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141. 发明申请

US20130166061A1 OBJECT GRIPPING APPARATUS, CONTROL METHOD FOR OBJECT GRIPPING APPARATUS, AND STORAGE MEDIUM 有权
标题翻译：物体搬运装置，物品搬运装置的控制方法和储存介质
公开(公告)号：US20130166061A1
公开(公告)日：2013-06-27
申请号：US13710360
申请日：2012-12-10
申请人： CANON KABUSHIKI KAISHA
发明人： Takahisa Yamamoto
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/1669 , B25J9/1697 , G05B2219/40053 , G05B2219/45063 , Y10S901/02 , Y10S901/47
摘要： An object gripping apparatus comprises an imaging unit configured to capture an image of a plurality of workpieces; a workpiece state estimation unit configured to estimate positions and orientations of the plurality of workpieces from the captured image; a pickup-target workpiece selection unit configured to select a pickup-target workpiece from among the plurality of workpieces based on a result of the estimation of the workpiece state estimation unit; a workpiece pickup unit configured to grip and pick up the pickup-target workpiece in accordance with an operation path associated with a position of the pickup-target workpiece; and a path setting unit configured to determine an evacuation path along which the workpiece pickup unit that has gripped the pickup-target workpiece evacuates to the outside of an imaging range of the imaging unit based on an estimated moving time required for the evacuation.
摘要翻译：一种物体夹持装置，包括被配置为捕获多个工件的图像的成像单元; 工件状态估计单元，被配置为从所捕获的图像估计所述多个工件的位置和取向; 拾取对象工件选择单元，被配置为基于所述工件状态估计单元的估计结果从所述多个工件中选择拾取对象工件; 工件拾取单元，其构造成根据与所述拾取对象工件的位置相关联的操作路径夹持并拾取所述拾取对象工件; 以及路径设定单元，其被配置为基于所抽出的估计的移动时间来确定已经夹持所述拾取目标工件的所述工件拾取单元沿着所述成像单元的成像范围的外部排出的抽空路径。

142. 发明申请

US20130158710A1 TAKING OUT DEVICE HAVING FUNCTION FOR CORRECTING POSTURE OF AN ARTICLE 有权
标题翻译：具有修正文章的功能的功能的设备
公开(公告)号：US20130158710A1
公开(公告)日：2013-06-20
申请号：US13661459
申请日：2012-10-26
申请人： FANUC CORPORATION
发明人： Masaru ODA
IPC分类号： B25J13/08 , B25J19/04
CPC分类号： B25J9/1697 , B25J9/1669 , G05B2219/40053
摘要： A taking out device capable of correcting a posture of an article to be taken out and taking out the article, while considering interference between a robot hand and a container for containing the article. Since the article is inclined to the left side, the hand approaches and contacts the article from the left side. Then, the hand pushes to the right side while claws of the hand engage a hole portion of the article in order to correct the posture of the article such that the positional relationship between the article and the hand represents a reference position/posture. In this way, the hand is positioned at a second position/posture in which the posture of the article relative to the claws allows the article to be taken out.
摘要翻译：同时考虑机器人手与用于容纳物品的容器之间的干扰的能够校正要取出的物品的姿势并取出物品的取出装置。由于物品倾向于左侧，所以手从左侧接近并接触物品。然后，当手的爪接合物品的孔部分时，手推动到右侧，以便校正物品的姿态，使得物品和手的位置关系表示参考位置/姿势。以这种方式，手定位在第二位置/姿势中，其中制品相对于爪的姿势允许物品被取出。

143. 发明申请

US20130006423A1 TARGET OBJECT GRIPPING APPARATUS, METHOD FOR CONTROLLING THE SAME AND STORAGE MEDIUM 有权
标题翻译：目标物品搬运装置，其控制方法和储存介质
公开(公告)号：US20130006423A1
公开(公告)日：2013-01-03
申请号：US13523234
申请日：2012-06-14
申请人： Yoshinori Ito , Takahisa Yamamoto
发明人： Yoshinori Ito , Takahisa Yamamoto
IPC分类号： B25J13/08 , B25J15/00 , B25J19/04
CPC分类号： B25J9/1612 , G05B2219/39476 , G05B2219/39527 , G05B2219/39543 , G05B2219/40053
摘要： A target object gripping apparatus comprises: an estimation unit configured to estimate an orientation of a target object based on orientation estimation parameters; a gripping unit configured to grip the target object based on the orientation of the target object estimated by the estimation unit; a detection unit configured to detect a failure of gripping by the gripping unit; and a modifying unit configured to modify the orientation estimation parameters based on the orientation of the target object when the detection unit detects a gripping failure.
摘要翻译：目标物体夹持装置包括：估计单元，被配置为基于取向估计参数来估计目标对象的取向; 夹持单元，其被配置为基于由所述估计单元估计的所述目标对象的取向来夹持所述目标对象; 检测单元，其构造成检测由所述夹持单元夹持的失败; 以及修改单元，被配置为当所述检测单元检测到夹紧故障时，基于所述目标对象的取向来修改所述定向估计参数。

144. 发明申请

US20120059517A1 OBJECT GRIPPING SYSTEM, OBJECT GRIPPING METHOD, STORAGE MEDIUM AND ROBOT SYSTEM 有权
标题翻译：对象搬运系统，对象搬运方式，存储媒体和机器人系统
公开(公告)号：US20120059517A1
公开(公告)日：2012-03-08
申请号：US13225728
申请日：2011-09-06
申请人： Osamu Nomura
发明人： Osamu Nomura
IPC分类号： B25J9/16 , G05B19/00
CPC分类号： B25J9/1679 , B23P19/00 , B23P19/001 , B25J9/1612 , B25J9/1656 , B25J9/1664 , B25J9/1669 , B25J9/1687 , B25J9/1697 , B25J15/0004 , B25J15/06 , B25J15/10 , G05B15/02 , G05B2219/37555 , G05B2219/39486 , G05B2219/39508 , G05B2219/40053 , G05B2219/45063
摘要： A system comprises: a measurement unit adapted to measure a position/orientation of at least one target object based on an image obtained by capturing the at least one target object; a selection unit adapted to select at least one grippable target object based on the position/orientation; a determination unit adapted to determine, as an object to be gripped, a grippable target object in a state with a highest priority from the at least one grippable target object based on priorities set in advance for states including gripping positions/directions; a gripping unit adapted to grip the object to be gripped in the state with the highest priority; and a changing unit adapted to change the state of the gripped object, to a state in which the gripped object is assembled to the other object.
摘要翻译：一种系统包括：测量单元，适于基于通过捕获所述至少一个目标对象获得的图像来测量至少一个目标对象的位置/方位; 选择单元，其适于基于所述位置/取向来选择至少一个可抓取的目标对象; 基于对包括夹持位置/方向在内的状态预先设定的优先级，确定作为被抓握对象的可抓取目标对象，其具有来自所述至少一个可抓取目标对象的最高优先级的状态; 夹持单元，适于以最高优先级的方式夹持待夹持的物体; 以及适于将被夹持物体的状态改变为将被夹持物体组装到另一物体的状态的改变单元。

145. 发明申请

US20110251717A1 METHOD FOR PICKING UP WORK PIECES 有权
标题翻译：抓取工作方式
公开(公告)号：US20110251717A1
公开(公告)日：2011-10-13
申请号：US13122761
申请日：2009-09-03
申请人： Makoto Furukawa
发明人： Makoto Furukawa
IPC分类号： B25J13/08
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/40053 , G05B2219/45063 , G06T7/75 , G06T2207/30164
摘要： The method for picking up work pieces includes: storing a representative partial shape, at least one of holding positions in the representative partial shape, and a preference rank for each of the holding positions; obtaining an image information by sensing the work pieces which are accumulated; recognizing exposed portions in the work pieces by performing an edge detection on the image information; selecting at least one of the exposed portions including the representative partial shape as a selected portion; detecting at least one of coinciding portions coinciding with the representative partial shape in the selected portions; determining an optimal holding position from at least one of the holding positions included in the coinciding portion as a determined holding position, based on the preference rank; and transmitting a holding command to hold the determined holding position.
摘要翻译：拾取工件的方法包括：存储代表性部分形状，代表部分形状中的保持位置中的至少一个以及每个保持位置的偏好等级; 通过感测累积的工件来获得图像信息; 通过对图像信息执行边缘检测来识别工件中的曝光部分; 选择包括代表性部分形状的暴露部分中的至少一个作为选择部分; 检测与所选部分中的代表性部分形状重合的重合部分中的至少一个; 基于所述偏好等级，从包括在所述重合部分中的至少一个所述保持位置确定作为确定的保持位置的最佳保持位置; 以及发送保持命令以保持所确定的保持位置。

146. 发明申请

US20110223001A1 Robotic Picking Of Parts From A Bin 有权
标题翻译：从一个机器人拾取零件
公开(公告)号：US20110223001A1
公开(公告)日：2011-09-15
申请号：US13061437
申请日：2008-08-29
申请人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
发明人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
IPC分类号： B25J9/16 , B25J9/00 , G06F19/00 , G05B19/00
CPC分类号： B25J9/1687 , B25J9/1697 , B25J13/08 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot for picking one or more parts (41) randomly distributed in a bin (40), this robot comprising a moveable arm (16a, 16b), a computing device (14) connected to said robot for controlling motion of said moveable arm and a tool (24) connected to said moveable arm for picking one or more of said parts from said bin,—said robot using said picking tool by itself or another tool (96, 98) mounted on the robot or grasped by the picking tool to stir one or more of said one or more randomly distributed parts in said bin when said computing device determines that a predetermined event requiring stirring of said parts has occurred.
摘要翻译：一种用于拾取随机分布在箱体（40）中的一个或多个部件（41）的机器人，该机器人包括可动臂（16a，16b），连接到所述机器人的计算装置（14），用于控制所述可动臂的运动，连接到所述可移动臂的工具（24），用于从所述仓拾取一个或多个所述部件， - 使用所述拾取工具自身或由安装在所述机器人上或由所述拾取工具抓握的另一工具（96,98）来使用所述拾取工具当所述计算装置确定发生需要搅拌所述部件的预定事件时，将所述一个或多个随机分布的部件中的一个或多个随机分布的部分搅拌。

147. 发明授权

US07996114B2 Workpiece picking device and method 失效
标题翻译：工件拣选装置及方法
公开(公告)号：US07996114B2
公开(公告)日：2011-08-09
申请号：US11802823
申请日：2007-05-25
申请人： Kazunori Ban , Keisuke Watanabe
发明人： Kazunori Ban , Keisuke Watanabe
IPC分类号： G06K9/00 , G05B15/00 , B66C1/42
CPC分类号： B25J9/1697 , G05B2219/37555 , G05B2219/40053
摘要： A workpiece picking device and method for reducing the cycle time of a picking operation of workpieces, by omitting or reducing the movement of a robot manipulator when an image of the workpieces is captured. An image processor of the picking device includes a camera controlling part for reading image data from a camera, a memory for storing the image data, a workpiece detecting part for extracting one or more images from the memory and detecting one or more workpieces in the image, and a workpiece selecting part for selecting a workpiece to be picked among the workpieces detected by the workpiece detecting part. The image processor further includes a stacked condition judging part for determining whether the condition of the stacked workpieces in a container is changed.
摘要翻译：一种用于通过省略或减少当工件的图像被捕获时机器人操纵器的移动来减少工件的拾取操作的循环时间的工件拾取装置和方法。拾取装置的图像处理器包括用于从相机读取图像数据的相机控制部分，用于存储图像数据的存储器，用于从存储器中提取一个或多个图像的工件检测部分，以及检测图像中的一个或多个工件以及工件选择部，用于选择由工件检测部检测出的工件之间要被拾取的工件。图像处理器还包括堆叠状态判断部，用于确定容器中堆叠的工件的状态是否改变。

148. 发明授权

US07957580B2 Workpiece picking device 有权
标题翻译：工件拾取装置
公开(公告)号：US07957580B2
公开(公告)日：2011-06-07
申请号：US11669477
申请日：2007-01-31
申请人： Kazunori Ban , Fumikazu Warashina , Keisuke Watanabe
发明人： Kazunori Ban , Fumikazu Warashina , Keisuke Watanabe
IPC分类号： G06K9/00
CPC分类号： B25J9/1697 , G05B2219/37555 , G05B2219/40053
摘要： A workpiece picking device capable of correctly detecting the size of a workpiece. The picking device has a robot capable of picking the same kind of workpieces contained in a work container, a robot controller for controlling the robot, a video camera positioned above the work container so as to widely image the workpieces and an image processor for processing an image obtained by the video camera. The three-dimensional position and posture of each workpiece is measured by a three-dimensional vision sensor arranged on a wrist element of the robot.
摘要翻译：能够正确地检测工件的尺寸的工件拾取装置。拾取装置具有能够拾取包含在工作容器中的相同种类的工件的机器人，用于控制机器人的机器人控制器，位于工作容器上方的摄像机，以便广泛地对工件进行成像以及用于处理工件的图像处理器由摄像机获得的图像。每个工件的立体位置和姿势通过布置在机器人腕部上的三维视觉传感器来测量。

149. 发明申请

US20100114363A1 Method And A Device For Recognizing, Collecting and Repositioning Objects 有权
标题翻译：方法和识别，收集和重新定位对象的设备
公开(公告)号：US20100114363A1
公开(公告)日：2010-05-06
申请号：US12529257
申请日：2008-03-04
申请人： Patrizio Cardoni
发明人： Patrizio Cardoni
IPC分类号： G06F7/00 , B66C1/42
CPC分类号： B25J9/1612 , B25J9/1694 , G05B2219/37054 , G05B2219/37286 , G05B2219/37319 , G05B2219/39487 , G05B2219/39497 , G05B2219/39507 , G05B2219/39513 , G05B2219/39531 , G05B2219/39532 , G05B2219/39534 , G05B2219/40053 , G05B2219/40252 , G05B2219/40564 , G05B2219/40567 , G05B2219/45045
摘要： A method for recognizing, collecting and repositioning objects (1) having non-predetermined dimensional characteristics and which are arranged on a support surface (2) is implemented by means of a gripper group (30). The gripper group (30) is mobile in at least a lengthwise direction of movement relative to an object (1) to be handled, a direction of moving towards/away from the object (1), and a direction of adjustment of the height relative to the object (1). The gripper group (30) is controlled by a computerized control unit. The method comprises the following operating stages: a stage of approaching and recognizing an object (1), comprising the approximately-set approach of the gripper group (30) to the object (1), performed with the assistance of positional information stored in the control unit; identification of the outline of the object (1), by perpendicular three-dimensional scanning performed, using sequences of movements of the gripper group (30), by means for gauging punctual distance (50) arranged near at least one finger (35, 36) of the gripper group (30), and by sensor means (55) for detecting the presence of the object (1), which identify the depth of the object and are arranged at the head of the fingers (35, 36); a stage of gripping the object (1); a stage of collection the object (1), comprising operations of lifting and moving the object (1).
摘要翻译：用于识别，收集和重新定位具有非预定尺寸特征并且布置在支撑表面（2）上的物体（1）的方法通过夹持器组（30）来实现。夹具组30可相对于要被处理的物体（1）至少沿长度方向移动，朝向/远离物体（1）移动的方向以及高度相对的调节方向到对象（1）。夹具组（30）由计算机控制单元控制。该方法包括以下操作阶段：接近和识别对象（1）的阶段，包括夹具组（30）到对象（1）的近似设置的方式，借助于存储在对象控制单元通过垂直三维扫描来进行物体（1）的轮廓的识别，通过使用排列在至少一个手指（35,36）附近的准时距离（50）的装置，使用夹持器组（30）的运动顺序）和用于检测物体（1）的存在的传感器装置（55），其识别物体的深度并布置在手指（35,36）的头部; 夹持物体（1）的阶段; 收集物体（1）的阶段，包括提升和移动物体（1）的操作。

150. 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。

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