公开(公告)号：US20210154849A1

公开(公告)日：2021-05-27

申请号：US17099779

申请日：2020-11-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuji ICHIMARU ,  Yukio HASHIGUCHI ,  Koichi KUWAHARA

IPC: B25J9/16 ,  G05B19/4155 ,  B25J9/00

Abstract: The control system includes: a plurality of controllers that respectively control a plurality of devices including at least robots; and an environment manager that is communicable with the plurality of controllers. The environment manager includes an environment information storage that stores environment information, and an information update unit that updates environment information according to an operation of the plurality of devices. Each of the plurality of controllers includes a condition monitor that monitors whether environment information stored in the environment device storage satisfies a predetermined condition and an operation execution unit that controls a corresponding device of the plurality of devices to execute a predetermined operation in a case where the environment information satisfies a predetermined condition.

公开(公告)号：US20150338203A1

公开(公告)日：2015-11-26

申请号：US14718007

申请日：2015-05-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuji ICHIMARU

IPC: G01B11/00 ,  G01B11/26

CPC classification number: G01B11/002 ,  G01B11/2513 ,  G01B11/26

Abstract: A measurement system includes an irradiator, an image capturer, and an arithmetic processor. The irradiator irradiates a first irradiation line with a laser beam at a first irradiation angle, and irradiates second irradiation lines with the laser beam respectively at second irradiation angles. The second irradiation lines intersect the first irradiation line. The image capturer acquires a two-dimensional image of an area including the first irradiation line and the second irradiation lines. The arithmetic processor calculates the second irradiation angles based on the first irradiation angle, based on a first position, in the two-dimensional image, of a first point on the first irradiation line, and based on second positions, in the two-dimensional image, of second points of the second irradiation lines, and calculates three-dimensional coordinates of the second points based on the second irradiation angles and the second positions.

Abstract translation: 测量系统包括照射器，图像捕获器和运算处理器。 照射器以第一照射角度照射具有激光束的第一照射线，并且以第二照射角度分别照射具有激光束的第二照射线。 第二照射线与第一照射线相交。 图像捕获器获取包括第一照射线和第二照射线的区域的二维图像。 算术处理器基于第一照射角度，基于第一照射角度，基于二维图像中的第一位置，在第一照射线上的第一点，并且基于第二位置，在二维图像中计算第二照射角度 的第二照射线的第二点，并且基于第二照射角度和第二位置计算第二点的三维坐标。

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。

公开(公告)号：US20140277734A1

公开(公告)日：2014-09-18

申请号：US14207663

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuji ICHIMARU ,  Tomoyuki HORIUCHI

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/1682 ,  B25J9/1687 ,  G05B2219/39109

Abstract: A robot system includes a first robot, a second robot, a stocker, and a controller. The first robot includes a first sensor. The second robot includes a second sensor. The stocker is configured to accommodate a plurality of workpieces that are to be held by at least one of the first robot and the second robot. The controller is configured to control the first robot and the second robot. When the first robot holds a first workpiece among the plurality of workpieces, the controller is configured to control the first sensor to recognize shapes of the plurality of workpieces in the stocker and control the second sensor to detect a holding state of the first workpiece held by the first robot.

Abstract translation: 机器人系统包括第一机器人，第二机器人，储料器和控制器。 第一机器人包括第一传感器。 第二机器人包括第二传感器。 储料器构造成容纳将由第一机器人和第二机器人中的至少一个保持的多个工件。 控制器被配置为控制第一机器人和第二机器人。 当第一机器人在多个工件中保持第一工件时，控制器被配置为控制第一传感器以识别储料器中的多个工件的形状，并且控制第二传感器以检测由第一工件保持的保持状态 第一台机器人

公开(公告)号：US20140277694A1

公开(公告)日：2014-09-18

申请号：US14210348

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuji ICHIMARU

IPC: B65G1/137

CPC classification number: B65G1/137 ,  B25J9/1612 ,  B25J9/1697 ,  G05B2219/37555 ,  G05B2219/39508 ,  G05B2219/40053

Abstract: A robot system includes a robot. The robot includes a holder to hold a first workpiece from among workpieces stored in a stocker. A sensor performs shape recognition of the workpieces stored in the stocker and detects a holding state of the first workpiece held by the robot. A controller controls the sensor to perform the shape recognition of the workpieces stored in the stocker, controls the robot to hold the first workpiece based on the shape recognition and transfer the first workpiece to a particular position in a sensor area of the sensor, controls the sensor to detect the holding state of the first workpiece held by the robot, and controls the robot to place the first workpiece at a predetermined position or in a predetermined posture based on the detected holding state.

Abstract translation: 机器人系统包括机器人。 机器人包括用于从存储在储料器中的工件中保持第一工件的保持器。 传感器对存储在储料器中的工件进行形状识别，并检测由机器人保持的第一工件的保持状态。 控制器控制传感器执行存储在储料器中的工件的形状识别，控制机器人基于形状识别保持第一工件，并将第一工件传送到传感器的传感器区域中的特定位置，控制 传感器，用于检测由机器人保持的第一工件的保持状态，并且基于检测到的保持状态来控制机器人将第一工件放置在预定位置或以预定姿势。

公开(公告)号：US20140104621A1

公开(公告)日：2014-04-17

申请号：US14108346

申请日：2013-12-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuji ICHIMARU

IPC: G01B11/02

CPC classification number: G01B11/02 ,  B25J9/1697 ,  G01B11/2518 ,  G05B2219/37571

Abstract: A three-dimensional shape measuring apparatus according to the embodiment includes an irradiating unit, an imaging unit, a position detector, a changing unit. The irradiating unit applies a slit light beam while changing an irradiation position in an area under measurement. The imaging unit images reflected light of the light beam. The position detector scans an image taken by the imaging unit to detect a position of the light beam on the image. The changing unit changes a position of an imaging area of the imaging unit in accordance with the irradiation position of the light beam.

Abstract translation: 根据实施例的三维形状测量装置包括照射单元，成像单元，位置检测器，改变单元。 照射单元在改变测量区域内的照射位置的同时施加狭缝光束。 成像单元对光束的反射光进行成像。 位置检测器扫描由成像单元拍摄的图像以检测光束在图像上的位置。 改变单元根据光束的照射位置改变成像单元的成像区域的位置。