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81. 发明授权

US06377869B1 Robot controller with abnormality monitoring function 有权
标题翻译：具有异常监控功能的机器人控制器
公开(公告)号：US06377869B1
公开(公告)日：2002-04-23
申请号：US09605844
申请日：2000-06-29
申请人： Atsushi Watanabe , Tetsuya Kosaka , Hiromitsu Takahashi
发明人： Atsushi Watanabe , Tetsuya Kosaka , Hiromitsu Takahashi
IPC分类号： G06F1900
CPC分类号： B25J9/1674 , G05B19/4062
摘要： A robot controller having a function of monitoring abnormality of a robot operation to prevent an accident by stopping supply of energy or operational substance to an operational tool when the operational tool is abnormally stopped. Motion command pulses for a robot motion are obtained by computing operations when a motion statement of the operation program is read out and stored in a shared memory. Motors for driving respective robot axes are driven based on the motion command pulses. When an I/O output command is issued on a signal line to actuate an arc welder, the operation control software demands to set a predetermined waiting time period to a timer. The managing software demands to start a countdown of the timer and informs the operation control software of an elapse of the set waiting time period. The operation control software determines that an abnormality has occurred if all of the present motion command pulses stored in the shared memory are zero, and turns off the signal line to forcedly terminates the actuation of the operational tool. In the midst of the operation, if the operational tool remains unmoved over a predetermined time period, it is also determined that an abnormality has occurred and the operation is forcedly terminated.
摘要翻译：具有监视机器人操作的异常的功能的机器人控制器，以在操作工具异常停止时通过停止向操作工具供应能量或操作物质来防止事故。当操作程序的运动语句被读出并存储在共享存储器中时，通过计算操作来获得用于机器人运动的运动命令脉冲。基于运动指令脉冲来驱动用于驱动各个机器人轴的马达。当在信号线上发出I / O输出指令以启动电弧焊机时，操作控制软件要求将定时的等待时间设定为定时器。管理软件需要开始定时器的倒计时，并通知操作控制软件设置等待时间段。如果存储在共享存储器中的所有当前运动指令脉冲都为零，则操作控制软件确定已经发生异常，并且关闭信号线以强制终止操作工具的致动。在操作中，如果操作工具在预定时间段内保持不动，则还确定发生异常并且强制终止操作。

82. 发明授权

US06340875B1 Robot controller 有权
标题翻译：机器人控制器
公开(公告)号：US06340875B1
公开(公告)日：2002-01-22
申请号：US09468641
申请日：1999-12-22
申请人： Atsushi Watanabe , Tetsuaki Kato
发明人： Atsushi Watanabe , Tetsuaki Kato
IPC分类号： G05B1942
CPC分类号： B25J9/163 , G05B19/19
摘要： A robot controller which controls a process controlled variable of an operational tool mounted on a robot in synchronism with the robot motion. The position of each axis of the robot is detected by a sensor such as a position detector. In a calculating section, motion variables such as position Pn, velocity vn and acceleration &agr;n of a tool center point (TCP) are detected from the respective positions of the robot axes. An ideal output (target value) of a sensor for detecting a controlled variable to be controlled in accordance with the motion state is determined in a calculating section. A sensor output is subtracted from the target value to determine a deviation. The deviation is multiplied by a proportional gain K to determine a manipulated variable. By using this manipulated variable, the process of an arc welding machine, sealing machine, or laser beam machine in which a tool is mounted on a distal end of a robot wrist is controlled. The target value is determined in accordance with the change of motion state of the robot, and feedback control is carried out so as to follow the target value so that uniform operation is achieved.
摘要翻译：机器人控制器，其与机器人运动同步地控制安装在机器人上的操作工具的过程控制变量。机器人的各轴的位置由诸如位置检测器的传感器检测。在计算部分中，从机器人轴的相应位置检测诸如位置Pn，速度vn和工具中心点（TCP）的加速度相关的运动变量。在计算部中确定用于检测根据运动状态来控制的受控变量的传感器的理想输出（目标值）。从目标值中减去传感器输出以确定偏差。该偏差乘以比例增益K以确定操纵变量。通过使用该操作变量，控制将机器人手腕的远端安装有工具的电弧焊机，封口机或激光束机的工序。目标值根据机器人的运动状态的变化来确定，并且进行反馈控制以便跟随目标值，从而实现均匀的操作。

83. 发明授权

US06236896B1 Coordinate system setting method using visual sensor 失效
标题翻译：使用视觉传感器的坐标系设置方法
公开(公告)号：US06236896B1
公开(公告)日：2001-05-22
申请号：US09004506
申请日：1998-01-08
申请人： Atsushi Watanabe , Fumikazu Warashina
发明人： Atsushi Watanabe , Fumikazu Warashina
IPC分类号： G05B1302
CPC分类号： B25J9/1692 , G05B2219/39016 , G05B2219/39057
摘要： A method of setting a coordinate system to an automatic machine with a stable accuracy in a non-contact manner. The desired coordinate system can be set even if it exists outside a moving range of the automatic machine. The operator operates a robot control device to move a robot to a first position A1 where a coordinate system setting jig is within the field of view of a camera supported by the robot. Matrix data [A1] representing the robot position A1 is stored and the jig is photographed by the camera. The image of a group of dots on the jig are analyzed by an image processor to obtain picture element values of the individual points. Based on the picture element values of the individual points and jig data (data of distances between and number of the points), matrix data [D1] representing a position and a posture of a coordinate system &Sgr;c to be set with respect to a sensor coordinate system &Sgr;s is obtained. In the same manner, a matrix data [D2] at a position A2 is obtained. According to a relationship [C]=[A1]·[S]·[D1]=[A2]·[S]·[D2], a matrix [C] is derived and stored as data for setting the coordinate system &Sgr;c to the robot control device.
摘要翻译：以非接触的方式将坐标系设置为自动机器的方法以稳定的精度设置。即使存在于自动机器的移动范围之外，也可以设定所需的坐标系。操作者操作机器人控制装置将机器人移动到第一位置A1，其中坐标系设置夹具在由机器人支持的相机的视场内。存储表示机器人位置A1的矩阵数据[A1]，通过照相机拍摄夹具。通过图像处理器分析夹具上的一组点的图像，以获得各个点的图像元素值。基于各个点和夹具数据（点之间的距离和数量的数据）的像素值，表示相对于传感器坐标设定的坐标系SIGMAc的位置和姿势的矩阵数据[D1] 获得系统SIGMA。以相同的方式，获得位置A2处的矩阵数据[D2]。根据[C] = [A1]。[S]。[D1] = [A2]。[S]。[D2]，导出并存储矩阵[C]，作为将坐标系SIGMAc设置为机器人控制装置。

84. 发明授权

US5937143A Teaching pendant for a robot 失效
标题翻译：教学吊坠机器人
公开(公告)号：US5937143A
公开(公告)日：1999-08-10
申请号：US836752
申请日：1997-07-10
申请人： Atsushi Watanabe , Tomoyuki Terada , Hirotsugu Kaihori , Tatsuya Oumi , Shinsuke Sakamoto
发明人： Atsushi Watanabe , Tomoyuki Terada , Hirotsugu Kaihori , Tatsuya Oumi , Shinsuke Sakamoto
IPC分类号： B25J9/16 , B25J9/22 , G05B19/42 , H01H9/02 , G05B19/48
CPC分类号： B25J9/1671 , G05B2219/36162 , G05B2219/36168 , G05B2219/39438 , G05B2219/39443 , G05B2219/39444 , G05B2219/39446 , G05B2219/40522 , H01H2300/026 , H01H9/0214
摘要： The invention is a robot teaching pendant containing a display device with graphic display capabilities. Display data is displayed on the graphic display and includes the movement of a robot and taught points. This display data is generated by a display data generation unit based on robot programs stored in data storage unit by buffering the data from a robot controller. This display data may also include representative images of the robot tool along with its coordinates in a tool coordinate system and the taught points in a user or world coordinate system. Thus, the action of the robot can be visually recognized with ease, and the robot can be taught easily and accurately.
摘要翻译： PCT No.PCT / JP96 / 02688 Sec。 371日期1997年7月10日 102（e）1997年7月10日PCT PCT 1996年9月18日PCT公布。公开号WO97 / 10931 日期1997年3月27日本发明是一种包含具有图形显示能力的显示装置的机器人教学装置。显示数据显示在图形显示屏上，包括机器人和教导点的移动。该显示数据由显示数据生成单元基于通过缓冲来自机器人控制器的数据而存储在数据存储单元中的机器人程序来生成。该显示数据还可以包括机器人工具的代表性图像及其在工具坐标系中的坐标以及用户或世界坐标系中的教导点。因此，可以容易地视觉识别机器人的动作，并且可以容易且准确地教导机器人。

85. 发明授权

US5872894A Robot control apparatus and method eliminating any influence of motion in a preceding path and a recording medium storing the same 失效
标题翻译：机器人控制装置和方法，消除前一路径中的运动的影响和存储该路径的记录介质
公开(公告)号：US5872894A
公开(公告)日：1999-02-16
申请号：US809789
申请日：1997-03-28
申请人： Atsushi Watanabe , Tomoyuki Terada , Shinsuke Sakamoto
发明人： Atsushi Watanabe , Tomoyuki Terada , Shinsuke Sakamoto
IPC分类号： G05B19/05 , B25J9/18 , B25J9/22 , G05B19/18 , G05B19/4103 , G05B19/416 , G05B19/04 , G05B19/25 , G05B19/41
CPC分类号： G05B19/416 , G05B2219/34175 , G05B2219/43129 , G05B2219/45083 , Y02P90/265
摘要： A robot control method capable of eliminating any influence of motion in a preceding path section to assure an accurate path movement with respect to a portion of a path section toward an end point. In a motion statement, a path-assurance section is previously designated in terms of length, time or path-assurance ratio for a moving path �2!.fwdarw.�3!. A path motion plan EFGH for the moving path �2!.fwdarw.�3! is created so that a path section represented by DHGK is the path-assurance section designated in the motion statement, assuming that D represents a terminal point of the motion along the moving path �1!.fwdarw.�2!. Consequently, an influence of motion of the moving path �1!.fwdarw.�2! is not exerted on the motion after a point in time represented by D or K, to assure a movement on the path �2!.fwdarw.�3! in the path-assurance section.
摘要翻译： PCT No.PCT / JP96 / 02114 Sec。 371日期1997年3月28日 102（e）1997年3月28日PCT PCT 1996年7月26日PCT公布。公开号WO97 / 05533 日期1997年2月13日一种机器人控制方法，其能够消除前一路径部分中的运动的任何影响，以确保相对于路径部分的朝向终点的一部分的准确路径运动。在运动声明中，先前根据移动路径的长度，时间或路径保证率来指定路径保护部分[2] - > [3]。创建用于移动路径[2] - > [3]的路径运动计划EFGH，使得由DHGK表示的路径部分是在运动语句中指定的路径保证部分，假设D表示运动的终点移动路径[1] - > [2]。因此，由D或K表示的时间点后的运动不会对移动路径[1]→2的运动产生影响，以保证路径[2]→运动[3] 在路径保证部分。

86. 发明授权

US5845053A Method for teaching welding torch orientation 失效
标题翻译：焊枪方向教学方法
公开(公告)号：US5845053A
公开(公告)日：1998-12-01
申请号：US548146
申请日：1995-10-25
申请人： Atsushi Watanabe , Takayuki Ito , Tatsuo Karakama
发明人： Atsushi Watanabe , Takayuki Ito , Tatsuo Karakama
IPC分类号： B23K9/12 , B23K9/127 , B25J9/22 , G05B19/42 , G06F15/18
CPC分类号： B23K9/12 , B23K9/16 , B23K9/32 , G05B19/427 , G05B2219/45104 , Y02P90/265
摘要： First, an operator sequentially teaches the start point A, the end point F and junction points B, C, D, E on the welding path by moving the torch head by jog feed without paying attention to the torch orientation. Next, a reference plane to define the orientation of the torch is specified, and an inclination angle and a forward angle representing the torch orientation be inputted into a robot controller. On the basis of these inputted angle data and the taught data, a basic welding orientation is automatically calculated. Further auxiliary points are set around the junction points B through E each forming corner parts connecting straight lines; tool vectors which may give a smooth torch orientation change through the corner parts are automatically calculated for the auxiliary points and the junction points; and on the basis of the results, a welding program is produced. Among elements which determine the torch orientation, an element relating to the rotation around the torch axis reflects the state at the time of teaching of points A to E.
摘要翻译：首先，操作者通过点动进给来移动割炬头，而不注意割炬方向，顺序地教导焊接路径上的起点A，终点F和结点B，C，D，E。接下来，指定用于限定割炬定向的参考平面，并且将表示割炬方位的倾斜角度和向前角度输入到机器人控制器中。基于这些输入的角度数据和教导的数据，自动计算基本的焊接取向。另外辅助点设置在连接点B至E周围，每个连接点形成连接直线的拐角部分; 自动计算辅助点和连接点的刀具向量，可以给出通过拐角部分平滑的手电筒取向变化; 并根据结果，生产焊接程序。在确定割炬方向的元件中，与割炬轴线周围的旋转有关的元件反映了点A到E的教学时的状态。

87. 发明授权

US5557096A Multiple sheet electronic delivery tag 失效
标题翻译：多页电子送货标签
公开(公告)号：US5557096A
公开(公告)日：1996-09-17
申请号：US215711
申请日：1994-03-22
申请人： Atsushi Watanabe , Hitoshi Kamiya , Eiji Nakada , Tomoaki Mizuno , Yoshiyuki Kago , Tokutaro Murase , Yoshihiko Inukai
发明人： Atsushi Watanabe , Hitoshi Kamiya , Eiji Nakada , Tomoaki Mizuno , Yoshiyuki Kago , Tokutaro Murase , Yoshihiko Inukai
IPC分类号： G06K1/12 , G06K7/00 , G06K17/00 , G06K19/07 , G06K19/08 , G07B17/00 , G07C9/00
CPC分类号： G06K19/0702 , G06K1/128 , G06K19/0723 , G06K19/07758 , G06K19/08 , G06K7/0008 , G07B17/00508 , G07C9/00111 , G06K2017/0048 , G07B2017/00588 , G07B2017/00629 , G07B2017/00717 , G07B2017/00725
摘要： An electronic device intended for use as a tag to be attached to identify contents of the container to which it is attached. In particular, the present invention relates to an electronic tag which has a facility for storing delivery information and is equipped with a responding means for transmitting the delivery information stored therein in response to a query signal received from an interrogating apparatus. Codes, including items such as the names and addresses of the destination and the sender, and a sorting code are written into predetermined blanks of a delivery label, and into a memory. The memory responds to a query by transmitting the sorting information to allow automated sorting. The tag may be initiated only when torn, to extend battery shelf life.
摘要翻译：一种电子装置，用于附加标签以识别与其连接的容器的内容物。特别地，本发明涉及一种电子标签，该电子标签具有用于存储传送信息的设备，并且具有响应于从询问设备接收到的查询信号而发送存储在其中的传送信息的响应装置。代码，包括诸如目的地和发送者的名称和地址的项目以及分类代码被写入到递送标签的预定空白中，并且被写入到存储器中。存储器通过发送排序信息来响应查询以允许自动排序。标签只有在撕裂时才能启动，以延长电池的保质期。

88. 发明授权

US5525991A Mobile object identification system 失效
标题翻译：移动对象识别系统
公开(公告)号：US5525991A
公开(公告)日：1996-06-11
申请号：US204179
申请日：1994-02-24
申请人： Michinaga Nagura , Manabu Matsumoto , Toshihide Ando , Mutsushi Yamashita , Taisei Katoh , Yoshiyuki Kago , Atsushi Watanabe , Naoki Tokitsu
发明人： Michinaga Nagura , Manabu Matsumoto , Toshihide Ando , Mutsushi Yamashita , Taisei Katoh , Yoshiyuki Kago , Atsushi Watanabe , Naoki Tokitsu
IPC分类号： G01S13/75 , G01S13/76 , G06K1/12 , G06K7/10 , G06K19/07 , G06K19/073 , G07B15/06 , G07F7/10 , G08G1/017 , H04B1/59
CPC分类号： G08G1/017 , G01S13/751 , G01S13/765 , G01S13/767 , G06K1/128 , G06K19/0723 , G06K7/10059 , G06K7/10346 , G06Q20/341 , G07B15/063 , G07F7/082 , G07F7/1008
摘要： The primary object of the invention is to realize a mobile object identification system of simple construction and low cost, in which the responding unit attached to a mobile object writes data only once when it receives write signals repeatedly in communication with antenna units. When a tag unit (responding unit) receives a write signal from a writing antenna unit, it writes data to the data memory when a completion flag is cleared. When the data is first written, a control circuit sets the completion flag. Then, if the tag unit receives additional write signals in the communication area of the same writing antenna unit, the control circuit invalidates the data write command on the ground that the completion flag is set, thereby preventing duplicate data writing.
摘要翻译： PCT No.PCT / JP93 / 00858 Sec。 371日期1994年2月24日 102（e）1994年2月24日PCT提交1993年6月24日PCT公布。 No.W094 / 00921 PCT出版物日本1994年1月6日。本发明的主要目的是实现一种结构简单，成本低的移动物体识别系统，其中连接到移动对象的响应单元在通信中重复接收写入信号时仅写入数据一次带天线单元。当标签单元（响应单元）接收到来自写入天线单元的写信号时，当清除完成标志时，它将数据写入数据存储器。当数据首次写入时，控制电路设置完成标志。然后，如果标签单元在相同的写入天线单元的通信区域中接收附加的写入信号，则控制电路基于设置完成标志而使数据写入命令无效，从而防止重复的数据写入。

89. 发明授权

US5313052A Aircraft baggage managing system utilizing a response circuit provided on a baggage tag 失效
标题翻译：利用行李标签上提供的响应电路的飞机行李管理系统
公开(公告)号：US5313052A
公开(公告)日：1994-05-17
申请号：US903972
申请日：1992-06-26
申请人： Atsushi Watanabe , Tatsuya Hirata
发明人： Atsushi Watanabe , Tatsuya Hirata
IPC分类号： B65G43/08 , B64F1/00 , B64F1/32 , B64F1/36 , B65G47/49 , G01S13/74 , G01S13/75 , G01S13/76 , G01S13/79 , G07B15/00 , G06F15/21
CPC分类号： G07B15/00 , B64F1/366 , B64F1/368
摘要： A system for computer-managing information of baggage to be loaded in an aircraft. The system comprises a response circuit attached to the baggage and a reader disposed at a classification point of the baggage. The response circuit operates to input and store baggage information indicative of at least a flight name of the aircraft and the owner of the baggage, and in response to a question electromagnetic wave, outputs a response electromagnetic wave containing the baggage information. The reader transmits the question electromagnetic wave to the response circuit means and to receive the response electromagnetic wave from the response circuit, thereby reading out the baggage information so that the baggage can be classified in accordance with the read baggage information. Also included is a computer for inputting and storing the baggage information read by the reader and for inputting and storing information representative of the owner of the baggage, the computer performing a verification between the baggage owner and the baggage on the basis of the inputted baggage information and the inputted owner information.
摘要翻译：用于计算机管理要装载在飞机上的行李信息的系统。该系统包括附于行李的响应电路和设置在该行李的分类点处的读取器。响应电路用于输入和存储指示飞行器的飞行名称和行李的所有者的行李信息，并且响应于问题电磁波，输出包含行李信息的响应电磁波。读取器将问题电磁波发送到响应电路装置并从响应电路接收响应电磁波，从而读出行李信息，以便可以根据读取的行李信息分类行李。还包括用于输入和存储由读取器读取的行李信息并用于输入和存储代表该行李的所有者的信息的计算机，该计算机基于所输入的行李信息来执行行李拥有者和该行李之间的验证和输入的所有者信息。

90. 发明授权

US5066902A Automatic nominal data setting method in a visual sensor system 失效
标题翻译：视觉传感器系统中的自动数据设定方法
公开(公告)号：US5066902A
公开(公告)日：1991-11-19
申请号：US465108
申请日：1990-02-20
申请人： Atsushi Watanabe
发明人： Atsushi Watanabe
IPC分类号： G01B21/00 , B25J9/16 , B25J19/02 , B25J19/04 , G05B19/401 , G05B19/42
CPC分类号： B25J19/021 , B25J9/1697 , G05B19/4015 , G05B19/4207 , G05B2219/36417
摘要： An automatic nominal data setting method in a visual sensor system is capable of accurately and rapidly setting nominal data with ease, and a correction data deriving method is executable on the basis of the automatically set nominal data. If operation of the visual sensor system in a nominal mode is determined (S200) upon start of execution of an orientation portion of a user program by the visual sensor system mounted on an industrial robot, a message for interrogating whether or not nominal data setting should be executed is displayed (S201). When an operator inputs a nominal data setting command (S202), the workpiece position/posture data in the sensor coordinate system at that time, determined based on gray-scale image data, is converted into workpiece position/posture data in the robot coordinate system to be stored as nominal data (S203). During a robot operation, the visual sensor system calculates correction data for correction of the operating position/posture of the robot on the basis of workpiece position/posture data created similarly and the nominal data, and supplies same to the robot.
摘要翻译： PCT No.PCT / JP89 / 00661 Sec。 371日期1990年2月20日 102（e）日期1990年2月20日PCT提交1989年6月30日PCT公布。公开号WO90 / 00109 1990年1月11日。视觉传感器系统中的自动标称数据设置方法能够容易地准确和快速地设置标称数据，并且可以基于自动设置的标称数据来执行校正数据导出方法。如果通过安装在工业机器人上的视觉传感器系统开始执行用户程序的定向部分，确定视觉传感器系统在标称模式下的操作（S200），则询问是否需要标称数据设置被显示（S201）。当操作者输入标称数据设定指令（S202）时，基于灰度图像数据确定的当时的传感器坐标系中的工件位置/姿势数据被转换为机器人坐标系中的工件位置/姿势数据作为标称数据存储（S203）。在机器人操作期间，视觉传感器系统基于类似地创建的工件位置/姿势数据和标称数据来计算用于校正机器人的操作位置/姿势的校正数据，并将其提供给机器人。

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