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1. 发明授权

CN102896630B 机器人装置及其控制方法、计算机程序以及机器人系统有权
公开(公告)号：CN102896630B
公开(公告)日：2016-06-01
申请号：CN201210249837.0
申请日：2012-07-18
申请人：索尼公司
发明人：清水悟 , 河本献太 , 岩井嘉昭
IPC分类号： B25J9/16 , B25J13/00 , B25J13/08
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/37618 , G05B2219/39478 , G05B2219/39517 , Y10S901/01 , Y10S901/47
摘要：本申请涉及一种机器人装置及其控制方法以及一种机器人系统。根据本申请的机器人装置包括：图像输入单元，用于输入周围的图像；目标物体检测单元，用于从输入图像中检测物体；物体位置检测单元，用于检测物体的位置；环境信息获取单元，用于获取物体的位置的周围环境信息；最优姿态获取单元，用于获取关于物体的与周围环境信息对应的最优姿态；物体姿态检测单元，用于从输入图像中检测物体的当前姿态；物体姿态比较单元，用于将物体的当前姿态与物体的最优姿态进行比较；以及物体姿态校正单元，用于当物体姿态比较单元确定在当前姿态和最优姿态之间存在预定的差别或更多差别时，校正物体的姿态。

2. 发明公开

CN102896630A 机器人装置及其控制方法、计算机程序以及机器人系统有权
公开(公告)号：CN102896630A
公开(公告)日：2013-01-30
申请号：CN201210249837.0
申请日：2012-07-18
申请人：索尼公司
发明人：清水悟 , 河本献太 , 岩井嘉昭
IPC分类号： B25J9/16 , B25J13/00 , B25J13/08
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/37618 , G05B2219/39478 , G05B2219/39517 , Y10S901/01 , Y10S901/47
摘要：本申请涉及一种机器人装置及其控制方法以及一种机器人系统。根据本申请的机器人装置包括：图像输入单元，用于输入周围的图像；目标物体检测单元，用于从输入图像中检测物体；物体位置检测单元，用于检测物体的位置；环境信息获取单元，用于获取物体的位置的周围环境信息；最优姿态获取单元，用于获取关于物体的与周围环境信息对应的最优姿态；物体姿态检测单元，用于从输入图像中检测物体的当前姿态；物体姿态比较单元，用于将物体的当前姿态与物体的最优姿态进行比较；以及物体姿态校正单元，用于当物体姿态比较单元确定在当前姿态和最优姿态之间存在预定的差别或更多差别时，校正物体的姿态。

3. 发明申请

US20160375585A1 ROBOT DEVICE, METHOD OF CONTROLLING THE SAME, COMPUTER PROGRAM, AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20160375585A1
公开(公告)日：2016-12-29
申请号：US15258436
申请日：2016-09-07
申请人： Sony Corporation
发明人： Satoru SHIMIZU , Kenta KAWAMOTO , Yoshiaki IWAI
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/37618 , G05B2219/39478 , G05B2219/39517 , Y10S901/01 , Y10S901/47
摘要： Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.

4. 发明申请

US20190248017A1 ROBOT DEVICE, METHOD OF CONTROLLING THE SAME, COMPUTER PROGRAM, AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20190248017A1
公开(公告)日：2019-08-15
申请号：US16391317
申请日：2019-04-23
申请人： Sony Corporation
发明人： Satoru SHIMIZU , Kenta KAWAMOTO , Yoshiaki IWAI
IPC分类号： B25J9/16 , G05D1/02
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/37618 , G05B2219/39478 , G05B2219/39517 , G05D1/0246 , G05D1/0274 , Y10S901/01 , Y10S901/47
摘要： Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.

5. 发明申请

US20180133899A1 ROBOT DEVICE, METHOD OF CONTROLLING THE SAME, COMPUTER PROGRAM, AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20180133899A1
公开(公告)日：2018-05-17
申请号：US15868519
申请日：2018-01-11
申请人： Sony Corporation
发明人： Satoru SHIMIZU , Kenta KAWAMOTO , Yoshiaki IWAI
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/37618 , G05B2219/39478 , G05B2219/39517 , Y10S901/01 , Y10S901/47
摘要： Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.

6. 发明授权

US08954183B2 Aircraft component manufacturing method and apparatus 有权
标题翻译：飞机部件制造方法和装置
公开(公告)号：US08954183B2
公开(公告)日：2015-02-10
申请号：US13150693
申请日：2011-06-01
申请人： Amir Kayani , Michael Poad
发明人： Amir Kayani , Michael Poad
IPC分类号： G06F19/00 , G06F17/00 , G05B19/04 , B23K26/08 , B23K26/03 , B23K26/04 , B23K26/36 , B25J9/16 , B25J11/00
CPC分类号： B23K26/0861 , B23K26/03 , B23K26/04 , B23K26/361 , B23K26/362 , B25J9/1612 , B25J11/0055 , G05B2219/37555 , G05B2219/37558 , G05B2219/39517
摘要： A method of manufacturing in which a robot arm is used to pick up a workpiece which is subsequently scanned by a scanner and positioned relative to a manufacturing system for manufacturing in order to eliminate the use of a bespoke jig.
摘要翻译：一种制造方法，其中使用机器人手臂拾取随后由扫描仪扫描并相对于用于制造的制造系统定位的工件，以便消除定制夹具的使用。

7. 发明申请

US20110301741A1 AIRCRAFT COMPONENT MANUFACTURING METHOD AND APPARATUS 有权
标题翻译：飞机组件制造方法和装置
公开(公告)号：US20110301741A1
公开(公告)日：2011-12-08
申请号：US13150693
申请日：2011-06-01
申请人： Amir KAYANI , Michael POAD
发明人： Amir KAYANI , Michael POAD
IPC分类号： G06F19/00 , B25J19/02 , B25J18/00
CPC分类号： B23K26/0861 , B23K26/03 , B23K26/04 , B23K26/361 , B23K26/362 , B25J9/1612 , B25J11/0055 , G05B2219/37555 , G05B2219/37558 , G05B2219/39517
摘要： A method of manufacturing in which a robot arm is used to pick up a workpiece which is subsequently scanned by a scanner and positioned relative to a manufacturing system for manufacturing in order to eliminate the use of a bespoke jig.
摘要翻译：一种制造方法，其中使用机器人手臂拾取随后由扫描仪扫描并相对于用于制造的制造系统定位的工件，以便消除定制夹具的使用。

8. 发明授权

US09908241B2 Robot device, method of controlling the same, computer program, and robot system 有权
公开(公告)号：US09908241B2
公开(公告)日：2018-03-06
申请号：US15258436
申请日：2016-09-07
申请人： Sony Corporation
发明人： Satoru Shimizu , Kenta Kawamoto , Yoshiaki Iwai
IPC分类号： G05B19/00 , B25J9/16
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/37618 , G05B2219/39478 , G05B2219/39517 , Y10S901/01 , Y10S901/47
摘要： Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.

9. 发明授权

US09463575B2 Robot device, method of controlling the same, computer program, and robot system 有权
标题翻译：机器人装置，控制方法，计算机程序和机器人系统
公开(公告)号：US09463575B2
公开(公告)日：2016-10-11
申请号：US14242319
申请日：2014-04-01
申请人： Sony Corporation
发明人： Satoru Shimizu , Kenta Kawamoto , Yoshiaki Iwai
IPC分类号： G05B15/00 , B25J9/16
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/37618 , G05B2219/39478 , G05B2219/39517 , Y10S901/01 , Y10S901/47
摘要： Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.
摘要翻译：本发明提供一种机器人装置，其包括用于输入周围图像的图像输入单元，用于从输入图像检测物体的目标物体检测单元，用于检测物体的位置的物体位置检测单元，用于检测物体的位置的环境信息获取单元，获取对象的位置的周围环境信息;最佳姿势获取单元，用于获取与所述对象的周围环境信息相对应的最佳姿势;对象姿势检测单元，用于从所述输入图像检测所述对象的当前姿势; 对象姿势比较单元，用于将对象的当前姿势与对象的最佳姿势进行比较;以及对象姿势校正单元，用于当对象姿势比较单元确定在对象姿势比较单元之间存在预定的差异或更大时，校正对象的姿势目前的姿势和最佳姿势。

10. 发明申请

US20140214208A1 ROBOT DEVICE, METHOD OF CONTROLLING THE SAME, COMPUTER PROGRAM, AND ROBOT SYSTEM 审中-公开
标题翻译：机器人装置，控制方法，计算机程序和机器人系统
公开(公告)号：US20140214208A1
公开(公告)日：2014-07-31
申请号：US14242319
申请日：2014-04-01
申请人： Sony Corporation
发明人： Satoru SHIMIZU , Kenta Kawamoto , Yoshiaki Iwai
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/37618 , G05B2219/39478 , G05B2219/39517 , Y10S901/01 , Y10S901/47
摘要： Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.
摘要翻译：本发明提供一种机器人装置，其包括用于输入周围图像的图像输入单元，用于从输入图像检测物体的目标物体检测单元，用于检测物体的位置的物体位置检测单元，用于检测物体的位置的环境信息获取单元，获取对象的位置的周围环境信息;最佳姿势获取单元，用于获取与所述对象的周围环境信息相对应的最佳姿势;对象姿势检测单元，用于从所述输入图像检测所述对象的当前姿势; 对象姿势比较单元，用于将对象的当前姿势与对象的最佳姿势进行比较;以及对象姿势校正单元，用于当对象姿势比较单元确定在对象姿势比较单元之间存在预定的差异或更大时，校正对象的姿势目前的姿势和最佳姿势。

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