公开(公告)号：US20230202030A1

公开(公告)日：2023-06-29

申请号：US18175660

申请日：2023-02-28

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Ryo MASUMURA ,  Wataru WATANABE

IPC: B25J9/16 ,  B25J19/02 ,  G06V10/82 ,  G06V10/764 ,  G06T7/70 ,  G06T7/11

CPC classification number: B25J9/161 ,  B25J9/163 ,  B25J9/1697 ,  B25J19/023 ,  G06V10/82 ,  G06V10/764 ,  G06T7/70 ,  G06T7/11 ,  G06V2201/06 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: Provided is a work system including: an object imaging unit configured to acquire an object image by photographing an object from a work direction; a work position acquisition unit configured to acquire a work position based on an existence region of the object obtained from a machine learning model; and a work unit configured to execute work on the object based on a work position obtained by inputting the object image to the work position acquisition unit.

公开(公告)号：US20180236657A1

公开(公告)日：2018-08-23

申请号：US15898663

申请日：2018-02-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Koichi KUWAHARA ,  Yoshifumi ONOYAMA ,  Kenichi YASUDA ,  Wataru WATANABE

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/425 ,  G06T1/00 ,  G06F17/50

CPC classification number: B25J9/1605 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1676 ,  B25J9/1697 ,  B25J13/089 ,  G05B19/4061 ,  G05B19/425 ,  G05B2219/35012 ,  G05B2219/40121 ,  G05B2219/40371 ,  G05B2219/40466 ,  G05B2219/40519 ,  G05B2219/49143 ,  G06F17/5009 ,  G06T1/0014 ,  Y02P90/265

Abstract: A robot simulator includes a storage device that stores model information related to the robot and an obstacle in the vicinity of the robot, and an acquisition device that obtains first input information defining a start position and an end position of operation of the robot. A processing device generates a path for moving the distal end portion of the robot from the start position to the end position while avoiding collisions between the robot and the obstacle based on the first input information and the model information. The processing device also generates image data including an illustration of the obstacle and an index indicating a via-point of the path.

公开(公告)号：US20220281111A1

公开(公告)日：2022-09-08

申请号：US17752862

申请日：2022-05-25

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Makoto TAKAHASHI ,  Wataru WATANABE ,  Yutaro UCHIDA ,  Ryo KABUTAN ,  Keita SATSUMA

IPC: B25J9/16

Abstract: A simulation system includes circuitry configured to: determine placement of a robot with respect to another object in a virtual space, based on a placement constraint applied to the robot for executing a plurality of tasks; generate a path representing a trajectory of at least a portion of the robot or a tool operated by the robot during the tasks, based on a spatial relationship between the determined placement of the robot and the other object that satisfies the placement constraint; execute an operation program including the generated path in the virtual space in which the robot and the other object are placed; and check whether the robot interferes with the other object, based on the spatial relationship between the determined placement of the robot and the other object along the generated path in the virtual space, as a result of executing the tasks in the operation program.

公开(公告)号：US20200306967A1

公开(公告)日：2020-10-01

申请号：US16833679

申请日：2020-03-30

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Makoto TAKAHASHI ,  Wataru WATANABE ,  Yutaro UCHIDA ,  Keita SATSUMA ,  Hiroshi HASHIMOTO

IPC: B25J9/16 ,  G05B15/02

Abstract: A programming assistance device includes a program storage unit that stores a first program comprising a first set of time series jobs and stores a second program comprising a second set of time series jobs. Each job of the first program defines at least one operation of a first robot, and the first program is configured to be performed along a shared time line. Additionally, each job of the second program defines at least one operation of a second robot, and the second program is configured to be performed along the shared time line. The programming assistance device further includes circuitry that identifies a verification target time in the shared time line based, at least in part, on a user designation, and generates, based on the first program and the second program, a job image indicating at least one of the first set of time series jobs executed by the first robot and at least one job of the second set of time series jobs executed by the second robot at the verification target time designated in the shared time line.

公开(公告)号：US20230141876A1

公开(公告)日：2023-05-11

申请号：US17982395

申请日：2022-11-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryo KABUTAN ,  Makoto TAKAHASHI ,  Wataru WATANABE ,  Keisuke YONEHARA ,  Takuya KADOYA

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1661 ,  B25J9/1666 ,  B25J9/1682

Abstract: A planning system includes search circuitry configured to run a simulation to repeatedly generate candidate positions which are candidates for a target position with respect to a motion of a robot, and selection circuitry configured to select the target position among the candidate positions. The search circuitry includes evaluation circuitry configured to calculate an evaluation value corresponding to each of the candidate positions, estimation circuitry configured to generate a calculation model showing a relationship between each of the candidate positions and the evaluation value with a regression analysis, and setting circuitry configured to set a new candidate position based on the calculation model.

公开(公告)号：US20210154846A1

公开(公告)日：2021-05-27

申请号：US17103949

申请日：2020-11-25

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Wataru WATANABE

IPC: B25J9/16

Abstract: A simulation system according to an example includes circuitry configured to: virtually execute an operation program including a path representing a trajectory of a robot, on a virtual space in which the robot and another object are arranged; check whether there is an interference between the robot and the other object based on an execution result of the operation program; and adjust a parameter related to at least one teaching point corresponding to the path in response to detecting the interference.

公开(公告)号：US20190143514A1

公开(公告)日：2019-05-16

申请号：US16183749

申请日：2018-11-08

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Koichi KUWAHARA ,  Yoshifumi ONOYAMA ,  Kazuma TABUCHI ,  Masaru ADACHI ,  Wataru WATANABE

IPC: B25J9/16 ,  B25J15/00

Abstract: A teaching apparatus includes circuitry. The circuitry is configured to obtain result information corresponding to a position of a worked region on a workpiece. The circuitry is configured to generate first teaching information based on the result information. The first teaching information specifies a motion of an examination robot configured to examine the workpiece that has undergone work.

公开(公告)号：US20240091936A1

公开(公告)日：2024-03-21

申请号：US18527390

申请日：2023-12-04

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Wataru WATANABE ,  Makoto TAKAHASHI ,  Masahiro GOYA ,  Tomoaki UCHIDA ,  Satoshi HIRONAKA

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1661 ,  B25J9/0084

Abstract: A robot automation system includes circuitry configured to generate a plurality of task patterns that are candidates of a task flow for performing a job including a plurality of tasks by at least one robot. Each of the plurality of task patterns includes a corresponding relationship between the plurality of tasks and the at least one robot. The circuitry is further configured to calculate an estimated cycle time of the job based on a simulation in which the at least one robot performs the plurality of tasks, for each of the plurality of task patterns. The circuitry is further configured to generate, as an operation program, at least one task flow for performing the job by the at least one robot, in response to comparing a preset reference cycle time for the job with the estimated cycle time for each of the plurality of task patterns.

公开(公告)号：US20220226997A1

公开(公告)日：2022-07-21

申请号：US17577326

申请日：2022-01-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Makoto TAKAHASHI ,  Wataru WATANABE ,  Yutaro UCHIDA ,  Ryo KABUTAN

IPC: B25J9/16

Abstract: A planning system includes flow generating circuitry, confirmation circuitry, and update circuitry. The flow generating circuitry is configured to generate a task flow which includes work tasks predetermined based on a concurrent execution constraint with respect to concurrent execution of tasks performed by robots and connection tasks to be connected to the work tasks. The confirmation circuitry is configured to determine whether at least one of the robots interferes with an object in the connection tasks. The update circuitry is configured to update the concurrent execution constraint when the at least one of the robots is determined to interfere with the object.

公开(公告)号：US20220143829A1

公开(公告)日：2022-05-12

申请号：US17144145

申请日：2021-01-08

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Makoto TAKAHASHI ,  Wataru WATANABE ,  Yutaro UCHIDA ,  Ryo KABUTAN

IPC: B25J9/16

Abstract: A program generation system according to an example includes circuitry configured to: set multiple kinds of candidate postures of a robot in a connection area between a work path that is a trajectory of the robot in a task and an air-cut path that is a trajectory of the robot connecting tasks; evaluate an operation program including the work path and the air-cut path while changing a posture of the robot in the connection area among the multiple kinds of candidate postures; determine one of the multiple kinds of candidate postures as the posture of the robot in the connection area based on an evaluation result in the evaluating; and generate the operation program.