公开(公告)号：US20140233807A1

公开(公告)日：2014-08-21

申请号：US14184638

申请日：2014-02-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI ,  KYUSHU INSTITUTE OF TECHNOLOGY

Inventor： Toshiaki EJIMA ,  Shuichi Enokida ,  Masakazu Sadano ,  Hisashi Ideguchi ,  Tomoyuki Horiuchi ,  Toshiyuki Kono

IPC: G06K9/46 ,  G06T7/00

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。

公开(公告)号：US11241796B2

公开(公告)日：2022-02-08

申请号：US16197364

申请日：2018-11-21

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuichi Sato ,  Tomoyuki Horiuchi ,  Dai Kono ,  Tetsuro Izumi

IPC: B25J9/16

Abstract: A robot system includes a robot, a first movable object on which the robot is mounted and which is configured to move with the robot, a camera mounted on the first movable object to take, while the first movable object is moving, a plurality of images of a reference object that relates to a position of a workpiece, and circuitry configured to control the robot to operate on the workpiece based on the plurality of images while the first movable object is moving.

公开(公告)号：US09317771B2

公开(公告)日：2016-04-19

申请号：US14184638

申请日：2014-02-19

Applicant: KYUSHU INSTITUTE OF TECHNOLOGY ,  KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Toshiaki Ejima ,  Shuichi Enokida ,  Masakazu Sadano ,  Hisashi Ideguchi ,  Tomoyuki Horiuchi ,  Toshiyuki Kono

IPC: G06K9/00 ,  G06K9/46 ,  G06T7/00 ,  G06K9/62

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。

公开(公告)号：US09156163B2

公开(公告)日：2015-10-13

申请号：US13934240

申请日：2013-07-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Makoto Umeno ,  Tomoyuki Horiuchi ,  Takashi Suyama

IPC: B25J9/16 ,  B25J9/00 ,  B04B5/04 ,  B04B13/00 ,  G01N35/00 ,  B04B11/04

CPC classification number: B25J9/1612 ,  B04B5/0414 ,  B04B13/00 ,  B04B2011/046 ,  B25J9/0087 ,  G01N35/0099 ,  G01N2035/00495

Abstract: A robot system includes: a robot arm; a robot hand provided on the robot arm; a contact unit provided on the robot hand for rotating a rotation body of a rotation device which includes the rotation body capable of housing a work and a fixed part rotatably supporting the rotation body and which performs a predetermined process on the work; a detection unit configured to detect a detection target part provided on the rotation body; and a first control unit configured to control operation of the robot arm and the robot hand so that the contact unit rotates the rotation body up to a predetermined rotational position according to a result of detecting the detection target part by the detection unit.

Abstract translation: 机器人系统包括：机器人手臂; 设置在机器人手臂上的机器人手; 设置在机器人手上的接触单元，用于旋转包括能够容纳工件的旋转体的旋转装置的旋转体和可旋转地支撑旋转体的固定部，并对工作进行预定处理; 检测单元，被配置为检测设置在所述旋转体上的检测目标部; 以及第一控制单元，被配置为控制机器人手臂和机器人手的操作，使得接触单元根据检测单元检测到检测目标部件的结果将旋转体旋转到预定旋转位置。