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1. 发明授权

US5719479A Collision detecting method 失效
标题翻译：碰撞检测方法
公开(公告)号：US5719479A
公开(公告)日：1998-02-17
申请号：US518689
申请日：1995-08-24
申请人： Tetsuaki Kato , Soichi Arita , Ichiro Kanno
发明人： Tetsuaki Kato , Soichi Arita , Ichiro Kanno
IPC分类号： B25J9/16 , B25J19/06 , G05B19/19 , G05B19/4061 , G05D3/00 , G05D3/12 , H02P29/00 , F15B9/00 , G05B5/00
CPC分类号： G05B19/4061 , G05B19/19 , G05B2219/37624 , G05B2219/41128 , G05B2219/41381 , G05B2219/41395
摘要： A collision detecting method, in which a collision of a driven body driven by a servomotor is detected by a disturbance estimating observer. The method obtains a disturbance component which can be known in advance, subtracts the disturbance component from an input torque to generate a modified torque, and inputs the modified torque to a distrubance estimating observer.
摘要翻译：一种碰撞检测方法，其中由伺服电动机驱动的从动体的碰撞被干扰估计观察器检测到。该方法获得预先知道的扰动分量，从输入转矩中减去干扰分量以产生修正转矩，并将改变后的转矩输入到发散估计观测器。

2. 发明授权

US07590468B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US07590468B2
公开(公告)日：2009-09-15
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： G05B19/00
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。

3. 发明授权

US06970802B2 Three-dimensional measuring device 有权
标题翻译：三维测量装置
公开(公告)号：US06970802B2
公开(公告)日：2005-11-29
申请号：US10740567
申请日：2003-12-22
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G01B11/00 , B25J9/16 , B25J13/08 , G01B11/03 , G01B21/04 , G01C17/00 , G05B19/18
CPC分类号： G01B21/045 , B25J9/1641 , B25J9/1697 , G05B2219/39057
摘要： Three-dimensional measurement capable of reducing an error in coupling robot and sensor coordinate systems and adverse effects of backlash in a robot. A position/orientation of the robot for obtaining a measurement value on the sensor coordinate system is set beforehand with a workpiece positioned at a reference position. Then, the robot is moved to a preparatory measurement position, a preparatory measurement for the workpiece positioned at an arbitrary position is performed (SV1), and based on a measurement result, a main measurement position is calculated (SV2). Next, an auxiliary position is determined (SV3), which serves as a start position from which a movement to the main measurement position can be made without making a reversal of respective axes. The robot is moved to the auxiliary position (SV4), and to the main measurement position (SV5), and a measurement for the workpiece is made and a measurement result is stored (SV6).
摘要翻译：能够减少耦合机器人和传感器坐标系的误差的三维测量以及机器人中的间隙的不利影响。预先设置用于获取传感器坐标系上的测量值的机器人的位置/方向，其中工件位于参考位置。然后，将机器人移动到准备测量位置，执行位于任意位置的工件的准备测量（SV 1），并且基于测量结果，计算主测量位置（SV2）。接下来，确定辅助位置（SV 3），其作为起始位置，从而能够进行到主测量位置的移动而不使各轴的反转。机器人移动到辅助位置（SV 4）和主测量位置（SV 5），进行工件测量并存储测量结果（SV 6）。

4. 发明授权

US06597971B2 Device for avoiding interference 有权
标题翻译：避免干扰的装置
公开(公告)号：US06597971B2
公开(公告)日：2003-07-22
申请号：US10140999
申请日：2002-05-09
申请人： Ichiro Kanno
发明人： Ichiro Kanno
IPC分类号： G06F1900
CPC分类号： G05B19/4061 , B25J9/1666 , G05B2219/40087 , G05B2219/40317 , G05B2219/40476 , G05B2219/40497 , G05B2219/40559
摘要： An interference avoiding device for determining occurrence of an interference in a robot operation in advance and automatically avoiding the interference, to be suitably applied to an automatic picking-up operation of randomly stored workpieces. A position/orientation of a workpiece and a position/orientation of a tool for getting hold of the workpiece in a teaching operation, and shapes/dimensions of the tool and the storage box are determined and stored in a storage device. A command position/orientation Ta of the tool for getting hold of an objective workpiece is determined based on a detected position/orientation Wa of the workpiece and it is determined whether or not an interference between the tool an the storage box will occur based on the position/orientation Ta and the stored information. If it is determined that an interference will occur, a rotational phase or an inclination angle of the tool with respect to the workpiece is changed within an allowable range of the position/orientation of the tool with respect to the workpiece, to obtain a new position/orientation of the tool. If it is determined that an interference will not occur under the new condition of the position/orientation of the tool, the new position/orientation is adopted. If an interference is still determined to occur, an alarm is issued and the operation of the robot is stopped.
摘要翻译：一种用于确定机器人操作中的干扰发生并且自动避免干扰的干扰避免装置，适用于随机存储的工件的自动拾取操作。工件的位置/取向以及用于在示教操作中保持工件的工具的位置/方向以及工具和存储箱的形状/尺寸被确定并存储在存储装置中。基于检测到的工件的位置/取向Wa来确定用于保持目标工件的工具的指令位置/取向Ta，并且基于工件的位置/取向Wa来确定工具是否存在存储箱之间的干扰位置/方向Ta和存储的信息。如果确定发生干扰，则刀具相对于工件的旋转相位或倾斜角度在刀具相对于工件的位置/方位的允许范围内变化，以获得新的位置 /工具的方向。如果确定在工具的位置/方向的新状态下不会发生干涉，则采用新的位置/方向。如果仍然确定发生干扰，则发出报警并停止机器人的操作。

5. 发明授权

US07966094B2 Workpiece picking apparatus 有权
标题翻译：工件拾取装置
公开(公告)号：US07966094B2
公开(公告)日：2011-06-21
申请号：US11863670
申请日：2007-09-28
申请人： Kazunori Ban , Ichiro Kanno , Keisuke Watanabe
发明人： Kazunori Ban , Ichiro Kanno , Keisuke Watanabe
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , G05B2219/40038 , G06T7/0004 , G06T7/73 , G06T2207/30164
摘要： A workpiece picking apparatus includes a robot, a workpiece recognition device for recognizing the workpieces located in a wide area, an accurate measurement device for accurately measuring the three-dimensional position of the workpiece, a workpiece select device for selecting the workpiece to be picked, and an NG workpiece storage device for storing information on the rough position of an failed NG workpiece when the measurement of the three-dimensional position or the picking for the workpiece has failed. The workpiece select device excludes the NG workpiece stored in the NG workpiece storage device and selects the next workpiece to be measured. The robot picks the selected workpiece based on the three-dimensional position of the workpiece measured by the accurate measurement device.
摘要翻译：工件拾取装置包括机器人，用于识别位于广泛区域中的工件的工件识别装置，用于精确测量工件的三维位置的精确测量装置，用于选择要捡拾的工件的工件选择装置，以及NG工件存储装置，用于当三维位置的测量或工件的拾取失败时存储关于故障的NG工件的粗略位置的信息。工件选择装置不包括存储在NG工件存储装置中的NG工件，并选择待测量的下一个工件。机器人根据由精确测量装置测量的工件的三维位置来拾取所选择的工件。

6. 发明申请

US20100004778A1 OBJECT PICKING DEVICE 有权
标题翻译：对象拾取器件
公开(公告)号：US20100004778A1
公开(公告)日：2010-01-07
申请号：US12475622
申请日：2009-06-01
申请人： Taro Arimatsu , Kazunori Ban , Ichiro Kanno , Keisuke Watanabe
发明人： Taro Arimatsu , Kazunori Ban , Ichiro Kanno , Keisuke Watanabe
IPC分类号： B25J19/04
CPC分类号： B25J9/1697 , G05B2219/40053 , G06T1/0014
摘要： An object picking device, which is inexpensive and capable of speedily and accurately picking one object at a time from a random pile state. A target detecting part of an image processing part processes an image captured by a camera and detects objects. A target selecting part selects an object among the detected objects based on a certain rule. A view line direction calculating part calculates the direction of a view line extending to the selected object. A target position estimating part estimates the position including the height of the selected object based on size information of the object in the image. Then, a grip correction calculating part calculates an amount of correction of the movement of a robot so as to grip the object by using the robot.
摘要翻译：一种物品拾取装置，其价格便宜并且能够一次从随机堆积状态快速且精确地拾取一个物体。图像处理部分的目标检测部分处理由相机拍摄的图像并检测对象。目标选择部分基于某一规则来选择检测对象中的对象。视线方向计算部分计算延伸到所选对象的视线的方向。目标位置估计部基于图像中的对象的大小信息，来估计包含所选对象的高度的位置。然后，把手校正计算部分计算机器人的运动的校正量，以便通过使用机器人来夹持物体。

7. 发明授权

US07355725B2 Measuring system 失效
标题翻译：测量系统
公开(公告)号：US07355725B2
公开(公告)日：2008-04-08
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： G01B11/14
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。

8. 发明申请

US20060074526A1 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：US20060074526A1
公开(公告)日：2006-04-06
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。

9. 发明申请

US20050162420A1 Three-dimensional visual sensor 有权
标题翻译：三维视觉传感器
公开(公告)号：US20050162420A1
公开(公告)日：2005-07-28
申请号：US11037330
申请日：2005-01-19
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G01B11/00 , B25J9/16 , G01B11/25 , G06T1/00 , G06T7/00 , G06T7/60 , G06T15/00
CPC分类号： G01B11/25 , G05B2219/37048 , G05B2219/37555 , G06T7/521
摘要： A three-dimensional visual sensor is disclosed. A two-dimensional image of a two-dimensional feature portion (15) including a point (11) determined on a work (13) is acquired, and N (N≧2) points are determined. A slit of light is projected by a projector (1), an image of a projected portion (19) is obtained, and M (M≧2) points are determined. The three-dimensional position of the intersection point between each straight line connecting the N points and a point in a camera (2) and the slit of light plane is determined on the sensor coordinate system, and transformed to the data on the reference coordinate system (on or parallel to the slit plane). The three-dimensional positions of M points are similarly subjected to coordinate transform to the data on the reference coordinate system. Straight lines (or curves) defined by the M and N points are determined, respectively, by the least squares method. The intersection point between the two straight lines is determined and returned to the data on the sensor coordinate system by inverse transform. The template matching method may alternatively be used for detecting the feature portion. As a result, the measurement accuracy and the reliability are improved for the three-dimensional visual sensor for measuring the three-dimensional position of a specific point by radiating the a slit (or a pseudo-slit) of light on the surface of the object.
摘要翻译：公开了三维视觉传感器。获取包括在工件（13）上确定的点（11）的二维特征部分（15）的二维图像，并且确定N（N> = 2）个点。通过投影仪（1）投影光的狭缝，获得投影部（19）的图像，并且确定M（M> = 2）个点。在传感器坐标系上确定连接N点和摄像机（2）中的点的每条直线与光平面之间的交点的三维位置，并转换为参考坐标系上的数据（在狭缝平面上或与狭缝平面平行）。 M点的三维位置也类似地进行坐标变换到参考坐标系上的数据。由M和N点定义的直线（或曲线）分别由最小二乘法确定。通过逆变换确定两条直线之间的交点，并将其返回到传感器坐标系上的数据。模板匹配方法可以替代地用于检测特征部分。结果，通过在物体的表面上照射光的狭缝（或伪狭缝）来测量特定点的三维位置的三维视觉传感器，提高了测量精度和可靠性。。

10. 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。

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