公开(公告)号：US20060200274A1

公开(公告)日：2006-09-07

申请号：US11365601

申请日：2006-03-02

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

IPC分类号： G06F19/00

CPC分类号： B25J15/00

摘要： A hand as an end effector. The hand includes a base, a hook element associated with the base and capable of hooking and lifting an object, a holding element associated with the base and cooperating with the hook element to hold the object therebetween, and a drive section causing a relative movement between the hook element and the holding element. For example, the hook element is arranged movably in a direction toward and away from the holding element on the base, and the drive section drives the hook element. Alternatively, the holding element is arranged movably in a direction toward and away from the hook element on the base, and the drive section drives the holding element. A handling robot includes an arm and the above-described hand attached to the arm.

摘要翻译： 一只手作为末端执行器。 手包括基部，与基部相关联并能够钩住和提起物体的钩元件，与基部相关联并与钩元件配合以保持物体的保持元件，以及驱动部分，其引起相对运动 钩元件和保持元件。 例如，钩元件能够在朝向和远离基座上的保持元件的方向上移动地布置，并且驱动部分驱动钩元件。 或者，保持元件沿着朝向和远离基座上的钩元件的方向可移动地布置，并且驱动部分驱动保持元件。 处理机器人包括臂和附接到臂的上述手。

公开(公告)号：US07734376B2

公开(公告)日：2010-06-08

申请号：US11365601

申请日：2006-03-02

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

IPC分类号： G06F19/00

CPC分类号： B25J15/00

摘要： A hand as an end effector. The hand includes a base, a hook element associated with the base and capable of hooking and lifting an object, a holding element associated with the base and cooperating with the hook element to hold the object therebetween, and a drive section causing a relative movement between the hook element and the holding element. For example, the hook element is arranged movably in a direction toward and away from the holding element on the base, and the drive section drives the hook element. Alternatively, the holding element is arranged movably in a direction toward and away from the hook element on the base, and the drive section drives the holding element. A handling robot includes an arm and the above-described hand attached to the arm.

摘要翻译： 一只手作为末端执行器。 手包括基部，与基部相关联并能够钩住和提起物体的钩元件，与基部相关联并与钩元件配合以保持物体的保持元件，以及驱动部分，其引起相对运动 钩元件和保持元件。 例如，钩元件能够在朝向和远离基座上的保持元件的方向上移动地布置，并且驱动部分驱动钩元件。 或者，保持元件沿着朝向和远离基座上的钩元件的方向可移动地布置，并且驱动部分驱动保持元件。 处理机器人包括臂和附接到臂的上述手。

公开(公告)号：US08295975B2

公开(公告)日：2012-10-23

申请号：US12475622

申请日：2009-06-01

申请人： Taro Arimatsu ,  Kazunori Ban ,  Ichiro Kanno ,  Keisuke Watanabe

发明人： Taro Arimatsu ,  Kazunori Ban ,  Ichiro Kanno ,  Keisuke Watanabe

IPC分类号： G06F7/00

CPC分类号： B25J9/1697 ,  G05B2219/40053 ,  G06T1/0014

摘要： An object picking device, which is inexpensive and capable of speedily and accurately picking one object at a time from a random pile state. A target detecting part of an image processing part processes an image captured by a camera and detects objects. A target selecting part selects an object among the detected objects based on a certain rule. A view line direction calculating part calculates the direction of a view line extending to the selected object. A target position estimating part estimates the position including the height of the selected object based on size information of the object in the image. Then, a grip correction calculating part calculates an amount of correction of the movement of a robot so as to grip the object by using the robot.

摘要翻译： 一种物品拾取装置，其价格便宜并且能够一次从随机堆积状态快速且精确地拾取一个物体。 图像处理部分的目标检测部分处理由相机拍摄的图像并检测对象。 目标选择部分基于某一规则来选择检测对象中的对象。 视线方向计算部分计算延伸到所选对象的视线的方向。 目标位置估计部基于图像中的对象的大小信息，来估计包含所选对象的高度的位置。 然后，把手校正计算部分计算机器人的运动的校正量，以便通过使用机器人来夹持物体。

公开(公告)号：US20100004778A1

公开(公告)日：2010-01-07

申请号：US12475622

申请日：2009-06-01

申请人： Taro Arimatsu ,  Kazunori Ban ,  Ichiro Kanno ,  Keisuke Watanabe

发明人： Taro Arimatsu ,  Kazunori Ban ,  Ichiro Kanno ,  Keisuke Watanabe

IPC分类号： B25J19/04

CPC分类号： B25J9/1697 ,  G05B2219/40053 ,  G06T1/0014

摘要： An object picking device, which is inexpensive and capable of speedily and accurately picking one object at a time from a random pile state. A target detecting part of an image processing part processes an image captured by a camera and detects objects. A target selecting part selects an object among the detected objects based on a certain rule. A view line direction calculating part calculates the direction of a view line extending to the selected object. A target position estimating part estimates the position including the height of the selected object based on size information of the object in the image. Then, a grip correction calculating part calculates an amount of correction of the movement of a robot so as to grip the object by using the robot.

摘要翻译： 一种物品拾取装置，其价格便宜并且能够一次从随机堆积状态快速且精确地拾取一个物体。 图像处理部分的目标检测部分处理由相机拍摄的图像并检测对象。 目标选择部分基于某一规则来选择检测对象中的对象。 视线方向计算部分计算延伸到所选对象的视线的方向。 目标位置估计部基于图像中的对象的大小信息，来估计包含所选对象的高度的位置。 然后，把手校正计算部分计算机器人的运动的校正量，以便通过使用机器人来夹持物体。

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：US5727132A

公开(公告)日：1998-03-10

申请号：US518713

申请日：1995-08-24

申请人： Taro Arimatsu ,  Takashi Jyumonji ,  Kazuhisa Otsuka ,  Hiroaki Kubota

发明人： Taro Arimatsu ,  Takashi Jyumonji ,  Kazuhisa Otsuka ,  Hiroaki Kubota

IPC分类号： B65G43/08 ,  B25J9/10 ,  B25J13/00 ,  G05B19/18 ,  G05B19/19 ,  G05B19/408 ,  G05B19/42 ,  G06F15/46

CPC分类号： G05B19/4083 ,  G05B2219/36404 ,  G05B2219/39102

摘要： A robot visual-tracking method in which the precision of a tracking movement of a robot is improved using a visual sensor. A count value N (0) of a pulse coder is stored when a sensor detects a workpiece. Then, arrival of the workpiece at a taught photographing position is detected based on an incremental quantity from the count value N (0) of the pulse coder, and the workpiece is photographed by a camera. A deviation is obtained between positions of two points Wa and Wb on the workpiece and the reference positions thereof. When the workpiece arrives at a tracking start position L1, a tracking coordinate system .SIGMA.tr starts to move and tracking operations of the robot are started. In the tracking operation, the robot position is corrected to compensate the detected deviation amount. The robot approaches the workpiece W to meet with it and grips the workpiece W by a hand when the workpiece W reaches a position Q0. Then, when the workpiece W arrives at a tracking termination position L3, the tracking operation is terminated. The robot moves to a teaching point Q2 according to a normal playback operation, where the hand is opened to release the workpiece W.

摘要翻译： 使用视觉传感器提高机器人的跟踪运动的精度的机器人视觉跟踪方法。 当传感器检测到工件时，存储脉冲编码器的计数值N（0）。 然后，根据来自脉冲编码器的计数值N（0）的增量量来检测工件到教导的拍摄位置，并且通过照相机拍摄工件。 在工件上的两点Wa和Wb的位置及其参考位置之间获得偏差。 当工件到达跟踪开始位置L1时，跟踪坐标系SIGMA tr开始移动，并且启动机器人的跟踪操作。 在跟踪操作中，校正机器人位置以补偿检测到的偏差量。 当工件W到达位置Q0时，机器人靠近工件W以与其对齐并用手握住工件W。 然后，当工件W到达跟踪终止位置L3时，跟踪操作终止。 机器人根据通常的重放操作移动到教学点Q2，其中手打开以释放工件W.

公开(公告)号：US07200260B1

公开(公告)日：2007-04-03

申请号：US09546213

申请日：2000-04-10

申请人： Atsushi Watanabe ,  Taro Arimatsu

发明人： Atsushi Watanabe ,  Taro Arimatsu

IPC分类号： G06K9/00 ,  G06K9/62 ,  G06F19/00 ,  G05B19/00 ,  G05B15/00 ,  G05B19/18

CPC分类号： B25J9/1692

摘要： A workpiece W serving as an object for detection is fixed in place. A camera 20 is mounted to the end of a robot RB. The camera is turned about an axis, which passes through the center position of the workpiece W and is perpendicular to the optical axis of the camera, to take an image of the workpiece W at a plurality of positions in different directions. A teaching model is generated on the basis of each produced image data. The relative position and posture of the workpiece to the camera 20 is also stored in association with the teaching model. Thus, it is possible to easily generate the teaching model of the workpiece regardless of three-dimensional variations in posture.

摘要翻译： 用作检测对象的工件W被固定就位。 照相机20安装在机器人RB的末端。 相机绕轴线转动，该轴线穿过工件W的中心位置并垂直于相机的光轴，以在不同方向上的多个位置拍摄工件W的图像。 基于每个生成的图像数据生成教学模型。 工件与照相机20的相对位置和姿态也与教学模型相关联地存储。 因此，无论姿势的三维变化如何，都可以容易地生成工件的教学模型。

公开(公告)号：US07151848B1

公开(公告)日：2006-12-19

申请号：US09429920

申请日：1999-10-29

申请人： Atsushi Watanabe ,  Ryuichi Hara ,  Taro Arimatsu

发明人： Atsushi Watanabe ,  Ryuichi Hara ,  Taro Arimatsu

IPC分类号： G06K9/00

CPC分类号： B25J9/1697 ,  B25J9/1656 ,  G05B2219/39449 ,  G05B2219/40385 ,  G05B2219/40564 ,  G05B2219/40607

摘要： A robot control unit 42 and an image processing control unit (control unit of the image processing apparatus) 43 are incorporated into a robot controller 40. A camera CM is connected to the image processing control unit 43. A main body 1 of a robot is connected to the robot control unit 42 through an amplifier 41. A portable robot teaching pendant 80 connected to the robot control unit 42 is provided with a monitor display, and functions also as a teaching pendant of the image processing apparatus. Therefore, by using the teaching pendant 80, manipulation of image processing, and issuing of an instruction to a program for processing an image can be performed. Furthermore, an image obtained by a camera CM, and information relevant to the manipulation of the image processing apparatus such as an operation menu, etc. can be displayed on the monitor display. Therefore, an operator can efficiently perform all operations relevant to the robot, the camera, processing an image, etc. while watching a monitor screen.

摘要翻译： 机器人控制单元42和图像处理控制单元（图像处理设备的控制单元）43并入机器人控制器40中。相机CM连接到图像处理控制单元43.机器人的主体1 通过放大器41连接到机器人控制单元42.连接到机器人控制单元42的便携式机器人示教装置80设置有监视器显示器，并且还用作图像处理装置的示教装置。 因此，通过使用示教装置80，可以执行对图像处理的操作，以及向用于处理图像的程序发出指令。 此外，可以在监视器显示器上显示由照相机CM获得的图像，以及与诸如操作菜单等的图像处理装置的操纵有关的信息。 因此，操作者可以在观看监视器屏幕的同时有效地执行与机器人，相机，处理图像等相关的所有操作。

公开(公告)号：US07177459B1

公开(公告)日：2007-02-13

申请号：US09546392

申请日：2000-04-10

申请人： Atsushi Watanabe ,  Taro Arimatsu

发明人： Atsushi Watanabe ,  Taro Arimatsu

IPC分类号： G06K9/00

CPC分类号： B25J9/1697 ,  G05B2219/37553 ,  G05B2219/37555 ,  G05B2219/37567 ,  G05B2219/39393 ,  G05B2219/40053 ,  G05B2219/40613

摘要： A robot system having an image processing function capable of detecting position and/or posture of individual workpieces randomly arranged in a stack to determine posture, or posture and position of a robot operation suitable for the detected position and/or posture of the workpiece. Reference models are created from two-dimensional images of a reference workpiece captured in a plurality of directions by a first visual sensor and stored. Also, the relative positions/postures of the first visual sensor with respect to the workpiece at the respective image capturing, and relative position/posture of a second visual sensor to be situated with respect to the workpiece are stored. Matching processing between an image of a stack of workpieces captured by the camera and the reference models are performed and an image of a workpiece matched with one reference model is selected. A three-dimensional position/posture of the workpiece is determined from the image of the selected workpiece, the selected reference model and position/posture information associated with the reference model. The position/posture of the second visual sensor to be situated for measurement is determined based on the determined position/posture of the workpiece and the stored relative position/posture of the second visual sensor, and precise position/posture of the workpiece is measured by the second visual sensor at the determined position/posture of the second visual sensor. A picking operation for picking out a respective workpiece from a randomly arranged stack can be performed by a robot based on the measuring results of the second visual sensor.

摘要翻译： 一种具有图像处理功能的机器人系统，其能够检测随机布置在堆叠中的各个工件的位置和/或姿势，以确定适合于检测到的工件的位置和/或姿势的机器人操作的姿势或姿势和位置。 通过第一视觉传感器从多个方向上捕获的参考工件的二维图像创建参考模型并存储。 此外，存储第一视觉传感器相对于相应图像拍摄时的工件的相对位置/姿势以及相对于工件定位的第二视觉传感器的相对位置/姿势。 执行由照相机拍摄的工件堆叠的图像与参考模型之间的匹配处理，并且选择与一个参考模型匹配的工件的图像。 从所选择的工件的图像，所选择的参考模型和与参考模型相关联的位置/姿势信息确定工件的三维位置/姿势。 基于确定的工件的位置/姿势和第二视觉传感器的存储的相对位置/姿势来确定要测量的第二视觉传感器的位置/姿势，并且通过以下方式测量工件的精确位置/姿态： 在第二视觉传感器的确定的位置/姿势下的第二视觉传感器。 可以通过机器人基于第二视觉传感器的测量结果来执行从随机布置的堆叠中挑选相应工件的拾取操作。

公开(公告)号：US07084900B1

公开(公告)日：2006-08-01

申请号：US09546214

申请日：2000-04-10

申请人： Atsushi Watanabe ,  Taro Arimatsu

发明人： Atsushi Watanabe ,  Taro Arimatsu

IPC分类号： H04N7/18 ,  H04N9/47

CPC分类号： G06K9/6203 ,  G06T7/75 ,  G06T2207/30164

摘要： An image processing apparatus capable of detecting position and posture of individual workpieces randomly arranged in a stack and having identical shapes. Reference models are created from two-dimensional images of a reference workpeace captured in a plurality of directions by a camera and stored. Also, the relative positions/postures of the workpiece with respect to the camera at the respective image capturing are stored. An image of a stack of workpieces is captured by the camera to obtain a two-dimensional image and the position/posture of the camera at the image capturing is stored. An image of a workpiece matched with one reference model is selected by matching processing of the reference model with the captured image. A three-dimensional position/posture of the workpiece with respect to the camera is obtained from the image of the selected workpiece, the selected reference model and position/posture information associated with the reference model. A picking operation for picking out a respective workpiece from a randomly arranged stack can be performed by a robot based on the position/posture of the workpiece.

摘要翻译： 一种图像处理装置，能够检测随机布置在堆叠中并具有相同形状的各个工件的位置和姿势。 通过照相机在多个方向上捕获的参考工作平衡的二维图像来创建参考模型并存储。 此外，存储相对于相机在相应图像拍摄时相对于工件的相对位置/姿势。 通过照相机拍摄一堆工件的图像以获得二维图像，并存储摄像机在摄像时的位置/姿势。 通过参考模型与捕获图像的匹配处理来选择与一个参考模型相匹配的工件的图像。 从所选择的工件的图像，所选择的参考模型和与参考模型相关联的位置/姿势信息获得工件相对于照相机的三维位置/姿态。 可以通过机器人基于工件的位置/姿势来执行从随机布置的堆叠中挑选相应工件的拾取操作。