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71. 发明申请

US20140163737A1 ROBOT SYSTEM 有权
标题翻译：机器人系统
公开(公告)号：US20140163737A1
公开(公告)日：2014-06-12
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： 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，其包括拍摄容器中的物体的相机单元，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。

72. 发明申请

US20140121836A1 OBJECT PICKUP DEVICE AND METHOD FOR PICKING UP OBJECT 有权
标题翻译：对象拾取器件和拾取对象的方法
公开(公告)号：US20140121836A1
公开(公告)日：2014-05-01
申请号：US14067168
申请日：2013-10-30
申请人： FANUC CORPORATION
发明人： Kazunori Ban
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/0093 , B65G47/905 , G05B2219/39508 , G05B2219/40053 , G05B2219/40607
摘要： A pickup device for picking up a target object from a plurality of objects randomly piled up in a container, and for placing the target object in a predetermined posture to a target location is provided. The device includes an approximate position obtaining part for obtaining information on an approximate position of the target object, based on information on a height distribution of the objects in the container, which is obtained by a first visual sensor. The device also includes a placement operation controlling part for controlling a robot so as to bring the target object into a predetermined position and posture relative to the target location, based on information on a position and posture of the target object relative to a robot, which is obtained by a second visual sensor.
摘要翻译：提供一种用于从随机堆积在容器中的多个物体拾取目标物体并将目标物体以预定姿势放置到目标位置的拾取装置。基于由第一视觉传感器获得的关于容器中的物体的高度分布的信息，该装置包括用于获得关于目标对象的近似位置的信息的近似位置获取部。该装置还包括：基于关于目标物体相对于机器人的位置和姿势的信息，控制机器人以使目标对象相对于目标位置进入预定位置和姿势的放置操作控制部分，通过第二视觉传感器获得。

73. 发明申请

US20140079524A1 ROBOT SYSTEM AND WORKPIECE TRANSFER METHOD 审中-公开
标题翻译：机器人系统与工作转移方法
公开(公告)号：US20140079524A1
公开(公告)日：2014-03-20
申请号：US14029722
申请日：2013-09-17
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Toshiaki SHIMONO , Taro NAMBA , Toshihiro TOMO
IPC分类号： B65G59/02 , B25J9/16
CPC分类号： B65G59/02 , B25J9/1669 , B25J9/1682 , B25J9/1697 , G05B19/41815 , G05B2219/39117 , G05B2219/40053 , G05B2219/40564 , G05B2219/40613 , G05B2219/45063 , Y02P90/08
摘要： There is provided a robot system including a first robot arm provided with a holding unit for holding one of workpieces arranged on a workpiece arrangement unit and configured to transfer the one workpiece held by the holding unit, and a second robot arm provided with a detecting unit for detecting an arrangement state of the one workpiece. The robot system further includes a detecting operation control unit configured to perform a control operation in such a way that, during the operation of the first robot arm, the detecting unit detects the arrangement state of another one of the workpieces.
摘要翻译：提供了一种机器人系统，包括：第一机器人手臂，其具有保持单元，用于保持布置在工件布置单元上的工件之一并且构造成传送由保持单元保持的一个工件;第二机器人臂，设置有检测单元用于检测一个工件的布置状态。机器人系统还包括检测操作控制单元，其被配置为执行控制操作，使得在第一机器人手臂的操作期间，检测单元检测另一个工件的布置状态。

74. 发明申请

US20130266205A1 METHOD FOR THE FILTERING OF TARGET OBJECT IMAGES IN A ROBOT SYSTEM 审中-公开
标题翻译：在机器人系统中过滤目标对象图像的方法
公开(公告)号：US20130266205A1
公开(公告)日：2013-10-10
申请号：US13880811
申请日：2011-10-12
申请人： Harri Valpola
发明人： Harri Valpola
IPC分类号： G06K9/78
CPC分类号： G06K9/78 , B25J9/1669 , B25J9/1697 , G05B2219/39107 , G05B2219/39543 , G05B2219/40053 , G05B2219/40609 , G05B2219/40613 , G06T7/11 , G06T7/174 , G06T7/194
摘要： The invention relates to a method and system for recognizing physical objects. In the method an object is gripped with a gripper, which is attached to a robot arm or mounted separately. Using an image sensor, a plurality of source images of an area comprising the object is captured while the object is moved with the robot arm. The camera is configured to move along the gripper, attached to the gripper or otherwise able to monitor the movement of the gripper. Moving image elements are extracted from the plurality of source images by computing a variance image from the source images and forming a filtering image from the variance image. A result image is obtained by using the filtering image as a bitmask. The result image is used for classifying the gripped object.
摘要翻译：本发明涉及用于识别物理对象的方法和系统。在该方法中，物体被夹持器夹持，该夹持器附接到机器人手臂或单独安装。使用图像传感器，在使用机器人手臂移动对象的同时捕获包括对象的区域的多个源图像。相机被配置为沿着夹具移动，附接到夹具或以其他方式能够监测夹具的移动。通过从源图像计算方差图像并从方差图像形成滤波图像，从多个源图像提取运动图像元素。通过使用过滤图像作为位掩码获得结果图像。结果图像用于对夹持的物体进行分类。

75. 发明申请

US20130238128A1 INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD 有权
标题翻译：信息处理设备和信息处理方法
公开(公告)号：US20130238128A1
公开(公告)日：2013-09-12
申请号：US13775888
申请日：2013-02-25
申请人： CANON KABUSHIKI KAISHA
发明人： Masahiro Suzuki
IPC分类号： G01B21/16 , B25J9/16
CPC分类号： G01B21/16 , B25J9/1653 , B25J9/1669 , B25J9/1697 , G05B2219/40053 , G05B2219/40607 , G05B2219/40613 , G05B2219/42318 , G05B2219/45063
摘要： The position and orientation of a target object is obtained based on first measurement data obtained by a first sensor (first calculation). The position and orientation of the target object is obtained based on second measurement data obtained by a movable second sensor set in a position and orientation different from that of the first sensor (second calculation). When the position and orientation obtained by the first calculation and that obtained by the second calculation match each other, the position and orientation obtained by the first or second calculation or a position and orientation calculated from the position and orientation obtained by the first calculation and that obtained by the second calculation is output as the position and orientation of the target object.
摘要翻译：基于由第一传感器获得的第一测量数据（第一计算）获得目标对象的位置和方位。基于通过与第一传感器不同的位置和方向设置的可移动第二传感器获得的第二测量数据来获得目标对象的位置和取向（第二计算）。当通过第一次计算获得的位置和取向与通过第二次计算获得的位置和姿态彼此匹配时，通过第一次或第二次计算获得的位置和方向，或者根据通过第一次计算获得的位置和方向计算出的位置和方向; 通过第二次计算得到的目标物体的位置和方向被输出。

76. 发明申请

US20130238125A1 INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD 有权
标题翻译：信息处理设备和信息处理方法
公开(公告)号：US20130238125A1
公开(公告)日：2013-09-12
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： B25J9/16
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。

77. 发明申请

US20130218324A1 ARTICLE ASSEMBLING DEVICE USING ROBOT 有权
标题翻译：使用机器人组装装置
公开(公告)号：US20130218324A1
公开(公告)日：2013-08-22
申请号：US13713276
申请日：2012-12-13
申请人： FANUC CORPORATION
发明人： Yoshitake FURUYA
IPC分类号： G05B15/02
CPC分类号： G05B15/02 , B25J9/1687 , G05B2219/39109 , G05B2219/40053 , Y10S901/02 , Y10S901/47
摘要： An assembling device which does not use a positioning device for articles to be assembled, nor a feeder mechanism and a pneumatic mechanism for a bolt for assembling. The article assembling device includes a first robot which takes out and aligns a bolt by using a detection result of a first camera; a second robot which grips a first article by using a detection result of a second camera and conveys the first article to a position where the first article can be attached to a second article; and a bolt holding and fastening section which fastens the articles by using the aligned bolt.
摘要翻译：不使用要组装的物品的定位装置的组装装置，也不用于用于组装的螺栓的进给机构和气动机构。所述物品组装装置包括通过使用第一照相机的检测结果取出并对准螺栓的第一机器人; 通过使用第二相机的检测结果来抓住第一物品的第二机器人，并将第一物品传送到第一物品可以附接到第二物品的位置; 以及通过使用对准的螺栓来紧固物品的螺栓保持和紧固部分。

78. 发明申请

US20130211593A1 WORKPIECE PICK-UP APPARATUS 有权
标题翻译：工作摄影设备
公开(公告)号：US20130211593A1
公开(公告)日：2013-08-15
申请号：US13878321
申请日：2011-07-13
申请人： Yukiyasu Domae , Yasuo Kitaaki , Haruhisa Okuda , Kazuhiko Sumi
发明人： Yukiyasu Domae , Yasuo Kitaaki , Haruhisa Okuda , Kazuhiko Sumi
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , G05B2219/39543 , G05B2219/40053
摘要： A workpiece pick-up apparatus including: a hand for gripping a workpiece; a robot for bringing the hand into a desired gripping position or posture; a sensor for performing three-dimensional measurement of the workpiece to obtain workpiece measurement data; a storage medium for accumulating at least hand profile data; an information processing unit for calculating the gripping position or posture based on data from the sensor and data from the storage medium; and a control unit for controlling the robot based on the gripping position or posture calculated by the information processing unit. The information processing unit includes an optimum gripping candidate creating section for directly deriving the gripping position or posture based on the workpiece measurement data and the hand profile data.
摘要翻译：一种工件拾取装置，包括：用于夹持工件的手; 用于使手进入期望的夹持位置或姿势的机器人; 用于对工件进行三维测量以获得工件测量数据的传感器; 用于累积至少手轮廓数据的存储介质; 信息处理单元，用于基于来自传感器的数据和来自存储介质的数据计算抓取位置或姿势; 以及控制单元，用于基于由信息处理单元计算出的夹持位置或姿势来控制机器人。所述信息处理单元包括：最佳夹持候选生成部，其基于所述工件测定数据和所述手轮廓数据直接导出所述夹持位置或姿势。

79. 发明授权

US08504204B2 Automated positioning of an organic polarized object 失效
标题翻译：自动定位有机极化物体
公开(公告)号：US08504204B2
公开(公告)日：2013-08-06
申请号：US12841191
申请日：2010-07-22
申请人： Kenneth Dewane Owens, Jr.
发明人： Kenneth Dewane Owens, Jr.
IPC分类号： A01C7/04 , A01G9/08
CPC分类号： B25J9/1687 , G05B2219/40053 , G05B2219/40082
摘要： A method, system and apparatus to position an organic polarized object to a predetermined orientation and a predetermined location are provided. In an embodiment, an image of the organic polarized object is captured through an image capture device. The image of the organic polarized object is converted to an image data set. This image data set if further converted to a dimension data set. A first location and a first orientation of the organic polarized object are determined through a processor. A pressure is applied to secure organic polarized object. The organic polarized object is secured through a robotic end effector and may be moved to a predetermined location and a predetermined orientation. The organic polarized object is adjusted to the predetermined orientation. The organic polarized object is positioned at a predetermined location. The predetermined location and predetermined orientation may be selected by a user.
摘要翻译：提供了将有机极化物体定位到预定取向和预定位置的方法，系统和装置。在一个实施例中，通过图像捕获装置捕获有机极化物体的图像。将有机极化物体的图像转换为图像数据集。如果进一步转换为维数据集，则该图像数据集。通过处理器确定有机极化物体的第一位置和第一取向。施加压力以固定有机极化物体。有机极化物体通过机器人端部执行器固定并且可以移动到预定位置和预定取向。有机极化物被调整到预定取向。有机极化物位于预定位置。预定位置和预定取向可由用户选择。

80. 发明申请

US20130085605A1 ROBOT SYSTEM AND METHOD FOR PRODUCING A TO-BE-PROCESSED MATERIAL 有权
标题翻译：用于生产待处理材料的机器人系统和方法
公开(公告)号：US20130085605A1
公开(公告)日：2013-04-04
申请号：US13644307
申请日：2012-10-04
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Yuya YASUDA , Kazuhiko FUKUSHIMA
IPC分类号： B25J13/08 , B25J19/02 , B25J19/04 , B25J15/06
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/39508 , G05B2219/39567 , G05B2219/40053 , G05B2219/40613 , G05B2219/45063 , Y02P80/40
摘要： A robot system includes a container, a disposed-state detector, and a robot arm. The container is configured to accommodate a plurality of to-be-held objects and includes a reticulated portion. The disposed-state detector is configured to detect disposed states of the plurality of respective to-be-held objects disposed in the container. The robot arm includes a holder configured to hold a to-be-held object among the plurality of to-be-held objects based on the disposed states of the plurality of respective to-be-held objects detected by the disposed-state detector.
摘要翻译：机器人系统包括容器，布置状态检测器和机器人手臂。该容器构造成容纳多个被保持物体，并且包括网状部分。配置状态检测器被配置为检测设置在容器中的多个相应待保持物体的布置状态。机器人手臂包括保持器，其被构造成基于由配置状态检测器检测到的多个相应待保持物体的布置状态，在多个待保持物体之间保持被保持物体。

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