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21. 发明授权

US07957580B2 Workpiece picking device 有权
标题翻译：工件拾取装置
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。

22. 发明授权

US07534077B2 Finishing machine 有权
标题翻译：整理机
公开(公告)号：US07534077B2
公开(公告)日：2009-05-19
申请号：US11204225
申请日：2005-08-16
申请人： Kazunori Ban , Takashi Sato , Kokoro Hatanaka
发明人： Kazunori Ban , Takashi Sato , Kokoro Hatanaka
IPC分类号： B23C1/00
CPC分类号： G05B19/4163 , Y02P90/265 , Y10T409/30084 , Y10T409/301792 , Y10T409/303472 , Y10T409/304256
摘要： A surface of a workpiece is traced when a machining tool is pressed onto the surface of the workpiece under force control so as to find the positional data of the surface shape. This positional data is corrected by an error caused by a bend of a robot. The positional data is compared with the target shape of the surface, from which the burr is removed. A shift of the surface shape in the normal line direction is found. The burr generation start position, the burr generation end position and the height of the burr are found by the shift start position, the shift end position and the shift size. A machining program is made which is composed of a pass connecting the burr end position with the burr start position and also composed of a cutting pass for removing the burr, and the thus made machining program is executed. As the burr position is found and the burr is removed when the machining tool is moved to the burr position, the burr can be effectively removed.
摘要翻译：当在力控制下将加工工具按压到工件的表面上时，跟踪工件的表面，以找到表面形状的位置数据。该位置数据由机器人的弯曲引起的误差进行校正。将位置数据与表面的目标形状进行比较，从中去除毛刺。发现表面形状在法线方向的移动。毛刺生成开始位置，毛刺生成结束位置和毛刺的高度由换档开始位置，换档结束位置和换档尺寸确定。进行加工程序，该加工程序由将毛刺末端位置与毛刺起始位置连接起来的通路构成，并且还包括用于去除毛刺的切割道，并且由此制造的加工程序被执行。当加工刀具移动到毛刺位置时，当发现毛刺位置并除去毛刺时，可以有效地去除毛刺。

23. 发明授权

US07532949B2 Measuring system 有权
标题翻译：测量系统
公开(公告)号：US07532949B2
公开(公告)日：2009-05-12
申请号：US11034724
申请日：2005-01-14
申请人： Kazunori Ban , Makoto Yamada
发明人： Kazunori Ban , Makoto Yamada
IPC分类号： G06F15/16
CPC分类号： G01B21/042 , B25J19/023 , G01B11/005 , G05B2219/37555
摘要： A measuring system which can easily measure a three-dimensional position of a target to be measured using a light receiving device mounted to a manipulator of a robot. When the manipulator is positioned at a first position, a moving process for moving an image of the target imaged by the light receiving device or a camera to a center of a light receiving surface of the camera is executed. Next, the manipulator positioned at the first position is moved, without changing the orientation of the camera, to a second position where the distance between the camera and the target is different to that at the first position. After that, the moving process is executed again. Based on the position of the manipulator after the process, the orientation of a coordinate system Σv1 representing the direction of a visual line is calculated. Then, the manipulator is rotated by 180 degree about Z-axis of the coordinate system Σv1 and the moving process is executed again. A middle point of the positions of coordinate system Σv1 before and after movement of the manipulator is determined as an origin of a coordinate system Σv2 representing the orientation and the position of the visual line. The manipulator is inclined relative to Y-axis of the coordinate system Σv2 and the moving process is executed again, so as to calculate the three-dimensional position of the target.
摘要翻译：一种测量系统，其可以使用安装到机器人的操纵器的光接收装置容易地测量要测量的目标的三维位置。当操纵器位于第一位置时，执行用于将由光接收装置或照相机成像的目标的图像移动到相机的光接收表面的中心的移动处理。接下来，将位于第一位置的操纵器移动到相机与目标之间的距离与第一位置不同的第二位置，而不改变相机的方位。之后，再次执行移动处理。基于处理之后的操纵器的位置，计算表示视线方向的坐标系Sigmav1的取向。然后，将机械手绕坐标系Sigmav1的Z轴旋转180度，再次执行移动处理。将坐标系Sigmav1在操纵器移动前后的位置的中点确定为表示视线的取向和位置的坐标系Sigmav2的原点。操纵器相对于坐标系Sigmav2的Y轴倾斜，再次执行移动处理，以计算目标的三维位置。

24. 发明申请

US20080188983A1 Calibration device and method for robot mechanism 有权
标题翻译：机器人机构校准装置及方法
公开(公告)号：US20080188983A1
公开(公告)日：2008-08-07
申请号：US12068113
申请日：2008-02-01
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
IPC分类号： G06F17/00
CPC分类号： B25J9/1692 , G01B11/002 , G01B21/042 , G05B2219/39045 , G05B2219/39393
摘要： A calibration device and method for automatically determining the position and the orientation of a robot used for measurement. First, an initial position of a preliminary position is generated based on a designated basic position, and it is judged whether the initial position is within an operation range of the robot. If the robot cannot reach the initial position, the preliminary position is adjusted close to the basic position. Otherwise, the preliminary position is evaluated by calculating an evaluation index of the preliminary position. When the evaluation index does not satisfy a predetermined condition, an initial value of an posture angle is increased.
摘要翻译：一种用于自动确定用于测量的机器人的位置和方位的校准装置和方法。首先，基于指定的基本位置生成预备位置的初始位置，并且判断初始位置是否在机器人的操作范围内。如果机器人不能到达初始位置，则初步位置被调整为接近基本位置。否则，通过计算初步位置的评价指标来评价初步位置。当评价指标不满足预定条件时，姿势角的初始值增加。

25. 发明申请

US20070274812A1 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：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。

26. 发明授权

US07190402B2 Visual sensor for capturing images with different exposure periods 有权
标题翻译：用于捕获具有不同曝光期的图像的视觉传感器
公开(公告)号：US07190402B2
公开(公告)日：2007-03-13
申请号：US10140998
申请日：2002-05-09
申请人： Kazunori Ban , Makoto Yamada
发明人： Kazunori Ban , Makoto Yamada
IPC分类号： H04N5/235
CPC分类号： H04N5/235 , H04N5/2354
摘要： A visual sensor capable of expanding a dynamic range with a little load of processing for arithmetic operations and performing a stable detection not affected by change of conditions such as ON/OFF state of projection of reference light. A multiplying parameter A (A>1) and the number N of times of image capturing are set in accordance with ON/OFF state of the reference light projection. N images are captured with a shutter speed varying by successively multiplying an initial value by (1/A). Values of density of each pixel in the captured images are summed. Values of constants B and C in equations: 1=B·Zmax+C; 0=B·Zmin+C are obtained based on the maximum value Zmax and the minimum value Zmin of the summed values of densities of all the pixels. An output value Z′ of each pixel is obtained according to an equation: Z′=B·Z+C, using the determined values of B and C.
摘要翻译：一种视觉传感器，其能够以少量的处理负载来扩展动态范围，并进行不受基准光投射的ON / OFF状态等的变化影响的稳定检测。根据参考光投影的ON / OFF状态来设定乘法参数A（A> 1）和图像拍摄次数N。以通过将初始值依次乘以（1 / A）而变化的快门速度捕获N个图像。拍摄图像中每个像素的密度值相加。常数B和C在等式中的值：1 = B.Zmax + C; 基于所有像素的密度的相加值的最大值Zmax和最小值Zmin获得0 = B.Zmin + C。使用B和C的确定值，根据以下等式获得每个像素的输出值Z'：Z'= B.Z + C。

27. 发明授权

US06970802B2 Three-dimensional measuring device 有权
标题翻译：三维测量装置
公开(公告)号：US06970802B2
公开(公告)日：2005-11-29
申请号：US10740567
申请日：2003-12-22
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G01B11/00 , B25J9/16 , B25J13/08 , G01B11/03 , G01B21/04 , G01C17/00 , G05B19/18
CPC分类号： G01B21/045 , B25J9/1641 , B25J9/1697 , G05B2219/39057
摘要： Three-dimensional measurement capable of reducing an error in coupling robot and sensor coordinate systems and adverse effects of backlash in a robot. A position/orientation of the robot for obtaining a measurement value on the sensor coordinate system is set beforehand with a workpiece positioned at a reference position. Then, the robot is moved to a preparatory measurement position, a preparatory measurement for the workpiece positioned at an arbitrary position is performed (SV1), and based on a measurement result, a main measurement position is calculated (SV2). Next, an auxiliary position is determined (SV3), which serves as a start position from which a movement to the main measurement position can be made without making a reversal of respective axes. The robot is moved to the auxiliary position (SV4), and to the main measurement position (SV5), and a measurement for the workpiece is made and a measurement result is stored (SV6).
摘要翻译：能够减少耦合机器人和传感器坐标系的误差的三维测量以及机器人中的间隙的不利影响。预先设置用于获取传感器坐标系上的测量值的机器人的位置/方向，其中工件位于参考位置。然后，将机器人移动到准备测量位置，执行位于任意位置的工件的准备测量（SV 1），并且基于测量结果，计算主测量位置（SV2）。接下来，确定辅助位置（SV 3），其作为起始位置，从而能够进行到主测量位置的移动而不使各轴的反转。机器人移动到辅助位置（SV 4）和主测量位置（SV 5），进行工件测量并存储测量结果（SV 6）。

28. 发明申请

US20050225278A1 Measuring system 有权
标题翻译：测量系统
公开(公告)号：US20050225278A1
公开(公告)日：2005-10-13
申请号：US11100486
申请日：2005-04-07
申请人： Kazunori Ban , Makoto Yamada
发明人： Kazunori Ban , Makoto Yamada
IPC分类号： G01B11/00 , B25J9/16 , G01B11/26 , G05B19/401 , B25J9/18 , G05B19/19
CPC分类号： B25J9/1692 , G05B2219/39008 , G05B2219/39394 , G05B2219/40607
摘要： The image of a tool center point (31) caught by a camera (light-receiving device) 4 from two initial positions is moved to a predetermined point, by a predetermined point moving process, at the center of a light-receiving surface thereby to acquire robot positions (Qf1, Qf2), based on which the direction of the view line (40) is determined. Next, the robot is moved to the position where the position (Qf1) is rotated by 180 degrees around the Z axis of a coordinate system (Σv1) thereby to execute the predetermined point moving process. After rotational movement, a robot position (Qf3) is acquired. The midpoint between the position (Qf1) and the position (Qf3) is determined as the origin of a coordinate system (Σv2). Using the position and the posture of the view line (40), the position of the tool center point (31) is determined. Thus, the position of the tool center point with respect to the tool mounting surface can be determined using a fixed light-receiving device. By additionally measuring two points at known relative positions from the tool center point, the tool posture as well as the position of the tool center point can be determined.
摘要翻译：由相机（光接收装置）4从两个初始位置捕获的工具中心点（31）的图像在预定点移动过程中移动到预定点，在光接收表面的中心，从而获取机器人位置（Qf 1，Qf 2），基于该位置确定视线（40）的方向。接下来，机器人移动到位置（Qf 1）围绕坐标系（Sigmav 1）的Z轴旋转180度的位置，从而执行预定点移动处理。在旋转运动之后，获取机器人位置（Qf 3）。位置（Qf 1）和位置（Qf 3）之间的中点被确定为坐标系的原点（Sigmav 2）。使用视线（40）的位置和姿势，确定工具中心点（31）的位置。因此，可以使用固定的光接收装置来确定工具中心点相对于工具安装面的位置。通过在工具中心点的已知相对位置附加测量两个点，可以确定刀具姿势以及刀具中心点的位置。

29. 发明授权

US08315735B2 Production system having cooperating process area between human and robot 有权
标题翻译：生产系统具有人与机器人之间的协作处理区域
公开(公告)号：US08315735B2
公开(公告)日：2012-11-20
申请号：US12694201
申请日：2010-01-26
申请人： Ryo Nihei , Shinsuke Sakakibara , Kazunori Ban , Masahiro Morioka , Satoshi Adachi , Shouta Takizawa
发明人： Ryo Nihei , Shinsuke Sakakibara , Kazunori Ban , Masahiro Morioka , Satoshi Adachi , Shouta Takizawa
IPC分类号： G06F19/00
CPC分类号： B25J9/1676 , F16P1/00 , G05B2219/40203
摘要： A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.
摘要翻译：人和机器人可以同时在同一地区执行合作任务同时确保人的安全的生产系统。机器人位于工作台的一侧，操作者位于工作台的另一侧。操作员的可达区域受工作台的限制。工作台的区域被划分为仅操作者可以执行任务的区域，仅机器人可以执行任务的区域以及操作者和机器人可以进入的区域。在协作模式中，机器人的部件的最大移动速度被限制在比机器人的部件在协作任务区域之外的最小移动速度，并且机器人的运动受到限制，使得机器人不进入机器人入境禁区。

30. 发明授权

US07966094B2 Workpiece picking apparatus 有权
标题翻译：工件拾取装置
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。

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