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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：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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公开(公告)号：US10948917B2
公开(公告)日：2021-03-16
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：US11667036B2
公开(公告)日：2023-06-06
申请号：US16968165
申请日：2019-03-11
申请人： OMRON Corporation
CPC分类号： B25J9/1669 , B25J9/1612 , B25J9/1664 , B25J9/1697 , B25J13/08 , G06T7/0004 , G06T7/70 , H04N23/72 , G05B2219/40269 , G06T2207/30164
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：US11331793B2
公开(公告)日：2022-05-17
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
IPC分类号： B25J9/16 , B25J15/06 , G05B19/19 , G05B19/425 , G05B19/402 , H04N13/167 , G06T7/70 , G06T7/73 , G06V10/40 , B65G47/91
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：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：US09836559B2
公开(公告)日：2017-12-05
申请号：US14029855
申请日：2013-09-18
申请人： OMRON Corporation
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.
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