公开(公告)号：US07899577B2

公开(公告)日：2011-03-01

申请号：US11822093

申请日：2007-07-02

申请人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen

发明人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen

IPC分类号： G06F19/00

CPC分类号： B25J9/1692 ,  G01B21/042 ,  G05B2219/37555 ,  G05B2219/39008 ,  G05B2219/39045

摘要： A measuring system and a calibration method for automatically calculating errors of mechanical parameters with high accuracy and correcting the parameters, by means of a relatively small and inexpensive measuring device. In relation to a plurality of positions of measurement, a robot is automatically moved such that, on a light receiving surface of a camera, the distance between the centers of an ellipse indicating a mark of a target and a circle of representing the shape of the target, and the difference between the length of the long axis of the ellipse and the diameter of the circle are within a predetermined error range.

摘要翻译： 一种测量系统和一种校准方法，用于通过相对较小且便宜的测量装置自动计算机械参数的误差并以高精度校正参数。 关于多个测量位置，机器人自动移动，使得在相机的光接收表面上，指示目标的标记的椭圆的中心与表示目标的形状的圆之间的距离 目标，并且椭圆的长轴的长度与圆的直径之间的差在预定的误差范围内。

公开(公告)号：US20080004750A1

公开(公告)日：2008-01-03

申请号：US11822093

申请日：2007-07-02

申请人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen

发明人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen

IPC分类号： G06F19/00

CPC分类号： B25J9/1692 ,  G01B21/042 ,  G05B2219/37555 ,  G05B2219/39008 ,  G05B2219/39045

摘要： A measuring system and a calibration method for automatically calculating errors of mechanical parameters with high accuracy and correcting the parameters, by means of a relatively small and inexpensive measuring device. In relation to a plurality of positions of measurement, a robot is automatically moved such that, on a light receiving surface of a camera, the distance between the centers of an ellipse indicating a mark of a target and a circle of representing the shape of the target, and the difference between the length of the long axis of the ellipse and the diameter of the circle are within a predetermined error range.

摘要翻译： 一种测量系统和一种校准方法，用于通过相对较小且便宜的测量装置自动计算机械参数的误差并以高精度校正参数。 关于多个测量位置，机器人自动移动，使得在相机的光接收表面上，指示目标的标记的椭圆的中心与表示目标的形状的圆之间的距离 目标，并且椭圆的长轴的长度与圆的直径之间的差在预定的误差范围内。

公开(公告)号：US06665588B2

公开(公告)日：2003-12-16

申请号：US10193172

申请日：2002-07-12

申请人： Atsushi Watanabe ,  Katsutoshi Takizawa ,  Kazunori Ban ,  Ichiro Kanno

发明人： Atsushi Watanabe ,  Katsutoshi Takizawa ,  Kazunori Ban ,  Ichiro Kanno

IPC分类号： G05B1500

CPC分类号： B23Q7/10 ,  B23Q7/04 ,  B23Q17/24 ,  B25J9/1697 ,  B65G61/00 ,  G05B2219/40053 ,  G05B2219/40613

摘要： A workpiece is gripped and unloaded by moving workpiece unloading means based on the results of measuring the workpiece position and orientation with a visual sensor. When a plurality of loaded workpieces are unloaded in a regular order one by one, or in groups, the position and orientation of the workpiece which is to be unloaded next change for each unloading. However, since a visual sensor is moved when necessary to the position appropriate for measuring the workpiece position and orientation, measurements of the workpieces with the visual sensor are conducted accurately. Therefore, the workpiece unloading is conducted reliably.

摘要翻译： 基于通过视觉传感器测量工件位置和方向的结果，通过移动工件卸载装置来夹紧和卸载工件。 当多个装载的工件以规则的顺序逐个或组合地卸载时，待卸载的工件的位置和取向接下来对于每次卸载而改变。 然而，由于视觉传感器在必要时移动到适于测量工件位置和方位的位置，所以可以精确地进行用视觉传感器的工件的测量。 因此，可靠地进行工件卸载。

公开(公告)号：US20080188983A1

公开(公告)日：2008-08-07

申请号：US12068113

申请日：2008-02-01

申请人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen

发明人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen

IPC分类号： G06F17/00

CPC分类号： B25J9/1692 ,  G01B11/002 ,  G01B21/042 ,  G05B2219/39045 ,  G05B2219/39393

摘要： A calibration device and method for automatically determining the position and the orientation of a robot used for measurement. First, an initial position of a preliminary position is generated based on a designated basic position, and it is judged whether the initial position is within an operation range of the robot. If the robot cannot reach the initial position, the preliminary position is adjusted close to the basic position. Otherwise, the preliminary position is evaluated by calculating an evaluation index of the preliminary position. When the evaluation index does not satisfy a predetermined condition, an initial value of an posture angle is increased.

摘要翻译： 一种用于自动确定用于测量的机器人的位置和方位的校准装置和方法。 首先，基于指定的基本位置生成预备位置的初始位置，并且判断初始位置是否在机器人的操作范围内。 如果机器人不能到达初始位置，则初步位置被调整为接近基本位置。 否则，通过计算初步位置的评价指标来评价初步位置。 当评价指标不满足预定条件时，姿势角的初始值增加。

公开(公告)号：US08350913B2

公开(公告)日：2013-01-08

申请号：US12631094

申请日：2009-12-04

申请人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen ,  Keisuke Watanabe

发明人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen ,  Keisuke Watanabe

IPC分类号： H04N17/00

CPC分类号： B25J9/1692 ,  G05B2219/37563 ,  G05B2219/39045 ,  G06T7/80

摘要： A calibrating device for calibration of an image measurement system. The calibrating device includes a main body having an upper surface, and a characteristic portion, which serves as a benchmark for calibration and is in the form of a recess formed in the upper surface of the main body, wherein the characteristic portion includes a side surface extending in a direction crossing the upper surface, and a bottom surface extending in a direction crossing the side surface, the bottom surface has an optical reflectance lower than an optical reflectance of the upper surface in relation to light identical to each other. This can provide a calibrating device for calibration of an image measurement system, which can detect the characteristic portion on the calibrating device stably, precisely and independent of the illumination conditions, which is less costly and can be easily handled.

摘要翻译： 用于校准图像测量系统的校准装置。 校准装置包括具有上表面的主体和作为校准的基准的特征部分，并且形成在主体的上表面中的凹部的形式，其中特征部分包括侧表面 在与上表面交叉的方向上延伸的底面和与该侧面相交的方向延伸的底面，底面的光反射率低于相对于彼此相同的光的上表面的光反射率。 这可以提供用于校准图像测量系统的校准装置，其可以稳定，精确地且独立于照明条件来检测校准装置上的特征部分，其成本较低并且可以容易地处理。

公开(公告)号：US08121731B2

公开(公告)日：2012-02-21

申请号：US11684503

申请日：2007-03-09

申请人： Kazunori Ban ,  Ichiro Kanno ,  Gang Shen ,  Katsutoshi Takizawa

发明人： Kazunori Ban ,  Ichiro Kanno ,  Gang Shen ,  Katsutoshi Takizawa

IPC分类号： B25J9/22

CPC分类号： B25J9/1656 ,  G05B19/425 ,  G05B2219/40385 ,  G05B2219/45104

摘要： A teaching position correcting apparatus corrects plural teaching point positions of a robot in a robot operation program, by sequentially moving the robot to each of the plural teaching points and by sequentially reading a current position of the robot at each of the plural teaching points. The apparatus includes: a position correction amount calculating unit that calculates a position correction amount, based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating unit that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount. At the time of moving the robot to uncorrected teaching points, a moving unit moves the robot to corrected positions of the teaching point positions before correction.

摘要翻译： 教学位置校正装置通过将机器人顺序地移动到多个教学点中的每一个，并且通过在多个教学点中的每一个依次读取机器人的当前位置，来校正机器人操作程序中的机器人的多个教学点位置。 该装置包括：位置校正量计算单元，其基于校正前的校正教学点位置和教学点位置来计算位置校正量; 以及校正位置计算单元，基于位置校正量计算多个教学点之前的校正前的教学点位置的校正位置。 在将机器人移动到未校正的教学点时，移动单元将机器人移动到校正前的教学点位置的校正位置。

公开(公告)号：US07171041B2

公开(公告)日：2007-01-30

申请号：US09950794

申请日：2001-09-13

申请人： Atsushi Watanabe ,  Katsutoshi Takizawa ,  Kazunori Ban

发明人： Atsushi Watanabe ,  Katsutoshi Takizawa ,  Kazunori Ban

IPC分类号： G06K9/00 ,  G06T15/00

CPC分类号： B25J9/1697 ,  G05B2219/39393 ,  G05B2219/40053 ,  G05B2219/40613

摘要： Upon reception of a work sensing command from a robot controller, an image processing unit obtains a two-dimensional image of thee whole work pallet including a work, with a CCD camera (a first sensor means). A line of sight is calculated based on the work position on the sensed two-dimensional image. The robot controller determines the destination of movement of the robot such that a crossing line LC of slit beams LB1, LB2 of a laser sensor (a second sensor means) can agree with the calculated line of eight. The image processing unit operates the laser sensor so as to surely irradiate the laser slit beams LB1, LB2 to the target work, permitting the laser sensor to sense the three-dimensional positional and orientation of the target work.

摘要翻译： 在从机器人控制器接收到作业感测命令时，图像处理单元利用CCD照相机（第一传感器装置）获得包括作品的整个工作托盘的二维图像。 基于感测的二维图像上的工作位置来计算视线。 机器人控制器确定机器人的运动的目的地，使得激光传感器（第二传感器装置）的狭缝梁LB1，LB2的交叉线LC可以与所计算的八条线一致。 图像处理单元操作激光传感器，以确保将激光狭缝束LB1，LB2照射到目标工件上，允许激光传感器感测目标工件的三维位置和取向。

公开(公告)号：US07853359B2

公开(公告)日：2010-12-14

申请号：US12068113

申请日：2008-02-01

申请人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen

发明人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen

IPC分类号： G06F17/00 ,  G05B19/02

CPC分类号： B25J9/1692 ,  G01B11/002 ,  G01B21/042 ,  G05B2219/39045 ,  G05B2219/39393

摘要： A calibration device and method for automatically determining the position and the orientation of a robot used for measurement. First, an initial position of a preliminary position is generated based on a designated basic position, and it is judged whether the initial position is within an operation range of the robot. If the robot cannot reach the initial position, the preliminary position is adjusted close to the basic position. Otherwise, the preliminary position is evaluated by calculating an evaluation index of the preliminary position. When the evaluation index does not satisfy a predetermined condition, an initial value of an posture angle is increased.

摘要翻译： 一种用于自动确定用于测量的机器人的位置和方位的校准装置和方法。 首先，基于指定的基本位置生成预备位置的初始位置，并且判断初始位置是否在机器人的操作范围内。 如果机器人不能到达初始位置，则初步位置被调整为接近基本位置。 否则，通过计算初步位置的评价指标来评价初步位置。 当评价指标不满足预定条件时，姿势角的初始值增加。

公开(公告)号：US20050107920A1

公开(公告)日：2005-05-19

申请号：US10989432

申请日：2004-11-17

申请人： Kazunori Ban ,  Katsutoshi Takizawa

发明人： Kazunori Ban ,  Katsutoshi Takizawa

IPC分类号： B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  G05B19/401 ,  G05B19/404 ,  G05B19/408 ,  G05B19/42 ,  G06F19/00

CPC分类号： G05B19/4083 ,  B25J9/1692 ,  G05B2219/36504 ,  G05B2219/37555 ,  G05B2219/39024 ,  G05B2219/39057

摘要： A teaching position correcting device which can easily correct, with high precision, teaching positions after shifting at least one of a robot and an object worked by the robot. Calibration is carried out using a vision sensor (i.e., CCD camera) that is mounted on a work tool. The vision sensor measures three-dimensional positions of at least three reference marks not aligned in a straight line on the object. The vision sensor is optionally detached from the work tool, and at least one of the robot and the object is shifted. After the shifting, calibration (this can be omitted when the vision sensor is not detached) and measuring of three-dimensional positions of the reference marks are carried out gain. A change in a relative positional relationship between the robot and the object is obtained using the result of measuring three-dimensional positions of the reference marks before and after the shifting respectively. To compensate for this change, the teaching position data that is valid before the shifting is corrected. The robot can have a measuring robot mechanical unit having a vision sensor, and a separate working robot mechanical unit that works the object. In this case, positions of the working robot mechanical unit before and after the shifting, respectively, are also measured.

摘要翻译： 一种教学位置校正装置，其能够在移动机器人和由机器人工作的对象中的至少一个之后以高精度的方式校正教学位置。 使用安装在工作工具上的视觉传感器（即，CCD照相机）进行校准。 视觉传感器测量至少三个参考标记的三维位置，该参考标记在物体上的直线上未排列。 视觉传感器可选地从工作工具分离，并且机器人和物体中的至少一个被移动。 移位后，校准（当视觉传感器未分离时可以省略），并且对参考标记的三维位置的测量进行增益。 使用分别测量前后的基准标记的三维位置的结果，获得机器人与物体之间的相对位置关系的变化。 为了补偿这种变化，校正在换档之前有效的教学位置数​​据。 机器人可以具有具有视觉传感器的测量机器人机械单元，以及工作该对象的单独的工作机器人机械单元。 在这种情况下，也分别测量移动前后的作业机器人机械单元的位置。

公开(公告)号：US20050065653A1

公开(公告)日：2005-03-24

申请号：US10930850

申请日：2004-09-01

申请人： Kazunori Ban ,  Katsutoshi Takizawa

发明人： Kazunori Ban ,  Katsutoshi Takizawa

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

CPC分类号： B25J9/1697 ,  G05B2219/36431 ,  G05B2219/40003

摘要： A robot automatically moving a distal end portion of a robot arm to an arbitrary target position, and method therefor. A camera mounted at the distal end portion of the robot arm captures an image of an object. A position R1 corresponding to the target Q is specified in the image. Assuming that the number of pixels between the position R1 and the center of an image screen is equal to N1, a distance W1 observed at a distance L0 at the time of calibration is determined as W1=C0·N1, where C0 is a transformation coefficient. The camera is moved by the distance W1 in an X axis direction toward the target Q. A position R2 corresponding to the target W is specified in the image. The number, N2, of pixels between the position R2 and the screen center is determined. A motion vector q is determined from C0, N1, N2 and L0. The camera is moved according to the motion vector q. The robot is positioned at a position where the camera center is opposed to the target Q at the distance L0. By specifying the target Q in the image, a motion to the specified target Q position is automatically realized.

摘要翻译： 机器人臂的远端部自动移动到任意目标位置的机器人及其方法。 安装在机器人臂的远端部分的相机捕获物体的图像。 在图像中指定与目标Q对应的位置R1。 假设位置R1和图像屏幕的中心之间的像素数量等于N1，则在校准时在距离L0观察到的距离W1被确定为W1 = C0.N1，其中C0是变换系数 。 相机在X轴方向上朝向目标Q移动距离W1。在图像中指定与目标W对应的位置R2。 确定位置R2和屏幕中心之间的像素数N2。 从C0，N1，N2和L0确定运动矢量q。 摄像机根据运动矢量q移动。 机器人位于相机中心与距离L0的目标Q相对的位置。 通过指定图像中的目标Q，自动实现到指定的目标Q位置的运动。