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公开(公告)号：US12090664B2
公开(公告)日：2024-09-17
申请号：US16520186
申请日：2019-07-23
申请人： Fanuc Corporation
发明人： Fumikazu Warashina , Yuta Namiki , Kyouhei Kokubo
IPC分类号： B25J9/16 , B25J9/10 , B25J13/08 , B25J19/02 , G01B11/14 , G05B19/4061 , G05B19/408
CPC分类号： B25J9/1666 , B25J9/10 , B25J9/1676 , B25J9/1697 , B25J13/089 , B25J19/021 , G01B11/14 , G05B19/4061 , G05B19/4086 , G05B2219/39022 , G05B2219/40317 , G05B2219/40476
摘要： 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：US11625842B2
公开(公告)日：2023-04-11
申请号：US16575388
申请日：2019-09-19
申请人： FANUC Corporation
发明人： Yuta Namiki
摘要： An image processing apparatus includes: a model pattern storage unit that stores a model pattern composed of a plurality of model feature points; an image data acquisition unit that acquires a plurality of images obtained through capturing an object to be detected; an object detection unit that detects the object to be detected from the images using the model pattern; a model pattern transformation unit that transforms a position and posture such that the model pattern is superimposed on an image of the object to be detected; a corresponding point acquisition unit that acquires a corresponding point on image data corresponding to each of the model feature points; a corresponding point set selection unit that selects a set of corresponding points on the plurality of images; and a three-dimensional position calculation unit that calculates a three-dimensional position of the image of the object to be detected.
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3.发明授权公开(公告)号：US11227144B2
公开(公告)日：2022-01-18
申请号：US15343215
申请日：2016-11-04
申请人： FANUC CORPORATION
发明人： Yuta Namiki , Fumikazu Warashina
摘要： An image processing device that detects an image of an object from input data captured by a vision sensor, on the basis of a model pattern including a set of a plurality of first feature points representing the shape of the object, includes an object detection unit that detects images of the object by matching between a plurality of second feature points extracted from the input data and a plurality of first feature points forming the model pattern, a corresponding point selection unit that selects, for each image of the object, second feature points corresponding to the first feature points and stores the selected second feature points as corresponding points, and a model pattern correction unit that calculates a statistic of a predetermined physical quantity of the plurality of corresponding points associated with each first feature point and corrects the first feature point on the basis of the statistic.
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公开(公告)号：US11989928B2
公开(公告)日：2024-05-21
申请号：US16921030
申请日：2020-07-06
申请人： FANUC CORPORATION
发明人： Yuta Namiki
IPC分类号： G06V10/774 , G06F18/21 , G06F18/214
CPC分类号： G06V10/774 , G06F18/214 , G06F18/217 , G06V2201/06
摘要： An image processing system that detects a picture of an object from an image in which the object is captured includes: a first detector that detects a picture of the object from the image based on a model pattern representing a feature of the picture of the object; a learning device that learns a learning model using the image used for detection by the first detector as input data, and using a detection result by the first detector as training data; and a second detector that detects the picture of the object from the image based on the learning model learned by the learning device.
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公开(公告)号：US10960550B2
公开(公告)日：2021-03-30
申请号：US16150430
申请日：2018-10-03
申请人： FANUC CORPORATION
发明人： Yuta Namiki
摘要： An identification code reading apparatus includes a machine learning device for learning estimation of an ideal image of an identification code with respect to an image of the identification code read by the visual sensor. The machine learning device observes read image data related to an image of the identification code read by the visual sensor as a state variable representing a current state of an environment, and acquires ideal image data related to the ideal image of the identification code as label data. Then, the machine learning device learns the read image data and the ideal image data in association with each other using the observed state variable and the acquired label data.
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公开(公告)号：US20200074650A1
公开(公告)日：2020-03-05
申请号：US16533401
申请日：2019-08-06
申请人： Fanuc Corporation
发明人： Yuta Namiki , Yuusuke Murata
IPC分类号： G06T7/50 , H04N13/204 , G06T7/90 , G06T11/20
摘要： A distance image display apparatus includes: a distance range specifying unit that allows an operator to specify a partial distance range desired to be displayed within a first distance image in which, based on three-dimensional information of an object acquired by a three-dimensional camera, a color or density corresponding to a distance from the three-dimensional camera of the object positioned at each pixel is assigned to each of the pixels; a distance image generation unit that generates a second distance image in which a color or density of each of the pixels positioned within the specified distance range is reassigned so as to correspond to a distance from the three-dimensional camera; and a display unit that displays the generated second distance image.
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公开(公告)号：US20170249766A1
公开(公告)日：2017-08-31
申请号：US15441934
申请日：2017-02-24
申请人： FANUC CORPORATION
发明人： Yuta Namiki , Fumikazu Warashina
摘要： An image processing device including an object detection unit for detecting one or more images of objects from an input picture image, on the basis of a model pattern of the object, and a detection result display unit for graphically superimposing and displaying a detection result. The detection result display unit includes a first frame for displaying the entire input picture image and a second frame for listing and displaying one or more partial picture images each including an image detected. In the input picture image displayed in the first frame, a detection result is superimposed and displayed on all the detected images, and in the partial picture image displayed in the second frame, a detection result of an image corresponding to each partial picture image is superimposed and displayed.
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公开(公告)号：US11267142B2
公开(公告)日：2022-03-08
申请号：US16195860
申请日：2018-11-20
申请人： FANUC CORPORATION
发明人： Yuta Namiki
摘要： An imaging device includes a camera, a robot that moves the camera, and a controller that processes an image. A detection surface defined on a workpiece and a set position serving as an imaginary position of the robot for detecting the workpiece are determined in advance. The camera captures a plurality of first images at a plurality of positions. The controller includes an image conversion unit converting the plurality of the first images into a plurality of second images when captured at the set position. The controller includes a composition unit generating a composite image into which the plurality of the second images are composited, and a composite image processing unit performing at least one of detection and inspection of the workpiece on the detection surface on the basis of the composite image.
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公开(公告)号：US10891520B2
公开(公告)日：2021-01-12
申请号：US16029827
申请日：2018-07-09
申请人： FANUC CORPORATION
发明人： Yuta Namiki
摘要： A machine learning device that creates training data to be used in machine learning includes: an image input unit that inputs an image which was obtained by capturing an inspection target on which a symbol indicating a defect is marked; and a creation unit that creates the training data based on the inputted image, in which the creation unit: creates training data consisting of a training image which is the image as inputted, and a label that retains a value of OK which signifies not having a defect, in a case of there not being the symbol in the image inputted; and creates training data consisting of a training image generated based on the image inputted, and a label that retains a value of NG signifying having a defect, in a case of there being the symbol in the image inputted.
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公开(公告)号：US10737385B2
公开(公告)日：2020-08-11
申请号：US16117518
申请日：2018-08-30
申请人： FANUC CORPORATION
摘要： A hand for transferring a transfer target can be selected even when the combination of the transfer target and the hand is not taught. A machine learning device includes: state observation means for acquiring at least a portion of image data obtained by imaging a transfer target as input data; label acquisition means for acquiring information related to grasping means attached to a robot for transferring the transfer target as a label; and learning means for performing supervised learning using a set of the input data acquired by the state observation means and the label acquired by the label acquisition means as teacher data to construct a learning model that outputs information related to the grasping means appropriate for the transferring.
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