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21. 发明授权

US07123992B2 Article pickup device 失效
标题翻译：物品拾取装置
公开(公告)号：US07123992B2
公开(公告)日：2006-10-17
申请号：US10701596
申请日：2003-11-06
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： G06T1/0014 , B07C5/10 , B25J9/1697 , G05B2219/40053 , G06T7/70 , G06T2207/10016 , G06T2207/30164
摘要： The presence range for workpieces (the internal edge of a container's opening) is defined with a visual sensor attached to a robot and the range is divided into a specified number of sectional regions. A robot position suitable for sensing each of the sectional regions is determined, and sensing is performed at the position so that workpieces in the container are picked up.
摘要翻译：工件的存在范围（容器开口的内部边缘）由连接到机器人的视觉传感器定义，并且该范围被划分为指定数量的截面区域。确定适于感测每个截面区域的机器人位置，并且在该位置执行感测，使得拾取容器中的工件。

22. 发明申请

US20060104788A1 Object picking system 有权
标题翻译：对象采摘系统
公开(公告)号：US20060104788A1
公开(公告)日：2006-05-18
申请号：US11111722
申请日：2005-04-22
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： B66C25/00
CPC分类号： G06T1/0014 , B25J9/1697 , G05B2219/40014 , G05B2219/40053 , G06T7/75 , G06T2207/30164
摘要： An object picking system for picking up, one by one, a plurality of objects. The system includes a detecting section detecting, as an image, an object to be picked, among a plurality of objects placed in a manner as to be at least partially superimposed on each other; a storage section storing appearance information of a predetermined portion of a reference object having an outward appearance identical to an outward appearance of the object to be picked; a determining section determining, in the image of the object to be picked detected by the detecting section, whether an inspected portion of the object to be picked, corresponding to the predetermined portion of the reference object, is concealed by another object, based on the appearance information of the reference object stored in the storage section; a control section deciding a picking motion for the object to be picked and outputting a control signal of the picking motion, based on a determination result of the determining section; and a picking mechanism performing the picking motion on the object to be picked in accordance with the control signal output from the control section.
摘要翻译：一种用于拾取多个物体的物体拾取系统。该系统包括检测部分，其以至少部分地彼此重叠的方式在被放置的多个物体中检测作为图像的要被拾取的物体; 存储部，其存储具有与所述被拾取对象的外观相同的外观的参照物的规定部的外观信息; 确定部分，在由所述检测部检测到的要被拾取的对象的图像中确定与所述参考对象的所述预定部分相对应的要被拾取的对象的被检查部分是否被另一个对象隐藏，基于存储在存储部中的参考对象的外观信息; 控制部，根据上述判定部的判定结果，判定上述被拾取物的拾取动作，并输出上述拾取动作的控制信号; 以及拾取机构，根据从控制部输出的控制信号，对被拾取物进行拾取动作。

23. 发明申请

US20050273199A1 Robot system 审中-公开
标题翻译：机器人系统
公开(公告)号：US20050273199A1
公开(公告)日：2005-12-08
申请号：US11142496
申请日：2005-06-02
申请人： Kazunori Ban , Ichiro Kanno , Makoto Yamada , Toshihiko Inoue
发明人： Kazunori Ban , Ichiro Kanno , Makoto Yamada , Toshihiko Inoue
IPC分类号： B25J13/08 , B25J9/10 , B25J9/16 , G05B19/18 , G05B19/19 , G06F19/00
CPC分类号： B25J9/1692 , B25J9/1682 , G05B2219/39045 , G05B2219/39046 , G05B2219/39114 , G05B2219/39397
摘要： A robot system comprising a first robot (R1) with a camera of a visual sensor mounted thereon and a second robot (R2) having a feature portion, is disclosed. The robots (R1, R2) are set in the first initial states (G1), from which the first robot (R1) or the second robot (R2) is moved so that the image of the feature portion assumes a target position or size (G2), thereby to store the present positions (P1, Q1) (G3). The same process is repeated N times (N≧3) while changing the positions of the initial states of the robots (G4). Based on the positions P1, . . . , PN and Q1, . . . , QN obtained by the N repetitive above processes, a matrix T indicating the coordinate conversion from Σb to Σb′ is determined. One or two robot control units may be provided. As a result, the calibration to determine relative positions between the robots can be carried out easily and with high accuracy, thereby reducing the jig-related cost.
摘要翻译：公开了一种机器人系统，其包括具有安装在其上的视觉传感器的照相机的第一机器人（R 1）和具有特征部分的第二机器人（R 2）。机器人（R 1，R 2）被设定为第一初始状态（G 1），第一机器人（R 1）或第二机器人（R 2）从该初始状态（G1）移动，使得特征部分的图像呈现为目标位置或大小（G 2），从而存储当前位置（P 1，Q 1）（G 3）。在改变机器人的初始状态（G 4）的位置的同时，重复N次（N> = 3）。基于位置P 1，。。。，PN和Q 1，。。。，通过N次重复上述处理获得的QN，确定表示从Sigmab到Sigmab'的坐标转换的矩阵T. 可以提供一个或两个机器人控制单元。结果，可以容易且高精度地进行用于确定机器人之间的相对位置的校准，从而减少与夹具相关的成本。

24. 发明授权

US06845296B2 Object taking out apparatus 有权
标题翻译：对象取出装置
公开(公告)号：US06845296B2
公开(公告)日：2005-01-18
申请号：US10603747
申请日：2003-06-26
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G01B11/24 , B25J9/16 , B25J9/22 , B25J13/08 , G06T1/00 , G06T7/00 , G06T7/60 , G05B19/00
CPC分类号： G06T1/0014 , B25J9/1697 , G05B2219/40053 , G06T7/74 , G06T2207/30164
摘要： An object taking out apparatus capable of taking out randomly stacked objects with high reliability and low cost. An image of one of workpieces as objects of taking out at a reference position is captured by a video camera. Whole feature information and partial feature information are extracted from the captured image by a model creating section and a partial model creating section, respectively, and stored in a memory with information on partial feature detecting regions. An image of randomly stacked workpieces is captured and analyzed to determine positions/orientations of images of the respective workpieces using the whole feature information. Partial feature detecting regions are set to the images of the respective workpieces using the determined positions/orientations of the respective workpieces and information on partial feature detecting regions stored in the memory. Partial features of the respective workpieces are detected in the partial feature detecting regions using the partial feature information, and priority of taking out the workpiece is determined based on results of detection of the partial features. A robot is controlled to successively take out the object of the first priority using data of the position/orientation of the object of the first priority.
摘要翻译：一种能够以高可靠性和低成本取出随机堆叠物体的物体取出装置。作为在参考位置取出的对象的工件之一的图像由摄像机捕获。通过模型创建部分和部分模型创建部分分别从捕获的图像中提取整个特征信息和部分特征信息，并将其存储在具有关于部分特征检测区域的信息的存储器中。捕获并分析随机堆叠的工件的图像，以使用整个特征信息来确定各个工件的图像的位置/取向。使用确定的各个工件的位置/取向以及存储在存储器中的部分特征检测区域的信息将部分特征检测区域设置为各个工件的图像。使用部分特征信息在部分特征检测区域中检测相应工件的部分特征，并且基于部分特征的检测结果确定取出工件的优先级。控制机器人，使用第一优先级的对象的位置/取向的数据连续取出第一优先级的对象。

25. 发明授权

US08014899B2 Article conveying robot system 有权
标题翻译：物品输送机器人系统
公开(公告)号：US08014899B2
公开(公告)日：2011-09-06
申请号：US12768868
申请日：2010-04-28
申请人： Kazunori Ban , Ichiro Kanno , Fumikazu Warashina , Masafumi Ooba
发明人： Kazunori Ban , Ichiro Kanno , Fumikazu Warashina , Masafumi Ooba
IPC分类号： G06F19/00 , G06F7/00 , B65G43/10
CPC分类号： B25J9/0093 , B25J9/1697 , G05B19/4182 , G05B2219/39102 , G05B2219/40007 , Y02P90/083
摘要： An article conveying robot system capable of effectively containing an article in a container conveyed by a conveyor by using a robot. A container detecting part measures the distribution of shading of an image of each containing cell based on a detection result of the container, detects the containing state of each cell, and stores the detection result of each cell. An information managing part of a controller of an upstream side robot receives information from a container detecting part of a controller of a downstream side robot, and then generates containing cell information. An information managing part checks the cell information to be processed, and then transmits the cell information to a task executing part only when an article is not located in the corresponding cell. Task executing part controls the robot so as to locate an article in the selected cell based on the cell information.
摘要翻译：一种能够通过使用机器人有效地容纳由输送机输送的容器中的物品的物品输送机器人系统。容器检测部基于容器的检测结果来测量包含单元的图像的阴影分布，检测各单元的容纳状态，存储各单元的检测结果。上游侧机器人的控制器的信息管理部分从下游侧机器人的控制器的容器检测部分接收信息，然后生成包含单元信息。信息管理部分检查要处理的小区信息，然后仅当物品不在相应的小区中时将小区信息发送到任务执行部分。任务执行部分控制机器人，以便基于单元信息来定位所选单元中的文章。

26. 发明授权

US07526121B2 Three-dimensional visual sensor 有权
标题翻译：三维视觉传感器
公开(公告)号：US07526121B2
公开(公告)日：2009-04-28
申请号：US10689721
申请日：2003-10-22
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G06K9/00
CPC分类号： G01B11/25 , G06T7/74
摘要： Slit light is projected onto the surface of an object, the reflected light is received using a video camera and analyzed by means of an image processor to thereby determine an equation of the surface onto which the slit light is projected. Then, an image is captured through normal image taking using the video camera and a straight line (line of sight) passing through the measuring point on the object and the center of the video camera is determined. Furthermore, parameters such as an affine transformation are determined by a comparison between the image of a characteristic area F of the object and a reference image. Then, the three-dimensional position and posture of the measuring point are determined from an intersection between the line of sight and the determined surface.
摘要翻译：狭缝光投射到物体的表面上，使用摄像机接收反射光并借助于图像处理器进行分析，从而确定投射有狭缝光的表面的方程式。然后，通过使用摄像机的正常拍摄拍摄图像，并且确定通过物体上的测量点和摄像机中心的直线（视线）。此外，诸如仿射变换的参数通过对象的特征区域F的图像和参考图像之间的比较来确定。然后，测量点的三维位置和姿势由视线与确定的表面之间的交点确定。

27. 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。

28. 发明授权

US07203573B2 Workpiece taking-out apparatus 有权
标题翻译：工件取出装置
公开(公告)号：US07203573B2
公开(公告)日：2007-04-10
申请号：US10733308
申请日：2003-12-12
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G05B15/00 , G05G19/00
CPC分类号： B25J9/1697 , G05B2219/40053 , G06T7/70 , G06T2207/30164
摘要： A workpiece taking-out apparatus performs snap with a camera of a three-dimensional visual sensor in a robot position for snap and captures an image in a personal computer. The workpiece taking-out apparatus detects workpieces to find a line of sight of the camera for each workpiece, decides an area for height measurement by a range finder to save height data in the area, and finds an intersection of line of sight data of the camera and height distribution for each detected workpiece to find a posture of the workpiece from the height data around it. Then, the workpiece taking-out apparatus decides a workpiece to be taken out this time from the position and the posture and decides a measurement position of the three-dimensional visual sensor close to the workpiece. In the measurement position, the workpiece taking-out apparatus performs main measurement by the three-dimensional visual sensor to decide a robot position for taking out a workpiece through check of the possibility of interference and execute taking-out of the workpiece in the robot position for taking out a workpiece through check of the possibility of interference again.
摘要翻译：工件取出装置与机器人位置中的三维视觉传感器的照相机进行卡扣，并捕获个人计算机中的图像。工件取出装置检测工件以找到每个工件的相机的视线，通过测距仪确定用于高度测量的区域，以将高度数据保存在该区域中，并且找到视线数据的交点相机和高度分布为每个检测到的工件从其周围的高度数据找到工件的姿势。然后，工件取出装置从该位置和姿势决定待取出的工件，并将三维视觉传感器的测量位置决定在靠近工件的位置。在测量位置，工件取出装置通过三维视觉传感器执行主要测量，以通过检查干涉的可能性来确定用于取出工件的机器人位置，并且在机器人位置执行工件的取出通过检查再次产生干扰的可能性来取出工件。

29. 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。

30. 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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