公开(公告)号：US20190031452A1

公开(公告)日：2019-01-31

申请号：US16039330

申请日：2018-07-19

申请人： FANUC CORPORATION

发明人： Kentaro KOGA ,  Masafumi OOBA

IPC分类号： B65G47/90 ,  G06T7/20

CPC分类号： B65G47/905 ,  B25J9/1697 ,  B65G43/08 ,  B65G2203/0225 ,  B65G2203/0233 ,  B65G2203/025 ,  B65G2203/041 ,  G06T7/20

摘要： An article transport system with few missed detections, and a controller used in the system. The system includes: a conveyor that sequentially transports plural workpieces; a conveyor sensor that obtains conveyance operation information of the conveyor; an arrival sensor that senses the arrival of each workpiece; a camera that captures an image of each workpiece; a position detection processing section that detects the workpiece from the image, and identifies a position of the workpiece on the conveyor; a movement distance designation section that designates first and second movement distances; an image capturing control section that controls the camera to capture an image of the workpiece upon the conveyor advancing by the first movement distance after the arrival of the workpiece has been sensed, and each time the conveyor advances by the second movement distance; and a number designation section that designates an upper limit number for the detection process.

公开(公告)号：US20180174266A1

公开(公告)日：2018-06-21

申请号：US15843861

申请日：2017-12-15

申请人： FANUC CORPORATION

发明人： Kentaro KOGA

IPC分类号： G06T1/00 ,  B65G47/71 ,  B25J9/16 ,  B65G43/08 ,  G05B19/418

CPC分类号： G06T1/0014 ,  B25J9/1679 ,  B25J9/1697 ,  B65G43/08 ,  B65G47/71 ,  G05B19/41815 ,  G05B19/4182 ,  G05B2219/39102 ,  G05B2219/39106 ,  G05B2219/39394 ,  G06K9/00771 ,  G06K2209/19 ,  Y02P90/08 ,  Y02P90/083

摘要： A robot system includes an image pickup apparatus that picks up images of a plurality of kinds of articles conveyed by a conveyor; an article controlling portion that controls time and a position of each of the plurality of kinds of articles being supplied onto the conveyor, to limit kinds of articles to be image-picked-up by the image pickup apparatus in advance; a detecting portion that detects the plurality of kinds of articles from among images picked up by the image pickup apparatus, on the basis of the kinds of articles limited in advance by the article controlling portion; and a robot that is configured to take out the plurality of kinds of articles detected by the detecting portion from the conveyor.

公开(公告)号：US20230224450A1

公开(公告)日：2023-07-13

申请号：US18000933

申请日：2021-06-14

申请人： FANUC CORPORATION

发明人： Zeyuan SUN ,  Kentaro KOGA

IPC分类号： H04N13/286 ,  G06T7/593 ,  H04N13/239 ,  H04N13/254 ,  G06T7/521 ,  G06T3/20

CPC分类号： H04N13/286 ,  G06T7/593 ,  H04N13/239 ,  H04N13/254 ,  G06T7/521 ,  G06T3/20 ,  G06T2207/30164

摘要： Provided is an imaging device for acquiring three-dimensional information of a workpiece surface and a two-dimensional image. An imaging device comprises a visual sensor for acquiring a two-dimensional image after acquiring three-dimensional information of a workpiece surface. A position detection device is attached to the conveyor drive motor of a conveyor that conveys a workpiece. An image processing part calculates the amount of movement of the workpiece from when the three-dimensional information is acquired to when the two-dimensional image is captured on the basis of an output of the position detection device. The image processing part moves the three-dimensional information relative to the two-dimensional image in such a manner as to correspond to the amount of movement of the workpiece in a predetermined coordinate system.

公开(公告)号：US20230138649A1

公开(公告)日：2023-05-04

申请号：US17918400

申请日：2021-05-14

申请人： FANUC CORPORATION

发明人： Kentaro KOGA

IPC分类号： B25J9/16 ,  B25J13/08

摘要： A following robot including an arm, at least one visual sensor, a feature-value storage unit that stores, as target data for causing the visual sensor to follow a follow target, first feature values related to at least the position and the orientation of the follow target, a feature-value detecting unit for detecting, by using an image acquired by the visual sensor, second feature values related to at least current position and orientation of the follow target, a movement-amount computing unit computing a movement instruction based on differences between the second feature values and the first feature values and adjusting the movement instruction by using at least feedforward control, a movement instructing unit which moves the arm based on the movement instruction, and an input-value storage unit that stores a signal acquired when a specific motion of the follow target is started and an input value for the feedforward control.

公开(公告)号：US20190193947A1

公开(公告)日：2019-06-27

申请号：US16204762

申请日：2018-11-29

申请人： Fanuc Corporation

发明人： Kentaro KOGA

IPC分类号： B65G47/00 ,  B25J9/16 ,  B65G43/00 ,  G06T7/73 ,  G06T7/50

CPC分类号： B65G47/00 ,  B25J9/1697 ,  B65G43/00 ,  G06T7/50 ,  G06T7/74 ,  G06T2207/10012 ,  G06T2207/30164

摘要： An article transfer apparatus includes: a conveyor configured to transfer workpieces; a photographing unit that acquires a three-dimensional image by photographing the transferred workpieces; a workpiece distinguishing unit that detects three-dimensional shapes and postures of the workpieces on the basis of the three-dimensional image acquired by the photographing unit; a storage unit that stores therein three-dimensional shapes of reference workpieces and postures of the reference workpieces in a state in which the reference workpieces do not overlap with another workpiece; and an overlap judgement unit that judges whether there is an overlap between the workpieces on the basis of the three-dimensional shapes and the postures of the reference workpieces stored in the storage unit, and the three-dimensional shapes and the postures of the workpieces detected by the workpiece distinguishing unit.

公开(公告)号：US20190039247A1

公开(公告)日：2019-02-07

申请号：US16015444

申请日：2018-06-22

申请人： Fanuc Corporation

发明人： Taiki KATAGIRI ,  Masafumi OOBA ,  Kentaro KOGA

IPC分类号： B25J9/16 ,  G05B19/402

摘要： An article transfer device includes a robot configured to perform a workpiece picking operation; an image capturing device that captures an image of a workpiece on a conveyor; and a control unit, configured to execute, a workpiece identification process performing workpiece detection in the captured images; a workpiece information storage process storing workpiece information about a position and an angle of each detected workpiece in a storage device; and an identical workpiece determination process comparing the workpiece information of each of the detected workpieces in a newly captured image with the workpiece information of each of the detected workpieces in previously captured images, to determine whether the detected workpieces that are identical to the detected workpieces in the previously captured images exist in the newly captured image, to store in the storage device only the workpiece information of one of the images regarding the detected workpieces determined to be identical.

公开(公告)号：US20180043527A1

公开(公告)日：2018-02-15

申请号：US15670126

申请日：2017-08-07

申请人： FANUC CORPORATION

发明人： Kentaro KOGA

IPC分类号： B25J9/00 ,  G05B19/19 ,  G05B19/408 ,  B65G43/08

CPC分类号： B25J9/0093 ,  B25J13/00 ,  B65G43/08 ,  G05B19/19 ,  G05B19/408 ,  G05B19/41815 ,  G05B2219/39102 ,  Y02P90/083

摘要： A robot system includes a conveying device, a robot, a control unit for controlling operation of the robot by transmitting a drive signal to a motor of the robot, and for outputting a driving speed control signal to the conveying device, and an encoder for detecting a conveying speed of the conveying device in a regular operation mode, where, when the robot is to be operated in a teach mode and a test mode, the control unit transmits a drive signal to the robot such that an operation speed is reduced by a received override value, and outputs the driving speed control signal such that the conveying speed of the conveying device is reduced by the override value.