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1. 发明授权

US07171041B2 Position-orientation recognition device 有权
标题翻译：位置方向识别装置
公开(公告)号：US07171041B2
公开(公告)日：2007-01-30
申请号：US09950794
申请日：2001-09-13
申请人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban
发明人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban
IPC分类号： G06K9/00 , G06T15/00
CPC分类号： B25J9/1697 , G05B2219/39393 , G05B2219/40053 , G05B2219/40613
摘要： Upon reception of a work sensing command from a robot controller, an image processing unit obtains a two-dimensional image of thee whole work pallet including a work, with a CCD camera (a first sensor means). A line of sight is calculated based on the work position on the sensed two-dimensional image. The robot controller determines the destination of movement of the robot such that a crossing line LC of slit beams LB1, LB2 of a laser sensor (a second sensor means) can agree with the calculated line of eight. The image processing unit operates the laser sensor so as to surely irradiate the laser slit beams LB1, LB2 to the target work, permitting the laser sensor to sense the three-dimensional positional and orientation of the target work.
摘要翻译：在从机器人控制器接收到作业感测命令时，图像处理单元利用CCD照相机（第一传感器装置）获得包括作品的整个工作托盘的二维图像。基于感测的二维图像上的工作位置来计算视线。机器人控制器确定机器人的运动的目的地，使得激光传感器（第二传感器装置）的狭缝梁LB1，LB2的交叉线LC可以与所计算的八条线一致。图像处理单元操作激光传感器，以确保将激光狭缝束LB1，LB2照射到目标工件上，允许激光传感器感测目标工件的三维位置和取向。

2. 发明授权

US06763284B2 Robot teaching apparatus 有权
标题翻译：机器人教学仪器
公开(公告)号：US06763284B2
公开(公告)日：2004-07-13
申请号：US10001991
申请日：2001-12-05
申请人： Atsushi Watanabe , Tetsuya Kosaka , Katsutoshi Takizawa , Fumikazu Warashina , Kazunori Ban , Makoto Yamada , Akihiro Terada , Mitsuhiro Okuda
发明人： Atsushi Watanabe , Tetsuya Kosaka , Katsutoshi Takizawa , Fumikazu Warashina , Kazunori Ban , Makoto Yamada , Akihiro Terada , Mitsuhiro Okuda
IPC分类号： G05B1900
CPC分类号： B25J9/1697 , G05B19/4202 , G05B2219/35506 , G05B2219/36415 , G05B2219/37288 , G05B2219/37571 , G05B2219/37572 , G05B2219/40005
摘要： An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.
摘要翻译：使用相机拍摄参考对象的图像并进行显示。测量起点由图像位置指示装置指向。使用图像上的位置和相机的位置和方向获得对应的视线，机器人接近参考对象，使得其不偏离投影方向移动到适合于测量的位置。光照射在基准对象上，开始测量对象附近的测量点的面的倾斜度。拍摄包括参考物体上的亮线图像的图像，并沿着工作线顺序地测量点的3维位置。使用这些位置创建机器人的移动路径作为工作机器人的教导点。

3. 发明授权

US06665588B2 Workpiece unloading apparatus 有权
标题翻译：工件卸载装置
公开(公告)号：US06665588B2
公开(公告)日：2003-12-16
申请号：US10193172
申请日：2002-07-12
申请人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban , Ichiro Kanno
IPC分类号： G05B1500
CPC分类号： B23Q7/10 , B23Q7/04 , B23Q17/24 , B25J9/1697 , B65G61/00 , G05B2219/40053 , G05B2219/40613
摘要： A workpiece is gripped and unloaded by moving workpiece unloading means based on the results of measuring the workpiece position and orientation with a visual sensor. When a plurality of loaded workpieces are unloaded in a regular order one by one, or in groups, the position and orientation of the workpiece which is to be unloaded next change for each unloading. However, since a visual sensor is moved when necessary to the position appropriate for measuring the workpiece position and orientation, measurements of the workpieces with the visual sensor are conducted accurately. Therefore, the workpiece unloading is conducted reliably.
摘要翻译：基于通过视觉传感器测量工件位置和方向的结果，通过移动工件卸载装置来夹紧和卸载工件。当多个装载的工件以规则的顺序逐个或组合地卸载时，待卸载的工件的位置和取向接下来对于每次卸载而改变。然而，由于视觉传感器在必要时移动到适于测量工件位置和方位的位置，所以可以精确地进行用视觉传感器的工件的测量。因此，可靠地进行工件卸载。

4. 发明申请

US20050102060A1 Device for correcting positional data of robot 审中-公开
标题翻译：机器人位置数据校正装置
公开(公告)号：US20050102060A1
公开(公告)日：2005-05-12
申请号：US10980281
申请日：2004-11-04
申请人： Atsushi Watanabe , Katsutoshi Takizawa , Kazuhiko Akiyama
发明人： Atsushi Watanabe , Katsutoshi Takizawa , Kazuhiko Akiyama
IPC分类号： B25J13/08 , B23K9/12 , B23K11/24 , B23K26/02 , B23K26/03 , B25J9/10 , B25J9/16 , G05B19/19 , G05B19/401 , G05B19/408 , G06F19/00
CPC分类号： B25J9/1697 , G05B19/4083 , G05B2219/36504 , G05B2219/37555
摘要： To simply correct the positional data in the teaching program for the robot at a stable precision. The working tool (such as a spot welding gun 13 or others) is mounted to an arm of the robot 10 and imaging means 14 is detachably attached to the arm by a magnet 17 or others so that the optical axis coincides with the working direction (the opening/closing direction of the gun 13). When the positional data correcting program starts, the points P1 to P3 on the jig 1 or the workpiece 2 are imaged at a plurality of image positions D1, D2 and D3, and the position of the respective point is detected. Based on the detected result, the correction is made on the positional data in the teaching program, corresponding to the deviation (in comparison with the off-line data or positional data prior to the transfer of the system) of position and posture of the jig 1 (or the workpiece 2). The tool may be a laser beam machining nozzle, an arc welding torch or a sealing gun.
摘要翻译：以稳定的精度简单地校正机器人的教学程序中的位置数据。工作工具（例如点焊枪13等）安装在机器人10的臂上，成像装置14通过磁铁17等可拆卸地安装在臂上，使得光轴与工作方向一致枪13的打开/关闭方向）。当位置数据校正程序开始时，夹具1或工件2上的点P 1至P 3在多个图像位置D 1，D 2和D 3处成像，并且检测各个点的位置。根据检测结果，根据示教程序中的位置数据，对应于夹具的位置和姿势的偏差（与离线数据或系统传送前的位置数据相比较）进行校正 1（或工件2）。该工具可以是激光束加工喷嘴，电弧焊炬或密封枪。

5. 发明授权

US06898486B2 Position detecting device and takeout apparatus with position detecting device 有权
标题翻译：位置检测装置和带位置检测装置的取出装置
公开(公告)号：US06898486B2
公开(公告)日：2005-05-24
申请号：US10290535
申请日：2002-11-08
申请人： Atsushi Watanabe , Katsutoshi Takizawa
发明人： Atsushi Watanabe , Katsutoshi Takizawa
IPC分类号： G01B11/00 , B25J9/22 , B25J13/08 , B65G57/03 , B65G59/02 , G01B11/02 , G01B11/24 , G01B11/26 , G05B15/00 , G05B19/00 , G06T1/00 , G06T7/00 , G06T7/60
CPC分类号： G06T7/74 , G05B2219/37555 , G05B2219/37563 , G05B2219/40006 , G05B2219/40564 , Y10T29/53061
摘要： A position detecting device and a takeout apparatus capable of obtaining information on height or stage number of an object in a stack of objects by a two-dimensional image capturing device for an operation of taking out the object by a robot. A CCD camera is arranged at a position above a place where workpieces stacked in multiple stages are provided. An image processing device determines a size of the image of the uppermost workpiece in a two-dimensional image captured by the camera. The height or stage number of the workpiece is determined from the size of the workpiece image using a stored relation table or arithmetic expression representing relationship between the height or stage number of the workpiece and the size of the workpiece. For a plurality of kinds of workpieces, the relation table/arithmetic expression is stored for each kind of workpiece and selectively used in accordance of a mark on the workpiece which indicate the kind of workpiece. The obtained positional information on height or stage number is sent to a robot controller so that a robot is operated to a takeout position which is corrected based on the positional information for taking out the workpiece from a stack of workpieces.
摘要翻译：一种位置检测装置和取出装置，其能够通过二维图像拍摄装置获得关于物体堆叠中的物体的高度或台数的信息，用于通过机器人取出物体的操作。 CCD摄像机设置在设置有多个工件的位置上方的位置。图像处理装置确定由相机拍摄的二维图像中最上面的工件的图像的尺寸。使用存储关系表的工件图像的尺寸或表示工件的高度或台数与工件尺寸之间的关系的算术表达式来确定工件的高度或台数。对于多种工件，对于各种工件存储关系表/算术表达式，并根据工件上的标记选择性地使用，表示工件的种类。获得的关于高度或台数的位置信息被发送到机器人控制器，使得机器人被操作到取出位置，其基于用于从工件的堆叠中取出工件的位置信息而被校正。

6. 发明申请

US20050071048A1 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US20050071048A1
公开(公告)日：2005-03-31
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： B25J19/06 , B25J9/16 , B25J13/08 , G05B19/4067 , G06F19/00
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。

7. 发明授权

US07684897B2 Robot program generating device and robot program analyzing device 有权
标题翻译：机器人程序生成装置和机器人程序分析装置
公开(公告)号：US07684897B2
公开(公告)日：2010-03-23
申请号：US11239672
申请日：2005-09-30
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , B25J9/1671 , G05B2219/35346 , G05B2219/37205 , G05B2219/37208
摘要： A work model (or an image) is displayed on an image plane of a robot simulator (201), and a measuring portion and a measuring method are designated (202, 203) and a work shape and a work loading state are designated (204), and then it is judged whether or not the measuring portion and the measuring method are good (205). When the measuring portion and the measuring method are good, a program is generated and the processing is completed (207, 208). When the measuring portion and the measuring method are not good, an alarm is given (206), and the continuation (207) or the repetition (201) of the processing is directed. At the time of analyzing the program, the loading (101), the analysis and display of the measuring portion and the measuring method (102, 103) and the work information (104) are designated, and then it is judged whether or not the measuring portion and the measuring method, which have been analyzed, are good (105). When the measuring portion and the measuring method are good, the processing is finished (107). When the measuring portion and the measuring method are not good, an alarm is given (106), and either the completion of the processing (107) or the correction of the program (201) is selected. Due to the foregoing, a burden imposed for raising and maintaining the visual sensor robot system can be reduced.
摘要翻译：工件模型（或图像）显示在机器人模拟器（201）的图像平面上，并且指定测量部分和测量方法（202,203），并且指定工件形状和加载状态（204 ），然后判断测量部分和测量方法是否良好（205）。当测量部分和测量方法良好时，产生程序并完成处理（207,208）。当测量部分和测量方法不好时，给出警报（206），并且指示处理的继续（207）或重复（201）。在分析程序时，指定负载（101），测量部分的分析和显示以及测量方法（102,103）和工作信息（104），然后判断是否测量部分和测量方法都很好（105）。当测量部分和测量方法良好时，处理结束（107）。当测量部分和测量方法不好时，给出警报（106），并且选择处理（107）的完成或程序（201）的校正。由于上述原因，可以降低用于升高和维持视觉传感器机器人系统的负担。

8. 发明授权

US07386367B2 Workpiece conveying apparatus 有权
标题翻译：工件输送装置
公开(公告)号：US07386367B2
公开(公告)日：2008-06-10
申请号：US10780757
申请日：2004-02-19
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , B25J9/1612
摘要： A workpiece is gripped by a robot hand and an image of the workpiece is captured by a camera. An image processing device detects the position and posture of a characteristic portion of the workpiece. On the basis of the present position of the robot, the relative position and posture between a flange of the robot and the workpiece characteristic portion is detected. The relative position and posture is compared with that observed when the workpiece is gripped correctly, to determine a gripping error. If the gripping error exceeds a permissible error, the robot is stopped. If the gripping error is equal to or less than the permissible error, a taught position where the workpiece is to be released is corrected so as to cancel the adverse effect of the gripping error.
摘要翻译：工件由机器人手握住，工件的图像由相机捕获。图像处理装置检测工件的特征部分的位置和姿势。基于机器人的当前位置，检测机器人的凸缘与工件特性部分之间的相对位置和姿势。将相对位置和姿势与正确握住工件时观察到的相对位置和姿势进行比较，以确定夹紧误差。如果夹紧误差超过允许误差，则机器人停止。如果夹紧误差等于或小于允许误差，则校正要释放工件的教导位置，以消除夹紧误差的不利影响。

9. 发明申请

US20050195409A1 Measuring system 失效
标题翻译：测量系统
公开(公告)号：US20050195409A1
公开(公告)日：2005-09-08
申请号：US11073681
申请日：2005-03-08
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G06T1/00 , B25J9/16 , G01B11/24
CPC分类号： B25J9/1697 , G05B19/401 , G05B2219/37555 , G05B2219/40564
摘要： A measuring system for easily detecting Misjudged Detection (M/D). A camera for measurement attached to a robot is used to obtain an image for measurement of a workpiece so as to measure and detect a set point. Next, a camera for validation is used to obtain an image for validation of the workpiece so as to measure and detect the set point. One camera may capture both of the images for measurement and validation, by utilizing movement of the robot. It is judged whether the measured results obtained from the images represent the same point on the workpiece or not. If yes, the measured results are judged to be valid, otherwise, the measured results are judged to be invalid and an exception process, such as a retrial, is executed. The images by the camera may also be used for judging a moving path of the robot during measurement of a large object.
摘要翻译：一种易于检测误判测（M / D）的测量系统。使用附属于机器人的测量用照相机来获得用于测量工件的图像，以便测量和检测设定点。接下来，使用用于验证的相机来获得用于确认工件的图像，以便测量和检测设定点。一个相机可以通过利用机器人的移动来捕获两个图像以进行测量和验证。判断从图像获得的测量结果是否表示工件上的相同点。如果是，则将测量结果判定为有效，否则判断为无效，并执行例如重试等异常处理。照相机的图像也可以用于在大物体的测量期间判断机器人的移动路径。

10. 发明授权

US06328523B1 Apparatus for picking up articles using a vision controlled robot 有权
标题翻译：使用视觉控制机器人拾取物品的装置
公开(公告)号：US06328523B1
公开(公告)日：2001-12-11
申请号：US09295364
申请日：1999-04-21
申请人： Atsushi Watanabe , Ryuichi Hara , Kazunori Ban , Hidetoshi Kumiya
发明人： Atsushi Watanabe , Ryuichi Hara , Kazunori Ban , Hidetoshi Kumiya
IPC分类号： B25J1308
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/37555 , G05B2219/37563 , G05B2219/37572 , G05B2219/40053
摘要： A group of bolts are suppled into a placing surface of a tray, an isolated bolt is searched for by a visual sensor, and its deviation from a standard position at the time of teaching is determined. The isolated bolt is picked up by a robot that has been taught how to pick up an isolated bolt laying in a standard position. The position of the robot's hand is corrected according to the deviation from the standard position before the robot attempts to pick up the located isolated bolt. If no isolated bolt is found, a shaking device 1 is operated to loosen the piled-up bolts, and a new isolated bolt is again searched for by the visual sensor. The isolated bolt, if found, is picked up. The picking-up operation may be performed by searching for an isolated small set of bolts using a three-dimensional visual sensor. The oscillating excitation can also be provided by a robot. Also, the piled-up bolts may be loosened or disentangled using a robot equipped with a tool for leveling the pile of bolts or by using a gas jet.
摘要翻译：一组螺栓被提供到托盘的放置表面中，由视觉传感器搜索隔离的螺栓，并且确定其在教导时与标准位置的偏差。被隔离的螺栓由机器人拾取，该机器人已经被教导如何拿起放置在标准位置的隔离螺栓。机器人的手的位置根据机器人试图拿起定位的隔离螺栓之前与标准位置的偏差进行校正。如果没有发现隔离的螺栓，则操作摇动装置1以松开堆积螺栓，并且再次通过视觉传感器搜索新的隔离螺栓。被隔离的螺栓，如果发现，被拾起。可以通过使用三维视觉传感器搜索隔离的小套螺栓来执行拾取操作。振荡激励也可由机器人提供。此外，堆叠的螺栓可以使用装备有用于使螺栓堆整平或使用气体射流的工具的机器松动或解开。

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