公开(公告)号：US20200238530A1

公开(公告)日：2020-07-30

申请号：US16748820

申请日：2020-01-22

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi KUMAGAI ,  Tamio NAKAMURA

IPC: B25J9/16 ,  B25J19/04

Abstract: A robot system includes a robot, a vision sensor, a target position generation circuit, an estimation circuit, and a control circuit. The robot includes an end effector and is configured to work via the end effector on a workpiece which is disposed at a relative position and which is relatively movable with respect to the end effector. The vision sensor is configured to take an image of the workpiece. The target position generation circuit is configured to, based on the image, generate a target position of the end effector at every generation interval. The estimation circuit is configured to, at least based on relative position information related to the relative position, estimate a change amount in the relative position at every estimation interval. The control circuit is configured to control the robot to move the end effector based on the target position and the change amount.

公开(公告)号：US20180238923A1

公开(公告)日：2018-08-23

申请号：US15806339

申请日：2017-11-08

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Noriko ABE ,  Hiroshi KUMAGAI ,  Yukiko SAWADA ,  Motohisa KAMEI

IPC: G01N35/10 ,  B25J9/16 ,  B25J15/00 ,  B01L3/02

CPC classification number: G01N35/1011 ,  B01L3/0237 ,  B25J9/0087 ,  B25J9/1679 ,  B25J9/1684 ,  B25J9/1697 ,  B25J15/0019 ,  C12M1/00 ,  G01N35/0099 ,  Y10S901/09 ,  Y10S901/30 ,  Y10S901/47

Abstract: A dispensing system comprising a robot configured to move a dispenser for suctioning a liquid to be dispensed, a camera for capturing an image including at least a tip of the dispenser, a liquid surface of the liquid, and an object not to be dispensed located below the liquid surface, and circuitry configured to acquire, based at least in part on the image captured by the camera, surface location information for the liquid surface, boundary location information for a boundary between the liquid and the object not to be dispensed, and dispenser location information for the tip of the dispenser on the basis of the image, and control the robot to lower the dispenser based at least in part on the dispenser location information, the surface location information, and the boundary location information.

公开(公告)号：US20190077010A1

公开(公告)日：2019-03-14

申请号：US16100209

申请日：2018-08-10

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingo ANDO ,  Hiroshi KUMAGAI ,  Takeshi YOKOYAMA

IPC: B25J9/00 ,  B25J9/16 ,  B65G47/52

Abstract: A robot system includes a conveyor, a robot, a speed calculation circuit, and a robot control circuit. The conveyor is configured to convey a workpiece at a conveyance speed. The robot is configured to work on the workpiece while the workpiece is conveyed by the conveyor. The speed calculation circuit is configured to calculate the conveyance speed. The robot control circuit is configured to control a working speed of the robot according to the conveyance speed calculated by the speed calculation circuit.

公开(公告)号：US20240424677A1

公开(公告)日：2024-12-26

申请号：US18826463

申请日：2024-09-06

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuta ARITA ,  Takahiro MAEDA ,  Hiroshi KUMAGAI

IPC: B25J9/16

Abstract: A control system include: a robot controller configured to control a robot; and a computation circuitry configured to communicate with the robot controller, wherein the robot controller includes a first memory in which state information of the robot is stored, and wherein the computation circuitry includes: a second memory a content of which is synchronized with a content of the first memory; and a processor configured to execute an application that performs a computation related to control of the robot based on the content of the second memory.

公开(公告)号：US20190200000A1

公开(公告)日：2019-06-27

申请号：US16224817

申请日：2018-12-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi KUMAGAI ,  Takashi MOTOYOSHI ,  Seiichiro FUKUSHIMA

IPC: H04N13/246 ,  G06T7/521 ,  G01B11/25 ,  G02B26/12

CPC classification number: H04N13/246 ,  B23K26/032 ,  B23K26/082 ,  B23K26/0884 ,  B23K26/21 ,  B23K26/707 ,  G01B11/2518 ,  G02B26/127 ,  G06T7/33 ,  G06T7/521 ,  G06T7/80 ,  G06T2207/30244

Abstract: A calibrating method includes controlling a laser radiator to radiate calibration laser light to an object such that a pattern is projected in a laser coordinate system with respect to the laser radiator; controlling a camera to obtain a first image of first light points of the calibration laser light projected on a surface of the object when the object is in a first position; and controlling the camera to obtain a second image of second light points of the calibration laser light projected on the surface of the object when the object is in the second position. A positional relationship between the laser coordinate system and the camera coordinate system is calculated based on the three-dimensional positions of the first light points and the three-dimensional positions of the second light points.