公开(公告)号：US12090660B2

公开(公告)日：2024-09-17

申请号：US16976468

申请日：2019-03-07

Applicant: OMRON Corporation

Inventor： Kennosuke Hayashi ,  Yoshiya Shibata ,  Yu Tomono ,  Chisato Saito

IPC: B25J9/16 ,  G05B13/02 ,  G06N5/02 ,  G06N20/00

CPC classification number: B25J9/163 ,  B25J9/1666 ,  G05B13/0265 ,  G06N5/02 ,  G06N20/00

Abstract: A calculation device, a calculation method, and a storage medium are provided. The present invention is provided with: a first calculation unit which, with respect to input data, performs calculations relating to predetermined processing by using a first model in which a corresponding relationship between input data and output data changes by performing machine learning that uses learning data, and outputs a first output; a second calculation unit which, with respect to input data, performs calculations relating to predetermined processing using a second model for which the correspondence relationship between input data and output data is fixed, and outputs a second output; and a comparison unit which, on the basis of a comparison result obtained by comparing the first output and the second output with a prescribed determination standard, outputs the first output, the second output, or a third output that is a combination of the first and second outputs.

公开(公告)号：US10569414B2

公开(公告)日：2020-02-25

申请号：US16012813

申请日：2018-06-20

Applicant: OMRON Corporation

Inventor： Akane Nakashima ,  Takeshi Kojima ,  Kennosuke Hayashi ,  Haruka Fujii

IPC: B25J9/00 ,  B25J9/16 ,  B65G47/90 ,  B65G61/00

Abstract: A robot control apparatus includes a workpiece orientation calculation unit, an arrival prediction unit, a robot orientation calculation unit, and a trajectory data generation unit. The arrival prediction unit obtains a picking prediction position at which a workpiece that is conveyed by a conveyance apparatus may be picked up by a picking apparatus or the like, based on conveyance speed information supplied by the conveyance apparatus or the like and the sensing information supplied by an image acquisition apparatus.

公开(公告)号：US11971709B2

公开(公告)日：2024-04-30

申请号：US17269534

申请日：2019-09-24

Applicant: OMRON Corporation

Inventor： Yuki Yamaguchi ,  Kennosuke Hayashi ,  Kin Chung Denny Fu ,  Yohei Okawa ,  Chisato Saito ,  Yoshiya Shibata

IPC: G05B19/418 ,  B25J9/16 ,  G06N20/20

CPC classification number: G05B19/41885 ,  B25J9/1697 ,  G05B19/4183 ,  G06N20/20

Abstract: The disclosure is to constitute, while reducing a cost for collecting training data used in machine learning that makes a control module acquire an ability to control a robot device, the control module operatable in an actual environment by the machine learning. A learning device according to one aspect of the present invention executes machine learning of an extractor by using a first learning data set constituted by a combination of simulation data and first environmental information and a second learning data set constituted by a combination of actual data and second environmental information. Further, a learning device according to one aspect of the present invention executes machine learning of a controller by using a third learning data set constituted by a combination of third environmental information, state information, and a control command.

公开(公告)号：US11922319B2

公开(公告)日：2024-03-05

申请号：US17270051

申请日：2019-10-24

Applicant: OMRON Corporation

Inventor： Naoki Tsuchiya ,  Yoshihisa Ijiri ,  Yu Maruyama ,  Yohei Okawa ,  Kennosuke Hayashi ,  Sakon Yamamoto

IPC: G06N3/084 ,  G06F18/21 ,  G06F18/214 ,  G06V10/40 ,  G06V10/771 ,  G06V10/774 ,  G06V10/776

CPC classification number: G06N3/084 ,  G06F18/214 ,  G06F18/217 ,  G06V10/40 ,  G06V10/771 ,  G06V10/774 ,  G06V10/776

Abstract: Provided is an image determination device. The image determination device is provided with: feature extractors which output, on the basis of an image to be examined, each piece of feature data indicating a specific feature of the image; a determiner which outputs, on the basis of the feature data output from the extractors, output data indicating the determination result pertaining to the image; and a training part which trains the determiner so as to output, output data indicating the label data associated with the training image on the basis of the feature data output when the training image is input to the extractors, wherein the training part further trains, by using new training data, the determiner so that the output data indicating the label data associated with the image is output by the determiner.

公开(公告)号：US20240100698A1

公开(公告)日：2024-03-28

申请号：US18274194

申请日：2022-01-21

Applicant: OMRON Corporation

Inventor： Kennosuke Hayashi ,  Yohei Okawa ,  Yoshihisa Ijiri

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1697

Abstract: The observation update unit (152) increases a weight of a particle for a particle representing a position and a posture closer to a position and a posture of an operation object indicated by an observation result, and increases a weight of a corresponding particle for a particle closer to a state in which an object of interest and the operation object arranged in a position and a posture represented by each of particles are in contact with each other in a virtual space where shapes and a relative positional relationship of the object of interest and the operation object are expressed in a case in which the observation result indicates that the contact has occurred. A state estimation unit (154) calculates an estimated state that is a position and a posture of the operation object estimated based on a set of the particles in which a weight of each of the particles is adjusted. An action planning unit (144) plans an action for moving the operation object from the estimated state to the target state of the current movement, and a command conversion unit (146) commands the robot to execute the planned action. An iteration determination unit (156) repeats setting of the target state, acquisition of the observation result, setting of the set of particles, adjustment of the set of particles, calculation of the estimated state, planning of the action, and execution of the action until the estimated state coincides with a completion state within a predetermined error.

公开(公告)号：US11875266B2

公开(公告)日：2024-01-16

申请号：US17270429

申请日：2019-11-14

Applicant: OMRON Corporation

Inventor： Naoki Tsuchiya ,  Yoshihisa Ijiri ,  Yu Maruyama ,  Yohei Okawa ,  Kennosuke Hayashi ,  Sakon Yamamoto

IPC: G06N3/084 ,  G06F18/214 ,  G06F18/21 ,  G06V10/762 ,  G06V10/774 ,  G06V10/776

CPC classification number: G06N3/084 ,  G06F18/217 ,  G06F18/2148 ,  G06V10/762 ,  G06V10/776 ,  G06V10/7747

Abstract: An image determination device includes: a training model which outputs, on the basis of an image to be examined, output data indicating a determination result about the image; a training part which trains the training model to output, by using training data including a training image and label data, output data indicating the label data associated with the training image, when the training image is input to the training model; a dividing part which divides the training data into a plurality of pieces of sub-training data; a measurement part which measures accuracy of determination when the training part trains the training model by using each of the plurality of pieces of sub-training data; and selection part which selects at least any one among the plurality of pieces of sub-training data on the basis of the accuracy of determination.

公开(公告)号：US11745355B2

公开(公告)日：2023-09-05

申请号：US17270442

申请日：2019-10-17

Applicant: OMRON Corporation

Inventor： Kennosuke Hayashi ,  Yoshihisa Ijiri

IPC: B25J9/16 ,  B25J13/00

CPC classification number: B25J9/1697 ,  B25J9/163 ,  B25J9/1664

Abstract: A control device sets a relative relation amount between a plurality of target objects that are to be final objectives, repeatedly acquires observation data from a sensor and calculates the relative relation amount between the plurality of target objects existing in the environment from the acquired observation data. Further, the control device determines a series of the relative relation amounts in a state that is to be an objective from the relative relation amount at a time point at which control of the behavior starts until the relative relation amount as the final objectives is realized, and repeatedly determines control instructions so as to change the relative relation amount in a present state calculated from the latest observation data into the relative relation amount in a state of an objective to be transitioned to next. Then, the control device outputs the determined control instruction to a robot device.

公开(公告)号：US11055863B2

公开(公告)日：2021-07-06

申请号：US16484134

申请日：2017-11-28

Applicant: OMRON Corporation

Inventor： Kennosuke Hayashi ,  Yasuhiro Ohnishi ,  Masaki Suwa

IPC: G06T7/514 ,  G01B9/02 ,  G01B11/25 ,  G01C11/02

Abstract: A control device assumes that observation light observed by an imaging device is composite light of primary reflection light and secondary reflection light. The control device acquires three or more samples of a brightness amplitude value of the observation light, calculates a phase error caused by the secondary reflection light using these samples, calculates a corrected phase value by correcting a phase value of the observation light using the phase error, and calculates a three-dimensional position of the measurement point on the measurement object based on the corrected phase value.

公开(公告)号：US12097616B2

公开(公告)日：2024-09-24

申请号：US17628244

申请日：2020-07-22

Applicant: OMRON Corporation

Inventor： Yohei Okawa ,  Kennosuke Hayashi ,  Yoshiya Shibata

IPC: B25J9/16 ,  G06N3/084 ,  G06N5/04 ,  G06N3/044

CPC classification number: B25J9/163 ,  B25J9/1661 ,  G06N3/084 ,  G06N5/04 ,  G05B2219/40499 ,  G06N3/044

Abstract: A model generation apparatus according to one or more embodiments may include: a data obtainer configured to obtain a plurality of learning datasets each including a combination of training data and true data, the training data indicating a positional relationship between two objects, the true data indicating whether the two objects come in contact with each other in the positional relationship; and a machine learning unit configured to train, through machine learning, a determination model using the obtained plurality of learning datasets to cause the determination model to output, in response to an input of training data included in each of the plurality of learning datasets, an output value fitting true data included in a corresponding learning dataset of the plurality of learning datasets.

公开(公告)号：US12090673B2

公开(公告)日：2024-09-17

申请号：US17628271

申请日：2020-07-17

Applicant: OMRON Corporation

Inventor： Yohei Okawa ,  Kennosuke Hayashi ,  Yoshiya Shibata

IPC: B25J13/00 ,  B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1697 ,  B25J9/1612

Abstract: A control apparatus according to one or more embodiments may calculate a first estimate value of the coordinates of an endpoint of a manipulator based on first sensing data obtained from a first sensor system, calculates a second estimate value of the coordinates of the endpoint of the manipulator based on second sensing data obtained from a second sensor system, and adjust a parameter value for at least one of a first estimation model or a second estimation model to reduce an error between the first estimate value and the second estimate value based on a gradient of the error.