公开(公告)号：US20050075752A1

公开(公告)日：2005-04-07

申请号：US10959455

申请日：2004-10-07

申请人： Kazunori Ban ,  Takashi Jyumonji

发明人： Kazunori Ban ,  Takashi Jyumonji

IPC分类号： G01B11/00 ,  B25J13/00 ,  B25J13/08 ,  B65G47/90 ,  G01B21/00 ,  G05B19/418 ,  G06F7/00

CPC分类号： B25J9/1697 ,  G05B19/4182 ,  Y02P90/083

摘要： An image of a workpiece (10) conveyed by a feeding conveyor (3) is taken by a camera (7) of a visual sensor to detect a position of the workpiece. The moving amount of the feeding conveyor (3) is detected by a pulse coder (8). When a request for picking up a workpiece is issued to a plurality of robots (RB1, RB2), it is judged whether or not the robots can grip the workpiece positioned most downstream, based on current positions of the robots and a current position of the workpiece. The workpiece should be gripped before it reaches the downstream boundary line (TR1e, TR2e) in the tracking range of the robot. If the workpiece can be gripped, the robot picks up the workpiece. Based on the robot operating speed, the feeding speed of the feeding conveyor (3) is adjusted to reduce the waiting time of the plurality of robots (RB1, RB2) and to reduce the number of failures to hold the workpiece as far as possible.

摘要翻译： 由进给输送机（3）输送的工件（10）的图像由视觉传感器的照相机（7）拍摄，以检测工件的位置。 进料输送机（3）的移动量由脉冲编码器（8）检测。 当向多个机器人（RB1，RB2）发出拾取工件的请求时，根据机器人的当前位置和机器人的当前位置来判断机器人是否能抓住位于最下游的工件 工件。 在机器人的跟踪范围内到达下游边界线（TR1e，TR2e）之前，应抓住工件。 如果可以抓住工件，机器人将拾取工件。 基于机器人的操作速度，调整进给输送机（3）的进给速度以减少多个机器人（RB1，RB2）的等待时间，并尽可能减少保持工件的故障次数。

公开(公告)号：US08326460B2

公开(公告)日：2012-12-04

申请号：US13014769

申请日：2011-01-27

申请人： Kazunori Ban ,  Fumikazu Warashina ,  Makoto Yamada ,  Yuuta Namiki

发明人： Kazunori Ban ,  Fumikazu Warashina ,  Makoto Yamada ,  Yuuta Namiki

IPC分类号： G05B15/00 ,  G05B19/00

CPC分类号： B25J9/1697

摘要： A robot system calculates positional information of a workpiece with respect to a visual sensor and calculates positional information of an arm tip at a second time based on first times stored by a storing section and the second time at which the visual sensor measures the workpiece.

摘要翻译： 机器人系统基于视觉传感器计算工件的位置信息，并且基于存储部存储的第一次和视觉传感器测量工件的第二次来计算第二时间的臂尖的位置信息。

公开(公告)号：US08014899B2

公开(公告)日：2011-09-06

申请号：US12768868

申请日：2010-04-28

申请人： Kazunori Ban ,  Ichiro Kanno ,  Fumikazu Warashina ,  Masafumi Ooba

发明人： Kazunori Ban ,  Ichiro Kanno ,  Fumikazu Warashina ,  Masafumi Ooba

IPC分类号： G06F19/00 ,  G06F7/00 ,  B65G43/10

CPC分类号： B25J9/0093 ,  B25J9/1697 ,  G05B19/4182 ,  G05B2219/39102 ,  G05B2219/40007 ,  Y02P90/083

摘要： An article conveying robot system capable of effectively containing an article in a container conveyed by a conveyor by using a robot. A container detecting part measures the distribution of shading of an image of each containing cell based on a detection result of the container, detects the containing state of each cell, and stores the detection result of each cell. An information managing part of a controller of an upstream side robot receives information from a container detecting part of a controller of a downstream side robot, and then generates containing cell information. An information managing part checks the cell information to be processed, and then transmits the cell information to a task executing part only when an article is not located in the corresponding cell. Task executing part controls the robot so as to locate an article in the selected cell based on the cell information.

摘要翻译： 一种能够通过使用机器人有效地容纳由输送机输送的容器中的物品的物品输送机器人系统。 容器检测部基于容器的检测结果来测量包含单元的图像的阴影分布，检测各单元的容纳状态，存储各单元的检测结果。 上游侧机器人的控制器的信息管理部分从下游侧机器人的控制器的容器检测部分接收信息，然后生成包含单元信息。 信息管理部分检查要处理的小区信息，然后仅当物品不在相应的小区中时将小区信息发送到任务执行部分。 任务执行部分控制机器人，以便基于单元信息来定位所选单元中的文章。

公开(公告)号：US07526121B2

公开(公告)日：2009-04-28

申请号：US10689721

申请日：2003-10-22

申请人： Kazunori Ban ,  Ichiro Kanno

发明人： Kazunori Ban ,  Ichiro Kanno

IPC分类号： G06K9/00

CPC分类号： G01B11/25 ,  G06T7/74

摘要： Slit light is projected onto the surface of an object, the reflected light is received using a video camera and analyzed by means of an image processor to thereby determine an equation of the surface onto which the slit light is projected. Then, an image is captured through normal image taking using the video camera and a straight line (line of sight) passing through the measuring point on the object and the center of the video camera is determined. Furthermore, parameters such as an affine transformation are determined by a comparison between the image of a characteristic area F of the object and a reference image. Then, the three-dimensional position and posture of the measuring point are determined from an intersection between the line of sight and the determined surface.

摘要翻译： 狭缝光投射到物体的表面上，使用摄像机接收反射光并借助于图像处理器进行分析，从而确定投射有狭缝光的表面的方程式。 然后，通过使用摄像机的正常拍摄拍摄图像，并且确定通过物体上的测量点和摄像机中心的直线（视线）。 此外，诸如仿射变换的参数通过对象的特征区域F的图像和参考图像之间的比较来确定。 然后，测量点的三维位置和姿势由视线与确定的表面之间的交点确定。

公开(公告)号：US07203573B2

公开(公告)日：2007-04-10

申请号：US10733308

申请日：2003-12-12

申请人： Kazunori Ban ,  Ichiro Kanno

发明人： Kazunori Ban ,  Ichiro Kanno

IPC分类号： G05B15/00 ,  G05G19/00

CPC分类号： B25J9/1697 ,  G05B2219/40053 ,  G06T7/70 ,  G06T2207/30164

摘要： A workpiece taking-out apparatus performs snap with a camera of a three-dimensional visual sensor in a robot position for snap and captures an image in a personal computer. The workpiece taking-out apparatus detects workpieces to find a line of sight of the camera for each workpiece, decides an area for height measurement by a range finder to save height data in the area, and finds an intersection of line of sight data of the camera and height distribution for each detected workpiece to find a posture of the workpiece from the height data around it. Then, the workpiece taking-out apparatus decides a workpiece to be taken out this time from the position and the posture and decides a measurement position of the three-dimensional visual sensor close to the workpiece. In the measurement position, the workpiece taking-out apparatus performs main measurement by the three-dimensional visual sensor to decide a robot position for taking out a workpiece through check of the possibility of interference and execute taking-out of the workpiece in the robot position for taking out a workpiece through check of the possibility of interference again.

摘要翻译： 工件取出装置与机器人位置中的三维视觉传感器的照相机进行卡扣，并捕获个人计算机中的图像。 工件取出装置检测工件以找到每个工件的相机的视线，通过测距仪确定用于高度测量的区域，以将高度数据保存在该区域中，并且找到视线数据的交点 相机和高度分布为每个检测到的工件从其周围的高度数据找到工件的姿势。 然后，工件取出装置从该位置和姿势决定待取出的工件，并将三维视觉传感器的测量位置决定在靠近工件的位置。 在测量位置，工件取出装置通过三维视觉传感器执行主要测量，以通过检查干涉的可能性来确定用于取出工件的机器人位置，并且在机器人位置执行工件的取出 通过检查再次产生干扰的可能性来取出工件。

公开(公告)号：US20060212171A1

公开(公告)日：2006-09-21

申请号：US11375440

申请日：2006-03-15

申请人： Kazunori Ban ,  Taro Arimatsu ,  Takashi Jumonji

发明人： Kazunori Ban ,  Taro Arimatsu ,  Takashi Jumonji

IPC分类号： G06F19/00

CPC分类号： G05B19/4207 ,  B25J9/1697

摘要： An off-line teaching device, for adjusting a vision sensor and carrying out set-up work off-line, which used to be done in the field, so as to reduce the operation time in the field. The off-line teaching device has a storing device for storing data including the shapes and the dimensions of a workpiece, a robot and a vision sensor, and a display for indicating images of the workpiece, the robot and the vision sensor. The teaching device also has a simulation program for generating the images of the workpiece, the robot and the vision sensor on the display and for calculating measurement data of the vision sensor based on the arrangement of the images on the display, and a sensor program for carrying out measurement on the display by the vision sensor based on the measurement data.

摘要翻译： 一种离线教学装置，用于调整视觉传感器并进行离线的设置，这在现场已经完成，以减少现场的操作时间。 离线示教装置具有用于存储包括工件，机器人和视觉传感器的形状和尺寸的数据的存储装置，以及用于指示工件，机器人和视觉传感器的图像的显示器。 教学装置还具有用于在显示器上生成工件，机器人和视觉传感器的图像的模拟程序，并且用于基于显示器上的图像的布置来计算视觉传感器的测量数据，以及传感器程序 基于测量数据，通过视觉传感器在显示器上进行测量。

公开(公告)号：US20060145494A1

公开(公告)日：2006-07-06

申请号：US11245012

申请日：2005-10-07

申请人： Ryo Nihei ,  Kazunori Ban ,  Takashi Sato ,  Toshinari Tamura ,  Kokoro Hatanaka

发明人： Ryo Nihei ,  Kazunori Ban ,  Takashi Sato ,  Toshinari Tamura ,  Kokoro Hatanaka

IPC分类号： B66C1/42

CPC分类号： B25J9/1612 ,  B25J13/082 ,  B25J15/08 ,  Y10S294/907

摘要： A gripping type hand including a plurality of finger mechanisms provided respectively with finger joints, actuators for driving the finger joints, and links supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms. The operation controlling section coordinately controls the actuators of the plurality of finger mechanisms to adjust gripping force generated by the plurality of finger mechanisms, based on the operating positions of the finger joints detected by the position detecting section and the strains of the links detected by the strain detecting sections.

摘要翻译： 夹持型手包括分别设置有手指接头的多个指状机构，用于驱动指关节的致动器，以及由手指接头支撑的链节，并且在致动器的驱动力下操作。 夹持型手包括能够彼此独立地分别控制多个手指机构的致动器的操作控制部; 位置检测部分，用于分别检测多个手指机构的手指关节的操作位置; 和应变检测部分分别设置用于多个手指机构，并且由于施加到手指机构的力而检测在链接中产生的应变。 操作控制部基于由位置检测部检测到的手指关节的操作位置和由所述多个手指机构检测到的链节的张力，协调地控制多个手指机构的致动器，以调整由多个手指机构产生的夹持力 应变检测部分。

公开(公告)号：US06382012B2

公开(公告)日：2002-05-07

申请号：US09253719

申请日：1999-02-22

申请人： Ryuichi Hara ,  Kazunori Ban

发明人： Ryuichi Hara ,  Kazunori Ban

IPC分类号： G01L2500

CPC分类号： G01L25/00

摘要： A method for executing calibration without having to dismount a force sensor from a robot, and an apparatus for executing this method are provided. When a robot mounted with a calibrated force sensor begins to be operated, any tool whose position of the center of gravity and weight are immune from change is fitted, and a command for acquiring reference data is given to execute operational programs. Reference data V0 of matrices consisting of differences between strain gage outputs (S1, S2) of the force sensor in any predetermined posture and strain gage outputs in other predetermined postures differing both from that posture and from one another are calculated and stored (S3-1 to S7). When the measuring accuracy of the force sensor drops, the tool used when the reference data were acquired is mounted on the robot, and the same procedures S1 to S6 are executed, and the data V0 corresponding to the reference data are calculated. From the data V′0 and the reference data V0 is calculated a parameter M for updating the calibration matrices.

摘要翻译： 提供了一种用于执行校准而不必从机器人拆卸力传感器的方法，以及用于执行该方法的装置。 当安装有校准力传感器的机器人开始操作时，任何重心和重量位置都不受变化影响的工具被安装，并且获得参考数据的命令来执行操作程序。 计算并存储由任意预定姿势的力传感器的应变计输出（S1，S2）和应变计输出之间的差异的矩阵的参考数据V0和不同于其他预定姿势的应变计输出（S3-1 到S7）。 当力传感器的测量精度下降时，将获取参考数据时使用的工具安装在机器人上，并且执行相同的步骤S1至S6，并且计算与参考数据相对应的数据V0。 从数据V'0和参考数据V0计算用于更新校准矩阵的参数M.

公开(公告)号：US08380342B2

公开(公告)日：2013-02-19

申请号：US13184721

申请日：2011-07-18

申请人： Kazunori Ban ,  Hidetoshi Kumiya ,  Toshiyuki Ando

发明人： Kazunori Ban ,  Hidetoshi Kumiya ,  Toshiyuki Ando

IPC分类号： G06F7/00

CPC分类号： B25J9/1679 ,  B25J9/1697 ,  G05B2219/40053

摘要： A workpiece removing device including a camera for imaging a workpiece loading area including a plurality of workpieces loaded in bulk; a workpiece detection section for detecting a workpiece, based on a camera image taken with the camera; a workpiece selection section for selecting a workpiece adapted to be removed, based on a detection result by the workpiece detection section; a robot for removing the workpiece selected by the workpiece selection section; a loading state determination section for determining whether a loading state of the workpieces in the workpiece loading area has changed due to a operation of the robot; and an area setting section for setting a workpiece detection area where the workpiece detection section detects a workpiece. If the loading state determination section determines that the loading state of the workpieces has changed, the area setting section sets the workpiece detection area in a peripheral area of a changing position of the loading state, i.e., in a portion of the workpiece loading area.

摘要翻译： 一种工件移除装置，包括用于对包括多个装载的工件的工件装载区域进行成像的照相机; 基于用所述照相机拍摄的照相机图像来检测工件的工件检测部; 工件选择部，其基于所述工件检测部的检测结果来选择适于被去除的工件; 用于去除由工件选择部选择的工件的机器人; 装载状态判定部，其判定由于所述机器人的动作而使所述工件装载区域内的工件的装载状态发生了变化; 以及区域设定部，用于设定工件检测部检测出工件的工件检测区域。 如果装载状态确定部确定工件的装载状态已经改变，则区域设定部将工件检测区域设定在装载状态的变更位置的周边区域中，即在工件装载区域的一部分中。

公开(公告)号：US08306660B2

公开(公告)日：2012-11-06

申请号：US13116463

申请日：2011-05-26

申请人： Kazunori Ban ,  Gang Shen ,  Kyouhei Kokubo

发明人： Kazunori Ban ,  Gang Shen ,  Kyouhei Kokubo

IPC分类号： G05B19/18

CPC分类号： B25J9/1692 ,  B25J9/101

摘要： A device for restoring positional information of a robot provided with a first member and a second member; a motor moving the second member; and a sensor outputting a sensor signal. The device includes an imaging section obtaining an image signal in a region including a first mark and a second mark; a mark position computation section computing a first positional relationship between the first mark and the second mark at a first time and a second positional relationship at a second time, based on an image signal obtained by the imaging section at the first time and at the second time; and a correction section correcting positional information depending on a sensor signal, based on the first and second positional relationship, a first sensor signal output by the sensor at the first time and a second sensor signal output by the sensor at the second time.

摘要翻译： 一种用于恢复设置有第一构件和第二构件的机器人的位置信息的装置; 移动第二构件的电动机; 以及输出传感器信号的传感器。 该装置包括：成像部，其在包括第一标记和第二标记的区域中获得图像信号; 标记位置计算部分，基于由第一时间和第二时间由成像部分获得的图像信号，计算第一时间的第一标记和第二标记之间的第一位置关系和第二时间的第二位置关系 时间; 以及校正部，根据第一和第二位置关系，根据传感器信号校正位置信息，由第一时间由传感器输出的第一传感器信号和第二传感器输出的第二传感器信号。