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11.发明申请公开(公告)号：US20180194007A1
公开(公告)日：2018-07-12
申请号：US15861851
申请日：2018-01-04
Applicant: FANUC CORPORATION
Inventor： Yuuta NAMIKI , Fumikazu WARASHINA
CPC classification number: B25J9/1692 , B25J9/163 , B25J9/1697 , B25J19/04 , G06T7/85 , G06T2207/10012 , G06T2207/30204
Abstract: A parameter for detecting a target mark 5 is not required to be set for each camera repeatedly while a stereo camera 2 is calibrated. A calibration device 1 associates position information in an image coordinate system at a first camera 21 of a stereo camera 2, position information in an image coordinate system at a second camera 22 of the stereo camera 2, and position information in a robot coordinate system at a robot 4. The calibration device comprises: first parameter setting unit 102 that sets a first parameter for detecting a target mark 5 attached to the robot 4 from data about an image captured by the first camera 21; and a second parameter setting unit 104 that sets a second parameter for detecting the target mark 5 from data about an image captured by the second camera 22 based on the first parameter.
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公开(公告)号：US20180101962A1
公开(公告)日：2018-04-12
申请号：US15719962
申请日：2017-09-29
Applicant: FANUC CORPORATION
Inventor： Shouta TAKIZAWA , Junichirou YOSHIDA , Fumikazu WARASHINA
CPC classification number: G06T7/521 , G01B11/2513 , G06T5/006 , G06T2207/10152 , G06T2207/20008 , G06T2207/30208 , H04N9/3185 , H04N9/3194
Abstract: A projection pattern creation apparatus is configured to capture an image of a projection pattern projected from a pattern projection device by an imaging device to measure a three-dimensional position and/or a shape of an object. The projection pattern creation apparatus includes: a projection pattern deformation unit configured to reproduce deformation when a projected projection pattern is included in an image captured by the imaging device on the basis of characteristics of optical systems of the pattern projection device and the imaging device, and/or a positional relation between the pattern projection device and the imaging device and generate a deformation projection pattern; and a first projection pattern improvement unit configured to generate a second projection pattern obtained by improving a first projection pattern, on a basis of a first deformation projection pattern generated when the first projection pattern is projected toward evaluation surfaces having different positions and inclinations.
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公开(公告)号：US20190299403A1
公开(公告)日：2019-10-03
申请号：US16270600
申请日：2019-02-08
Applicant: FANUC CORPORATION
Inventor： Kyouhei KOKUBO , Fumikazu WARASHINA
Abstract: A robot system includes a target position calculation section which calculates, when a first feature can be detected from an image, a target position of a robot based on the calculated position of the first feature and a stored first positional relationship, and calculates, when the first feature cannot be detected from the image and a second feature can be detected from the image, a target position of the robot based on the calculated position of the second feature and the stored first positional relationship.
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公开(公告)号：US20190120771A1
公开(公告)日：2019-04-25
申请号：US16127824
申请日：2018-09-11
Applicant: FANUC CORPORATION
Inventor： Yuusuke OOTA , Fumikazu WARASHINA
IPC: G01N21/88 , G01N21/15 , G05B19/418
Abstract: An inspection system makes image inspection on an inspection target. The inspection system includes: an image capture device that captures an image of the inspection target; a blower with a blow nozzle from which clean gas is blown out to the inspection target; a robot with an arm tip to which the image capture device and the blow nozzle, or the inspection target is attached; and as inspection device that makes image inspection on the inspection target based on an image captured by the image capture device. The inspection device generates an operation program for a robot based on the position of the image capture device and that of the blow nozzle relative to each other so as to move the blow nozzle ahead of the image capture device relative to the inspection target.
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15.发明申请公开(公告)号：US20180275073A1
公开(公告)日：2018-09-27
申请号：US15926558
申请日：2018-03-20
Applicant: FANUC CORPORATION
Inventor： Junichirou YOSHIDA , Fumikazu WARASHINA
Abstract: A device capable of easily defining an area other than a surface to be inspected of a workpiece. The device includes a drawing acquisition section for acquiring drawing data of the workpiece; a designation reception section for receiving specification of the surface to be inspected of the workpiece in the drawing data; and a non-inspection area calculation section for calculating, as a non-inspection area, an image area other than the surface to be inspected in an image in a view of the imaging section when the workpiece and the imaging section are positioned at an imaging position at which at least a part of the surface to be inspected as specified falls within the view of the imaging section.
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Patent Agency Ranking
16.发明申请公开(公告)号：US20180260628A1
公开(公告)日：2018-09-13
申请号：US15899471
申请日：2018-02-20
Applicant: FANUC CORPORATION
Inventor： Yuuta NAMIKI , Fumikazu WARASHINA
CPC classification number: G06K9/00664 , B25J9/1697 , G06K9/00986 , G06K9/3233 , G06K9/46 , G06K9/6256 , G06K9/627 , G06K2209/19 , G06N3/063 , G06N3/084 , G06N3/088 , G06T7/73 , G06T7/75 , G06T2207/20081 , G06T2207/20084
Abstract: An image processing apparatus, which receives an input image and detects an image of a target object based on a detection algorithm, includes a machine learning device which performs learning by using a plurality of partial images cut out from at least one input image, based on a result of detection of the image of the target object, and calculates a likelihood of the image of the target object.
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17.发明申请公开(公告)号：US20180194008A1
公开(公告)日：2018-07-12
申请号：US15862103
申请日：2018-01-04
Applicant: FANUC CORPORATION
Inventor： Yuuta NAMIKI , Fumikazu WARASHINA , Shouta TAKIZAWA
CPC classification number: B25J9/1692 , B25J9/1697 , G05B2219/39008 , G06K9/4604 , G06T7/73 , G06T7/80 , G06T2207/30204 , Y10S901/09 , Y10S901/47
Abstract: For calibration on a single camera or a stereo camera, a calibration range is set in advance in an image coordinate system and the calibration is performed in an arbitrary range. A visual sensor controller is a calibration device that associates a robot coordinate system at a robot and an image coordinate system at a camera by placing a target mark at the robot, moving the robot, and detecting the target mark at multiple points in a view of the camera. The calibration device comprises: an image range setting unit that sets an image range in the image coordinate system at the camera; and a calibration range measurement unit that measures an operation range for the robot corresponding to the image range before implementation of calibration by moving the robot and detecting the target mark.
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18.发明申请公开(公告)号：US20170132451A1
公开(公告)日：2017-05-11
申请号：US15343215
申请日：2016-11-04
Applicant: FANUC CORPORATION
Inventor： Yuta NAMIKI , Fumikazu WARASHINA
CPC classification number: G06K9/00208 , G06K9/4604 , G06K9/6211 , G06K9/6212 , G06K9/6254
Abstract: An image processing device that detects an image of an object from input data captured by a vision sensor, on the basis of a model pattern including a set of a plurality of first feature points representing the shape of the object, includes an object detection unit that detects images of the object by matching between a plurality of second feature points extracted from the input data and a plurality of first feature points forming the model pattern, a corresponding point selection unit that selects, for each image of the object, second feature points corresponding to the first feature points and stores the selected second feature points as corresponding points, and a model pattern correction unit that calculates a statistic of a predetermined physical quantity of the plurality of corresponding points associated with each first feature point and corrects the first feature point on the basis of the statistic.
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公开(公告)号：US20160229061A1
公开(公告)日：2016-08-11
申请号：US15014656
申请日：2016-02-03
Applicant: FANUC Corporation
Inventor： Shouta TAKIZAWA , Fumikazu WARASHINA , Kazunori BAN
IPC: B25J9/16
CPC classification number: B25J9/1697 , B25J9/1679 , B25J9/1694 , G05B15/02 , G05B2219/39107 , G05B2219/40053 , G05B2219/40564 , G05B2219/40607 , G05B2219/45063 , Y10S901/02 , Y10S901/31 , Y10S901/40 , Y10S901/46
Abstract: A robot system is provided with a three-dimensional sensor which acquires three-dimensional information of an object, and a robot which includes a gripping device for gripping an object. The robot system uses first three-dimensional information which relates to a state before an object is taken out and second three-dimensional information which relates to a state after an object is taken out as the basis to acquire three-dimensional shape information of an object, and uses the three-dimensional shape information of the object as the basis to calculate a position and posture of the robot when an object is placed at a target site.
Abstract translation: 机器人系统设置有三维传感器，其获取物体的三维信息，以及包括用于夹持物体的夹持装置的机器人。 机器人系统使用与取出对象之前的状态相关的第一三维信息和与取出对象之后的状态相关的第二三维信息作为获取对象的三维形状信息的基础 并且使用对象的三维形状信息作为基础来计算当对象放置在目标位置时机器人的位置和姿势。
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公开(公告)号：US20230364812A1
公开(公告)日：2023-11-16
申请号：US18245537
申请日：2021-10-05
Applicant: FANUC CORPORATION
Inventor： Yuutarou TAKAHASHI , Fumikazu WARASHINA , Junichirou YOSHIDA
CPC classification number: B25J19/023 , B25J9/10 , B25J9/1661
Abstract: The objective of the present invention is to provide a robot system with which, if the position of a robot becomes displaced, it is easy to perform work by employing a camera or the like to apply a three-dimensional correction. This robot system is provided with: a robot 2; a robot conveying device 3 on which the robot is mounted, for moving the robot to a predetermined work space; at least two target marks 4 installed in the work space; a target mark position acquiring unit 5 for obtaining a three-dimensional position by using a vision sensor provided on the robot 2 to perform stereoscopic measurement of the at least two target marks 4; a displacement amount acquiring unit 6 for obtaining the displacement amount between the robot 2 and a desired relative position in the work space, from the acquired three-dimensional position; and a robot control unit 7 for activating the robot 2 using a value adjusted from a prescribed activation amount, using the acquired displacement amount.
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