公开(公告)号：US20140201112A1

公开(公告)日：2014-07-17

申请号：US13831792

申请日：2013-03-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yukiko SAWADA ,  Tomoyuki SEKIYAMA ,  Kenichi MOTONAGA

IPC: G06N99/00

CPC classification number: G06N99/005 ,  G05B19/427 ,  Y10S901/04

Abstract: This robot teaching system includes a teaching tool including an operation portion operated by a user to specify teaching positions and specifying the teaching positions, a measuring portion measuring positions and postures of the teaching tool, and a control portion determining the teaching positions for a robot. The robot teaching system is configured to specify the teaching positions continuously while the user operates the operation portion of the teaching tool.

Abstract translation: 该机器人教学系统包括：教学工具，其包括由用户操作的操作部分，用于指定教学位置和指定教学位置;测量部分，测量教学工具的位置和姿势;以及控制部分，确定机器人的教学位置。 机器人教学系统被配置为在用户操作教学工具的操作部分的同时指定教学位置。

公开(公告)号：US20140163737A1

公开(公告)日：2014-06-12

申请号：US14183378

申请日：2014-02-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hideo NAGATA ,  Tomoyuki SEKIYAMA ,  Yasuyuki INOUE

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  G05B2219/39057 ,  G05B2219/40053 ,  G05B2219/40575 ,  G05B2219/40613

Abstract: A robot system includes: a robot including a camera unit shooting an object in a container, a hand gripping the object, and a contact detector detecting that the hand contacts the container; and a robot control device, which includes a control unit causing the hand to contact the container; a contact detection unit detecting by the contact detector that the hand contacts the container, and finding a contact position thereof; a first processing unit calculating a position of the container from a stereo image of the container acquired by the camera unit; a second processing unit calculating a difference between the position of the container calculated by the first processing unit and the contact position found by the contact detection unit as a correction amount; and a third processing unit correcting information on a position in a height direction of the object in the container based on the correction amount.

Abstract translation: 机器人系统包括：机器人，其包括拍摄容器中的物体的相机单元，夹持物体的手和检测到手接触容器的接触检测器; 以及机器人控制装置，其包括使所述手接触所述容器的控制单元; 接触检测单元，由接触检测器检测到手接触容器，并找到其接触位置; 第一处理单元，从由所述照相机单元获取的容器的立体图像计算所述容器的位置; 第二处理单元，计算由第一处理单元计算的容器的位置与由接触检测单元找到的接触位置之间的差作为校正量; 以及第三处理单元，基于校正量来校正在容器中的物体的高度方向上的位置的信息。

公开(公告)号：US20140277737A1

公开(公告)日：2014-09-18

申请号：US14217479

申请日：2014-03-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tomoyuki SEKIYAMA ,  Yosuke KAMIYA

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/1666 ,  B25J9/1671 ,  G05B19/425 ,  G05B2219/36433 ,  G05B2219/39094 ,  G05B2219/39449 ,  G05B2219/40479 ,  Y02P90/86

Abstract: A robot device includes according to one embodiment of the present disclosure: a robot controller configured to operate a robot based on a motion program specifying a motion of the robot; a robot imaging unit configured to acquire image data of an image including the robot; and a data processor. The data processor includes: a virtual-space-data holder configured to hold virtual space data including information on a virtual object in a virtual space, the virtual space simulating a real working space of the robot, the virtual object simulating an object present in the real working space; and an augmented-reality-space-data generator configured to generate augmented-reality-space data by use of the image data and the virtual space data.

Abstract translation: 根据本公开的一个实施例的机器人装置包括：机器人控制器，被配置为基于指定机器人的运动的运动程序来操作机器人; 机器人成像单元，被配置为获取包括所述机器人的图像的图像数据; 和数据处理器。 数据处理器包括：虚拟空间数据保持器，被配置为保存虚拟空间数据，虚拟空间数据包括虚拟空间中的虚拟对象的信息，模拟机器人的实际工作空间的虚拟空间，模拟存在于 真正的工作空间; 以及被配置为通过使用所述图像数据和所述虚拟空间数据来生成增强现实空间数据的增强现实空间数据生成器。