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1. 发明公开

EP1934128A1 METHOD FOR REPOSITIONING A NUMERICALLY CONTROLLED DEVICE 审中-公开
标题翻译： VERFAHREN ZUR NEUPOSITIONIERUNG EINER NUMERISCH GESTEUERTEN VORRICHTUNG
公开(公告)号：EP1934128A1
公开(公告)日：2008-06-25
申请号：EP06764442.7
申请日：2006-06-19
申请人： Sime Oy
发明人： ERIKKILÄ, Jouni
IPC分类号： B66C13/48
CPC分类号： B66C13/48 , B25J9/1697 , G05B2219/39045 , G05B2219/39046 , G05B2219/39397 , G05B2219/40003 , G06T7/73 , G06T2207/30244
摘要： The invention relates to a method for repositioning a numerically controlled device by using an image taken of an object as an aid. According to the method, the system is taught in such a way that a child image is defined for the camera's image, either its own set of co-ordinates is formed for the element or a set of coordinates is retrieved from elsewhere, and the image thus obtained, together with its co-ordinates, is stored in the data system, and, in the repositioning situation, the real-time image is compared with the child image stored in the data system, in order to determine the real-time position of the imaging device relative to the stored image. The set of co-ordinates used is a set of co-ordinates retrieved using satellite positioning, or the device's own internal set of co-ordinates. In the repositioning situation, the image stored in the teaching situation is sought as the co-ordinate point of the image stored in the memory is approached.
摘要翻译：本发明涉及一种通过使用被拍摄物体作为辅助来重新定位数控装置的方法。根据该方法，该系统被教导为为相机的图像定义子图像，或者为该元素形成其自己的坐标集合，或者从其他地方检索一组坐标，并且图像这样获得的数据与其坐标一起被存储在数据系统中，并且在重新定位的情况下，将实时图像与存储在数据系统中的子图像进行比较，以便确定实时位置的成像装置。使用的坐标集是使用卫星定位或设备自己的内部坐标集来检索的一组坐标。在重新定位的情况下，寻求存储在教学情况中的图像，因为接近存储在存储器中的图像的坐标点。

2. 发明公开

EP2026589A1 Online calibration of stereo camera systems including fine vergence movements 有权
标题翻译：在线 - Kalibrierung von Stereokamerasystemen mit Feinvergenzbewegungen
公开(公告)号：EP2026589A1
公开(公告)日：2009-02-18
申请号：EP07114176.6
申请日：2007-08-10
申请人： Honda Research Institute Europe GmbH
发明人： Rodemann, Tobias , Joublin, Frank , Dunn, Mark
IPC分类号： H04N13/00 , B25J9/16 , G05B19/401
CPC分类号： G05B19/401 , B25J9/163 , B25J9/1697 , G05B2219/39367 , G05B2219/40003 , G05B2219/40617 , H04N13/239 , H04N13/246 , H04N13/296
摘要： The invention relates to the control of a stereo camera system, the stereo camera system comprising a stereo camera (1) and actuator means (41, 42, 43) for controlling an orienting and a vergence action of the stereo camera (1),
the control method comprising the following steps:
- (S1) Evaluating pre-action output information of the stereo camera (1) in order to detect the position of a pattern in the input space of the stereo camera (1);
- (S2) Deciding on a targeted post-action position of said pattern (2) in the input space of the stereo camera (1);
- (S3) Defining a command for the actuator means (41, 42, 43) by mapping any deviation of the pre-action position and the targeted post-action position in the input space coordinates of the stereo camera (1) to actuator control coordinates using a predefined mapping function;
- (S4) Orienting the stereo camera (1) by the actuator means (41, 42, 43) according to the defined command in order to carry out an orienting action; and
- (S5) Detecting the real post-action position of the pattern (2) in the input space of said sensor means (1);
- (S6) Controlling the actuator means to perform a vergence movement of the stereo camera in order to focus both cameras on the same target,
- (S7) Calculating a correction signal on the basis of the pre-action position which has actually been moved to the targeted post-action position when carrying out the action, and
- (S8) adapting the mapping function taking into account the correction signal and the added executed actuator commands for the orienting and the vergence movement.
摘要翻译：本发明涉及立体相机系统的控制，该立体相机系统包括立体相机（1）和用于控制立体照相机（1）的定向和聚光动作的致动器装置（41,42,43），其中，控制方法包括以下步骤： - （S1）评估立体照相机（1）的预动作输出信息，以便检测立体照相机（1）的输入空间中的图案的位置; - （S2）在立体照相机（1）的输入空间中确定所述图案（2）的目标后动作位置; - （S3）通过将立体照相机（1）的输入空间坐标中的预动作位置和目标后动作位置的任何偏差映射到致动器控制来定义致动器装置（41,42,43）的命令使用预定映射函数进行坐标; - （S4）根据所定义的命令，通过致动器装置（41,42,43）定向立体摄像机（1），以执行定向动作; 和 - （S5）检测所述传感器装置（1）的输入空间中的图案（2）的真实的后动作位置; - （S6）控制致动器装置执行立体摄像机的聚光运动，以便将两个摄像机对准在相同的目标上， - （S7）基于实际移动的动作前位置来计算校正信号在执行动作时到达目标后动作位置，以及 - （S8）考虑校正信号和附加的执行致动器命令来适应映射功能以进行定向和聚合运动。

3. 发明授权

EP1587162B1 Self-calibrating sensor orienting system 有权
标题翻译：自校准方向的传感器系统
公开(公告)号：EP1587162B1
公开(公告)日：2008-05-14
申请号：EP04012356.4
申请日：2004-05-25
申请人： Honda Research Institute Europe GmbH
发明人： Rodemann, Tobias, c/oHonda Research , Joublin, Frank, c/oHonda Research
IPC分类号： B25J9/16 , H01Q11/08 , G05B19/401
CPC分类号： B25J9/1697 , B25J9/163 , G05B19/401 , G05B2219/39367 , G05B2219/40003 , G05B2219/40617

4. 发明授权

EP1864764B1 Robot simulation apparatus 有权转让
标题翻译： Robotersimulationsvorrichtung
公开(公告)号：EP1864764B1
公开(公告)日：2011-11-16
申请号：EP07010714.9
申请日：2007-05-30
申请人： FANUC CORPORATION
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： B25J9/16 , G05B19/4068 , G05B19/4069
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

5. 发明公开

EP1527850A3 Simulation apparatus 有权转让
标题翻译：模拟设备
公开(公告)号：EP1527850A3
公开(公告)日：2009-12-30
申请号：EP04025427.8
申请日：2004-10-26
申请人： FANUC LTD
发明人： Watanabe, Atsushi , Nagatsuka, Yoshiharu
IPC分类号： B25J9/16 , G05B19/4069
CPC分类号： G05B19/4069 , B25J9/1671 , G05B2219/32351 , G05B2219/39031 , G05B2219/40003 , G05B2219/40121 , G05B2219/40131 , G05B2219/40314 , G05B2219/40323 , Y02P90/26 , Y02P90/265
摘要： A simulation apparatus convenient for evaluating, correcting, etc. a program for a robot system including a visual sensor, wherein a work cell is defined on the simulation apparatus (10) and a robot (1) mounting an image capturing device (2), a workpiece (3), etc. are arranged in it; a separately set visual volume model (30) is introduced into it, a tool coordinate system (tool tip point) is defined at a view point (23), and a detection reference point (detection reference coordinate system) (24) relating to the workpiece (3) is set; and a graphic jog is performed to make the robot (1) move so that the tool coordinate system matches with the detection reference coordinate system, the above process is displayed on a first screen (4-1) and the image viewed from the image capturing device (2) is displayed on a second screen (4-2). A simulated correction amount by the visual sensor is designated and the display of the visual volume model (30) is switched on and off in accordance with output/nonoutput of the image capturing command at the time of simulation of the operation program.

6. 发明公开

EP1864764A2 Robot simulation apparatus 有权转让
标题翻译：机器人模拟装置
公开(公告)号：EP1864764A2
公开(公告)日：2007-12-12
申请号：EP07010714.9
申请日：2007-05-30
申请人： Fanuc Ltd
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： B25J9/16 , G05B19/4068
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：一种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（30）的工件模型布局单元（32）虚拟照相机单元（33），用于获取存在于被指定的范围内的工件模型的虚拟图像（52），该虚拟照相机单元（33）以适当的姿势在适当的姿势下在虚拟空间中定义的工件收纳单元模型（24）从虚拟空间中的指定位置观看的视野;校正单元（34），用于基于虚拟图像校正机器人程序中的示教点;以及模拟单元（35），用于模拟处理工件，因此可以预测机器人与工件之间的干涉，同时准确地确定所需的工件处理时间。

7. 发明公开

EP1512499A2 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：EP1512499A2
公开(公告)日：2005-03-09
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.
摘要翻译：一种机器人自动移动的远端的机器人臂的在任意目标位置为此部，和方法。安装在机器人臂的前端部的摄像头捕捉的物体的图像。对应于目标Q A位置R1在图像中指定。假设没有位置R1和图像屏幕的中心之间的像素数目等于N 1，距离W在距离L 0 1-观察到在校准时被确定的开采为W 1 = C 0·N 1 ，其中C 0是变换系数。相机由距离W 1在朝向目标位置Q.甲R2对应于目标W上的图像中指定X轴方向上移动。位置R2和屏幕中心之间的像素数目，N 2中，确定性的开采。运动矢量Q选自C 0，N 1，N 2和L第0测定摄像机移动gemäß到运动向量q。机器人在其中照相机中心设置在距离L第0所述目标相对的Q上的位置定位通过指定图像中的目标Q，到指定的目标位置Q的运动是自动实现的。

8. 发明公开

EP1864764A3 Robot simulation apparatus 有权转让
公开(公告)号：EP1864764A3
公开(公告)日：2009-12-30
申请号：EP07010714.9
申请日：2007-05-30
申请人： FANUC LTD
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： B25J9/16 , G05B19/4068 , G05B19/4069
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.

9. 发明公开

EP1710649A3 Motion control apparatus for teaching robot position, robot-position teaching apparatus, motion control method for teaching robot postion, robot-position teaching method, and motion control program for teaching robot-position 审中-公开
标题翻译：用于教导机器人位置，机器人位置示教装置，动作控制方法用于教导机器人位置，机器人位置示教方法以及动作控制程序用于教导机器人位置运动控制装置
公开(公告)号：EP1710649A3
公开(公告)日：2007-08-08
申请号：EP06007190.9
申请日：2006-04-05
申请人： SEIKO EPSON CORPORATION
发明人： Setsuda, Noboyuki
IPC分类号： G05B19/425 , B25J9/16
CPC分类号： B25J9/1697 , G05B19/425 , G05B2219/39057 , G05B2219/39442 , G05B2219/40003 , G05B2219/40523
摘要： A motion control apparatus for teaching a robot position includes an operating unit (12) that inputs an operating command to a robot (1) on a camera coordinate system having, as a reference, an image capturing screen displayed on the monitor; a converting unit (16a) that generates a motion vector on the camera coordinate system for moving the robot (1) from the current position to the next moving position in accordance with the operating command on the camera coordinate system input from the operating unit (12) and converts the motion vector on the camera coordinate system into a motion vector on a robot coordinate system, an operating-instruction generating unit (16b) that generates a motor instructing value to be given to a motor arranged at a joint of the robot (1) based on the motion vector on the robot coordinate system obtained by the converting unit (16a), and a motor control unit (14) that controls the motor arranged at the joint of the robot in accordance with the motor instructing value generated by the operating-instruction generating unit (16b).

10. 发明公开

EP1710649A2 Motion control apparatus for teaching robot position, robot-position teaching apparatus, motion control method for teaching robot postion, robot-position teaching method, and motion control program for teaching robot-position 审中-公开
标题翻译：用于教导机器人位置，机器人位置示教装置，动作控制方法用于教导机器人位置，机器人位置示教方法以及动作控制程序用于教导机器人位置运动控制装置
公开(公告)号：EP1710649A2
公开(公告)日：2006-10-11
申请号：EP06007190.9
申请日：2006-04-05
申请人： SEIKO EPSON CORPORATION
发明人： Setsuda, Noboyuki
IPC分类号： G05B19/425 , B25J9/16
CPC分类号： B25J9/1697 , G05B19/425 , G05B2219/39057 , G05B2219/39442 , G05B2219/40003 , G05B2219/40523
摘要： A motion control apparatus for teaching a robot position includes an operating unit (12) that inputs an operating command to a robot (1) on a camera coordinate system having, as a reference, an image capturing screen displayed on the monitor; a converting unit (16a) that generates a motion vector on the camera coordinate system for moving the robot (1) from the current position to the next moving position in accordance with the operating command on the camera coordinate system input from the operating unit (12) and converts the motion vector on the camera coordinate system into a motion vector on a robot coordinate system, an operating-instruction generating unit (16b) that generates a motor instructing value to be given to a motor arranged at a joint of the robot (1) based on the motion vector on the robot coordinate system obtained by the converting unit (16a), and a motor control unit (14) that controls the motor arranged at the joint of the robot in accordance with the motor instructing value generated by the operating-instruction generating unit (16b).
摘要翻译：用于教导机器人位置的运动控制装置包括：操作单元（12），确实输入到操作指令的机器人（1）的照相机坐标上具有系统中，作为参考，图像捕获屏幕显示在监视器上; 一转换器（16a）没有基因速率坐标相机的运动矢量系统的机器人从当前位置（1）在雅舞蹈与操作命令相机坐标从在操作单元系统输入移动到下一个移动位置（12 ）和转换坐标相机上的运动矢量系统进入上的机器人的运动矢量的坐标系，（在操作指令生成单元（16b）的没有基因率的电动机指令值被提供给在所述机器人的关节设置在马达 1）的基础上在机器人坐标由转换单元（16A），和一个马达控制单元（14获得系统中的运动矢量）那样控制在雅舞蹈在机器人的关节布置成与由所产生的电动机指令值的电动机操作指令生成单元（16B）。

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