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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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4.发明申请公开(公告)号：US20180095549A1
公开(公告)日：2018-04-05
申请号：US15712193
申请日：2017-09-22
Applicant: FANUC CORPORATION
Inventor： Atsushi WATANABE , Yuuki TAKAHASHI
IPC: G06F3/03 , G01B11/00 , G06F3/0346
CPC classification number: G06F3/0325 , B25J9/1697 , G01B11/005 , G05B2219/31304 , G05B2219/39045 , G05B2219/49302 , G06F3/0304 , G06F3/0346 , G06K9/00201 , G06K9/2036 , G06K9/3216 , G06K2209/19 , H04N13/221 , H04N13/271 , H04N2013/0085
Abstract: A detection apparatus for detecting a three-dimensional position of an object includes a feature point detecting unit that, with consecutive or at least alternately consecutive two images among multiple images sequentially imaged when a robot is moving being a first image and a second image, detects multiple feature points in the second image including one feature point detected in the first image; a distance calculating unit that calculates a distance between the one feature point of the first image and the multiple feature points of the second image; and a feature point determining unit that determines a feature point for which the distance is the shortest. With consecutive or at least alternately consecutive next two images being the first image and the second image, processing for determining a feature point for which the distance is the shortest is repeated, thereby tracking the feature points of the object.
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公开(公告)号：US20210158562A1
公开(公告)日：2021-05-27
申请号：US17029037
申请日：2020-09-23
Applicant: FANUC CORPORATION
Inventor： Minoru NAKAMURA , Yuuki TAKAHASHI , Atsushi WATANABE
Abstract: The object detection system includes a TOF sensor which outputs an image of a target space on the basis of a phase difference between reference light emitted toward the target space and reflected light from the target space, an object detection section which detects a position of an object present in the target space on the basis of the output image, an imaging conditions calculation section which calculates imaging conditions including at least one of an integration time and a light emission period of the TOF sensor on the basis of an image of the detected object, and an imaging conditions changing section which changes a configuration of the TOF sensor to the calculated imaging conditions, and the object detection section detects a position of the object on the basis of the image output under the changed imaging conditions.
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Patent Agency Ranking
公开(公告)号：US20180336402A1
公开(公告)日：2018-11-22
申请号：US15958133
申请日：2018-04-20
Applicant: FANUC CORPORATION
Inventor： Yuuki TAKAHASHI , Atsushi WATANABE , Minoru NAKAMURA
Abstract: A monitor apparatus includes a camera that captures a three-dimensional image and an image processing device that processes the output signal of the camera. A part of an image capturing region of the camera is set as a monitor region. The image processing device includes a region setting unit that sets a plurality of spatial regions by dividing the monitor region. The region setting unit divides the monitor region at a plurality of cutting planes radially extending from the camera serving as a start point. The region setting unit sets the spatial region on one end as a precaution region and sets the spatial region on the other end as a limit region.
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公开(公告)号：US20180131922A1
公开(公告)日：2018-05-10
申请号：US15794408
申请日：2017-10-26
Applicant: FANUC CORPORATION
Inventor： Minoru NAKAMURA , Yuuki TAKAHASHI , Atsushi WATANABE
CPC classification number: H04N13/167 , G01S7/4816 , G01S17/00 , G01S17/36 , G01S17/89 , H04N13/254 , H04N2213/005
Abstract: To provide an image capture device capable of doing multiple image captures by using multiple image capture units and capable of measuring a distance between each of the image capture units and a target more correctly. An image capture device according to the present invention is an image capture device with multiple image capture units. The image capture device comprises: one light emission unit for distance measurement that emits a reference beam; and the multiple image capture units that capture images of a reflected beam of the reference beam while having common timing of image capture.
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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：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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