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公开(公告)号：US20230130830A1
公开(公告)日：2023-04-27
申请号：US17905642
申请日：2021-03-08
Applicant: FANUC CORPORATION
Inventor： Minoru NAKAMURA , Fumikazu WARASHINA , Yuuki TAKAHASHI
Abstract: A distance image capturing system including: an image acquisition unit for capturing a plurality of images of an object at the same image capturing position and in the same image capturing orientation with respect to the object to acquire a plurality of first distance images; an image synthesis unit for synthesizing the plurality of first distance images to generate a second distance image; and a number-of-image-capturing-operation determination unit for estimating a distance measurement error in the second distance image and determining the number of image capturing operations for the first distance images at which the estimated distance measurement error is equal to or less than a predetermined target error.
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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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4.发明申请公开(公告)号：US20230043994A1
公开(公告)日：2023-02-09
申请号：US17759099
申请日：2021-02-12
Applicant: FANUC CORPORATION
Inventor： Yuuki TAKAHASHI , Fumikazu WARASHINA , Minoru NAKAMURA
IPC: G01B11/24
Abstract: A three-dimensional measurement device includes a camera for acquiring position information for three-dimensional points on the surface of an object on the basis of the time of flight of light, and a control device. The camera acquires, at a plurality of relative positions of the camera with respect to a workpiece, three-dimensional point position information. A plurality of evaluation regions are defined for the workpiece. The control device specifies, for each evaluation region, the three-dimensional point closest to a reference plane from among three-dimensional points detected in the evaluation region. The control device generates, on the basis of the multiple three-dimensional points specified for the respective evaluation regions, three-dimensional point position information in which multiple pieces of three-dimensional point position information acquired by the camera are combined.
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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
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.
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Patent Agency Ranking
6.发明申请公开(公告)号：US20200210702A1
公开(公告)日：2020-07-02
申请号：US16812369
申请日：2020-03-09
Applicant: FANUC CORPORATION
Inventor： Yuuta NAMIKI , Fumikazu WARASHINA
Abstract: An image processing apparatus, which receives an input image and detects an image of a target object based on a detection algorithm, includes a machine learning device which performs learning by using a plurality of partial images cut out from at least one input image, based on a result of detection of the image of the target object, and calculates a likelihood of the image of the target object.
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公开(公告)号：US20170095930A1
公开(公告)日：2017-04-06
申请号：US15281091
申请日：2016-09-30
Applicant: FANUC CORPORATION
Inventor： Fumikazu WARASHINA , Keisuke WATANABE , Kenshirou OONO
IPC: B25J9/16
CPC classification number: B25J9/1697 , B25J9/1664 , B25J9/1692 , G05B2219/37097 , G05B2219/37561 , G05B2219/39017 , G05B2219/39045 , G05B2219/40003
Abstract: A robot system which is inexpensive and can easily measure a position of a target point. The system stores feature quantities of an image of a target mark included in an image acquired as reference data when the target mark is placed at a known first target mark position at the robot coordinate system and stores the first target mark position with respect to an arm tip as the position of the tool center point. The system compares the feature quantities obtained from the image acquired when the target mark is arranged at a second target mark position and the feature quantities of the reference data to make the arm tip move and calculates the second target mark position at the robot coordinate system based on a second robot position corresponding to the position of the arm tip after movement and the position of the tool center point.
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公开(公告)号：US20200061825A1
公开(公告)日：2020-02-27
申请号：US16520186
申请日：2019-07-23
Applicant: Fanuc Corporation
Inventor： Fumikazu WARASHINA , Yuta NAMIKI , Kyouhei KOKUBO
IPC: B25J9/16 , B25J9/10 , B25J13/08 , B25J19/02 , G01B11/14 , G05B19/4061 , G05B19/408
Abstract: An interference avoidance device is provided with: a three-dimensional sensor that is attached to a tip portion of a robot arm and acquires a distance image of an area around a robot; a position data creating portion that converts coordinates of a nearby object in the distance image to coordinates on a robot coordinate system and creates the position data of the nearby object based on the coordinates of the nearby object on the robot coordinate system; a storage portion that stores the position data; and a control portion that controls the robot based on the robot coordinate system; and the control portion controls the robot to avoid interference of the robot with the nearby object, based on the position data stored in the storage portion.
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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
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.
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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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