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1. 发明授权

US08350913B2 Calibrating device for calibration and image measurement system comprising calibrating device 有权
标题翻译：用于校准和图像测量系统的校准装置，包括校准装置
公开(公告)号：US08350913B2
公开(公告)日：2013-01-08
申请号：US12631094
申请日：2009-12-04
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen , Keisuke Watanabe
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen , Keisuke Watanabe
IPC分类号： H04N17/00
CPC分类号： B25J9/1692 , G05B2219/37563 , G05B2219/39045 , G06T7/80
摘要： A calibrating device for calibration of an image measurement system. The calibrating device includes a main body having an upper surface, and a characteristic portion, which serves as a benchmark for calibration and is in the form of a recess formed in the upper surface of the main body, wherein the characteristic portion includes a side surface extending in a direction crossing the upper surface, and a bottom surface extending in a direction crossing the side surface, the bottom surface has an optical reflectance lower than an optical reflectance of the upper surface in relation to light identical to each other. This can provide a calibrating device for calibration of an image measurement system, which can detect the characteristic portion on the calibrating device stably, precisely and independent of the illumination conditions, which is less costly and can be easily handled.
摘要翻译：用于校准图像测量系统的校准装置。校准装置包括具有上表面的主体和作为校准的基准的特征部分，并且形成在主体的上表面中的凹部的形式，其中特征部分包括侧表面在与上表面交叉的方向上延伸的底面和与该侧面相交的方向延伸的底面，底面的光反射率低于相对于彼此相同的光的上表面的光反射率。这可以提供用于校准图像测量系统的校准装置，其可以稳定，精确地且独立于照明条件来检测校准装置上的特征部分，其成本较低并且可以容易地处理。

2. 发明授权

US08295975B2 Object picking device 有权
标题翻译：物体拾取装置
公开(公告)号：US08295975B2
公开(公告)日：2012-10-23
申请号：US12475622
申请日：2009-06-01
申请人： Taro Arimatsu , Kazunori Ban , Ichiro Kanno , Keisuke Watanabe
发明人： Taro Arimatsu , Kazunori Ban , Ichiro Kanno , Keisuke Watanabe
IPC分类号： G06F7/00
CPC分类号： B25J9/1697 , G05B2219/40053 , G06T1/0014
摘要： An object picking device, which is inexpensive and capable of speedily and accurately picking one object at a time from a random pile state. A target detecting part of an image processing part processes an image captured by a camera and detects objects. A target selecting part selects an object among the detected objects based on a certain rule. A view line direction calculating part calculates the direction of a view line extending to the selected object. A target position estimating part estimates the position including the height of the selected object based on size information of the object in the image. Then, a grip correction calculating part calculates an amount of correction of the movement of a robot so as to grip the object by using the robot.
摘要翻译：一种物品拾取装置，其价格便宜并且能够一次从随机堆积状态快速且精确地拾取一个物体。图像处理部分的目标检测部分处理由相机拍摄的图像并检测对象。目标选择部分基于某一规则来选择检测对象中的对象。视线方向计算部分计算延伸到所选对象的视线的方向。目标位置估计部基于图像中的对象的大小信息，来估计包含所选对象的高度的位置。然后，把手校正计算部分计算机器人的运动的校正量，以便通过使用机器人来夹持物体。

3. 发明授权

US08121731B2 Teaching position correcting apparatus and teaching position correction method 有权
标题翻译：教学位置校正装置及教学位置校正方法
公开(公告)号：US08121731B2
公开(公告)日：2012-02-21
申请号：US11684503
申请日：2007-03-09
申请人： Kazunori Ban , Ichiro Kanno , Gang Shen , Katsutoshi Takizawa
发明人： Kazunori Ban , Ichiro Kanno , Gang Shen , Katsutoshi Takizawa
IPC分类号： B25J9/22
CPC分类号： B25J9/1656 , G05B19/425 , G05B2219/40385 , G05B2219/45104
摘要： A teaching position correcting apparatus corrects plural teaching point positions of a robot in a robot operation program, by sequentially moving the robot to each of the plural teaching points and by sequentially reading a current position of the robot at each of the plural teaching points. The apparatus includes: a position correction amount calculating unit that calculates a position correction amount, based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating unit that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount. At the time of moving the robot to uncorrected teaching points, a moving unit moves the robot to corrected positions of the teaching point positions before correction.
摘要翻译：教学位置校正装置通过将机器人顺序地移动到多个教学点中的每一个，并且通过在多个教学点中的每一个依次读取机器人的当前位置，来校正机器人操作程序中的机器人的多个教学点位置。该装置包括：位置校正量计算单元，其基于校正前的校正教学点位置和教学点位置来计算位置校正量; 以及校正位置计算单元，基于位置校正量计算多个教学点之前的校正前的教学点位置的校正位置。在将机器人移动到未校正的教学点时，移动单元将机器人移动到校正前的教学点位置的校正位置。

4. 发明申请

US20120029686A1 WORKPIECE REMOVING DEVICE AND METHOD 有权
标题翻译：工作去除装置和方法
公开(公告)号：US20120029686A1
公开(公告)日：2012-02-02
申请号：US13184721
申请日：2011-07-18
申请人： Kazunori Ban , Hidetoshi Kumiya , Toshiyuki Ando
发明人： Kazunori Ban , Hidetoshi Kumiya , Toshiyuki Ando
IPC分类号： G06F7/00
CPC分类号： B25J9/1679 , B25J9/1697 , G05B2219/40053
摘要： A workpiece removing device including a camera for imaging a workpiece loading area including a plurality of workpieces loaded in bulk; a workpiece detection section for detecting a workpiece, based on a camera image taken with the camera; a workpiece selection section for selecting a workpiece adapted to be removed, based on a detection result by the workpiece detection section; a robot for removing the workpiece selected by the workpiece selection section; a loading state determination section for determining whether a loading state of the workpieces in the workpiece loading area has changed due to a operation of the robot; and an area setting section for setting a workpiece detection area where the workpiece detection section detects a workpiece. If the loading state determination section determines that the loading state of the workpieces has changed, the area setting section sets the workpiece detection area in a peripheral area of a changing position of the loading state, i.e., in a portion of the workpiece loading area.
摘要翻译：一种工件移除装置，包括用于对包括多个装载的工件的工件装载区域进行成像的照相机; 基于用所述照相机拍摄的照相机图像来检测工件的工件检测部; 工件选择部，其基于所述工件检测部的检测结果来选择适于被去除的工件; 用于去除由工件选择部选择的工件的机器人; 装载状态判定部，其判断由于所述机器人的动作而使所述工件装载区域内的工件的装载状态发生了变化; 以及区域设定部，用于设定工件检测部检测出工件的工件检测区域。如果装载状态确定部确定工件的装载状态已经改变，则区域设定部将工件检测区域设定在装载状态的变更位置的周边区域中，即在工件装载区域的一部分中。

5. 发明授权

US08098928B2 Apparatus for picking up objects 有权
标题翻译：拾取物品的装置
公开(公告)号：US08098928B2
公开(公告)日：2012-01-17
申请号：US12057423
申请日：2008-03-28
申请人： Kazunori Ban , Ichiro Kanno , Hidetoshi Kumiya , Shouta Takizawa
发明人： Kazunori Ban , Ichiro Kanno , Hidetoshi Kumiya , Shouta Takizawa
IPC分类号： G06K9/00
CPC分类号： B25J9/1697 , G06T1/0007 , G06T7/13 , G06T7/75 , G06T7/77 , G06T2207/30164 , G06T2207/30248
摘要： An apparatus for picking up objects including a robot for picking up an object, at least one part of the object having a curved shape, having a storing means for storing a gray gradient distribution model of the object, a recognizing means for recognizing a gray image of the object, a gradient extracting means for extracting a gray gradient distribution from the gray image recognized by the recognizing means, an object detecting means for detecting a position or position posture of the object in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means and the gray gradient distribution model stored by the storing means, a detection information converting means for converting information of the position or position posture detected by the object detecting means into information of position or position posture in a coordinate system regarding the robot; and a robot moving means for moving the robot to the position or position posture converted by the detection information converting means to pick up the object. Thus, the object having a curved shape can be detected and picked up in a reasonably short period of time.
摘要翻译：一种用于拾取物体的装置，包括用于拾取物体的机器人，具有弯曲形状的物体的至少一部分具有用于存储物体的灰度梯度分布模型的存储装置，用于识别灰色图像的识别装置的梯度提取装置，用于从由识别装置识别的灰度图像中提取灰度梯度分布;对象检测装置，用于根据提取的灰度梯度分布来检测灰色图像中的对象的位置或位置姿势; 通过由存储装置存储的梯度提取装置和灰度梯度分布模型，检测信息转换装置，用于将由对象检测装置检测到的位置或位置姿势的信息转换成关于坐标系的位置或位置姿势的信息机器人; 以及机器人移动装置，用于将机器人移动到由检测信息转换装置转换的位置或位置姿势以拾取对象。因此，可以在相当短的时间段内检测和拾取具有弯曲形状的物体。

6. 发明申请

US20110029131A1 APPARATUS AND METHOD FOR MEASURING TOOL CENTER POINT POSITION OF ROBOT 审中-公开
标题翻译：测量机器人工具中心点位置的装置和方法
公开(公告)号：US20110029131A1
公开(公告)日：2011-02-03
申请号：US12838046
申请日：2010-07-16
申请人： Kazunori BAN , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori BAN , Katsutoshi Takizawa , Gang Shen
IPC分类号： G05B19/04
CPC分类号： B25J9/1692 , B25J9/1697 , Y10S901/47
摘要： A measurement apparatus for determining a position of a tool center point (31) of a tool (30), which is attached to a tool attachment surface (32) of a robot (1), with respect to the tool attachment surface (32) includes: a camera (4) attached to the arm tip portion of the robot (1); a touch-up point (an origin of Σm) disposed in a working space of the robot; a measurement section (11a) for measuring the position of the touch-up point by using the robot and the camera; a first storage section (12a) for storing the measured position of the touch-up point; a second storage section (12b) for storing a position of the robot (1) when the tool center point is aligned with the touch-up point by moving the robot; and a calculation section (11b) for calculating the position of the tool center point with respect to the tool attachment surface of the robot by using the stored positions of the touch-up point and the robot. Therefore, the position of the tool center point with respect to the tool attachment surface is measured with high accuracy in a short period of time without using a substitution jig.
摘要翻译：一种用于确定相对于工具附接表面（32）附接到机器人（1）的工具附接表面（32）的工具（30）的工具中心点（31）的位置的测量装置，包括：附接到机器人（1）的臂尖部的相机（4）; 设置在机器人的工作空间中的接触点（Sgr的原点）; 用于使用所述机器人和所述照相机测量所述接触点的位置的测量部分（11a）; 第一存储部分（12a），用于存储所述接触点的测量位置; 第二存储部（12b），用于通过移动所述机器人来存储所述机器人（1）在所述工具中心点与所述接触点对准时的位置; 以及计算部，其通过使用所述接触点和所述机器人的存储位置来计算所述工具中心点相对于所述机器人的所述工具安装面的位置。因此，在不使用取代夹具的情况下，在短时间内高精度地测量刀具中心点相对于刀具附接面的位置。

7. 发明申请

US20100305754A1 ARTICLE CONVEYING ROBOT SYSTEM 有权
标题翻译：文章传送机器人系统
公开(公告)号：US20100305754A1
公开(公告)日：2010-12-02
申请号：US12768868
申请日：2010-04-28
申请人： Kazunori BAN , Ichiro KANNO , Fumikazu WARASHINA , Masafumi OOBA
发明人： Kazunori BAN , Ichiro KANNO , Fumikazu WARASHINA , Masafumi OOBA
IPC分类号： G05B19/418
CPC分类号： B25J9/0093 , B25J9/1697 , G05B19/4182 , G05B2219/39102 , G05B2219/40007 , Y02P90/083
摘要： An article conveying robot system capable of effectively containing an article in a container conveyed by a conveyor by using a robot. A container detecting part measures the distribution of shading of an image of each containing cell based on a detection result of the container, detects the containing state of each cell, and stores the detection result of each cell. An information managing part of a controller of an upstream side robot receives information from a container detecting part of a controller of a downstream side robot, and then generates containing cell information. An information managing part checks the cell information to be processed, and then transmits the cell information to a task executing part only when an article is not located in the corresponding cell. Task executing part controls the robot so as to locate an article in the selected cell based on the cell information.
摘要翻译：一种能够通过使用机器人有效地容纳由输送机输送的容器中的物品的物品输送机器人系统。容器检测部基于容器的检测结果来测量包含单元的图像的阴影分布，检测各单元的容纳状态，存储各单元的检测结果。上游侧机器人的控制器的信息管理部分从下游侧机器人的控制器的容器检测部分接收信息，然后生成包含单元信息。信息管理部分检查要处理的小区信息，然后仅当物品不在相应的小区中时将小区信息发送到任务执行部分。任务执行部分控制机器人，以便基于单元信息来定位所选单元中的文章。

8. 发明申请

US20100078953A1 WORKPIECE GRIPPING DEVICE 有权
标题翻译：工作设备
公开(公告)号：US20100078953A1
公开(公告)日：2010-04-01
申请号：US12555150
申请日：2009-09-08
申请人： Kazunori BAN , Fumikazu WARASHINA , Shouta TAKIZAWA
发明人： Kazunori BAN , Fumikazu WARASHINA , Shouta TAKIZAWA
IPC分类号： B66C1/42 , B66C1/02 , B66C1/04
CPC分类号： B25J15/0616 , B25J15/0266
摘要： A workpiece gripping device includes a primary catching mechanism having a suction pad adapted to hold a workpiece by suction power and a rod-like part having the suction pad mounted on one end thereof, gripping pawls sandwiching and gripping the workpiece, a drive unit for supplying a drive power, and a transmission mechanism transmitting the drive power of the drive unit to the gripping pawls. The transmission mechanism moves the gripping pawls along an axis of the rod-like part between a gripping position where the gripping pawls are projected beyond the suction pad and a retreated position where the gripping pawls are retreated from the suction pad toward the base plate. The gripping pawls are moved to the gripping position along the axis of the rod-like part while shortening the distance between the gripping pawls.
摘要翻译：工件夹持装置包括主捕捉机构，其具有适于通过抽吸动力保持工件的吸盘和具有安装在其一端上的吸盘的杆状部件，夹持夹持工件的夹爪，用于供给的驱动单元驱动力和将驱动单元的驱动力传递到夹爪的传动机构。所述传动机构沿着所述杆状部件的轴线将所述抓持爪沿夹持位置移动到所述抓持爪突出超过所述吸盘之间的夹持位置和所述夹持爪从所述吸盘朝向所述基板后退的位置。夹持爪沿杆状部件的轴线移动到夹紧位置，同时缩短夹紧爪之间的距离。

9. 发明授权

US07502504B2 Three-dimensional visual sensor 有权
标题翻译：三维视觉传感器
公开(公告)号：US07502504B2
公开(公告)日：2009-03-10
申请号：US10685498
申请日：2003-10-16
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G06K9/00
CPC分类号： G01B11/24 , G01B11/00 , G06T7/73 , G06T2207/30164
摘要： A three-dimensional visual sensor which measures the three-dimensional position and orientation of an objective workpiece accurately even when the position and orientation thereof varies. The position Ca, tilting angle θa and size S of a first region A which includes a characteristic part of an objective workpiece, and the position Cb and radius Rb of a second region B which is a target region of measurement are determined in a two-dimensional image of a representative objective workpiece captured from a predetermined position, and stored as reference information. An image of a to-be-measured objective workpiece is captured, and in the image, a region corresponding to the second region is determined on the basis of the position C′a, tilting angle θ′a and size S′ of a region corresponding to the first region A, and the reference information. The position and orientation of the objective workpiece is obtained by measuring the region determined as corresponding to the second region.
摘要翻译：三维视觉传感器，即使当位置和取向发生变化时也可以精确地测量目标工件的三维位置和方位。以包含目标工件的特征部分的第一区域A的位置Ca，倾斜角度θa和尺寸S以及作为目标测量区域的第二区域B的位置Cb和半径Rb被确定，从预定位置捕获的代表性目标工件的二维图像，并作为参考信息存储。拍摄被测量目标工件的图像，并且在图像中，基于位置C'a，倾斜角θ'a和区域S'的大小S'来确定与第二区域对应的区域对应于第一区域A和参考信息。通过测量与第二区域相对应的区域来获得目标工件的位置和取向。

10. 发明授权

US07445260B2 Gripping type hand 有权
标题翻译：握手式手
公开(公告)号：US07445260B2
公开(公告)日：2008-11-04
申请号：US11245012
申请日：2005-10-07
申请人： Ryo Nihei , Kazunori Ban , Takashi Sato , Toshinari Tamura , Kokoro Hatanaka
发明人： Ryo Nihei , Kazunori Ban , Takashi Sato , Toshinari Tamura , Kokoro Hatanaka
IPC分类号： B25J13/08 , B25J15/08
CPC分类号： B25J9/1612 , B25J13/082 , B25J15/08 , Y10S294/907
摘要： A gripping type hand including a plurality of finger mechanisms provided respectively with finger joints, actuators for driving the finger joints, and links supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms. The operation controlling section coordinately controls the actuators of the plurality of finger mechanisms to adjust gripping force generated by the plurality of finger mechanisms, based on the operating positions of the finger joints detected by the position detecting section and the strains of the links detected by the strain detecting sections.
摘要翻译：夹持型手包括分别设置有手指接头的多个指状机构，用于驱动指关节的致动器，以及由手指接头支撑的链节，并且在致动器的驱动力下操作。夹持型手包括能够彼此独立地分别控制多个手指机构的致动器的操作控制部; 位置检测部分，用于分别检测多个手指机构的手指关节的操作位置; 和应变检测部分分别设置用于多个手指机构，并且由于施加到手指机构的力而检测在链接中产生的应变。操作控制部基于由位置检测部检测到的手指关节的操作位置和由所述多个手指机构检测到的链节的张力，协调地控制多个手指机构的致动器，以调整由多个手指机构产生的夹持力应变检测部分。

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