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1. 发明授权

US5300868A Robot teaching method 失效
标题翻译：机器人教学法
公开(公告)号：US5300868A
公开(公告)日：1994-04-05
申请号：US923802
申请日：1992-09-02
申请人： Atsushi Watanabe , Tatsuo Karakama , Taro Arimatsu , Kazuhiko Akiyama
发明人： Atsushi Watanabe , Tatsuo Karakama , Taro Arimatsu , Kazuhiko Akiyama
IPC分类号： B25J9/10 , B25J9/16 , B25J9/22 , G05B19/408 , G05B19/4093 , G05B19/42
CPC分类号： G05B19/4083 , B25J9/1607 , G05B2219/36405 , G05B2219/36503 , G05B2219/37572
摘要： A operation program of a robot is simply changed by using a workpiece body without using a master body. The operation program of the robot is corrected by correction data obtained from cameras. When a point of the operation program is desired to be changed to another point, a point on the workpiece body is changed to a changed point. A robot control unit reads the changed point as the coordinate values of the respective axes and changes the same to space coordinate values. Further, the space coordinate values are converted to reference space coordinate values on the master body by an inverse conversion matrix of the correction data. The reference space coordinate values are inversely converted to the coordinate values of respective reference axes. Since the operation program is commanded by the coordinate values of the respective reference axes, the point of the operation program is converted to the another point by using the coordinate values of the respective reference axes. With this method, the operation program can be simply changed without using the master body.
摘要翻译： PCT No.PCT / JP92 / 00065 Sec。 371日期：1992年9月2日 102（e）1992年9月2日PCT PCT 1992年1月23日PCT公布。出版物WO92 / 12830 PCT 日期：1992年8月6日。通过使用工件体，简单地改变机器人的操作程序，而不使用主体。通过从照相机获得的校正数据校正机器人的操作程序。当需要将操作程序的点改变为另一点时，将工件体上的点改变为变化点。机器人控制单元读取改变的点作为各轴的坐标值，并将其改变为空间坐标值。此外，空间坐标值通过校正数据的逆转换矩阵转换到主体上的参考空间坐标值。参考空间坐标值被反向转换为各个参考轴的坐标值。由于操作程序由各个参考轴的坐标值指令，所以通过使用各个参考轴的坐标值将操作程序的点转换为另一个点。使用该方法，可以简单地改变操作程序而不使用主体。

2. 发明授权

US06414711B1 Apparatus for correcting movement path of a robot and a method therefor 失效
公开(公告)号：US06414711B1
公开(公告)日：2002-07-02
申请号：US08836059
申请日：1997-04-29
申请人： Taro Arimatsu , Kazuhiko Akiyama
发明人： Taro Arimatsu , Kazuhiko Akiyama
IPC分类号： H04N718
摘要： A tool mounted on the wrist end of a robot is placed in a predetermined photographing position, and the front and side faces of the tool are photographed by cameras to obtain three-dimensional shape data of the tool. The extent of deformation of the tool is detected by comparing the obtained shape data and reference shape data, and a programmed movement path for the robot is corrected depending on the extent of deformation.

3. 发明授权

US07734376B2 Hand and handling robot 有权
标题翻译：手和处理机器人
公开(公告)号：US07734376B2
公开(公告)日：2010-06-08
申请号：US11365601
申请日：2006-03-02
申请人： Atsushi Watanabe , Kazunori Ban , Taro Arimatsu , Masaru Oda , Yoshinori Ochiishi , Hiroaki Kubota
发明人： Atsushi Watanabe , Kazunori Ban , Taro Arimatsu , Masaru Oda , Yoshinori Ochiishi , Hiroaki Kubota
IPC分类号： G06F19/00
CPC分类号： B25J15/00
摘要： A hand as an end effector. The hand includes a base, a hook element associated with the base and capable of hooking and lifting an object, a holding element associated with the base and cooperating with the hook element to hold the object therebetween, and a drive section causing a relative movement between the hook element and the holding element. For example, the hook element is arranged movably in a direction toward and away from the holding element on the base, and the drive section drives the hook element. Alternatively, the holding element is arranged movably in a direction toward and away from the hook element on the base, and the drive section drives the holding element. A handling robot includes an arm and the above-described hand attached to the arm.
摘要翻译：一只手作为末端执行器。手包括基部，与基部相关联并能够钩住和提起物体的钩元件，与基部相关联并与钩元件配合以保持物体的保持元件，以及驱动部分，其引起相对运动钩元件和保持元件。例如，钩元件能够在朝向和远离基座上的保持元件的方向上移动地布置，并且驱动部分驱动钩元件。或者，保持元件沿着朝向和远离基座上的钩元件的方向可移动地布置，并且驱动部分驱动保持元件。处理机器人包括臂和附接到臂的上述手。

4. 发明授权

US07200260B1 Teaching model generating device 失效
标题翻译：教学模式生成装置
公开(公告)号：US07200260B1
公开(公告)日：2007-04-03
申请号：US09546213
申请日：2000-04-10
申请人： Atsushi Watanabe , Taro Arimatsu
发明人： Atsushi Watanabe , Taro Arimatsu
IPC分类号： G06K9/00 , G06K9/62 , G06F19/00 , G05B19/00 , G05B15/00 , G05B19/18
CPC分类号： B25J9/1692
摘要： A workpiece W serving as an object for detection is fixed in place. A camera 20 is mounted to the end of a robot RB. The camera is turned about an axis, which passes through the center position of the workpiece W and is perpendicular to the optical axis of the camera, to take an image of the workpiece W at a plurality of positions in different directions. A teaching model is generated on the basis of each produced image data. The relative position and posture of the workpiece to the camera 20 is also stored in association with the teaching model. Thus, it is possible to easily generate the teaching model of the workpiece regardless of three-dimensional variations in posture.
摘要翻译：用作检测对象的工件W被固定就位。照相机20安装在机器人RB的末端。相机绕轴线转动，该轴线穿过工件W的中心位置并垂直于相机的光轴，以在不同方向上的多个位置拍摄工件W的图像。基于每个生成的图像数据生成教学模型。工件与照相机20的相对位置和姿态也与教学模型相关联地存储。因此，无论姿势的三维变化如何，都可以容易地生成工件的教学模型。

5. 发明授权

US07151848B1 Image processing apparatus for robot 有权
标题翻译：机器人图像处理装置
公开(公告)号：US07151848B1
公开(公告)日：2006-12-19
申请号：US09429920
申请日：1999-10-29
申请人： Atsushi Watanabe , Ryuichi Hara , Taro Arimatsu
发明人： Atsushi Watanabe , Ryuichi Hara , Taro Arimatsu
IPC分类号： G06K9/00
CPC分类号： B25J9/1697 , B25J9/1656 , G05B2219/39449 , G05B2219/40385 , G05B2219/40564 , G05B2219/40607
摘要： A robot control unit 42 and an image processing control unit (control unit of the image processing apparatus) 43 are incorporated into a robot controller 40. A camera CM is connected to the image processing control unit 43. A main body 1 of a robot is connected to the robot control unit 42 through an amplifier 41. A portable robot teaching pendant 80 connected to the robot control unit 42 is provided with a monitor display, and functions also as a teaching pendant of the image processing apparatus. Therefore, by using the teaching pendant 80, manipulation of image processing, and issuing of an instruction to a program for processing an image can be performed. Furthermore, an image obtained by a camera CM, and information relevant to the manipulation of the image processing apparatus such as an operation menu, etc. can be displayed on the monitor display. Therefore, an operator can efficiently perform all operations relevant to the robot, the camera, processing an image, etc. while watching a monitor screen.
摘要翻译：机器人控制单元42和图像处理控制单元（图像处理设备的控制单元）43并入机器人控制器40中。相机CM连接到图像处理控制单元43.机器人的主体1 通过放大器41连接到机器人控制单元42.连接到机器人控制单元42的便携式机器人示教装置80设置有监视器显示器，并且还用作图像处理装置的示教装置。因此，通过使用示教装置80，可以执行对图像处理的操作，以及向用于处理图像的程序发出指令。此外，可以在监视器显示器上显示由照相机CM获得的图像，以及与诸如操作菜单等的图像处理装置的操纵有关的信息。因此，操作者可以在观看监视器屏幕的同时有效地执行与机器人，相机，处理图像等相关的所有操作。

6. 发明申请

US20060200274A1 Hand and handling robot 有权
标题翻译：手和处理机器人
公开(公告)号：US20060200274A1
公开(公告)日：2006-09-07
申请号：US11365601
申请日：2006-03-02
申请人： Atsushi Watanabe , Kazunori Ban , Taro Arimatsu , Masaru Oda , Yoshinori Ochiishi , Hiroaki Kubota
发明人： Atsushi Watanabe , Kazunori Ban , Taro Arimatsu , Masaru Oda , Yoshinori Ochiishi , Hiroaki Kubota
IPC分类号： G06F19/00
CPC分类号： B25J15/00
摘要： A hand as an end effector. The hand includes a base, a hook element associated with the base and capable of hooking and lifting an object, a holding element associated with the base and cooperating with the hook element to hold the object therebetween, and a drive section causing a relative movement between the hook element and the holding element. For example, the hook element is arranged movably in a direction toward and away from the holding element on the base, and the drive section drives the hook element. Alternatively, the holding element is arranged movably in a direction toward and away from the hook element on the base, and the drive section drives the holding element. A handling robot includes an arm and the above-described hand attached to the arm.
摘要翻译：一只手作为末端执行器。手包括基部，与基部相关联并能够钩住和提起物体的钩元件，与基部相关联并与钩元件配合以保持物体的保持元件，以及驱动部分，其引起相对运动钩元件和保持元件。例如，钩元件能够在朝向和远离基座上的保持元件的方向上移动地布置，并且驱动部分驱动钩元件。或者，保持元件沿着朝向和远离基座上的钩元件的方向可移动地布置，并且驱动部分驱动保持元件。处理机器人包括臂和附接到臂的上述手。

7. 发明授权

US07177459B1 Robot system having image processing function 失效
标题翻译：具有图像处理功能的机器人系统
公开(公告)号：US07177459B1
公开(公告)日：2007-02-13
申请号：US09546392
申请日：2000-04-10
申请人： Atsushi Watanabe , Taro Arimatsu
发明人： Atsushi Watanabe , Taro Arimatsu
IPC分类号： G06K9/00
CPC分类号： B25J9/1697 , G05B2219/37553 , G05B2219/37555 , G05B2219/37567 , G05B2219/39393 , G05B2219/40053 , G05B2219/40613
摘要： A robot system having an image processing function capable of detecting position and/or posture of individual workpieces randomly arranged in a stack to determine posture, or posture and position of a robot operation suitable for the detected position and/or posture of the workpiece. Reference models are created from two-dimensional images of a reference workpiece captured in a plurality of directions by a first visual sensor and stored. Also, the relative positions/postures of the first visual sensor with respect to the workpiece at the respective image capturing, and relative position/posture of a second visual sensor to be situated with respect to the workpiece are stored. Matching processing between an image of a stack of workpieces captured by the camera and the reference models are performed and an image of a workpiece matched with one reference model is selected. A three-dimensional position/posture of the workpiece is determined from the image of the selected workpiece, the selected reference model and position/posture information associated with the reference model. The position/posture of the second visual sensor to be situated for measurement is determined based on the determined position/posture of the workpiece and the stored relative position/posture of the second visual sensor, and precise position/posture of the workpiece is measured by the second visual sensor at the determined position/posture of the second visual sensor. A picking operation for picking out a respective workpiece from a randomly arranged stack can be performed by a robot based on the measuring results of the second visual sensor.
摘要翻译：一种具有图像处理功能的机器人系统，其能够检测随机布置在堆叠中的各个工件的位置和/或姿势，以确定适合于检测到的工件的位置和/或姿势的机器人操作的姿势或姿势和位置。通过第一视觉传感器从多个方向上捕获的参考工件的二维图像创建参考模型并存储。此外，存储第一视觉传感器相对于相应图像拍摄时的工件的相对位置/姿势以及相对于工件定位的第二视觉传感器的相对位置/姿势。执行由照相机拍摄的工件堆叠的图像与参考模型之间的匹配处理，并且选择与一个参考模型匹配的工件的图像。从所选择的工件的图像，所选择的参考模型和与参考模型相关联的位置/姿势信息确定工件的三维位置/姿势。基于确定的工件的位置/姿势和第二视觉传感器的存储的相对位置/姿势来确定要测量的第二视觉传感器的位置/姿势，并且通过以下方式测量工件的精确位置/姿态：在第二视觉传感器的确定的位置/姿势下的第二视觉传感器。可以通过机器人基于第二视觉传感器的测量结果来执行从随机布置的堆叠中挑选相应工件的拾取操作。

8. 发明授权

US07084900B1 Image processing apparatus 有权
标题翻译：图像处理装置
公开(公告)号：US07084900B1
公开(公告)日：2006-08-01
申请号：US09546214
申请日：2000-04-10
申请人： Atsushi Watanabe , Taro Arimatsu
发明人： Atsushi Watanabe , Taro Arimatsu
IPC分类号： H04N7/18 , H04N9/47
CPC分类号： G06K9/6203 , G06T7/75 , G06T2207/30164
摘要： An image processing apparatus capable of detecting position and posture of individual workpieces randomly arranged in a stack and having identical shapes. Reference models are created from two-dimensional images of a reference workpeace captured in a plurality of directions by a camera and stored. Also, the relative positions/postures of the workpiece with respect to the camera at the respective image capturing are stored. An image of a stack of workpieces is captured by the camera to obtain a two-dimensional image and the position/posture of the camera at the image capturing is stored. An image of a workpiece matched with one reference model is selected by matching processing of the reference model with the captured image. A three-dimensional position/posture of the workpiece with respect to the camera is obtained from the image of the selected workpiece, the selected reference model and position/posture information associated with the reference model. A picking operation for picking out a respective workpiece from a randomly arranged stack can be performed by a robot based on the position/posture of the workpiece.
摘要翻译：一种图像处理装置，能够检测随机布置在堆叠中并具有相同形状的各个工件的位置和姿势。通过照相机在多个方向上捕获的参考工作平衡的二维图像来创建参考模型并存储。此外，存储相对于相机在相应图像拍摄时相对于工件的相对位置/姿势。通过照相机拍摄一堆工件的图像以获得二维图像，并存储摄像机在摄像时的位置/姿势。通过参考模型与捕获图像的匹配处理来选择与一个参考模型相匹配的工件的图像。从所选择的工件的图像，所选择的参考模型和与参考模型相关联的位置/姿势信息获得工件相对于照相机的三维位置/姿态。可以通过机器人基于工件的位置/姿势来执行从随机布置的堆叠中挑选相应工件的拾取操作。

9. 发明授权

US5566247A Taught data setting method in a visual sensor system 失效
标题翻译：在视觉传感器系统中教授数据设置方法
公开(公告)号：US5566247A
公开(公告)日：1996-10-15
申请号：US91085
申请日：1993-07-14
申请人： Atsushi Watanabe , Taro Arimatsu
发明人： Atsushi Watanabe , Taro Arimatsu
IPC分类号： G06K9/62
CPC分类号： G06K9/6256
摘要： A taught data setting method in a visual sensor system, capable of automatically and rapidly setting optimum taught data. An image of a single circular sample is subject to image processing to determine formal setting values of first to sixth parameters (P1-P6), respectively corresponding to circle diameter, circumference, area and deformation degree, and types of a smoother filter and an emphasizing filter. Many sample images are then subject to image processing which utilizes the formal setting values, to thereby determine set center positions of the respective images. An optimum value of the first parameter enough to minimize the sum of the squares of the errors between the set center positions and image center positions is automatically determined (100), the image center positions being detected while the first parameter is changed, with the second to fourth parameters kept fixed at their formal setting values. Similarly, optimum values of the second to fourth parameters are determined (100-103). Image processing is further performed while changing filter types and keeping the first to fourth parameters fixed at their optimum values, thereby determining optimum values of the fifth and sixth parameters (108,109).
摘要翻译：一种在视觉传感器系统中教导的数据设置方法，能够自动且快速地设定最佳教学数据。单个圆形样品的图像进行图像处理以确定分别对应于圆直径，圆周，面积和变形程度的第一至第六参数（P1-P6）的形式设定值，以及更平滑滤镜的类型和强调过滤。然后，许多样本图像经受利用形式设定值的图像处理，从而确定各个图像的设定中心位置。自动确定第一参数的最佳值，足以使设定的中心位置和图像中心位置之间的误差的平方和最小化（100），在第一参数改变时检测图像中心位置，第二参数被改变第四个参数保持固定在其正式设定值。类似地，确定第二至第四参数的最佳值（100-103）。进一步执行图像处理，同时改变滤波器类型并将第一至第四参数固定为其最佳值，从而确定第五和第六参数（108,109）的最佳值。

10. 发明授权

US5319443A Detected position correcting method 失效
标题翻译：检测位置校正方法
公开(公告)号：US5319443A
公开(公告)日：1994-06-07
申请号：US941071
申请日：1992-10-16
申请人： Atsushi Watanabe , Taro Arimatsu , Fumikazu Warashina
发明人： Atsushi Watanabe , Taro Arimatsu , Fumikazu Warashina
IPC分类号： B25J9/10 , B25J9/16 , G01S5/16 , G05B19/18 , G05B19/401 , G05D3/12 , G01B11/00
CPC分类号： G01S5/16 , B25J9/1692 , B25J9/1697 , G05B19/4015
摘要： After a calibration process has been carried out once for a sensor with respect to a certain position, the position of an object can be detected by the sensor in any other positions, so that the object can positionally be detected in a wide range. Specifically, calibration data (CDA) (32) is produced by calibration process in a position A before a camera moves, and calibration data (CDB) (33) for the camera after it is moved is calculated based on distance data CM (12) with respect to the position and attitude of the camera (3). Then, the position of an object (30) is detected on the basis of the calibration data (CDB) (33) and image data (WDB) (31) of the object (30) imaged by the camera (3) which is in the position B.
摘要翻译： PCT No.PCT / JP92 / 00241 Sec。 371日期：1992年10月16日 102（e）日期1992年10月16日PCT提交1990年2月28日PCT公布。出版物WO92 / 15838 日期为1992年9月17日。对于传感器相对于某个位置进行了一次校准处理后，可以通过传感器在任何其他位置检测物体的位置，从而可以在物体上进行位置检测在很大范围内。具体地说，通过在相机移动之前的位置A中的校准处理产生校准数据（CDA）（32），并且基于距离数据CM（12）计算摄像机移动后的校准数据（CDB）（33）相对于照相机（3）的位置和姿态。然后，基于由相机（3）成像的物体（30）的校准数据（CDB）（33）和图像数据（30））检测物体（30）的位置，位置B.

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