公开(公告)号：US20190325606A1

公开(公告)日：2019-10-24

申请号：US16381384

申请日：2019-04-11

Applicant: FANUC Corporation

Inventor： Yuusuke OOTA ,  Shouta TAKIZAWA

IPC: G06T7/73

Abstract: It is possible to provide an inspection apparatus having a function of automatically checking a validity of an appearance inspection result without manual operation. An inspection apparatus for performing an appearance inspection using a plurality of images obtained by imaging an inspection target includes a determination unit that estimates an inspection result on each of the plurality of images based on a predetermined relationship model between the image and the inspection result and calculates a comprehensive inspection result based on reliability of each of the inspection results on the plurality of images.

公开(公告)号：US20180370027A1

公开(公告)日：2018-12-27

申请号：US15981153

申请日：2018-05-16

Applicant: FANUC CORPORATION

Inventor： Yuusuke OOTA ,  Fumikazu WARASHINA ,  Hiromitsu TAKAHASHI

IPC: B25J9/16 ,  G06T7/00 ,  B25J19/02

Abstract: A machine learning device that acquires state information from a robot control inspection system. The system has a robot hand to hold a workpiece or camera. The state information includes a flaw detection position of the workpiece, a movement route of the robot hand, an imaging point of the workpiece, and the number of imaging by the camera. A reward calculator calculates a reward value in reinforcement learning based on flaw detection information including the flaw detection position. A value function updater updates an action value function by performing the reinforcement learning based on the reward value, the state information, and the action.

公开(公告)号：US20240357241A1

公开(公告)日：2024-10-24

申请号：US18683971

申请日：2021-10-22

Applicant: FANUC CORPORATION

Inventor： Yuusuke OOTA

IPC: H04N23/72 ,  G06V10/147 ,  H04N23/71 ,  H04N23/73 ,  H04N23/76

CPC classification number: H04N23/72 ,  H04N23/71 ,  H04N23/73 ,  H04N23/76 ,  G06V10/147 ,  G06V2201/06

Abstract: One form of an imaging control device capable of improving recognition accuracy while ensuring processing speed comprises: an imaging processing unit that uses a camera to acquire an imaged image at an exposure time and gain that were set; an image processing unit that performs image processing on the imaged image and acquires information; a storage unit that stores set values for the exposure time and the gain, a processing time target value for the image processing in the image processing unit, and image processing results; and a setting adjustment unit that adjusts the set values for the exposure time and the gain such that the processing time in the image processing unit becomes at most the target value.

公开(公告)号：US20230083531A1

公开(公告)日：2023-03-16

申请号：US17801343

申请日：2021-03-01

Applicant: FANUC CORPORATION

Inventor： Yuusuke OOTA

IPC: G01B11/24 ,  G06T7/593

Abstract: The objective of the present invention is to appropriately set a distance range for calculating a gradation degree, in accordance with the height of a workpiece. This three-dimensional measuring device is provided with: a three-dimensional sensor which images a workpiece to acquire three-dimensional information; a setting unit which, on the basis of the acquired three-dimensional information, sets a reference position serving as a height direction reference in the workpiece, and a height direction margin, relative to the reference position, for a gradation degree of a gradation image, and sets a distance range corresponding to the gradation degree of the gradation image; an image converting unit which converts the acquired three-dimensional information into the gradation image on the basis of the distance range; and a detecting unit which employs the gradation image to obtain, three-dimensionally, the shape and/or the position and attitude of the workpiece.

公开(公告)号：US20200265575A1

公开(公告)日：2020-08-20

申请号：US16740697

申请日：2020-01-13

Applicant: Fanuc Corporation

Inventor： Yuusuke OOTA

IPC: G06T7/00 ,  G06T7/62 ,  G06N3/08 ,  G01N21/88

Abstract: A flaw inspection apparatus according to the present invention includes a deep learning unit to which an image obtained by photographing a surface of an inspection object is input and in which, on the basis of the input image, the deep learning unit judges absence or presence of a flaw on a surface of the inspection object and specifies a site judged as being the flaw; a dimension measuring unit that measures a dimension of the flaw on the basis of the image of the site specified by the deep learning unit; and a flaw classifying unit that classifies the flaw on the basis of the dimension of the flaw measured by the dimension measuring unit.

公开(公告)号：US20190120771A1

公开(公告)日：2019-04-25

申请号：US16127824

申请日：2018-09-11

Applicant: FANUC CORPORATION

Inventor： Yuusuke OOTA ,  Fumikazu WARASHINA

IPC: G01N21/88 ,  G01N21/15 ,  G05B19/418

Abstract: An inspection system makes image inspection on an inspection target. The inspection system includes: an image capture device that captures an image of the inspection target; a blower with a blow nozzle from which clean gas is blown out to the inspection target; a robot with an arm tip to which the image capture device and the blow nozzle, or the inspection target is attached; and as inspection device that makes image inspection on the inspection target based on an image captured by the image capture device. The inspection device generates an operation program for a robot based on the position of the image capture device and that of the blow nozzle relative to each other so as to move the blow nozzle ahead of the image capture device relative to the inspection target.

公开(公告)号：US20230311329A1

公开(公告)日：2023-10-05

申请号：US18043490

申请日：2021-08-26

Applicant: FANUC CORPORATION

Inventor： Kouta I ,  Yuusuke OOTA

IPC: B25J9/16

CPC classification number: B25J9/1697

Abstract: Provided are a robot system and a control method with which it is possible to highly precisely acquire the thickness of an object. This robot system comprises an imaging unit that is mounted on a robot and that captures a two-dimensional image of an object, an image processing unit that acquires distance information pertaining to the object on the basis of the two-dimensional image, a distance image generation unit that generates a distance image on the basis of the distance information, and a thickness calculation unit that calculates the thickness of the object on the basis of the distance image, the imaging unit capturing the two-dimensional image of the object irrespective of the positional relationship between the side surface of the object and the imaging unit.

公开(公告)号：US20230072284A1

公开(公告)日：2023-03-09

申请号：US17794438

申请日：2021-02-15

Applicant: FANUC CORPORATION

Inventor： Tingting ZHONG ,  Yuusuke OOTA

IPC: B25J9/16

Abstract: A robot system including a robot, an image capturing device, and a controller. The controller and the image capturing device have clocks, the controller conducts transmission of, to the image capturing device, an image-capturing instruction including a predetermined waiting time, the predetermined waiting time being a time between a time of the transmission and an image capturing time, or a required time obtained by subtracting, from the waiting time, a difference time between the time of the transmission and receiving time of the image-capturing instruction, the image capturing device conducts image capturing of an image of the workpiece at time when the required time elapses from the receiving time and transmits image data, and the controller controls the robot based on position information of the robot at time when the waiting time elapses from the time of the transmission and the image data.