公开(公告)号：US20190039242A1

公开(公告)日：2019-02-07

申请号：US16011714

申请日：2018-06-19

Applicant: OMRON Corporation

Inventor： Haruka FUJII ,  Akane NAKASHIMA ,  Takeshi KOJIMA ,  Kennosuke HAYASHI

IPC: B25J9/16 ,  G05B19/19

Abstract: Provided is an interference determination method with which whether or not a robot interferes with a surrounding object on a motion path can be computed. At least one intermediate position is set on a motion path of movement from the first position to the second position, a plurality of robot approximated bodies that are each constituted by combining at least two robot approximated bodies at a plurality of postures corresponding to each position are generated, a second combined approximated body constituted by combining at least two first combined approximated bodies is generated with respect to at least one focused part, and the second combined approximated body interferes with a surrounding object approximated body is determined.

公开(公告)号：US20190385329A1

公开(公告)日：2019-12-19

申请号：US16410213

申请日：2019-05-13

Applicant: OMRON Corporation

Inventor： Haruka FUJII ,  Toshihiro MORIYA ,  Takeshi KOJIMA ,  Norikazu TONOGAI

IPC: G06T7/70 ,  G06T7/00 ,  G06T7/13 ,  H04N5/232 ,  B25J9/16

Abstract: 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.

公开(公告)号：US20190134815A1

公开(公告)日：2019-05-09

申请号：US16136995

申请日：2018-09-20

Applicant: OMRON Corporation

Inventor： Haruka FUJII ,  Akane NAKASHIMA ,  Takeshi KOJIMA ,  Kennosuke HAYASHI

IPC: B25J9/16

Abstract: An interference determination method is provided to compute whether or not a robot that operates according to a motion path will interfere with a nearby object. A first orientation, a second orientation, and an intermediate orientation of the robot are set, and a first combined approximated body is generated that is configured by combining a plurality of robot approximated bodies, which are obtained by approximating the shape of the robot in these orientations. If it is determined that the robot will interfere with the nearby object, whether to generate a combined approximated body that is smaller than the first combined approximated body is determined based on the amount indicating the interval between two adjacent robot approximated bodies.

公开(公告)号：US20190039237A1

公开(公告)日：2019-02-07

申请号：US16012813

申请日：2018-06-20

Applicant: OMRON Corporation

Inventor： Akane NAKASHIMA ,  Takeshi KOJIMA ,  Kennosuke HAYASHI ,  Haruka FUJII

IPC: B25J9/00 ,  B25J9/16

Abstract: A robot control apparatus includes a workpiece orientation calculation unit, an arrival prediction unit, a robot orientation calculation unit, and a trajectory data generation unit. The arrival prediction unit obtains a picking prediction position at which a workpiece that is conveyed by a conveyance apparatus may be picked up by a picking apparatus or the like, based on conveyance speed information supplied by the conveyance apparatus or the like and the sensing information supplied by an image acquisition apparatus.

公开(公告)号：US20190015980A1

公开(公告)日：2019-01-17

申请号：US16012886

申请日：2018-06-20

Applicant: OMRON Corporation

Inventor： Takeshi KOJIMA ,  Akane NAKASHIMA ,  Kennosuke HAYASHI ,  Haruka FUJII

IPC: B25J9/16

Abstract: A motion generation device may be for generating a movement for changing the robot from a first orientation to a second orientation, and include a first acquisition unit that acquires first orientation information that specifies the first orientation and second orientation information that specifies the second orientation, a second acquisition unit that acquires at least one priority item regarding the movement for changing from the first orientation to the second orientation, and a movement generation unit that generates a motion of the robot that includes a movement path along which the robot moves from the first orientation to the second orientation, based on the first orientation information, the second orientation information, and the priority item that were acquired.

公开(公告)号：US20210039257A1

公开(公告)日：2021-02-11

申请号：US16968165

申请日：2019-03-11

Applicant: OMRON Corporation

Inventor： Norikazu TONOGAI ,  Toshihiro MORIYA ,  Takeshi KOJIMA ,  Haruka FUJII

IPC: B25J9/16 ,  B25J13/08 ,  G06T7/70 ,  G06T7/00 ,  H04N5/235

Abstract: 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.

公开(公告)号：US20190351550A1

公开(公告)日：2019-11-21

申请号：US16387594

申请日：2019-04-18

Applicant: OMRON Corporation

Inventor： Haruka FUJII ,  Toshihiro MORIYA ,  Takeshi KOJIMA ,  Norikazu TONOGAI

IPC: B25J9/16 ,  B25J9/06 ,  B25J9/04

Abstract: 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.