公开(公告)号：US20240033934A1

公开(公告)日：2024-02-01

申请号：US18265739

申请日：2021-12-10

Applicant: MAYEKAWA MFG. CO., LTD.

Inventor： Junta HIRAYAMA ,  Masaru TOKUMOTO ,  Tomoki YAMASHITA ,  Kenichiro KIMURA

IPC: B25J9/16 ,  B25J15/00

CPC classification number: B25J9/1697 ,  B25J15/0066

Abstract: A tool checking device for a robot arm includes: a tool movement control unit configured to control the robot arm so as to move a tool attached to the robot arm to a defined position; an imaging control unit configured to control an imaging device so as to capture an image of the tool moved to the defined position; and a determination unit configured to determine whether the tool satisfies a tool condition regarding a tool type or tool state that needs to be satisfied, on the basis of a captured image imaged by the imaging device.

公开(公告)号：US20240238973A1

公开(公告)日：2024-07-18

申请号：US18559815

申请日：2022-10-06

Applicant: MAYEKAWA MFG. CO., LTD.

Inventor： Masaru TOKUMOTO ,  Tomoki YAMASHITA ,  Kenichiro KIMURA ,  Junta HIRAYAMA

IPC: B25J9/16 ,  B25J19/02

CPC classification number: B25J9/1664 ,  B25J9/1661 ,  B25J9/1674 ,  B25J19/023

Abstract: A tool check device for robot arm, includes: a movement control unit configured to control a robot arm such that a tool to be attached to the robot arm is arranged at a first axis coordinate, of a three-dimensional coordinate system, according to a tool condition concerning at least either of a type or a state of the tool in an inspection space defined as the three-dimensional coordinate system; a distribution data acquisition unit configured to acquire distribution data, of an object in the inspection space, indicated by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after the control by the movement control unit; and a determination unit configured to determine whether the tool condition is satisfied, based on the distribution data.

公开(公告)号：US20240033933A1

公开(公告)日：2024-02-01

申请号：US18265718

申请日：2021-12-10

Applicant: MAYEKAWA MFG. CO., LTD.

Inventor： Junta HIRAYAMA ,  Masaru TOKUMOTO ,  Tomoki YAMASHITA ,  Kenichiro KIMURA

IPC: B25J9/16 ,  B25J15/00

CPC classification number: B25J9/1697 ,  B25J15/0066

Abstract: A tool checking device for a robot arm includes: an image processing unit configured to perform, on a captured image of a tool attached to the robot arm, image processing associated with a tool condition regarding a tool type or tool state that needs to be satisfied by the tool, and generate a processed image in which a related area associated with the tool condition is extracted; and a determination unit configured to determine whether the tool attached to the robot arm satisfies the tool condition, on the basis of the processed image.

公开(公告)号：US20220130070A1

公开(公告)日：2022-04-28

申请号：US17428065

申请日：2020-05-25

Applicant: MAYEKAWA MFG. CO., LTD.

Inventor： Tatsuya UMINO ,  Kenichiro KIMURA

IPC: G06T7/73 ,  G06V10/44

Abstract: An image processing device acquires an image in which a subject having a predetermined posture and a predetermined shape is visualized, a first reference image in which the subject having a first posture of which a relationship with the predetermined posture is known and a first shape of which a relationship with the predetermined shape is known is visualized, and a second reference image in which the subject having at least one of a second posture different from the predetermined posture and a second shape different from the predetermined shape is visualized, extract feature data indicating a feature of the subject visualized in the image, extract first reference data indicating a feature of the subject visualized in the first reference image, extract second reference data indicating a feature of the subject visualized in the second reference image, identify a position at which the feature indicated by the feature data is located in the first reference image using the first reference data, and identify a position at which the feature indicated by the feature data is located in the subject having at least one of the second posture and the second shape using at least one of a relationship between the first posture and the second posture and a relationship between the first shape and the second shape.