公开(公告)号：US20240408767A1

公开(公告)日：2024-12-12

申请号：US18716930

申请日：2022-01-25

Applicant: FANUC CORPORATION

Inventor： Yuutarou TAKAHASHI ,  Yuta NAMIKI

IPC: B25J9/16

Abstract: A control device includes: a detection result acquisition unit which acquires first information corresponding to a detection result obtained through detecting, by means of a visual sensor, the relative positional relationship between a robot and an object; a coordinate system data output unit which, on the basis of the first information, outputs first coordinate system data as data representing a coordinate system that serve as the basis when operating the robot; and a command generation unit which generates a command for the robot on the basis of the first coordinate system represented by the first coordinate system data.

公开(公告)号：US20240308061A1

公开(公告)日：2024-09-19

申请号：US18550289

申请日：2021-05-28

Applicant: FANUC CORPORATION

Inventor： Yuta NAMIKI ,  Yuutarou TAKAHASHI

IPC: B25J9/00 ,  B25J19/02

CPC classification number: B25J9/0081 ,  B25J19/023

Abstract: Provided is a teaching device that is used to create a program for measuring, with a visual sensor, markers installed in a work space, the teaching device comprising a user interface creation unit that creates a user interface for inputting setting information pertaining to the measurement of a marker, wherein the user interface creation unit makes it possible to use first setting information input for a first marker in settings for a second marker in the user interface.

公开(公告)号：US20250091206A1

公开(公告)日：2025-03-20

申请号：US18293356

申请日：2021-08-27

Applicant: FANUC CORPORATION

Inventor： Yuutarou TAKAHASHI ,  Yuta NAMIKI ,  Shoutarou OGURA ,  Yuusuke MURATA

IPC: B25J9/16 ,  B25J13/06 ,  G06F3/04817

Abstract: A teaching device for performing program creation using an icon representing a function constituting a control program for an industrial machine is provided, the teaching device including: a state information acquisition unit that acquires state information indicating whether or not the icon constituting the control program can execute an anticipated action, or has performed execution thereof or not; and an information display creating unit that creates a display relating to the icon, so that whether or not the icon making can execute the anticipated action or has performed execution thereof or not can be visually recognized on the program creating screen, on the basis of the state information.

公开(公告)号：US20240165801A1

公开(公告)日：2024-05-23

申请号：US18553201

申请日：2021-05-31

Applicant: FANUC CORPORATION

Inventor： Yuutarou TAKAHASHI ,  Yuta NAMIKI

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1656 ,  B25J9/0081

Abstract: A teaching device for creating a program using icons representing functions that form a control program for an industrial machine, the teaching device being provided with: a screen display generation unit that generates a program creation screen which has a predetermined region for arranging multiple icons to create a control program; and a relationship display generation unit that, on the basis of information related to multiple icons, extracts two or more icons which are related to each other in terms of processing contents from among the multiple icons arranged on the predetermined region, and displays the relationships between the extracted two or more icons so as to be visibly recognized.

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

IPC: B25J19/02 ,  B25J9/10 ,  B25J9/16

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.

公开(公告)号：US20190299405A1

公开(公告)日：2019-10-03

申请号：US16361207

申请日：2019-03-22

Applicant: FANUC CORPORATION

Inventor： Fumikazu WARASHINA ,  Yuutarou TAKAHASHI

IPC: B25J9/16

Abstract: 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.

公开(公告)号：US20240391107A1

公开(公告)日：2024-11-28

申请号：US18687299

申请日：2021-09-30

Applicant: FANUC CORPORATION

Inventor： Yuutarou TAKAHASHI ,  Yuta NAMIKI

IPC: B25J9/16 ,  B25J19/02

Abstract: This control device comprises a correction amount calculation unit for calculating a correction amount for an operation of a mobile robot with respect to a work space according to information from a visual sensor mounted on the robot, and a control unit for modifying the imaging position and/or imaging orientation of the visual sensor on the basis of the correction amount and applying a correction to the operation of the robot on the basis of the information from the visual sensor after the modification.

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.