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1. 发明授权

US07899577B2 Measuring system and calibration method 有权
标题翻译：测量系统和校准方法
公开(公告)号：US07899577B2
公开(公告)日：2011-03-01
申请号：US11822093
申请日：2007-07-02
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
IPC分类号： G06F19/00
CPC分类号： B25J9/1692 , G01B21/042 , G05B2219/37555 , G05B2219/39008 , G05B2219/39045
摘要： A measuring system and a calibration method for automatically calculating errors of mechanical parameters with high accuracy and correcting the parameters, by means of a relatively small and inexpensive measuring device. In relation to a plurality of positions of measurement, a robot is automatically moved such that, on a light receiving surface of a camera, the distance between the centers of an ellipse indicating a mark of a target and a circle of representing the shape of the target, and the difference between the length of the long axis of the ellipse and the diameter of the circle are within a predetermined error range.
摘要翻译：一种测量系统和一种校准方法，用于通过相对较小且便宜的测量装置自动计算机械参数的误差并以高精度校正参数。关于多个测量位置，机器人自动移动，使得在相机的光接收表面上，指示目标的标记的椭圆的中心与表示目标的形状的圆之间的距离目标，并且椭圆的长轴的长度与圆的直径之间的差在预定的误差范围内。

2. 发明申请

US20080004750A1 Measuring system and calibration method 有权
标题翻译：测量系统和校准方法
公开(公告)号：US20080004750A1
公开(公告)日：2008-01-03
申请号：US11822093
申请日：2007-07-02
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
IPC分类号： G06F19/00
CPC分类号： B25J9/1692 , G01B21/042 , G05B2219/37555 , G05B2219/39008 , G05B2219/39045
摘要： A measuring system and a calibration method for automatically calculating errors of mechanical parameters with high accuracy and correcting the parameters, by means of a relatively small and inexpensive measuring device. In relation to a plurality of positions of measurement, a robot is automatically moved such that, on a light receiving surface of a camera, the distance between the centers of an ellipse indicating a mark of a target and a circle of representing the shape of the target, and the difference between the length of the long axis of the ellipse and the diameter of the circle are within a predetermined error range.
摘要翻译：一种测量系统和一种校准方法，用于通过相对较小且便宜的测量装置自动计算机械参数的误差并以高精度校正参数。关于多个测量位置，机器人自动移动，使得在相机的光接收表面上，指示目标的标记的椭圆的中心与表示目标的形状的圆之间的距离目标，并且椭圆的长轴的长度与圆的直径之间的差在预定的误差范围内。

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. 发明授权

US07720573B2 Robot control apparatus 有权
标题翻译：机器人控制装置
公开(公告)号：US07720573B2
公开(公告)日：2010-05-18
申请号：US11812449
申请日：2007-06-19
申请人： Makoto Yamada , Kazunori Ban , Katsutoshi Takizawa
发明人： Makoto Yamada , Kazunori Ban , Katsutoshi Takizawa
IPC分类号： G06F19/00
CPC分类号： B25J13/06 , B25J19/023
摘要： A robot control apparatus includes a control apparatus body fixedly installed and connected to a robot and a portable teaching pendant connected to the control apparatus body to operate the robot through the teaching pendant. The teaching pendant includes an imaging device connector for connecting an imaging device to the teaching pendant so as to enable the image picked up by the imaging device to be directly input to the teaching pendant through the imaging device connector.
摘要翻译：机器人控制装置包括固定地安装并连接到机器人的控制装置主体和连接到控制装置主体的便携式示教装置，以通过示教器操作机器人。示教装置包括用于将成像装置连接到示教器的成像装置连接器，以便能够使由成像装置拍摄的图像通过成像装置连接器直接输入到教导吊坠。

5. 发明申请

US20080300723A1 Teaching position correcting device 审中-公开
标题翻译：教学位置校正装置
公开(公告)号：US20080300723A1
公开(公告)日：2008-12-04
申请号：US12222002
申请日：2008-07-31
申请人： Kazunori Ban , Katsutoshi Takizawa
发明人： Kazunori Ban , Katsutoshi Takizawa
IPC分类号： G06F19/00
CPC分类号： G05B19/4083 , B25J9/1692 , G05B2219/36504 , G05B2219/37555 , G05B2219/39024 , G05B2219/39057
摘要： A teaching position correcting device which can easily correct, with high precision, teaching positions after shifting at least one of a robot and an object worked by the robot. Calibration is carried out using a vision sensor (i.e., CCD camera) that is mounted on a work tool. The vision sensor measures three-dimensional positions of at least three reference marks not aligned in a straight line on the object. The vision sensor is optionally detached from the work tool, and at least one of the robot and the object is shifted. After the shifting, calibration (this can be omitted when the vision sensor is not detached) and measuring of three-dimensional positions of the reference marks are carried out gain. A change in a relative positional relationship between the robot and the object is obtained using the result of measuring three-dimensional positions of the reference marks before and after the shifting respectively. To compensate for this change, the teaching position data that is valid before the shifting is corrected. The robot can have a measuring robot mechanical unit having a vision sensor, and a separate working robot mechanical unit that works the object. In this case, positions of the working robot mechanical unit before and after the shifting, respectively, are also measured.
摘要翻译：一种教学位置校正装置，其能够在移动机器人和由机器人工作的对象中的至少一个之后以高精度的方式校正教学位置。使用安装在工作工具上的视觉传感器（即，CCD照相机）进行校准。视觉传感器测量至少三个参考标记的三维位置，该参考标记在物体上的直线上未排列。视觉传感器可选地从工作工具分离，并且机器人和物体中的至少一个被移动。移位后，校准（当视觉传感器未分离时可以省略），并且对参考标记的三维位置的测量进行增益。使用分别测量前后的基准标记的三维位置的结果，获得机器人与物体之间的相对位置关系的变化。为了补偿这种变化，校正在换档之前有效的教学位置数据。机器人可以具有具有视觉传感器的测量机器人机械单元，以及工作该对象的单独的工作机器人机械单元。在这种情况下，也分别测量移动前后的作业机器人机械单元的位置。

6. 发明申请

US20070293987A1 Robot control apparatus 有权
标题翻译：机器人控制装置
公开(公告)号：US20070293987A1
公开(公告)日：2007-12-20
申请号：US11812449
申请日：2007-06-19
申请人： Makoto Yamada , Kazunori Ban , Katsutoshi Takizawa
发明人： Makoto Yamada , Kazunori Ban , Katsutoshi Takizawa
IPC分类号： G06F19/00
CPC分类号： B25J13/06 , B25J19/023
摘要： A robot control apparatus includes a control apparatus body fixedly installed and connected to a robot and a portable teaching pendant connected to the control apparatus body to operate the robot through the teaching pendant. The teaching pendant includes an imaging device connector for connecting an imaging device to the teaching pendant so as to enable the image picked up by the imaging device to be directly input to the teaching pendant through the imaging device connector.
摘要翻译：机器人控制装置包括固定地安装并连接到机器人的控制装置主体和连接到控制装置主体的便携式示教装置，以通过示教器操作机器人。示教装置包括用于将成像装置连接到示教器的成像装置连接器，以便能够使由成像装置拍摄的图像通过成像装置连接器直接输入到教导吊坠。

7. 发明申请

US20100141776A1 CALIBRATING DEVICE FOR CALIBRATION AND IMAGE MEASUREMENT SYSTEM COMPRISING CALIBRATING DEVICE 有权
标题翻译：用于校准和图像测量系统的校准装置包括校准装置
公开(公告)号：US20100141776A1
公开(公告)日：2010-06-10
申请号：US12631094
申请日：2009-12-04
申请人： Kazunori BAN , Katsutoshi Takizawa , Gang Shen , Keisuke Watanabe
发明人： Kazunori BAN , Katsutoshi Takizawa , Gang Shen , Keisuke Watanabe
IPC分类号： H04N17/00
CPC分类号： B25J9/1692 , G05B2219/37563 , G05B2219/39045 , G06T7/80
摘要： A calibrating device for calibration of an image measurement system. The calibrating device includes a main body having an upper surface, and a characteristic portion, which serves as a benchmark for calibration and is in the form of a recess formed in the upper surface of the main body, wherein the characteristic portion includes a side surface extending in a direction crossing the upper surface, and a bottom surface extending in a direction crossing the side surface, the bottom surface has an optical reflectance lower than an optical reflectance of the upper surface in relation to light identical to each other. This can provide a calibrating device for calibration of an image measurement system, which can detect the characteristic portion on the calibrating device stably, precisely and independent of the illumination conditions, which is less costly and can be easily handled.
摘要翻译：用于校准图像测量系统的校准装置。校准装置包括具有上表面的主体和作为校准的基准的特征部分，并且形成在主体的上表面中的凹部的形式，其中特征部分包括侧表面在与上表面交叉的方向上延伸的底面和与该侧面相交的方向延伸的底面，底面的光反射率低于相对于彼此相同的光的上表面的光反射率。这可以提供用于校准图像测量系统的校准装置，其可以稳定，精确地且独立于照明条件来检测校准装置上的特征部分，其成本较低并且可以容易地处理。

8. 发明申请

US20080188983A1 Calibration device and method for robot mechanism 有权
标题翻译：机器人机构校准装置及方法
公开(公告)号：US20080188983A1
公开(公告)日：2008-08-07
申请号：US12068113
申请日：2008-02-01
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
IPC分类号： G06F17/00
CPC分类号： B25J9/1692 , G01B11/002 , G01B21/042 , G05B2219/39045 , G05B2219/39393
摘要： A calibration device and method for automatically determining the position and the orientation of a robot used for measurement. First, an initial position of a preliminary position is generated based on a designated basic position, and it is judged whether the initial position is within an operation range of the robot. If the robot cannot reach the initial position, the preliminary position is adjusted close to the basic position. Otherwise, the preliminary position is evaluated by calculating an evaluation index of the preliminary position. When the evaluation index does not satisfy a predetermined condition, an initial value of an posture angle is increased.
摘要翻译：一种用于自动确定用于测量的机器人的位置和方位的校准装置和方法。首先，基于指定的基本位置生成预备位置的初始位置，并且判断初始位置是否在机器人的操作范围内。如果机器人不能到达初始位置，则初步位置被调整为接近基本位置。否则，通过计算初步位置的评价指标来评价初步位置。当评价指标不满足预定条件时，姿势角的初始值增加。

9. 发明授权

US07853359B2 Calibration device and method for robot mechanism 有权
标题翻译：机器人机构校准装置及方法
公开(公告)号：US07853359B2
公开(公告)日：2010-12-14
申请号：US12068113
申请日：2008-02-01
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
IPC分类号： G06F17/00 , G05B19/02
CPC分类号： B25J9/1692 , G01B11/002 , G01B21/042 , G05B2219/39045 , G05B2219/39393
摘要： A calibration device and method for automatically determining the position and the orientation of a robot used for measurement. First, an initial position of a preliminary position is generated based on a designated basic position, and it is judged whether the initial position is within an operation range of the robot. If the robot cannot reach the initial position, the preliminary position is adjusted close to the basic position. Otherwise, the preliminary position is evaluated by calculating an evaluation index of the preliminary position. When the evaluation index does not satisfy a predetermined condition, an initial value of an posture angle is increased.
摘要翻译：一种用于自动确定用于测量的机器人的位置和方位的校准装置和方法。首先，基于指定的基本位置生成预备位置的初始位置，并且判断初始位置是否在机器人的操作范围内。如果机器人不能到达初始位置，则初步位置被调整为接近基本位置。否则，通过计算初步位置的评价指标来评价初步位置。当评价指标不满足预定条件时，姿势角的初始值增加。

10. 发明申请

US20050107920A1 Teaching position correcting device 审中-公开
标题翻译：教学位置校正装置
公开(公告)号：US20050107920A1
公开(公告)日：2005-05-19
申请号：US10989432
申请日：2004-11-17
申请人： Kazunori Ban , Katsutoshi Takizawa
发明人： Kazunori Ban , Katsutoshi Takizawa
IPC分类号： B25J9/10 , B25J9/16 , B25J13/08 , G05B19/401 , G05B19/404 , G05B19/408 , G05B19/42 , G06F19/00
CPC分类号： G05B19/4083 , B25J9/1692 , G05B2219/36504 , G05B2219/37555 , G05B2219/39024 , G05B2219/39057
摘要： A teaching position correcting device which can easily correct, with high precision, teaching positions after shifting at least one of a robot and an object worked by the robot. Calibration is carried out using a vision sensor (i.e., CCD camera) that is mounted on a work tool. The vision sensor measures three-dimensional positions of at least three reference marks not aligned in a straight line on the object. The vision sensor is optionally detached from the work tool, and at least one of the robot and the object is shifted. After the shifting, calibration (this can be omitted when the vision sensor is not detached) and measuring of three-dimensional positions of the reference marks are carried out gain. A change in a relative positional relationship between the robot and the object is obtained using the result of measuring three-dimensional positions of the reference marks before and after the shifting respectively. To compensate for this change, the teaching position data that is valid before the shifting is corrected. The robot can have a measuring robot mechanical unit having a vision sensor, and a separate working robot mechanical unit that works the object. In this case, positions of the working robot mechanical unit before and after the shifting, respectively, are also measured.
摘要翻译：一种教学位置校正装置，其能够在移动机器人和由机器人工作的对象中的至少一个之后以高精度的方式校正教学位置。使用安装在工作工具上的视觉传感器（即，CCD照相机）进行校准。视觉传感器测量至少三个参考标记的三维位置，该参考标记在物体上的直线上未排列。视觉传感器可选地从工作工具分离，并且机器人和物体中的至少一个被移动。移位后，校准（当视觉传感器未分离时可以省略），并且对参考标记的三维位置的测量进行增益。使用分别测量前后的基准标记的三维位置的结果，获得机器人与物体之间的相对位置关系的变化。为了补偿这种变化，校正在换档之前有效的教学位置数据。机器人可以具有具有视觉传感器的测量机器人机械单元，以及工作该对象的单独的工作机器人机械单元。在这种情况下，也分别测量移动前后的作业机器人机械单元的位置。

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