公开(公告)号：US20150254380A1

公开(公告)日：2015-09-10

申请号：US14642014

申请日：2015-03-09

申请人： FANUC Corporation

发明人： Yuuki KIMOTO ,  Yoshiharu NAGATSUKA

IPC分类号： G06F17/50

CPC分类号： G06F17/5009 ,  B25J9/1671 ,  G05B2219/32351 ,  G05B2219/40053 ,  G05B2219/40131 ,  G05B2219/40323

摘要： A robot simulation system includes a model placement part which places a three-dimensional container model in a virtual space and places three-dimensional workpiece models which have any postures at initial positions above the container model and a drop operation simulation part which simulates a drop operation in which the workpieces drop from the initial positions to the inside of the container by action of gravity. The robot simulation system is configured to create a bulk stacked state of workpiece models, based on the positions and postures of the workpiece models which are obtained as a result of simulation of the drop operation.

摘要翻译： 机器人模拟系统包括将三维容器模型放置在虚拟空间中的模型放置部件，并且在容器模型上方的初始位置放置具有任何姿势的三维工件模型以及模拟放下操作的放置操作模拟部件 其中工件通过重力作用从容器的初始位置下降到内部。 机器人模拟系统被配置为基于通过模拟落下操作获得的工件模型的位置和姿势来创建工件模型的堆叠状态。

公开(公告)号：US07447615B2

公开(公告)日：2008-11-04

申请号：US10972675

申请日：2004-10-26

申请人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

IPC分类号： G06G7/48

CPC分类号： G05B19/4069 ,  B25J9/1671 ,  G05B2219/32351 ,  G05B2219/39031 ,  G05B2219/40003 ,  G05B2219/40121 ,  G05B2219/40131 ,  G05B2219/40314 ,  G05B2219/40323 ,  Y02P90/26 ,  Y02P90/265

摘要： A work cell is defined on the simulation apparatus and a robot mounting an image capturing device, a workpiece, etc. are arranged in it; a separately set visual volume model is introduced into it, a tool coordinate system (tool tip point) is defined at a view point, and a detection reference point (detection reference coordinate system) is set relating to the workpiece; a graphic jog is performed to make the robot move so that the tool coordinate system matches with the detection reference coordinate system; and a simulated correction amount by the visual sensor is designated and the display of the visual volume model is switched on and off in accordance with output/nonoutput of the image capturing command at the time of simulation of the operation program.

摘要翻译： 在模拟装置上定义工作单元，并且在其中布置安装图像捕获装置，工件等的机器人; 在其中引入单独设置的视觉体积模型，在视点定义工具坐标系（工具尖端点），并且设置与工件有关的检测参考点（检测参考坐标系）; 执行图形点动以使机器人移动，使得工具坐标系与检测基准坐标系匹配; 并且指定视觉传感器的模拟校正量，并且在模拟操作程序时根据图像捕获命令的输出/非输出来打开和关闭视觉体积模型的显示。

公开(公告)号：US07027963B2

公开(公告)日：2006-04-11

申请号：US10286863

申请日：2002-11-04

申请人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

IPC分类号： G06F17/50

CPC分类号： B25J9/1671 ,  G05B2219/40317 ,  G05B2219/40323

摘要： Geometric information, layout information, etc. of workpieces and others are read from a CAD system etc. into a simulation system. A three-dimensional model is laid out on a screen of the simulation system by using layout plans and shape data of a robot, workpiece, and worktable. An operating-point sequence (for example, sequence of welding point) is created by specifying a point sequence, a line segment, or a plane to create a motion program. According to this motion program data, robot simulation is performed.

公开(公告)号：US20050108180A1

公开(公告)日：2005-05-19

申请号：US10502561

申请日：2003-01-27

申请人： Waro Iwane

发明人： Waro Iwane

IPC分类号： G06F19/00 ,  G05B13/04 ,  G06T19/00 ,  G08G1/16 ,  G06F17/00 ,  G06G7/48 ,  G06N5/02

CPC分类号： G08G1/164 ,  G05B13/04 ,  G05B2219/40121 ,  G05B2219/40323

摘要： There is provided an intelligent operation system that a machine or apparatus itself can comprehend and judge like humans do, operate the machine or apparatus based on such comprehension and judgment, and recognize a process and a result. An intelligent operation system 11 is constituted by an input device 12, a virtual model data base 13, a virtual model conversion device 14, a virtual model reconstruction device 15, a virtual model processing device 16, and a control device 17 or a display device 57. The virtual model conversion device 14 recognizes information concerning a plurality of objects acquired from the input device 12, specifies corresponding virtual models from the virtual model data base 13, and substitutes them for the objects. The virtual model reconstruction device 15 reconstructs the objects and a relationship between these objects into corresponding virtual models and a relationship between these virtual models in a virtual space. The virtual model processing device 16 comprehends and judges the virtual models and their relationship based on the reconstructed virtual models and their relationship, and instructs the control device 17 or the display device 57.

摘要翻译： 提供了一种智能操作系统，机器或设备本身可以像人类一样理解和判断，基于这样的理解和判断来操作机器或装置，并且识别过程和结果。 智能操作系统11由输入装置12，虚拟模型数据库13，虚拟模型转换装置14，虚拟模型重建装置15，虚拟模型处理装置16和控制装置17或显示装置构成 57。 虚拟模型转换装置14识别关于从输入装置12获取的多个对象的信息，从虚拟模型数据库13中指定相应的虚拟模型，并将它们替换为对象。 虚拟模型重建装置15将对象和这些对象之间的关系重建为相应的虚拟模型以及虚拟空间中的这些虚拟模型之间的关系。 虚拟模型处理装置16基于重建的虚拟模型及其关系来理解虚拟模型及其关系，并指示控制装置17或显示装置57。

公开(公告)号：US20030090489A1

公开(公告)日：2003-05-15

申请号：US10286863

申请日：2002-11-04

申请人： Fanuc Ltd.

发明人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

IPC分类号： G06T015/70

CPC分类号： B25J9/1671 ,  G05B2219/40317 ,  G05B2219/40323

摘要： Geometric information, layout information, etc. of workpieces and others are read from a CAD system etc. into a simulation system. A three-dimensional model is laid out on a screen of the simulation system by using layout plans and shape data of a robot, workpiece, and worktable. An operating-point sequence (for example, sequence of welding point) is created by specifying a point sequence, a line segment, or a plane to create a motion program. According to this motion program data, robot simulation is performed.

摘要翻译： 从CAD系统等读取工件等的几何信息，布图信息等到模拟系统。 通过使用机器人，工件和工作台的布局图和形状数据，在模拟系统的屏幕上布置三维模型。 通过指定点序列，线段或平面来创建运动程序来创建操作点序列（例如，焊接点序列）。 根据该运动程序数据，进行机器人模拟。

公开(公告)号：US11865732B2

公开(公告)日：2024-01-09

申请号：US17246009

申请日：2021-04-30

申请人： Transportation IP Holdings, LLC

发明人： Romano Patrick ,  Shiraj Sen ,  Arpit Jain ,  Huan Tan ,  Yonatan Gefen ,  Shuai Li ,  Shubao Liu ,  Pramod Sharma ,  Balajee Kannan ,  Viktor Holovashchenko ,  Douglas Forman ,  John Michael Lizzi ,  Charles Burton Theurer ,  Omar Al Assad ,  Ghulam Ali Baloch ,  Frederick Wilson Wheeler ,  Tai-Peng Tian

IPC分类号： B25J9/06 ,  B25J9/16 ,  B25J5/00 ,  B25J19/02 ,  B25J13/08 ,  G05D1/00

CPC分类号： B25J9/1697 ,  B25J5/007 ,  B25J9/06 ,  B25J13/084 ,  B25J19/023 ,  G05D1/00 ,  G05B2219/39391 ,  G05B2219/40298 ,  G05B2219/40323 ,  G05B2219/42263 ,  Y10S901/09

摘要： A robotic system includes a controller configured to obtain image data from one or more optical sensors and to determine one or more of a location and/or pose of a vehicle component based on the image data. The controller also is configured to determine a model of an external environment of the robotic system based on the image data and to determine tasks to be performed by components of the robotic system to perform maintenance on the vehicle component. The controller also is configured to assign the tasks to the components of the robotic system and to communicate control signals to the components of the robotic system to autonomously control the robotic system to perform the maintenance on the vehicle component.

公开(公告)号：US20140172167A1

公开(公告)日：2014-06-19

申请号：US14109848

申请日：2013-12-17

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Kenji MATSUKUMA ,  Makoto UMENO ,  Takashi SUYAMA

IPC分类号： B25J9/16

CPC分类号： B25J9/1697 ,  B25J9/161 ,  B25J9/1671 ,  B25J9/1692 ,  G05B2219/37453 ,  G05B2219/40323

摘要： A teaching data generator includes a storage device. An arithmetic device includes a first window display section to cause a display device to display a first window displaying first images respectively corresponding to some pieces of work unit job data stored in the storage device and included in teaching data. The first images are arranged in an execution order of pieces of work respectively corresponding to the some pieces of the work unit job data. A first job editing section performs an editing operation including replacing the some pieces of the work unit job data with other pieces of the work unit job data stored in the storage device, and changing the execution order. A teaching data generation section generates the teaching data based on a display content of the first window changed in accordance with the editing operation.

摘要翻译： 教学数据生成器包括存储装置。 运算装置包括第一窗口显示部分，用于使显示装置显示分别对应于存储在存储装置中并包括在教学数据中的一些作业单元作业数据的第一图像的第一窗口。 第一图像以分工对应于一些作业单元作业数据的工作片段的执行顺序排列。 第一作业编辑部执行编辑操作，包括用存储在存储装置中的其他作业单元作业数据替换一部分作业单元作业数据，并且改变执行顺序。 教学数据生成部基于根据编辑操作而变更的第一窗口的显示内容生成教学数据。

公开(公告)号：US07860614B1

公开(公告)日：2010-12-28

申请号：US11530509

申请日：2006-09-11

申请人： Bernard D. Reger

发明人： Bernard D. Reger

IPC分类号： G05B19/04 ,  G05B15/00 ,  G05B19/00 ,  G05B19/42

CPC分类号： B25J9/1671 ,  B25J11/0025 ,  G05B2219/40129 ,  G05B2219/40298 ,  G05B2219/40314 ,  G05B2219/40323

摘要： A trainer for training a human to use a physical robot in a physical environment, the physical robot being controlled in the physical environment by an operator control unit, the trainer comprising an input device; a visual display; a computer connected to the input device and the visual display; and computer software disposed in the computer for creating a virtual robot and a virtual environment on the visual display, the virtual robot and the virtual environment being simulations of the physical robot and the physical environment wherein interaction between the virtual robot and the virtual environment simulates interaction between the physical robot and the physical environment.

摘要翻译： 训练人员，用于训练人在物理环境中使用物理机器人，所述物理机器人由操作员控制单元在物理环境中控制，所述训练器包括输入装置; 视觉展示; 连接到输入设备和视觉显示器的计算机; 以及设置在计算机中用于在视觉显示器上创建虚拟机器人和虚拟环境的计算机软件，虚拟机器人和虚拟环境是物理机器人和物理环境的模拟，其中虚拟机器人与虚拟环境之间的交互模拟交互 物理机器人与物理环境之间。

公开(公告)号：US07333879B2

公开(公告)日：2008-02-19

申请号：US11638471

申请日：2006-12-14

申请人： Katsutoshi Takizawa ,  Yoshiharu Nagatsuka ,  Hirohiko Kobayashi

发明人： Katsutoshi Takizawa ,  Yoshiharu Nagatsuka ,  Hirohiko Kobayashi

IPC分类号： G05B19/00

CPC分类号： B25J9/1671 ,  B25J9/1697 ,  G05B2219/37453 ,  G05B2219/40323 ,  G05B2219/40613

摘要： An offline programming device capable of automatically generating a measuring program by which the time and the workload for making an offline program may be greatly reduced. The offline programming device includes a storing part for storing a plurality of data in relation to a plurality of measurement points of the object and the position and the orientation of a vision sensor relative to the movable part of the robot; a calculating part for calculating the position and the orientation of the vision sensor relative to each measurement point when the measurement point is measured; a measuring program making part for making at least one measuring program, based on the plurality of data stored in the storing part, by means of which the position and the orientation of the vision sensor may be achieved; an evaluating part for evaluating the at least one measuring program according to a predetermined evaluative criteria; and a selecting part for selecting a measuring program, from the at least one measuring program, which satisfies the predetermined evaluative criteria.

摘要翻译： 能够自动生成测量程序的离线编程装置，通过该测量程序可以大大减少用于进行离线程序的时间和工作量。 离线编程装置包括存储部件，用于存储关于物体的多个测量点的多个数据以及视觉传感器相对于机器人的可移动部分的位置和取向; 计算部分，用于在测量点时计算视觉传感器相对于每个测量点的位置和方位; 基于存储在存储部分中的多个数据，进行至少一个测量程序的测量程序制作部件，借此可以实现视觉传感器的位置和取向; 评估部件，用于根据预定的评估标准评估所述至少一个测量程序; 以及选择部件，用于从满足预定评价标准的至少一个测量程序中选择测量程序。

公开(公告)号：US20070142973A1

公开(公告)日：2007-06-21

申请号：US11638471

申请日：2006-12-14

申请人： Katsutoshi Takizawa ,  Yoshiharu Nagatsuka ,  Hirohiko Kobayashi

发明人： Katsutoshi Takizawa ,  Yoshiharu Nagatsuka ,  Hirohiko Kobayashi

IPC分类号： G06F19/00

CPC分类号： B25J9/1671 ,  B25J9/1697 ,  G05B2219/37453 ,  G05B2219/40323 ,  G05B2219/40613

摘要： An offline programming device capable of automatically generating a measuring program by which the time and the workload for making an offline program may be greatly reduced. The offline programming device includes a storing part for storing a plurality of data in relation to a plurality of measurement points of the object and the position and the orientation of a vision sensor relative to the movable part of the robot; a calculating part for calculating the position and the orientation of the vision sensor relative to each measurement point when the measurement point is measured; a measuring program making part for making at least one measuring program, based on the plurality of data stored in the storing part, by means of which the position and the orientation of the vision sensor may be achieved; an evaluating part for evaluating the at least one measuring program according to a predetermined evaluative criteria; and a selecting part for selecting a measuring program, from the at least one measuring program, which satisfies the predetermined evaluative criteria.

摘要翻译： 能够自动生成测量程序的离线编程装置，通过该测量程序可以大大减少用于进行离线程序的时间和工作量。 离线编程装置包括存储部件，用于存储关于物体的多个测量点的多个数据以及视觉传感器相对于机器人的可移动部分的位置和取向; 计算部分，用于在测量点时计算视觉传感器相对于每个测量点的位置和方位; 基于存储在存储部分中的多个数据，进行至少一个测量程序的测量程序制作部件，借此可以实现视觉传感器的位置和取向; 评估部件，用于根据预定的评估标准评估所述至少一个测量程序; 以及选择部件，用于从满足预定评价标准的至少一个测量程序中选择测量程序。