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公开(公告)号：US20180250821A1
公开(公告)日：2018-09-06
申请号：US15893741
申请日：2018-02-12
Applicant: Keyence Corporation
Inventor： Masato Shimodaira , Kazuhito Saeki
CPC classification number: B25J9/1671 , B25J9/1669 , B25J9/1697 , G05B2219/40053 , G05B2219/45063 , G06F3/04842 , G06F17/5009 , G06F2217/16 , G06T15/50 , G06T2215/16 , Y10S901/02 , Y10S901/31 , Y10S901/47
Abstract: The robot simulation apparatus includes: a workpiece model setting unit 11 that sets a workpiece model; a posture condition setting unit 16 that sets a condition related to a posture taken by the workpiece model, as a posture condition, when the workpiece model set by the workpiece model setting unit 11 is disposed in a virtual work space as a virtually formed work space; a bulk pile data generating unit 20 that generates bulk pile data of the plurality of workpiece models piled up in the virtual work space, in accordance with the posture condition set by the posture condition setting unit 16; and a picking motion simulating unit 30 that executes a picking motion simulation for verifying the picking motion of the workpiece models in the virtual work space, with respect to the bulk pile data generated by the bulk pile data generating unit 20.
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公开(公告)号：US10913157B2
公开(公告)日：2021-02-09
申请号：US15893741
申请日：2018-02-12
Applicant: Keyence Corporation
Inventor： Masato Shimodaira , Kazuhito Saeki
IPC: B25J9/16 , G06F30/20 , G06F3/0484 , G06T15/50 , G06F111/10
Abstract: The robot simulation apparatus includes: a workpiece model setting unit 11 that sets a workpiece model; a posture condition setting unit 16 that sets a condition related to a posture taken by the workpiece model, as a posture condition, when the workpiece model set by the workpiece model setting unit 11 is disposed in a virtual work space as a virtually formed work space; a bulk pile data generating unit 20 that generates bulk pile data of the plurality of workpiece models piled up in the virtual work space, in accordance with the posture condition set by the posture condition setting unit 16; and a picking motion simulating unit 30 that executes a picking motion simulation for verifying the picking motion of the workpiece models in the virtual work space, with respect to the bulk pile data generated by the bulk pile data generating unit 20.
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Patent Agency Ranking
公开(公告)号：US10373302B2
公开(公告)日：2019-08-06
申请号：US14321846
申请日：2014-07-02
Applicant: Keyence Corporation
Inventor： Kazuhito Saeki
Abstract: A three-dimensional image processing apparatus includes: an image capturing part for acquiring reflected light to capture a plurality of pattern projected images; a distance image generating part capable of generating a distance image based on the plurality of pattern projected images; a tone conversion part for tone-converting the distance image generated in the distance image generating part to a low-tone distance image that has a lower number of tones than the number of tones of the distance image and is obtained by replacing height information in the distance image with a shade value of the image; and a tone conversion condition automatic setting part for automatically setting, based on the height information in the distance image, a tone conversion parameter for prescribing a tone conversion condition at the time of tone-converting the distance image to the low-tone distance image in the tone conversion part.
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4.发明授权公开(公告)号：US09536295B2
公开(公告)日：2017-01-03
申请号：US14321847
申请日：2014-07-02
Applicant: Keyence Corporation
Inventor： Kazuhito Saeki
IPC: G06T7/00
CPC classification number: G06T7/0004 , G06T7/521 , G06T2207/30164
Abstract: A head section includes: a light projecting part for projecting incident light as structured illumination of a predetermined projection pattern; the image capturing part for acquiring reflected light that is projected by the light projecting part and reflected on an inspection target, to capture a plurality of pattern projected images; a distance image generating part capable of generating a distance image based on the plurality of pattern projected images captured in the image capturing part; a head-side storage part for holding the distance image generated in the distance image generating part; and a head-side communication part for transmitting the distance image held in the storage part to the controller section. The controller section includes: a controller-side communication part for communicating with the head-side communication part; and an inspection executing part for executing predetermined inspection processing on the distance image received in the controller-side communication part.
Abstract translation: 头部包括：用于将入射光投射作为预定突起图案的结构照明的光投射部; 所述图像捕获部分用于获取由所述光投射部分投影并在检查对象物上反射的反射光，以捕获多个图案投影图像; 距离图像生成部，其能够基于在所述图像拍摄部中捕获的所述多个图案投影图像来生成距离图像; 用于保持在所述距离图像生成部中生成的距离图像的头侧存储部; 以及用于将保存在存储部中的距离图像发送到控制器部的头侧通信部。 控制器部分包括：用于与头侧通信部分通信的控制器侧通信部件; 以及检查执行部，用于对在控制器侧通信部中接收的距离图像执行预定的检查处理。
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5.发明申请Three-Dimensional Image Processing Apparatus, Three-Dimensional Image Processing Method, Three-Dimensional Image Processing Program, Computer-Readable Recording Medium, And Recording Device 审中-公开三维图像处理装置，三维图像处理方法，三维图像处理程序，计算机可读记录介质和记录装置公开(公告)号：US20150022637A1
公开(公告)日：2015-01-22
申请号：US14321846
申请日：2014-07-02
Applicant: Keyence Corporation
Inventor： Kazuhito Saeki
CPC classification number: G06T7/0004 , G06T7/521 , G06T2207/30164
Abstract: A three-dimensional image processing apparatus includes: an image capturing part for acquiring reflected light to capture a plurality of pattern projected images; a distance image generating part capable of generating a distance image based on the plurality of pattern projected images; a tone conversion part for tone-converting the distance image generated in the distance image generating part to a low-tone distance image that has a lower number of tones than the number of tones of the distance image and is obtained by replacing height information in the distance image with a shade value of the image; and a tone conversion condition automatic setting part for automatically setting, based on the height information in the distance image, a tone conversion parameter for prescribing a tone conversion condition at the time of tone-converting the distance image to the low-tone distance image in the tone conversion part.
Abstract translation: 三维图像处理装置包括：图像捕获部分，用于获取反射光以捕获多个图案投影图像; 距离图像生成部，其能够基于所述多个图案投影图像生成距离图像; 色调转换部分，用于将在距离图像生成部分中生成的距离图像进行色调转换为具有比距离图像的色调数少的色调数较少的低色调距离图像，并且通过替换距离图像生成部分中的高度信息来获得 距离图像与图像的阴影值; 以及音调转换条件自动设置部分，用于基于距离图像中的高度信息自动设置用于将距离图像的色调转换为低色调距离图像时的色调转换条件的色调转换参数 色调转换部分。
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公开(公告)号：US20180253516A1
公开(公告)日：2018-09-06
申请号：US15893852
申请日：2018-02-12
Applicant: Keyence Corporation
Inventor： Tomotaka Shimano , Kazuhito Saeki
CPC classification number: G06F17/5009 , B25J9/1669 , B25J9/1671 , B25J9/1697 , G05B2219/40053 , Y10S901/02 , Y10S901/47
Abstract: The robot simulation apparatus includes: a picking motion simulating unit 30 that verifies a picking motion from a bulk pile of workpiece models in a virtual work space, with respect to bulk pile data generated by a bulk pile data generating unit 20. A physical simulation unit 60 is configured to re-execute a physical simulation with respect to the bulk pile data of a state obtained after one workpiece model is picked up after the picking motion simulating unit 30 grasps the workpiece model and at least a picking-up motion is started. The bulk pile data generating unit 20 is configured to update bulk pile data according to the result of the physical simulation executed by the physical simulation unit 60 during the simulation of the picking motion by the picking motion simulating unit 30.
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7.发明申请公开(公告)号：US20150022638A1
公开(公告)日：2015-01-22
申请号：US14321847
申请日：2014-07-02
Applicant: Keyence Corporation
Inventor： Kazuhito Saeki
CPC classification number: G06T7/0004 , G06T7/521 , G06T2207/30164
Abstract: A head section includes: a light projecting part for projecting incident light as structured illumination of a predetermined projection pattern; the image capturing part for acquiring reflected light that is projected by the light projecting part and reflected on an inspection target, to capture a plurality of pattern projected images; a distance image generating part capable of generating a distance image based on the plurality of pattern projected images captured in the image capturing part; a head-side storage part for holding the distance image generated in the distance image generating part; and a head-side communication part for transmitting the distance image held in the storage part to the controller section. The controller section includes: a controller-side communication part for communicating with the head-side communication part; and an inspection executing part for executing predetermined inspection processing on the distance image received in the controller-side communication part.
Abstract translation: 头部包括：用于将入射光投射作为预定突起图案的结构照明的光投射部; 所述图像捕获部分用于获取由所述光投射部分投影并在检查对象物上反射的反射光，以捕获多个图案投影图像; 距离图像生成部，其能够基于在所述图像拍摄部中捕获的所述多个图案投影图像来生成距离图像; 用于保持在所述距离图像生成部中生成的距离图像的头侧存储部; 以及用于将保存在存储部中的距离图像发送到控制器部的头侧通信部。 控制器部分包括：用于与头侧通信部分通信的控制器侧通信部件; 以及检查执行部，用于对在控制器侧通信部中接收的距离图像执行预定的检查处理。
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