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1. 发明专利

JP2014069272A Calibration device; and calibration method of imaging device 有权
标题翻译：校准装置和成像装置的校准方法
公开(公告)号：JP2014069272A
公开(公告)日：2014-04-21
申请号：JP2012216472
申请日：2012-09-28
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： UEYAMA TAKESHI , IWATA SHO
IPC分类号： B25J9/10 , B25J19/04 , G01B11/00
摘要： PROBLEM TO BE SOLVED: To provide a technique which can raise the calibration precision of an imaging device in a short time.SOLUTION: The calibration device comprises: a similarity calculating part which, for each of a plurality of the captured images obtained by the imaging device which captures the calibration board having a feature point, calculates the similarity to each of a plurality of master images on which the calibration board is captured at mutually different positions; a classifying part which classifies a plurality of the captured images into a plurality of groups based on the similarity; a calibration processing part which, based on the representation image group in which the similarity extracted from a plurality of groups is beyond a predetermined value, determines a correction value to convert the physical position in the calibration board of the feature point and the position on the captured image; a deciding part which decides whether a conversion error due to the correction value is below a predetermined value; and a display part which displays information associated with the imaging number when the error is larger than a predetermined value.
摘要翻译：要解决的问题：提供一种可以在短时间内提高成像装置的校准精度的技术。解决方案：校准装置包括：相似度计算部分，对于通过成像获得的多个拍摄图像中的每一个，捕获具有特征点的校准板的装置，计算与相互不同位置捕获校准板的多个主图像中的每一个相似度; 分类部，其基于所述相似度将多个所述拍摄图像分类为多个组; 基于从多个组提取的相似度超过预定值的表示图像组的校准处理部确定校正值，以将特征点的校准板中的物理位置和拍摄图像; 决定部分，其判定由于所述校正值导致的转换误差是否低于预定值; 以及当误差大于预定值时显示与成像编号相关联的信息的显示部分。

2. 发明专利

JP2010112731A Joining method of coordinate of robot 有权
标题翻译：机器人坐标的接合方法
公开(公告)号：JP2010112731A
公开(公告)日：2010-05-20
申请号：JP2008283178
申请日：2008-11-04
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： UEYAMA TAKESHI
IPC分类号： G01B11/00 , B25J19/04 , G01B11/26 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To provide a method acquiring the relation between flange coordinate F and camera coordinate C with a camera in a visual inspecting device which is constituted by attaching the camera to the flange at the distal end of a robot arm.
SOLUTION: The moving vector of a camera 12 on picked-up images is acquired when moving a flange 11 along the XYZ axis of the flange coordinate F. The inclination of the camera coordinate C with respect to the flange coordinate F is operated based on this. The position of the camera coordinate C on the flange coordinate F is acquired by a photograph screen of a marker M when the flange 11 is rotated around the Zc axis of the camera coordinate C and a photograph screen of the marker M when the flange 11 is rotated around a straight line, passing through the origin of the flange coordinate F, parallel to the Zc axis of the camera coordinate C.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种在通过将照相机附接到机器人手臂的远端处的凸缘而构成的目视检查装置中，通过摄像机获取法兰坐标F与摄像机坐标C之间的关系的方法。
解决方案：沿着法兰坐标F的XYZ轴移动凸缘11时，获取摄像机12上的摄像机12的移动矢量。操作相机坐标C相对于凸缘坐标F的倾斜度基于此。当凸缘11围绕相机坐标C的Zc轴旋转时，通过标记M的照片画面获取相机坐标C的位置，并且当凸缘11为凸缘11时，标记M的照片画面围绕直线旋转，穿过平行于摄像机坐标C的Zc轴的法兰坐标F的原点。（C）2010，JPO＆INPIT

3. 发明专利

JP2005088164A Stop position determination method of robot and stop position determination device of robot 有权
标题翻译：机器人的停止位置确定方法和机器人的停止位置确定装置
公开(公告)号：JP2005088164A
公开(公告)日：2005-04-07
申请号：JP2003327864
申请日：2003-09-19
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： UEYAMA TAKESHI , KITO TOMOMI , OTA JUN , ARAI TAMIO
IPC分类号： B25J5/00 , B25J9/22 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To obtain an optimal stop position of a mobile robot in a work where a plurality of work positions exist, by calculation with a cost as a criterion for evaluation.
SOLUTION: The stop position determination method of a robot comprises the steps of: defining a movable work space of a robot arm as a work determination region on a plurality of works and arranging lattice points in the range of each work determination region; setting work feasible areas corresponding to the plurality of works by determining whether or not the work by the mobile robot can be accomplished in each lattice point; combining a plurality of work feasible areas so as to obtain optimal overlapped work feasible areas; and obtaining a work point which minimizes a cost in the overlapped areas of the work feasible areas thus combined and determining a minimized stopped position. According to this stop position determination method, the stop position of the mobile robot can be optimized.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：为了在存在多个工作位置的工作中获得移动机器人的最佳停止位置，通过以成本计算作为评估标准。解决方案：机器人的停止位置确定方法包括以下步骤：在多个工件上定义机器人手臂的可移动工作空间作为工件确定区域，并且在每个工作确定区域的范围内布置格点; 通过确定移动机器人的工作是否可以在每个网格点中完成来设置与多个作品相对应的工作可行区域; 组合多个工作可行区域，以获得最佳重叠工作可行区域; 并且获得工作点，其最小化由此组合的工作可行区域的重叠区域中的成本，并确定最小化的停止位置。根据该停止位置确定方法，可以优化移动机器人的停止位置。版权所有（C）2005，JPO＆NCIPI

4. 发明专利

JP2011062793A Control device for robot 有权
标题翻译：机器人控制装置
公开(公告)号：JP2011062793A
公开(公告)日：2011-03-31
申请号：JP2009217253
申请日：2009-09-18
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： MIZUNO HITOTSUGU , UEYAMA TAKESHI
IPC分类号： B25J9/10 , G05B19/404 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To generate a moving locus that passes a teaching point without calculating the position and posture on robot coordinates when actually operating a robot, and to eliminate posture check of the robot for preventing a situation as an arm reversal from occurring.
SOLUTION: The position and posture of the end of the robot is unambiguously determined when the axis value (rotational angle) of each arm is decided. This allows a continuous moving locus to be searched in advance when actually operating the robot. By comparing the rotational angle of the arms at each point on the searched continuous moving locus with the rotational angle of the arm at the teaching point, a closest nearby point to the teaching point is searched. When the closest point is outside of the teaching point, the teaching point is compensated and the continuous moving locus is searched again by using the compensated teaching point. When actually operating the robot, the motion of the robot is controlled by the continuous moving locus searched from the axis value.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了在实际操作机器人时产生通过教导点而不计算机器人坐标上的位置和姿势的移动轨迹，并且消除机器人的姿势检查以防止作为手臂反转的情况发生。解决方案：当确定每个臂的轴值（旋转角度）时，明确地确定机器人端部的位置和姿势。这允许在实际操作机器人时预先搜索连续的移动轨迹。通过将搜索到的连续移动轨迹上的每个点处的臂的旋转角与在教导点处的臂的旋转角度进行比较，搜索与教导点最近的附近点。当最接近的点在教学点之外时，对教学点进行补偿，并通过使用补偿教学点再次搜索连续的运动轨迹。当实际操作机器人时，机器人的运动由从轴值搜索的连续移动轨迹控制。版权所有（C）2011，JPO＆INPIT

5. 发明专利

JP2009269134A Simulation device in visual inspection apparatus 审中-公开
标题翻译：视觉检测装置中的模拟装置
公开(公告)号：JP2009269134A
公开(公告)日：2009-11-19
申请号：JP2008122185
申请日：2008-05-08
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： UEYAMA TAKESHI
IPC分类号： B25J9/22 , G03B15/00 , G03B17/00 , G06T1/00
CPC分类号： G05B17/02 , B25J9/1671 , G05B2219/35346 , G05B2219/37208
摘要： PROBLEM TO BE SOLVED: To provide a simulation device in a visual inspection apparatus that, even when a work as an object for visual inspection or a camera lens used, for example, is not determined, can provide to a user a layout such as an installation position of a robot that can photograph all of visual inspection points of the work with the camera.
SOLUTION: For example, three-dimensional shape data of a work, information about lens in a plurality of cameras, and motion date of a robot used are stored. The focal length of a lens in a camera for photographing a plurality of inspection points in the work, the photographing position and posture of the camera, and the motion of the robot for taking up the photographing position and posture of the camera are simulated to provide to a user, for example, the type of the camera used and the installation position of the robot.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了在目视检查装置中提供模拟装置，即使当没有确定例如作为目视检查对象或者使用的照相机镜头的作业时，也能够向用户提供布局例如能够利用照相机拍摄作品的所有目视检查点的机器人的安装位置。
解决方案：例如，存储作品的三维形状数据，关于多个照相机中的镜头的信息以及所使用的机器人的运动日期。模拟用于拍摄工件中的多个检查点的相机中的镜头的焦距，相机的拍摄位置和姿势以及摄像机拍摄位置和姿势的机器人的运动，以提供例如，使用者的类型和机器人的安装位置。版权所有（C）2010，JPO＆INPIT

6. 发明专利

JP2011156604A Method of determining robot posture 有权
标题翻译：确定机器人姿势的方法
公开(公告)号：JP2011156604A
公开(公告)日：2011-08-18
申请号：JP2010018579
申请日：2010-01-29
申请人： Denso Wave Inc , Univ Of Tokyo , 国立大学法人東京大学 , 株式会社デンソーウェーブ
发明人： UEYAMA TAKESHI , OTA JUN , TEI IE
IPC分类号： B25J9/22 , B25J19/02 , B25J19/04 , G05B19/4069
摘要： PROBLEM TO BE SOLVED: To provide a method of determining a posture of a robot capable of determining the robot posture by a simple computation.
SOLUTION: Where a change in position of an end effector for an error Δp assumed in a workpiece is an amount of change of position Δr, an amount of change of each axis on a manipulator for the error Δp is an amount of change of posture Δq, a value of each axis of the manipulator when no error Δp is observed is qi, and Jacobian determinant at qi is Jv(qi), the amount of change of posture Δq is calculated by Δqi=Jv(qi)
-1 Δr. Where the amount of change of each axis on the manipulator when the error Δp is the largest, is the amount of change Δqimax, and a rotation angle limit of a joint is qmax, a value qi of each axis of the manipulator satisfying qi+Δqimax≤qmax is determined to be a posture operatable at a working point i for a workpiece having the error Δp.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种通过简单的计算来确定能够确定机器人姿势的机器人的姿势的方法。解决方案：如果在工件中假定的误差Δp的末端执行器的位置变化是位置变化量Δr，则误差Δp的机械手上的每个轴的变化量是变化量的姿势Δq，当没有观察到误差Δp时，操纵器的各轴的值为qi，并且在qi处的雅可比行列式为Jv（qi），则通过Δqi= Jv（qi） -1 ΔR。当误差Δp最大时机械手上的每个轴的变化量是变化量Δqimax，关节的旋转角度极限为qmax，操纵器的各轴的qi满足qi +Δqimax ≤qmax被确定为在具有误差Δp的工件的工作点i处可操作的姿势。版权所有（C）2011，JPO＆INPIT

7. 发明专利

JP2010094765A Apparatus for returning robot to origin 有权
标题翻译：将机器人返回原点的装置
公开(公告)号：JP2010094765A
公开(公告)日：2010-04-30
申请号：JP2008266363
申请日：2008-10-15
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： UEYAMA TAKESHI
IPC分类号： B25J9/10 , G05B19/18
摘要： PROBLEM TO BE SOLVED: To return a robot arm stopping at a position other than an operating point to an origin while avoiding collision against a workpiece without inputting a shape of the workpiece. SOLUTION: An inner product of a vector from a stop position to the center position of the workpiece and a vector from the stop position to the operating point is calculated for each of operating points, and when an inner product value is less than zero, the operating point is set as a moving target point. In addition, when the inner product of the two vectors is zero or larger, the nearest operating point to the stop position is set as the moving target point. After the robot arm is moved from the stop position to the moving target point, the arm is restored to the origin while sequentially following the operating points. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：使机器人手臂停止在除工作点之外的位置到原点，同时避免与工件碰撞而不输入工件的形状。解决方案：对于每个工作点，计算从停止位置到工件中心位置的向量的内积和从停止位置到操作点的向量，并且当内积值小于零，将工作点设置为移动目标点。此外，当两个向量的内积为零或更大时，将停止位置的最近操作点设置为移动目标点。在机器人臂从停止位置移动到移动目标点之后，在顺序跟随操作点之后，臂被恢复到原点。版权所有（C）2010，JPO＆INPIT

8. 发明专利

JP2010076056A robot 审中-公开
标题翻译：机器人
公开(公告)号：JP2010076056A
公开(公告)日：2010-04-08
申请号：JP2008247929
申请日：2008-09-26
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： UEYAMA TAKESHI , TSUJI ISATO
IPC分类号： B25J19/06
CPC分类号： B25J19/065
摘要： PROBLEM TO BE SOLVED: To provide a robot having a camera being mounted on a robot arm via a stay, capable of preventing troubles such as breakage of the camera as much as possible, when the camera is collided with an obstacle. SOLUTION: A camera 4 is mounted on a flange face at the fore end of the sixth arm 10 of a robot arm via a columnar stay 11. A cutout groove 11b extending in the direction across (orthogonal to) the axial direction of the stay 11 is formed in a middle part (a part slightly closer to an upper part from an intermediate part in the vertical direction) in the extending direction of the stay 11. A chain 16 for fall prevention is fitted to the stay 11 in a slacked state so as to be vertically across the cutout groove 11b. The length of the chain 16 is determined so that a cable of the camera 4 (the length of a portion to a connector) is still slack even when the camera 4 is suspended in air. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种机器人，其具有通过停留装置安装在机器人手臂上的照相机，能够尽可能地防止摄像机与障碍物碰撞时尽可能地损坏照相机等故障。解决方案：相机4经由柱状支架11安装在机器人手臂的第六臂10的前端的凸缘面上。切口槽11b沿与轴向方向支柱11形成在支柱11的延伸方向上的中间部分（在垂直方向上从中间部分稍微靠近上部的部分）。防止下落的链条16安装在支柱11上松弛状态，以便横切切口槽11b。确定链16的长度，使得即使当相机4悬挂在空气中时，照相机4的电缆（部分至连接器的一部分的长度）仍然松弛。版权所有（C）2010，JPO＆INPIT

9. 发明专利

JP2014070978A Calibration device, and calibration method of imaging apparatus 有权
标题翻译：校准装置和成像装置的校准方法
公开(公告)号：JP2014070978A
公开(公告)日：2014-04-21
申请号：JP2012216476
申请日：2012-09-28
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： IWATA SHO , UEYAMA TAKESHI
IPC分类号： G01B11/00 , B25J9/10 , B25J13/08 , B25J19/04
摘要： PROBLEM TO BE SOLVED: To provide a calibration device which improves calibration accuracy of an imaging apparatus in a short time.SOLUTION: A calibration device includes: a calibration processing unit 231 serving as a similarity calculation part which calculates similarities of a plurality of captured images to respective master images, a classifying part which classifies the plurality of captured images into a plurality of groups, a calibration processing part which determines correction values for conversion between positions on a calibration board of feature points and positions on captured images on the basis of representative image groups each of which is extracted for each group, and a similarity difference calculation part which obtains a similarity difference from a maximally similar image in each group. If an error is determined to be larger than a prescribed value when maximum similarity images in each group are taken as a representative image group, the calibration processing unit 231 substitutes at least one captured image in the representative image group with a captured image having the smallest or smaller similarity difference to determine a correction value. The determination part performs determination based on the correction value after substitution.
摘要翻译：要解决的问题：提供一种在短时间内提高成像装置的校准精度的校准装置。解决方案：校准装置包括：校正处理单元231，用作相似度计算部分，其计算多个捕获图像的相似度对于各个主图像，分类部，其将多个拍摄图像分类为多个组;校准处理部，其基于代表性，确定特征点的校准板上的位置和拍摄图像上的位置之间的转换的校正值对于每个组提取每个组的图像组，以及相似度差分计算部分，其从每个组中的最大相似图像获得相似性差异。如果将每组中的最大相似度图像作为代表图像组，将误差确定为大于规定值，则校准处理单元231将代表图像组中的至少一个拍摄图像替换为具有最小的捕获图像或更小的相似性差异来确定校正值。判定部根据替换后的修正值进行判定。

10. 发明专利

JP2013059815A Positioning posture interpolation method and control device for robot 有权
标题翻译：定位插值方法和机器人控制装置
公开(公告)号：JP2013059815A
公开(公告)日：2013-04-04
申请号：JP2011198222
申请日：2011-09-12
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： UEYAMA TAKESHI
IPC分类号： B25J9/22 , B25J13/00 , G05B19/4103 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To provide a positioning posture interpolation method for a robot capable of interpolating postures of fingers of the robot so as to make them satisfy fixed conditions.SOLUTION: The positioning posture interpolation method for a robot includes steps of: generating interpolation points so as to make moving tracks passing respective teaching points form spline curves (S3); calculating coordinates of an imaging object on a coordinate system being the same as teaching points per each teaching point and generating interpolation points by interpolating distances among coordinates of the imaging object corresponding to respective teaching points with the spline curves (S4); calculating all approach vectors where an interpolation point at an teaching point side is set up to be a starting point and an interpolation point at an imaging object side is set up to be a termination point for all interpolation points (S5); and calculating orient vectors on the basis of cross products of approach and normal vectors stood on respective interpolation points (S7) after rotating angles of the normal vectors on respective interpolating points between two teaching points are interpolated (S6). The postures of fingers on respective interpolation points are determined from the coordinates of respective interpolation points and three posture vectors.
摘要翻译：要解决的问题：提供一种能够内插机器人的手指的姿势以使其满足固定条件的机器人的定位姿势插值方法。解决方案：机器人的定位姿态插值方法包括以下步骤：产生插补点，以使通过各个教导点的移动轨迹形成样条曲线（S3）; 计算坐标系上的成像物体的坐标与每个教导点的教导点相同，并且通过用与样条曲线对应的各个教导点的成像对象的坐标之间的内插来生成插值点（S4）。计算所有进近矢量，其中教导点侧的插值点被设置为起始点，并且成像对象侧的内插点被设置为所有插值点的终止点（S5）; 在内插两个教学点之间的各个内插点上的法线矢量的旋转角度之后，基于在各个内插点（S7）上的接近和法向矢量的交叉乘积来计算定向向量（S6）。根据各插补点和三个姿势向量的坐标确定各个插补点上的手指的姿势。版权所有（C）2013，JPO＆INPIT

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