-
公开(公告)号：US20190033067A1
公开(公告)日：2019-01-31
申请号：US15895467
申请日：2018-02-13
申请人： Keyence Corporation
摘要： An exposure time is changed stepwise, a light receiving amount output from a light receiving section is obtained at each exposure time, which is changed stepwise, and height image data, in which each pixel value indicates a height of each portion of a surface of a measuring object, is generated based on the obtained light receiving amount. It is determined whether each pixel constituting each height image is valid or invalid based on the obtained light receiving amount. An exposure time, which corresponds to a height image in which the number of pixels determined to be valid satisfies a predetermined condition, is set as a set value.
-
公开(公告)号：US20180250820A1
公开(公告)日：2018-09-06
申请号：US15893736
申请日：2018-02-12
申请人： Keyence Corporation
CPC分类号： B25J9/1671 , B25J9/1669 , B25J9/1697 , G05B2219/40053 , G05B2219/45063 , G06F3/04847 , G06F17/5009 , G06F17/5018 , G06F2217/16 , G06T15/50 , G06T2215/16 , Y10S901/02 , Y10S901/31 , Y10S901/47
摘要： The robot simulation apparatus includes: a workpiece model setting unit 11 that sets a workpiece model obtained by forming a model of a three-dimensional shape of a workpiece; a bulk pile data generating unit 20 that generates virtual bulk pile data of a plurality of workpiece models piled up in a virtual work space as a virtually formed work space; a region estimating unit 22 that identifies an estimated region that is estimated to be three-dimensionally measurable by a sensor unit which is disposed above the work space, based on a position and a posture of each workpiece model in the bulk pile data; and a picking motion simulating unit 30 that executes a simulation for verifying the picking motion from the bulk pile of the workpiece models in the virtual work space, based on data of the estimated region identified by the region estimating unit 22.
-
公开(公告)号：US20180250813A1
公开(公告)日：2018-09-06
申请号：US15895263
申请日：2018-02-13
申请人： Keyence Corporation
发明人： Masato Shimodaira
CPC分类号： B25J9/1605 , B25J9/1697 , G06F17/50 , G06T7/0006 , G06T17/10 , G06T2200/04 , G06T2207/30164 , Y10S901/02 , Y10S901/47
摘要： A workpiece model is created based on three-dimensionally measured data obtained by performing a three-dimensional measurement on a working space in which the workpieces are loaded in bulk. Holding data including a holding position of the workpiece model and a posture of a holding unit of a robot are set by setting a model coordinate system. The setting of the model coordinate system and the setting of the holding data are repeated while sequentially changing the posture of the workpiece, and multiple pieces of holding data are stored such that the multiple pieces of holding data correspond to the workpiece models. A three-dimensional search process is performed on the obtained three-dimensionally measured data, and an operation of the holding unit of the robot is controlled based on the holding data set to the workpiece model.
-
公开(公告)号：US10913157B2
公开(公告)日：2021-02-09
申请号：US15893741
申请日：2018-02-12
申请人： Keyence Corporation
发明人： Masato Shimodaira , Kazuhito Saeki
IPC分类号： B25J9/16 , G06F30/20 , G06F3/0484 , G06T15/50 , G06F111/10
摘要： 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.
-
公开(公告)号：US09756314B2
公开(公告)日：2017-09-05
申请号：US14459338
申请日：2014-08-14
申请人： Keyence Corporation
发明人： Masato Shimodaira
CPC分类号： H04N13/254 , G06T7/521 , G06T7/593 , G06T2207/10021 , H04N13/00 , H04N2013/0081
摘要： A three-dimensional image processing apparatus includes: a distance image generating part capable of generating a distance image based on a plurality of images captured in an image capturing part; a pattern generating part for generating a first projection pattern and a second projection pattern whose fringe direction is different from that of the first projection pattern as a plurality of projection patterns obtained by changing a fringe direction of a projection pattern; and an incorrect-height determining part for making comparison in height information of a corresponding portion of an inspection target between a first distance image, generated in the distance image generating part based on a first pattern projected image, and a second distance image, generated based on a second pattern projected image, to determine height information of a portion where a difference not smaller than a predetermined value has occurred as incorrect.
-
公开(公告)号：US20150254830A1
公开(公告)日：2015-09-10
申请号：US14601261
申请日：2015-01-21
申请人： KEYENCE CORPORATION
CPC分类号： G06K9/4604 , G06K9/6284 , G06T7/0006 , G06T2200/04 , G06T2207/10028 , G06T2207/30164
摘要： Information concerning a height of a shape of a workpiece is acquired accurately at high speed. A plurality of segments arrayed in one direction are set on a distance image including height information in a surface shape of a workpiece (S1). A type of a representative value concerning height information in each pixel included in each segment is selected, and this selected representative value is obtained for each segment (S2). An abnormality in a specific representative value is detected from an acquired trend, and is outputted (S4).
摘要翻译： 关于工件形状的高度的信息被高精度地获取。 将沿一个方向排列的多个片段设置在包括工件的表面形状的高度信息的距离图像上（S1）。 选择关于每个段中包括的每个像素中的高度信息的代表值的类型，并且为每个段获得该选择的代表值（S2）。 从获取的趋势检测特定代表值的异常，并输出（S4）。
-
7.发明申请公开(公告)号：US20150109423A1
公开(公告)日：2015-04-23
申请号：US14459338
申请日：2014-08-14
申请人： Keyence Corporation
发明人： Masato Shimodaira
CPC分类号： H04N13/254 , G06T7/521 , G06T7/593 , G06T2207/10021 , H04N13/00 , H04N2013/0081
摘要： A three-dimensional image processing apparatus includes: a distance image generating part capable of generating a distance image based on a plurality of images captured in an image capturing part; a pattern generating part for generating a first projection pattern and a second projection pattern whose fringe direction is different from that of the first projection pattern as a plurality of projection patterns obtained by changing a fringe direction of a projection pattern; and an incorrect-height determining part for making comparison in height information of a corresponding portion of an inspection target between a first distance image, generated in the distance image generating part based on a first pattern projected image, and a second distance image, generated based on a second pattern projected image, to determine height information of a portion where a difference not smaller than a predetermined value has occurred as incorrect.
摘要翻译： 三维图像处理装置包括：距离图像生成部，其能够基于在图像拍摄部中拍摄的多个图像生成距离图像; 用于产生第一投影图案的图案产生部分和具有与第一投影图案不同的条纹方向的第二投影图案作为通过改变投影图案的条纹方向而获得的多个投影图案; 以及不正确高度确定部分，用于在基于第一图案投影图像的距离图像生成部分中生成的第一距离图像和基于生成的第二距离图像之间进行比较，以检查对象的对应部分的高度信息 在第二图案投影图像上，确定出现不同于预定值的差的部分的高度信息不正确。
-
公开(公告)号：US10773386B2
公开(公告)日：2020-09-15
申请号：US15911359
申请日：2018-03-05
申请人： Keyence Corporation
发明人： Masato Shimodaira , Ippei Yamauchi
摘要： A robot setting apparatus includes a grip reference point setting unit, a grip direction setting unit that defines a grip direction in which the end effector model grips the workpiece model, a workpiece side grip location designation unit that designates a grip position at which the end effector model grips the workpiece model in a state in which at least the workpiece model is displayed in an image display region, and a relative position setting unit that sets a relative position between the end effector model and the workpiece model such that the grip direction defined in the grip direction setting unit is orthogonal to a workpiece plane representing an attitude of the workpiece model displayed in the image display region, and the grip reference point is located at the grip position along the grip direction.
-
公开(公告)号：US10279473B2
公开(公告)日：2019-05-07
申请号：US15895263
申请日：2018-02-13
申请人： Keyence Corporation
发明人： Masato Shimodaira
摘要： A workpiece model is created based on three-dimensionally measured data obtained by performing a three-dimensional measurement on a working space in which the workpieces are loaded in bulk. Holding data including a holding position of the workpiece model and a posture of a holding unit of a robot are set by setting a model coordinate system. The setting of the model coordinate system and the setting of the holding data are repeated while sequentially changing the posture of the workpiece, and multiple pieces of holding data are stored such that the multiple pieces of holding data correspond to the workpiece models. A three-dimensional search process is performed on the obtained three-dimensionally measured data, and an operation of the holding unit of the robot is controlled based on the holding data set to the workpiece model.
-
公开(公告)号：US20180250823A1
公开(公告)日：2018-09-06
申请号：US15911359
申请日：2018-03-05
申请人： Keyence Corporation
发明人： Masato Shimodaira , Ippei Yamauchi
CPC分类号： B25J9/1671 , B25J9/0096 , B25J9/1612 , B25J9/1687 , B25J9/1697 , G05B2219/23007 , G05B2219/23456 , G05B2219/40053 , G05B2219/45063 , Y10S901/31 , Y10S901/47
摘要： A robot setting apparatus includes a grip reference point setting unit, a grip direction setting unit that defines a grip direction in which the end effector model grips the workpiece model, a workpiece side grip location designation unit that designates a grip position at which the end effector model grips the workpiece model in a state in which at least the workpiece model is displayed in an image display region, and a relative position setting unit that sets a relative position between the end effector model and the workpiece model such that the grip direction defined in the grip direction setting unit is orthogonal to a workpiece plane representing an attitude of the workpiece model displayed in the image display region, and the grip reference point is located at the grip position along the grip direction.
-
-
-
-
-
-
-
-
-
搜索结果
15 条记录 (耗时 0.017 秒)
