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公开(公告)号：US20210049033A1
公开(公告)日：2021-02-18
申请号：US16978707
申请日：2019-03-01
Applicant: OMRON Corporation
Inventor： Yohei OKAWA , Yoshiya SHIBATA , Chisato SAITO , Kennosuke HAYASHI , Yu TOMONO
Abstract: The image processing device is provided with: a first input unit which, with respect to one or more virtual models including a virtual model of an operation machine, receives an input of a first parameter for identifying a type; a second input unit which receives an input of a second parameter relating to a stochastic distribution having, as a random variable, a characteristic of an element constituting the one or more virtual models; a virtual model generation unit which, using the first parameter and the second parameter, generates the one or more virtual model stochastically; a determination unit which determines the correctness of an operation of the virtual model of the operation machine when operated in a virtual space including the one or more stochastically generated virtual models; and a learning unit which learns a control module for the operation machine for achieving a predetermined operation.
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公开(公告)号：US20210001481A1
公开(公告)日：2021-01-07
申请号：US16976468
申请日：2019-03-07
Applicant: OMRON Corporation
Inventor： Kennosuke HAYASHI , Yoshiya SHIBATA , Yu TOMONO , Chisato SAITO
Abstract: A calculation device, a calculation method, and a storage medium are provided. The present invention is provided with: a first calculation unit which, with respect to input data, performs calculations relating to predetermined processing by using a first model in which a corresponding relationship between input data and output data changes by performing machine learning that uses learning data, and outputs a first output; a second calculation unit which, with respect to input data, performs calculations relating to predetermined processing using a second model for which the correspondence relationship between input data and output data is fixed, and outputs a second output; and a comparison unit which, on the basis of a comparison result obtained by comparing the first output and the second output with a prescribed determination standard, outputs the first output, the second output, or a third output that is a combination of the first and second outputs.
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公开(公告)号：US20210283771A1
公开(公告)日：2021-09-16
申请号：US17173481
申请日：2021-02-11
Applicant: OMRON Corporation
Inventor： Yoshihisa IJIRI , Yoshiya SHIBATA , Masaya HAMAYA , Kazutoshi TANAKA , Felix VONDRIGALSKI , Chisato SAITO
Abstract: A control apparatus of a robot may include a state obtaining unit configured to obtain state observation data including flexible related observation data, which is observation data regarding a state of at least one of a flexible portion, a portion of the robot on a side where an object is gripped relative to the flexible portion, and the gripped object; and a controller configured to control the robot so as to output an action to be performed by the robot to perform predetermined work on the object, in response to receiving the state observation data, based on output obtained as a result of inputting the state observation data obtained by the state obtaining unit to a learning model, the learning model being learned in advance through machine learning and included in the controller.
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Patent Agency Ranking
公开(公告)号：US20210182459A1
公开(公告)日：2021-06-17
申请号：US17269531
申请日：2019-10-11
Applicant: OMRON Corporation
Inventor： Yohei OKAWA , Yoshiya SHIBATA , Chisato SAITO , Kennosuke HAYASHI , Kin Chung Denny FU , Yuki YAMAGUCHI
Abstract: Provided are a simulation device, a simulation method, and a computer-readable storage medium, which reduce a computation load required for simulation of movement of an operation subject. This simulation device is provided with: a first setting unit that sets framing conditions for a model representing the operation subject; a second setting unit that sets conditions for external force applied to the operation subject; a first simulation unit that simulates the movement of the operation subject under the framing conditions and the conditions for external force; a generation unit that generates learning data; and a learning unit that, by supervised learning using the learning data, generates a learning model that takes the framing conditions, the conditions for external force, and the initial conditions of the plurality of representative points as input and outputs data representing the movement of the plurality of representative points.
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公开(公告)号：US20190315578A1
公开(公告)日：2019-10-17
申请号：US16347846
申请日：2017-03-09
Applicant: OMRON CORPORATION
Inventor： Toshihiro MORIYA , Yumi TSUTSUMI , Masayoshi ABE , Haruna SHIMAKAWA , Chisato SAITO , Yukihisa KARAKO
Abstract: The purpose of the present invention is to provide a device for outputting holding detection results by a highly accurate simulation in consideration of parameters related to a holding member. A user enters workpiece information through an input UI unit. A selection control unit executes an automatic selection process of a suction pad based on the workpiece information input through the input UI unit, an automatic selection process of a workpiece physical model, an automatic selection process of a robot, and a confirmation process of a vibration tolerance, and then displays the selection results. The selection control unit determines whether there is a problem with the selection results based on an input instruction from the user.
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公开(公告)号：US20210331311A1
公开(公告)日：2021-10-28
申请号：US17269992
申请日：2019-10-18
Applicant: OMRON Corporation
Inventor： Kin Chung Denny FU , Yuki YAMAGUCHI , Yohei OKAWA , Kennosuke HAYASHI , Chisato SAITO , Yoshiya SHIBATA
Abstract: Provided is an image generation device capable of generating, on the basis of inputted images, a learning image for training an action of a robot which carries out a prescribed operation on a workpiece. The image generation device comprises: a first image acquisition unit which acquires a first image capturing a real operation space including the robot and not including the workpiece; a second image acquisition unit which acquires a second image in which a virtual operation space including a virtual robot corresponding to the robot and a virtual workpiece corresponding to the workpiece is rendered; and a learning apparatus so that, in response to an input of the first image and the second image, the apparatus outputs a third image obtained by transforming the second image such that at least the virtual robot included in the second image is made to approximate the robot included in the first image.
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公开(公告)号：US20210181728A1
公开(公告)日：2021-06-17
申请号：US17269534
申请日：2019-09-24
Applicant: OMRON Corporation
Inventor： Yuki YAMAGUCHI , Kennosuke HAYASHI , Kin Chung Denny FU , Yohei OKAWA , Chisato SAITO , Yoshiya SHIBATA
IPC: G05B19/418 , B25J9/16 , G06N20/20
Abstract: The disclosure is to constitute, while reducing a cost for collecting training data used in machine learning that makes a control module acquire an ability to control a robot device, the control module operatable in an actual environment by the machine learning. A learning device according to one aspect of the present invention executes machine learning of an extractor by using a first learning data set constituted by a combination of simulation data and first environmental information and a second learning data set constituted by a combination of actual data and second environmental information. Further, a learning device according to one aspect of the present invention executes machine learning of a controller by using a third learning data set constituted by a combination of third environmental information, state information, and a control command.
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公开(公告)号：US20190138009A1
公开(公告)日：2019-05-09
申请号：US16134464
申请日：2018-09-18
Applicant: OMRON Corporation
Inventor： Chisato SAITO , Toshihiro MORIYA
Abstract: A mobile manipulator includes a moving apparatus, a manipulator that is connected to the moving apparatus, a controller configured to control the moving apparatus and the manipulator, and an environment acquisition sensor configured to acquire predetermined environmental data originating from an environment at the movement destination to which the mobile manipulator is moved by the moving apparatus in association with a position at the movement destination, and the controller controls at least one of the moving apparatus and the manipulator based on the environmental data.
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