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1. 发明授权

US06328523B1 Apparatus for picking up articles using a vision controlled robot 有权
标题翻译：使用视觉控制机器人拾取物品的装置
公开(公告)号：US06328523B1
公开(公告)日：2001-12-11
申请号：US09295364
申请日：1999-04-21
申请人： Atsushi Watanabe , Ryuichi Hara , Kazunori Ban , Hidetoshi Kumiya
发明人： Atsushi Watanabe , Ryuichi Hara , Kazunori Ban , Hidetoshi Kumiya
IPC分类号： B25J1308
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/37555 , G05B2219/37563 , G05B2219/37572 , G05B2219/40053
摘要： A group of bolts are suppled into a placing surface of a tray, an isolated bolt is searched for by a visual sensor, and its deviation from a standard position at the time of teaching is determined. The isolated bolt is picked up by a robot that has been taught how to pick up an isolated bolt laying in a standard position. The position of the robot's hand is corrected according to the deviation from the standard position before the robot attempts to pick up the located isolated bolt. If no isolated bolt is found, a shaking device 1 is operated to loosen the piled-up bolts, and a new isolated bolt is again searched for by the visual sensor. The isolated bolt, if found, is picked up. The picking-up operation may be performed by searching for an isolated small set of bolts using a three-dimensional visual sensor. The oscillating excitation can also be provided by a robot. Also, the piled-up bolts may be loosened or disentangled using a robot equipped with a tool for leveling the pile of bolts or by using a gas jet.
摘要翻译：一组螺栓被提供到托盘的放置表面中，由视觉传感器搜索隔离的螺栓，并且确定其在教导时与标准位置的偏差。被隔离的螺栓由机器人拾取，该机器人已经被教导如何拿起放置在标准位置的隔离螺栓。机器人的手的位置根据机器人试图拿起定位的隔离螺栓之前与标准位置的偏差进行校正。如果没有发现隔离的螺栓，则操作摇动装置1以松开堆积螺栓，并且再次通过视觉传感器搜索新的隔离螺栓。被隔离的螺栓，如果发现，被拾起。可以通过使用三维视觉传感器搜索隔离的小套螺栓来执行拾取操作。振荡激励也可由机器人提供。此外，堆叠的螺栓可以使用装备有用于使螺栓堆整平或使用气体射流的工具的机器松动或解开。

2. 发明授权

US06463358B1 Robot control device having operation route simulation function 失效
标题翻译：机器人控制装置具有操作路线模拟功能
公开(公告)号：US06463358B1
公开(公告)日：2002-10-08
申请号：US09117140
申请日：1999-01-07
申请人： Atsushi Watanabe , Ryuichi Hara , Kazunori Ban
发明人： Atsushi Watanabe , Ryuichi Hara , Kazunori Ban
IPC分类号： G06F1900
CPC分类号： B25J9/1674 , G05B19/427 , G05B2219/36419 , G05B2219/40311 , G05B2219/40523
摘要： A robot controller capable of finding a mistaught path and avoiding dangers involved in a real motion of a robot without using an off-line simulation system. An operation program for confirming safety is played back with the robot control system arranged such that a simulation function is on, a real motion is off, and comparison processing is on. When a played-back path designated by each block is compared with a reference path using data on interpolation points, an interpolation point ordinal index i is incremented by “1” (K1), an interpolation point on a reference path Tref(i) is read (K2) and compared with a corresponding interpolation point on the played-back path T(i). An index of distance d(i) and a distance evaluation index &Dgr;d(i) are calculated (K3, K4), and tool-tip orientation difference indices f(i) to h(i) and orientation-evaluation indices &Dgr;f(i) to &Dgr;h(i) are calculated (K5, K6). Based thereon, it is determined whether or not there is a path difference exceeding a reference value. The processing may be started with a real motion in an on-state, and the real motion of the robot may be nullified when a large path difference is found.
摘要翻译：一种机器人控制器，能够找到一个偏心的路径，避免在不使用离线仿真系统的情况下参与机器人的实际运动的危险。通过布置使得模拟功能打开，实际运动关闭，比较处理打开的机器人控制系统来回放用于确认安全性的操作程序。当使用每个块指定的回放路径与使用内插点的数据与参考路径进行比较时，内插点序数索引i增加“1”（K1），参考路径Tref（i）上的内插点为读取（K2）并与回放路径T（i）上的相应内插点进行比较。计算距离d（i）和距离评价指数DELTAd（i）的指标（K3，K4），并且工具尖端取向差分指数f（i）〜h（i）和取向评价指标DELTAf（i）到DELTAh（i）被计算（K5，K6）。基于此，确定是否存在超过参考值的路径差异。该处理可以在接通状态下以实际运动开始，并且当找到大的路径差时，机器人的实际运动可能被无效。

3. 发明申请

US20120029686A1 WORKPIECE REMOVING DEVICE AND METHOD 有权
标题翻译：工作去除装置和方法
公开(公告)号：US20120029686A1
公开(公告)日：2012-02-02
申请号：US13184721
申请日：2011-07-18
申请人： Kazunori Ban , Hidetoshi Kumiya , Toshiyuki Ando
发明人： Kazunori Ban , Hidetoshi Kumiya , Toshiyuki Ando
IPC分类号： G06F7/00
CPC分类号： B25J9/1679 , B25J9/1697 , G05B2219/40053
摘要： A workpiece removing device including a camera for imaging a workpiece loading area including a plurality of workpieces loaded in bulk; a workpiece detection section for detecting a workpiece, based on a camera image taken with the camera; a workpiece selection section for selecting a workpiece adapted to be removed, based on a detection result by the workpiece detection section; a robot for removing the workpiece selected by the workpiece selection section; a loading state determination section for determining whether a loading state of the workpieces in the workpiece loading area has changed due to a operation of the robot; and an area setting section for setting a workpiece detection area where the workpiece detection section detects a workpiece. If the loading state determination section determines that the loading state of the workpieces has changed, the area setting section sets the workpiece detection area in a peripheral area of a changing position of the loading state, i.e., in a portion of the workpiece loading area.
摘要翻译：一种工件移除装置，包括用于对包括多个装载的工件的工件装载区域进行成像的照相机; 基于用所述照相机拍摄的照相机图像来检测工件的工件检测部; 工件选择部，其基于所述工件检测部的检测结果来选择适于被去除的工件; 用于去除由工件选择部选择的工件的机器人; 装载状态判定部，其判断由于所述机器人的动作而使所述工件装载区域内的工件的装载状态发生了变化; 以及区域设定部，用于设定工件检测部检测出工件的工件检测区域。如果装载状态确定部确定工件的装载状态已经改变，则区域设定部将工件检测区域设定在装载状态的变更位置的周边区域中，即在工件装载区域的一部分中。

4. 发明授权

US08098928B2 Apparatus for picking up objects 有权
标题翻译：拾取物品的装置
公开(公告)号：US08098928B2
公开(公告)日：2012-01-17
申请号：US12057423
申请日：2008-03-28
申请人： Kazunori Ban , Ichiro Kanno , Hidetoshi Kumiya , Shouta Takizawa
发明人： Kazunori Ban , Ichiro Kanno , Hidetoshi Kumiya , Shouta Takizawa
IPC分类号： G06K9/00
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 for picking up an object, at least one part of the object having a curved shape, having a storing means for storing a gray gradient distribution model of the object, a recognizing means for recognizing a gray image of the object, a gradient extracting means for extracting a gray gradient distribution from the gray image recognized by the recognizing means, an object detecting means for detecting a position or position posture of the object in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means and the gray gradient distribution model stored by the storing means, a detection information converting means for converting information of the position or position posture detected by the object detecting means into information of position or position posture in a coordinate system regarding the robot; and a robot moving means for moving the robot to the position or position posture converted by the detection information converting means to pick up the object. Thus, the object 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，包括用于拾取物体的机器人，具有弯曲形状的物体的至少一部分具有用于存储物体的灰度梯度分布模型的存储装置，用于识别灰色图像的识别装置的梯度提取装置，用于从由识别装置识别的灰度图像中提取灰度梯度分布;对象检测装置，用于根据提取的灰度梯度分布来检测灰色图像中的对象的位置或位置姿势; 通过由存储装置存储的梯度提取装置和灰度梯度分布模型，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坐标系的位置或位置姿势的信息机器人; 以及机器人移动装置，用于将机器人移动到由检测信息转换装置转换的位置或位置姿势以拾取对象。因此，可以在相当短的时间段内检测和拾取具有弯曲形状的物体。

5. 发明授权

US08380342B2 Workpiece removing device and method 有权
标题翻译：工件拆卸装置及方法
公开(公告)号：US08380342B2
公开(公告)日：2013-02-19
申请号：US13184721
申请日：2011-07-18
申请人： Kazunori Ban , Hidetoshi Kumiya , Toshiyuki Ando
发明人： Kazunori Ban , Hidetoshi Kumiya , Toshiyuki Ando
IPC分类号： G06F7/00
CPC分类号： B25J9/1679 , B25J9/1697 , G05B2219/40053
摘要： A workpiece removing device including a camera for imaging a workpiece loading area including a plurality of workpieces loaded in bulk; a workpiece detection section for detecting a workpiece, based on a camera image taken with the camera; a workpiece selection section for selecting a workpiece adapted to be removed, based on a detection result by the workpiece detection section; a robot for removing the workpiece selected by the workpiece selection section; a loading state determination section for determining whether a loading state of the workpieces in the workpiece loading area has changed due to a operation of the robot; and an area setting section for setting a workpiece detection area where the workpiece detection section detects a workpiece. If the loading state determination section determines that the loading state of the workpieces has changed, the area setting section sets the workpiece detection area in a peripheral area of a changing position of the loading state, i.e., in a portion of the workpiece loading area.
摘要翻译：一种工件移除装置，包括用于对包括多个装载的工件的工件装载区域进行成像的照相机; 基于用所述照相机拍摄的照相机图像来检测工件的工件检测部; 工件选择部，其基于所述工件检测部的检测结果来选择适于被去除的工件; 用于去除由工件选择部选择的工件的机器人; 装载状态判定部，其判定由于所述机器人的动作而使所述工件装载区域内的工件的装载状态发生了变化; 以及区域设定部，用于设定工件检测部检测出工件的工件检测区域。如果装载状态确定部确定工件的装载状态已经改变，则区域设定部将工件检测区域设定在装载状态的变更位置的周边区域中，即在工件装载区域的一部分中。

6. 发明授权

US6141863A Force-controlled robot system with visual sensor for performing fitting operation 失效
标题翻译：带有视觉传感器的力控机器人系统进行装配操作
公开(公告)号：US6141863A
公开(公告)日：2000-11-07
申请号：US91730
申请日：1998-06-24
申请人： Ryuichi Hara , Kazunori Ban
发明人： Ryuichi Hara , Kazunori Ban
IPC分类号： B25J9/16 , B25J19/02 , B23P21/00
CPC分类号： B25J19/021 , B25J9/1633 , B25J9/1687 , G05B2219/37048 , G05B2219/39319 , G05B2219/39393 , G05B2219/39529 , G05B2219/40609 , Y10T29/53061 , Y10T29/53078 , Y10T29/53087
摘要： A force-controlled robot system with a visual sensor capable of performing a fitting operation automatically with high reliability. A force sensor attached to a wrist portion of a robot detects force in six axis directions for force control, and transmits the results of detection to a robot controller. Position and orientation of a convex portion of a fit-in workpiece held by claws of a robot hand and position and orientation of a concave position of a receiving workpiece positioned by a positioning device are detected by a three-dimensional visual sensor including a structured light unit SU and an image processor in the robot controller, and a robot position to start an inserting action is corrected. Then, the convex portion is inserted into the concave portion under the force control. After the inserting action completes, it is determined whether or not the insertion state of the fit-in workpiece in the receiving workpiece is normal.
摘要翻译： PCT No.PCT / JP97 / 03878 Sec。 371日期：1998年6月24日 102（e）日期1998年6月24日PCT 1997年10月24日PCT公布。第WO98 / 17444号公报日期：1998年04月30日具有能够以高可靠性自动进行装配作业的视觉传感器的力控机器人系统。附着在机器人腕部的力传感器检测六轴方向的力用于力控制，并将检测结果发送到机器人控制器。由机器人手的爪保持的装配工件的凸部的位置和取向以及由定位装置定位的接收工件的凹入位置的位置和取向由包括结构光的三维视觉传感器单元SU和机器人控制器中的图像处理器以及开始插入动作的机器人位置被校正。然后，在力控制下，将凸部插入凹部。在插入动作完成之后，确定装配工件在接收工件中的插入状态是否正常。

7. 发明授权

US06382012B2 Method for calibrating force sensor mounted on robot, and robot 失效
标题翻译：用于校准安装在机器人上的力传感器和机器人的方法
公开(公告)号：US06382012B2
公开(公告)日：2002-05-07
申请号：US09253719
申请日：1999-02-22
申请人： Ryuichi Hara , Kazunori Ban
发明人： Ryuichi Hara , Kazunori Ban
IPC分类号： G01L2500
CPC分类号： G01L25/00
摘要： A method for executing calibration without having to dismount a force sensor from a robot, and an apparatus for executing this method are provided. When a robot mounted with a calibrated force sensor begins to be operated, any tool whose position of the center of gravity and weight are immune from change is fitted, and a command for acquiring reference data is given to execute operational programs. Reference data V0 of matrices consisting of differences between strain gage outputs (S1, S2) of the force sensor in any predetermined posture and strain gage outputs in other predetermined postures differing both from that posture and from one another are calculated and stored (S3-1 to S7). When the measuring accuracy of the force sensor drops, the tool used when the reference data were acquired is mounted on the robot, and the same procedures S1 to S6 are executed, and the data V0 corresponding to the reference data are calculated. From the data V′0 and the reference data V0 is calculated a parameter M for updating the calibration matrices.
摘要翻译：提供了一种用于执行校准而不必从机器人拆卸力传感器的方法，以及用于执行该方法的装置。当安装有校准力传感器的机器人开始操作时，任何重心和重量位置都不受变化影响的工具被安装，并且获得参考数据的命令来执行操作程序。计算并存储由任意预定姿势的力传感器的应变计输出（S1，S2）和应变计输出之间的差异的矩阵的参考数据V0和不同于其他预定姿势的应变计输出（S3-1 到S7）。当力传感器的测量精度下降时，将获取参考数据时使用的工具安装在机器人上，并且执行相同的步骤S1至S6，并且计算与参考数据相对应的数据V0。从数据V'0和参考数据V0计算用于更新校准矩阵的参数M.

8. 发明授权

US07590468B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US07590468B2
公开(公告)日：2009-09-15
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： G05B19/00
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。

9. 发明申请

US20060200274A1 Hand and handling robot 有权
标题翻译：手和处理机器人
公开(公告)号：US20060200274A1
公开(公告)日：2006-09-07
申请号：US11365601
申请日：2006-03-02
申请人： Atsushi Watanabe , Kazunori Ban , Taro Arimatsu , Masaru Oda , Yoshinori Ochiishi , Hiroaki Kubota
发明人： Atsushi Watanabe , Kazunori Ban , Taro Arimatsu , Masaru Oda , Yoshinori Ochiishi , Hiroaki Kubota
IPC分类号： G06F19/00
CPC分类号： B25J15/00
摘要： A hand as an end effector. The hand includes a base, a hook element associated with the base and capable of hooking and lifting an object, a holding element associated with the base and cooperating with the hook element to hold the object therebetween, and a drive section causing a relative movement between the hook element and the holding element. For example, the hook element is arranged movably in a direction toward and away from the holding element on the base, and the drive section drives the hook element. Alternatively, the holding element is arranged movably in a direction toward and away from the hook element on the base, and the drive section drives the holding element. A handling robot includes an arm and the above-described hand attached to the arm.
摘要翻译：一只手作为末端执行器。手包括基部，与基部相关联并能够钩住和提起物体的钩元件，与基部相关联并与钩元件配合以保持物体的保持元件，以及驱动部分，其引起相对运动钩元件和保持元件。例如，钩元件能够在朝向和远离基座上的保持元件的方向上移动地布置，并且驱动部分驱动钩元件。或者，保持元件沿着朝向和远离基座上的钩元件的方向可移动地布置，并且驱动部分驱动保持元件。处理机器人包括臂和附接到臂的上述手。

10. 发明授权

US07734376B2 Hand and handling robot 有权
标题翻译：手和处理机器人
公开(公告)号：US07734376B2
公开(公告)日：2010-06-08
申请号：US11365601
申请日：2006-03-02
申请人： Atsushi Watanabe , Kazunori Ban , Taro Arimatsu , Masaru Oda , Yoshinori Ochiishi , Hiroaki Kubota
发明人： Atsushi Watanabe , Kazunori Ban , Taro Arimatsu , Masaru Oda , Yoshinori Ochiishi , Hiroaki Kubota
IPC分类号： G06F19/00
CPC分类号： B25J15/00
摘要： A hand as an end effector. The hand includes a base, a hook element associated with the base and capable of hooking and lifting an object, a holding element associated with the base and cooperating with the hook element to hold the object therebetween, and a drive section causing a relative movement between the hook element and the holding element. For example, the hook element is arranged movably in a direction toward and away from the holding element on the base, and the drive section drives the hook element. Alternatively, the holding element is arranged movably in a direction toward and away from the hook element on the base, and the drive section drives the holding element. A handling robot includes an arm and the above-described hand attached to the arm.
摘要翻译：一只手作为末端执行器。手包括基部，与基部相关联并能够钩住和提起物体的钩元件，与基部相关联并与钩元件配合以保持物体的保持元件，以及驱动部分，其引起相对运动钩元件和保持元件。例如，钩元件能够在朝向和远离基座上的保持元件的方向上移动地布置，并且驱动部分驱动钩元件。或者，保持元件沿着朝向和远离基座上的钩元件的方向可移动地布置，并且驱动部分驱动保持元件。处理机器人包括臂和附接到臂的上述手。

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