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181. 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。

182. 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。

183. 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。

184. 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。

185. 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。

186. 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。

187. 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。

188. 发明授权

US09102053B2 Information processing apparatus and information processing method 有权
标题翻译：信息处理装置和信息处理方法
公开(公告)号：US09102053B2
公开(公告)日：2015-08-11
申请号：US13784684
申请日：2013-03-04
申请人： CANON KABUSHIKI KAISHA
发明人： Masahiro Suzuki
IPC分类号： B25J9/00 , B25J9/16
CPC分类号： B25J9/1612 , B25J9/1697 , G05B2219/39508 , G05B2219/40053
摘要： The state of an area where one or more target objects are arranged is determined based on the result of measurement by a first sensor. A robot is controlled to grip one of the target objects by the grip unit of the robot. The gripping state of the gripping target object gripped by the grip unit is determined from the result of measuring the gripping target object by using a second sensor. When it is determined that gripping has failed, a rearrangement area where the gripping target object is to be rearranged is decided using the result of measurement by the first sensor or that of measurement by the second sensor. The robot is controlled to rearrange the gripping target object in the rearrangement area by the grip unit.
摘要翻译：基于第一传感器的测量结果确定布置一个或多个目标对象的区域的状态。通过机器人的把手单元来控制机器人来抓握目标物体之一。通过使用第二传感器来测量夹持目标物体的夹持状态由夹持单元夹持的夹持状态确定。当确定夹持失败时，使用第一传感器的测量结果或第二传感器的测量结果来确定要重新布置夹持目标对象的重新布置区域。控制机器人以通过把手单元重新布置重排区域中的夹持目标物体。

189. 发明授权

US09079308B2 Robotic picking of parts from a bin 有权
标题翻译：从垃圾箱机器人拾取零件
公开(公告)号：US09079308B2
公开(公告)日：2015-07-14
申请号：US13061342
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： B25J19/00 , B25J9/16 , B25J13/08 , B23P19/00
CPC分类号： B25J9/1687 , B23P19/007 , B25J13/085 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.
摘要翻译：机器人用于从垃圾桶中取出零件。机器人具有柔性装置，并且一个或多个工具连接到该装置以执行拾取。合规装置具有用于监视和/或控制其顺从性的机构。兼容装置可以具有各种实施例。在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。机器人具有一个或多个装置，其可以是拾取工具来搅动箱中的部件。

190. 发明授权

US09073215B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US09073215B2
公开(公告)日：2015-07-07
申请号：US14183378
申请日：2014-02-18
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Hideo Nagata , Tomoyuki Sekiyama , Yasuyuki Inoue
IPC分类号： G05B15/00 , G06F7/00 , G06F19/00 , B25J9/16
CPC分类号： B25J9/1697 , G05B2219/39057 , G05B2219/40053 , G05B2219/40575 , G05B2219/40613
摘要： A robot system includes: a robot including a camera unit shooting an object in a container, a hand gripping the object, and a contact detector detecting that the hand contacts the container; and a robot control device, which includes a control unit causing the hand to contact the container; a contact detection unit detecting by the contact detector that the hand contacts the container, and finding a contact position thereof; a first processing unit calculating a position of the container from a stereo image of the container acquired by the camera unit; a second processing unit calculating a difference between the position of the container calculated by the first processing unit and the contact position found by the contact detection unit as a correction amount; and a third processing unit correcting information on a position in a height direction of the object in the container based on the correction amount.
摘要翻译：机器人系统包括：机器人，其包括拍摄容器内的物体的相机单元，夹持物体的手和检测到手接触容器的接触检测器; 以及机器人控制装置，其包括使所述手接触所述容器的控制单元; 接触检测单元，由接触检测器检测到手接触容器，并找到其接触位置; 第一处理单元，从由所述照相机单元获取的容器的立体图像计算所述容器的位置; 第二处理单元，计算由第一处理单元计算的容器的位置与由接触检测单元找到的接触位置之间的差作为校正量; 以及第三处理单元，基于校正量来校正在容器中的物体的高度方向上的位置的信息。

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