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111. 发明申请

US20160229062A1 WORKPIECE TAKING OUT ROBOT SYSTEM HAVING CONVERSION-CALCULATION FUNCTION OF POSITION AND ORIENTATION, AND WORKPIECE TAKING OUT METHOD 有权
标题翻译：具有转换计算位置和方位功能的机器人系统的工作，以及实现方法的工作
公开(公告)号：US20160229062A1
公开(公告)日：2016-08-11
申请号：US15014689
申请日：2016-02-03
申请人： FANUC Corporation
发明人： Tadanori SUZUKI
IPC分类号： B25J9/16 , G05B19/4061
CPC分类号： B25J9/1697 , B25J9/1666 , G05B2219/40053
摘要： A robot system and a method, by which a robot can effectively and sequentially take out a plurality of randomly located workpieces, while avoiding interference by a simple calculation. A first detection coordinate system for determining the motion of the robot is defined on the lateral surface of the workpiece. The first detection coordinate system is translated by a predetermined distance in the negative direction of a Z-axis, and then an X-Z plane is rotated about an X-axis of the workpiece so that the X-Z plane is perpendicular to an X-Y plane of a robot coordinate system, whereby a work coordinate system is obtained. Next, the work coordinate system is rotated about the X-axis by a target angle, and then is translated by a distance corresponding to a radius of the workpiece in the positive direction of the Z-axis, whereby a second detection coordinate system is obtained and output.
摘要翻译：一种机器人系统和方法，通过该机器人系统和方法，机器人可以通过简单的计算有效地并且顺序地取出多个随机定位的工件，同时避免干扰。用于确定机器人的运动的第一检测坐标系被限定在工件的侧表面上。第一检测坐标系在Z轴的负方向上平移预定距离，然后XZ平面围绕工件的X轴旋转，使得XZ平面垂直于机器人的XY平面坐标系，从而获得工作坐标系。接着，将工件坐标系围绕X轴旋转目标角度，然后在Z轴的正方向上平移与工件的半径相对应的距离，从而获得第二检测坐标系并输出。

112. 发明申请

US20160167232A1 PLACEMENT DETERMINING METHOD, PLACING METHOD, PLACEMENT DETERMINATION SYSTEM, AND ROBOT 审中-公开
标题翻译：放置确定方法，放置方法，放置确定系统和机器人
公开(公告)号：US20160167232A1
公开(公告)日：2016-06-16
申请号：US14906753
申请日：2014-07-21
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Keisuke TAKESHITA
IPC分类号： B25J9/16 , G06K9/32 , G06K9/00
CPC分类号： B25J9/1697 , G05B2219/37555 , G05B2219/40053 , G05B2219/45063 , G06K9/00201 , G06K9/00671 , G06K9/3241 , Y10S901/09 , Y10S901/14 , Y10S901/47
摘要： A placement determination system (21) includes a placement object specifying unit (22) that specifies a placement object, a resting surface information acquiring unit (24) that obtains the shape of a resting surface of the placement object, a receiving surface information acquiring unit (27) that obtains the shape of a receiving surface of a receiving object on which the placement object is to be placed, and a placement determining unit (28) that compares the shape of the resting surface with the shape of the receiving surface, and determines whether the placement object can be placed on the receiving object.
摘要翻译：放置确定系统（21）包括：指定放置对象的放置对象指定单元（22）;获取放置对象的静止面的形状的静止面信息获取单元（24）;接收面信息获取单元（27），其取得要放置放置物体的接收体的接收面的形状;以及放置判定单元（28），其将所述搁置面的形状与所述接收面的形状进行比较，以及确定放置对象是否可以放置在接收对象上。

113. 发明授权

US09346169B2 Apparatus and method for universal, flexible pillow bag pattern creation 有权
标题翻译：用于通用，灵活的枕头袋图案创建的装置和方法
公开(公告)号：US09346169B2
公开(公告)日：2016-05-24
申请号：US14506200
申请日：2014-10-03
申请人： Frito-Lay North America, Inc.
发明人： Cory Burns , Kevin L. Cote , John Robert Eberle , Gregory William Hoell , Nathan R Huntoon , Timothy Jackson
IPC分类号： G06F19/00 , B25J9/16 , G05B19/401 , B25J15/06
CPC分类号： B25J9/1697 , B25J9/0093 , B25J9/1687 , B25J15/0616 , G05B19/401 , G05B2219/40033 , G05B2219/40053 , G05B2219/40542
摘要： An apparatus and method for measuring a dimension of a non-rigid object and using the dimension to pick and place the object. A first input device conveys a non-rigid object into contact with a feed forward unit, which contact causes a displacement of the feed forward unit. The displacement measures a dimension of the object. The measured dimension is transmitted via at least one line of communication.
摘要翻译：一种用于测量非刚性物体的尺寸并使用尺寸来拾取和放置物体的装置和方法。第一输入装置传送非刚性物体与前馈单元接触，该接触引起前馈单元的位移。位移测量对象的维度。测量的尺寸通过至少一条通信线传输。

114. 发明授权

US09333649B1 Object pickup strategies for a robotic device 有权
标题翻译：机器人设备的对象拾取策略
公开(公告)号：US09333649B1
公开(公告)日：2016-05-10
申请号：US14213089
申请日：2014-03-14
申请人： Industrial Perception, Inc.
发明人： Gary Bradski , Kurt Konolige , Ethan Rublee , Troy Straszheim , Hauke Strasdat , Stefan Hinterstoisser , Steve Croft , John Zevenbergen
IPC分类号： G05B19/18 , B25J9/16
CPC分类号： B25J9/163 , B25J5/00 , B25J9/0093 , B25J9/1612 , B25J9/162 , B25J9/1664 , B25J9/1671 , B25J9/1687 , B25J9/1694 , B25J9/1697 , B25J19/00 , B25J19/021 , B65G41/008 , B65G47/46 , B65G47/50 , B65G61/00 , B65H67/065 , G01B11/254 , G05B2219/31312 , G05B2219/39391 , G05B2219/40053 , G05B2219/40298 , G05B2219/40442 , G05B2219/40543 , G06K9/00201 , G06K9/00664 , G06K9/3208 , G06K9/4604 , G06K9/4661 , G06K9/52 , G06K9/6202 , G06T7/0065 , G06T7/13 , G06T7/529 , G06T7/55 , G06T7/593 , G06T7/60 , G06T17/00 , G06T19/003 , G06T2200/04 , H04N5/33 , H04N13/239 , H04N2013/0081 , Y10S901/01 , Y10S901/02 , Y10S901/06 , Y10S901/09 , Y10S901/47
摘要： Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.
摘要翻译：示例性实施例可以涉及用于选择对象上的抓取点的方法和系统。特别地，机器人操纵器可以识别物理环境内的物理对象的特征。基于所识别的特征，机器人操纵器可以确定对应于附接到机器人操纵器的夹持器可操作以夹持物理对象的点的物理对象上的潜在抓握点。随后，机器人操纵器可以确定用于抓握器的运动路径以便将物理物体移动到物理物体的下落位置，然后基于所确定的运动从潜在的抓取点中选择抓取点路径。在选择抓握点之后，机器人操纵器可以用夹具夹住所选抓握点处的物理物体，并将物理物体通过确定的运动路径移动到落下位置。

115. 发明授权

US09259840B1 Device and method to localize and control a tool tip with a robot arm 有权
标题翻译：用机器人手臂定位和控制刀尖的装置和方法
公开(公告)号：US09259840B1
公开(公告)日：2016-02-16
申请号：US14208655
申请日：2014-03-13
申请人： HRL Laboratories, LLC
发明人： Zhichao Chen , Heiko Hoffmann
IPC分类号： G05B15/00 , G05B19/00 , B25J9/16 , B25J19/02
CPC分类号： B25J9/1697 , B25J19/023 , G05B2219/39008 , G05B2219/39011 , G05B2219/40053 , G05B2219/40564 , Y10S901/47
摘要： Described is a system for localizing and controlling a tool tip with a robotic arm. The system receives three-dimensional (3D) visual information of a scene having a tool with a tool tip proximate a target. A depth disparity map is generated based on the 3D visual information. The depth disparity map is filtered by depth continuity to generate boundaries of the tool. The boundaries of the tool are initially loose to ensure that the tool is contained within the boundaries. Thereafter, using level set segmentation, the boundaries of the tool are shrunk and extracted. Ends of the tool tip are identified based on the extracted boundaries, which are then used to generate a pose of the tool tip.
摘要翻译：描述了一种用于用机器手臂定位和控制刀尖的系统。系统接收具有工具尖端靠近目标的工具的场景的三维（3D）视觉信息。基于3D视觉信息生成深度视差图。通过深度连续性过滤深度差异图，以生成工具的边界。工具的边界最初松动，以确保工具包含在边界内。此后，使用级别集分割，工具的边界收缩并提取。基于提取的边界识别刀尖的端部，然后将其用于产生刀尖的姿态。

116. 发明申请

US20160001445A1 TEACHING APPARATUS AND ROBOT SYSTEM 有权
标题翻译：教学设备和机器人系统
公开(公告)号：US20160001445A1
公开(公告)日：2016-01-07
申请号：US14753401
申请日：2015-06-29
申请人： Seiko Epson Corporation
发明人： Nobuyuki SETSUDA , Alan RUPERT
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1679 , G05B19/425 , G05B2219/39107 , G05B2219/40053 , G05B2219/40099 , Y10S901/03
摘要： A teaching apparatus for a robot which moves a work object so that the work object is aligned at a predetermined position and attitude, includes a display section that displays a screen for setting the predetermined position and attitude, an operation section that allows the screen to be operated, and a computation section that computes the predetermined position and attitude, in which the screen includes a first screen for operating the robot so as to move the work object into an imaging range of an imaging device, and a second screen for moving the work object so that the work object is aligned at a target position and attitude, and in which the computation section computes the predetermined position and attitude by using a captured image obtained by the imaging device imaging the work object, and the target position and attitude.
摘要翻译：一种用于使作业对象移动以使得工件在预定位置和姿态下对准的机器人的教学装置包括：显示部，其显示用于设定所述预定位置和姿态的画面;允许所述画面为以及计算部，其计算预定位置和姿势，其中，所述屏幕包括用于操作所述机器人的第一屏幕，以将所述工作对象移动到成像装置的成像范围内;以及第二屏幕，用于移动所述工件对象，使得工作对象在目标位置和姿态对准，并且其中计算部分通过使用通过对成像对象进行成像的成像装置获得的拍摄图像以及目标位置和姿态来计算预定位置和姿势。

117. 发明申请

US20150290805A1 Vision-Assisted System and Method for Picking of Rubber Bales in a Bin 审中-公开
标题翻译：视觉辅助系统和采摘方法
公开(公告)号：US20150290805A1
公开(公告)日：2015-10-15
申请号：US14682955
申请日：2015-04-09
申请人： AXIUM Inc.
发明人： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Christian Simon , Jonathan Fournier , Sebastien Lemay
IPC分类号： B25J9/16
CPC分类号： B25J9/1679 , G05B2219/37555 , G05B2219/40053 , Y10S901/02 , Y10S901/31 , Y10S901/47
摘要： The problem of picking tightly-pack generally uniformed products such as rubber bales in a bin is solved by sequentially selecting each one of the products based on the products depths in the bin, using a robot with a tool to grip each selected product, and moving on an output station each gripped product considering its position relative to the gripping tool. A first sensor system is used to determine the product depths in the bin. The sensor system can be mounted on the robot tool or be positioned above the bin. The position of each gripped product in the gripping tool is achieved by analyzing an image of the gripped product in the gripping tool.
摘要翻译：通过使用具有工具来抓握每个所选产品的机器人并且移动的方式依次选择基于仓中的产品深度的产品中的每一个产品来解决拾取紧密包装的大体上均匀的产品（例如橡皮桶）中的问题在输出工位上，每个夹紧的产品考虑到其相对于夹紧工具的位置。第一个传感器系统用于确定仓中的产品深度。传感器系统可以安装在机器人工具上或定位在机箱上方。抓握工具中的每个抓握的产品的位置通过分析抓握工具中夹紧产品的图像来实现。

118. 发明申请

US20150273688A1 ROBOT 有权
标题翻译：机器人
公开(公告)号：US20150273688A1
公开(公告)日：2015-10-01
申请号：US14663897
申请日：2015-03-20
申请人： Seiko Epson Corporation
发明人： Tomoki HARADA , Koichi HASHIMOTO , Shogo ARAI , Kengo YAMAGUCHI
IPC分类号： B25J9/16 , B25J15/10
CPC分类号： B25J9/1612 , B25J9/1697 , B25J15/0042 , G05B2219/39476 , G05B2219/39487 , G05B2219/40053 , G05B2219/40583 , G05B2219/40607
摘要： A robot includes a hand that grips an object and a control unit that operates the hand, the hand includes fingers that are able to grip the object at four or more contact points, and an object of which a metallic tone index is equal to or higher than 5 is gripped with the hand.
摘要翻译：机器人包括握住物体的手和操作手的控制单元，手包括能够在四个或更多个接触点处夹住物体的手指，以及金属色调指数等于或等于更高的物体超过5手握住手。

119. 发明授权

US09126337B2 Robot system having a robot for conveying a workpiece 有权
标题翻译：具有用于输送工件的机器人的机器人系统
公开(公告)号：US09126337B2
公开(公告)日：2015-09-08
申请号：US14255075
申请日：2014-04-17
申请人： FANUC CORPORATION
发明人： Takahiro Iwatake
IPC分类号： G05B15/00 , G05B19/00 , B25J9/16
CPC分类号： B25J9/1694 , B25J9/1697 , G05B2219/35124 , G05B2219/39504 , G05B2219/40053
摘要： A robot system includes a three-dimensional measuring device for obtaining positional information of a workpiece, a robot having a tool capable of holding a workpiece, and a control device for controlling the robot. The control device stores association data which associate the positional information of the workpiece with a center-of-gravity position of the workpiece. A center-of-gravity position of the workpiece to be picked out is estimated, based on the positional information obtained by the three-dimensional measuring device and on to the association data. The control device determines at least one of the holding position of the workpiece, the picking-out direction and the position and posture of the tool, based on the estimated center-of-gravity position.
摘要翻译：机器人系统包括用于获得工件的位置信息的三维测量装置，具有能够保持工件的工具的机器人，以及用于控制机器人的控制装置。控制装置存储将工件的位置信息与工件的重心位置相关联的关联数据。基于由三维测量装置获得的位置信息和关联数据来估计待挑选的工件的重心位置。控制装置基于估计的重心位置来确定工件的保持位置，取出方向和工具的位置和姿势中的至少一个。

120. 发明授权

US09102063B2 Robot apparatus 有权
标题翻译：机器人装置
公开(公告)号：US09102063B2
公开(公告)日：2015-08-11
申请号：US13956361
申请日：2013-08-01
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Toshiki Ito , Yuya Yasuda , Shinji Murai
IPC分类号： G06F19/00 , B25J9/16
CPC分类号： B25J9/1669 , B25J9/1679 , G05B2219/40053
摘要： A robot apparatus includes a robot main body, a distance determining section, an order determining section, and an operation controlling section. The robot main body transfers a plurality of to-be-processed objects in order so as to subject every predetermined number of the to-be-processed objects to processing, and includes a robot arm and a robot hand. The distance determining section determines an entire transfer distance of each of the to-be-processed objects. The order determining section determines a transfer order of the to-be-processed objects based on a determination result of the distance determining section so that every predetermined number of the to-be-processed objects has uniform transfer time. The operation controlling section controls operations of the robot arm and the robot hand so as to transfer the to-be-processed objects in accordance with the transfer order determined by the order determining section.
摘要翻译：机器人装置包括机器人主体，距离确定部，顺序确定部和操作控制部。机器人主体按顺序传送多个待处理对象，以使每个预定数量的待处理对象受到处理，并且包括机器人手臂和机器人手。距离确定部分确定每个被处理对象的整个传送距离。订单确定部分基于距离确定部分的确定结果确定待处理对象的传送顺序，使得每个预定数量的被处理对象具有均匀的传送时间。操作控制部分控制机器人手臂和机器人手的操作，以便根据由顺序确定部确定的传送顺序传送被处理对象。

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