公开(公告)号：US08483878B2

公开(公告)日：2013-07-09

申请号：US13442983

申请日：2012-04-10

申请人： Hidetoshi Kumiya ,  Kyouhei Kokubo

发明人： Hidetoshi Kumiya ,  Kyouhei Kokubo

IPC分类号： G05B19/04 ,  G06F19/00

CPC分类号： B25J9/1676 ,  G05B2219/39094

摘要： A method and an apparatus for predicting interference, at practical accuracy and calculation time, between a target section of a robot and a peripheral object installed around the robot, when the target section, such as a tool or a sensor attached to a robot hand, is moved along a movement path thereof due to the motion of the robot. A convex hull, defined by areas occupied by the tool at adjacent time points, is calculated. It is judged whether a common area exists between the convex hull and a polyhedron area. When the common area exists, it is judged that the tool interferes with the container box on the movement path, and the procedure is terminated. When the common area does not exist, it is judged whether j

摘要翻译： 一种用于在实际的精度和计算时间之间预测机器人的目标部分和安装在机器人周围的周边物体之间的干扰的方法和装置，当诸如附接到机器人手的工具或传感器的目标部分， 由于机器人的运动而沿其运动路径移动。 计算由相邻时间点由工具占据的面积定义的凸包。 判断在凸包和多面体区域之间是否存在公共区域。 当公共区域存在时，判断该工具干扰移动路径上的容器箱，并且终止该过程。 当公共区域不存在时，判断j = n为真，则判断不发生干扰。

公开(公告)号：US20080240511A1

公开(公告)日：2008-10-02

申请号：US12057423

申请日：2008-03-28

申请人： Kazunori BAN ,  Ichiro KANNO ,  Hidetoshi KUMIYA ,  Shouta TAKIZAWA

发明人： Kazunori BAN ,  Ichiro KANNO ,  Hidetoshi KUMIYA ,  Shouta TAKIZAWA

IPC分类号： G06K9/00

CPC分类号： B25J9/1697 ,  G06T1/0007 ,  G06T7/13 ,  G06T7/75 ,  G06T7/77 ,  G06T2207/30164 ,  G06T2207/30248

摘要： An apparatus for picking up objects including a robot for picking up an object, at least one part of the object having a curved shape, having a storing means for storing a gray gradient distribution model of the object, a recognizing means for recognizing a gray image of the object, a gradient extracting means for extracting a gray gradient distribution from the gray image recognized by the recognizing means, an object detecting means for detecting a position or position posture of the object in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means and the gray gradient distribution model stored by the storing means, a detection information converting means for converting information of the position or position posture detected by the object detecting means into information of position or position posture in a coordinate system regarding the robot; and a robot moving means for moving the robot to the position or position posture converted by the detection information converting means to pick up the object. Thus, the object having a curved shape can be detected and picked up in a reasonably short period of time.

摘要翻译： 一种用于拾取物体的装置，包括用于拾取物体的机器人，具有弯曲形状的物体的至少一部分具有用于存储物体的灰度梯度分布模型的存储装置，用于识别灰色图像的识别装置 的梯度提取装置，用于从由识别装置识别的灰度图像中提取灰度梯度分布;对象检测装置，用于根据提取的灰度梯度分布来检测灰色图像中的对象的位置或位置姿势; 通过由存储装置存储的梯度提取装置和灰度梯度分布模型，检测信息转换装置，用于将由对象检测装置检测到的位置或位置姿势的信息转换成关于坐标系的位置或位置姿势的信息 机器人; 以及机器人移动装置，用于将机器人移动到由检测信息转换装置转换的位置或位置姿势以拾取对象。 因此，可以在相当短的时间段内检测和拾取具有弯曲形状的物体。

公开(公告)号：US07400760B2

公开(公告)日：2008-07-15

申请号：US10845980

申请日：2004-05-17

申请人： Katsutoshi Takizawa ,  Hidetoshi Kumiya

发明人： Katsutoshi Takizawa ,  Hidetoshi Kumiya

IPC分类号： G06K9/00 ,  G06K9/62

CPC分类号： G06T7/0004 ,  G06K9/6203 ,  G06T7/74

摘要： A first masking image of an input image is created by assuming that pixels in an area including the area of a target in all sample images are valid pixels while pixels in the remaining area are invalid pixels. The first masking image is used in a first comparison between the input image and each sample image to select an image that provides a best match as a provisionally selected sample image. In a second comparison, a second masking image corresponding to the provisionally selected sample image is used to select a final sample image. The second masking image is created from an individual sample image by assuming that pixels in an area including the area of the target are valid pixels while pixels in the remaining area invalid pixels.

摘要翻译： 通过假设包括所有样本图像中的目标区域的区域中的像素是有效像素，而剩余区域中的像素是无效像素来创建输入图像的第一掩蔽图像。 第一掩蔽图像用于输入图像和每个样本图像之间的第一比较，以选择提供最佳匹配的图像作为临时选择的样本图像。 在第二比较中，使用与临时选择的样本图像相对应的第二掩蔽图像来选择最终样本图像。 通过假设包括目标区域的区域中的像素是有效像素，而剩余区域中的像素是无效像素，从单个采样图像创建第二掩蔽图像。

公开(公告)号：US06328523B1

公开(公告)日：2001-12-11

申请号：US09295364

申请日：1999-04-21

申请人： Atsushi Watanabe ,  Ryuichi Hara ,  Kazunori Ban ,  Hidetoshi Kumiya

发明人： Atsushi Watanabe ,  Ryuichi Hara ,  Kazunori Ban ,  Hidetoshi Kumiya

IPC分类号： B25J1308

CPC分类号： B25J9/1697 ,  B25J9/1687 ,  G05B2219/37555 ,  G05B2219/37563 ,  G05B2219/37572 ,  G05B2219/40053

摘要： A group of bolts are suppled into a placing surface of a tray, an isolated bolt is searched for by a visual sensor, and its deviation from a standard position at the time of teaching is determined. The isolated bolt is picked up by a robot that has been taught how to pick up an isolated bolt laying in a standard position. The position of the robot's hand is corrected according to the deviation from the standard position before the robot attempts to pick up the located isolated bolt. If no isolated bolt is found, a shaking device 1 is operated to loosen the piled-up bolts, and a new isolated bolt is again searched for by the visual sensor. The isolated bolt, if found, is picked up. The picking-up operation may be performed by searching for an isolated small set of bolts using a three-dimensional visual sensor. The oscillating excitation can also be provided by a robot. Also, the piled-up bolts may be loosened or disentangled using a robot equipped with a tool for leveling the pile of bolts or by using a gas jet.

摘要翻译： 一组螺栓被提供到托盘的放置表面中，由视觉传感器搜索隔离的螺栓，并且确定其在教导时与标准位置的偏差。 被隔离的螺栓由机器人拾取，该机器人已经被教导如何拿起放置在标准位置的隔离螺栓。 机器人的手的位置根据机器人试图拿起定位的隔离螺栓之前与标准位置的偏差进行校正。 如果没有发现隔离的螺栓，则操作摇动装置1以松开堆积螺栓，并且再次通过视觉传感器搜索新的隔离螺栓。 被隔离的螺栓，如果发现，被拾起。 可以通过使用三维视觉传感器搜索隔离的小套螺栓来执行拾取操作。 振荡激励也可由机器人提供。 此外，堆叠的螺栓可以使用装备有用于使螺栓堆整平或使用气体射流的工具的机器松动或解开。

公开(公告)号：US5463297A

公开(公告)日：1995-10-31

申请号：US354027

申请日：1994-12-06

申请人： Ryuichi Hara ,  Atsuo Nagayama ,  Hidetoshi Kumiya

发明人： Ryuichi Hara ,  Atsuo Nagayama ,  Hidetoshi Kumiya

IPC分类号： B25J9/10 ,  B25J9/18 ,  G05B19/18 ,  G05B19/404 ,  G05B19/418 ,  G05B19/42 ,  G05D3/12 ,  G05B19/00

CPC分类号： G05B19/4182 ,  G05B2219/39133 ,  Y02P90/083

摘要： A method of tracking a robot with respect to a circularly moving workpiece W. When a workpiece on a disc-shape conveyer remains stationary at a reference position W0, positions P0 and Q0 are taught to the robot in a stationary coordinate system .SIGMA.0 and the robot is placed on stand-by at a position A. The angular displacement of the disc-shape conveyer is detected by a pulse encoder and counting of the output pulses starts when the workpiece W arrives at the reference position W0. A CPU of a robot controller reads the counted amount in a short cycle and transforms it into a rotation amount .theta. of the conveyer from the reference position. Updating of matrix data for setting a rotary coordinate system .SIGMA.rot based on the rotation amount .theta. is repeated. When the workpiece W reaches the reference position W0, the CPU executes interpolation calculation for successively determining a target point to which the robot is moved, based on the position data of the waiting position and the position data of teaching points P0 and Q0. The position data obtained by the interpolation calculation in the rotary coordinate system .SIGMA.rot is converted into the position data in the stationary coordinate system .SIGMA.0 and the position of the robot is controlled based on thus obtained position data.

摘要翻译： 跟踪机器人相对于圆周移动的工件W的方法。当盘形输送机上的工件在参考位置W0处保持静止时，位置P0和Q0被教给机器人在静止坐标系SIGMA 0中，并且 机器人被放置在A位置的待机位置。盘形输送机的角位移由脉冲编码器检测，当工件W到达参考位置W0时，输出脉冲的计数开始。 机器人控制器的CPU在短周期内读取计数量并将其从参考位置转换成输送机的旋转量θ。 重复基于旋转量θ更新用于设置旋转坐标系SIGMA rot的矩阵数据。 当工件W到达基准位置W0时，CPU基于等待位置的位置数据和示教点P0和Q0的位置数据执行用于连续确定机器人移动到的目标点的插值计算。 通过旋转坐标系SIGMA rot中的内插计算获得的位置数据被转换成静止坐标系SIGMA 0中的位置数据，并且基于由此获得的位置数据来控制机器人的位置。

公开(公告)号：US20120029686A1

公开(公告)日：2012-02-02

申请号：US13184721

申请日：2011-07-18

申请人： Kazunori Ban ,  Hidetoshi Kumiya ,  Toshiyuki Ando

发明人： Kazunori Ban ,  Hidetoshi Kumiya ,  Toshiyuki Ando

IPC分类号： G06F7/00

CPC分类号： B25J9/1679 ,  B25J9/1697 ,  G05B2219/40053

摘要： A workpiece removing device including a camera for imaging a workpiece loading area including a plurality of workpieces loaded in bulk; a workpiece detection section for detecting a workpiece, based on a camera image taken with the camera; a workpiece selection section for selecting a workpiece adapted to be removed, based on a detection result by the workpiece detection section; a robot for removing the workpiece selected by the workpiece selection section; a loading state determination section for determining whether a loading state of the workpieces in the workpiece loading area has changed due to a operation of the robot; and an area setting section for setting a workpiece detection area where the workpiece detection section detects a workpiece. If the loading state determination section determines that the loading state of the workpieces has changed, the area setting section sets the workpiece detection area in a peripheral area of a changing position of the loading state, i.e., in a portion of the workpiece loading area.

摘要翻译： 一种工件移除装置，包括用于对包括多个装载的工件的工件装载区域进行成像的照相机; 基于用所述照相机拍摄的照相机图像来检测工件的工件检测部; 工件选择部，其基于所述工件检测部的检测结果来选择适于被去除的工件; 用于去除由工件选择部选择的工件的机器人; 装载状态判定部，其判断由于所述机器人的动作而使所述工件装载区域内的工件的装载状态发生了变化; 以及区域设定部，用于设定工件检测部检测出工件的工件检测区域。 如果装载状态确定部确定工件的装载状态已经改变，则区域设定部将工件检测区域设定在装载状态的变更位置的周边区域中，即在工件装载区域的一部分中。

公开(公告)号：US08098928B2

公开(公告)日：2012-01-17

申请号：US12057423

申请日：2008-03-28

申请人： Kazunori Ban ,  Ichiro Kanno ,  Hidetoshi Kumiya ,  Shouta Takizawa

发明人： Kazunori Ban ,  Ichiro Kanno ,  Hidetoshi Kumiya ,  Shouta Takizawa

IPC分类号： G06K9/00

CPC分类号： B25J9/1697 ,  G06T1/0007 ,  G06T7/13 ,  G06T7/75 ,  G06T7/77 ,  G06T2207/30164 ,  G06T2207/30248

摘要： An apparatus for picking up objects including a robot for picking up an object, at least one part of the object having a curved shape, having a storing means for storing a gray gradient distribution model of the object, a recognizing means for recognizing a gray image of the object, a gradient extracting means for extracting a gray gradient distribution from the gray image recognized by the recognizing means, an object detecting means for detecting a position or position posture of the object in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means and the gray gradient distribution model stored by the storing means, a detection information converting means for converting information of the position or position posture detected by the object detecting means into information of position or position posture in a coordinate system regarding the robot; and a robot moving means for moving the robot to the position or position posture converted by the detection information converting means to pick up the object. Thus, the object having a curved shape can be detected and picked up in a reasonably short period of time.

摘要翻译： 一种用于拾取物体的装置，包括用于拾取物体的机器人，具有弯曲形状的物体的至少一部分具有用于存储物体的灰度梯度分布模型的存储装置，用于识别灰色图像的识别装置 的梯度提取装置，用于从由识别装置识别的灰度图像中提取灰度梯度分布;对象检测装置，用于根据提取的灰度梯度分布来检测灰色图像中的对象的位置或位置姿势; 通过由存储装置存储的梯度提取装置和灰度梯度分布模型，检测信息转换装置，用于将由对象检测装置检测到的位置或位置姿势的信息转换成关于坐标系的位置或位置姿势的信息 机器人; 以及机器人移动装置，用于将机器人移动到由检测信息转换装置转换的位置或位置姿势以拾取对象。 因此，可以在相当短的时间段内检测和拾取具有弯曲形状的物体。

公开(公告)号：US20050069193A1

公开(公告)日：2005-03-31

申请号：US10940773

申请日：2004-09-15

申请人： Hidetoshi Kumiya ,  Katsutoshi Takizawa

发明人： Hidetoshi Kumiya ,  Katsutoshi Takizawa

IPC分类号： G06T1/00 ,  G06K9/00 ,  G06K9/46 ,  G06K9/52 ,  G06K9/68 ,  G06T7/00

CPC分类号： G06K9/4647 ,  G06K9/522 ,  G06K9/6857

摘要： (1) Orthogonal transformation is applied to sample images based on the images of a normalized orthogonal system, and component groups are determined. A plurality of comparison target images are selected from an input image, and a partial normalized orthogonal system is created from the normalized orthogonal system by decreasing the dimensions. (2) Based on the partial normalized orthogonal system, orthogonal transformation is applied to the comparison target images, so as to determine the partial component group for each comparison target image. A comparison target image having high consistency with one of the sample images is extracted by comparison and collation between these partial component groups and the partial component groups which include each element of each partial normalized orthogonal system among component groups of each sample image. And a new comparison target image group is selected near the extracted image, and a new partial normalized orthogonal system is created by increasing the dimensions. Then (2) is repeated.

摘要翻译： （1）基于归一化正交系统的图像，对样本图像进行正交变换，并确定分量组。 从输入图像中选择多个比较对象图像，并且通过减小尺寸从归一化正交系统创建部分归一化正交系统。 （2）基于部分归一化正交系统，将正交变换应用于比较对象图像，以便确定每个比较目标图像的部分分量组。 通过在每个样本图像的组件组中的这些部分组分组和包括每个部分归一化正交系统的每个元素的部分分量组之间进行比较和核对，提取与样本图像之一具有高一致性的比较对象图像。 并且在提取的图像附近选择新的比较对象图像组，并且通过增加尺寸来创建新的部分归一化正交系统。 然后重复（2）。

公开(公告)号：US5988850A

公开(公告)日：1999-11-23

申请号：US836055

申请日：1997-04-29

申请人： Hidetoshi Kumiya

发明人： Hidetoshi Kumiya

IPC分类号： B25J9/10 ,  B25J9/18 ,  G05B19/4103 ,  G05B19/416 ,  G05B19/18

CPC分类号： G05B19/416 ,  G05B19/4103 ,  G05B2219/34098 ,  G05B2219/34169 ,  G05B2219/34175 ,  G05B2219/39242 ,  G05B2219/42207 ,  G05B2219/45083

摘要： An interpolation method for enabling a robot to make a smooth connecting motion accompanied by velocity control even in the case where the connecting motion involves a nonzero-acceleration motion. During motion path planning for the robot, in order to perform an interpolation so that a point a.sup.(0) on a first motion path G and a point b.sup.(0) on a second motion path H may be smoothly connected by a connecting curve S, the connecting curve S being determined using a parameter including time instant t. First, a function p(T, t) satisfying boundary conditions (continuity of position, velocity, acceleration, etc.) corresponding to required smoothness C.sup.k is derived as a polynomial equation or the like including an unknown parameter T, and by optimizing a suitable evaluation function .epsilon.(T), T.sub.0 for keeping the velocity constant is obtained. Interpolation is performed using q(t)=p(T.sub.0, t), whereupon a connecting motion, in which the velocity is controlled to a constant value, can be attained. Where a composite function (q.smallcircle.f)(t) including an adjustment function f(t) corresponding to a desired velocity transition pattern is used for the interpolation, the velocity can be varied in a desired manner during the connecting motion.

摘要翻译： PCT No.PCT / JP96 / 02472 Sec。 371日期1997年04月29日 102（e）日期1997年4月29日PCT 1996年9月2日PCT公布。 出版物WO97 / 08596 日期1997年3月6日即使在连接运动涉及非零加速运动的情况下，使机器人能够进行伴随速度控制的平滑连接运动的插值方法。 在机器人的运动路径规划期间，为了执行插值，使得第一运动路径G上的点a（0）和第二运动路径H上的点b（0）可以通过连接曲线S平滑地连接 ，使用包括时刻t的参数确定连接曲线S. 首先，将与所需平滑度Ck对应的满足边界条件（位置，速度，加速度等的连续性）的函数p（T，t）导出为包含未知参数T的多项式等， 得到用于保持速度常数的评估函数ε（T），T0。 使用q（t）= p（T0，t）进行插补，由此可以实现将速度控制为恒定值的连接运动。 在包括对应于期望的速度转变图案的调整函数f（t））的复合函数（q + 602f）（t）被用于插值的情况下，可以在连接运动期间以期望的方式改变速度。

公开(公告)号：US08380342B2

公开(公告)日：2013-02-19

申请号：US13184721

申请日：2011-07-18

申请人： Kazunori Ban ,  Hidetoshi Kumiya ,  Toshiyuki Ando

发明人： Kazunori Ban ,  Hidetoshi Kumiya ,  Toshiyuki Ando

IPC分类号： G06F7/00

CPC分类号： B25J9/1679 ,  B25J9/1697 ,  G05B2219/40053

摘要： A workpiece removing device including a camera for imaging a workpiece loading area including a plurality of workpieces loaded in bulk; a workpiece detection section for detecting a workpiece, based on a camera image taken with the camera; a workpiece selection section for selecting a workpiece adapted to be removed, based on a detection result by the workpiece detection section; a robot for removing the workpiece selected by the workpiece selection section; a loading state determination section for determining whether a loading state of the workpieces in the workpiece loading area has changed due to a operation of the robot; and an area setting section for setting a workpiece detection area where the workpiece detection section detects a workpiece. If the loading state determination section determines that the loading state of the workpieces has changed, the area setting section sets the workpiece detection area in a peripheral area of a changing position of the loading state, i.e., in a portion of the workpiece loading area.

摘要翻译： 一种工件移除装置，包括用于对包括多个装载的工件的工件装载区域进行成像的照相机; 基于用所述照相机拍摄的照相机图像来检测工件的工件检测部; 工件选择部，其基于所述工件检测部的检测结果来选择适于被去除的工件; 用于去除由工件选择部选择的工件的机器人; 装载状态判定部，其判定由于所述机器人的动作而使所述工件装载区域内的工件的装载状态发生了变化; 以及区域设定部，用于设定工件检测部检测出工件的工件检测区域。 如果装载状态确定部确定工件的装载状态已经改变，则区域设定部将工件检测区域设定在装载状态的变更位置的周边区域中，即在工件装载区域的一部分中。