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1. 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。

2. 发明申请

US20100004778A1 OBJECT PICKING DEVICE 有权
标题翻译：对象拾取器件
公开(公告)号：US20100004778A1
公开(公告)日：2010-01-07
申请号：US12475622
申请日：2009-06-01
申请人： Taro Arimatsu , Kazunori Ban , Ichiro Kanno , Keisuke Watanabe
发明人： Taro Arimatsu , Kazunori Ban , Ichiro Kanno , Keisuke Watanabe
IPC分类号： B25J19/04
CPC分类号： B25J9/1697 , G05B2219/40053 , G06T1/0014
摘要： An object picking device, which is inexpensive and capable of speedily and accurately picking one object at a time from a random pile state. A target detecting part of an image processing part processes an image captured by a camera and detects objects. A target selecting part selects an object among the detected objects based on a certain rule. A view line direction calculating part calculates the direction of a view line extending to the selected object. A target position estimating part estimates the position including the height of the selected object based on size information of the object in the image. Then, a grip correction calculating part calculates an amount of correction of the movement of a robot so as to grip the object by using the robot.
摘要翻译：一种物品拾取装置，其价格便宜并且能够一次从随机堆积状态快速且精确地拾取一个物体。图像处理部分的目标检测部分处理由相机拍摄的图像并检测对象。目标选择部分基于某一规则来选择检测对象中的对象。视线方向计算部分计算延伸到所选对象的视线的方向。目标位置估计部基于图像中的对象的大小信息，来估计包含所选对象的高度的位置。然后，把手校正计算部分计算机器人的运动的校正量，以便通过使用机器人来夹持物体。

3. 发明授权

US08295975B2 Object picking device 有权
标题翻译：物体拾取装置
公开(公告)号：US08295975B2
公开(公告)日：2012-10-23
申请号：US12475622
申请日：2009-06-01
申请人： Taro Arimatsu , Kazunori Ban , Ichiro Kanno , Keisuke Watanabe
发明人： Taro Arimatsu , Kazunori Ban , Ichiro Kanno , Keisuke Watanabe
IPC分类号： G06F7/00
CPC分类号： B25J9/1697 , G05B2219/40053 , G06T1/0014
摘要： An object picking device, which is inexpensive and capable of speedily and accurately picking one object at a time from a random pile state. A target detecting part of an image processing part processes an image captured by a camera and detects objects. A target selecting part selects an object among the detected objects based on a certain rule. A view line direction calculating part calculates the direction of a view line extending to the selected object. A target position estimating part estimates the position including the height of the selected object based on size information of the object in the image. Then, a grip correction calculating part calculates an amount of correction of the movement of a robot so as to grip the object by using the robot.
摘要翻译：一种物品拾取装置，其价格便宜并且能够一次从随机堆积状态快速且精确地拾取一个物体。图像处理部分的目标检测部分处理由相机拍摄的图像并检测对象。目标选择部分基于某一规则来选择检测对象中的对象。视线方向计算部分计算延伸到所选对象的视线的方向。目标位置估计部基于图像中的对象的大小信息，来估计包含所选对象的高度的位置。然后，把手校正计算部分计算机器人的运动的校正量，以便通过使用机器人来夹持物体。

4. 发明申请

US20080082213A1 WORKPIECE PICKING APPARATUS 有权
标题翻译：工作拍摄装置
公开(公告)号：US20080082213A1
公开(公告)日：2008-04-03
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。工件选择装置不包含存储在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。

5. 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。

6. 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）。

7. 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。

8. 发明授权

US07657346B2 Object picking system 有权
标题翻译：对象采摘系统
公开(公告)号：US07657346B2
公开(公告)日：2010-02-02
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： B25J15/02 , B25J19/04 , G05B19/00
CPC分类号： G06T1/0014 , B25J9/1697 , G05B2219/40014 , G05B2219/40053 , G06T7/75 , G06T2207/30164
摘要： The system includes a detecting section detecting 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 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; 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：该系统包括检测部件，其以至少部分地彼此重叠的方式放置在多个物体中，检测要被拾取的物体; 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; 基于存储在存储部中的参考对象的外观信息，确定与另一对象是否隐藏对应于参照对象的预定部分的要被拾取对象的被检查部分的确定部分; 决定所述被拾取物的拾取动作的控制部，输出所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。

9. 发明授权

US07202957B2 Three-dimensional visual sensor 有权
标题翻译：三维视觉传感器
公开(公告)号：US07202957B2
公开(公告)日：2007-04-10
申请号：US11037330
申请日：2005-01-19
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G01B11/24
CPC分类号： G01B11/25 , G05B2219/37048 , G05B2219/37555 , G06T7/521
摘要： A three-dimensional visual sensor is disclosed. A two-dimensional image of a two-dimensional feature portion including a point determined on a work is acquired, and N points are determined. A slit of light is projected by a projector, an image of a projected portion is obtained, and M points are determined. The three-dimensional position of the intersection point between each straight line connecting the N points and a point in a camera and the slit of light plane is determined on the sensor coordinate system, and transformed to the data on the reference coordinate system. The three-dimensional positions of M points are similarly subjected to coordinate transform to the data on the reference coordinate system. Straight lines defined by the M and N points are determined. The intersection point between the two straight lines is determined and returned to the data on the sensor coordinate system by inverse transform.
摘要翻译：公开了三维视觉传感器。获取包括在工件上确定的点的二维特征部分的二维图像，并且确定N个点。通过投影仪投影光的狭缝，获得投影部分的图像，并且确定M个点。在传感器坐标系上确定连接N点和摄像机中的点与光平面之间的每条直线之间的交点的三维位置，并转换为参考坐标系上的数据。 M点的三维位置也类似地进行坐标变换到参考坐标系上的数据。确定由M和N点定义的直线。通过逆变换确定两条直线之间的交点，并将其返回到传感器坐标系上的数据。

10. 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。

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