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公开(公告)号：US20210174555A1
公开(公告)日：2021-06-10
申请号：US17090963
申请日：2020-11-06
申请人： FANUC CORPORATION
发明人： Masafumi OOBA , Wataru MIYAZAKI
IPC分类号： G06T11/00 , G09G5/38 , G06T7/70 , G05B19/4155
摘要： A display device includes an augmented reality display part that displays a virtual robot that operates in accordance with a predetermined program together with objects in real space, a position detection part that detects the position of a work target in real space by measuring a distance to the work target from the augmented reality display part, and a control part that causes the virtual robot displayed on the augmented reality display part to operate based on the position of the work target detected by the position detection part to perform predetermined work on the work target.
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公开(公告)号：US20190232491A1
公开(公告)日：2019-08-01
申请号：US16245573
申请日：2019-01-11
申请人： FANUC CORPORATION
发明人： Masafumi OOBA
摘要： A work robot system including a conveying apparatus that conveys an object in one direction; a robot that performs a predetermined task on a target portion of the object being conveyed by the conveying apparatus, a movement amount detector that sequentially detects the movement amount of the object moved by the conveying apparatus, and a force detector that detects a force generated by contact between a tool supported by the robot and the object. Then, when the predetermined task is performed, a controller performs force control based on a value detected by the force detector while performing control of the robot by use of information about the position of the target portion and a value detected by the movement amount detector.
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公开(公告)号：US20190224851A1
公开(公告)日：2019-07-25
申请号：US16214286
申请日：2018-12-10
申请人： FANUC CORPORATION
发明人： Masafumi OOBA
摘要： A robot system includes: a transport device; an article accumulating part that can block the article without stopping the operation of the transport device; a robot performing a task on the article in a working area defined on a downstream side; a control unit; an article-decelerating unit that can reduce the speed of the article in the working area; a detecting unit detecting the traveling distance of the article; a sensing unit that detects the position of the article on an upstream side; and a management unit that causes the article to be blocked and causes the speed of the article to be reduced when the management unit determines that the task will not be completed within the working area. The control unit calculates the current position of the article based on the position and the traveling distance and causes the robot to follow the article to complete the task.
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公开(公告)号：US20190047141A1
公开(公告)日：2019-02-14
申请号：US16033628
申请日：2018-07-12
申请人： FANUC CORPORATION
发明人： Masafumi OOBA
CPC分类号： B65G47/08 , B07C1/04 , B25J9/0093 , B25J9/1697 , B65B57/10 , B65G43/08 , G05B19/41815 , G05B19/4182 , G05B2219/39106
摘要： A robot system including a conveying device; a robot that processes an object being conveyed; a first and second supply unit that supply the object onto the conveying device; a movement amount detection unit that successively detects an amount of movement of the object supplied by the first supply unit; a single vision sensor that successively acquires visual information of the object being conveyed; an object detection unit that processes the acquired visual information to detect position and orientation of the object; an interval detection unit that detects an interval between objects on the conveying device; a control unit that controls the robot based on the amount of movement and the position and orientation; and a production management unit that causes the second supply unit to supply the object at a position of the interval.
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公开(公告)号：US20180370023A1
公开(公告)日：2018-12-27
申请号：US16003800
申请日：2018-06-08
申请人： FANUC CORPORATION
发明人： Masafumi OOBA
摘要： A robot system provided with: a conveying apparatus; a robot that performs processing on an article being conveyed; a camera that captures images of the article being conveyed; a conveying-velocity calculating portion that calculates at least one of a position of the article on the conveying apparatus and a velocity at which the article is conveyed by the conveying apparatus on the basis of the plurality of images captured by the camera; and a control unit that controls the robot on the basis of at least one of the position and the conveying velocity. The control unit determines whether or not the article is present in the images, and, in the case in which the article is absent, controls the robot on the basis of at least one of the position and the conveying velocity calculated by the conveying-velocity calculating portion immediately therebefore.
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公开(公告)号：US20180085922A1
公开(公告)日：2018-03-29
申请号：US15709613
申请日：2017-09-20
申请人： FANUC CORPORATION
发明人： Masafumi OOBA
CPC分类号： B25J9/1664 , B25J9/0093 , B25J9/1615 , B25J9/1669 , B25J9/1679 , B25J9/1697 , B25J15/10 , G05B2219/37555 , G05B2219/39106 , G05B2219/39486 , G05B2219/40007 , G05B2219/40053 , G05B2219/45063
摘要： A carrier device includes a conveyor configured to carry objects supplied continuously; an object detection unit configured to detect the positions and orientations of the objects disposed in a predetermined area on the conveyor; a combination calculation unit, when a robot grasps multiple objects, out of the objects, with a hand and places the grasped objects in a container, configured to calculate combinations of sequences to grasp the objects by the hand; an index calculation unit configured to calculate an index for each combination using the distances and rotation amounts between the objects to be grasped by the hand based on the positions and orientations of the objects; and a robot control unit configured to determine the sequences to grasp the objects by the hand based on the indexes, and grasping the objects and placing the objects in the containers in accordance with the determined sequences.
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公开(公告)号：US20220324118A1
公开(公告)日：2022-10-13
申请号：US17847651
申请日：2022-06-23
申请人： FANUC CORPORATION
发明人： Masafumi OOBA
摘要： A work robot system including a conveying apparatus that conveys an object, a robot that performs a predetermined task on a target portion of the object being conveyed by the conveying apparatus, a controller that controls the robot, a sensor that is attached to the robot and successively detects a position, relative to the robot, of the target portion of the object being conveyed by the conveying apparatus, and a force detector that detects a force generated by a contact between the object and a part supported by the robot. When the robot is performing the predetermined task, the controller performs force control based on a detection value of the force detector while controlling the robot by using a detection result of the sensor.
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公开(公告)号：US20210170581A1
公开(公告)日：2021-06-10
申请号：US17090947
申请日：2020-11-06
申请人： FANUC CORPORATION
发明人： Masafumi OOBA
IPC分类号： B25J9/16 , G05B19/402
摘要： The controller includes a program storage that stores programs specifying a plurality of operations associated with at least one operable unit; a program executor that executes the programs; an operation executor that causes the operable unit to operate according to the programs; and an operable unit manager that manages control of the programs. When a program is called from one of the programs, the operable unit manager obtains control of a group associated with the operable unit and specified in the called program, and releases control of a group other than the group associated with the operable unit and specified in the called program.
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公开(公告)号：US20210039261A1
公开(公告)日：2021-02-11
申请号：US16926780
申请日：2020-07-13
申请人： FANUC CORPORATION
发明人： Masafumi OOBA
摘要： A robot control system includes: a selector configured to perform a selection of a task object from among a plurality of workpieces by using a first vision sensor; and an operation control section configured to control a robot to perform a task on the task object by using a tool. The selection and the task are executed simultaneously and in parallel, the selector transmits the information of the selected task object to the operation control section before the task, and the operation control section controls the robot based on the transmitted information of the task object.
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公开(公告)号：US20200269448A1
公开(公告)日：2020-08-27
申请号：US16790742
申请日：2020-02-14
申请人： FANUC CORPORATION
发明人： Masafumi OOBA
摘要： An object detection device detects, when a camera that generates an image representing a target object and the target object do not satisfy a predetermined positional relationship, a position of the target object on the image by inputting the image to a classifier, and detects, when the camera and the target object satisfy the predetermined positional relationship, a position of the target object on the image by comparing, with the image, a template representing a feature of an appearance of the target object when the target object is viewed from a predetermined direction.
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