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公开(公告)号：US20190084162A1
公开(公告)日：2019-03-21
申请号：US15889644
申请日：2018-02-06
发明人： Junya Tanaka
CPC分类号： B25J15/0023 , B25J9/0093 , B25J9/1612 , B25J9/1697 , B25J15/0009 , B25J15/0616 , B25J15/0625 , G05B2219/39543 , Y10S901/09 , Y10S901/40 , Y10S901/47
摘要： According to one embodiment, a holding mechanism includes a plurality of links, a first elastic body, and a second elastic body. The plurality of links are rotatably connected to one another at ends of the links. The first elastic body is disposed along the links. The second elastic body is interposed between adjacent links of the links so as to be along the first elastic body.
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公开(公告)号：US10055667B2
公开(公告)日：2018-08-21
申请号：US15227612
申请日：2016-08-03
申请人： X Development LLC
CPC分类号： G06K9/3241 , B25J9/161 , B25J9/1692 , G05B2219/33038 , G05B2219/39046 , G05B2219/39543 , G05B2219/40564 , G06K9/00664 , G06T7/344 , G06T7/70 , G06T7/75 , G06T17/00 , G06T2207/10012 , G06T2207/10028 , G06T2207/20081 , G06T2207/20084 , G06T2207/30244
摘要： Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.
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公开(公告)号：US09656388B2
公开(公告)日：2017-05-23
申请号：US14636542
申请日：2015-03-03
CPC分类号： B25J9/1612 , B25J9/1687 , B25J9/1697 , G05B2219/39346 , G05B2219/39394 , G05B2219/39483 , G05B2219/39487 , G05B2219/39543 , G05B2219/40583
摘要： Provided is a robot including a hand and a control unit that operates the hand. The control unit rotates a first object around a predetermined position of the first object with the hand and moves the first object with respect to a second object, based on a captured image including the hand and the first object.
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公开(公告)号：US20150217451A1
公开(公告)日：2015-08-06
申请号：US14612701
申请日：2015-02-03
发明人： Tomoki HARADA , Koichi HASHIMOTO , Shogo ARAI
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J9/1697 , G05B2219/39543 , G05B2219/40053 , Y10S901/47
摘要： A robot includes: a hand; and a control unit that operates the hand, in which the control unit generates three-dimensional point group information for a partial image forming a captured image obtained by an imaging unit, and causes the hand to hold an object included in the partial image.
摘要翻译： 机器人包括：一只手; 以及控制单元，其操作所述手，其中所述控制单元生成用于形成由成像单元获得的拍摄图像的部分图像的三维点组信息，并使所述手保持包括在所述部分图像中的对象。
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公开(公告)号：US09089966B2
公开(公告)日：2015-07-28
申请号：US13878321
申请日：2011-07-13
申请人： Yukiyasu Domae , Yasuo Kitaaki , Haruhisa Okuda , Kazuhiko Sumi
发明人： Yukiyasu Domae , Yasuo Kitaaki , Haruhisa Okuda , Kazuhiko Sumi
CPC分类号： B25J9/1612 , G05B2219/39543 , G05B2219/40053
摘要： A workpiece pick-up apparatus including: a hand for gripping a workpiece; a robot for bringing the hand into a desired gripping position or posture; a sensor for performing three-dimensional measurement of the workpiece to obtain workpiece measurement data; a storage medium for accumulating at least hand profile data; an information processing unit for calculating the gripping position or posture based on data from the sensor and data from the storage medium; and a control unit for controlling the robot based on the gripping position or posture calculated by the information processing unit. The information processing unit includes an optimum gripping candidate creating section for directly deriving the gripping position or posture based on the workpiece measurement data and the hand profile data.
摘要翻译： 一种工件拾取装置，包括：用于夹持工件的手; 用于使手进入期望的夹持位置或姿势的机器人; 用于对工件进行三维测量以获得工件测量数据的传感器; 用于累积至少手轮廓数据的存储介质; 信息处理单元，用于基于来自传感器的数据和来自存储介质的数据计算抓取位置或姿势; 以及控制单元，用于基于由信息处理单元计算出的夹持位置或姿势来控制机器人。 所述信息处理单元包括：最佳夹持候选生成部，其基于所述工件测定数据和所述手轮廓数据直接导出所述夹持位置或姿势。
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公开(公告)号：US20060184272A1
公开(公告)日：2006-08-17
申请号：US10538770
申请日：2003-12-11
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , G05B2219/39543 , G05B2219/40609
摘要： Realized is a robot controller capable of handling a large amount of data of images and so on necessary for advanced intelligence of control while securing a real-time performance with a simple structure. For this purpose, there are provided a motion control means for performing a calculation process for achieving motion control of an object to be controlled, a recognition and planning means for performing task and motion planning of the object to be controlled and recognition of outside world, an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled, and a route selecting means for controlling communications by switching connections among the motion control means, the recognition and planning means, and the input/output interface. While controlling the communications by switching the connections among the motion control means, the recognition and planning means, and the input/output interface by the route selecting means, the motions of the robot of the object to be controlled are controlled on the basis of the results of the task and motion planning of the object to be controlled and the recognition of the outside world.
摘要翻译： 实现了一种机器人控制器，能够处理大量数据的图像数据，因此需要先进的控制智能，同时以简单的结构确保实时性能。 为此，提供了一种用于执行用于实现要控制的对象的运动控制的计算处理的运动控制装置，用于执行要控制的对象和外部世界的识别的任务和运动规划的识别和规划装置， 输入/输出接口，用于向待控制的对象输出一个命令，接收作为输入的对象，被控制对象的状态;以及路径选择装置，用于通过切换运动控制装置之间的连接来控制通信，识别和规划 意思和输入/输出接口。 在通过切换运动控制装置之间的连接，识别和规划装置以及由路径选择装置的输入/输出接口来控制通信的同时，基于被控制的对象的机器人的运动进行控制 要控制的对象的任务和运动规划的结果以及对外界的认可。
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公开(公告)号：US12103178B2
公开(公告)日：2024-10-01
申请号：US18340000
申请日：2023-06-22
申请人： Google LLC
CPC分类号： B25J9/161 , B25J9/1692 , G06T7/344 , G06T7/70 , G06T7/75 , G06T17/00 , G06V20/10 , G05B2219/33038 , G05B2219/39046 , G05B2219/39543 , G05B2219/40564 , G06T2207/10012 , G06T2207/10028 , G06T2207/20081 , G06T2207/20084 , G06T2207/30244
摘要： Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.
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公开(公告)号：US20190185266A1
公开(公告)日：2019-06-20
申请号：US16322802
申请日：2016-08-04
发明人： Thomas MATTERN , Michael KLUGE
IPC分类号： B65G1/137
CPC分类号： B65G1/1373 , B25J9/1697 , B65G1/0435 , B65G1/1371 , B65G1/1378 , B65G2201/02 , B65G2203/041 , G05B2219/39543 , G05B2219/40554 , G06Q10/08 , G06Q10/087
摘要： The present invention relates to a picking system for order-related picking of goods stockpiled in racks, with an automated picking cell including a gripper for gripping and picking the goods and a cell control unit for actuating the gripper, with a transport system for conveying the racks a picking position near the picking cell, wherein the racks have shelves and/or containers on and/or in which goods are stored, wherein at least one shelf and/or container of a rack arranged in the picking position can be conveyed from a storage position inside the rack into a removal position in which the at least one shelf and/or container is at least partially arranged in front of the rack, wherein the gripper is actuated by the cell control unit to grip the goods stockpiled on the shelf and/or in the container while the shelf and/or container is in the removal position.
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公开(公告)号：US20180043541A1
公开(公告)日：2018-02-15
申请号：US15438666
申请日：2017-02-21
申请人： OMRON Corporation
发明人： Junji SHIMAMURA
CPC分类号： B25J9/1697 , B25J9/1612 , G01B11/002 , G01B21/045 , G05B2219/39543 , G06T7/0004 , G06T7/20 , G06T7/70 , G06T2207/30164 , H04N5/04 , H04N5/2353
摘要： An information processing system for identifying a position of a workpiece conveyed on a conveyor is provided. A counter measures a movement amount of a conveyor a plurality of times at intervals shorter than a cycle of communication with a controller, and transmits measured movement amounts and respective measurement timings to the controller. The controller receives a position of a workpiece measured from an image obtained at a set imaging timing, identifies measurement timings relatively close to the imaging timing from among measurement timings, identifies a reference movement amount associated with the measurement timing, identifies a reference position of the workpiece at the imaging timing based on the position of the workpiece within the image, and adds a difference between the current movement amount of the conveyor and the reference movement amount to the reference position to calculate a current position of the workpiece.
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公开(公告)号：US20170368693A1
公开(公告)日：2017-12-28
申请号：US15419475
申请日：2017-01-30
CPC分类号： B25J15/0616 , B25J9/1612 , B25J9/1669 , B25J9/1697 , B25J15/0028 , B25J15/0038 , B25J15/0052 , B25J15/0061 , B25J15/0253 , B25J15/0293 , B25J19/021 , G05B2219/39543
摘要： A gripper device and method is provided. The method includes capturing, using an electronic device, information of an object that is indicative of holding position; determining, using the information, by a hardware processor, an optimal holding orientation and an optimal movement of at least one of (i) a plurality of fingers, or (ii) a plurality of suction cups of a gripper device; identifying the at least one of (i) the plurality of fingers, and (ii) the plurality of suction cups as one or more grasping components based on the information, the optimal holding orientation and the optimal movement; and enabling, using an actuator, the one or more identified grasping components to grasp the object based on the information, the optimal holding orientation and the optimal movement.
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