公开(公告)号：US08326460B2

公开(公告)日：2012-12-04

申请号：US13014769

申请日：2011-01-27

申请人： Kazunori Ban ,  Fumikazu Warashina ,  Makoto Yamada ,  Yuuta Namiki

发明人： Kazunori Ban ,  Fumikazu Warashina ,  Makoto Yamada ,  Yuuta Namiki

IPC分类号： G05B15/00 ,  G05B19/00

CPC分类号： B25J9/1697

摘要： A robot system calculates positional information of a workpiece with respect to a visual sensor and calculates positional information of an arm tip at a second time based on first times stored by a storing section and the second time at which the visual sensor measures the workpiece.

摘要翻译： 机器人系统基于视觉传感器计算工件的位置信息，并且基于存储部存储的第一次和视觉传感器测量工件的第二次来计算第二时间的臂尖的位置信息。

公开(公告)号：US06763284B2

公开(公告)日：2004-07-13

申请号：US10001991

申请日：2001-12-05

申请人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Katsutoshi Takizawa ,  Fumikazu Warashina ,  Kazunori Ban ,  Makoto Yamada ,  Akihiro Terada ,  Mitsuhiro Okuda

发明人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Katsutoshi Takizawa ,  Fumikazu Warashina ,  Kazunori Ban ,  Makoto Yamada ,  Akihiro Terada ,  Mitsuhiro Okuda

IPC分类号： G05B1900

CPC分类号： B25J9/1697 ,  G05B19/4202 ,  G05B2219/35506 ,  G05B2219/36415 ,  G05B2219/37288 ,  G05B2219/37571 ,  G05B2219/37572 ,  G05B2219/40005

摘要： An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.

摘要翻译： 使用相机拍摄参考对象的图像并进行显示。 测量起点由图像位置指示装置指向。 使用图像上的位置和相机的位置和方向获得对应的视线，机器人接近参考对象，使得其不偏离投影方向移动到适合于测量的位置。 光照射在基准对象上，开始测量对象附近的测量点的面的倾斜度。 拍摄包括参考物体上的亮线图像的图像，并沿着工作线顺序地测量点的3维位置。 使用这些位置创建机器人的移动路径作为工作机器人的教导点。

公开(公告)号：US07957580B2

公开(公告)日：2011-06-07

申请号：US11669477

申请日：2007-01-31

申请人： Kazunori Ban ,  Fumikazu Warashina ,  Keisuke Watanabe

发明人： Kazunori Ban ,  Fumikazu Warashina ,  Keisuke Watanabe

IPC分类号： G06K9/00

CPC分类号： B25J9/1697 ,  G05B2219/37555 ,  G05B2219/40053

摘要： A workpiece picking device capable of correctly detecting the size of a workpiece. The picking device has a robot capable of picking the same kind of workpieces contained in a work container, a robot controller for controlling the robot, a video camera positioned above the work container so as to widely image the workpieces and an image processor for processing an image obtained by the video camera. The three-dimensional position and posture of each workpiece is measured by a three-dimensional vision sensor arranged on a wrist element of the robot.

摘要翻译： 能够正确地检测工件的尺寸的工件拾取装置。 拾取装置具有能够拾取包含在工作容器中的相同种类的工件的机器人，用于控制机器人的机器人控制器，位于工作容器上方的摄像机，以便广泛地对工件进行成像以及用于处理工件的图像处理器 由摄像机获得的图像。 每个工件的立体位置和姿势通过布置在机器人腕部上的三维视觉传感器来测量。

公开(公告)号：US08014899B2

公开(公告)日：2011-09-06

申请号：US12768868

申请日：2010-04-28

申请人： Kazunori Ban ,  Ichiro Kanno ,  Fumikazu Warashina ,  Masafumi Ooba

发明人： Kazunori Ban ,  Ichiro Kanno ,  Fumikazu Warashina ,  Masafumi Ooba

IPC分类号： G06F19/00 ,  G06F7/00 ,  B65G43/10

CPC分类号： B25J9/0093 ,  B25J9/1697 ,  G05B19/4182 ,  G05B2219/39102 ,  G05B2219/40007 ,  Y02P90/083

摘要： An article conveying robot system capable of effectively containing an article in a container conveyed by a conveyor by using a robot. A container detecting part measures the distribution of shading of an image of each containing cell based on a detection result of the container, detects the containing state of each cell, and stores the detection result of each cell. An information managing part of a controller of an upstream side robot receives information from a container detecting part of a controller of a downstream side robot, and then generates containing cell information. An information managing part checks the cell information to be processed, and then transmits the cell information to a task executing part only when an article is not located in the corresponding cell. Task executing part controls the robot so as to locate an article in the selected cell based on the cell information.

摘要翻译： 一种能够通过使用机器人有效地容纳由输送机输送的容器中的物品的物品输送机器人系统。 容器检测部基于容器的检测结果来测量包含单元的图像的阴影分布，检测各单元的容纳状态，存储各单元的检测结果。 上游侧机器人的控制器的信息管理部分从下游侧机器人的控制器的容器检测部分接收信息，然后生成包含单元信息。 信息管理部分检查要处理的小区信息，然后仅当物品不在相应的小区中时将小区信息发送到任务执行部分。 任务执行部分控制机器人，以便基于单元信息来定位所选单元中的文章。

公开(公告)号：US08132835B2

公开(公告)日：2012-03-13

申请号：US12555150

申请日：2009-09-08

申请人： Kazunori Ban ,  Fumikazu Warashina ,  Shouta Takizawa

发明人： Kazunori Ban ,  Fumikazu Warashina ,  Shouta Takizawa

IPC分类号： B25B7/00

CPC分类号： B25J15/0616 ,  B25J15/0266

摘要： A workpiece gripping device includes a primary catching mechanism having a suction pad adapted to hold a workpiece by suction power and a rod-like part having the suction pad mounted on one end thereof, gripping pawls sandwiching and gripping the workpiece, a drive unit for supplying a drive power, and a transmission mechanism transmitting the drive power of the drive unit to the gripping pawls. The transmission mechanism moves the gripping pawls along an axis of the rod-like part between a gripping position where the gripping pawls are projected beyond the suction pad and a retreated position where the gripping pawls are retreated from the suction pad toward the base plate. The gripping pawls are moved to the gripping position along the axis of the rod-like part while shortening the distance between the gripping pawls.

摘要翻译： 工件夹持装置包括主捕捉机构，其具有适于通过抽吸动力保持工件的吸盘和具有安装在其一端上的吸盘的杆状部件，夹持夹持工件的夹爪，用于供给的驱动单元 驱动力和将驱动单元的驱动力传递到夹爪的传动机构。 所述传动机构沿着所述杆状部件的轴线将所述抓持爪沿夹持位置移动到所述抓持爪突出超过所述吸盘之间的夹持位置和所述夹持爪从所述吸盘朝向所述基板后退的位置。 夹持爪沿杆状部件的轴线移动到夹紧位置，同时缩短夹紧爪之间的距离。

公开(公告)号：US20070002315A1

公开(公告)日：2007-01-04

申请号：US11478634

申请日：2006-07-03

申请人： Kazunori Ban ,  Fumikazu Warashina ,  Toshiyuki Ando

发明人： Kazunori Ban ,  Fumikazu Warashina ,  Toshiyuki Ando

IPC分类号： G01N21/88

CPC分类号： G01B11/2425 ,  G01N21/954

摘要： A screw portion inspection apparatus for inspecting, by image processing, a screw portion provided in an object. The apparatus includes an imaging section for picking up an image of a region, including a screw portion, in an object along a direction inclined with respect to a center axis of the screw portion, and obtaining a two-dimensional image of the object; an image processing section for subjecting image data of the screw portion in the two-dimensional image obtained by the imaging section to a filtering process; and a thread judging section for judging whether a thread exists in the screw portion, based on output image data, of the screw portion, resulting from the filtering process. The filtering process performed by the image processing section includes an edge detection process, and the output image data of the screw portion includes edge data in the screw portion. The thread judging section judges whether the thread exists in the screw portion, based on an amount of information in the edge data resulting from the edge detection process.

摘要翻译： 一种用于通过图像处理检查设置在物体中的螺纹部分的螺纹部分检查装置。 该装置包括成像部分，用于沿着相对于螺钉部分的中心轴线倾斜的方向，在物体中拾取包括螺纹部分的区域的图像，并获得物体的二维图像; 图像处理部，其对由所述摄像部获得的二维图像中的所述螺纹部的图像数据进行滤波处理; 以及螺纹判断部，其基于由过滤处理得到的螺纹部的输出图像数据，判断螺纹部是否存在螺纹部。 由图像处理部执行的滤波处理包括边缘检测处理，螺旋部分的输出图像数据包括螺纹部分中的边缘数据。 螺纹判断部基于从边缘检测处理得到的边缘数据中的信息量来判断螺纹是否存在于螺纹部。

公开(公告)号：US07532949B2

公开(公告)日：2009-05-12

申请号：US11034724

申请日：2005-01-14

申请人： Kazunori Ban ,  Makoto Yamada

发明人： Kazunori Ban ,  Makoto Yamada

IPC分类号： G06F15/16

CPC分类号： G01B21/042 ,  B25J19/023 ,  G01B11/005 ,  G05B2219/37555

摘要： A measuring system which can easily measure a three-dimensional position of a target to be measured using a light receiving device mounted to a manipulator of a robot. When the manipulator is positioned at a first position, a moving process for moving an image of the target imaged by the light receiving device or a camera to a center of a light receiving surface of the camera is executed. Next, the manipulator positioned at the first position is moved, without changing the orientation of the camera, to a second position where the distance between the camera and the target is different to that at the first position. After that, the moving process is executed again. Based on the position of the manipulator after the process, the orientation of a coordinate system Σv1 representing the direction of a visual line is calculated. Then, the manipulator is rotated by 180 degree about Z-axis of the coordinate system Σv1 and the moving process is executed again. A middle point of the positions of coordinate system Σv1 before and after movement of the manipulator is determined as an origin of a coordinate system Σv2 representing the orientation and the position of the visual line. The manipulator is inclined relative to Y-axis of the coordinate system Σv2 and the moving process is executed again, so as to calculate the three-dimensional position of the target.

摘要翻译： 一种测量系统，其可以使用安装到机器人的操纵器的光接收装置容易地测量要测量的目标的三维位置。 当操纵器位于第一位置时，执行用于将由光接收装置或照相机成像的目标的图像移动到相机的光接收表面的中心的移动处理。 接下来，将位于第一位置的操纵器移动到相机与目标之间的距离与第一位置不同的第二位置，而不改变相机的方位。 之后，再次执行移动处理。 基于处理之后的操纵器的位置，计算表示视线方向的坐标系Sigmav1的取向。 然后，将机械手绕坐标系Sigmav1的Z轴旋转180度，再次执行移动处理。 将坐标系Sigmav1在操纵器移动前后的位置的中点确定为表示视线的取向和位置的坐标系Sigmav2的原点。 操纵器相对于坐标系Sigmav2的Y轴倾斜，再次执行移动处理，以计算目标的三维位置。

公开(公告)号：US07190402B2

公开(公告)日：2007-03-13

申请号：US10140998

申请日：2002-05-09

申请人： Kazunori Ban ,  Makoto Yamada

发明人： Kazunori Ban ,  Makoto Yamada

IPC分类号： H04N5/235

CPC分类号： H04N5/235 ,  H04N5/2354

摘要： A visual sensor capable of expanding a dynamic range with a little load of processing for arithmetic operations and performing a stable detection not affected by change of conditions such as ON/OFF state of projection of reference light. A multiplying parameter A (A>1) and the number N of times of image capturing are set in accordance with ON/OFF state of the reference light projection. N images are captured with a shutter speed varying by successively multiplying an initial value by (1/A). Values of density of each pixel in the captured images are summed. Values of constants B and C in equations: 1=B·Zmax+C; 0=B·Zmin+C are obtained based on the maximum value Zmax and the minimum value Zmin of the summed values of densities of all the pixels. An output value Z′ of each pixel is obtained according to an equation: Z′=B·Z+C, using the determined values of B and C.

摘要翻译： 一种视觉传感器，其能够以少量的处理负载来扩展动态范围，并进行不受基准光投射的ON / OFF状态等的变化影响的稳定检测。 根据参考光投影的ON / OFF状态来设定乘法参数A（A> 1）和图像拍摄次数N。 以通过将初始值依次乘以（1 / A）而变化的快门速度捕获N个图像。 拍摄图像中每个像素的密度值相加。 常数B和C在等式中的值：1 = B.Zmax + C; 基于所有像素的密度的相加值的最大值Zmax和最小值Zmin获得0 = B.Zmin + C。 使用B和C的确定值，根据以下等式获得每个像素的输出值Z'：Z'= B.Z + C。

公开(公告)号：US20050225278A1

公开(公告)日：2005-10-13

申请号：US11100486

申请日：2005-04-07

申请人： Kazunori Ban ,  Makoto Yamada

发明人： Kazunori Ban ,  Makoto Yamada

IPC分类号： G01B11/00 ,  B25J9/16 ,  G01B11/26 ,  G05B19/401 ,  B25J9/18 ,  G05B19/19

CPC分类号： B25J9/1692 ,  G05B2219/39008 ,  G05B2219/39394 ,  G05B2219/40607

摘要： The image of a tool center point (31) caught by a camera (light-receiving device) 4 from two initial positions is moved to a predetermined point, by a predetermined point moving process, at the center of a light-receiving surface thereby to acquire robot positions (Qf1, Qf2), based on which the direction of the view line (40) is determined. Next, the robot is moved to the position where the position (Qf1) is rotated by 180 degrees around the Z axis of a coordinate system (Σv1) thereby to execute the predetermined point moving process. After rotational movement, a robot position (Qf3) is acquired. The midpoint between the position (Qf1) and the position (Qf3) is determined as the origin of a coordinate system (Σv2). Using the position and the posture of the view line (40), the position of the tool center point (31) is determined. Thus, the position of the tool center point with respect to the tool mounting surface can be determined using a fixed light-receiving device. By additionally measuring two points at known relative positions from the tool center point, the tool posture as well as the position of the tool center point can be determined.

摘要翻译： 由相机（光接收装置）4从两个初始位置捕获的工具中心点（31）的图像在预定点移动过程中移动到预定点，在光接收表面的中心，从而 获取机器人位置（Qf 1，Qf 2），基于该位置确定视线（40）的方向。 接下来，机器人移动到位置（Qf 1）围绕坐标系（Sigmav 1）的Z轴旋转180度的位置，从而执行预定点移动处理。 在旋转运动之后，获取机器人位置（Qf 3）。 位置（Qf 1）和位置（Qf 3）之间的中点被确定为坐标系的原点（Sigmav 2）。 使用视线（40）的位置和姿势，确定工具中心点（31）的位置。 因此，可以使用固定的光接收装置来确定工具中心点相对于工具安装面的位置。 通过在工具中心点的已知相对位置附加测量两个点，可以确定刀具姿势以及刀具中心点的位置。

公开(公告)号：US20050159842A1

公开(公告)日：2005-07-21

申请号：US11034724

申请日：2005-01-14

申请人： Kazunori Ban ,  Makoto Yamada

发明人： Kazunori Ban ,  Makoto Yamada

IPC分类号： B25J13/08 ,  B25J19/02 ,  G01B11/00 ,  G01B11/26 ,  G01B21/04 ,  G06F19/00

CPC分类号： G01B21/042 ,  B25J19/023 ,  G01B11/005 ,  G05B2219/37555

摘要： A measuring system which can easily measure a three-dimensional position of a target to be measured using a light receiving device mounted to a manipulator of a robot. When the manipulator is positioned at a first position, a moving process for moving an image of the target imaged by the light receiving device or a camera to a center of a light receiving surface of the camera is executed. Next, the manipulator positioned at the first position is moved, without changing the orientation of the camera, to a second position where the distance between the camera and the target is different to that at the first position. After that, the moving process is executed again. Based on the position of the manipulator after the process, the orientation of a coordinate system Σv1 representing the direction of a visual line is calculated. Then, the manipulator is rotated by 180 degree about Z-axis of the coordinate system Σv1 and the moving process is executed again. A middle point of the positions of coordinate system Σv1 before and after movement of the manipulator is determined as an origin of a coordinate system Σv2 representing the orientation and the position of the visual line. The manipulator is inclined relative to Y-axis of the coordinate system Σv2 and the moving process is executed again, so as to calculate the three-dimensional position of the target.

摘要翻译： 一种测量系统，其可以使用安装到机器人的操纵器的光接收装置容易地测量要测量的目标的三维位置。 当操纵器位于第一位置时，执行用于将由光接收装置或照相机成像的目标的图像移动到相机的光接收表面的中心的移动处理。 接下来，将位于第一位置的操纵器移动到相机与目标之间的距离与第一位置不同的第二位置，而不改变相机的方位。 之后，再次执行移动处理。 基于处理后的操纵器的位置，计算表示视线方向的坐标系Sigmav 1的取向。 然后，将机械手绕坐标系Sigmav 1的Z轴旋转180度，再次执行移动处理。 将坐标系Sigmav 1在操纵器移动之前和之后的位置的中点确定为表示视线的取向和位置的坐标系Sigmav 2的原点。 操纵器相对于坐标系Sigmav 2的Y轴倾斜，再次执行移动处理，以计算目标的三维位置。