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：US20110218675A1

公开(公告)日：2011-09-08

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： B25J13/08

CPC分类号： B25J9/1697

摘要： A robot system (10) includes: a processing section (32) that calculates positional information of a workpiece with respect to a visual sensor (13); a clock (35) to which a robot controlling section (31) and the processing section access to check a present time; a first storing section (33) that sequentially stores first times at a predetermined cycle in combination with positional information items of an arm tip at the first times, respectively; a second storing section (34) that stores a second time when the visual sensor measures the workpiece; an arm tip position calculating section (41) that calculates positional information of the arm tip when the visual sensor measures the workpiece based on the second time, at least two of the first times before and after the second time among the first times and the positional information items of the arm tip corresponding to the respective first times; and a workpiece position calculating section (42) that calculates positional information of the grasped workpiece with respect to the arm tip based on the positional information of the arm tip and the workpiece. Consequently, even when the workpiece is imaged without temporarily stopping operation of the robot, a position of the workpiece can be accurately calculated based on an accurate robot position.

摘要翻译： 机器人系统（10）包括：处理部（32），其计算相对于视觉传感器（13）的工件的位置信息; 机器人控制部分（31）和处理部分访问的时钟（35），以检查当前时间; 第一存储部分，分别以第一次与臂尖的位置信息项相结合地以预定的周期顺次存储第一次; 第二存储部（34），其在视觉传感器测量工件时存储第二次; 臂部位置计算部（41），其在第二时刻计算视觉传感器测量工件时的臂尖的位置信息，第一时间之后的第二时间之前和之后的第一次的位置信息和位置 对应于各自的第一次的臂尖的信息项; 以及工件位置计算部（42），其基于臂尖端和工件的位置信息来计算被抓握的工件相对于臂尖的位置信息。 因此，即使在不使机器人暂时停止操作的状态下对工件进行成像，也能够基于准确的机器人位置来精确地计算出工件的位置。

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：US07720573B2

公开(公告)日：2010-05-18

申请号：US11812449

申请日：2007-06-19

申请人： Makoto Yamada ,  Kazunori Ban ,  Katsutoshi Takizawa

发明人： Makoto Yamada ,  Kazunori Ban ,  Katsutoshi Takizawa

IPC分类号： G06F19/00

CPC分类号： B25J13/06 ,  B25J19/023

摘要： A robot control apparatus includes a control apparatus body fixedly installed and connected to a robot and a portable teaching pendant connected to the control apparatus body to operate the robot through the teaching pendant. The teaching pendant includes an imaging device connector for connecting an imaging device to the teaching pendant so as to enable the image picked up by the imaging device to be directly input to the teaching pendant through the imaging device connector.

摘要翻译： 机器人控制装置包括固定地安装并连接到机器人的控制装置主体和连接到控制装置主体的便携式示教装置，以通过示教器操作机器人。 示教装置包括用于将成像装置连接到示教器的成像装置连接器，以便能够使由成像装置拍摄的图像通过成像装置连接器直接输入到教导吊坠。

公开(公告)号：US20070293987A1

公开(公告)日：2007-12-20

申请号：US11812449

申请日：2007-06-19

申请人： Makoto Yamada ,  Kazunori Ban ,  Katsutoshi Takizawa

发明人： Makoto Yamada ,  Kazunori Ban ,  Katsutoshi Takizawa

IPC分类号： G06F19/00

CPC分类号： B25J13/06 ,  B25J19/023

摘要： A robot control apparatus includes a control apparatus body fixedly installed and connected to a robot and a portable teaching pendant connected to the control apparatus body to operate the robot through the teaching pendant. The teaching pendant includes an imaging device connector for connecting an imaging device to the teaching pendant so as to enable the image picked up by the imaging device to be directly input to the teaching pendant through the imaging device connector.

摘要翻译： 机器人控制装置包括固定地安装并连接到机器人的控制装置主体和连接到控制装置主体的便携式示教装置，以通过示教器操作机器人。 示教装置包括用于将成像装置连接到示教器的成像装置连接器，以便能够使由成像装置拍摄的图像通过成像装置连接器直接输入到教导吊坠。

公开(公告)号：US20050273199A1

公开(公告)日：2005-12-08

申请号：US11142496

申请日：2005-06-02

申请人： Kazunori Ban ,  Ichiro Kanno ,  Makoto Yamada ,  Toshihiko Inoue

发明人： Kazunori Ban ,  Ichiro Kanno ,  Makoto Yamada ,  Toshihiko Inoue

IPC分类号： B25J13/08 ,  B25J9/10 ,  B25J9/16 ,  G05B19/18 ,  G05B19/19 ,  G06F19/00

CPC分类号： B25J9/1692 ,  B25J9/1682 ,  G05B2219/39045 ,  G05B2219/39046 ,  G05B2219/39114 ,  G05B2219/39397

摘要： A robot system comprising a first robot (R1) with a camera of a visual sensor mounted thereon and a second robot (R2) having a feature portion, is disclosed. The robots (R1, R2) are set in the first initial states (G1), from which the first robot (R1) or the second robot (R2) is moved so that the image of the feature portion assumes a target position or size (G2), thereby to store the present positions (P1, Q1) (G3). The same process is repeated N times (N≧3) while changing the positions of the initial states of the robots (G4). Based on the positions P1, . . . , PN and Q1, . . . , QN obtained by the N repetitive above processes, a matrix T indicating the coordinate conversion from Σb to Σb′ is determined. One or two robot control units may be provided. As a result, the calibration to determine relative positions between the robots can be carried out easily and with high accuracy, thereby reducing the jig-related cost.

摘要翻译： 公开了一种机器人系统，其包括具有安装在其上的视觉传感器的照相机的第一机器人（R 1）和具有特征部分的第二机器人（R 2）。 机器人（R 1，R 2）被设定为第一初始状态（G 1），第一机器人（R 1）或第二机器人（R 2）从该初始状态（G1）移动，使得特征部分的图像呈现为 目标位置或大小（G 2），从而存储当前位置（P 1，Q 1）（G 3）。 在改变机器人的初始状态（G 4）的位置的同时，重复N次（N> = 3）。 基于位置P 1，。 。 。 ，PN和Q 1，。 。 。 ，通过N次重复上述处理获得的QN，确定表示从Sigmab到Sigmab'的坐标转换的矩阵T. 可以提供一个或两个机器人控制单元。 结果，可以容易且高精度地进行用于确定机器人之间的相对位置的校准，从而减少与夹具相关的成本。

公开(公告)号：US07161321B2

公开(公告)日：2007-01-09

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： B25J9/16

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。

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。