾取操作的循环时间的工件拾取装置和方法。 拾取装置的图像处理器包括用于从相机读取图像数据的相机控制部分，用于存储图像数据的存储器，用于从存储器中提取一个或多个图像的工件检测部分，以及检测图像中的一个或多个工件 以及工件选择部，用于选择由工件检测部检测出的工件之间要被拾取的工件。 图像处理器还包括堆叠状态判断部，用于确定容器中堆叠的工件的状态是否改变。

公开(公告)号：US07957580B2

公开(公告)日：2011-06-07

申请号：US11669477

申请日：2007-01-31

申请人： Kazunori Ban ,  Fumikazu Warashina ,  Keisuke Watanabe

发明人： Kazunori Ban ,  Fumikazu Warashina ,  Keisuke Watanabe

IPC分类号： G06K9/00

CPC分类号： B25J9/1697 ,  G05B2219/37555 ,  G05B2219/40053

摘要： A workpiece picking device capable of correctly detecting the size of a workpiece. The picking device has a robot capable of picking the same kind of workpieces contained in a work container, a robot controller for controlling the robot, a video camera positioned above the work container so as to widely image the workpieces and an image processor for processing an image obtained by the video camera. The three-dimensional position and posture of each workpiece is measured by a three-dimensional vision sensor arranged on a wrist element of the robot.

摘要翻译： 能够正确地检测工件的尺寸的工件拾取装置。 拾取装置具有能够拾取包含在工作容器中的相同种类的工件的机器人，用于控制机器人的机器人控制器，位于工作容器上方的摄像机，以便广泛地对工件进行成像以及用于处理工件的图像处理器 由摄像机获得的图像。 每个工件的立体位置和姿势通过布置在机器人腕部上的三维视觉传感器来测量。

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。

公开(公告)号：US07534077B2

公开(公告)日：2009-05-19

申请号：US11204225

申请日：2005-08-16

申请人： Kazunori Ban ,  Takashi Sato ,  Kokoro Hatanaka

发明人： Kazunori Ban ,  Takashi Sato ,  Kokoro Hatanaka

IPC分类号： B23C1/00

CPC分类号： G05B19/4163 ,  Y02P90/265 ,  Y10T409/30084 ,  Y10T409/301792 ,  Y10T409/303472 ,  Y10T409/304256

摘要： A surface of a workpiece is traced when a machining tool is pressed onto the surface of the workpiece under force control so as to find the positional data of the surface shape. This positional data is corrected by an error caused by a bend of a robot. The positional data is compared with the target shape of the surface, from which the burr is removed. A shift of the surface shape in the normal line direction is found. The burr generation start position, the burr generation end position and the height of the burr are found by the shift start position, the shift end position and the shift size. A machining program is made which is composed of a pass connecting the burr end position with the burr start position and also composed of a cutting pass for removing the burr, and the thus made machining program is executed. As the burr position is found and the burr is removed when the machining tool is moved to the burr position, the burr can be effectively removed.

摘要翻译： 当在力控制下将加工工具按压到工件的表面上时，跟踪工件的表面，以找到表面形状的位置数据。 该位置数据由机器人的弯曲引起的误差进行校正。 将位置数据与表面的目标形状进行比较，从中去除毛刺。 发现表面形状在法线方向的移动。 毛刺生成开始位置，毛刺生成结束位置和毛刺的高度由换档开始位置，换档结束位置和换档尺寸确定。 进行加工程序，该加工程序由将毛刺末端位置与毛刺起始位置连接起来的通路构成，并且还包括用于去除毛刺的切割道，并且由此制造的加工程序被执行。 当加工刀具移动到毛刺位置时，当发现毛刺位置并除去毛刺时，可以有效地去除毛刺。

公开(公告)号：US07532949B2

公开(公告)日：2009-05-12

申请号：US11034724

申请日：2005-01-14

申请人： Kazunori Ban ,  Makoto Yamada

发明人： Kazunori Ban ,  Makoto Yamada

IPC分类号： G06F15/16

CPC分类号： G01B21/042 ,  B25J19/023 ,  G01B11/005 ,  G05B2219/37555

摘要： A measuring system which can easily measure a three-dimensional position of a target to be measured using a light receiving device mounted to a manipulator of a robot. When the manipulator is positioned at a first position, a moving process for moving an image of the target imaged by the light receiving device or a camera to a center of a light receiving surface of the camera is executed. Next, the manipulator positioned at the first position is moved, without changing the orientation of the camera, to a second position where the distance between the camera and the target is different to that at the first position. After that, the moving process is executed again. Based on the position of the manipulator after the process, the orientation of a coordinate system Σv1 representing the direction of a visual line is calculated. Then, the manipulator is rotated by 180 degree about Z-axis of the coordinate system Σv1 and the moving process is executed again. A middle point of the positions of coordinate system Σv1 before and after movement of the manipulator is determined as an origin of a coordinate system Σv2 representing the orientation and the position of the visual line. The manipulator is inclined relative to Y-axis of the coordinate system Σv2 and the moving process is executed again, so as to calculate the three-dimensional position of the target.

摘要翻译： 一种测量系统，其可以使用安装到机器人的操纵器的光接收装置容易地测量要测量的目标的三维位置。 当操纵器位于第一位置时，执行用于将由光接收装置或照相机成像的目标的图像移动到相机的光接收表面的中心的移动处理。 接下来，将位于第一位置的操纵器移动到相机与目标之间的距离与第一位置不同的第二位置，而不改变相机的方位。 之后，再次执行移动处理。 基于处理之后的操纵器的位置，计算表示视线方向的坐标系Sigmav1的取向。 然后，将机械手绕坐标系Sigmav1的Z轴旋转180度，再次执行移动处理。 将坐标系Sigmav1在操纵器移动前后的位置的中点确定为表示视线的取向和位置的坐标系Sigmav2的原点。 操纵器相对于坐标系Sigmav2的Y轴倾斜，再次执行移动处理，以计算目标的三维位置。

公开(公告)号：US20070274812A1

公开(公告)日：2007-11-29

申请号：US11802823

申请日：2007-05-25

申请人： Kazunori Ban ,  Keisuke Watanabe

发明人： Kazunori Ban ,  Keisuke Watanabe

IPC分类号： H01L21/677

CPC分类号： B25J9/1697 ,  G05B2219/37555 ,  G05B2219/40053

摘要： A workpiece picking device and method for reducing the cycle time of a picking operation of workpieces, by omitting or reducing the movement of a robot manipulator when an image of the workpieces is captured. An image processor of the picking device includes a camera controlling part for reading image data from a camera, a memory for storing the image data, a workpiece detecting part for extracting one or more images from the memory and detecting one or more workpieces in the image, and a workpiece selecting part for selecting a workpiece to be picked among the workpieces detected by the workpiece detecting part. The image processor further includes a stacked condition judging part for determining whether the condition of the stacked workpieces in a container is changed.

摘要翻译： 一种用于通过省略或减少当工件的图像被捕获时机器人操纵器的移动来减少工件的拾取操作的循环时间的工件拾取装置和方法。 拾取装置的图像处理器包括用于从相机读取图像数据的相机控制部分，用于存储图像数据的存储器，用于从存储器中提取一个或多个图像的工件检测部分，以及检测图像中的一个或多个工件 以及工件选择部，用于选择由工件检测部检测出的工件之间要被拾取的工件。 图像处理器还包括堆叠状态判断部，用于确定容器中堆叠的工件的状态是否改变。