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1. 发明申请

US20070213874A1 Device, program, recording medium and method for robot simulation 审中-公开
标题翻译：装置，程序，记录介质和机器人仿真方法
公开(公告)号：US20070213874A1
公开(公告)日：2007-09-13
申请号：US11715959
申请日：2007-03-09
申请人： Tatsuya Oumi , Yoshiharu Nagatsuka
发明人： Tatsuya Oumi , Yoshiharu Nagatsuka
IPC分类号： G06F19/00
CPC分类号： G05B19/4061 , B25J9/1697 , G05B2219/40053
摘要： A robot simulation device for simulating an operation of a robot having a vision sensor in an off-line mode. The device includes a working-environment model setting section for arranging a sensor model, a robot model and a plurality of irregularly piled workpiece models in a virtual working environment; and an operation simulating section for allowing the sensor model and the robot model to simulate a workpiece detecting operation and a bin picking motion. The operation simulating section includes a workpiece-model image generating section for allowing the sensor model to pick up the workpiece models and generating a virtual image thereof; a workpiece-model position detecting section for identifying an objective workpiece model from the virtual image and detecting a virtual position thereof; and a robot-model operation controlling section for allowing the robot model to pick out the objective workpiece model based on the virtual position.
摘要翻译：一种用于模拟具有离线模式的视觉传感器的机器人的操作的机器人模拟装置。该装置包括工作环境模型设置部分，用于在虚拟工作环境中布置传感器模型，机器人模型和多个不规则堆叠的工件模型; 以及用于使传感器模型和机器人模型模拟工件检测操作和料仓拾取运动的操作模拟部分。操作模拟部分包括工件模型图像生成部分，用于允许传感器模型拾取工件模型并生成其虚像; 工件模型位置检测部分，用于从虚拟图像中识别目标工件模型并检测其虚拟位置; 以及机器人模型操作控制部分，用于允许机器人模型基于虚拟位置挑出目标工件模型。

2. 发明申请

US20080301072A1 ROBOT SIMULATION APPARATUS 审中-公开
标题翻译：机器人模拟装置
公开(公告)号：US20080301072A1
公开(公告)日：2008-12-04
申请号：US12127400
申请日：2008-05-27
申请人： Yoshiharu Nagatsuka , Tatsuya Oumi
发明人： Yoshiharu Nagatsuka , Tatsuya Oumi
IPC分类号： G06F15/18
CPC分类号： B25J9/1669 , B25J9/1671 , G05B2219/39484 , G05B2219/39543 , G05B2219/40308 , Y02P90/083
摘要： A robot simulation apparatus including: a display section which displays models of at least a conveyance apparatus, an object, and a robot respectively laid out at predetermined positions; a movement condition designating section which designates a direction and a speed of movement of the object; a imaging condition designating section which designates a relative position of the camera with respect to the object and imaging condition in order to obtain a still image of the object located within an imaging area; a teaching model storage section which stores a teaching model of the object to be compared with the still image obtained with the camera; a grasping position calculating section which calculates a grasping position of the object to be grasped by the robot based on a position and an attitude of the object obtained by comparing the still image with the teaching model, and on the direction and the speed of movement of the object; and a teaching position setting section which sets a teaching position for said robot based on the grasping position.
摘要翻译：一种机器人模拟装置，包括：显示部，其显示分别布置在预定位置的至少一个输送装置，对象和机器人的模型; 指定对象的移动方向和速度的移动条件指定部; 成像条件指定部分，其指定相机相对于对象和成像条件的相对位置，以便获得位于成像区域内的对象的静止图像; 教学模型存储部，其存储要与与所述照相机获得的静止图像进行比较的对象的教学模型; 掌握位置计算部，其基于通过比较静止图像与教学模型获得的对象的位置和姿态以及运动的方向和速度来计算被机器人掌握的对象的抓握位置; 物体; 以及教学位置设定部，其基于所述把持位置来设定所述机器人的教导位置。

3. 发明申请

US20070242073A1 Robot simulation apparatus 审中-公开
标题翻译：机器人模拟装置
公开(公告)号：US20070242073A1
公开(公告)日：2007-10-18
申请号：US11785175
申请日：2007-04-16
申请人： Yoshiharu Nagatsuka , Tatsuya Oumi
发明人： Yoshiharu Nagatsuka , Tatsuya Oumi
IPC分类号： G06T15/70
CPC分类号： B25J9/1671
摘要： A robot simulation apparatus which simulates a motion of a robot equipped with an end effector on a display screen, having: a position specifying portion, which, along with a three-dimensional model of the robot and three-dimensional models of a workpiece and a peripheral device displayed in prescribed positions relative to each other on the display screen, specifies a two-dimensional position on the screen to designate a prescribed position at a destination as a target to which the end effector, moving relative to the workpiece and the peripheral device, is to be moved; a position data acquiring portion, which converts data representing the two-dimensional position specified by the position specifying portion into data representing a three-dimensional position and thereby acquires the three-dimensional position of the destination; a shape data acquiring portion, which acquires shape data of the workpiece based on the three-dimensional position acquired by the position data acquiring portion; and a position/orientation computing portion, which based on the three-dimensional position and the shape data, computes the three-dimensional position and three-dimensional orientation of the robot.
摘要翻译：一种机器人模拟装置，其模拟在显示屏幕上配备有末端执行器的机器人的运动，该机器人模拟装置具有：位置指定部分，其与机器人的三维模型和工件的三维模型以及在显示画面上以相对于彼此的规定位置显示的外围设备，指定屏幕上的二维位置，以将目的地的规定位置指定为目标，终端执行器相对于工件和外围设备移动，被移动; 位置数据获取部分，将表示由位置指定部分指定的二维位置的数据转换为表示三维位置的数据，从而获取目的地的三维位置; 形状数据获取部分，其基于由位置数据获取部分获取的三维位置获取工件的形状数据; 并且基于三维位置和形状数据的位置/取向计算部分计算机器人的三维位置和三维取向。

4. 发明授权

US08788081B2 Application operation simulation device 有权
标题翻译：应用操作仿真装置
公开(公告)号：US08788081B2
公开(公告)日：2014-07-22
申请号：US13097717
申请日：2011-04-29
申请人： Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： G06F19/00 , B29C45/00 , G06F17/50 , G06F7/60 , G06F17/10 , G06G7/48
CPC分类号： G06F17/5009 , B05B13/0431
摘要： An application operation simulation device including a specification section that specifies positions of nozzles with respect to a spray device and injection shapes of injected materials; an interference point calculation section that performs a working program of a robot including instructions for outputting the injected materials to operate a three-dimensional model of the robot by simulation and calculate interference points between three-dimensional models of the injection shapes and a three-dimensional model of an applied member; an interference number calculation section that calculates the number of interference at each interference point on a surface of the three-dimensional model of the applied member; an application time calculation section that calculates application time from the number of interference; and a display section that displays the color-coded surface of the three-dimensional model.
摘要翻译：一种应用操作模拟装置，包括指定喷嘴相对于喷射装置的位置和喷射材料的喷射形状的指定部分; 干涉点计算部，其执行机器人的工作程序，其包括用于输出注射材料的指令，以通过模拟操作机器人的三维模型，并计算注射形状的三维模型之间的干涉点和三维应用成员模型; 干涉数计算部，其计算所施加部件的三维模型的表面上的各干涉点处的干涉次数; 应用时间计算部，根据干扰次数计算应用时间; 以及显示部，其显示三维模型的颜色编码表面。

5. 发明授权

US08155789B2 Device, method, program and recording medium for robot offline programming 有权
标题翻译：用于机器人离线编程的设备，方法，程序和记录介质
公开(公告)号：US08155789B2
公开(公告)日：2012-04-10
申请号：US11960995
申请日：2007-12-20
申请人： Yoshiharu Nagatsuka , Kozo Inoue
发明人： Yoshiharu Nagatsuka , Kozo Inoue
IPC分类号： G05B19/04
CPC分类号： B25J9/1656 , G05B2219/40387 , G05B2219/40394 , Y02P90/087 , Y02P90/14 , Y02P90/265
摘要： An offline programming device for preparing an operation program for making a robot with a hand perform a handling operation for an object with respect to a machine tool. The device includes a hand-position designating section designating a relative positional relationship between the object and the hand when the hand holds the object; a first calculating section determining a position and orientation of the object mounted on the machine tool when the robot performs the handling operation, based on a command specifying a position of the object and included in a workpiece processing program given to the machine tool; a second calculating section determining a position and orientation of the robot acting to hold the object by the hand when the robot performs the handling operation, based on the relative positional relationship between the object and the hand and the position and orientation of the object; and an operation-program generating section generating the operation program by using the position and orientation of the robot.
摘要翻译：用于准备用于制造具有手的机器人的操作程序的离线编程装置执行相对于机床的对象的处理操作。该装置包括指针位置指定部分，当手握住对象时指定对象与手之间的相对位置关系; 第一计算部，其基于指定所述物体的位置并包括在给予所述机床的工件处理程序中的指令，来确定安装在所述机床上的所述物体的位置和姿势; 第二计算部，基于所述物体与所述手的相对位置关系以及所述物体的位置和姿势，确定当所述机器人执行所述处理操作时用于保持所述物体的机器人的位置和姿态; 以及操作程序生成部，其通过使用所述机器人的位置和姿态来生成所述操作程序。

6. 发明授权

US07778729B2 Robot system and robot controller 有权
标题翻译：机器人系统和机器人控制器
公开(公告)号：US07778729B2
公开(公告)日：2010-08-17
申请号：US11458618
申请日：2006-07-19
申请人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
发明人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
IPC分类号： G06F19/00
CPC分类号： G05B19/4185 , B25J9/16 , Y02P90/18
摘要： A robot system capable of checking the status of all robot controllers connected to the same network by using at least one robot controller, among the robot controllers, having a function for checking the status. The robot system includes a plurality of robots and a plurality of robot controllers for controlling the robots. The robot controllers are connected to each other via a control network and also connected to an information network. The at least one robot controller, having the function of checking the status, transmits and receives data to and from the other robot controllers and, further, indicates information, concerning the statuses of the networks and the robots, on a display of a teaching operation panel of the at least one robot controller.
摘要翻译：一种机器人系统，其能够通过使用机器人控制器中的至少一个机器人控制器来检查连接到同一网络的所有机器人控制器的状态，具有检查状态的功能。机器人系统包括多个机器人和用于控制机器人的多个机器人控制器。机器人控制器经由控制网络彼此连接，并且还连接到信息网络。具有检查状态的功能的至少一个机器人控制器向其他机器人控制器发送数据和从其他机器人控制器接收数据，并且还在教学操作的显示器上指示关于网络和机器人的状态的信息所述至少一个机器人控制器的面板。

7. 发明授权

US07734358B2 Data processing apparatus for arc welding 有权
标题翻译：电弧焊接用数据处理装置
公开(公告)号：US07734358B2
公开(公告)日：2010-06-08
申请号：US11185730
申请日：2005-07-21
申请人： Atsushi Watanabe , Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Atsushi Watanabe , Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： G06F19/00 , G06F15/18
CPC分类号： G05B19/425 , G05B2219/39029 , G05B2219/40387 , G05B2219/40394
摘要： A data processing apparatus for processing data described in a welding operation program of an arc welding robot system. The data processing apparatus includes a data obtaining section for obtaining a plurality of position and orientation data at a plurality of different teaching points previously taught and included in the welding operation program; a reference plane setting section for setting a virtual reference plane as a reference defining a geometric placement of an arc welding torch relative to a workpiece during a welding operation, based on the position and orientation data obtained in the data obtaining section; an angle calculating section for calculating a plurality of angle data representing the geometric placement of the arc welding torch at every teaching points, by using the position and orientation data obtained in the data obtaining section and the virtual reference plane set in the reference plane setting section; and an angle processing section for performing at least one of a displaying process and a correcting process of the angle data calculated in the angle calculating section.
摘要翻译：一种用于处理电弧焊机器人系统的焊接操作程序中描述的数据的数据处理装置。数据处理装置包括数据获取部分，用于在先前教导并包括在焊接操作程序中的多个不同教学点处获得多个位置和方向数据; 参考平面设定部，其基于在所述数据取得部中获取的位置和取向数据，将虚拟参考平面作为基准来定义焊接操作期间相对于工件的几何位置的参考; 角度计算部分，用于通过使用在数据获取部分中获得的位置和取向数据以及在参考平面设置部分中设置的虚拟参考平面来计算表示每个教导点处的电弧焊炬的几何位置的多个角度数据 ; 以及角度处理部，用于执行角度计算部中计算出的角度数据的显示处理和校正处理中的至少一个。

8. 发明申请

US20070282485A1 Robot simulation apparatus 有权
标题翻译：机器人模拟装置
公开(公告)号：US20070282485A1
公开(公告)日：2007-12-06
申请号：US11806344
申请日：2007-05-31
申请人： Yoshiharu Nagatsuka , Kozo Inoue
发明人： Yoshiharu Nagatsuka , Kozo Inoue
IPC分类号： G06F19/00
CPC分类号： B25J9/1671 , G05B19/4069 , G05B2219/32351 , G05B2219/39031 , G05B2219/40003 , G05B2219/40121 , G05B2219/40122 , G05B2219/40127 , G05B2219/40131 , G05B2219/40314 , Y02P90/26 , Y02P90/265
摘要： A robot simulation apparatus (10) capable of creating and executing a robot program includes a virtual space creating unit (31) for creating a virtual space (60), a workpiece model layout unit (32) for automatically arranging at least one workpiece model (40) in an appropriate posture at an appropriate position in a workpiece accommodation unit model (24) defined in the virtual space, a virtual camera unit (33) for acquiring a virtual image (52) of workpiece models existing in the range of a designated visual field as viewed from a designated place in the virtual space, a correcting unit (34) for correcting the teaching points in the robot program based on the virtual image, and a simulation unit (35) for simulating the operation of the robot handling the workpieces, and as a result, interference between the robot and the workpieces can be predicted while at the same time accurately determining the required workpiece handling time.
摘要翻译：能够创建和执行机器人程序的机器人模拟装置（10）包括用于创建虚拟空间（60）的虚拟空间创建单元（31），用于自动布置至少一个工件模型的工件模型布局单元（32） 40），其位于在虚拟空间中定义的工件容纳单元模型（24）中的适当位置处的适当姿态;虚拟相机单元（33），用于获取存在于指定范围内的工件模型的虚拟图像（52）从虚拟空间中的指定位置观看的视野，用于基于虚拟图像校正机器人程序中的教导点的校正单元（34），以及用于模拟机器人处理的机器人的操作的模拟单元（35）工件，结果，可以预测机器人与工件之间的干涉，同时精确地确定所需的工件处理时间。

9. 发明申请

US20070073444A1 Offline teaching apparatus for robot 审中-公开
标题翻译：机器人离线教学仪器
公开(公告)号：US20070073444A1
公开(公告)日：2007-03-29
申请号：US11527529
申请日：2006-09-27
申请人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
发明人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
IPC分类号： G06F19/00
CPC分类号： B25J9/1684 , B25J9/1671 , G05B2219/39102 , G05B2219/40323 , G05B2219/40478
摘要： An offline teaching apparatus for generating, in an offline mode, a robot operation relating to tracking and working relative to a workpiece traveling along a carrier route. The apparatus includes a model-image generating section for generating images of a carrier-route model, a workpiece model and a robot model; an indicator generating section for generating a base-point indicator, and upstream-end and downstream-end indicators defining a spatial range for performing the robot operation; a display section for displaying, on a screen, the images of the carrier-route model, the workpiece model and the robot model, together with the base-point indicator, the upstream-end indicator and the downstream-end indicator; a carrying-operation simulating section for causing the workpiece model to simulate a workpiece traveling motion along the carrier-route model; and a robot-operation simulating section for causing the robot model to simulate the robot operation, during a period from an instant the workpiece model passes by the upstream-end indicator until an instant the workpiece model arrives at the downstream-end indicator.
摘要翻译：一种离线教学装置，用于在离线模式下生成与沿着载体路线行进的工件相关的跟踪和加工相关的机器人操作。该装置包括用于生成载体路线模型，工件模型和机器人模型的图像的模型图像生成部分; 用于产生基点指示符的指示符产生部分和限定用于执行机器人操作的空间范围的上游端和下游指示符; 显示部，与基站指示符，上游指示符和下游指示符一起在屏幕上显示载体路线模型，工件模型和机器人模型的图像; 用于使工件模型沿着载体路线模型模拟工件行进运动的运载模拟部分; 以及机器人操作模拟部分，用于在从工件模型经过上游指示器的瞬间到工件模型到达下游指示器的时刻期间，使机器人模型模拟机器人操作。

10. 发明申请

US20070050091A1 Robot monitoring system 审中-公开
标题翻译：机器人监控系统
公开(公告)号：US20070050091A1
公开(公告)日：2007-03-01
申请号：US11513187
申请日：2006-08-31
申请人： Yoshiharu Nagatsuka , Hirohiko Kobayashi
发明人： Yoshiharu Nagatsuka , Hirohiko Kobayashi
IPC分类号： G05B15/00
CPC分类号： B25J9/1674 , B25J9/1671
摘要： A robot monitoring system including a robot controller for controlling a robot; and an image generating apparatus for generating, based on robot-control related information obtained from the robot controller, a three-dimensional model image showing the robot and a working environment thereof as a dynamic image corresponding to an actual motion of the robot. The image generating apparatus includes a display-condition setting section for setting a display condition to be changeable corresponding to the actual motion of the robot, the display condition including at least one of a line of sight and a drawing type; and a dynamic-image generating section for generating the dynamic image to be replaceable according to a change, occurring corresponding to the actual motion of the robot, in the display condition. The robot-control related information, obtained from the robot controller, includes an operation program for commanding a certain operation to the robot. A command relating to a change in the display condition is described in the operation program.
摘要翻译：一种机器人监视系统，包括用于控制机器人的机器人控制器; 以及图像生成装置，其基于从所述机器人控制器获得的机器人控制相关信息，生成表示所述机器人的三维模型图像及其作业环境，作为与所述机器人的实际运动对应的动态图像。图像生成装置包括：显示条件设定部，用于根据机器人的实际运动来设定可变化的显示条件，所述显示条件包括视线和绘图类型中的至少一个; 以及动态图像生成部，用于根据在所述显示状态下对应于所述机器人的实际运动而发生的变化来生成可更换的动态图像。从机器人控制器获得的机器人控制相关信息包括用于向机器人指令某一操作的操作程序。在操作程序中描述与显示条件的变化有关的命令。

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