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51. 发明公开

EP1257117A2 Visual sensor 有权
标题翻译： Optischer传感器
公开(公告)号：EP1257117A2
公开(公告)日：2002-11-13
申请号：EP02253239.4
申请日：2002-05-09
申请人： FANUC LTD
发明人： Ban, Kazunori , Yamada, Makoto
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 (I/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，其能够在稍微加载用于算术运算的情况下扩展动态范围，并且执行不受诸如参考光的投影的ON / OFF状态的变化的影响的稳定检测。根据参考光投射的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（I / 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总和值的最大值Zmax和最小值Zmin获得0 = B.Zmin + C。使用B和C的确定值，根据等式Z'= B.Z + C获得每个像素的输出值Z'。

52. 发明公开

EP1518648A3 Robot system capable of reproducing a situation of alarm 有权转让
标题翻译：机器人系统具有：用于显示一报警状态
公开(公告)号：EP1518648A3
公开(公告)日：2010-11-03
申请号：EP04023038.5
申请日：2004-09-28
申请人： FANUC LTD
发明人： Watanabe, Atsushi , Ban, Kazunori , Kanno, Ichiro, Room 14-307
IPC分类号： B25J9/16 , G05B19/4069 , G05B19/4067
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.

53. 发明公开

EP1862270A3 Workpiece picking device and method 有权
标题翻译：工件接收装置和方法
公开(公告)号：EP1862270A3
公开(公告)日：2009-12-02
申请号：EP07010356.9
申请日：2007-05-24
申请人： FANUC LTD
发明人： Ban, Kazunori , Watanabe, Keisuke
IPC分类号： B25J9/16
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.

54. 发明授权

EP1584426B1 Tool center point calibration system 有权转让
标题翻译：用于工具的参考点的校准的装置
公开(公告)号：EP1584426B1
公开(公告)日：2009-06-17
申请号：EP05007469.9
申请日：2005-04-05
申请人： FANUC LTD
发明人： Ban, Kazunori , Yamada, Makoto
IPC分类号： B25J9/16 , G05B19/401
CPC分类号： B25J9/1692 , G05B2219/39008 , G05B2219/39394 , G05B2219/40607

55. 发明授权

EP1698441B1 Robot hand comprising a hook element cooperating with a holding element 有权
标题翻译：钩构件和具有该机械手的配合保持元件
公开(公告)号：EP1698441B1
公开(公告)日：2009-04-29
申请号：EP06004033.4
申请日：2006-02-28
申请人： FANUC LTD
发明人： Watanabe, Atsushi , Ban, Kazunori , Arimatsu, Taro , Oda, Masaru Room 12-104 , Ochiishi, Yoshinori , Kubota, Hiroaki
IPC分类号： B25J15/00
CPC分类号： B25J15/00

56. 发明公开

EP1418025A3 Article pickup device comprising a robot and a visual sensor 审中-公开
标题翻译：设备，用于由机器人的装置和光学传感器拾取物品
公开(公告)号：EP1418025A3
公开(公告)日：2009-04-15
申请号：EP03257074.9
申请日：2003-11-10
申请人： FANUC LTD
发明人： Ban, Kazunori , Kanno, Ichiro, Fanuc Manshonharimomi
IPC分类号： B25J9/16 , B25J9/02 , G06T1/00 , B07C5/10
CPC分类号： G06T1/0014 , B07C5/10 , B25J9/1697 , G05B2219/40053 , G06T7/70 , G06T2207/10016 , G06T2207/30164
摘要： The presence range (12) for workpieces (13a, 13b) (the internal edge of a container's opening) is defined with a visual sensor attached to a robot and the range (12) is divided by lines (A1-A1, B1-B1) 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 (13a, 13b) in the container are picked up.

57. 发明公开

EP2045772A2 Apparatus for picking up objects 有权转让
标题翻译： Vorrichtung zur Aufnahme von Objekten
公开(公告)号：EP2045772A2
公开(公告)日：2009-04-08
申请号：EP08005778.9
申请日：2008-03-27
申请人： FANUC LTD
发明人： Ban, Kazunori , Kanno, Ichiro , Kumiya, Hidetoshi , Takizawa, Shouta
IPC分类号： G06T1/00 , G06T7/00 , B25J9/16
CPC分类号： B25J9/1697 , G06T1/0007 , G06T7/13 , G06T7/75 , G06T7/77 , G06T2207/30164 , G06T2207/30248
摘要： An apparatus for picking up objects including a robot (1) for picking up an object (6), at least one part of the object having a curved shape, having a storing means (30) for storing a gray gradient distribution model of the object (6), a recognizing means (2) for recognizing a gray image of the object (6), a gradient extracting means (34) for extracting a gray gradient distribution from the gray image recognized by the recognizing means (2), an object detecting means (26) for detecting a position or position posture of the object (6) in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means (34) and the gray gradient distribution model stored by the storing means (30), a detection information converting means (37) for converting information of the position or position posture detected by the object detecting means (36) into information of position or position posture in a coordinate system regarding the robot (1); and a robot moving means (1a) for moving the robot (1) to the position or position posture converted by the detection information converting means (37) to pick up the object (6). Thus, the object (6) having a curved shape can be detected and picked up in a reasonably short period of time.
摘要翻译：一种用于拾取物体的装置，包括用于拾取物体（6）的机器人（1），所述物体的至少一部分具有弯曲形状，具有用于存储所述物体的灰色梯度分布模型的存储装置（30）（6），用于识别对象（6）的灰色图像的识别装置（2），用于从由识别装置（2）识别的灰色图像中提取灰度梯度分布的梯度提取装置（34），对象检测装置（26），用于根据梯度提取装置（34）提取的灰度梯度分布和由存储装置存储的灰度梯度分布模型，检测灰色图像中的对象（6）的位置或位置姿势（检测信息转换装置，用于将由对象检测装置检测到的位置或位置姿势的信息转换成关于机器人（1）的坐标系中的位置姿态信息; 以及用于将机器人（1）移动到由检测信息转换装置（37）转换的位置或位置姿势以拾取物体（6）的机器人移动装置（1a）。因此，能够在相当短的时间内检测和拾取具有弯曲形状的物体（6）。

58. 发明公开

EP1512499A3 Robot having a camera mounted at the distal end of its arm and method for operating such a robot 审中-公开
标题翻译：相同的机械手具有布置在他的手臂照相机和方法，用于操作的结束
公开(公告)号：EP1512499A3
公开(公告)日：2008-12-24
申请号：EP04255297.6
申请日：2004-09-01
申请人： FANUC LTD
发明人： Ban, Kazunori , Takizawa, Katsutoshi
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , G05B2219/36431 , G05B2219/40003
摘要： A robot automatically moving a distal end portion of a robot arm to an arbitrary target position, and method therefor. A camera mounted at the distal end portion of the robot arm captures an image of an object. A position R 1 corresponding to the target Q is specified in the image. Assuming that the number of pixels between the position R 1 and the center of an image screen is equal to N 1 , a distance W 1 observed at a distance L 0 at the time of calibration is determined as W 1 =C 0 ·N 1 , where C 0 is a transformation coefficient. The camera is moved by the distance W 1 in an X axis direction toward the target Q. A position R 2 corresponding to the target W is specified in the image. The number, N 2 , of pixels between the position R 2 and the screen center is determined. A motion vector q is determined from C 0 , N 1 , N 2 and L 0 . The camera is moved according to the motion vector q. The robot is positioned at a position where the camera center is opposed to the target Q at the distance L 0 . By specifying the target Q in the image, a motion to the specified target Q position is automatically realized.

59. 发明公开

EP1628177A3 Finishing machine for removing a burr 审中-公开
标题翻译：整理机去毛刺
公开(公告)号：EP1628177A3
公开(公告)日：2008-11-12
申请号：EP05017763.3
申请日：2005-08-16
申请人： FANUC LTD
发明人： Ban, Kazunori , Sato, Takashi , Hatanaka, Kokoro
IPC分类号： G05B19/416
CPC分类号： G05B19/4163 , Y02P90/265 , Y10T409/30084 , Y10T409/301792 , Y10T409/303472 , Y10T409/304256
摘要： A surface of a workpiece, from which the burr is removed, 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 (S1). This positional data is corrected by an error caused by a bend of a robot (S2). The thus obtained positional data is compared with the target shape of the surface, from which the burr is removed, obtained from CAD data (S6, S10). A shift of the surface shape in the normal line direction is found (S7, S11). The burr generation start position, the burr generation end position and the height of the burr are found by the shift start position (S8), the shift end position and the shift size (S14). 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 (S16, S17). 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. Due to the foregoing, it is possible to provide a finishing machine characterized in that useless burr removing actions can be reduced and, further, that the overcutting of a workpiece can be prevented.

60. 发明授权

EP1607194B1 Robot system comprising a plurality of robots provided with means for calibrating their relative position 有权转让
标题翻译：机器人系统包括多个与装置的机器人的用于校准它们的相对位置
公开(公告)号：EP1607194B1
公开(公告)日：2008-10-29
申请号：EP05011702.7
申请日：2005-05-31
申请人： FANUC LTD
发明人： Ban, Kazunori , Kanno, Ichiro , Yamada, Makoto , Inoue, Toshihiko
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1682 , G05B2219/39045 , G05B2219/39046 , G05B2219/39114 , G05B2219/39397

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