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公开(公告)号：US10569414B2
公开(公告)日：2020-02-25
申请号：US16012813
申请日：2018-06-20
申请人： OMRON Corporation
摘要： 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.
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2.发明授权公开(公告)号：US11014239B2
公开(公告)日：2021-05-25
申请号：US16011714
申请日：2018-06-19
申请人： OMRON Corporation
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16 , G05B19/19 , G05B19/4061
摘要： 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.
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3.发明授权公开(公告)号：US10919154B2
公开(公告)日：2021-02-16
申请号：US16136995
申请日：2018-09-20
申请人： OMRON Corporation
IPC分类号： B25J9/16
摘要： 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.
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公开(公告)号：US11207780B2
公开(公告)日：2021-12-28
申请号：US16414021
申请日：2019-05-16
申请人： OMRON Corporation
IPC分类号： B25J9/16
摘要： A path planning apparatus is provided with a path planning unit that generates a path of a robot using a plurality of different path planning methods that respectively correspond to a plurality of different constraints determined from the posture of the robot and the characteristics of one or more obstacles that obstruct movement of the robot, an acquisition unit that acquires posture information indicating an initial posture of a robot for which a path is to be generated and a target posture of the robot, and obstacle information indicating a target obstacle that obstructs movement of the robot from the initial posture to the target posture, and a controller that controls the path planning unit so as to generate a path of the robot using a path planning method corresponding to a constraint determined from the posture information and the obstacle information acquired by the acquisition unit.
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公开(公告)号：US11090807B2
公开(公告)日：2021-08-17
申请号：US16012886
申请日：2018-06-20
申请人： OMRON Corporation
IPC分类号： B25J9/16
摘要： 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.
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公开(公告)号：US11597090B2
公开(公告)日：2023-03-07
申请号：US17193560
申请日：2021-03-05
申请人： OMRON Corporation
发明人： Haruka Fujii
IPC分类号： B25J9/16 , G05B19/4061 , B25J9/00
摘要： An acquisition section 42 acquires a pose at a clock time ti and a pose at a clock time tj for each of plural robots, and acquires structural information. Based on structural information a computation section 44 computes positions of the prescribed part for each of the robots at the clock times ti, tj and at a midway clock times tc. A possibility determination section determines a possibility of interference, based on any overlap between added-margin regions resulting from addition of a prescribed margin to a circumscribing shape containing positions of the prescribed part at the clock times ti, tj, and tc for each of the robots. In cases in which there is a possibility of interference, an end determination section 48 sets tc so as to be a new ti or a new tj, and causes processing of the computation section 44 and the possibility determination section 46 to be executed repeatedly until a spacing between the prescribed parts satisfies an end condition. When determined that the end condition has been satisfied, an interference determination section 50 determines whether or not there is interference between the prescribed parts between the robots at any of the positions at ti, tc, and tj.
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公开(公告)号：US11527008B2
公开(公告)日：2022-12-13
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：US20210283775A1
公开(公告)日：2021-09-16
申请号：US17193560
申请日：2021-03-05
申请人： OMRON Corporation
发明人： Haruka Fujii
IPC分类号： B25J9/16 , B25J9/00 , G05B19/4061
摘要： An acquisition section 42 acquires a pose at a clock time ti and a pose at a clock time tj for each of plural robots, and acquires structural information. Based on structural information a computation section 44 computes positions of the prescribed part for each of the robots at the clock times ti, tj and at a midway clock times tc. A possibility determination section determines a possibility of interference, based on any overlap between added-margin regions resulting from addition of a prescribed margin to a circumscribing shape containing positions of the prescribed part at the clock times ti, tj, and tc for each of the robots. In cases in which there is a possibility of interference, an end determination section 48 sets tc so as to be a new ti or a new tj, and causes processing of the computation section 44 and the possibility determination section 46 to be executed repeatedly until a spacing between the prescribed parts satisfies an end condition. When determined that the end condition has been satisfied, an interference determination section 50 determines whether or not there is interference between the prescribed parts between the robots at any of the positions at ti, tc, and tj.
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9.发明申请公开(公告)号：US20210260763A1
公开(公告)日：2021-08-26
申请号：US17275315
申请日：2019-11-27
申请人： OMRON Corporation
发明人： Norikazu Tonogai , Haruka Fujii , Takeshi Kojima
摘要： A path generation device including an acquisition unit, a setting unit, and a path generation unit. The acquisition unit is configured to acquire pose information relating to an initial pose and a target pose of a robot, position information relating to a position of the robot, obstacle information including a position of an obstacle present in a range of interference with the robot, and specification information relating to a specification including a shape of the robot. The setting unit is configured to, based on a positional relationship between the robot and the obstacle, set a clearance amount representing an amount of clearance to avoid the interference for at least one out of the robot or an obstacle present in a range of interference with the robot. The path generation unit is configured to generate path information related to a path of the robot based on the initial pose and the target pose of the robot, the position of the robot, the position of the obstacle, the shape of the robot, and the clearance amount set by the setting unit.
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公开(公告)号：US11097420B2
公开(公告)日：2021-08-24
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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