公开(公告)号：US12059810B2

公开(公告)日：2024-08-13

申请号：US17843666

申请日：2022-06-17

申请人： Berkshire Grey Operating Company, Inc.

发明人： Thomas Wagner ,  Kevin Ahearn ,  Benjamin Cohen ,  Michael Dawson-Haggerty ,  Christopher Geyer ,  Thomas Koletschka ,  Kyle Maroney ,  Matthew T. Mason ,  Gene Temple Price ,  Joseph Romano ,  Daniel Smith ,  Siddhartha Srinivasa ,  Prasanna Velagapudi ,  Thomas Allen

IPC分类号： B25J9/16 ,  B07C3/18 ,  B07C5/36 ,  B25J9/00 ,  B25J19/04 ,  G05B19/418

CPC分类号： B25J9/1669 ,  B07C3/18 ,  B07C5/36 ,  B25J9/0093 ,  B25J9/1612 ,  B25J9/1664 ,  B25J9/1687 ,  B25J9/1697 ,  B25J19/04 ,  G05B19/4183 ,  G05B2219/32037 ,  G05B2219/39106 ,  G05B2219/39295 ,  G05B2219/39476 ,  G05B2219/39484 ,  G05B2219/39504 ,  G05B2219/39548 ,  G05B2219/40053 ,  G05B2219/40078 ,  G05B2219/40116 ,  G05B2219/40538 ,  G05B2219/45045 ,  Y02P90/02

摘要： A sortation system is disclosed that includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects, a grasp selection system for selecting a grasp location on the object, the grasp location being chosen to provide a secure grasp of the object by the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination locations, and a motion planning system for providing a motion path for the transport of the object when grasped by the end effector from the plurality of objects to the one of the plurality of destination locations, wherein the motion path is chosen to provide a path from the plurality of objects to the one of the plurality of destination locations.

公开(公告)号：US11926057B2

公开(公告)日：2024-03-12

申请号：US17053523

申请日：2018-06-14

申请人： YAMAHA HATSUDOKI KABUSHIKI KAISHA

发明人： Kota Yamaguchi ,  Toshihiro Michizoe

IPC分类号： B25J9/16

CPC分类号： B25J9/1669 ,  B25J9/1697 ,  G05B2219/39484

摘要： A robot system includes a robot including a hand portion which grips and takes out a workpiece from an accommodation unit in which a plurality of workpieces are accommodated, and transports the workpiece to a predetermined position; a robot control unit which controls conveyance operation of the robot of taking out the workpiece from the accommodation unit and transporting the workpiece to the predetermined position; and a conveyance condition setting unit which sets a conveyance condition regarding the conveyance operation and including, in the workpiece, at least a grip prohibited region that is prohibited from being gripped by the hand portion. The robot control unit controls the robot based on the conveyance condition set by the conveyance condition setting unit.

公开(公告)号：US20150197009A1

公开(公告)日：2015-07-16

申请号：US14152512

申请日：2014-01-10

申请人： Simon Melikian

发明人： Simon Melikian

IPC分类号： B25J9/16 ,  B25J9/08 ,  B25J19/02

CPC分类号： B25J9/1664 ,  B23Q3/15546 ,  B25J9/08 ,  B25J9/1669 ,  B25J19/023 ,  G05B2219/36362 ,  G05B2219/39468 ,  G05B2219/39484 ,  G05B2219/39571 ,  G05B2219/40284 ,  G05B2219/40538 ,  G05B2219/50276 ,  Y10S901/02 ,  Y10S901/47

摘要： A method for picking up an article using a robot arm includes capturing images with a camera and processing the captured images to locate a machine-readable symbol affixed to the article. The machine-readable symbol includes an orientation pattern and encoded information pertaining to the article. The orientation pattern provides information to determine x, y, and z coordinates and Rx, Ry and Rz of a gripping tool attached to the robot arm. The encoded information provides information to determine the appropriate gripping tool, gripping location and gripping motion path.

摘要翻译： 使用机器人手臂拾取物品的方法包括用相机拍摄图像并处理所捕获的图像以定位附着在物品上的机读符号。 机器可读符号包括定向模式和与文章有关的编码信息。 定向图案提供了确定附接到机器人手臂的夹持工具的x，y和z坐标以及Rx，Ry和Rz的信息。 编码信息提供信息以确定适当的夹持工具，夹持位置和夹持运动路径。

公开(公告)号：US20130238124A1

公开(公告)日：2013-09-12

申请号：US13781644

申请日：2013-02-28

申请人： CANON KABUSHIKI KAISHA

发明人： Masahiro Suzuki ,  Kazuhiko Kobayashi

IPC分类号： B25J9/16

CPC分类号： B25J9/16 ,  B25J9/1697 ,  G05B2219/39484 ,  G05B2219/40053 ,  Y10S901/31

摘要： The positions and orientations of one or more target objects are obtained from the result of measuring a set of target objects by using a first sensor. A robot including a grip unit is controlled to grip one target object as a gripping target object among the target objects by the grip unit. Whether the grip unit has succeeded in gripping the gripping target object is determined from the result of measurement performed by a second sensor for measuring the target object gripped by the grip unit. When the grip unit has been determined to fail in gripping the gripping target object, one target object interacting with the gripping target object is selected among the target objects. The robot is controlled to grip the selected target object by the grip unit.

摘要翻译： 通过使用第一传感器来测量一组目标对象的结果，获得一个或多个目标对象的位置和取向。 控制夹持单元的机器人通过把手单元来控制目标物体中的作为夹持目标物体的目标物体。 根据由用于测量由把手单元夹持的目标物体的第二传感器执行的测量结果，确定把手单元是否成功地夹持夹持目标物体。 当握持单元被确定为不能夹持夹持目标对象时，从目标对象中选择与夹持目标对象交互的目标对象。 控制机器人以通过把手单元夹持所选择的目标物体。

公开(公告)号：US20120004774A1

公开(公告)日：2012-01-05

申请号：US13175933

申请日：2011-07-04

申请人： Mayumi UMETSU

发明人： Mayumi UMETSU

IPC分类号： B25J15/10 ,  B25J13/08 ,  B25J9/06

CPC分类号： B25J15/0009 ,  B25J5/007 ,  B25J9/1612 ,  B25J9/1697 ,  B25J13/085 ,  G05B2219/39484 ,  G05B2219/39492 ,  G05B2219/39532

摘要： A robot apparatus includes a robot arm, a multi-fingered hand disposed at an end of the robot arm and including a force sensor for use in force control, an image processor that acquires at least location information on a gripping target by detection made by a visual sensor, and a control device that moves the robot arm on the basis of the at least location information on the gripping target acquired by the image processor to cause the multi-fingered hand to approach the gripping target, detects a contact location of actual contact with the gripping target on the basis of an output of the force sensor of the multi-fingered hand, and modifies the location information on the gripping target on the basis of information indicating the detected contact location.

摘要翻译： 机器人装置包括机器人手臂，设置在机器人手臂的端部的多指手，并且包括用于力控制的力传感器，图像处理器，至少通过由 视觉传感器和控制装置，其基于由图像处理器获取的夹持目标上的至少位置信息来移动机器人臂，以使多指手接近夹持目标，检测实际接触的接触位置 基于多指手的力传感器的输出的夹持目标，并且基于指示检测到的联系位置的信息来修改抓取目标上的位置信息。

公开(公告)号：US20160184997A1

公开(公告)日：2016-06-30

申请号：US14956414

申请日：2015-12-02

申请人： Keyence Corporation

发明人： Naoya UCHIYAMA

IPC分类号： B25J9/16

CPC分类号： B25J9/1697 ,  G05B2219/39369 ,  G05B2219/39397 ,  G05B2219/39484 ,  G05B2219/40425 ,  G05B2219/40607 ,  Y10S901/09

摘要： There is provided an image processing apparatus, which are capable of controlling a motion of a robot with high accuracy without coding a complex robot motion control program point by point. First coordinate values being each of position coordinates of movement destinations of an end effector of a robot are acquired. Second coordinate values being position coordinates of a target are detected based on an image of the target captured at each of the movement destinations. Selections of a plurality of operations which a robot controller is made to execute are accepted out of a plurality of operations including at least an operation of moving the end effector to the first coordinate values or an operation of moving the end effector to the second coordinate values, to accept a setting of an execution sequence of the plurality of operations the selections of which have been accepted.

摘要翻译： 提供了一种图像处理装置，其能够高精度地控制机器人的运动，而不对点复杂的机器人运动控制程序进行编码。 获取机器人的末端执行器的移动目的地的位置坐标中的每一个的第一坐标值。 基于在每个移动目的地捕获的目标的图像来检测作为目标的位置坐标的第二坐标值。 从多个操作中接受使机器人控制器执行的多个操作的选择，至少包括将末端执行器移动到第一坐标值的操作或将末端执行器移动到第二坐标值的操作 接受已被接受的选择的多个操作的执行顺序的设置。

公开(公告)号：US09138895B2

公开(公告)日：2015-09-22

申请号：US14152512

申请日：2014-01-10

申请人： Simon Melikian

发明人： Simon Melikian

IPC分类号： B25J9/16 ,  B25J9/08 ,  B25J19/02 ,  B23Q3/155

CPC分类号： B25J9/1664 ,  B23Q3/15546 ,  B25J9/08 ,  B25J9/1669 ,  B25J19/023 ,  G05B2219/36362 ,  G05B2219/39468 ,  G05B2219/39484 ,  G05B2219/39571 ,  G05B2219/40284 ,  G05B2219/40538 ,  G05B2219/50276 ,  Y10S901/02 ,  Y10S901/47

摘要： A method for picking up an article using a robot arm includes capturing images with a camera and processing the captured images to locate a machine-readable symbol affixed to the article. The machine-readable symbol includes an orientation pattern and encoded information pertaining to the article. The orientation pattern provides information to determine x, y, and z coordinates and Rx, Ry and Rz of a gripping tool attached to the robot arm. The encoded information provides information to determine the appropriate gripping tool, gripping location and gripping motion path.

摘要翻译： 使用机器人手臂拾取物品的方法包括用相机拍摄图像并处理所捕获的图像以定位附着在物品上的机读符号。 机器可读符号包括定向模式和与文章有关的编码信息。 定向图案提供了确定附接到机器人手臂的夹持工具的x，y和z坐标以及Rx，Ry和Rz的信息。 编码信息提供信息以确定适当的夹持工具，夹持位置和夹持运动路径。

公开(公告)号：US08498745B2

公开(公告)日：2013-07-30

申请号：US13175933

申请日：2011-07-04

申请人： Mayumi Umetsu

发明人： Mayumi Umetsu

IPC分类号： B25J13/08 ,  B25J5/00

CPC分类号： B25J15/0009 ,  B25J5/007 ,  B25J9/1612 ,  B25J9/1697 ,  B25J13/085 ,  G05B2219/39484 ,  G05B2219/39492 ,  G05B2219/39532

摘要： A robot apparatus includes a robot arm, a multi-fingered hand disposed at an end of the robot arm and including a force sensor for use in force control, an image processor that acquires at least location information on a gripping target by detection made by a visual sensor, and a control device that moves the robot arm on the basis of the at least location information on the gripping target acquired by the image processor to cause the multi-fingered hand to approach the gripping target, detects a contact location of actual contact with the gripping target on the basis of an output of the force sensor of the multi-fingered hand, and modifies the location information on the gripping target on the basis of information indicating the detected contact location.

摘要翻译： 机器人装置包括机器人手臂，设置在机器人手臂的端部的多指手，并且包括用于力控制的力传感器，图像处理器，至少通过由 视觉传感器和控制装置，其基于由图像处理器获取的夹持目标上的至少位置信息来移动机器人臂，以使多指手接近夹持目标，检测实际接触的接触位置 基于多指手的力传感器的输出的夹持目标，并且基于指示检测到的联系位置的信息来修改抓取目标上的位置信息。

公开(公告)号：US20130054025A1

公开(公告)日：2013-02-28

申请号：US13568595

申请日：2012-08-07

申请人： Yoshinori Ito

发明人： Yoshinori Ito

IPC分类号： G05B19/04

CPC分类号： G05B19/42 ,  B25J9/1697 ,  G05B2219/36492 ,  G05B2219/37555 ,  G05B2219/39094 ,  G05B2219/39484 ,  G05B2219/39536 ,  G05B2219/39542 ,  G05B2219/45064

摘要： An information processing apparatus comprises an obtaining unit configured to obtain sensing data on an area including an installation target component; a detection unit configured to detect a position/orientation of the installation target component as a component position/orientation based on the sensing data; a setting unit configured to set, based on the component position/orientation and shape data on the installation target component, a candidate gripped portion of the installation target component to be gripped by a hand mechanism; a calculation unit configured to calculate, as a candidate hand position/orientation, a position/orientation of the hand mechanism in which the candidate gripped portion can be gripped; and a generation unit configured to generate candidate teaching data for gripping operation by the hand mechanism by associating the candidate gripped portion and the candidate hand position/orientation with each other.

摘要翻译： 一种信息处理装置，包括获取单元，被配置为获得关于包括安装目标分量的区域的感测数据; 检测单元，被配置为基于所述感测数据来检测所述安装目标部件的位置/方位作为部件位置/方向; 设置单元，被配置为基于所述安装目标部件上的部件位置/方向和形状数据来设置要由手动机构夹持的所述安装目标部件的候选夹持部分; 计算单元，被配置为计算作为候选手位置/取向的可以抓住候选夹持部的手机构的位置/方位; 以及生成单元，其被配置为通过将候选被抓住部分和候选手位置/方向相关联来生成用于通过手动机构夹持操作的候选教导数据。

公开(公告)号：US20100272547A1

公开(公告)日：2010-10-28

申请号：US12663560

申请日：2008-06-10

申请人： Norbert Cottone ,  Thorsten Eberhardt ,  Sven Heissmeyer ,  Alexander Hollinger ,  Martin Peghini

发明人： Norbert Cottone ,  Thorsten Eberhardt ,  Sven Heissmeyer ,  Alexander Hollinger ,  Martin Peghini

IPC分类号： B65G65/00 ,  G06F19/00 ,  B25J9/16

CPC分类号： B25J9/1697 ,  B65G61/00 ,  B65G2201/0273 ,  G05B2219/39484 ,  G05B2219/39536 ,  G05B2219/40053

摘要： In a method and system for depalletizing tires using a robot, wherein the tires are randomly located on a carrier, the position and orientation of outer tires on the carrier are detected using a sensor, and a processor, using a signal from the sensor, determines a tire that can be gripped by a gripping tool of an industrial robot, and calculates a movement path for the gripping tool for that tire. If the calculated path is not collision-free, another tire from among the outer tires is selected, and a movement path for depalletizing that tire is determined. The procedure is repeated until a collision-free movement path for a tire from among the outer tires is established. The gripping tool is then guided according to this collision-free movement path to depalletize the tire having the collision-free path associated therewith.

摘要翻译： 在使用机器人拆卸轮胎的方法和系统中，其中轮胎随机地位于载体上，使用传感器检测载体上的外轮胎的位置和取向，并且使用来自传感器的信号的处理器确定 轮胎，其能够被工业机器人的夹持工具夹持，并且计算用于该轮胎的夹持工具的移动路径。 如果所计算的路径不是无碰撞的，则选择来自外轮胎的另一轮胎，并且确定用于拆卸轮胎的移动路径。 重复该过程，直到建立了来自外轮胎之间的轮胎的无碰撞运动路径。 然后根据该无碰撞运动路径引导夹紧工具，以将具有与其相关联的无碰撞路径的轮胎拆下。