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1.发明申请公开(公告)号：US20200273194A1
公开(公告)日：2020-08-27
申请号：US16778070
申请日：2020-01-31
Applicant: FANUC CORPORATION
Inventor： Junichirou YOSHIDA , Shouta TAKIZAWA
IPC: G06T7/593 , H04N5/235 , H04N13/239 , H04N13/254 , G06T7/521
Abstract: A three-dimensional imaging device includes a distance image acquiring unit configured to acquire distance images by switching exposure conditions; an effective pixel count calculation unit that calculates an effective pixel count; an ineffective pixel identifying unit that identifies ineffective pixels; and an exposure condition adjusting unit that sets the exposure conditions. The exposure condition adjusting unit sets a reference exposure condition, determines whether a reference effective pixel count is equal to or less than a first threshold value, and, in response to the reference effective pixel count being equal to or less than the first threshold value, sets an additional exposure condition that maximizes a total effective pixel count of a total distance image, and repeats additional setting of the additional exposure condition using the total distance image as a new reference distance image until the total effective pixel count becomes larger than the first threshold value.
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公开(公告)号：US20190197676A1
公开(公告)日：2019-06-27
申请号：US16212689
申请日：2018-12-07
Applicant: FANUC CORPORATION
Inventor： Junichirou YOSHIDA , Fumikazu WARASHINA
CPC classification number: G06T7/001 , G06T7/337 , G06T7/74 , G06T7/97 , G06T2207/20224
Abstract: 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.
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公开(公告)号：US20190066287A1
公开(公告)日：2019-02-28
申请号：US16107485
申请日：2018-08-21
Applicant: Fanuc Corporation
Inventor： Junichirou YOSHIDA , Fumikazu WARASHINA
Abstract: An inspection system includes a first imaging device provided in a first inspection device; a second imaging device provided in a second inspection device; a first controller; and a second controller, wherein the first controller acquires a particular feature of a calibration jig, which is positioned in the first inspection device, from an image of the calibration jig obtained by the first imaging device as first feature data, and the second controller acquires the particular feature of the calibration jig, which is positioned in the second inspection device, from an image of the calibration jig obtained by the second imaging device as second feature data. The correction amount needed for correcting the image obtained by the second imaging device so that the second feature data matches the first feature data is acquired, and the second inspection device corrects an image of an inspection subject using this correction amount.
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公开(公告)号：US20200342563A1
公开(公告)日：2020-10-29
申请号：US16854919
申请日：2020-04-22
Applicant: FANUC CORPORATION
Inventor： Junichirou YOSHIDA , Shouta TAKIZAWA
Abstract: An image processing apparatus includes a two-dimensional image storage unit configured to store a plurality of two-dimensional image data captured by photographing an identical imaging target object under different exposure conditions; a distance image storage unit configured to store distance image data including a pixel array of a known relationship to a pixel array of the two-dimensional image data; a pixel extraction unit configured to extract, among pixels in each of the two-dimensional image data, a first pixel at which a difference in brightness between identical pixels is less than a predetermined value; and a distance image adjusting unit configured to specify a second pixel of the distance image data at a position corresponding to the first pixel in the pixel array, and to set the second pixel as a non-imaging pixel in the distance image data.
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5.发明申请公开(公告)号：US20180275073A1
公开(公告)日：2018-09-27
申请号：US15926558
申请日：2018-03-20
Applicant: FANUC CORPORATION
Inventor： Junichirou YOSHIDA , Fumikazu WARASHINA
Abstract: 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.
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Patent Agency Ranking
公开(公告)号：US20180231474A1
公开(公告)日：2018-08-16
申请号：US15894700
申请日：2018-02-12
Applicant: FANUC CORPORATION
Inventor： Junichirou YOSHIDA , Fumikazu WARASHINA
IPC: G01N21/89
CPC classification number: G01N21/89 , G01N21/8851 , G01N21/9515 , G01N2201/10 , Y02P90/265
Abstract: 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.
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公开(公告)号：US20180101962A1
公开(公告)日：2018-04-12
申请号：US15719962
申请日：2017-09-29
Applicant: FANUC CORPORATION
Inventor： Shouta TAKIZAWA , Junichirou YOSHIDA , Fumikazu WARASHINA
CPC classification number: G06T7/521 , G01B11/2513 , G06T5/006 , G06T2207/10152 , G06T2207/20008 , G06T2207/30208 , H04N9/3185 , H04N9/3194
Abstract: A projection pattern creation apparatus is configured to capture an image of a projection pattern projected from a pattern projection device by an imaging device to measure a three-dimensional position and/or a shape of an object. The projection pattern creation apparatus includes: a projection pattern deformation unit configured to reproduce deformation when a projected projection pattern is included in an image captured by the imaging device on the basis of characteristics of optical systems of the pattern projection device and the imaging device, and/or a positional relation between the pattern projection device and the imaging device and generate a deformation projection pattern; and a first projection pattern improvement unit configured to generate a second projection pattern obtained by improving a first projection pattern, on a basis of a first deformation projection pattern generated when the first projection pattern is projected toward evaluation surfaces having different positions and inclinations.
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8.发明申请公开(公告)号：US20250042036A1
公开(公告)日：2025-02-06
申请号：US18715735
申请日：2022-01-14
Applicant: FANUC CORPORATION
Inventor： Junichirou YOSHIDA
Abstract: This robot device comprises: a positional information generation unit that generates three-dimensional positional information of a surface of a workpiece on the basis of an output from a visual sensor; and a face inference unit that infers face information related to a face including the surface of the workpiece on the basis of the three-dimensional positional information. The robot moves the visual sensor from a first position to a second position. A correction amount setting unit sets a correction amount for driving the robot in the second position so that a first face including the surface of the workpiece detected in the first position matches a second face including the surface of the workpiece detected in the second position.
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公开(公告)号：US20240028781A1
公开(公告)日：2024-01-25
申请号：US18025042
申请日：2021-09-21
Applicant: FANUC CORPORATION
Inventor： Junichirou YOSHIDA
CPC classification number: G06F30/00 , G06V10/761
Abstract: Provided is an imaging condition adjusting device for adjusting an imaging condition for capturing a distance image of an object, the imaging condition adjusting device comprising: an acquiring unit for acquiring from a 3-dimensional camera a distance image including the object disposed in the field of view of the 3-dimensional camera; a reading unit for reading a CAD model of the object; a calculating and processing unit for performing matching between distance images captured by the 3-dimensional camera under a plurality of generated imaging conditions and the CAD model, and for calculating a match between the captured distance images and the CAD model; and an imaging condition optimization unit for setting in the 3-dimensional camera an imaging condition such that the match calculated by the calculating and processing unit becomes greater than or equal to a predetermined value set in advance.
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公开(公告)号：US20230364812A1
公开(公告)日：2023-11-16
申请号：US18245537
申请日：2021-10-05
Applicant: FANUC CORPORATION
Inventor： Yuutarou TAKAHASHI , Fumikazu WARASHINA , Junichirou YOSHIDA
CPC classification number: B25J19/023 , B25J9/10 , B25J9/1661
Abstract: The objective of the present invention is to provide a robot system with which, if the position of a robot becomes displaced, it is easy to perform work by employing a camera or the like to apply a three-dimensional correction. This robot system is provided with: a robot 2; a robot conveying device 3 on which the robot is mounted, for moving the robot to a predetermined work space; at least two target marks 4 installed in the work space; a target mark position acquiring unit 5 for obtaining a three-dimensional position by using a vision sensor provided on the robot 2 to perform stereoscopic measurement of the at least two target marks 4; a displacement amount acquiring unit 6 for obtaining the displacement amount between the robot 2 and a desired relative position in the work space, from the acquired three-dimensional position; and a robot control unit 7 for activating the robot 2 using a value adjusted from a prescribed activation amount, using the acquired displacement amount.
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