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公开(公告)号：US11712797B2
公开(公告)日：2023-08-01
申请号：US17018674
申请日：2020-09-11
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Tetsuaki Kato
CPC classification number: B25J9/0081 , B25J9/161 , B25J9/1612 , B25J13/08 , B25J19/023 , G06T7/74 , G06T2207/20021 , G06T2207/20081 , G06T2207/20084 , G06T2210/22
Abstract: A method for dual hand detection in robot teaching from human demonstration. A camera image of the demonstrator's hands and workpieces is provided to a first neural network which determines the identity of the left and right hand of the human demonstrator from the image, and also provides cropped sub-images of the identified hands. The first neural network is trained using images in which the left and right hands are pre-identified. The cropped sub-images are then provided to a second neural network which detects the pose of both the left and right hand from the images, where the sub-image for the left hand is horizontally flipped before and after the hand pose detection if second neural network is trained with right hand images. The hand pose data is converted to robot gripper pose data and used for teaching a robot to perform an operation through human demonstration.
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公开(公告)号：US10507583B2
公开(公告)日：2019-12-17
申请号：US15676503
申请日：2017-08-14
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Wenjie Chen
Abstract: A robot control device includes a feature-point detecting unit that detects, from an image of an object acquired by a visual sensor, the positions of a plurality of feature points on the object in a predetermined cycle; a position/orientation calculating unit that updates, in the predetermined cycle, respective equations of motion of the plurality of feature points on the basis of the detected positions of the plurality of feature points and that calculates the position or orientation of the object on the basis of the detected positions of the plurality of feature points calculated from the updated equations of motion; and a robot-arm-movement control unit that controls the movement of a robot arm so as to follow the object, on the basis of the calculated position or orientation of the object.
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公开(公告)号：US10507581B2
公开(公告)日：2019-12-17
申请号：US16054180
申请日：2018-08-03
Applicant: FANUC CORPORATION
Inventor： Satoshi Inagaki , Wenjie Chen , Kaimeng Wang
Abstract: A robot system includes: at least one non-learned robot that has not learned a learning compensation amount of position control based on an operation command; at least one learned robot that has learned the learning compensation amount of the position control based on the operation command; and a storage device that stores the operation command and the learning compensation amount of the learned robot, the non-learned robot comprising a compensation amount estimation unit that compensates the learning compensation amount of the learned robot stored in the storage device based on a difference between the operation command of the learned robot stored in the storage device and an operation command of an own robot, and estimates the compensated learning compensation amount as a learning compensation amount of the own robot.
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Patent Agency Ranking
公开(公告)号：US20190317472A1
公开(公告)日：2019-10-17
申请号：US16382962
申请日：2019-04-12
Applicant: Fanuc Corporation
Inventor： Chao Zhi , Wenjie Chen , Kaimeng Wang , Kazuomi Maeda
IPC: G05B19/402 , G06N20/00
Abstract: A controller that performs, for one or more axes of a machine, position control by taking friction into consideration includes a data acquisition unit acquiring at least a position command and a position feedback and a compensation torque estimation unit estimating coefficients of a friction model used when the position control is performed, on the basis of a position deviation which is a difference between the position command and the position feedback.
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公开(公告)号：US10254741B2
公开(公告)日：2019-04-09
申请号：US15405190
申请日：2017-01-12
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Wenjie Chen
IPC: G05B19/00 , G05B19/404 , B25J9/16
Abstract: A robot apparatus includes a robot mechanism; a sensor provided in a portion whose position is to be controlled, of the robot mechanism, for detecting a physical quantity to obtain positional information of the portion; and a robot controller having an operation control unit for controlling the operation of the robot mechanism. The robot controller includes a learning control unit for calculating a learning correction value to improve a specific operation of the robot mechanism based on the physical quantity detected, while the operation control unit makes the robot mechanism perform the specific operation, with the sensor; and a learning extension unit for obtaining the relationship between the learning correction value calculated by the learning control unit and information about the learned specific operation, and calculates another learning correction value to improve a new operation by applying the obtained relationship to information about the new operation without sensor.
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公开(公告)号：US09903698B2
公开(公告)日：2018-02-27
申请号：US15259118
申请日：2016-09-08
Applicant: FANUC CORPORATION
Inventor： Takahiro Iwatake , Kaimeng Wang , Bunketsu Chin
Abstract: A system which calculates the relative posture or the relative position and posture between a first object and a second object. This invention provides an object posture calculation system including a first object and a second object contactable at three contact points, a driving unit which brings the first object and the second object into contact with each other, a force measuring unit which measures a force acting between the first object and the second object, and an object posture calculation unit which calculates the relative posture or the relative position and posture between the first object and the second object on the basis of the force measured by the force measuring unit when the first object and the second object come into contact with each other at the three contact points.
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公开(公告)号：US09321178B2
公开(公告)日：2016-04-26
申请号：US14629741
申请日：2015-02-24
Applicant: FANUC CORPORATION
Inventor： Ya Cho , Kaimeng Wang
CPC classification number: B25J9/1679 , B25J13/006 , B25J13/088 , B25J19/02 , B25J19/021 , Y10S901/09
Abstract: A machine system including a sensor unit detecting periodically an acceleration at a tip part of a movable member, a data acquisition unit acquiring first time-series data of the acceleration at the tip part of the movable member corresponding to sensor signal received via a wireless signal path, a data calculation unit configured to calculate second time-series data corresponding to the first time-series data based on a driving command of the motor, a delay time calculation unit calculating a delay time of the first time-series data with respect to the second time-series data according to a degree of correlation between first time-series data and the second time-series data, and a correction unit correcting the first time-series data based on the delay time.
Abstract translation: 一种机器系统，包括传感器单元，周期性地检测可移动部件的尖端部分处的加速度;数据获取单元，获取与经由无线信号接收的传感器信号相对应的可移动部件的尖端部分的加速度的第一时间序列数据 路径，数据计算单元，被配置为基于所述电动机的驱动命令来计算与所述第一时间序列数据相对应的第二时间序列数据;延迟时间计算单元，计算所述第一时间序列数据相对于 根据第一时间序列数据和第二时间序列数据之间的相关程度的第二时间序列数据，以及基于延迟时间校正第一时间序列数据的校正单元。
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公开(公告)号：US20150246442A1
公开(公告)日：2015-09-03
申请号：US14629741
申请日：2015-02-24
Applicant: FANUC CORPORATION
Inventor： Ya Cho , Kaimeng Wang
CPC classification number: B25J9/1679 , B25J13/006 , B25J13/088 , B25J19/02 , B25J19/021 , Y10S901/09
Abstract: A machine system including a sensor unit detecting periodically an acceleration at a tip part of a movable member, a data acquisition unit acquiring first time-series data of the acceleration at the tip part of the movable member corresponding to sensor signal received via a wireless signal path, a data calculation unit configured to calculate second time-series data corresponding to the first time-series data based on a driving command of the motor, a delay time calculation unit calculating a delay time of the first time-series data with respect to the second time-series data according to a degree of correlation between first time-series data and the second time-series data, and a correction unit correcting the first time-series data based on the delay time.
Abstract translation: 一种机器系统，包括传感器单元，周期性地检测可移动部件的尖端部分处的加速度;数据获取单元，获取与经由无线信号接收的传感器信号相对应的可移动部件的尖端部分的加速度的第一时间序列数据 路径，数据计算单元，被配置为基于所述电动机的驱动命令来计算与所述第一时间序列数据相对应的第二时间序列数据;延迟时间计算单元，计算所述第一时间序列数据相对于 根据第一时间序列数据和第二时间序列数据之间的相关程度的第二时间序列数据，以及基于延迟时间校正第一时间序列数据的校正单元。
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