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    METHOD FOR THE FILTERING OF TARGET OBJECT IMAGES IN A ROBOT SYSTEM
    13.
    发明申请
    METHOD FOR THE FILTERING OF TARGET OBJECT IMAGES IN A ROBOT SYSTEM 审中-公开
    在机器人系统中过滤目标对象图像的方法

    公开(公告)号：US20130266205A1

    公开(公告)日：2013-10-10

    申请号：US13880811

    申请日：2011-10-12

    申请人： Harri Valpola

    发明人： Harri Valpola

    IPC分类号： G06K9/78

    CPC分类号： G06K9/78 ,  B25J9/1669 ,  B25J9/1697 ,  G05B2219/39107 ,  G05B2219/39543 ,  G05B2219/40053 ,  G05B2219/40609 ,  G05B2219/40613 ,  G06T7/11 ,  G06T7/174 ,  G06T7/194

    摘要： The invention relates to a method and system for recognizing physical objects. In the method an object is gripped with a gripper, which is attached to a robot arm or mounted separately. Using an image sensor, a plurality of source images of an area comprising the object is captured while the object is moved with the robot arm. The camera is configured to move along the gripper, attached to the gripper or otherwise able to monitor the movement of the gripper. Moving image elements are extracted from the plurality of source images by computing a variance image from the source images and forming a filtering image from the variance image. A result image is obtained by using the filtering image as a bitmask. The result image is used for classifying the gripped object.

    摘要翻译： 本发明涉及用于识别物理对象的方法和系统。 在该方法中，物体被夹持器夹持，该夹持器附接到机器人手臂或单独安装。 使用图像传感器，在使用机器人手臂移动对象的同时捕获包括对象的区域的多个源图像。 相机被配置为沿着夹具移动，附接到夹具或以其他方式能够监测夹具的移动。 通过从源图像计算方差图像并从方差图像形成滤波图像，从多个源图像提取运动图像元素。 通过使用过滤图像作为位掩码获得结果图像。 结果图像用于对夹持的物体进行分类。

    WORKPIECE PICK-UP APPARATUS
    14.
    发明申请
    WORKPIECE PICK-UP APPARATUS 有权
    工作摄影设备

    公开(公告)号：US20130211593A1

    公开(公告)日：2013-08-15

    申请号：US13878321

    申请日：2011-07-13

    申请人： Yukiyasu Domae ,  Yasuo Kitaaki ,  Haruhisa Okuda ,  Kazuhiko Sumi

    发明人： Yukiyasu Domae ,  Yasuo Kitaaki ,  Haruhisa Okuda ,  Kazuhiko Sumi

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1612 ,  G05B2219/39543 ,  G05B2219/40053

    摘要： A workpiece pick-up apparatus including: a hand for gripping a workpiece; a robot for bringing the hand into a desired gripping position or posture; a sensor for performing three-dimensional measurement of the workpiece to obtain workpiece measurement data; a storage medium for accumulating at least hand profile data; an information processing unit for calculating the gripping position or posture based on data from the sensor and data from the storage medium; and a control unit for controlling the robot based on the gripping position or posture calculated by the information processing unit. The information processing unit includes an optimum gripping candidate creating section for directly deriving the gripping position or posture based on the workpiece measurement data and the hand profile data.

    摘要翻译： 一种工件拾取装置，包括：用于夹持工件的手; 用于使手进入期望的夹持位置或姿势的机器人; 用于对工件进行三维测量以获得工件测量数据的传感器; 用于累积至少手轮廓数据的存储介质; 信息处理单元，用于基于来自传感器的数据和来自存储介质的数据计算抓取位置或姿势; 以及控制单元，用于基于由信息处理单元计算出的夹持位置或姿势来控制机器人。 所述信息处理单元包括：最佳夹持候选生成部，其基于所述工件测定数据和所述手轮廓数据直接导出所述夹持位置或姿势。

    OBJECT GRASPING CONTROL METHOD AND APPARATUS
    15.
    发明申请
    OBJECT GRASPING CONTROL METHOD AND APPARATUS 有权
    对象控制方法和装置

    公开(公告)号：US20110074171A1

    公开(公告)日：2011-03-31

    申请号：US12892748

    申请日：2010-09-28

    申请人： Keisuke Maehara ,  Hiroshi Miyagawa

    发明人： Keisuke Maehara ,  Hiroshi Miyagawa

    IPC分类号： B25J9/10 ,  G06F19/00 ,  B25J15/00

    CPC分类号： B25J9/1612 ,  B25J9/1679 ,  G05B2219/39487 ,  G05B2219/39543

    摘要： An object grasping control method, in which an object grasping control apparatus grasps a plurality of graspable members using a grasping unit, includes recognizing at least one of a shape, position, and attitude of each of the plurality of graspable members, setting, based on at least of one of the shape, position, and attitude of each of the plurality of graspable members, an attitude range as a graspable attitude range in which each of the plurality of graspable members and the grasping unit do not interfere with each other for each of the plurality of graspable members, and setting, as a grasping target to be grasped by the grasping unit, a graspable member, among the plurality of graspable members, the set graspable attitude range of which is greater than a predetermined threshold value.

    摘要翻译： 一种物体抓持控制方法，其中物体抓持控制装置使用抓握单元抓握多个可抓握构件，包括识别多个可抓握构件中的每一个的形状，位置和姿态中的至少一个，基于 至少所述多个所述可抓握构件的形状，位置和姿态中的至少一个，作为所述多个所述可抓握构件和所述把持单元中的每一个彼此不干扰的可握持姿态范围的姿态范围， 并且将所述可抓握姿势范围大于预定阈值的所述可抓握构件中的可握持构件设置为由所述把持单元抓握的把持对象。

    MANIPULATION SYSTEM AND METHOD
    16.
    发明申请
    MANIPULATION SYSTEM AND METHOD 审中-公开
    操纵系统和方法

    公开(公告)号：US20090306825A1

    公开(公告)日：2009-12-10

    申请号：US12427193

    申请日：2009-04-21

    申请人： Ying Li ,  Justin C. Keesling ,  James English ,  Neil Tardella

    发明人： Ying Li ,  Justin C. Keesling ,  James English ,  Neil Tardella

    IPC分类号： G05B15/02

    CPC分类号： B25J9/1669 ,  G05B2219/39543

    摘要： A method, computer program product, and system for robotic manipulation is provided. The method may include receiving, at a computing device, an input indicating an existence of an object having at least one characteristic and identifying the at least one characteristic via the computing device. The method may further include determining a robotic manipulating algorithm for the object based upon, at least in part, the at least one characteristic, the robotic manipulating algorithm defining instructions for enabling a robot to manipulate the object. Numerous other embodiments are also within the scope of the present disclosure.

    摘要翻译： 提供了一种用于机器人操纵的方法，计算机程序产品和系统。 该方法可以包括在计算设备处接收指示存在具有至少一个特征的对象的输入，以及经由计算设备识别该至少一个特性。 该方法可以进一步包括至少部分地基于至少一个特征来确定用于对象的机器人操纵算法，所述机器人操纵算法定义用于使机器人能够操纵对象的指令。 许多其它实施例也在本公开的范围内。

    Robot controller
    17.
    发明授权
    Robot controller 有权
    机器人控制器

    公开(公告)号：US07415321B2

    公开(公告)日：2008-08-19

    申请号：US10538770

    申请日：2003-12-11

    申请人： Yasunao Okazaki ,  Kazuyuki Sakiyama ,  Katsuhiko Asai ,  Masaki Yamamoto

    发明人： Yasunao Okazaki ,  Kazuyuki Sakiyama ,  Katsuhiko Asai ,  Masaki Yamamoto

    IPC分类号： G06F19/00

    CPC分类号： B25J9/1697 ,  G05B2219/39543 ,  G05B2219/40609

    摘要： Realized is a robot controller capable of handling a large amount of data of images and so on necessary for advanced intelligence of control while securing a real-time performance with a simple structure. For this purpose, there are provided a motion control device for performing a calculation process for achieving motion control of an object to be controlled, a recognition and planning device for performing task and motion planning of the object to be controlled and recognition of outside world, an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled, and a route selecting device for controlling communications by switching connections among the motion control device the recognition and planning device, and the input/output interface. While controlling the communications by switching the connections among the motion control device, the recognition and planning device, and the input/output interface by the route selecting device, the motions of the robot of the object to be controlled are controlled on the basis of the results of the task and motion planning of the object to be controlled and the recognition of the outside world.

    摘要翻译： 实现了一种机器人控制器，能够处理大量数据的图像数据，因此需要先进的控制智能，同时以简单的结构确保实时性能。 为此，提供了一种用于执行用于实现要控制的对象的运动控制的计算处理的运动控制装置，用于执行要控制的对象的任务和运动规划的识别和计划装置以及外部世界的识别， 输入/输出接口，用于向要被控制和接收的对象输出命令，要被控制的对象的状态;以及路由选择装置，用于通过在运动控制装置之间切换连接来进行通信，该识别和规划装置 ，以及输入/输出接口。 在通过切换运动控制装置，识别和规划装置之间的连接以及路线选择装置的输入/输出接口来控制通信的同时，基于所控制的对象的机器人的运动进行控制 要控制的对象的任务和运动规划的结果以及对外界的认可。