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1. 发明申请

US20220203539A1 ROBOT SYSTEM AND OPERATION AUTHORITY SETTING PROGRAM 有权
公开(公告)号：US20220203539A1
公开(公告)日：2022-06-30
申请号：US17606333
申请日：2020-04-23
申请人： DENSO WAVE INCORPORATED
发明人： Hirota TOUMA
IPC分类号： B25J9/16 , G06F21/44 , G05B19/409 , B25J13/06
摘要： A robot system includes: a robot; a plurality of operation terminals that receive an input of a password for acquiring operation authority of the robot and an operation input for operating the robot from a user; and a robot controller communicable with the operation terminals . The robot controller drives, in a controlled manner, the robot according to operation from a single operation terminal among the operation terminals . The robot controller includes a password storage unit that stores a password for granting operation authority of the robot to the operation terminal . The robot controller further includes an operation authority grant processing unit that grants operation authority of the robot to a single operation terminal to which a proper predetermined password stored in the password storage unit is first input in a state in which operation authority of the robot is not granted to any operation terminal.

2. 发明申请

US20170021496A1 Apparatus for Operating Robots 有权
标题翻译：机器人操作装置
公开(公告)号：US20170021496A1
公开(公告)日：2017-01-26
申请号：US15075916
申请日：2016-03-21
申请人： DENSO WAVE INCORPORATED
发明人： Motoki KANADA , Atsuko SUGANO , Hirota TOUMA
IPC分类号： B25J9/16
CPC分类号： B25J9/161 , B25J9/1656 , G05B2219/36168 , G05B2219/39446
摘要： A pendant provided with a touch panel is provided as a robot operating apparatus. Using the pendant, an operating position of, for example, an operator's touch operation on the touch panel is detected. In the pendant, by calculation responding to the touch operation, a coordinate system having axes is set on the touch panel in response to the touch operation, in which the axes are associated with the axes of a robot. A determination area is also set on the touch panel in the periphery of a start position of the touch operation. The determination area has a predetermined size. In the pendant, an axis being operated of the robot is selected based on an arrival position of the touch operation in the determination area. An operating area on the touch panel is set with the arrival position as the center of the determination area, ensuring a highly-reliable touch operation.
摘要翻译：提供有触摸面板的吊坠作为机器人操作装置。使用悬挂件，检测例如操作者在触摸面板上的触摸操作的操作位置。在垂饰中，通过响应于触摸操作的计算，响应于其中轴与机器人的轴相关联的触摸操作，在触摸面板上设置具有轴的坐标系。在触摸操作的开始位置的外围的触摸面板上也设置确定区域。确定区域具有预定尺寸。在吊坠中，基于触摸操作在确定区域中的到达位置来选择机器人操作的轴。触摸面板上的操作区域以到达位置作为确定区域的中心设置，确保了高度可靠的触摸操作。

3. 发明申请

US20150077541A1 METHOD AND APPARATUS FOR INSPECTING APPEARANCE OF OBJECT 审中-公开
标题翻译：检查对象外观的方法和装置
公开(公告)号：US20150077541A1
公开(公告)日：2015-03-19
申请号：US14490048
申请日：2014-09-18
申请人： DENSO WAVE INCORPORATED
发明人： Hirota TOUMA
IPC分类号： G01N21/88 , H04N5/225 , G06T7/00
CPC分类号： G01N21/8803 , G01N21/8806 , G01N2021/8835 , G06T7/0008 , G06T7/001 , G06T2207/10004 , G06T2207/10152 , G06T2207/30164 , H04N5/2256
摘要： A method and apparatus for inspecting an object is provided. By way of example, first and second images of the object obtained by using a camera and a lighting unit. The lighting unit and the camera is controlled so as to provide the first image picked up by the camera with a first quantity of light radiated from the lighting unit and the second image picked up by the camera with the second quantity of light radiated from the lighting unit. The first quantity of light is different from the second quantity of light. Differences between pixel values of the first image and pixel values of the second image are calculated. Then, it is determined whether the object has a non-defective appearance or a detective appearance, based on comparison between the differences and reference pixel values corresponding to the differences.
摘要翻译：提供了一种用于检查物体的方法和装置。作为示例，通过使用照相机和照明单元获得的对象的第一和第二图像。照明单元和照相机被控制以便提供由照相机拍摄的第一数量的照明单元所摄取的第一图像和由照相机拾取的第二图像，其中第二数量的光从照明器辐射出来单元。第一光量与第二光量不同。计算第一图像的像素值和第二图像的像素值之间的差异。然后，基于差异与对应于差异的参考像素值之间的比较，确定对象是否具有无缺陷外观或检测外观。

4. 发明申请

US20160274787A1 APPARATUS FOR OPERATING ROBOTS 审中-公开
标题翻译：操作机器人的设备
公开(公告)号：US20160274787A1
公开(公告)日：2016-09-22
申请号：US15075876
申请日：2016-03-21
申请人： DENSO WAVE INCORPORATED
发明人： Atsuko SUGANO , Hirota TOUMA
IPC分类号： G06F3/0488 , G06F3/0486 , G06F3/041
CPC分类号： G06F3/04883 , B25J13/06 , G06F3/04847 , G06F3/0488
摘要： A robot operation apparatus includes a touch panel, operation detecting unit that is capable of detecting a touch operation or drag operation on touch panel, and motion command generating unit that generates motion command for operating a robot based on a detection result from operation detecting unit. The motion command generating unit is capable of performing a motion direction determining process in which a motion direction of the robot is determined, and a motion speed determining process in which, when the operation detecting unit detects a drag operation in a positive or negative direction in a specific linear direction on the touch panel after the motion direction determining process is performed, a motion speed Vr for operating the robot in the motion direction determined in the motion direction determining process is determined based on an absolute value |Vd| of an operating speed Vd of the drag operation.
摘要翻译：机器人操作装置包括触摸面板，能够检测触摸面板上的触摸操作或拖动操作的操作检测单元，以及基于来自操作检测单元的检测结果生成用于操作机器人的运动命令的运动指令生成单元。运动指令生成部，能够进行运动方向确定处理，其中确定机器人的运动方向;以及运动速度确定处理，其中，当操作检测单元检测到在正或负方向上的拖动操作时在执行运动方向确定处理之后的触摸面板上的特定线性方向，基于绝对值| Vd |确定用于在运动方向确定处理中确定的运动方向上操作机器人的运动速度Vr | 的拖曳操作的操作速度Vd。

5. 发明申请

US20160271792A1 ROBOT OPERATION APPARATUS AND ROBOT OPERATION PROGRAM PRODUCT 有权
标题翻译：机器人操作装置和机器人操作程序产品
公开(公告)号：US20160271792A1
公开(公告)日：2016-09-22
申请号：US15075699
申请日：2016-03-21
申请人： DENSO WAVE INCORPORATED
发明人： Daisuke YUI , Motoki KANADA , Atsuko SUGANO , Hirota TOUMA
IPC分类号： B25J9/16 , B25J13/00 , G06F3/041 , G06F3/0484 , G06F3/0488 , G06F3/0486
CPC分类号： G06F3/04847 , B25J9/1656 , B25J13/06 , G05B19/409 , G05B2219/36159 , G05B2219/36162 , G05B2219/36168 , G06F3/0416 , G06F3/0486 , G06F3/0488
摘要： A robot operation apparatus comprising: a touch panel that receives input of a touch operation and a movement operation from a user; an operation detector that detects the touch operation and the movement operation to the touch panel; and a behavior command generator that generates a behavior command operating a robot based on a detection result of the operation detector. The behavior command generator performs a behavior speed determination process that determines a behavior speed of the robot based on an operation speed of the movement operation, when the operation detector detects the movement operation to an operation graphic provided on the touch panel.
摘要翻译：一种机器人操作装置，包括：触摸面板，其接收来自用户的触摸操作和移动操作的输入; 操作检测器，其检测对触摸面板的触摸操作和移动操作; 以及基于操作检测器的检测结果生成操作机器人的行为命令的行为命令生成器。当操作检测器检测到对设置在触摸面板上的操作图形的移动操作时，行为指令发生器执行行为速度确定处理，其基于移动操作的操作速度来确定机器人的行为速度。

6. 发明申请

US20210182368A1 ROBOT OPERATION TERMINAL 有权
公开(公告)号：US20210182368A1
公开(公告)日：2021-06-17
申请号：US17117989
申请日：2020-12-10
申请人： DENSO WAVE INCORPORATED
发明人： Mizuki NAKAMURA , Hirota TOUMA , Tomoya YAMAMOTO
IPC分类号： G06F21/31 , G06F9/4401 , G05B19/4155
摘要： A robot operation terminal includes multiple application programs. The robot operation terminal is connected to a controller that controls a robot, and the robot operation terminal receives an input operation carried out by an operator to operate or set the robot. In each of application programs, a necessity of an inbuilt login is set to confirm an operation authority of the operator.

7. 发明申请

US20200094408A1 DEVICE WHICH SUPPORTS PROGRAMMING FOR ROBOTS 审中-公开
公开(公告)号：US20200094408A1
公开(公告)日：2020-03-26
申请号：US16582437
申请日：2019-09-25
申请人： DENSO WAVE INCORPORATED
发明人： Daisuke YUI , Hirota TOUMA
IPC分类号： B25J9/16
摘要： A programming support device includes a display unit displaying a motion trajectory of an industrial robot positioned corresponding to the robot. The device supports programming wherein move commands and non-move commands are included. The device also includes a first processing unit and a second processing unit. The first processing unit displays each target position of each move command using a first symbol superimposed on the motion trajectory at a position corresponding to the target position. The second processing unit displays the non-move commands executed between the first move command and second move command, by using a second symbol superimposed on the motion trajectory between the target position of the first move command and the target position of the second move command. The device also includes a third processing unit capable of selecting the first symbol and the second symbol, and editing the command corresponding to the selected symbol.

8. 发明申请

US20160229052A1 ROBOT OPERATION APPARATUS, ROBOT SYSTEM, AND ROBOT OPERATION PROGRAM 审中-公开
标题翻译：机器人操作装置，机器人系统和机器人操作程序
公开(公告)号：US20160229052A1
公开(公告)日：2016-08-11
申请号：US15023622
申请日：2014-09-19
申请人： DENSO WAVE INCORPORATED
发明人： Hirota TOUMA , Daisuke KAWASE , Akira OGAWA , Daisuke YUI , Motoki KANADA , Yoshinobu OHASHI , Atsuko SUGANO , Satoshi IDE
IPC分类号： B25J9/16 , G06F3/0488
CPC分类号： B25J9/161 , B25J9/1658 , B25J13/06 , G05B19/409 , G05B2219/36168 , G05B2219/40392 , G06F3/04883 , G06F2203/04808
摘要： A robot operation apparatus includes touch panel, touch operation detecting unit, action command generating unit, and selection operation detecting unit. The action command generating unit is capable of performing an operation determining process and an action command generating process. The operation determining process is a process for determining a drive axis or an action mode of a robot to be operated based on the selection operation detected by the selection operation detecting unit, and when a touch operation detected by the touch operation detecting unit is a drag operation, determining a movement amount of the drag operation. The action command generating process is a process for determining a movement amount of the robot based on the movement amount determined by in the operation determining process, and generating an action command for moving the robot at the drive axis or in the action mode to be operated by the movement amount.
摘要翻译：机器人操作装置包括触摸面板，触摸操作检测单元，动作指令生成单元和选择操作检测单元。动作指令生成部能够进行动作判定处理和动作指令生成处理。操作确定处理是基于由选择操作检测单元检测到的选择操作来确定要操作的机器人的驱动轴或动作模式的过程，并且当由触摸操作检测单元检测到的触摸操作是拖动操作，确定拖动操作的移动量。动作指令生成处理是基于由操作确定处理确定的移动量来确定机器人的移动量的步骤，并且生成用于在驱动轴或动作模式中移动机器人的动作命令的操作按运动量。

9. 发明申请

US20170206710A1 INFORMATION DISPLAYING SYSTEM PROVIDED WITH HEAD-MOUNTED TYPE DISPLAY 审中-公开
公开(公告)号：US20170206710A1
公开(公告)日：2017-07-20
申请号：US15362123
申请日：2016-11-28
申请人： DENSO WAVE INCORPORATED
发明人： Hirota TOUMA , Yoshihiro MIYAKOSHI
IPC分类号： G06T19/00 , G06F3/01 , G02B27/01 , G09G3/20
摘要： A system and method are provided for acquiring a respective position of a robot arm and a facility, and three-dimensional shape information according to a controller, and for acquiring a position of a worker and eye-gaze direction information acquired through a sensor unit. Furthermore, the controller is provided for calculating a display form of the facility coming into a view of the worker through a display unit of smart glasses on the basis of the aforementioned information. When information of the display form and operation information of the facility are acquired, a portion of the facility coming into the worker is set as a display prohibition region on the display unit and the operation information is displayed in a region excluding the display prohibition region.

10. 发明申请

US20160368141A1 APPARATUS AND METHOD FOR OPERATING ROBOTS 审中-公开
标题翻译：装置和操作机器人的方法
公开(公告)号：US20160368141A1
公开(公告)日：2016-12-22
申请号：US15074637
申请日：2016-03-18
申请人： DENSO WAVE INCORPORATED
发明人： Hirota TOUMA , Yoshihiro MIYAKOSHI
IPC分类号： B25J9/16 , G05B19/409 , G06F3/041
CPC分类号： B25J13/08 , B25J9/161 , B25J13/081 , G05B19/409 , G05B2219/35488 , G05B2219/36159 , G05B2219/36168 , G06F3/041 , G06F3/04883 , G06F2203/04808
摘要： A pendant is provided as a robot operating apparatus. The pendant includes an operation-input mode detecting unit that detects an operation-input mode of a touch operation inputted to a touch panel. In addition, in the pendant, an action setting unit sets an action direction and a number of actions of an inching action by a robot, based on an action mode associated with the operation-input mode with a predetermined amount of margin. Furthermore, an action command generating unit generates an action command to operate the robot such that the inching operation is performed in the action direction and by the number of actions set by the action setting unit.
摘要翻译：提供作为机器人操作装置的吊坠。吊坠包括操作输入模式检测单元，其检测输入到触摸面板的触摸操作的操作输入模式。此外，在吊架中，动作设定单元基于与操作输入模式相关联的动作模式，以预定的余量设定机器人的动作方向和动作的动作数量。此外，动作指令生成部生成动作指令，使动作操作使动作方向和动作设定部所设定的动作次数进行动作。

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