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1. 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。

2. 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。

3. 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。

4. 发明申请

US20100141776A1 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：US20100141776A1
公开(公告)日：2010-06-10
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。

5. 发明申请

US20080188983A1 Calibration device and method for robot mechanism 有权
标题翻译：机器人机构校准装置及方法
公开(公告)号：US20080188983A1
公开(公告)日：2008-08-07
申请号：US12068113
申请日：2008-02-01
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
IPC分类号： G06F17/00
CPC分类号： B25J9/1692 , G01B11/002 , G01B21/042 , G05B2219/39045 , G05B2219/39393
摘要： A calibration device and method for automatically determining the position and the orientation of a robot used for measurement. First, an initial position of a preliminary position is generated based on a designated basic position, and it is judged whether the initial position is within an operation range of the robot. If the robot cannot reach the initial position, the preliminary position is adjusted close to the basic position. Otherwise, the preliminary position is evaluated by calculating an evaluation index of the preliminary position. When the evaluation index does not satisfy a predetermined condition, an initial value of an posture angle is increased.
摘要翻译：一种用于自动确定用于测量的机器人的位置和方位的校准装置和方法。首先，基于指定的基本位置生成预备位置的初始位置，并且判断初始位置是否在机器人的操作范围内。如果机器人不能到达初始位置，则初步位置被调整为接近基本位置。否则，通过计算初步位置的评价指标来评价初步位置。当评价指标不满足预定条件时，姿势角的初始值增加。

6. 发明授权

US07899577B2 Measuring system and calibration method 有权
标题翻译：测量系统和校准方法
公开(公告)号：US07899577B2
公开(公告)日：2011-03-01
申请号：US11822093
申请日：2007-07-02
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
IPC分类号： G06F19/00
CPC分类号： B25J9/1692 , G01B21/042 , G05B2219/37555 , G05B2219/39008 , G05B2219/39045
摘要： A measuring system and a calibration method for automatically calculating errors of mechanical parameters with high accuracy and correcting the parameters, by means of a relatively small and inexpensive measuring device. In relation to a plurality of positions of measurement, a robot is automatically moved such that, on a light receiving surface of a camera, the distance between the centers of an ellipse indicating a mark of a target and a circle of representing the shape of the target, and the difference between the length of the long axis of the ellipse and the diameter of the circle are within a predetermined error range.
摘要翻译：一种测量系统和一种校准方法，用于通过相对较小且便宜的测量装置自动计算机械参数的误差并以高精度校正参数。关于多个测量位置，机器人自动移动，使得在相机的光接收表面上，指示目标的标记的椭圆的中心与表示目标的形状的圆之间的距离目标，并且椭圆的长轴的长度与圆的直径之间的差在预定的误差范围内。

7. 发明申请

US20080004750A1 Measuring system and calibration method 有权
标题翻译：测量系统和校准方法
公开(公告)号：US20080004750A1
公开(公告)日：2008-01-03
申请号：US11822093
申请日：2007-07-02
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
IPC分类号： G06F19/00
CPC分类号： B25J9/1692 , G01B21/042 , G05B2219/37555 , G05B2219/39008 , G05B2219/39045
摘要： A measuring system and a calibration method for automatically calculating errors of mechanical parameters with high accuracy and correcting the parameters, by means of a relatively small and inexpensive measuring device. In relation to a plurality of positions of measurement, a robot is automatically moved such that, on a light receiving surface of a camera, the distance between the centers of an ellipse indicating a mark of a target and a circle of representing the shape of the target, and the difference between the length of the long axis of the ellipse and the diameter of the circle are within a predetermined error range.
摘要翻译：一种测量系统和一种校准方法，用于通过相对较小且便宜的测量装置自动计算机械参数的误差并以高精度校正参数。关于多个测量位置，机器人自动移动，使得在相机的光接收表面上，指示目标的标记的椭圆的中心与表示目标的形状的圆之间的距离目标，并且椭圆的长轴的长度与圆的直径之间的差在预定的误差范围内。

8. 发明授权

US07853359B2 Calibration device and method for robot mechanism 有权
标题翻译：机器人机构校准装置及方法
公开(公告)号：US07853359B2
公开(公告)日：2010-12-14
申请号：US12068113
申请日：2008-02-01
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen
IPC分类号： G06F17/00 , G05B19/02
CPC分类号： B25J9/1692 , G01B11/002 , G01B21/042 , G05B2219/39045 , G05B2219/39393
摘要： A calibration device and method for automatically determining the position and the orientation of a robot used for measurement. First, an initial position of a preliminary position is generated based on a designated basic position, and it is judged whether the initial position is within an operation range of the robot. If the robot cannot reach the initial position, the preliminary position is adjusted close to the basic position. Otherwise, the preliminary position is evaluated by calculating an evaluation index of the preliminary position. When the evaluation index does not satisfy a predetermined condition, an initial value of an posture angle is increased.
摘要翻译：一种用于自动确定用于测量的机器人的位置和方位的校准装置和方法。首先，基于指定的基本位置生成预备位置的初始位置，并且判断初始位置是否在机器人的操作范围内。如果机器人不能到达初始位置，则初步位置被调整为接近基本位置。否则，通过计算初步位置的评价指标来评价初步位置。当评价指标不满足预定条件时，姿势角的初始值增加。

9. 发明授权

US08306660B2 Device and a method for restoring positional information of robot 有权
标题翻译：装置和恢复机器人位置信息的方法
公开(公告)号：US08306660B2
公开(公告)日：2012-11-06
申请号：US13116463
申请日：2011-05-26
申请人： Kazunori Ban , Gang Shen , Kyouhei Kokubo
发明人： Kazunori Ban , Gang Shen , Kyouhei Kokubo
IPC分类号： G05B19/18
CPC分类号： B25J9/1692 , B25J9/101
摘要： A device for restoring positional information of a robot provided with a first member and a second member; a motor moving the second member; and a sensor outputting a sensor signal. The device includes an imaging section obtaining an image signal in a region including a first mark and a second mark; a mark position computation section computing a first positional relationship between the first mark and the second mark at a first time and a second positional relationship at a second time, based on an image signal obtained by the imaging section at the first time and at the second time; and a correction section correcting positional information depending on a sensor signal, based on the first and second positional relationship, a first sensor signal output by the sensor at the first time and a second sensor signal output by the sensor at the second time.
摘要翻译：一种用于恢复设置有第一构件和第二构件的机器人的位置信息的装置; 移动第二构件的电动机; 以及输出传感器信号的传感器。该装置包括：成像部，其在包括第一标记和第二标记的区域中获得图像信号; 标记位置计算部分，基于由第一时间和第二时间由成像部分获得的图像信号，计算第一时间的第一标记和第二标记之间的第一位置关系和第二时间的第二位置关系时间; 以及校正部，根据第一和第二位置关系，根据传感器信号校正位置信息，由第一时间由传感器输出的第一传感器信号和第二传感器输出的第二传感器信号。

10. 发明申请

US20110295421A1 DEVICE AND A METHOD FOR RESTORING POSITIONAL INFORMATION OF ROBOT 有权
标题翻译：装置和恢复机器人的位置信息的方法
公开(公告)号：US20110295421A1
公开(公告)日：2011-12-01
申请号：US13116463
申请日：2011-05-26
申请人： Kazunori Ban , Gang Shen , Kyouhei Kokubo
发明人： Kazunori Ban , Gang Shen , Kyouhei Kokubo
IPC分类号： B25J9/10
CPC分类号： B25J9/1692 , B25J9/101
摘要： A device for restoring positional information of a robot provided with a first member and a second member connected movable relative to each other via an articulation axis; a motor moving the second member relative to the first member; and a sensor outputting a sensor signal according to a driving amount of the motor. The device includes an imaging section obtaining an image signal in a region including a first mark and a second mark representing a positional relationship between the first member and the second member; a mark position computation section computing a first positional relationship between the first mark and the second mark at a first time and a second positional relationship between the first mark and the second mark at a second time, based on an image signal obtained by the imaging section at the first time and at the second time; and a correction section correcting positional information depending on a sensor signal output by the sensor after the second time, based on the first positional relationship and the second positional relationship, a first sensor signal output by the sensor at the first time and a second sensor signal output by the sensor at the second time.
摘要翻译：一种用于恢复机器人的位置信息的装置，其具有通过铰接轴线相对于彼此相对移动的第一构件和第二构件; 电动机相对于第一构件移动第二构件; 以及根据电动机的驱动量输出传感器信号的传感器。该装置包括成像部分，其在包括第一标记和表示第一部件和第二部件之间的位置关系的第二标记的区域中获得图像信号; 标记位置计算部分，基于由成像部分获得的图像信号，在第一时间计算第一标记和第二标记之间的第一位置关系，以及第二时间计算第一标记和第二标记之间的第二位置关系在第一次和第二次; 以及校正部，基于第一位置关系和第二位置关系，根据第二时间后由传感器输出的传感器信号来校正位置信息，由第一时间由传感器输出的第一传感器信号和第二传感器信号第二次由传感器输出。

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