公开(公告)号：US08295975B2

公开(公告)日：2012-10-23

申请号：US12475622

申请日：2009-06-01

申请人： Taro Arimatsu ,  Kazunori Ban ,  Ichiro Kanno ,  Keisuke Watanabe

发明人： Taro Arimatsu ,  Kazunori Ban ,  Ichiro Kanno ,  Keisuke Watanabe

IPC分类号： G06F7/00

CPC分类号： B25J9/1697 ,  G05B2219/40053 ,  G06T1/0014

摘要： An object picking device, which is inexpensive and capable of speedily and accurately picking one object at a time from a random pile state. A target detecting part of an image processing part processes an image captured by a camera and detects objects. A target selecting part selects an object among the detected objects based on a certain rule. A view line direction calculating part calculates the direction of a view line extending to the selected object. A target position estimating part estimates the position including the height of the selected object based on size information of the object in the image. Then, a grip correction calculating part calculates an amount of correction of the movement of a robot so as to grip the object by using the robot.

摘要翻译： 一种物品拾取装置，其价格便宜并且能够一次从随机堆积状态快速且精确地拾取一个物体。 图像处理部分的目标检测部分处理由相机拍摄的图像并检测对象。 目标选择部分基于某一规则来选择检测对象中的对象。 视线方向计算部分计算延伸到所选对象的视线的方向。 目标位置估计部基于图像中的对象的大小信息，来估计包含所选对象的高度的位置。 然后，把手校正计算部分计算机器人的运动的校正量，以便通过使用机器人来夹持物体。

公开(公告)号：US20100004778A1

公开(公告)日：2010-01-07

申请号：US12475622

申请日：2009-06-01

申请人： Taro Arimatsu ,  Kazunori Ban ,  Ichiro Kanno ,  Keisuke Watanabe

发明人： Taro Arimatsu ,  Kazunori Ban ,  Ichiro Kanno ,  Keisuke Watanabe

IPC分类号： B25J19/04

CPC分类号： B25J9/1697 ,  G05B2219/40053 ,  G06T1/0014

摘要： An object picking device, which is inexpensive and capable of speedily and accurately picking one object at a time from a random pile state. A target detecting part of an image processing part processes an image captured by a camera and detects objects. A target selecting part selects an object among the detected objects based on a certain rule. A view line direction calculating part calculates the direction of a view line extending to the selected object. A target position estimating part estimates the position including the height of the selected object based on size information of the object in the image. Then, a grip correction calculating part calculates an amount of correction of the movement of a robot so as to grip the object by using the robot.

摘要翻译： 一种物品拾取装置，其价格便宜并且能够一次从随机堆积状态快速且精确地拾取一个物体。 图像处理部分的目标检测部分处理由相机拍摄的图像并检测对象。 目标选择部分基于某一规则来选择检测对象中的对象。 视线方向计算部分计算延伸到所选对象的视线的方向。 目标位置估计部基于图像中的对象的大小信息，来估计包含所选对象的高度的位置。 然后，把手校正计算部分计算机器人的运动的校正量，以便通过使用机器人来夹持物体。

公开(公告)号：US20080082213A1

公开(公告)日：2008-04-03

申请号：US11863670

申请日：2007-09-28

申请人： Kazunori Ban ,  Ichiro Kanno ,  Keisuke Watanabe

发明人： Kazunori Ban ,  Ichiro Kanno ,  Keisuke Watanabe

IPC分类号： G05B15/00

CPC分类号： B25J9/1697 ,  G05B2219/40038 ,  G06T7/0004 ,  G06T7/73 ,  G06T2207/30164

摘要： A workpiece picking apparatus includes a robot, a workpiece recognition device for recognizing the workpieces located in a wide area, an accurate measurement device for accurately measuring the three-dimensional position of the workpiece, a workpiece select device for selecting the workpiece to be picked, and an NG workpiece storage device for storing information on the rough position of an failed NG workpiece when the measurement of the three-dimensional position or the picking for the workpiece has failed. The workpiece select device excludes the NG workpiece stored in the NG workpiece storage device and selects the next workpiece to be measured. The robot picks the selected workpiece based on the three-dimensional position of the workpiece measured by the accurate measurement device.

摘要翻译： 工件拾取装置包括机器人，用于识别位于广泛区域中的工件的工件识别装置，用于精确测量工件的三维位置的精确测量装置，用于选择要捡拾的工件的工件选择装置， 以及NG工件存储装置，用于当三维位置的测量或工件的拾取失败时存储关于故障的NG工件的粗略位置的信息。 工件选择装置不包含存储在NG工件存储装置中的NG工件，并选择待测量的下一个工件。 机器人根据由精确测量装置测量的工件的三维位置来拾取所选择的工件。

公开(公告)号：US07966094B2

公开(公告)日：2011-06-21

申请号：US11863670

申请日：2007-09-28

申请人： Kazunori Ban ,  Ichiro Kanno ,  Keisuke Watanabe

发明人： Kazunori Ban ,  Ichiro Kanno ,  Keisuke Watanabe

IPC分类号： G05B15/00

CPC分类号： B25J9/1697 ,  G05B2219/40038 ,  G06T7/0004 ,  G06T7/73 ,  G06T2207/30164

摘要： A workpiece picking apparatus includes a robot, a workpiece recognition device for recognizing the workpieces located in a wide area, an accurate measurement device for accurately measuring the three-dimensional position of the workpiece, a workpiece select device for selecting the workpiece to be picked, and an NG workpiece storage device for storing information on the rough position of an failed NG workpiece when the measurement of the three-dimensional position or the picking for the workpiece has failed. The workpiece select device excludes the NG workpiece stored in the NG workpiece storage device and selects the next workpiece to be measured. The robot picks the selected workpiece based on the three-dimensional position of the workpiece measured by the accurate measurement device.

摘要翻译： 工件拾取装置包括机器人，用于识别位于广泛区域中的工件的工件识别装置，用于精确测量工件的三维位置的精确测量装置，用于选择要捡拾的工件的工件选择装置， 以及NG工件存储装置，用于当三维位置的测量或工件的拾取失败时存储关于故障的NG工件的粗略位置的信息。 工件选择装置不包括存储在NG工件存储装置中的NG工件，并选择待测量的下一个工件。 机器人根据由精确测量装置测量的工件的三维位置来拾取所选择的工件。

公开(公告)号：US08350913B2

公开(公告)日：2013-01-08

申请号：US12631094

申请日：2009-12-04

申请人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen ,  Keisuke Watanabe

发明人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen ,  Keisuke Watanabe

IPC分类号： H04N17/00

CPC分类号： B25J9/1692 ,  G05B2219/37563 ,  G05B2219/39045 ,  G06T7/80

摘要： A calibrating device for calibration of an image measurement system. The calibrating device includes a main body having an upper surface, and a characteristic portion, which serves as a benchmark for calibration and is in the form of a recess formed in the upper surface of the main body, wherein the characteristic portion includes a side surface extending in a direction crossing the upper surface, and a bottom surface extending in a direction crossing the side surface, the bottom surface has an optical reflectance lower than an optical reflectance of the upper surface in relation to light identical to each other. This can provide a calibrating device for calibration of an image measurement system, which can detect the characteristic portion on the calibrating device stably, precisely and independent of the illumination conditions, which is less costly and can be easily handled.

摘要翻译： 用于校准图像测量系统的校准装置。 校准装置包括具有上表面的主体和作为校准的基准的特征部分，并且形成在主体的上表面中的凹部的形式，其中特征部分包括侧表面 在与上表面交叉的方向上延伸的底面和与该侧面相交的方向延伸的底面，底面的光反射率低于相对于彼此相同的光的上表面的光反射率。 这可以提供用于校准图像测量系统的校准装置，其可以稳定，精确地且独立于照明条件来检测校准装置上的特征部分，其成本较低并且可以容易地处理。

公开(公告)号：US07996114B2

公开(公告)日：2011-08-09

申请号：US11802823

申请日：2007-05-25

申请人： Kazunori Ban ,  Keisuke Watanabe

发明人： Kazunori Ban ,  Keisuke Watanabe

IPC分类号： G06K9/00 ,  G05B15/00 ,  B66C1/42

CPC分类号： B25J9/1697 ,  G05B2219/37555 ,  G05B2219/40053

摘要： A workpiece picking device and method for reducing the cycle time of a picking operation of workpieces, by omitting or reducing the movement of a robot manipulator when an image of the workpieces is captured. An image processor of the picking device includes a camera controlling part for reading image data from a camera, a memory for storing the image data, a workpiece detecting part for extracting one or more images from the memory and detecting one or more workpieces in the image, and a workpiece selecting part for selecting a workpiece to be picked among the workpieces detected by the workpiece detecting part. The image processor further includes a stacked condition judging part for determining whether the condition of the stacked workpieces in a container is changed.

摘要翻译： 一种用于通过省略或减少当工件的图像被捕获时机器人操纵器的移动来减少工件的拾取操作的循环时间的工件拾取装置和方法。 拾取装置的图像处理器包括用于从相机读取图像数据的相机控制部分，用于存储图像数据的存储器，用于从存储器中提取一个或多个图像的工件检测部分，以及检测图像中的一个或多个工件 以及工件选择部，用于选择由工件检测部检测出的工件之间要被拾取的工件。 图像处理器还包括堆叠状态判断部，用于确定容器中堆叠的工件的状态是否改变。

公开(公告)号：US07957580B2

公开(公告)日：2011-06-07

申请号：US11669477

申请日：2007-01-31

申请人： Kazunori Ban ,  Fumikazu Warashina ,  Keisuke Watanabe

发明人： Kazunori Ban ,  Fumikazu Warashina ,  Keisuke Watanabe

IPC分类号： G06K9/00

CPC分类号： B25J9/1697 ,  G05B2219/37555 ,  G05B2219/40053

摘要： A workpiece picking device capable of correctly detecting the size of a workpiece. The picking device has a robot capable of picking the same kind of workpieces contained in a work container, a robot controller for controlling the robot, a video camera positioned above the work container so as to widely image the workpieces and an image processor for processing an image obtained by the video camera. The three-dimensional position and posture of each workpiece is measured by a three-dimensional vision sensor arranged on a wrist element of the robot.

摘要翻译： 能够正确地检测工件的尺寸的工件拾取装置。 拾取装置具有能够拾取包含在工作容器中的相同种类的工件的机器人，用于控制机器人的机器人控制器，位于工作容器上方的摄像机，以便广泛地对工件进行成像以及用于处理工件的图像处理器 由摄像机获得的图像。 每个工件的立体位置和姿势通过布置在机器人腕部上的三维视觉传感器来测量。

公开(公告)号：US20100141776A1

公开(公告)日：2010-06-10

申请号：US12631094

申请日：2009-12-04

申请人： Kazunori BAN ,  Katsutoshi Takizawa ,  Gang Shen ,  Keisuke Watanabe

发明人： Kazunori BAN ,  Katsutoshi Takizawa ,  Gang Shen ,  Keisuke Watanabe

IPC分类号： H04N17/00

CPC分类号： B25J9/1692 ,  G05B2219/37563 ,  G05B2219/39045 ,  G06T7/80

摘要： A calibrating device for calibration of an image measurement system. The calibrating device includes a main body having an upper surface, and a characteristic portion, which serves as a benchmark for calibration and is in the form of a recess formed in the upper surface of the main body, wherein the characteristic portion includes a side surface extending in a direction crossing the upper surface, and a bottom surface extending in a direction crossing the side surface, the bottom surface has an optical reflectance lower than an optical reflectance of the upper surface in relation to light identical to each other. This can provide a calibrating device for calibration of an image measurement system, which can detect the characteristic portion on the calibrating device stably, precisely and independent of the illumination conditions, which is less costly and can be easily handled.

摘要翻译： 用于校准图像测量系统的校准装置。 校准装置包括具有上表面的主体和作为校准的基准的特征部分，并且形成在主体的上表面中的凹部的形式，其中特征部分包括侧表面 在与上表面交叉的方向上延伸的底面和与该侧面相交的方向延伸的底面，底面的光反射率低于相对于彼此相同的光的上表面的光反射率。 这可以提供用于校准图像测量系统的校准装置，其可以稳定，精确地且独立于照明条件来检测校准装置上的特征部分，其成本较低并且可以容易地处理。

公开(公告)号：US20070274812A1

公开(公告)日：2007-11-29

申请号：US11802823

申请日：2007-05-25

申请人： Kazunori Ban ,  Keisuke Watanabe

发明人： Kazunori Ban ,  Keisuke Watanabe

IPC分类号： H01L21/677

CPC分类号： B25J9/1697 ,  G05B2219/37555 ,  G05B2219/40053

摘要： A workpiece picking device and method for reducing the cycle time of a picking operation of workpieces, by omitting or reducing the movement of a robot manipulator when an image of the workpieces is captured. An image processor of the picking device includes a camera controlling part for reading image data from a camera, a memory for storing the image data, a workpiece detecting part for extracting one or more images from the memory and detecting one or more workpieces in the image, and a workpiece selecting part for selecting a workpiece to be picked among the workpieces detected by the workpiece detecting part. The image processor further includes a stacked condition judging part for determining whether the condition of the stacked workpieces in a container is changed.

摘要翻译： 一种用于通过省略或减少当工件的图像被捕获时机器人操纵器的移动来减少工件的拾取操作的循环时间的工件拾取装置和方法。 拾取装置的图像处理器包括用于从相机读取图像数据的相机控制部分，用于存储图像数据的存储器，用于从存储器中提取一个或多个图像的工件检测部分，以及检测图像中的一个或多个工件 以及工件选择部，用于选择由工件检测部检测出的工件之间要被拾取的工件。 图像处理器还包括堆叠状态判断部，用于确定容器中堆叠的工件的状态是否改变。

公开(公告)号：US20140156181A1

公开(公告)日：2014-06-05

申请号：US14130417

申请日：2011-11-10

申请人： Keisuke Watanabe ,  Yuki Furumoto

发明人： Keisuke Watanabe ,  Yuki Furumoto

IPC分类号： G01C21/36

CPC分类号： G01C21/3608 ,  G01C21/3632 ,  G08G1/096872 ,  G09B29/106

摘要： Because a navigation device or method according to the present invention extracts only route guidance expressions which a speaking person, such as a fellow passenger, provides for the driver, interprets the abstract route guidance expressions to determine a concrete route guidance expression, and outputs information to be presented corresponding to the concrete route guidance expression, the navigation device enables the driver to understand the content intuitively and can prevent the driver from mishearing the speaking person's utterance and from driving the vehicle toward a direction which the speaking person does not intend.

摘要翻译： 因为根据本发明的导航装置或方法仅提取诸如乘客等的说话人为驾驶员提供的路线引导表达，解释抽象路线指导表达式以确定具体的路线指导表达，并将信息输出到 根据具体的路线指导表达方式呈现，导航装置使驾驶员能够直观地了解内容，可以防止驾驶员误解说话人的话语和驾驶车辆朝向讲话者不打算的方向。