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：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：US06665588B2

公开(公告)日：2003-12-16

申请号：US10193172

申请日：2002-07-12

申请人： Atsushi Watanabe ,  Katsutoshi Takizawa ,  Kazunori Ban ,  Ichiro Kanno

发明人： Atsushi Watanabe ,  Katsutoshi Takizawa ,  Kazunori Ban ,  Ichiro Kanno

IPC分类号： G05B1500

CPC分类号： B23Q7/10 ,  B23Q7/04 ,  B23Q17/24 ,  B25J9/1697 ,  B65G61/00 ,  G05B2219/40053 ,  G05B2219/40613

摘要： A workpiece is gripped and unloaded by moving workpiece unloading means based on the results of measuring the workpiece position and orientation with a visual sensor. When a plurality of loaded workpieces are unloaded in a regular order one by one, or in groups, the position and orientation of the workpiece which is to be unloaded next change for each unloading. However, since a visual sensor is moved when necessary to the position appropriate for measuring the workpiece position and orientation, measurements of the workpieces with the visual sensor are conducted accurately. Therefore, the workpiece unloading is conducted reliably.

摘要翻译： 基于通过视觉传感器测量工件位置和方向的结果，通过移动工件卸载装置来夹紧和卸载工件。 当多个装载的工件以规则的顺序逐个或组合地卸载时，待卸载的工件的位置和取向接下来对于每次卸载而改变。 然而，由于视觉传感器在必要时移动到适于测量工件位置和方位的位置，所以可以精确地进行用视觉传感器的工件的测量。 因此，可靠地进行工件卸载。

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：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：US07171041B2

公开(公告)日：2007-01-30

申请号：US09950794

申请日：2001-09-13

申请人： Atsushi Watanabe ,  Katsutoshi Takizawa ,  Kazunori Ban

发明人： Atsushi Watanabe ,  Katsutoshi Takizawa ,  Kazunori Ban

IPC分类号： G06K9/00 ,  G06T15/00

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

摘要： Upon reception of a work sensing command from a robot controller, an image processing unit obtains a two-dimensional image of thee whole work pallet including a work, with a CCD camera (a first sensor means). A line of sight is calculated based on the work position on the sensed two-dimensional image. The robot controller determines the destination of movement of the robot such that a crossing line LC of slit beams LB1, LB2 of a laser sensor (a second sensor means) can agree with the calculated line of eight. The image processing unit operates the laser sensor so as to surely irradiate the laser slit beams LB1, LB2 to the target work, permitting the laser sensor to sense the three-dimensional positional and orientation of the target work.

摘要翻译： 在从机器人控制器接收到作业感测命令时，图像处理单元利用CCD照相机（第一传感器装置）获得包括作品的整个工作托盘的二维图像。 基于感测的二维图像上的工作位置来计算视线。 机器人控制器确定机器人的运动的目的地，使得激光传感器（第二传感器装置）的狭缝梁LB1，LB2的交叉线LC可以与所计算的八条线一致。 图像处理单元操作激光传感器，以确保将激光狭缝束LB1，LB2照射到目标工件上，允许激光传感器感测目标工件的三维位置和取向。

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：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：US08132835B2

公开(公告)日：2012-03-13

申请号：US12555150

申请日：2009-09-08

申请人： Kazunori Ban ,  Fumikazu Warashina ,  Shouta Takizawa

发明人： Kazunori Ban ,  Fumikazu Warashina ,  Shouta Takizawa

IPC分类号： B25B7/00

CPC分类号： B25J15/0616 ,  B25J15/0266

摘要： A workpiece gripping device includes a primary catching mechanism having a suction pad adapted to hold a workpiece by suction power and a rod-like part having the suction pad mounted on one end thereof, gripping pawls sandwiching and gripping the workpiece, a drive unit for supplying a drive power, and a transmission mechanism transmitting the drive power of the drive unit to the gripping pawls. The transmission mechanism moves the gripping pawls along an axis of the rod-like part between a gripping position where the gripping pawls are projected beyond the suction pad and a retreated position where the gripping pawls are retreated from the suction pad toward the base plate. The gripping pawls are moved to the gripping position along the axis of the rod-like part while shortening the distance between the gripping pawls.

摘要翻译： 工件夹持装置包括主捕捉机构，其具有适于通过抽吸动力保持工件的吸盘和具有安装在其一端上的吸盘的杆状部件，夹持夹持工件的夹爪，用于供给的驱动单元 驱动力和将驱动单元的驱动力传递到夹爪的传动机构。 所述传动机构沿着所述杆状部件的轴线将所述抓持爪沿夹持位置移动到所述抓持爪突出超过所述吸盘之间的夹持位置和所述夹持爪从所述吸盘朝向所述基板后退的位置。 夹持爪沿杆状部件的轴线移动到夹紧位置，同时缩短夹紧爪之间的距离。

公开(公告)号：US20070002315A1

公开(公告)日：2007-01-04

申请号：US11478634

申请日：2006-07-03

申请人： Kazunori Ban ,  Fumikazu Warashina ,  Toshiyuki Ando

发明人： Kazunori Ban ,  Fumikazu Warashina ,  Toshiyuki Ando

IPC分类号： G01N21/88

CPC分类号： G01B11/2425 ,  G01N21/954

摘要： A screw portion inspection apparatus for inspecting, by image processing, a screw portion provided in an object. The apparatus includes an imaging section for picking up an image of a region, including a screw portion, in an object along a direction inclined with respect to a center axis of the screw portion, and obtaining a two-dimensional image of the object; an image processing section for subjecting image data of the screw portion in the two-dimensional image obtained by the imaging section to a filtering process; and a thread judging section for judging whether a thread exists in the screw portion, based on output image data, of the screw portion, resulting from the filtering process. The filtering process performed by the image processing section includes an edge detection process, and the output image data of the screw portion includes edge data in the screw portion. The thread judging section judges whether the thread exists in the screw portion, based on an amount of information in the edge data resulting from the edge detection process.

摘要翻译： 一种用于通过图像处理检查设置在物体中的螺纹部分的螺纹部分检查装置。 该装置包括成像部分，用于沿着相对于螺钉部分的中心轴线倾斜的方向，在物体中拾取包括螺纹部分的区域的图像，并获得物体的二维图像; 图像处理部，其对由所述摄像部获得的二维图像中的所述螺纹部的图像数据进行滤波处理; 以及螺纹判断部，其基于由过滤处理得到的螺纹部的输出图像数据，判断螺纹部是否存在螺纹部。 由图像处理部执行的滤波处理包括边缘检测处理，螺旋部分的输出图像数据包括螺纹部分中的边缘数据。 螺纹判断部基于从边缘检测处理得到的边缘数据中的信息量来判断螺纹是否存在于螺纹部。