公开(公告)号：US09050719B2

公开(公告)日：2015-06-09

申请号：US13806426

申请日：2011-05-05

申请人： Harri Valpola ,  Tuomas Lukka

发明人： Harri Valpola ,  Tuomas Lukka

IPC分类号： B25J9/00 ,  B25J9/16 ,  B25J13/08

CPC分类号： B25J9/00 ,  B25J9/1694 ,  B25J9/1697 ,  B25J13/08 ,  B25J13/085 ,  G05B2219/39528 ,  G05B2219/40053 ,  G05B2219/40571 ,  Y10S901/09

摘要： A method in which an apparatus receives first sensor data from first sensors and determines a target position from the data, the target position may be a position in space or an orientation of a gripper in a robot arm First instructions are issued to the robot arm or the gripper in order to move a gripper to the target position. Force feedback sensor data is received from force feedback sensors associated with either the robot arm or the gripper or from the first sensors. A failure in carrying out the first instructions is determined. Second sensor data is received from the at least one first sensor. Successful gripping of an object is determined from the second sensor data.

摘要翻译： 一种方法，其中装置从第一传感器接收第一传感器数据并根据数据确定目标位置，目标位置可以是机器人臂中的空间中的位置或夹持器的取向。首先向机器人手臂或 夹持器以将夹具移动到目标位置。 力反馈传感器数据从与机器人手臂或夹具相关联的力反馈传感器或从第一传感器接收。 确定执行第一指令失败。 从至少一个第一传感器接收第二传感器数据。 从第二传感器数据确定对象的成功夹持。

公开(公告)号：US20140088765A1

公开(公告)日：2014-03-27

申请号：US14110238

申请日：2012-03-28

申请人： Harri Valpola ,  Tuomas Lukka

发明人： Harri Valpola ,  Tuomas Lukka

IPC分类号： B25J9/16

CPC分类号： B25J9/1697 ,  G05B2219/40004 ,  G05B2219/40005 ,  G05B2219/40078 ,  Y10S901/31 ,  Y10S901/47

摘要： The invention relates to a method and system for invalidating sensor measurements after a sorting action on a target area of a robot sorting system. In the method there are obtained sensor measurements using sensors from a target area. A first image is captured of the target area using a sensor over the target area. A first sorting action is performed in the target area using a robot arm based on the sensor measurements and the first image. Thereupon, a second image of the target area is captured using a sensor over the target area. The first and the second images are compared to determine invalid areas in the target area. The invalid areas are avoided in future sorting actions based on the sensor measurements.

摘要翻译： 本发明涉及一种在对机器人分类系统的目标区域进行排序动作之后使传感器测量无效的方法和系统。 在该方法中，使用来自目标区域的传感器获得传感器测量。 使用目标区域上的传感器捕获目标区域的第一图像。 基于传感器测量和第一图像，使用机器人臂在目标区域中执行第一分类动作。 于是，使用目标区域上的传感器捕获目标区域的第二图像。 比较第一和第二图像以确定目标区域中的无效区域。 基于传感器测量的未来排序动作可以避免无效区域。

公开(公告)号：US20130151007A1

公开(公告)日：2013-06-13

申请号：US13806426

申请日：2011-05-05

申请人： Harri Valpola ,  Tuomas Lukka

发明人： Harri Valpola ,  Tuomas Lukka

IPC分类号： B25J9/00 ,  B25J13/08

CPC分类号： B25J9/00 ,  B25J9/1694 ,  B25J9/1697 ,  B25J13/08 ,  B25J13/085 ,  G05B2219/39528 ,  G05B2219/40053 ,  G05B2219/40571 ,  Y10S901/09

摘要： A method in which an apparatus receives first sensor data from first sensors and determines a target position from the data, the target position may be a position in space or an orientation of a gripper in a robot arm First instructions are issued to the robot arm or the gripper in order to move a gripper to the target position. Force feedback sensor data is received from force feedback sensors associated with either the robot arm or the gripper or from the first sensors. A failure in carrying out the first instructions is determined Second sensor data is received from the at least one first sensor. Successful gripping of an object is determined from the second sensor data.

摘要翻译： 一种方法，其中装置从第一传感器接收第一传感器数据并根据数据确定目标位置，目标位置可以是机器人臂中的空间中的位置或夹持器的取向。首先向机器人手臂或 夹持器以将夹具移动到目标位置。 力反馈传感器数据从与机器人手臂或夹具相关联的力反馈传感器或从第一传感器接收。 确定执行第一指令的失败确定从至少一个第一传感器接收第二传感器数据。 从第二传感器数据确定对象的成功夹持。

公开(公告)号：US20130266205A1

公开(公告)日：2013-10-10

申请号：US13880811

申请日：2011-10-12

申请人： Harri Valpola

发明人： Harri Valpola

IPC分类号： G06K9/78

CPC分类号： G06K9/78 ,  B25J9/1669 ,  B25J9/1697 ,  G05B2219/39107 ,  G05B2219/39543 ,  G05B2219/40053 ,  G05B2219/40609 ,  G05B2219/40613 ,  G06T7/11 ,  G06T7/174 ,  G06T7/194

摘要： The invention relates to a method and system for recognizing physical objects. In the method an object is gripped with a gripper, which is attached to a robot arm or mounted separately. Using an image sensor, a plurality of source images of an area comprising the object is captured while the object is moved with the robot arm. The camera is configured to move along the gripper, attached to the gripper or otherwise able to monitor the movement of the gripper. Moving image elements are extracted from the plurality of source images by computing a variance image from the source images and forming a filtering image from the variance image. A result image is obtained by using the filtering image as a bitmask. The result image is used for classifying the gripped object.

摘要翻译： 本发明涉及用于识别物理对象的方法和系统。 在该方法中，物体被夹持器夹持，该夹持器附接到机器人手臂或单独安装。 使用图像传感器，在使用机器人手臂移动对象的同时捕获包括对象的区域的多个源图像。 相机被配置为沿着夹具移动，附接到夹具或以其他方式能够监测夹具的移动。 通过从源图像计算方差图像并从方差图像形成滤波图像，从多个源图像提取运动图像元素。 通过使用过滤图像作为位掩码获得结果图像。 结果图像用于对夹持的物体进行分类。

公开(公告)号：US08332336B2

公开(公告)日：2012-12-11

申请号：US12528374

申请日：2008-02-22

申请人： Harri Valpola ,  Antti Yli-Krekola

发明人： Harri Valpola ,  Antti Yli-Krekola

IPC分类号： G06N5/00

CPC分类号： G06N3/08 ,  G06N7/005

摘要： In the method of the invention, information is selected in a processing unit. The end result to be achieved is final feature information to be used for performing a task. In the method, input information to the processing unit is treated with the intention to find useful information from the input information in view of the task. Feature information representing characteristics of the input information is formed from the input data, the values of the feature information being further processed on the basis of their utility. The method is mainly characterized in that a preliminary prediction is formed from a first context of a sot of input information by means of first parameters and in that the first primary input of the set of input data is preprocessed by forming calculation results by means of second parameters.

摘要翻译： 在本发明的方法中，在处理单元中选择信息。 要实现的最终结果是用于执行任务的最终特征信息。 在该方法中，考虑到任务，处理单元的输入信息被处理以从输入信息中找到有用信息。 根据输入数据形成表示输入信息的特征的特征信息，根据其效用进一步处理特征信息的值。 该方法的主要特征在于，通过第一参数从输入信息的第一上下文形成初步预测，并且通过利用第二参数形成计算结果对该组输入数据的第一主输入进行预处理 参数。

公开(公告)号：US20100088259A1

公开(公告)日：2010-04-08

申请号：US12528374

申请日：2008-02-22

申请人： Harri Valpola ,  Antti Yli-Krekola

发明人： Harri Valpola ,  Antti Yli-Krekola

IPC分类号： G06F15/18 ,  B25J9/00

CPC分类号： G06N3/08 ,  G06N7/005

摘要： In the method of the invention, information is selected in a processing unit. The end result to be achieved is final feature information to be used for performing a task. In the method, input information to the processing unit is treated with the intention to find useful information from the input information in view of the task. The input information consists of a primary input and a context representing general information related to the task to be performed. Feature information representing characteristics of the input information is formed from the input data, the values of the feature information being further processed on the basis of their utility. The method is mainly characterized in that a preliminary prediction is formed from a first context of a set of input information by means of first parameters and in that the first primary input of the set of input data is preprocessed by forming calculation results by means of second parameters. The utility of the information resulting from the foregoing steps is estimated by combining said prediction and the calculation results in such a way that useful characteristics are selected from the calculation results on the basis of the prediction and the feature information is formed by strengthening useful characteristics and by weakening other characteristics. Then, the second parameters are modified in such a way that the step, wherein the primary input data was preprocesed, would have given the calculation results corresponding to the feature information obtained in the estimation step. Thereafter, a subsequent context of a set of input data and subsequent primary data are processed and the foregoing steps are repeated for each element of input information in order to end up with the final feature information.

摘要翻译： 在本发明的方法中，在处理单元中选择信息。 要实现的最终结果是用于执行任务的最终特征信息。 在该方法中，考虑到任务，处理单元的输入信息被处理以从输入信息中找到有用信息。 输入信息由主输入和表示与要执行的任务相关的一般信息的上下文组成。 根据输入数据形成表示输入信息的特征的特征信息，根据其效用进一步处理特征信息的值。 该方法的主要特征在于，通过第一参数从一组输入信息的第一上下文形成初步预测，并且通过利用第二参数形成计算结果对该组输入数据的第一主输入进行预处理 参数。 通过组合所述预测和计算结果来估计由上述步骤产生的信息的效用，使得根据预测从计算结果中选择有用特征，并且通过加强有用特征形成特征信息， 通过削弱其他特点。 然后，第二参数被修改为使得其中主输入数据被预处理的步骤将给出与在估计步骤中获得的特征信息相对应的计算结果。 此后，处理一组输入数据和后续主数据的后续上下文，并且为输入信息的每个元素重复前述步骤，以便得到最终的特征信息。