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11.发明公开公开(公告)号：US20240193808A1
公开(公告)日：2024-06-13
申请号：US18551186
申请日：2021-05-27
Applicant: FANUC CORPORATION
Inventor： Yuuki TAKAHASHI
IPC: G06T7/73 , B25J13/08 , H04N23/695
CPC classification number: G06T7/73 , B25J13/08 , H04N23/695 , G06T2207/30164
Abstract: This imaging device comprises: an orientation detection unit that detects the orientation of a camera with respect to the direction of gravity; and a parameter setting unit that sets parameters for calculating a three-dimensional position corresponding to a specific position in an image captured by the camera. A storage unit stores setting information for setting parameters corresponding to the orientation of the camera. The parameter setting unit sets parameters on the basis of the direction of gravity, the orientation of the camera, and the setting information.
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公开(公告)号：US20200380707A1
公开(公告)日：2020-12-03
申请号：US16881457
申请日：2020-05-22
Applicant: FANUC CORPORATION
Inventor： Yuuki TAKAHASHI , Atsushi WATANABE , Minoru NAKAMURA
Abstract: A distance image generation device includes a light projection unit for projecting reference light onto a subject, a light reception unit having a plurality of two-dimensionally arrayed pixels, an optical system for guiding light from the subject to the light reception unit, an influence calculation means for calculating, based on an amount of light received by a target pixel and peripheral pixels thereof among the plurality of pixels, an influence of optical phenomena on the target pixel and the peripheral pixels, an impact calculation means for calculating the impact exerted by the peripheral pixels on the target pixel based on the influence, and a distance image generation means for generating a distance image of the subject based on the impact.
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公开(公告)号：US20190257978A1
公开(公告)日：2019-08-22
申请号：US16245260
申请日：2019-01-11
Applicant: FANUC CORPORATION
Inventor： Minoru NAKAMURA , Atsushi WATANABE , Yuuki TAKAHASHI , Takahiro IWATAKE
Abstract: A monitoring device capable of properly detecting an object, even when a blind zone may occur for a sensor. The monitoring device has a sensor configured to a predetermined spatial area, and a judging section configured to judge presence or absence of an object within a predetermined monitoring area in the spatial area, based on measurement data obtained by the sensor. The judging section is configured to be previously set as to whether or not, when the sensor detects that the object exists within an intermediate area between the sensor and the monitoring area, the judging section judges that the object exists within the monitoring area, on the grounds of the existence of the object within the intermediate area.
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公开(公告)号：US20180236665A1
公开(公告)日：2018-08-23
申请号：US15868754
申请日：2018-01-11
Applicant: FANUC CORPORATION
Inventor： Yuuki TAKAHASHI , Atsushi Watanabe , Minoru Nakamura
IPC: B25J9/16
Abstract: A robot system includes a robot installed such that the working space thereof is within a first area, an image acquisition unit that sequentially acquires images of the vicinity of a boundary of the first area and a second area that are adjacent to each other with the boundary therebetween, a monitoring-area setting unit that sets a monitoring area in a space adjacent to the boundary in the second area in the images acquired by the image acquisition unit, an object detecting unit that detects a moving object in the monitoring area set by the monitoring-area setting unit by processing the images acquired by the image acquisition unit, and a controller that performs control so as to restrict the operation of the robot when the moving object is detected by the object detecting unit.
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公开(公告)号：US20170355079A1
公开(公告)日：2017-12-14
申请号：US15615363
申请日：2017-06-06
Applicant: Fanuc Corporation
Inventor： Yuuki TAKAHASHI
CPC classification number: B25J9/1653 , B25J9/1671 , B25J9/1676 , G05B2219/34466 , G05B2219/40202 , G05B2219/40203 , G06K9/00771 , G06K9/3216 , G06T7/001
Abstract: A robot system includes: a recognition means that recognizes an operator in distance image data as a security surveillance target; an area setting means that sets, in the distance image data, a common work area that a robot and the operator are allowed to enter; and a boundary setting means that sets, in the distance image data, a first boundary that the operator S is allowed to cross for entering the common work area but the robot is not allowed to cross, and a second boundary that the robot is allowed to cross for entering the common work area but the operator is not allowed to cross, wherein the crossing of the second boundary by the security surveillance target and the crossing of the first boundary by a non-target object not recognized as the security surveillance target are detected.
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Patent Agency Ranking
公开(公告)号：US20170057088A1
公开(公告)日：2017-03-02
申请号：US15241143
申请日：2016-08-19
Applicant: FANUC CORPORATION
Inventor： Atsushi WATANABE , Yuuki TAKAHASHI
IPC: B25J9/16
CPC classification number: B25J9/1674 , B25J9/1697 , G05B2219/40202 , G05B2219/40203 , Y10S901/47 , Y10S901/49
Abstract: In a robot system, a signal output unit outputs, depending on a processing result of an image processing unit, an entry preparation signal indicating an entry preparation state, and an entry permission signal for permitting a person to enter a predetermined section in a case where the person has been requested to enter the predetermined section. The entry preparation signal is outputted when the stopping of the operation of the robot is detected, and thereafter, when the person requests to enter the predetermined section, an instruction to stop the operation of the robot, or an instruction to stop the operation of the robot as well as an instruction to stop a portion of the robot system which is necessary to enable the person to enter therein, are outputted, and the entry permission signal is outputted.
Abstract translation: 在机器人系统中，根据图像处理单元的处理结果，信号输出单元输出表示入场准备状态的录像准备信号和允许人进入预定区间的录像许可信号， 该人已被要求进入预定部分。 当检测到机器人的操作停止时，输入准备信号，此后，当人请求进入预定部分时，停止机器人的操作的指令或停止操作的指令 输出机器人以及停止机器人系统的使人进入其中所需的一部分的指令，并且输入进入许可信号。
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公开(公告)号：US20170001312A1
公开(公告)日：2017-01-05
申请号：US15196046
申请日：2016-06-29
Applicant: FANUC CORPORATION
Inventor： Atsushi WATANABE , Yuuki TAKAHASHI
CPC classification number: B25J9/1697 , B25J9/1674 , B25J19/06 , F16P3/142 , G05B2219/40202
Abstract: The robot system includes an imaging unit, an image processing unit, an entry request unit for a person to request entry to a predetermined section, and a signal output unit which, in a case where the person has requested entry into the predetermined section, outputs, depending on a processing result of the image processing unit, an entry permission signal indicating that the person is permitted to enter the predetermined section. If the image processing unit detects that the robot has reached a stopping position taught in advance after the person requested to enter the predetermined section, at least one of an instruction to stop the robot and an instruction to stop a part of the robot system which is necessary to enable the person to enter therein is outputted, and the signal output unit outputs the entry permission signal.
Abstract translation: 机器人系统包括成像单元，图像处理单元，用于请求进入预定区段的人员的入口请求单元，以及在人已经请求进入预定区段的情况下输出的信号输出单元 取决于图像处理单元的处理结果，指示允许该人进入预定区段的输入许可信号。 如果图像处理单元检测到机器人在请求进入预定部分之后已经达到预先教导的停止位置，则停止机器人的指令和停止机器人系统的一部分的指令中的至少一个是 输出使人能够进入的必要信号，信号输出部输出输入许可信号。
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公开(公告)号：US20200088877A1
公开(公告)日：2020-03-19
申请号：US16546299
申请日：2019-08-21
Applicant: FANUC CORPORATION
Inventor： Minoru NAKAMURA , Yuuki TAKAHASHI , Atsushi WATANABE
Abstract: An object monitoring system includes means for determining an arrangement relationship between a monitoring area and an external object on a basis of a distance measurement value of the external object, and calculating an influence degree of the external object on an object distance measurement in the monitoring area in accordance with the determined arrangement relationship.
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公开(公告)号：US20200018836A1
公开(公告)日：2020-01-16
申请号：US16412431
申请日：2019-05-15
Applicant: FANUC CORPORATION
Inventor： Minoru NAKAMURA , Yuuki TAKAHASHI , Atsushi WATANABE
Abstract: A distance measuring apparatus includes a reference object distance calculation section which calculates a distance to a reference object based on a two-dimensional image in which the reference object, which includes a plurality of feature points having obvious three-dimensional coordinate correlations, is captured, and a correction amount calculation section which calculates a correction amount for correcting a distance image by comparing the calculated distance to the reference object with a distance measurement value to the reference object in the distance image.
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公开(公告)号：US20190383906A1
公开(公告)日：2019-12-19
申请号：US16412429
申请日：2019-05-15
Applicant: FANUC CORPORATION
Inventor： Minoru NAKAMURA , Yuuki TAKAHASHI , Atsushi WATANABE
Abstract: A distance-measuring apparatus includes a precision calculation section that calculates a precision for each pixel, the precision based on a relation among the amounts of the electric charges stored at a plurality of timings that respectively delay by certain phases from a timing of the emission of the measuring light, wherein the precision is outputted from the distance-measuring apparatus.
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