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公开(公告)号：US20190385329A1
公开(公告)日：2019-12-19
申请号：US16410213
申请日：2019-05-13
申请人： OMRON Corporation
摘要： A robot control device includes an obtaining unit that obtains, from an image sensor that captures a workpiece group to be handled by a robot, a captured image, a simulation unit that simulates operation of the robot, and a control unit that performs control such that the captured image is obtained if, in the simulation, the robot is retracted from an image capture forbidden space, in which an image is potentially captured with the workpiece group and the robot overlapping each other, and which is set based on either or both a first space being the visual field range of the image sensor, and a columnar second space obtained by taking a workpiece region including the workpiece group or each of divided regions into which the workpiece region is divided, as a bottom area, and extending the bottom area to the position of the image sensor.
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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
申请人： OMRON CORPORATION
发明人： Toshihiro MORIYA , Yumi TSUTSUMI , Masayoshi ABE , Haruna SHIMAKAWA , Chisato SAITO , Yukihisa KARAKO
摘要： 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：US20190138009A1
公开(公告)日：2019-05-09
申请号：US16134464
申请日：2018-09-18
申请人： OMRON Corporation
发明人： Chisato SAITO , Toshihiro MORIYA
摘要： 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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公开(公告)号：US20140088949A1
公开(公告)日：2014-03-27
申请号：US14029855
申请日：2013-09-18
申请人： OMRON Corporation
IPC分类号： G06F17/50
CPC分类号： G06F17/5009 , B25J9/1612 , B25J9/1671 , G05B17/02 , G05B2219/49123
摘要： A simulation apparatus includes a processor that executes a simulation of a control program executed on a controller. The controller controls motion of a machine that handles an object. The processor includes: a motion control device that controls motion of a virtual machine based on a motion command to move the virtual machine in a virtual space, with the virtual machine corresponding to the machine; a determination device that determines whether a volume of a region, where a work space in which the virtual machine works overlaps with the virtual object, is equal to or greater than a predetermined reference value, the virtual object being handled by the virtual machine and corresponding to the object; and a follow-up device that makes the virtual object follow the motion of the virtual machine based on the motion command when the volume is equal to or greater than the reference value.
摘要翻译： 模拟装置包括执行在控制器上执行的控制程序的模拟的处理器。 控制器控制处理对象的机器的运动。 所述处理器包括：运动控制装置，其基于运动命令来控制虚拟机的运动，以使所述虚拟机与所述机器相对应地在虚拟空间中移动所述虚拟机; 确定装置，其确定虚拟机的工作空间与虚拟对象重叠的区域的卷是否等于或大于预定的参考值，虚拟对象被虚拟机处理，对应于 对象; 以及跟踪设备，当所述卷等于或大于所述参考值时，使所述虚拟对象基于所述运动命令跟随所述虚拟机的运动。
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公开(公告)号：US20210039257A1
公开(公告)日：2021-02-11
申请号：US16968165
申请日：2019-03-11
申请人： OMRON Corporation
摘要： A workpiece picking device includes a sensor that measures the workpieces, a hand that grasps the workpieces, a robot that moves the hand, and a control device thereof. The control device has a position orientation calculation part that calculates position, orientation and the like of the workpieces, a grasping orientation calculation part that calculates a grasping orientation of the workpieces by the hand, a route calculation part that calculates a route through which the hand moves to the grasping orientation, a sensor control part, a hand control part, a robot control part, a situation determination part that determines the situation of the workpieces on the basis of measurement result or the like of the three-dimensional position, and a parameter modification part that modifies at least one of a measurement parameter and various calculation parameters, when the determination result of the situations of the workpieces satisfies a predetermined condition.
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公开(公告)号：US20190351550A1
公开(公告)日：2019-11-21
申请号：US16387594
申请日：2019-04-18
申请人： OMRON Corporation
摘要： An interference determination apparatus includes: an acquisition unit that acquires region information indicating regions set in a configuration space in which the angles of rotation of two or three specific joints of an articulated robot are indicated by coordinate axes, the regions including an interference region in which the robot is determined to interfere with itself or an obstacle based on the magnitudes of the angles of rotation of the specific joints, and a non-interference region in which the robot is determined to not interfere with itself or an obstacle based on the magnitudes of the angles of rotation of specific joints; and a determination unit that determines whether the robot interferes with itself or an obstacle, by determining whether coordinates indicating a posture determined by the angles of rotation of the specific joints belong to the interference region or the non-interference region indicated by the acquired region information.
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公开(公告)号：US20190311079A1
公开(公告)日：2019-10-10
申请号：US16340420
申请日：2017-03-09
申请人： OMRON Corporation
摘要： A motion instruction value calculation unit is configured to calculate operation instruction values of a pick-and-place apparatus to be simulated. A dynamics calculation unit is configured to read the operation instruction values that are output from the motion instruction value calculation unit, and to calculate an apparatus operation considering the dynamics. Based on the apparatus operation considering the dynamics, the suction success/failure calculation unit is configured to determine whether a workpiece is successfully sucked by a suction pad. A 3D display unit is configured to display a 3D image of the apparatus operation considering the dynamics in a display unit such as a liquid crystal display.
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