公开(公告)号：US20250026010A1

公开(公告)日：2025-01-23

申请号：US18713177

申请日：2021-12-17

Applicant: FANUC CORPORATION

Inventor： Wanfeng FU

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/4155

Abstract: This teaching device comprises a teaching unit that, using a force detector, binds a force parameter of a force control command for a machine, and a movement trajectory of the machine which executes force control, and that simultaneously teaches the force parameter and the movement trajectory.

公开(公告)号：US20240139959A1

公开(公告)日：2024-05-02

申请号：US18546710

申请日：2021-04-19

Applicant: FANUC CORPORATION

Inventor： Wanfeng FU ,  Yuta NAMIKI

IPC: B25J9/16

CPC classification number: B25J9/1692

Abstract: The present invention facilitates calibration of a robot system. A program generation device according to one embodiment of the present disclosure generates a calibration program that defines a procedure for calibration Los setting a positional relationship between a visual sensor and a robot in a robot system is which the robot is operated on the basis of a detection result from the visual sensor. The program generation device comprises: a calibration information acquisition unit for acquiring information about the calibration performed in accordance with a teacher's input; and a program generation unit for generating a calibration program that defines, on the basis of the information about the calibration acquired by the calibration information acquisition unit, a procedure for the calibration to be performed the next time and thereafter.

公开(公告)号：US20230328372A1

公开(公告)日：2023-10-12

申请号：US18043039

申请日：2021-12-03

Applicant: FANUC CORPORATION

Inventor： Wanfeng FU ,  Yuta NAMIKI

IPC: H04N23/67 ,  G06T7/80 ,  H04N23/61

CPC classification number: H04N23/67 ,  H04N23/61 ,  G06T7/80

Abstract: An image processing system includes: an industrial machine; a visual sensor; a visual pattern arranged on a part to be detected, for identifying a relative positional relationship between the visual sensor and the visual pattern; an image processing unit that determines the relative positional relationship between the visual sensor and the visual pattern on the basis of an image of the visual pattern captured by the visual sensor; and a focusing operation control unit that, with the visual pattern within the field of view of the visual sensor, causes the visual sensor to capture the visual pattern while changing the relative positions of the visual sensor and the visual pattern in a predetermined direction with reference to the visual pattern, on the basis of the determined relative positional relationship to obtain a focus degree of the visual pattern, whereby the visual sensor is focused on the visual pattern.

公开(公告)号：US20230158687A1

公开(公告)日：2023-05-25

申请号：US17916028

申请日：2021-03-26

Applicant: FANUC CORPORATION

Inventor： Wanfeng FU ,  Kyouhei KOKUBO

IPC: B25J13/08 ,  B25J9/00 ,  B25J9/16 ,  B25J19/02

CPC classification number: B25J13/089 ,  B25J9/0081 ,  B25J9/1697 ,  B25J19/023

Abstract: A device to correct a teaching position of a robot includes an orientation change data acquisition section to acquire orientation change data indicating a change amount in an orientation of a workpiece with respect to the robot due to a change of an arrangement, based on first and second position data of the robot, a third position data acquisition section to acquire third position data of the robot when a hand-tip portion is arranged in a predetermined positional relationship with an index in a state where the hand-tip portion is arranged at a second orientation which is corrected by using the orientation change data, and a position change data acquisition section to acquire position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data.

公开(公告)号：US20230316668A1

公开(公告)日：2023-10-05

申请号：US17996586

申请日：2021-04-21

Applicant: FANUC CORPORATION

Inventor： Wanfeng FU ,  Yuta NAMIKI

IPC: G06T19/00 ,  G06F3/14

CPC classification number: G06T19/006 ,  G06F3/14

Abstract: Provided is a display device for an industrial machine capable of automatically switching between augmented reality display and 3D computer graphics display. A robot display device 2 comprises: a camera 2b; a display unit 20 capable of switching between a first display by means of 3D computer graphics for a robot 3 or for the robot 3 and peripherals 4 thereof, and a second display using augmented reality for the robot 3 and the peripherals 4 thereof captured by the camera 2b; and a selection unit 21 that activates the first display and displays the first display on the display unit when the camera 2b does not face the robot and the peripherals 4 thereof, and activates the second display and displays the second display on the display unit 20 when the camera 2b faces the robot 3 and the peripherals 4 thereof.

公开(公告)号：US20210019920A1

公开(公告)日：2021-01-21

申请号：US16885733

申请日：2020-05-28

Applicant: FANUC CORPORATION

Inventor： Fumikazu WARASHINA ,  Yuutarou TAKAHASHI ,  Wanfeng FU

IPC: G06T11/00 ,  G06T7/90 ,  G06T7/11

Abstract: An image processing apparatus includes a graphical image generator that generates a first graphical image and a second graphical image, and a mode switching unit that switches between a first display mode and a second display mode so that a display displays the first graphical image or the second graphical image. Each graphical image includes a color wheel indicating a two-dimensional color space of hue and saturation and a lightness bar indicating a one-dimensional color space of lightness. In the first graphical image, each position in the color wheel and the lightness bar is indicated by the hue and saturation indicated by that position. In the second graphical image, a distribution of colors included in the color image in the color space of hue and saturation or the color space of lightness is superposed on the color wheel and the lightness bar.