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1.发明授权Device and method to detect an object and controlling a device to pick up the detected object 有权用于检测对象并控制设备拾取检测到的对象的设备和方法公开(公告)号：US09317771B2
公开(公告)日：2016-04-19
申请号：US14184638
申请日：2014-02-19
Inventor： Toshiaki Ejima , Shuichi Enokida , Masakazu Sadano , Hisashi Ideguchi , Tomoyuki Horiuchi , Toshiyuki Kono
CPC classification number: G06K9/4633 , G06K9/00214 , G06K9/6211 , G06T7/75
Abstract: In an object detecting method according to an embodiment, external reference points are set in external space of a model of an object and an internal reference point is set in internal space of the model. A table is stored in which feature quantities on a local surface of the model are associated with positions of the external reference points and the internal reference point. The feature quantity on the local surface of the model is calculated, and the position of the reference point whose feature quantity is identical to the calculated feature quantity is acquired from the table and is converted into a position in a real space. When the converted position is outside the object, the position is excluded from information for estimation and the position and the attitude of the object are estimated.
Abstract translation: 在根据实施例的对象检测方法中，外部参考点被设置在对象的模型的外部空间中，并且内部参考点被设置在模型的内部空间中。 存储表，其中模型的局部表面上的特征量与外部参考点和内部参考点的位置相关联。 计算模型的局部表面的特征量，并从表中获取特征量与计算出的特征量相同的参考点的位置，并将其转换为实际空间中的位置。 当转换的位置在物体外部时，该位置被排除在用于估计的信息之外，并且估计物体的位置和姿态。
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公开(公告)号：US12202153B2
公开(公告)日：2025-01-21
申请号：US17840616
申请日：2022-06-15
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Toshiki Ito , Hiroshi Kumagai , Yukihiro Tobata , Hisashi Ideguchi , Keisuke Nakamura
Abstract: A robot system includes: a conveying device configured to convey a workpiece; a robot configured to execute an operation on the workpiece; and circuitry configured to: identify a current position of the workpiece and an object area occupied by an object; identify an interlock area that moves with the current position of the workpiece being conveyed by the conveying device; check an overlap between the interlock area and the object area; and control the robot to execute the operation based on the current position of the workpiece in response to determining that the interlock area does not overlap the object area.
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公开(公告)号：US20220339791A1
公开(公告)日：2022-10-27
申请号：US17840616
申请日：2022-06-15
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Toshiki ITO , Hiroshi Kumagai , Yukihiro Tobata , Hisashi Ideguchi , Keisuke Nakamura
Abstract: A robot system includes: a conveying device configured to convey a workpiece; a robot configured to execute an operation on the workpiece; and circuitry configured to: identify a current position of the workpiece and an object area occupied by an object; identify an interlock area that moves with the current position of the workpiece being conveyed by the conveying device; check an overlap between the interlock area and the object area; and control the robot to execute the operation based on the current position of the workpiece in response to determining that the interlock area does not overlap the object area.
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公开(公告)号：US20140233807A1
公开(公告)日：2014-08-21
申请号：US14184638
申请日：2014-02-19
Inventor： Toshiaki EJIMA , Shuichi Enokida , Masakazu Sadano , Hisashi Ideguchi , Tomoyuki Horiuchi , Toshiyuki Kono
CPC classification number: G06K9/4633 , G06K9/00214 , G06K9/6211 , G06T7/75
Abstract: In an object detecting method according to an embodiment, external reference points are set in external space of a model of an object and an internal reference point is set in internal space of the model. A table is stored in which feature quantities on a local surface of the model are associated with positions of the external reference points and the internal reference point. The feature quantity on the local surface of the model is calculated, and the position of the reference point whose feature quantity is identical to the calculated feature quantity is acquired from the table and is converted into a position in a real space. When the converted position is outside the object, the position is excluded from information for estimation and the position and the attitude of the object are estimated.
Abstract translation: 在根据实施例的对象检测方法中，外部参考点被设置在对象的模型的外部空间中，并且内部参考点被设置在模型的内部空间中。 存储表，其中模型的局部表面上的特征量与外部参考点和内部参考点的位置相关联。 计算模型的局部表面的特征量，并从表中获取特征量与计算出的特征量相同的参考点的位置，并将其转换为实际空间中的位置。 当转换的位置在物体外部时，该位置被排除在用于估计的信息之外，并且估计物体的位置和姿态。
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