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：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：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：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：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：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：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：US06236896B1

公开(公告)日：2001-05-22

申请号：US09004506

申请日：1998-01-08

申请人： Atsushi Watanabe ,  Fumikazu Warashina

发明人： Atsushi Watanabe ,  Fumikazu Warashina

IPC分类号： G05B1302

CPC分类号： B25J9/1692 ,  G05B2219/39016 ,  G05B2219/39057

摘要： A method of setting a coordinate system to an automatic machine with a stable accuracy in a non-contact manner. The desired coordinate system can be set even if it exists outside a moving range of the automatic machine. The operator operates a robot control device to move a robot to a first position A1 where a coordinate system setting jig is within the field of view of a camera supported by the robot. Matrix data [A1] representing the robot position A1 is stored and the jig is photographed by the camera. The image of a group of dots on the jig are analyzed by an image processor to obtain picture element values of the individual points. Based on the picture element values of the individual points and jig data (data of distances between and number of the points), matrix data [D1] representing a position and a posture of a coordinate system &Sgr;c to be set with respect to a sensor coordinate system &Sgr;s is obtained. In the same manner, a matrix data [D2] at a position A2 is obtained. According to a relationship [C]=[A1]·[S]·[D1]=[A2]·[S]·[D2], a matrix [C] is derived and stored as data for setting the coordinate system &Sgr;c to the robot control device.

摘要翻译： 以非接触的方式将坐标系设置为自动机器的方法以稳定的精度设置。 即使存在于自动机器的移动范围之外，也可以设定所需的坐标系。 操作者操作机器人控制装置将机器人移动到第一位置A1，其中坐标系设置夹具在由机器人支持的相机的视场内。 存储表示机器人位置A1的矩阵数据[A1]，通过照相机拍摄夹具。 通过图像处理器分析夹具上的一组点的图像，以获得各个点的图像元素值。 基于各个点和夹具数据（点之间的距离和数量的数据）的像素值，表示相对于传感器坐标设定的坐标系SIGMAc的位置和姿势的矩阵数据[D1] 获得系统SIGMA。 以相同的方式，获得位置A2处的矩阵数据[D2]。 根据[C] = [A1]。[S]。[D1] = [A2]。[S]。[D2]，导出并存储矩阵[C]，作为将坐标系SIGMAc设置为 机器人控制装置。

公开(公告)号：US5570190A

公开(公告)日：1996-10-29

申请号：US284442

申请日：1994-08-03

申请人： Fumikazu Terawaki ,  Fumikazu Warashina

发明人： Fumikazu Terawaki ,  Fumikazu Warashina

IPC分类号： G05B19/18 ,  B25J9/16 ,  G01B11/00 ,  G01B11/03 ,  G05B19/19 ,  G05B19/4093 ,  G05B19/42

CPC分类号： B25J9/1692 ,  G01B11/00

摘要： A visual sensor coordinate system setting jig comprising a jig including a plurality of feature points arranged at known intervals in an array state corresponding to a visual sensor coordinate system, and a visual sensor to receive an image of the plurality of feature points of the jig, at least three of the plurality of feature points each having a distinguishing appearance which the visual sensor recognizes to discriminate the at least three feature points from the other of the plurality of feature points, the at least three feature points representing an origin and coordinate axes of the visual sensor coordinate system, and the visual sensor to identify the origin and the coordinate axes of the visual sensor coordinate system based on the array state of the plurality of feature points and the distinguishing appearance of the at least three feature points.

摘要翻译： PCT No.PCT / JP93 / 01750 Sec。 371日期1994年8月3日 102（e）日期1994年8月3日PCT 1993年12月1日PCT公布。 出版物WO94 / 日期1994年9月6日一种视觉传感器坐标系设置夹具，包括夹具，该夹具包括以与视觉传感器坐标系对应的阵列状态的已知间隔排列的多个特征点，以及视觉传感器，用于接收多个特征 所述夹具的点，所述多个特征点中的至少三个具有视觉传感器识别的区别外观，以区分所述至少三个特征点与所述多个特征点中的另一个，所述至少三个特征点表示 视觉传感器坐标系的原点坐标轴和视觉传感器，用于基于多个特征点的阵列状态和至少三个特征的区别外观来识别视觉传感器坐标系的原点和坐标轴 积分

公开(公告)号：US5333242A

公开(公告)日：1994-07-26

申请号：US910171

申请日：1992-07-14

申请人： Atsushi Watanabe ,  Fumikazu Terawaki ,  Fumikazu Warashina

发明人： Atsushi Watanabe ,  Fumikazu Terawaki ,  Fumikazu Warashina

IPC分类号： B25J13/00 ,  B25J9/16 ,  B25J9/18 ,  G05B19/18 ,  G05B19/404 ,  G05B19/408 ,  G05B19/4093 ,  G06F15/00

CPC分类号： B25J9/1692 ,  G05B19/4086 ,  G05B2219/39399

摘要： A robot coordinate system setting method is provided which facilitates the setting of a common coordinate system with respect to each of robots in a robot system or a robot installed in substitution for one of the robots. A coordinate transformation matrix for transforming a provisional coordinate system (X2Y2Z2), which a first robot has recognized by accessing a second jig, into a common coordinate system (X1Y1Z1), which the first robot has recognized by accessing a first jig, is calculated, and using this coordinate transformation matrix, a provisional coordinate system which a second robot has recognized by accessing the second jig is transformed into the common coordinate system which is to be recognized by the second robot, and is set with respect to the second robot. If a robot is installed in substitution for the second robot, method similar to the above is used to obtain a second provisional coordinate system, which the substitute robot has recognized by accessing the third jig, and is transformed into the common coordinate system which is to be recognized by the substitute robot, whereby the common coordinate system is set with respect to the substitute robot.

摘要翻译： PCT No.PCT / JP91 / 01566 Sec。 371日期：1992年7月14日 102（e）日期1992年7月14日PCT 1991年11月15日PCT公布。 第WO92 / 09019号公报 日期：1992年5月29日。提供了一种机器人坐标系设定方法，其有助于相对于机器人系统中的每个机器人或机器人中的一个机器人安装的机器人设置公共坐标系。 计算用于将第一机器人通过访问第二夹具识别的临时坐标系（X2Y2Z2）变换为通过访问第一夹具而识别出的第一机器人识别的公共坐标系（X1Y1Z1）的坐标变换矩阵， 并且使用该坐标变换矩阵，将通过访问第二夹具识别出的第二机器人的临时坐标系变换为将被第二机器人识别的公共坐标系，并且相对于第二机器人设定。 如果安装机器人代替第二机器人，则使用与上述类似的方法来获得替代机器人通过访问第三夹具而识别的第二临时坐标系，并且被转换为公共坐标系，即 由替代机器人识别，由此相对于替代机器人设置公共坐标系。