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    HUMAN COOPERATION ROBOT SYSTEM IN WHICH ROBOT IS CAUSED TO PERFORM RETREAT OPERATION
    13.
    发明申请
    HUMAN COOPERATION ROBOT SYSTEM IN WHICH ROBOT IS CAUSED TO PERFORM RETREAT OPERATION 有权
    机器人人工合成机器人系统导致后退操作

    公开(公告)号：US20160243700A1

    公开(公告)日：2016-08-25

    申请号：US15047631

    申请日：2016-02-19

    Applicant: FANUC Corporation

    Inventor： Yasuhiro NAITOU ,  Soichi ARITA ,  Hiromitsu TAKAHASHI

    IPC: B25J9/16 ,  G01L5/00

    CPC classification number: B25J9/1633 ,  B25J9/1674 ,  G01L5/0076 ,  G05B2219/40201 ,  G05B2219/40202

    Abstract: A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is larger than a first threshold value; a position acquiring unit that a current position of the robot; and a retreat operation stopping unit that stops the retreat operation when the current position of the robot acquired by the position acquiring unit departs from a retreat area.

    Abstract translation: 人工合作机器人系统包括：外力检测单元，其检测作用在机器人上的外力; 退避操作指令单元，当外力检测单元检测到的外力大于第一阈值时，指令退避操作使得使机器人沿使得外力减小的方向移动; 位置获取单元，其是所述机器人的当前位置; 以及撤回操作停止单元，当所述位置获取单元获取的所述机器人的当前位置离开退避区域时，停止所述退避操作。

    OFF-LINE SIMULATION SYSTEM
    15.
    发明申请
    OFF-LINE SIMULATION SYSTEM 有权

    公开(公告)号：US20230090193A1

    公开(公告)日：2023-03-23

    申请号：US17906277

    申请日：2021-03-24

    Applicant: FANUC CORPORATION

    Inventor： Yuusuke MURATA ,  Hiromitsu TAKAHASHI

    IPC: B25J9/16 ,  G05B19/4155

    Abstract: Provided is an off-line simulation system that enables performance of efficient vision correction training. This vision correction training system for vision correction training is provided with a head mount display capable of displaying an image in a virtual space, and a teaching device communicably connected to the head mount display. The teaching device has: a vision correction unit that, on the basis of a captured image captured by a camera after the position of a workpiece has been moved, performs vision correction on a predetermined movement; and a correction confirmation unit that confirms that the vision correction is appropriately performed on the predetermined movement.

    MACHINE LEARNING DEVICE, ROBOT CONTROL SYSTEM, AND MACHINE LEARNING METHOD
    16.
    发明申请
    MACHINE LEARNING DEVICE, ROBOT CONTROL SYSTEM, AND MACHINE LEARNING METHOD 审中-公开

    公开(公告)号：US20180370027A1

    公开(公告)日：2018-12-27

    申请号：US15981153

    申请日：2018-05-16

    Applicant: FANUC CORPORATION

    Inventor： Yuusuke OOTA ,  Fumikazu WARASHINA ,  Hiromitsu TAKAHASHI

    IPC: B25J9/16 ,  G06T7/00 ,  B25J19/02

    Abstract: A machine learning device that acquires state information from a robot control inspection system. The system has a robot hand to hold a workpiece or camera. The state information includes a flaw detection position of the workpiece, a movement route of the robot hand, an imaging point of the workpiece, and the number of imaging by the camera. A reward calculator calculates a reward value in reinforcement learning based on flaw detection information including the flaw detection position. A value function updater updates an action value function by performing the reinforcement learning based on the reward value, the state information, and the action.

    PRODUCTION SYSTEM INCLUDING ROBOT HAVING FUNCTION FOR CORRECTING POSITION
    17.
    发明申请
    PRODUCTION SYSTEM INCLUDING ROBOT HAVING FUNCTION FOR CORRECTING POSITION 审中-公开
    生产系统，包括具有校正功能的机器人

    公开(公告)号：US20160349741A1

    公开(公告)日：2016-12-01

    申请号：US15140483

    申请日：2016-04-28

    Applicant: FANUC CORPORATION

    Inventor： Hiromitsu TAKAHASHI ,  Hiroji NISHI

    IPC: G05B19/418 ,  B25J13/08

    CPC classification number: G05B19/41825 ,  B23Q7/04 ,  G05B19/41865 ,  G05B2219/40113 ,  G05B2219/50362 ,  Y02P90/087 ,  Y02P90/20

    Abstract: A production system in which a position of a robot relative to a machine tool can be measured and an operation position of the robot can be corrected based on the measurement result, by using a simple configuration. The robot has a vision device attached to a movable part such as a robot arm. The machine tool has a visual target arranged on an outer surface of the machine tool.An image of the visual target captured by a camera is processed by a robot controller or an image processor. Due to such image processing, the position of the robot relative to the machine tool can be measured. Further, the production system has a correcting part which corrects a position of a motion of the robot regarding supplying and ejecting a workpiece, based on the positional relationship between the robot and the machine tool.

    Abstract translation: 由摄像机拍摄的视觉目标的图像由机器人控制器或图像处理器处理。 由于这种图像处理，可以测量机器人相对于机床的位置。 此外，生产系统具有校正部件，其基于机器人和机床之间的位置关系来校正机器人关于提供和喷射工件的运动的位置。

    CONTROL SYSTEM
    18.
    发明申请
    CONTROL SYSTEM 审中-公开

    公开(公告)号：US20200147805A1

    公开(公告)日：2020-05-14

    申请号：US16576503

    申请日：2019-09-19

    Applicant: FANUC CORPORATION

    Inventor： Hiromitsu TAKAHASHI ,  Yuta NAMIKI

    IPC: B25J9/16 ,  B25J13/08

    Abstract: A control system includes an imaging device and a controller. The controller includes a position conversion unit that detects an object from an image imaged by the imaging device and converts a detection position of the detected object on an image coordinate system or a sensor coordinate system into a detection position of the object on a machine coordinate system, an operation control unit that controls the operation of a machine based on the detection position of the object on the machine coordinate system, a detection range calculation unit that calculates a detection range on the machine coordinate system based on a predetermined detection range in the image on the image coordinate system or the sensor coordinate system, and a position determination unit that determines whether the detection position of the object on the machine coordinate system is within the detection range on the machine coordinate system.

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