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公开(公告)号：US20230328372A1
公开(公告)日：2023-10-12
申请号：US18043039
申请日：2021-12-03
Applicant: FANUC CORPORATION
Inventor： Wanfeng FU , Yuta NAMIKI
Abstract: An image processing system includes: an industrial machine; a visual sensor; a visual pattern arranged on a part to be detected, for identifying a relative positional relationship between the visual sensor and the visual pattern; an image processing unit that determines the relative positional relationship between the visual sensor and the visual pattern on the basis of an image of the visual pattern captured by the visual sensor; and a focusing operation control unit that, with the visual pattern within the field of view of the visual sensor, causes the visual sensor to capture the visual pattern while changing the relative positions of the visual sensor and the visual pattern in a predetermined direction with reference to the visual pattern, on the basis of the determined relative positional relationship to obtain a focus degree of the visual pattern, whereby the visual sensor is focused on the visual pattern.
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公开(公告)号：US20210129318A1
公开(公告)日：2021-05-06
申请号：US17002421
申请日：2020-08-25
Applicant: FANUC CORPORATION
Inventor： Yuta NAMIKI
Abstract: An annotation device includes an image-capturing device, a robot, a control unit, a designation unit, a coordinate processing unit, and a storage unit. The control unit controls the robot so as to acquire a learning image of a plurality of objects, each having a different positional relationship with the image-capturing devices. Furthermore, the storage unit converts a position of the object in a robot coordinate system into a position of the object in an image coordinate system at the time of image-capturing or a position of the object in a sensor coordinate system, and stores the position thus converted together with the learning image.
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公开(公告)号：US20200098127A1
公开(公告)日：2020-03-26
申请号：US16575390
申请日：2019-09-19
Applicant: FANUC Corporation
Inventor： Yuta NAMIKI
IPC: G06T7/70
Abstract: An imaging apparatus of this application is an imaging apparatus for performing processing of machine learning related to estimation of a distance image closer to reality related to an object than a distance image related to the object captured by an imaging sensor from the distance image, including a data acquisition unit for acquiring distance image data related to the object; and a preprocessing unit for creating input data from the distance image data related to the object in which processing of machine learning for estimating distance image data close to reality related to the object from the distance image data related to the object is performed using the input data.
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公开(公告)号：US20190333182A1
公开(公告)日：2019-10-31
申请号：US16393960
申请日：2019-04-25
Applicant: FANUC Corporation
Inventor： Yuta NAMIKI , Fumikazu WARASHINA
Abstract: An image management device includes: an image data acquisition unit that acquires image data snapped by a visual sensor; an image snap condition acquisition unit that acquires an image snap condition applied when the image data is snapped, from a manufacturing machine and the visual sensor; an archive data creation unit that creates archive data based on the image data and the image snap condition; and an archive data storage unit that stores the archive data. The archive data creation unit creates archive data after recording the image snap condition in a file. The image management device can easily reuse image data that is snapped by the visual sensor attached to the manufacturing machine and an image snap condition of the image data.
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公开(公告)号：US20240308061A1
公开(公告)日：2024-09-19
申请号：US18550289
申请日：2021-05-28
Applicant: FANUC CORPORATION
Inventor： Yuta NAMIKI , Yuutarou TAKAHASHI
CPC classification number: B25J9/0081 , B25J19/023
Abstract: Provided is a teaching device that is used to create a program for measuring, with a visual sensor, markers installed in a work space, the teaching device comprising a user interface creation unit that creates a user interface for inputting setting information pertaining to the measurement of a marker, wherein the user interface creation unit makes it possible to use first setting information input for a first marker in settings for a second marker in the user interface.
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Patent Agency Ranking
公开(公告)号：US20240054610A1
公开(公告)日：2024-02-15
申请号：US18260314
申请日：2022-01-07
Applicant: FANUC CORPORATION
Inventor： Yuuki TAKAHASHI , Yuta NAMIKI
CPC classification number: G06T5/50 , G06T5/009 , H04N23/73 , H04N23/741 , H04N23/72 , H04N23/71 , B25J9/20 , G06T2207/20092 , G06T2207/20221 , G06T2207/30164
Abstract: An image generation device, a robot control device and a computer program are provided which enable widening the range of pixel values in a composite image. This image generation device, for generating a composite image by combining images, is provided with: an image capture number setting unit which sets the number of captured images captured of a subject; an exposure time setting unit which sets the exposure time of the captured images; a brightness range setting unit which sets the brightness range of the subject; an imaging control unit which performs control such that the imaging unit images the subject on the basis of the aforementioned number of captured images and exposure time; and an image combining unit which combines the aforementioned captured images on the basis of the brightness range and generates a composite image.
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公开(公告)号：US20230033339A1
公开(公告)日：2023-02-02
申请号：US17758678
申请日：2021-01-12
Applicant: FANUC CORPORATION
Inventor： Yuta NAMIKI
Abstract: The present invention addresses the problem of providing an image processing system that can accurately and efficiently detect a target object even when the positional relationship between an image capturing device and the target object differs between the time of teaching and the time of detection. An image processing system 1 includes: a control unit 52 that obtains, on the basis of position information of a robot 2 for specifying the position of a visual sensor 4 in a robot coordinate system and on the basis of position information showing the position of a target object W in an image coordinate system, the positional relationship between the visual sensor 4 and the target object W; and a storage unit 51 that stores, on the basis of a model pattern consisting of feature points extracted from a teaching image and on the basis of the positional relationship between the visual sensor 4 and the target object W when capturing the teaching image, the model pattern in the form of three-dimensional position information. The control unit 52 performs detection processing, in which the target object W is detected from a detection image on the basis of a result obtained by matching the model pattern with the feature points extracted from the detection image including the target object W.
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公开(公告)号：US20230032421A1
公开(公告)日：2023-02-02
申请号：US17758120
申请日：2021-01-08
Applicant: FANUC CORPORATION
Inventor： Yuta NAMIKI
IPC: B25J9/16
Abstract: A robot system is provided which can suitably perform robot movement correction. The robot system is provided with: a visual sensor which captures a first image of a target with the robot in a prescribed position and which captures a second image of the target with the robot in the position resulting from moving the robot a prescribed distance from the aforementioned prescribed position; a calibration data storage unit which stores calibration data that associates the robot coordinate system of the robot and the image coordinate system of the visual sensor; a first acquisition unit which, on the basis of the first image and the calibration data, acquires a first position of the target in the robot coordinate system; a second acquisition unit which, on the basis of the first image and the second image, acquires a second position of the target in the robot coordinate system; and a determination unit which determines whether or not the difference between the first position and the second position is within a prescribed range.
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公开(公告)号：US20200061825A1
公开(公告)日：2020-02-27
申请号：US16520186
申请日：2019-07-23
Applicant: Fanuc Corporation
Inventor： Fumikazu WARASHINA , Yuta NAMIKI , Kyouhei KOKUBO
IPC: B25J9/16 , B25J9/10 , B25J13/08 , B25J19/02 , G01B11/14 , G05B19/4061 , G05B19/408
Abstract: An interference avoidance device is provided with: a three-dimensional sensor that is attached to a tip portion of a robot arm and acquires a distance image of an area around a robot; a position data creating portion that converts coordinates of a nearby object in the distance image to coordinates on a robot coordinate system and creates the position data of the nearby object based on the coordinates of the nearby object on the robot coordinate system; a storage portion that stores the position data; and a control portion that controls the robot based on the robot coordinate system; and the control portion controls the robot to avoid interference of the robot with the nearby object, based on the position data stored in the storage portion.
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公开(公告)号：US20190012579A1
公开(公告)日：2019-01-10
申请号：US16029827
申请日：2018-07-09
Applicant: FANUC CORPORATION
Inventor： Yuta NAMIKI
Abstract: A machine learning device that creates training data to be used in machine learning includes: an image input unit that inputs an image which was obtained by capturing an inspection target on which a symbol indicating a defect is marked; and a creation unit that creates the training data based on the inputted image, in which the creation unit: creates training data consisting of a training image which is the image as inputted, and a label that retains a value of OK which signifies not having a defect, in a case of there not being the symbol in the image inputted; and creates training data consisting of a training image generated based on the image inputted, and a label that retains a value of NG signifying having a defect, in a case of there being the symbol in the image inputted.
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