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1. 发明公开

EP3284563A2 PICKING SYSTEM 有权
公开(公告)号：EP3284563A2
公开(公告)日：2018-02-21
申请号：EP17181575.6
申请日：2017-07-17
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： TAKANISHI, Kanji , KUTSUKAKE, Fuminori , YAMAMOTO, Akihiro , ISHIKAWA, Shinichi
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/161 , B25J9/163 , B25J9/1633 , B25J9/1653 , B25J9/1679 , B25J9/1687 , G05B2219/39107 , G05B2219/40053 , G05B2219/40499
摘要： A picking system includes a shape obtainer, a weight estimator, a picking robot, and a controller. The shape obtainer is configured to obtain shape information of an object. The weight estimator is configured to estimate a weight of the object based on the shape information obtained by the shape obtainer. The picking robot is configured to perform a picking operation on the object. The controller is configured to control the picking operation based on the weight estimated by the weight estimator.

2. 发明公开

EP3284563A3 PICKING SYSTEM 有权
标题翻译：选取系统
公开(公告)号：EP3284563A3
公开(公告)日：2018-02-28
申请号：EP17181575.6
申请日：2017-07-17
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： TAKANISHI, Kanji , KUTSUKAKE, Fuminori , YAMAMOTO, Akihiro , ISHIKAWA, Shinichi
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/161 , B25J9/163 , B25J9/1633 , B25J9/1653 , B25J9/1679 , B25J9/1687 , G05B2219/39107 , G05B2219/40053 , G05B2219/40499
摘要： A picking system includes a shape obtainer, a weight estimator, a picking robot, and a controller. The shape obtainer is configured to obtain shape information of an object. The weight estimator is configured to estimate a weight of the object based on the shape information obtained by the shape obtainer. The picking robot is configured to perform a picking operation on the object. The controller is configured to control the picking operation based on the weight estimated by the weight estimator.
摘要翻译：采摘系统包括形状获取器，重量估算器，采摘机器人和控制器。形状获取器被配置为获得对象的形状信息。权重估计器被配置为基于由形状获取器获得的形状信息来估计对象的权重。拣选机器人被配置为对物体执行拣选操作。控制器被配置为基于由权重估计器估计的权重来控制拾取操作。

3. 发明公开

EP3075496A1 METHOD FOR IMPROVING OPERATION OF A ROBOT 有权
标题翻译： VERFAHREN ZUR VERBESSERUNG DES BETRIEBS EINES ROBOTERS
公开(公告)号：EP3075496A1
公开(公告)日：2016-10-05
申请号：EP15162447.5
申请日：2015-04-02
申请人： Honda Research Institute Europe GmbH
发明人： Mühlig, Manuel , Gienger, Michael , Hayashi, Akinobu
IPC分类号： B25J9/16
CPC分类号： B25J9/163 , B25J9/1656 , G05B2219/40499
摘要： The invention relates to a method for improving operation of at least one robot. The robot is being operated on the basis of a set of predefined actions. A method comprises:
Generating combined actions (51, 53) by combining at least two actions out of a set of original actions stored in an action library. Storing the combined actions in the actions library in addition to the original actions. Applying a reinforcement learning algorithm (S4) to the set of actions stored now in the action library to learn a control policy making use of the original actions and the combined actions. And finally, operating the robot on the basis of the resulting action library.
摘要翻译：本发明涉及一种用于改善至少一个机器人的操作的方法。机器人正在基于一组预定义的动作进行操作。一种方法包括：通过组合动作库中存储的一组原始动作中的至少两个动作来生成组合动作（51,53）。将动作库中的组合动作存储在原始操作之外。将强化学习算法（S4）应用于现在在动作库中存储的动作集，以学习利用原始动作和组合动作的控制策略。最后，在所产生的动作库的基础上操作机器人。

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