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1. 发明申请

US20050071048A1 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US20050071048A1
公开(公告)日：2005-03-31
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： B25J19/06 , B25J9/16 , B25J13/08 , G05B19/4067 , G06F19/00
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。

2. 发明申请

US20030120391A1 ROBOT OPERATION TEACHING METHOD AND APPARATUS 失效
标题翻译：机器人操作教学方法与装置
公开(公告)号：US20030120391A1
公开(公告)日：2003-06-26
申请号：US10154961
申请日：2002-05-28
申请人： National Inst. of Advanced Ind. Science and Tech.
发明人： Fuminori Saito
IPC分类号： G06F019/00
CPC分类号： B25J9/1671 , G05B19/425 , G05B2219/39449 , G05B2219/40097 , G05B2219/40125 , G05B2219/40323 , G05B2219/40503
摘要： A robot operation teaching method and apparatus includes a three-dimensional measuring system that can measure spatial coordinates corresponding to points designated on camera images, a display able to show a space image from a camera or cameras overlaid by an image of a geometric model corresponding to the space image. A pointing device having at least two degrees of freedom is used to define work trajectories by preparing, in a model space, simple geometric elements corresponding to the actual space image. By using parametric modelling to supply definitions of geometric elements in advance, the geometric elements can be adapted for other tasks by modifying some of the geometric element assignments and parameters associated with the definitions.
摘要翻译：机器人操作教学方法和装置包括：三维测量系统，其可以测量对应于在相机图像上指定的点的空间坐标，能够显示来自照相机的空间图像的显示器或由对应于空间图像。具有至少两个自由度的指示装置用于通过在模型空间中准备对应于实际空间图像的简单几何元素来定义工作轨迹。通过使用参数建模提前提供几何元素的定义，可以通过修改与定义相关联的几个元素分配和参数中的某些几何元素来适应其他任务。

3. 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。

4. 发明授权

US06587752B1 Robot operation teaching method and apparatus 失效
标题翻译：机器人操作教学方法与装置
公开(公告)号：US06587752B1
公开(公告)日：2003-07-01
申请号：US10154961
申请日：2002-05-28
申请人： Fuminori Saito
发明人： Fuminori Saito
IPC分类号： G05B1500
CPC分类号： B25J9/1671 , G05B19/425 , G05B2219/39449 , G05B2219/40097 , G05B2219/40125 , G05B2219/40323 , G05B2219/40503
摘要： A robot operation teaching method and apparatus includes a three-dimensional measuring system that can measure spatial coordinates corresponding to points designated on camera images, a display able to show a space image from a camera or cameras overlaid by an image of a geometric model corresponding to the space image. A pointing device having at least two degrees of freedom is used to define work trajectories by preparing, in a model space, simple geometric elements corresponding to the actual space image. By using parametric modelling to supply definitions of geometric elements in advance, the geometric elements can be adapted for other tasks by modifying some of the geometric element assignments and parameters associated with the definitions.
摘要翻译：机器人操作教学方法和装置包括：三维测量系统，其可以测量对应于在相机图像上指定的点的空间坐标，能够显示来自相机的空间图像的显示器或由相应于空间图像。具有至少两个自由度的指示装置用于通过在模型空间中准备对应于实际空间图像的简单几何元素来定义工作轨迹。通过使用参数建模提前提供几何元素的定义，可以通过修改与定义相关联的几个元素分配和参数中的某些几何元素来适应其他任务。

5. 发明授权

EP0411498B1 Verfahren zur Manipulation in unzugänglichen Arbeitsräumen 失效
标题翻译：一种用于在交通不便的工作空间操作方法。
公开(公告)号：EP0411498B1
公开(公告)日：1994-09-21
申请号：EP90114466.7
申请日：1990-07-27
申请人： KERNFORSCHUNGSZENTRUM KARLSRUHE GMBH
发明人： Kühnapfel, Uwe , Leinemann, Klaus, Dr.
IPC分类号： G05B19/405 , B25J9/18
CPC分类号： B25J9/1625 , B25J9/1671 , B25J9/1689 , G05B2219/39082 , G05B2219/40124 , G05B2219/40125 , G05B2219/40131 , G05B2219/40613

6. 发明专利

JP2005103681A Robot system 有权
标题翻译：机器人系统
公开(公告)号：JP2005103681A
公开(公告)日：2005-04-21
申请号：JP2003337892
申请日：2003-09-29
申请人： Fanuc Ltd , ファナック株式会社
发明人： WATANABE ATSUSHI , BAN KAZUKUNI , KANNO ICHIRO
IPC分类号： B25J19/06 , B25J9/16 , B25J13/08 , G05B19/4067
CPC分类号： G05B19/4069 , B25J9/1664 , B25J9/1674 , G05B2219/37555 , G05B2219/40053 , G05B2219/40125 , G05B2219/40213
摘要： PROBLEM TO BE SOLVED: To provide a robot system reproducing a situation at the occurrence of a problem.
SOLUTION: Workpieces placed in bulk in a basket-like container are gripped and taken out by a hand at the tip of a robot arm. The workpiece is detected by a visual sensor, and a robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference occurs, information related to the problem is stored in a robot control unit or a visual sensor control unit. The information related to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of the occurrence of the problem, a position which the robot has reached, target position data, the contents of a 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 occurrence of the problem by using a simulation unit. The situation at the occurrence of the problem can also be reproduced by using the actual robot without using the simulation unit.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种在发生问题时再现情况的机器人系统。
解决方案：将放置在篮状容器中的工件在机器人手臂的尖端处被手抓住并取出。通过视觉传感器检测工件，并根据工件的位置和方向来控制机器人。当发生诸如干扰的问题时，与问题相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。与问题相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追溯追溯的预定量的最新数据，和检测结果。当问题被复制时，这些数据用于通过使用模拟单元来模拟出现问题的情况。在不使用模拟单元的情况下也可以通过使用实际的机器人来再现出现问题的情况。版权所有（C）2005，JPO＆NCIPI

7. 发明专利

JP3834307B2 Robotic system 有权
公开(公告)号：JP3834307B2
公开(公告)日：2006-10-18
申请号：JP2003337892
申请日：2003-09-29
申请人：ファナック株式会社
发明人：一訓伴 , 淳渡邉 , 一郎管野
IPC分类号： B25J19/06 , B25J9/16 , B25J13/08 , G05B19/4067
CPC分类号： G05B19/4069 , B25J9/1664 , B25J9/1674 , G05B2219/37555 , G05B2219/40053 , G05B2219/40125 , G05B2219/40213

8. 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.

9. 发明公开

EP1518648A2 Robot system capable of reproducing a situation of alarm 有权转让
标题翻译：机器人系统Mitteln zur Wiedergabe eines Alarmzustandes
公开(公告)号：EP1518648A2
公开(公告)日：2005-03-30
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.
摘要翻译：机器人系统可以通过安装在机器人手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，并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，与问题相关的信息被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发生问题时的情况。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。

10. 发明授权

EP1518648B1 Robot system capable of reproducing a situation of alarm 有权转让
标题翻译：能够再现警报状况的机器人系统
公开(公告)号：EP1518648B1
公开(公告)日：2017-08-30
申请号：EP04023038.5
申请日：2004-09-28
申请人： FANUC CORPORATION
发明人： Watanabe, Atsushi , Ban, Kazunori , Kanno, Ichiro
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

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