公开(公告)号：US20230191612A1

公开(公告)日：2023-06-22

申请号：US17995974

申请日：2021-04-12

Applicant: FANUC CORPORATION

Inventor： Shoutarou OGURA ,  Yuta NAMIKI

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1697

Abstract: Provided is a coordinate system setting system with which it is possible to easily set a coordinate system used in control of an industrial machine. A coordinate system setting system 1 comprises: a calibrated camera 4; a calibration data storage unit 12 that stores, in advance, calibration data obtained when the camera 4 was calibrated; an image processing unit 11 that processes a captured image obtained upon imaging a calibration jig J disposed at a position for which a coordinate system is to be set by the camera 4; and a coordinate system setting unit 21 that uses the result of image processing performed by the image processing unit 11 to set a coordinate system used in controlling a robot 2.

公开(公告)号：US20240399588A1

公开(公告)日：2024-12-05

申请号：US18694250

申请日：2021-09-30

Applicant: FANUC CORPORATION

Inventor： Shoutarou OGURA ,  Yuta NAMIKI ,  Kyouhei KOKUBO

IPC: B25J9/16 ,  G06T7/70 ,  G06T7/80

Abstract: Provided is a system that is capable of accurately measuring the three-dimensional position and posture of an object under measurement with simple teaching and in a short measurement time. A position and posture measurement system according to the present invention is provided with: a vision sensor that has already been calibrated; a position and posture moving unit that is capable of moving the three-dimensional position and posture of an object under measurement or the vision sensor; a calibration-data storage unit; an image processing unit that processes a captured image of the object under measurement; a position and posture measurement unit that measures the three-dimensional position and posture of the object under measurement by using the result of the image processing; an image-capturing-position correction unit that executes correction processing at least once, the correction processing being processing in which the vision sensor or the object under measurement is moved by the position and posture moving unit by using the measured three-dimensional position and posture and in which the image processing and the measurement of the three-dimensional position and posture are then sequentially carried out; and an image-capturing-position correction termination unit that executes the correction processing again upon determining that the correction processing is not to be terminated, while adopting the three-dimensional position and posture calculated either the last or in the middle as a three-dimensional position and posture to be used for robot control upon determining that the correction processing is to be terminated.

公开(公告)号：US20210056659A1

公开(公告)日：2021-02-25

申请号：US16989774

申请日：2020-08-10

Applicant: FANUC CORPORATION

Inventor： Shoutarou OGURA

IPC: G06T1/00 ,  G06K9/00 ,  G06T7/00

Abstract: The object detection device extracts a plurality of predetermined features from an image in which a target object is represented, calculates an entire coincidence degree between the plurality of predetermined features set for an entire model pattern of the target object and the plurality of predetermined features extracted from a corresponding region on the image while changing a relative positional relationship between the image and the model pattern, and calculates, for each partial region including a part of the model pattern, a partial coincidence degree between the predetermined features included in the partial region and the predetermined features extracted from a region corresponding to the partial region on the image. Then, the object detection device determines whether or not the target object is represented in the region on the image corresponding to the model pattern based on the entire coincidence degree and the partial coincidence degree.

公开(公告)号：US20250091206A1

公开(公告)日：2025-03-20

申请号：US18293356

申请日：2021-08-27

Applicant: FANUC CORPORATION

Inventor： Yuutarou TAKAHASHI ,  Yuta NAMIKI ,  Shoutarou OGURA ,  Yuusuke MURATA

IPC: B25J9/16 ,  B25J13/06 ,  G06F3/04817

Abstract: A teaching device for performing program creation using an icon representing a function constituting a control program for an industrial machine is provided, the teaching device including: a state information acquisition unit that acquires state information indicating whether or not the icon constituting the control program can execute an anticipated action, or has performed execution thereof or not; and an information display creating unit that creates a display relating to the icon, so that whether or not the icon making can execute the anticipated action or has performed execution thereof or not can be visually recognized on the program creating screen, on the basis of the state information.

公开(公告)号：US20240221352A1

公开(公告)日：2024-07-04

申请号：US18555884

申请日：2021-05-13

Applicant: FANUC CORPORATION

Inventor： Shoutarou OGURA ,  Yuta NAMIKI

IPC: G06V10/74 ,  G06V10/56 ,  G06V10/60

CPC classification number: G06V10/761 ,  G06V10/56 ,  G06V10/60 ,  G06V2201/07

Abstract: An image processing device according to one aspect of the present disclosure for which detection parameters can easily be set comprises: a model storage unit that stores a model pattern; a characteristic point extraction unit that extracts characteristic points from a photographed image; an original matching degree calculation unit that calculates the degree of matching between the model pattern and arrangement of the characteristic points; an object detection unit that detects an object in the photographed image by comparing the degree of matching with a detection threshold value; a parameter setting unit that sets detection parameters including at least the detection threshold value; a detection information storage unit that stores, for characteristic points of the object detected by the target object detection unit, detection information including at least the positions of the characteristic points; and a simple matching degree calculation unit that calculates, if the detection parameters are changed, the degree of matching based on the changed detection parameters and the detection information stored in the detection information storage unit.