公开(公告)号：US09283680B2

公开(公告)日：2016-03-15

申请号：US14295261

申请日：2014-06-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuya Yasuda ,  Issei Aoyama ,  Toshimitsu Irie

IPC: G05B15/00 ,  G05B19/00 ,  B25J9/16 ,  G06K9/00 ,  H04N7/18

CPC classification number: B25J9/1697 ,  G05B2219/40053 ,  G06K9/00201 ,  G06K9/00664 ,  H04N7/183

Abstract: A workpiece detector includes a camera to acquire a two-dimensional image of a search range within which workpieces are disposed. A three-dimensional sensor detects a three-dimensional shape of a three-dimensional detection area. A workpiece extraction section processes the two-dimensional image to extract candidate workpieces. An area setting section sets a three-dimensional detection areas respectively corresponding to the candidate workpieces. A prioritizing section sets an order of priority to the three-dimensional detection areas to give higher priority to one three-dimensional detection area containing more of the candidate workpieces. A sensor control section controls the three-dimensional sensor to detect the three-dimensional shape of each three-dimensional detection area in the order of priority. Every time the three-dimensional shape is detected, a workpiece detection section searches the workpieces based on the detected three-dimensional shape to detect a pickable workpiece.

Abstract translation: 工件检测器包括用于获取其中设置工件的搜索范围的二维图像的照相机。 三维传感器检测三维检测区域的三维形状。 工件提取部分处理二维图像以提取候选工件。 区域设定部设定分别对应于候选工件的三维检测区域。 优先级部分为三维检测区域设定优先次序，以便对包含更多候选工件的一个三维检测区域给予更高的优先级。 传感器控制部分控制三维传感器以优先级的顺序检测每个三维检测区域的三维形状。 每次检测到三维形状时，工件检测部根据检测出的三维形状来检索工件，检测可检测工件。

公开(公告)号：US11745340B2

公开(公告)日：2023-09-05

申请号：US16997945

申请日：2020-08-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi Nishimura ,  Issei Aoyama ,  Tetsuro Izumi ,  Shangning Li ,  Akihiro Yamamoto

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/4155

CPC classification number: B25J9/1633 ,  B25J9/1612 ,  B25J9/1669 ,  B25J9/1694 ,  B25J13/085 ,  G05B19/4155 ,  G05B2219/50391

Abstract: A robot system includes: a first robot; a second robot; and circuitry configured to: control the first and second robots to execute a collaborative operation on a work piece; and control, in response to a detection of an irregular state of the first robot during the collaborative operation, the first and second robots to execute a collaborative counteractive operation to eliminate the irregular state.