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    ROBOT SYSTEM AND CALIBRATION METHOD
    1.
    发明申请
    ROBOT SYSTEM AND CALIBRATION METHOD 审中-公开
    机器人系统和校准方法

    公开(公告)号：US20140288710A1

    公开(公告)日：2014-09-25

    申请号：US14218981

    申请日：2014-03-19

    Applicant: KABUSHIKI KAISHA YASKAWA DENKI

    Inventor： Takahisa IKENAGA ,  Takashi NAGASAKI ,  Takuya MURAYAMA ,  Yuji ICHIMARU

    IPC: B25J9/16

    CPC classification number: B25J9/1697 ,  B25J9/1692 ,  G05B2219/39008 ,  G05B2219/39022 ,  G05B2219/50132 ,  Y10S901/02 ,  Y10S901/47

    Abstract: A robot system includes: a robot arm; a camera; a calibration jig with a marker that allows image recognition; and a calibration apparatus configured to derive a correlation between camera coordinates being coordinates in a photographed image and robot coordinates using the robot arm as a reference. The robot arm is configured to have a posture corresponding to a relative position of the camera with respect to the marker. The calibration apparatus sets a plurality of photographing positions by changing the relative position, acquires the camera coordinates of the marker in the plurality of photographing positions and information of the posture of the robot arm, and derives the correlation.

    Abstract translation: 机器人系统包括：机器人手臂; 相机; 具有允许图像识别的标记的校准夹具; 以及校准装置，被配置为导出作为拍摄图像中的坐标的摄像机坐标与使用机器人手臂的机器人坐标之间的相关性作为参考。 机器人臂被配置为具有与相机相对于标记的相对位置相对应的姿势。 校准装置通过改变相对位置，获取多个拍摄位置中的标记的相机坐标和机器人手臂的姿势的信息来设置多个拍摄位置，并导出相关性。

    PROCESSING SYSTEM, MONITORING METHOD, AND NON-TRANSITORY COMPUTER-READABLE RECORDING MEDIUM
    3.
    发明申请
    PROCESSING SYSTEM, MONITORING METHOD, AND NON-TRANSITORY COMPUTER-READABLE RECORDING MEDIUM 有权
    处理系统，监控方法和非终端计算机可读记录介质

    公开(公告)号：US20160227158A1

    公开(公告)日：2016-08-04

    申请号：US15012869

    申请日：2016-02-02

    Applicant: KABUSHIKI KAISHA YASKAWA DENKI

    Inventor： Takashi NAGASAKI ,  Takashi SUYAMA ,  Hirokazu KARIYAZAKI

    IPC: H04N5/77 ,  H04N21/4335 ,  H04N21/433 ,  H04N5/93

    CPC classification number: H04N5/77 ,  G06F19/00 ,  G06Q10/06 ,  G16H10/40 ,  H04N5/93 ,  Y10S901/02

    Abstract: A processing system at least including a processing apparatus including a robot configured to perform, in accordance with operation commands, processes on a container that contains an object to be processed in a biochemistry, biotechnology, or life science field includes an image capturing apparatus and a monitoring apparatus. The image capturing apparatus continuously captures a moving image of the processes. The monitoring apparatus includes a storage unit, a list display unit, and a playback unit. The storage unit stores the moving image captured by the image capturing apparatus. The list display unit displays at least one of a list of the processes and a list of operation information items of each indicating an operation the robot. The playback unit plays the moving image from a timing corresponding to a process specified from the list of processes or an operation information item specified from the list of operation information items.

    Abstract translation: 一种处理系统，至少包括处理装置，该处理装置包括机器人，该机器人被配置为根据操作命令对在生物化学，生物技术或生命科学领域中包含待处理物体的容器上的处理进行包括图像捕获装置和 监控装置。 图像捕获装置连续捕获处理的运动图像。 监视装置包括存储单元，列表显示单元和重放单元。 存储单元存储由图像捕获装置拍摄的运动图像。 列表显示单元显示处理的列表和每个指示机器人的操作的操作信息项的列表中的至少一个。 播放单元从对应于从处理列表指定的处理的定时或从操作信息项列表指定的操作信息项播放运动图像。

    OPERATION COMMAND GENERATION DEVICE, OPERATION COMMAND GENERATION METHOD, NON-TRANSITORY COMPUTER READABLE STORAGE MEDIUM, AND PROCESS SYSTEM
    4.
    发明申请
    OPERATION COMMAND GENERATION DEVICE, OPERATION COMMAND GENERATION METHOD, NON-TRANSITORY COMPUTER READABLE STORAGE MEDIUM, AND PROCESS SYSTEM 有权
    操作命令生成装置，操作命令生成方法，非终端计算机可读存储介质和处理系统

    公开(公告)号：US20160144507A1

    公开(公告)日：2016-05-26

    申请号：US14945435

    申请日：2015-11-19

    Applicant: NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY ,  Kabushiki Kaisha Yaskawa Denki

    Inventor： Toru NATSUME ,  Takashi NAGASAKI ,  Makoto UMENO ,  Tatsuro IPPOSHI ,  Kazuhiro KARIYAZAKI

    IPC: B25J9/16

    CPC classification number: B25J9/1628 ,  B25J9/1656 ,  B25J9/1679 ,  G01N35/0092 ,  G05B2219/40113 ,  G05B2219/45092

    Abstract: Provided is an operation command generation device configured to generate an operation command, which is a collection of jobs to be carried out by a process system including a robot based on a protocol chart including a process symbol representing a process to be carried out on a container containing a process subject, the operation command generation device including: a process job generation unit configured to generate, based on the process symbol, a job for causing the process system to carry out the process on the container at a work area; and a transfer job generation unit configured to generate, when the process represented by the process symbol is not a process to be carried out on the same container, a job to transfer the container from the work area to a retreat area after the process represented by the process symbol has been carried out.

    Abstract translation: 提供了一种操作命令生成装置，其被配置为生成操作命令，该操作命令是由包括机器人的处理系统将执行的作业的集合，所述操作命令基于包括表示要在容器上执行的处理的处理符号的协议图 所述操作命令生成装置包括：处理作业生成单元，被配置为基于所述处理符号生成用于使所述处理系统在所述工作区域对所述容器执行处理的作业; 以及传送作业生成单元，其被配置为当由所述处理符号表示的处理不是在同一容器上执行的处理时，生成将所述容器从所述工作区域转移到后退区域的作业，所述处理由 过程符号已经执行。

    ROBOT SYSTEM, ROBOT SYSTEM CONTROL METHOD, AND ACTION COMMAND GENERATION DEVICE
    6.
    发明申请
    ROBOT SYSTEM, ROBOT SYSTEM CONTROL METHOD, AND ACTION COMMAND GENERATION DEVICE 有权

    公开(公告)号：US20210347042A1

    公开(公告)日：2021-11-11

    申请号：US17380007

    申请日：2021-07-19

    Applicant: Kabushiki Kaisha Yaskawa Denki

    Inventor： Takashi NAGASAKI ,  Hirokazu KARIYAZAKI

    IPC: B25J9/16 ,  B25J9/00

    Abstract: Provided is a robot system including: a robot including a hand; a unit job storage section configured to store a unit job; a linking job generation section configured to generate a linking job being a command to move the hand from an end position at which a first unit job has ended to a start position at which a second unit job to be executed subsequently after the first unit job is started; an action command generation section configured to generate an action command for the robot by connecting the unit jobs and the linking job in series, based on arrangement of a plurality of processing symbols; and a required time calculation section configured to calculate a required time of the action command by adding required times of the unit jobs and a required time of the linking job.

    WORK RESUME SYSTEM, MANUFACTURING METHOD, AND PROGRAM
    7.
    发明申请
    WORK RESUME SYSTEM, MANUFACTURING METHOD, AND PROGRAM 有权

    公开(公告)号：US20210302940A1

    公开(公告)日：2021-09-30

    申请号：US17211886

    申请日：2021-03-25

    Applicant: Kabushiki Kaisha Yaskawa Denki

    Inventor： Takashi NAGASAKI

    IPC: G05B19/4155 ,  B21C51/00

    Abstract: A task resumption system including processing circuitry that receives a task resumption specification for task resumption by a device when the device, which sequentially performs multiple tasks, stops during processing, acquires a current state of the device, acquires a resume state corresponding to the task resumption of the device, causes the device to transition from the current state to the resume state, and causes the device to resume the task according to the resume state.

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