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11. 发明授权

US07355725B2 Measuring system 失效
标题翻译：测量系统
公开(公告)号：US07355725B2
公开(公告)日：2008-04-08
申请号：US11073681
申请日：2005-03-08
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G01B11/14
CPC分类号： B25J9/1697 , G05B19/401 , G05B2219/37555 , G05B2219/40564
摘要： A measuring system for easily detecting Misjudged Detection (M/D). A camera for measurement attached to a robot is used to obtain an image for measurement of a workpiece so as to measure and detect a set point. Next, a camera for validation is used to obtain an image for validation of the workpiece so as to measure and detect the set point. One camera may capture both of the images for measurement and validation, by utilizing movement of the robot. It is judged whether the measured results obtained from the images represent the same point on the workpiece or not. If yes, the measured results are judged to be valid, otherwise, the measured results are judged to be invalid and an exception process, such as a retrial, is executed. The images by the camera may also be used for judging a moving path of the robot during measurement of a large object.
摘要翻译：一种易于检测误判测（M / D）的测量系统。使用附属于机器人的测量用照相机来获得用于测量工件的图像，以便测量和检测设定点。接下来，使用用于验证的相机来获得用于确认工件的图像，以便测量和检测设定点。一个相机可以通过利用机器人的移动来捕获两个图像以进行测量和验证。判断从图像获得的测量结果是否表示工件上的相同点。如果是，则将测量结果判定为有效，否则判断为无效，并执行例如重试等异常处理。照相机的图像也可以用于在大物体的测量期间判断机器人的移动路径。

12. 发明申请

US20060074526A1 Robot program generating device and robot program analyzing device 有权
标题翻译：机器人程序生成装置和机器人程序分析装置
公开(公告)号：US20060074526A1
公开(公告)日：2006-04-06
申请号：US11239672
申请日：2005-09-30
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , B25J9/1671 , G05B2219/35346 , G05B2219/37205 , G05B2219/37208
摘要： A work model (or an image) is displayed on an image plane of a robot simulator (201), and a measuring portion and a measuring method are designated (202, 203) and a work shape and a work loading state are designated (204), and then it is judged whether or not the measuring portion and the measuring method are good (205). When the measuring portion and the measuring method are good, a program is generated and the processing is completed (207, 208). When the measuring portion and the measuring method are not good, an alarm is given (206), and the continuation (207) or the repetition (201) of the processing is directed. At the time of analyzing the program, the loading (101), the analysis and display of the measuring portion and the measuring method (102, 103) and the work information (104) are designated, and then it is judged whether or not the measuring portion and the measuring method, which have been analyzed, are good (105). When the measuring portion and the measuring method are good, the processing is finished (107). When the measuring portion and the measuring method are not good, an alarm is given (106), and either the completion of the processing (107) or the correction of the program (201) is selected. Due to the foregoing, a burden imposed for raising and maintaining the visual sensor robot system can be reduced.
摘要翻译：工件模型（或图像）显示在机器人模拟器（201）的图像平面上，并且指定测量部分和测量方法（202,203），并且指定工件形状和加载状态（204 ），然后判断测量部分和测量方法是否良好（205）。当测量部分和测量方法良好时，产生程序并完成处理（207,208）。当测量部分和测量方法不好时，给出警报（206），并且指示处理的继续（207）或重复（201）。在分析程序时，指定负载（101），测量部分的分析和显示以及测量方法（102,103）和工作信息（104），然后判断是否测量部分和测量方法都很好（105）。当测量部分和测量方法良好时，处理结束（107）。当测量部分和测量方法不好时，给出警报（106），并且选择处理（107）的完成或程序（201）的校正。由于上述原因，可以降低用于升高和维持视觉传感器机器人系统的负担。

13. 发明授权

US06665588B2 Workpiece unloading apparatus 有权
标题翻译：工件卸载装置
公开(公告)号：US06665588B2
公开(公告)日：2003-12-16
申请号：US10193172
申请日：2002-07-12
申请人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban , Ichiro Kanno
IPC分类号： G05B1500
CPC分类号： B23Q7/10 , B23Q7/04 , B23Q17/24 , B25J9/1697 , B65G61/00 , G05B2219/40053 , G05B2219/40613
摘要： A workpiece is gripped and unloaded by moving workpiece unloading means based on the results of measuring the workpiece position and orientation with a visual sensor. When a plurality of loaded workpieces are unloaded in a regular order one by one, or in groups, the position and orientation of the workpiece which is to be unloaded next change for each unloading. However, since a visual sensor is moved when necessary to the position appropriate for measuring the workpiece position and orientation, measurements of the workpieces with the visual sensor are conducted accurately. Therefore, the workpiece unloading is conducted reliably.
摘要翻译：基于通过视觉传感器测量工件位置和方向的结果，通过移动工件卸载装置来夹紧和卸载工件。当多个装载的工件以规则的顺序逐个或组合地卸载时，待卸载的工件的位置和取向接下来对于每次卸载而改变。然而，由于视觉传感器在必要时移动到适于测量工件位置和方位的位置，所以可以精确地进行用视觉传感器的工件的测量。因此，可靠地进行工件卸载。

14. 发明授权

US07171041B2 Position-orientation recognition device 有权
标题翻译：位置方向识别装置
公开(公告)号：US07171041B2
公开(公告)日：2007-01-30
申请号：US09950794
申请日：2001-09-13
申请人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban
发明人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban
IPC分类号： G06K9/00 , G06T15/00
CPC分类号： B25J9/1697 , G05B2219/39393 , G05B2219/40053 , G05B2219/40613
摘要： Upon reception of a work sensing command from a robot controller, an image processing unit obtains a two-dimensional image of thee whole work pallet including a work, with a CCD camera (a first sensor means). A line of sight is calculated based on the work position on the sensed two-dimensional image. The robot controller determines the destination of movement of the robot such that a crossing line LC of slit beams LB1, LB2 of a laser sensor (a second sensor means) can agree with the calculated line of eight. The image processing unit operates the laser sensor so as to surely irradiate the laser slit beams LB1, LB2 to the target work, permitting the laser sensor to sense the three-dimensional positional and orientation of the target work.
摘要翻译：在从机器人控制器接收到作业感测命令时，图像处理单元利用CCD照相机（第一传感器装置）获得包括作品的整个工作托盘的二维图像。基于感测的二维图像上的工作位置来计算视线。机器人控制器确定机器人的运动的目的地，使得激光传感器（第二传感器装置）的狭缝梁LB1，LB2的交叉线LC可以与所计算的八条线一致。图像处理单元操作激光传感器，以确保将激光狭缝束LB1，LB2照射到目标工件上，允许激光传感器感测目标工件的三维位置和取向。

15. 发明申请

US20050071048A1 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US20050071048A1
公开(公告)日：2005-03-31
申请号：US10952101
申请日：2004-09-29
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： B25J19/06 , B25J9/16 , B25J13/08 , G05B19/4067 , G06F19/00
CPC分类号： G05B19/4069 , B25J9/1664 , B25J9/1674 , G05B2219/37555 , G05B2219/40053 , G05B2219/40125 , G05B2219/40213
摘要： A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.
摘要翻译：机器人系统可以通过安装在机器人臂的前端的手抓住并取出放置在篮状容器中的多个工件中的一个。通过视觉传感器检测工件，根据工件的位置和方向来控制机器人。当发生诸如干扰等的问题时，与问题有关的信息存储在机器人控制单元或视觉传感器控制单元中。与问题有关的信息包括从问题发生的时间点，机器人到达的位置，目标位置数据，由视觉传感器执行的处理的内容以及检测的追溯地追溯的预定量的最新数据结果。当问题复制时，这些数据用于通过使用模拟单元来模拟出现问题时的情况。发生问题时的情况也可以通过使用实际的机器人而不使用模拟单元来再现。

16. 发明授权

US07386367B2 Workpiece conveying apparatus 有权
标题翻译：工件输送装置
公开(公告)号：US07386367B2
公开(公告)日：2008-06-10
申请号：US10780757
申请日：2004-02-19
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , B25J9/1612
摘要： A workpiece is gripped by a robot hand and an image of the workpiece is captured by a camera. An image processing device detects the position and posture of a characteristic portion of the workpiece. On the basis of the present position of the robot, the relative position and posture between a flange of the robot and the workpiece characteristic portion is detected. The relative position and posture is compared with that observed when the workpiece is gripped correctly, to determine a gripping error. If the gripping error exceeds a permissible error, the robot is stopped. If the gripping error is equal to or less than the permissible error, a taught position where the workpiece is to be released is corrected so as to cancel the adverse effect of the gripping error.
摘要翻译：工件由机器人手握住，工件的图像由相机捕获。图像处理装置检测工件的特征部分的位置和姿势。基于机器人的当前位置，检测机器人的凸缘与工件特性部分之间的相对位置和姿势。将相对位置和姿势与正确握住工件时观察到的相对位置和姿势进行比较，以确定夹紧误差。如果夹紧误差超过允许误差，则机器人停止。如果夹紧误差等于或小于允许误差，则校正要释放工件的教导位置，以消除夹紧误差的不利影响。

17. 发明申请

US20050195409A1 Measuring system 失效
标题翻译：测量系统
公开(公告)号：US20050195409A1
公开(公告)日：2005-09-08
申请号：US11073681
申请日：2005-03-08
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G06T1/00 , B25J9/16 , G01B11/24
CPC分类号： B25J9/1697 , G05B19/401 , G05B2219/37555 , G05B2219/40564
摘要： A measuring system for easily detecting Misjudged Detection (M/D). A camera for measurement attached to a robot is used to obtain an image for measurement of a workpiece so as to measure and detect a set point. Next, a camera for validation is used to obtain an image for validation of the workpiece so as to measure and detect the set point. One camera may capture both of the images for measurement and validation, by utilizing movement of the robot. It is judged whether the measured results obtained from the images represent the same point on the workpiece or not. If yes, the measured results are judged to be valid, otherwise, the measured results are judged to be invalid and an exception process, such as a retrial, is executed. The images by the camera may also be used for judging a moving path of the robot during measurement of a large object.
摘要翻译：一种易于检测误判测（M / D）的测量系统。使用附属于机器人的测量用照相机来获得用于测量工件的图像，以便测量和检测设定点。接下来，使用用于验证的相机来获得用于确认工件的图像，以便测量和检测设定点。一个相机可以通过利用机器人的移动来捕获两个图像以进行测量和验证。判断从图像获得的测量结果是否表示工件上的相同点。如果是，则将测量结果判定为有效，否则判断为无效，并执行例如重试等异常处理。照相机的图像也可以用于在大物体的测量期间判断机器人的移动路径。

18. 发明授权

US06763284B2 Robot teaching apparatus 有权
标题翻译：机器人教学仪器
公开(公告)号：US06763284B2
公开(公告)日：2004-07-13
申请号：US10001991
申请日：2001-12-05
申请人： Atsushi Watanabe , Tetsuya Kosaka , Katsutoshi Takizawa , Fumikazu Warashina , Kazunori Ban , Makoto Yamada , Akihiro Terada , Mitsuhiro Okuda
发明人： Atsushi Watanabe , Tetsuya Kosaka , Katsutoshi Takizawa , Fumikazu Warashina , Kazunori Ban , Makoto Yamada , Akihiro Terada , Mitsuhiro Okuda
IPC分类号： G05B1900
CPC分类号： B25J9/1697 , G05B19/4202 , G05B2219/35506 , G05B2219/36415 , G05B2219/37288 , G05B2219/37571 , G05B2219/37572 , G05B2219/40005
摘要： An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.
摘要翻译：使用相机拍摄参考对象的图像并进行显示。测量起点由图像位置指示装置指向。使用图像上的位置和相机的位置和方向获得对应的视线，机器人接近参考对象，使得其不偏离投影方向移动到适合于测量的位置。光照射在基准对象上，开始测量对象附近的测量点的面的倾斜度。拍摄包括参考物体上的亮线图像的图像，并沿着工作线顺序地测量点的3维位置。使用这些位置创建机器人的移动路径作为工作机器人的教导点。

19. 发明授权

US07684897B2 Robot program generating device and robot program analyzing device 有权
标题翻译：机器人程序生成装置和机器人程序分析装置
公开(公告)号：US07684897B2
公开(公告)日：2010-03-23
申请号：US11239672
申请日：2005-09-30
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , B25J9/1671 , G05B2219/35346 , G05B2219/37205 , G05B2219/37208
摘要： A work model (or an image) is displayed on an image plane of a robot simulator (201), and a measuring portion and a measuring method are designated (202, 203) and a work shape and a work loading state are designated (204), and then it is judged whether or not the measuring portion and the measuring method are good (205). When the measuring portion and the measuring method are good, a program is generated and the processing is completed (207, 208). When the measuring portion and the measuring method are not good, an alarm is given (206), and the continuation (207) or the repetition (201) of the processing is directed. At the time of analyzing the program, the loading (101), the analysis and display of the measuring portion and the measuring method (102, 103) and the work information (104) are designated, and then it is judged whether or not the measuring portion and the measuring method, which have been analyzed, are good (105). When the measuring portion and the measuring method are good, the processing is finished (107). When the measuring portion and the measuring method are not good, an alarm is given (106), and either the completion of the processing (107) or the correction of the program (201) is selected. Due to the foregoing, a burden imposed for raising and maintaining the visual sensor robot system can be reduced.
摘要翻译：工件模型（或图像）显示在机器人模拟器（201）的图像平面上，并且指定测量部分和测量方法（202,203），并且指定工件形状和加载状态（204 ），然后判断测量部分和测量方法是否良好（205）。当测量部分和测量方法良好时，产生程序并完成处理（207,208）。当测量部分和测量方法不好时，给出警报（206），并且指示处理的继续（207）或重复（201）。在分析程序时，指定负载（101），测量部分的分析和显示以及测量方法（102,103）和工作信息（104），然后判断是否测量部分和测量方法都很好（105）。当测量部分和测量方法良好时，处理结束（107）。当测量部分和测量方法不好时，给出警报（106），并且选择处理（107）的完成或程序（201）的校正。由于上述原因，可以降低用于升高和维持视觉传感器机器人系统的负担。

20. 发明授权

US07996114B2 Workpiece picking device and method 失效
标题翻译：工件拣选装置及方法
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。

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