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1.发明申请公开(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.
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公开(公告)号：US20210252714A1
公开(公告)日：2021-08-19
申请号：US17270442
申请日：2019-10-17
Applicant: OMRON Corporation
Inventor： Kennosuke HAYASHI , Yoshihisa IJIRI
IPC: B25J9/16
Abstract: A control device sets a relative relation amount between a plurality of target objects that are to be final objectives, repeatedly acquires observation data from a sensor and calculates the relative relation amount between the plurality of target objects existing in the environment from the acquired observation data. Further, the control device determines a series of the relative relation amounts in a state that is to be an objective from the relative relation amount at a time point at which control of the behavior starts until the relative relation amount as the final objectives is realized, and repeatedly determines control instructions so as to change the relative relation amount in a present state calculated from the latest observation data into the relative relation amount in a state of an objective to be transitioned to next. Then, the control device outputs the determined control instruction to a robot device.
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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：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.
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公开(公告)号：US20210256302A1
公开(公告)日：2021-08-19
申请号：US17270450
申请日：2019-11-14
Applicant: OMRON Corporation
Inventor： Naoki TSUCHIYA , Yoshihisa IJIRI , Yu MARUYAMA , Yohei OKAWA , Kennosuke HAYASHI , Sakon YAMAMOTO
Abstract: An image determination device includes feature extractors which output, on the basis of an image to be examined, each piece of feature data indicating a specific feature of the image; a first training part which trains a first determiner so as to output first output data indicating first label data associated with a first training image on the basis of first feature data output when the first training image is input to the feature extractors; a second training part which trains a second determiner so as to output second output data indicating second label data associated with a second training image on the basis of second feature data output when the second training image is input to the feature extractors; and an output part which outputs, on the basis of the first output data and the second output data, output data indicating an overall determination result about an image.
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Patent Agency Ranking
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：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
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.
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8.发明申请公开(公告)号：US20220274255A1
公开(公告)日：2022-09-01
申请号：US17628271
申请日：2020-07-17
Applicant: OMRON Corporation
Inventor： Yohei OKAWA , Kennosuke HAYASHI , Yoshiya SHIBATA
IPC: B25J9/16
Abstract: A control apparatus according to one or more embodiments may calculate a first estimate value of the coordinates of an endpoint of a manipulator based on first sensing data obtained from a first sensor system, calculates a second estimate value of the coordinates of the endpoint of the manipulator based on second sensing data obtained from a second sensor system, and adjust a parameter value for at least one of a first estimation model or a second estimation model to reduce an error between the first estimate value and the second estimate value based on a gradient of the error.
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9.发明申请公开(公告)号：US20210323146A1
公开(公告)日：2021-10-21
申请号：US17269997
申请日：2019-10-28
Applicant: OMRON Corporation
Inventor： Kennosuke HAYASHI , Yohei OKAWA
Abstract: A robot control device 10 is provided with: a reading device 40 that reads a marker 21 attached to a robot 20 and markers 31 attached to individual objects 30; and a CPU 111 that performs image analysis concerning the individual positions of the robot 20 and the individual objects 30 in real space based on information read from the markers 21, 31, and that simulates the operation of the robot 20 while disposing three-dimensional shape models of the robot 20 and the individual objects 30 in a virtual space based on information indicating the positions of the robot 20 and the individual objects 30 in real space, information concerning the three-dimensional shape model of the robot 20, associated with the marker 21, and information concerning the three-dimensional shape models of the individual objects 30, associated with the individual markers 31.
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10.发明申请公开(公告)号：US20210323145A1
公开(公告)日：2021-10-21
申请号：US17269993
申请日：2019-10-31
Applicant: OMRON Corporation
Inventor： Kennosuke HAYASHI , Yohei OKAWA , Yuki YAMAGUCHI , Yoshiya SHIBATA
Abstract: A robot control device is provided to accept information (201) specifying an object 170) manipulated by a robot (20) from among objects of a plurality of kinds and accept information (202) specifying a target relative positional relationship between the specified object (70) and the distal end of a hand of the robot (20). The robot control device extracts the object (70) from image information (501) obtained by photographing the objects of the plurality of kinds and the surrounding environment thereof, generates information (301) indicating the position and orientation of the object (70), generates an action instruction (401) from the result of learning by a learning module (103), the action instruction (401) serving to match the relative positional relationship between the object (70) and the distal end of the hand of the robot (20) with the target relative positional relationship, and outputs the action instruction (401) to the robot (20).
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