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公开(公告)号：US12017371B2
公开(公告)日：2024-06-25
申请号：US17654909
申请日：2022-03-15
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Yongxiang Fan
CPC classification number: B25J9/1697 , B25J9/1607 , B25J9/1653 , B25J9/1664 , B25J9/1684 , G06T7/0004 , G06T7/60 , G06T7/74 , G05B2219/39397 , G05B2219/40564 , G06T2207/30164
Abstract: A method for line matching during image-based visual servoing control of a robot performing a workpiece installation. The method uses a target image from human demonstration and a current image of a robotic execution phase. A plurality of lines are identified in the target and current images, and an initial pairing of target-current lines is defined based on distance and angle. An optimization computation determines image transposes which minimize a cost function formulated to include both direction and distance between target lines and current lines using 2D data in the camera image plane, and constraint equations which relate the lines in the image plane to the 3D workpiece pose. The rotational and translational transposes which minimize the cost function are used to update the line pair matching, and the best line pairs are used to compute a difference signal for controlling robot motion during visual servoing.
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公开(公告)号：US20220080581A1
公开(公告)日：2022-03-17
申请号：US17502636
申请日：2021-10-15
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Tetsuaki Kato
Abstract: A method for dual arm robot teaching from dual hand detection in human demonstration. A camera image of the demonstrator's hands and workpieces is provided to a first neural network which determines the identity of the left and right hand from the image, and also provides cropped sub-images of the identified hands. The cropped sub-images are provided to a second neural network which detects the poses of both the left and right hand from the images. The dual hand pose data for an entire operation is converted to robot gripper pose data and used for teaching two robot arms to perform the operation on the workpieces, where each hand's motion is assigned to one robot arm. Edge detection from camera images may be used to refine robot motions in order to improve part localization for tasks requiring precision, such as inserting a part into an aperture.
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公开(公告)号：US11000949B2
公开(公告)日：2021-05-11
申请号：US15901811
申请日：2018-02-21
Applicant: FANUC CORPORATION
Inventor： Shinichi Washizu , Hajime Suzuki , Kaimeng Wang
Abstract: A control device includes a learning control part in which a difference is calculated between a target position and an actual position of a portion detected based on a sensor, and an operation-speed change rate is increased or reduced several times within a maximum value of the operation-speed change rate set for increasing or reducing the operation speed of a robot mechanism unit and within allowance conditions of vibrations occurring at the portion to be controlled; meanwhile, learning is repeated to calculate an updated compensation amount based on the difference and a previous compensation amount previously calculated for suppressing vibrations at each operation-speed change rate, and a convergent compensation amount and a convergent operation-speed change rate are stored after convergence of the compensation amount and the operation-speed change rate.
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公开(公告)号：US10646995B2
公开(公告)日：2020-05-12
申请号：US16018078
申请日：2018-06-26
Applicant: FANUC CORPORATION
Inventor： Shinichi Washizu , Hajime Suzuki , Kaimeng Wang
Abstract: A control device repeats learning of: calculating an allowable condition for speed variations during a processing operation based on an allowable condition for processing error; setting an operating speed change rate used to increase or reduce an operating speed of a robot mechanism unit using a calculated allowable condition for speed variations; and, while increasing or reducing the operating speed change rate over a plurality of repetitions within a range not exceeding a maximum value of the operating speed change rate and within a range of an allowable condition for vibrations occurring in a control target, calculates a new correction amount based on an amount of difference between a position of the control target detected based on a sensor and a target position, and a previously-calculated correction amount.
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公开(公告)号：US10520912B2
公开(公告)日：2019-12-31
申请号：US15815893
申请日：2017-11-17
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Shuusuke Watanabe
IPC: G05B19/425 , G05B19/19 , B25J9/16 , G05B13/04 , B25J13/06
Abstract: A robot controller having a function that simplifies learning and a robot control method. The robot controller includes: a learning section configured to carry out learning of detecting a deviation between a commanded trajectory representing a position of the robot generated according to the command values and an operation trajectory representing an actual position where the robot has moved, and generate a corrected program by adjusting the commanded trajectory; a saving section configured to save the corrected program; and a relearning section configured to carry out relearning on a relearning location, the relearning location being a part of the operation trajectory designated by an operator.
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Patent Agency Ranking
公开(公告)号：US20250026008A1
公开(公告)日：2025-01-23
申请号：US18355914
申请日：2023-07-20
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Yu Zhao , Tetsuaki Kato
IPC: B25J9/16
Abstract: A method for robot path planning using skills extracted from human-taught motion programs applied to a new obstacle environment. A three-dimensional convolutional neural network is used to extract features characterizing an obstacle environment, where the feature vector representation of the obstacles overcomes problems encountered when using point cloud obstacle data. The obstacle feature data and robot path start and goal points are provided to an encoder/decoder neural network system which is trained to extract skills from a database of human-generated motion programs. The encoder/decoder neural network system produces a distribution of waypoints for the current obstacle environment and start/goal points. The distribution of waypoints is used to perform a final collision-free path generation using either a rapidly-exploring random tree (RRT) technique or an optimization-based technique.
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公开(公告)号：US20220080580A1
公开(公告)日：2022-03-17
申请号：US17018674
申请日：2020-09-11
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Tetsuaki Kato
Abstract: A method for dual hand detection in robot teaching from human demonstration. A camera image of the demonstrator's hands and workpieces is provided to a first neural network which determines the identity of the left and right hand of the human demonstrator from the image, and also provides cropped sub-images of the identified hands. The first neural network is trained using images in which the left and right hands are pre-identified. The cropped sub-images are then provided to a second neural network which detects the pose of both the left and right hand from the images, where the sub-image for the left hand is horizontally flipped before and after the hand pose detection if second neural network is trained with right hand images. The hand pose data is converted to robot gripper pose data and used for teaching a robot to perform an operation through human demonstration.
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公开(公告)号：US10814485B2
公开(公告)日：2020-10-27
申请号：US15947281
申请日：2018-04-06
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Wenjie Chen , Kouichirou Hayashi
Abstract: A device that can prevent a decrease in an efficiency of a manufacturing line. The device includes a shape acquisition section for acquiring a shape of a workpiece; a motion pattern acquisition section for acquiring basic motion patterns including a reference workpiece shape, a reference working position in the reference workpiece shape, and a type of an operation carried out on the reference working position; a similarity determination section for determining whether a shape of the workpiece is similar to the reference work piece shape; a position determination section for, based on a shape of the workpiece and the reference workpiece shape, determining the working position on the workpiece that corresponds to the reference working position; and an motion-path generation section for, by changing the reference working position to the determined working position, generating a motion path.
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公开(公告)号：US10350749B2
公开(公告)日：2019-07-16
申请号：US15792832
申请日：2017-10-25
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang
IPC: B25J9/16 , G05B19/423 , B25J9/00 , B25J13/08
Abstract: A robot control device includes a learning control unit for calculating a learning correction amount, a position storage unit for storing a position of a leading end of a robot mechanism part during the learning control, and a speed storage unit for storing a speed of the leading end of the robot mechanism part during the learning control. The robot control device determines, while the robot mechanism part is operated by a position command after the learning control, whether or not the position and the speed of the leading end are in an abnormal state based on errors with respect to the position and the speed of the leading end stored during the learning control. The robot control device switches a determination as to whether the learning correction amount is applied in accordance with this determination result.
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公开(公告)号：US10259118B2
公开(公告)日：2019-04-16
申请号：US15360851
申请日：2016-11-23
Applicant: FANUC CORPORATION
Inventor： Shinichi Washizu , Hajime Suzuki , Kaimeng Wang
IPC: B25J9/16
Abstract: A robot system includes a detector for detecting the position and posture of a workpiece; a robot for performing a predetermined operation on the workpiece; and a robot control device. The robot control device includes an area divider for dividing an operation area into a plurality of areas; an area determiner for determining in which area the workpiece is present; a learning controller for learning an operation speedup ratio to speed up an operation by varying speed or acceleration on an area-by-area basis in which the workpiece is present; a memory for storing the position of the workpiece and the operation speedup ratio; and a controller that performs the operation on a new workpiece using the learned operation speedup ratio when the operation has been learned in the area having the new workpiece, and makes the learning controller learn the operation speedup ratio when the operation has not been learned.
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