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1. 发明申请

US20160116272A1 POSITION DETECTION SYSTEM FOR DETECTING POSITION OF OBJECT 有权
标题翻译：用于检测物体位置的位置检测系统
公开(公告)号：US20160116272A1
公开(公告)日：2016-04-28
申请号：US14884797
申请日：2015-10-16
申请人： FANUC Corporation
发明人： Mototsugu TAKENAMI
IPC分类号： G01B11/14 , B25J19/02
CPC分类号： G01B11/14 , B25J9/1697 , B25J17/0233 , B25J19/023 , G05B2219/37564 , G05B2219/39393 , Y10S901/44
摘要： A position detection system includes: a contactor including a tracing unit that traces and fits with a recess or a protrusion of an object; a slide member; a sliding unit that causes the slide member to slide in two directions; a moving unit that causes the contactor to move in a direction perpendicular to a plane so as to cause the tracing unit of the contactor to trace and fit with the recess or the protrusion of the object; a contactor detecting unit that detects a position of the contactor in the plane; and an object position detecting unit that detects the position of the object based on movement amount of the contactor before and after the slide member slides on the sliding unit to slide, when the tracing unit traces the recess or the protrusion.
摘要翻译：一种位置检测系统，包括：接触器，包括跟踪单元，跟踪并配合物体的凹部或突起; 滑动构件; 滑动单元，其使滑动构件沿两个方向滑动; 移动单元，其使接触器沿垂直于平面的方向移动，以使接触器的跟踪单元跟踪并与物体的凹部或突起配合; 接触器检测单元，其检测所述接触器在所述平面中的位置; 以及物体位置检测单元，当跟踪单元跟踪凹部或突起时，基于滑动单元在滑动单元滑动之前和之后的接触器的移动量来检测物体的位置。

2. 发明申请

US20140362079A1 Automated 3-D Modeling Of Shoe Parts 审中-公开
标题翻译：汽车零件自动三维建模
公开(公告)号：US20140362079A1
公开(公告)日：2014-12-11
申请号：US14468521
申请日：2014-08-26
申请人： NIKE, Inc.
发明人： Patrick C. Regan , Chih-Chi Chang , Kuo-Hung Lee , Ming-Feng Jean
IPC分类号： G06T17/00 , G06F17/50
CPC分类号： G01B11/24 , A43D1/08 , A43D8/00 , A43D25/06 , A43D95/00 , A43D2200/60 , B25J9/1684 , G01B11/02 , G01B11/03 , G01B11/2518 , G05B2219/37205 , G05B2219/37555 , G05B2219/39393 , G06F17/50 , G06T7/521 , G06T7/543 , G06T17/00 , G06T19/00 , G06T2207/10016 , G06T2207/10028 , G06T2207/10144 , G06T2207/30108
摘要： Manufacturing of a shoe is enhanced by creating 3-D models of shoe parts. For example, a laser beam may be projected onto a shoe-part surface, such that a projected laser line appears on the shoe part. An image of the projected laser line may be analyzed to determine coordinate information, which may be converted into geometric coordinate values usable to create a 3-D model of the shoe part. Once a 3-D model is known and is converted to a coordinate system recognized by shoe-manufacturing tools, certain manufacturing steps may be automated.
摘要翻译：通过制造3-D型鞋类零件来增强鞋的制造。例如，可以将激光束投影到鞋部件表面上，使得投射的激光线出现在鞋部件上。可以分析投影激光线的图像以确定坐标信息，其可以被转换成可用于创建鞋部件的3D模型的几何坐标值。一旦知道3-D模型并将其转换为由制鞋工具识别的坐标系，则某些制造步骤可以是自动化的。

3. 发明授权

US08879822B2 Robot control system, robot system and program 有权
标题翻译：机器人控制系统，机器人系统和程序
公开(公告)号：US08879822B2
公开(公告)日：2014-11-04
申请号：US13471760
申请日：2012-05-15
申请人： Shigeyuki Matsumoto
发明人： Shigeyuki Matsumoto
IPC分类号： G06K9/62 , B25J9/16 , B25J5/00
CPC分类号： B25J9/1697 , B25J5/007 , G05B2219/39391 , G05B2219/39393
摘要： A robot control system includes a processing unit which performs visual servoing based on a reference image and a picked-up image, a robot control unit which controls a robot based on a control signal, and a storage unit which stores the reference image and a marker. The storage unit stores, as the reference image, a reference image with marker in which the marker is set in an area of a workpiece or a hand of the robot. The processing unit generates, based on the picked-up image, a picked-up image with marker in which the marker is set in an area of the workpiece or the hand of the robot, performs visual servoing based on the reference image with marker and the picked-up image with marker, generates the control signal, and outputs the control signal to the robot control unit.
摘要翻译：机器人控制系统包括：基于参考图像和拾取图像执行视觉伺服的处理单元;基于控制信号控制机器人的机器人控制单元;以及存储参考图像和标记的存储单元。存储单元将具有标记的参考图像作为参考图像存储在机器人的工件或手的区域中。处理单元基于拾取图像，生成具有标记的标记的拾取图像，其中标记被设置在工件或机器人的手的区域中，基于具有标记的参考图像执行视觉伺服，并且用标记的拍摄图像产生控制信号，并将控制信号输出到机器人控制单元。

4. 发明授权

US08738179B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US08738179B2
公开(公告)日：2014-05-27
申请号：US12625513
申请日：2009-11-24
申请人： Dai Kouno , Takashi Nishimura
发明人： Dai Kouno , Takashi Nishimura
IPC分类号： G05B11/00
CPC分类号： B25J9/1664 , G05B2219/39393 , G05B2219/40385 , G05B2219/40425 , G05B2219/40447 , G05B2219/40519
摘要： Teaching images are acquired at a plurality of separate teaching points on a running route extending from a running start position to a goal position, respectively, under a first light environmental condition and a light environmental condition different from the first light environmental condition, and the teaching images are stored. A present teaching image serving as a target for a robot body in a running direction at present is selected from the stored teaching images. A driving mechanism is controlled so as to increase the matching degree between the present teaching image and an actual image taken by a camera.
摘要翻译：在第一光环境条件和与第一光环境条件不同的光环境条件下，分别在从运行开始位置到目标位置的运行路线上的多个单独的教学点获取教学图像，并且教学图像被存储。从存储的教学图像中选择作为目前在运动方向上的机器人主体的目标的当前教学图像。控制驱动机构以增加本教导图像与由相机拍摄的实际图像之间的匹配度。

5. 发明申请

US20120294509A1 ROBOT CONTROL SYSTEM, ROBOT SYSTEM AND PROGRAM 有权
标题翻译：机器人控制系统，机器人系统和程序
公开(公告)号：US20120294509A1
公开(公告)日：2012-11-22
申请号：US13471760
申请日：2012-05-15
申请人： Shigeyuki MATSUMOTO
发明人： Shigeyuki MATSUMOTO
IPC分类号： G06K9/00
CPC分类号： B25J9/1697 , B25J5/007 , G05B2219/39391 , G05B2219/39393
摘要： A robot control system includes a processing unit which performs visual servoing based on a reference image and a picked-up image, a robot control unit which controls a robot based on a control signal, and a storage unit which stores the reference image and a marker. The storage unit stores, as the reference image, a reference image with marker in which the marker is set in an area of a workpiece or a hand of the robot. The processing unit generates, based on the picked-up image, a picked-up image with marker in which the marker is set in an area of the workpiece or the hand of the robot, performs visual servoing based on the reference image with marker and the picked-up image with marker, generates the control signal, and outputs the control signal to the robot control unit.
摘要翻译：机器人控制系统包括：基于参考图像和拾取图像执行视觉伺服的处理单元;基于控制信号控制机器人的机器人控制单元;以及存储参考图像和标记的存储单元。存储单元将具有标记的参考图像作为参考图像存储在机器人的工件或手的区域中。处理单元基于拾取图像，生成具有标记的标记的拾取图像，其中标记被设置在工件或机器人的手的区域中，基于具有标记的参考图像执行视觉伺服，并且用标记的拍摄图像产生控制信号，并将控制信号输出到机器人控制单元。

6. 发明申请

US20110022217A1 WORK MOUNTING SYSTEM AND METHOD OF MOUNTING 失效
标题翻译：工作安装系统和安装方法
公开(公告)号：US20110022217A1
公开(公告)日：2011-01-27
申请号：US12933795
申请日：2009-02-25
申请人： Kenichi Asamizu
发明人： Kenichi Asamizu
IPC分类号： B25J9/18 , B25J13/08
CPC分类号： B62D65/06 , B23P19/105 , B25J9/0084 , B25J9/1697 , G05B19/41805 , G05B2219/36404 , G05B2219/39114 , G05B2219/39393 , G05B2219/39559 , G05B2219/45025 , Y02P90/04 , Y02P90/083
摘要： This object aims to provide a work mounting system which has an improved usability and can be miniaturized. A work mounting system (1) is used to mount a sunroof member (3) on the inner panel (2A) of a body (2). The work mounting system (1) comprises a conveying robot (4) for holding and conveying the sunroof member (3), a mounting robot (5) with a nut runner for tightening bolts and a CCD camera, and a controller (6) for controlling the conveying robot (4) and the mounting robot (5). The controller (6) controls the conveying robot (4) so as to hold the sunroof member (3) and convey the member to the inner panel (2A) of the body (2), and controls the mounting robot (5) so as to photograph the bolt holes of the sunroof member (3) and the inner panel (2A) by the CCD camera, calculates the positions of the bolt holes and the inner panel (2A), corrects operation of the mounting robot (5) according to the calculated positions, and secures the sunroof member (3) to the inner panel (2A) at two positions by nut runners.
摘要翻译：本发明的目的是提供一种具有改进的可用性并可以小型化的工件安装系统。工件安装系统（1）用于将天窗构件（3）安装在主体（2）的内板（2A）上。工件安装系统（1）包括用于保持和输送天窗构件（3）的输送机器人（4），具有用于紧固螺栓的螺母扳手和CCD照相机的安装机器人（5），以及用于控制输送机器人（4）和安装机器人（5）。控制器（6）控制输送机器人（4）以保持天窗构件（3）并将构件传送到主体（2）的内板（2A），并且将安装机器人（5）控制为通过CCD照相机拍摄天窗部件（3）和内板（2A）的螺栓孔，计算螺栓孔和内板（2A）的位置，根据安装机器人（5）的操作来修正计算的位置，并且通过螺母扳手在两个位置将天窗构件（3）固定到内板（2A）。

7. 发明申请

US20100204824A1 METHODS, SYSTEMS, AND DEVICES FOR MANIPULATING CUTTING ELEMENTS FOR EARTH-BORING DRILL BITS AND TOOLS 有权
标题翻译：用于处理钻孔钻头和工具的切割元件的方法，系统和装置
公开(公告)号：US20100204824A1
公开(公告)日：2010-08-12
申请号：US12370516
申请日：2009-02-12
申请人： David Keith Luce , Sean W. Wirth , Alan J. Massey , Crystal A. Parrott
发明人： David Keith Luce , Sean W. Wirth , Alan J. Massey , Crystal A. Parrott
IPC分类号： G06F19/00 , G05B15/00 , B32B37/12
CPC分类号： E21B10/00 , B21B23/00 , B23K31/025 , B25J9/1687 , B25J9/1697 , B25J11/00 , B25J11/005 , E21B10/02 , E21B10/08 , E21B10/26 , E21B10/42 , E21B10/43 , E21B10/62 , G05B2219/2616 , G05B2219/39387 , G05B2219/39393 , G05B2219/40032 , G05B2219/45063 , Y10S901/42 , Y10T29/49826 , Y10T29/49993 , Y10T156/10
摘要： Methods include one or more of robotically positioning a cutting element on an earth-boring tool, using a power-driven device to move a cutting element on an earth-boring tool, and robotically applying a bonding material for attaching a cutting element to an earth-boring tool. Robotic systems are used to robotically position a cutting element on an earth-boring tool. Systems for orienting a cutting element relative to a tool body include a power-driven device for moving a cutting element on or adjacent the tool body. Systems for positioning and orienting a cutting element on an earth-boring tool include such a power-driven device and a robot for carrying a cutting element. Systems for attaching a cutting element to an earth-boring tool include a robot carrying a torch for heating at least one of a cutting element, a tool body, and a bonding material.
摘要翻译：方法包括使用动力驱动装置将切割元件机械地定位在钻孔工具上的一个或多个，以移动钻孔工具上的切割元件，并且机械地施加用于将切割元件附接到地球的接合材料刀具。机器人系统用于将切割元件机械地定位在钻孔工具上。用于将切割元件相对于工具主体定向的系统包括用于将切割元件移动到工具主体上或其附近的动力驱动装置。用于在切削工具上定位和定向切割元件的系统包括用于承载切割元件的动力驱动装置和机器人。用于将切割元件附接到钻孔工具的系统包括承载用于加热切割元件，工具主体和接合材料中的至少一个的手电筒的机器人。

8. 发明申请

US20040172164A1 Method and apparatus for single image 3D vision guided robotics 有权
标题翻译：单像3D视觉引导机器人的方法和装置
公开(公告)号：US20040172164A1
公开(公告)日：2004-09-02
申请号：US10634874
申请日：2003-08-06
发明人： Babak Habibi , Simona Pescaru , Mohammad Sameti , Remus Florinel Boca
IPC分类号： G06F019/00
CPC分类号： G06T1/0007 , B25J9/1692 , B25J9/1697 , G05B2219/39057 , G05B2219/39393 , Y10T29/53009 , Y10T29/53061 , Y10T29/53087
摘要： A method of three-dimensional object location and guidance to allow robotic manipulation of an object with variable position and orientation using a sensor array which is a collection of one or more sensors capable of forming a single image.
摘要翻译：使用作为能够形成单个图像的一个或多个传感器的集合的传感器阵列来允许具有可变位置和取向的对象的机器人操纵的三维对象位置和引导的方法。

9. 发明授权

US6141863A Force-controlled robot system with visual sensor for performing fitting operation 失效
标题翻译：带有视觉传感器的力控机器人系统进行装配操作
公开(公告)号：US6141863A
公开(公告)日：2000-11-07
申请号：US91730
申请日：1998-06-24
申请人： Ryuichi Hara , Kazunori Ban
发明人： Ryuichi Hara , Kazunori Ban
IPC分类号： B25J9/16 , B25J19/02 , B23P21/00
CPC分类号： B25J19/021 , B25J9/1633 , B25J9/1687 , G05B2219/37048 , G05B2219/39319 , G05B2219/39393 , G05B2219/39529 , G05B2219/40609 , Y10T29/53061 , Y10T29/53078 , Y10T29/53087
摘要： A force-controlled robot system with a visual sensor capable of performing a fitting operation automatically with high reliability. A force sensor attached to a wrist portion of a robot detects force in six axis directions for force control, and transmits the results of detection to a robot controller. Position and orientation of a convex portion of a fit-in workpiece held by claws of a robot hand and position and orientation of a concave position of a receiving workpiece positioned by a positioning device are detected by a three-dimensional visual sensor including a structured light unit SU and an image processor in the robot controller, and a robot position to start an inserting action is corrected. Then, the convex portion is inserted into the concave portion under the force control. After the inserting action completes, it is determined whether or not the insertion state of the fit-in workpiece in the receiving workpiece is normal.
摘要翻译： PCT No.PCT / JP97 / 03878 Sec。 371日期：1998年6月24日 102（e）日期1998年6月24日PCT 1997年10月24日PCT公布。第WO98 / 17444号公报日期：1998年04月30日具有能够以高可靠性自动进行装配作业的视觉传感器的力控机器人系统。附着在机器人腕部的力传感器检测六轴方向的力用于力控制，并将检测结果发送到机器人控制器。由机器人手的爪保持的装配工件的凸部的位置和取向以及由定位装置定位的接收工件的凹入位置的位置和取向由包括结构光的三维视觉传感器单元SU和机器人控制器中的图像处理器以及开始插入动作的机器人位置被校正。然后，在力控制下，将凸部插入凹部。在插入动作完成之后，确定装配工件在接收工件中的插入状态是否正常。

10. 发明申请

US20160110840A1 IMAGE PROCESSING METHOD, IMAGE PROCESSING DEVICE, AND ROBOT SYSTEM 审中-公开
标题翻译：图像处理方法，图像处理装置和机器人系统
公开(公告)号：US20160110840A1
公开(公告)日：2016-04-21
申请号：US14883033
申请日：2015-10-14
申请人： CANON KABUSHIKI KAISHA
发明人： Jun Odagiri
IPC分类号： G06T1/00 , H04N5/232 , B25J9/16 , G06T7/00
CPC分类号： B25J9/1697 , G05B2219/39391 , G05B2219/39393 , G06K9/48 , G06K9/6204 , G06T7/13 , G06T7/74 , Y10S901/02 , Y10S901/28 , Y10S901/47
摘要： An image processing method can suppress detection accuracy of a detection target object from being lowered even if the detection target object has a different surface condition because of the influence of various kinds of noise. The image processing method includes the following operations of generating a captured model edge image by executing edge extraction processing on a captured model image acquired by capturing a detection target object, executing pattern matching of the captured model edge image and a model edge image, calculating similarity at respective edge points in the model edge image in the pattern matching of the captured model edge image and the model edge image, selecting an edge point to be eliminated based on the similarity from among the respective edge points in the model edge image, and generating an edge image acquired by eliminating the selected edge point as a final model edge image.
摘要翻译：即使检测对象物由于各种噪声的影响而具有不同的表面状况，也能够抑制检测对象物的检测精度降低。该图像处理方法包括以下的动作，通过对通过拍摄检测目标对象获取的拍摄模型图像执行边缘提取处理，执行所捕获的模型边缘图像和模型边缘图像的图案匹配来生成捕获的模型边缘图像，计算相似度在所捕获的模型边缘图像和模型边缘图像的图案匹配中的模型边缘图像的各个边缘点处，基于来自模型边缘图像中的各个边缘点的相似度来选择要消除的边缘点，并且生成通过将所选择的边缘点消除为最终模型边缘图像而获得的边缘图像。

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