Device and method for calculating area to be out of inspection target of inspection system

    公开(公告)号:US10724963B2

    公开(公告)日:2020-07-28

    申请号:US15926558

    申请日:2018-03-20

    申请人: FANUC CORPORATION

    摘要: 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.

    Calibration device, calibration method, and computer readable medium for visual sensor

    公开(公告)号:US10647001B2

    公开(公告)日:2020-05-12

    申请号:US15862103

    申请日:2018-01-04

    申请人: FANUC CORPORATION

    IPC分类号: B25J9/16 G06T7/73 G06T7/80

    摘要: 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.

    POSITIONING SYSTEM USING ROBOT
    3.
    发明申请

    公开(公告)号:US20170274534A1

    公开(公告)日:2017-09-28

    申请号:US15467434

    申请日:2017-03-23

    申请人: FANUC CORPORATION

    IPC分类号: B25J9/16

    摘要: A positioning system using a robot, capable of eliminating an error factor of the robot such as thermal expansion or backlash can be eliminated, and carrying out positioning of the robot with accuracy higher than inherent positioning accuracy of the robot. The positioning system has a robot with a movable arm, visual feature portions provided to a robot hand, and vision sensors positioned at a fixed position outside the robot and configured to capture the feature portions. The hand is configured to grip an object on which the feature portions are formed, and the vision sensors are positioned and configured to capture the respective feature portions.

    Robot system for correcting teaching of robot using image processing

    公开(公告)号:US11376732B2

    公开(公告)日:2022-07-05

    申请号:US16270600

    申请日:2019-02-08

    申请人: FANUC CORPORATION

    IPC分类号: B25J9/16 B25J15/06 B25J15/10

    摘要: 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.

    Object inspection system and object inspection method

    公开(公告)号:US10607337B2

    公开(公告)日:2020-03-31

    申请号:US16212689

    申请日:2018-12-07

    申请人: FANUC CORPORATION

    IPC分类号: G06T7/00 G06T7/73 G06T7/33

    摘要: An object inspection system enabling a quick and easy registering of a master image and an inspection image when there is a displacement between the master image and the inspection image. The object inspection system includes an imaging section, a movement machine configured to move a first object or a second object and an imaging section relative to each other, a positional data acquisition section configured to acquire positional data of the movement machine when the movement machine disposes the first object or the second object and the imaging section at a relative position, an image data acquisition section configured to acquire a first image of the first object and a second image of the second object, and an image registering section configured to register the first image and the second image.

    Calibration device, calibration method, and computer readable medium for visual sensor

    公开(公告)号:US10434654B2

    公开(公告)日:2019-10-08

    申请号:US15861851

    申请日:2018-01-04

    申请人: FANUC CORPORATION

    IPC分类号: B25J9/16 G06T7/80 B25J19/04

    摘要: 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.

    Object recognition apparatus
    7.
    发明授权

    公开(公告)号:US10339668B2

    公开(公告)日:2019-07-02

    申请号:US15951739

    申请日:2018-04-12

    申请人: FANUC CORPORATION

    IPC分类号: G06K9/00 G06T7/70

    摘要: An object recognition apparatus includes a two-dimensional sensor for acquiring two-dimensional information of an object at a first clock time, a three-dimensional sensor for acquiring three-dimensional information of the object at a second clock time, a storage unit that associates and stores a first position of the two-dimensional sensor and the two-dimensional information, and a second position of the three-dimensional sensor and the three-dimensional information, and an arithmetic operation unit that calculates the amount of change in orientation between the orientation of the two-dimensional sensor and the orientation of the three-dimensional sensor based on the stored first position and second position, that converts the three-dimensional information acquired at the second position into three-dimensional information acquired at the first position based on the calculated amount of change in orientation, and that calculates the state of the object based on the converted three-dimensional information and the two-dimensional information.

    IMAGE PROCESSING DEVICE FOR DISPLAYING OBJECT DETECTED FROM INPUT PICTURE IMAGE

    公开(公告)号:US20170249766A1

    公开(公告)日:2017-08-31

    申请号:US15441934

    申请日:2017-02-24

    申请人: FANUC CORPORATION

    IPC分类号: G06T11/60 G06K9/66 G06K9/62

    摘要: An image processing device including an object detection unit for detecting one or more images of objects from an input picture image, on the basis of a model pattern of the object, and a detection result display unit for graphically superimposing and displaying a detection result. The detection result display unit includes a first frame for displaying the entire input picture image and a second frame for listing and displaying one or more partial picture images each including an image detected. In the input picture image displayed in the first frame, a detection result is superimposed and displayed on all the detected images, and in the partial picture image displayed in the second frame, a detection result of an image corresponding to each partial picture image is superimposed and displayed.

    Machine learning device, robot control device and robot vision system using machine learning device, and machine learning method

    公开(公告)号:US11253999B2

    公开(公告)日:2022-02-22

    申请号:US16361207

    申请日:2019-03-22

    申请人: FANUC CORPORATION

    IPC分类号: B25J9/16

    摘要: A machine learning device includes a state observation unit for observing, as state variables, an image of a workpiece captured by a vision sensor, and a movement amount of an arm end portion from an arbitrary position, the movement amount being calculated so as to bring the image close to a target image; a determination data retrieval unit for retrieving the target image as determination data; and a learning unit for learning the movement amount to move the arm end portion or the workpiece from the arbitrary position to a target position. The target position is a position in which the vision sensor and the workpiece have a predetermined relative positional relationship. The target image is an image of the workpiece captured by the vision sensor when the arm end portion or the workpiece is disposed in the target position.

    Apparatus and method for generating operation program of inspection system

    公开(公告)号:US10656097B2

    公开(公告)日:2020-05-19

    申请号:US15894700

    申请日:2018-02-12

    申请人: FANUC CORPORATION

    IPC分类号: G01N21/89 G01N21/88 G01N21/95

    摘要: An apparatus capable of quickly constructing an operation program that causes an inspection system to carry out an operation for imaging the surface to be inspected. This apparatus includes a drawing acquisition section configured to acquire drawing data of the workpiece, a designation receiving section configured to accept designation of the surface to be inspected in the drawing data, a target position acquisition section configured to acquire, as a target position, a position of the movement mechanism when the workpiece and the imaging section are positioned such that the surface to be inspected is within a field of view of the imaging section, and a program generation section configured to generate an operation program for controlling a movement operation of the movement mechanism and an imaging operation of the imaging section on the basis of the target position.