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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

US06665588B2 Workpiece unloading apparatus 有权
标题翻译：工件卸载装置
公开(公告)号：US06665588B2
公开(公告)日：2003-12-16
申请号：US10193172
申请日：2002-07-12
申请人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban , Ichiro Kanno
IPC分类号： G05B1500
CPC分类号： B23Q7/10 , B23Q7/04 , B23Q17/24 , B25J9/1697 , B65G61/00 , G05B2219/40053 , G05B2219/40613
摘要： A workpiece is gripped and unloaded by moving workpiece unloading means based on the results of measuring the workpiece position and orientation with a visual sensor. When a plurality of loaded workpieces are unloaded in a regular order one by one, or in groups, the position and orientation of the workpiece which is to be unloaded next change for each unloading. However, since a visual sensor is moved when necessary to the position appropriate for measuring the workpiece position and orientation, measurements of the workpieces with the visual sensor are conducted accurately. Therefore, the workpiece unloading is conducted reliably.
摘要翻译：基于通过视觉传感器测量工件位置和方向的结果，通过移动工件卸载装置来夹紧和卸载工件。当多个装载的工件以规则的顺序逐个或组合地卸载时，待卸载的工件的位置和取向接下来对于每次卸载而改变。然而，由于视觉传感器在必要时移动到适于测量工件位置和方位的位置，所以可以精确地进行用视觉传感器的工件的测量。因此，可靠地进行工件卸载。

3. 发明授权

US07590468B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US07590468B2
公开(公告)日：2009-09-15
申请号：US10952101
申请日：2004-09-29
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G05B19/00
CPC分类号： G05B19/4069 , B25J9/1664 , B25J9/1674 , G05B2219/37555 , G05B2219/40053 , G05B2219/40125 , G05B2219/40213
摘要： A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.
摘要翻译：机器人系统可以通过安装在机器人臂的前端的手抓住并取出放置在篮状容器中的多个工件中的一个。通过视觉传感器检测工件，根据工件的位置和方向来控制机器人。当发生诸如干扰等的问题时，与问题有关的信息存储在机器人控制单元或视觉传感器控制单元中。与问题有关的信息包括从问题发生的时间点，机器人到达的位置，目标位置数据，由视觉传感器执行的处理的内容以及检测的追溯地追溯的预定量的最新数据结果。当问题复制时，这些数据用于通过使用模拟单元来模拟出现问题时的情况。发生问题时的情况也可以通过使用实际的机器人而不使用模拟单元来再现。

4. 发明授权

US06970802B2 Three-dimensional measuring device 有权
标题翻译：三维测量装置
公开(公告)号：US06970802B2
公开(公告)日：2005-11-29
申请号：US10740567
申请日：2003-12-22
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G01B11/00 , B25J9/16 , B25J13/08 , G01B11/03 , G01B21/04 , G01C17/00 , G05B19/18
CPC分类号： G01B21/045 , B25J9/1641 , B25J9/1697 , G05B2219/39057
摘要： Three-dimensional measurement capable of reducing an error in coupling robot and sensor coordinate systems and adverse effects of backlash in a robot. A position/orientation of the robot for obtaining a measurement value on the sensor coordinate system is set beforehand with a workpiece positioned at a reference position. Then, the robot is moved to a preparatory measurement position, a preparatory measurement for the workpiece positioned at an arbitrary position is performed (SV1), and based on a measurement result, a main measurement position is calculated (SV2). Next, an auxiliary position is determined (SV3), which serves as a start position from which a movement to the main measurement position can be made without making a reversal of respective axes. The robot is moved to the auxiliary position (SV4), and to the main measurement position (SV5), and a measurement for the workpiece is made and a measurement result is stored (SV6).
摘要翻译：能够减少耦合机器人和传感器坐标系的误差的三维测量以及机器人中的间隙的不利影响。预先设置用于获取传感器坐标系上的测量值的机器人的位置/方向，其中工件位于参考位置。然后，将机器人移动到准备测量位置，执行位于任意位置的工件的准备测量（SV 1），并且基于测量结果，计算主测量位置（SV2）。接下来，确定辅助位置（SV 3），其作为起始位置，从而能够进行到主测量位置的移动而不使各轴的反转。机器人移动到辅助位置（SV 4）和主测量位置（SV 5），进行工件测量并存储测量结果（SV 6）。

5. 发明授权

US07684897B2 Robot program generating device and robot program analyzing device 有权
标题翻译：机器人程序生成装置和机器人程序分析装置
公开(公告)号：US07684897B2
公开(公告)日：2010-03-23
申请号：US11239672
申请日：2005-09-30
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , B25J9/1671 , G05B2219/35346 , G05B2219/37205 , G05B2219/37208
摘要： A work model (or an image) is displayed on an image plane of a robot simulator (201), and a measuring portion and a measuring method are designated (202, 203) and a work shape and a work loading state are designated (204), and then it is judged whether or not the measuring portion and the measuring method are good (205). When the measuring portion and the measuring method are good, a program is generated and the processing is completed (207, 208). When the measuring portion and the measuring method are not good, an alarm is given (206), and the continuation (207) or the repetition (201) of the processing is directed. At the time of analyzing the program, the loading (101), the analysis and display of the measuring portion and the measuring method (102, 103) and the work information (104) are designated, and then it is judged whether or not the measuring portion and the measuring method, which have been analyzed, are good (105). When the measuring portion and the measuring method are good, the processing is finished (107). When the measuring portion and the measuring method are not good, an alarm is given (106), and either the completion of the processing (107) or the correction of the program (201) is selected. Due to the foregoing, a burden imposed for raising and maintaining the visual sensor robot system can be reduced.
摘要翻译：工件模型（或图像）显示在机器人模拟器（201）的图像平面上，并且指定测量部分和测量方法（202,203），并且指定工件形状和加载状态（204 ），然后判断测量部分和测量方法是否良好（205）。当测量部分和测量方法良好时，产生程序并完成处理（207,208）。当测量部分和测量方法不好时，给出警报（206），并且指示处理的继续（207）或重复（201）。在分析程序时，指定负载（101），测量部分的分析和显示以及测量方法（102,103）和工作信息（104），然后判断是否测量部分和测量方法都很好（105）。当测量部分和测量方法良好时，处理结束（107）。当测量部分和测量方法不好时，给出警报（106），并且选择处理（107）的完成或程序（201）的校正。由于上述原因，可以降低用于升高和维持视觉传感器机器人系统的负担。

6. 发明授权

US07657346B2 Object picking system 有权
标题翻译：对象采摘系统
公开(公告)号：US07657346B2
公开(公告)日：2010-02-02
申请号：US11111722
申请日：2005-04-22
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： B25J15/02 , B25J19/04 , G05B19/00
CPC分类号： G06T1/0014 , B25J9/1697 , G05B2219/40014 , G05B2219/40053 , G06T7/75 , G06T2207/30164
摘要： The system includes a detecting section detecting an object to be picked, among a plurality of objects placed in a manner as to be at least partially superimposed on each other; a storage section storing appearance information of a predetermined portion of a reference object having an outward appearance identical to an outward appearance of the object to be picked; a determining section determining whether an inspected portion of the object to be picked, corresponding to the predetermined portion of the reference object, is concealed by another object, based on the appearance information of the reference object stored in the storage section; a control section deciding a picking motion for the object to be picked and outputting a control signal of the picking motion; and a picking mechanism performing the picking motion on the object to be picked in accordance with the control signal output from the control section.
摘要翻译：该系统包括检测部件，其以至少部分地彼此重叠的方式放置在多个物体中，检测要被拾取的物体; 存储部，其存储具有与所述被拾取对象的外观相同的外观的参照物的规定部的外观信息; 基于存储在存储部中的参考对象的外观信息，确定与另一对象是否隐藏对应于参照对象的预定部分的要被拾取对象的被检查部分的确定部分; 决定所述被拾取物的拾取动作的控制部，输出所述拾取动作的控制信号; 以及拾取机构，根据从控制部输出的控制信号，对被拾取物进行拾取动作。

7. 发明授权

US07202957B2 Three-dimensional visual sensor 有权
标题翻译：三维视觉传感器
公开(公告)号：US07202957B2
公开(公告)日：2007-04-10
申请号：US11037330
申请日：2005-01-19
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G01B11/24
CPC分类号： G01B11/25 , G05B2219/37048 , G05B2219/37555 , G06T7/521
摘要： A three-dimensional visual sensor is disclosed. A two-dimensional image of a two-dimensional feature portion including a point determined on a work is acquired, and N points are determined. A slit of light is projected by a projector, an image of a projected portion is obtained, and M points are determined. The three-dimensional position of the intersection point between each straight line connecting the N points and a point in a camera and the slit of light plane is determined on the sensor coordinate system, and transformed to the data on the reference coordinate system. The three-dimensional positions of M points are similarly subjected to coordinate transform to the data on the reference coordinate system. Straight lines defined by the M and N points are determined. The intersection point between the two straight lines is determined and returned to the data on the sensor coordinate system by inverse transform.
摘要翻译：公开了三维视觉传感器。获取包括在工件上确定的点的二维特征部分的二维图像，并且确定N个点。通过投影仪投影光的狭缝，获得投影部分的图像，并且确定M个点。在传感器坐标系上确定连接N点和摄像机中的点与光平面之间的每条直线之间的交点的三维位置，并转换为参考坐标系上的数据。 M点的三维位置也类似地进行坐标变换到参考坐标系上的数据。确定由M和N点定义的直线。通过逆变换确定两条直线之间的交点，并将其返回到传感器坐标系上的数据。

8. 发明授权

US07123992B2 Article pickup device 失效
标题翻译：物品拾取装置
公开(公告)号：US07123992B2
公开(公告)日：2006-10-17
申请号：US10701596
申请日：2003-11-06
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： G06T1/0014 , B07C5/10 , B25J9/1697 , G05B2219/40053 , G06T7/70 , G06T2207/10016 , G06T2207/30164
摘要： The presence range for workpieces (the internal edge of a container's opening) is defined with a visual sensor attached to a robot and the range is divided into a specified number of sectional regions. A robot position suitable for sensing each of the sectional regions is determined, and sensing is performed at the position so that workpieces in the container are picked up.
摘要翻译：工件的存在范围（容器开口的内部边缘）由连接到机器人的视觉传感器定义，并且该范围被划分为指定数量的截面区域。确定适于感测每个截面区域的机器人位置，并且在该位置执行感测，使得拾取容器中的工件。

9. 发明申请

US20060104788A1 Object picking system 有权
标题翻译：对象采摘系统
公开(公告)号：US20060104788A1
公开(公告)日：2006-05-18
申请号：US11111722
申请日：2005-04-22
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： B66C25/00
CPC分类号： G06T1/0014 , B25J9/1697 , G05B2219/40014 , G05B2219/40053 , G06T7/75 , G06T2207/30164
摘要： An object picking system for picking up, one by one, a plurality of objects. The system includes a detecting section detecting, as an image, an object to be picked, among a plurality of objects placed in a manner as to be at least partially superimposed on each other; a storage section storing appearance information of a predetermined portion of a reference object having an outward appearance identical to an outward appearance of the object to be picked; a determining section determining, in the image of the object to be picked detected by the detecting section, whether an inspected portion of the object to be picked, corresponding to the predetermined portion of the reference object, is concealed by another object, based on the appearance information of the reference object stored in the storage section; a control section deciding a picking motion for the object to be picked and outputting a control signal of the picking motion, based on a determination result of the determining section; and a picking mechanism performing the picking motion on the object to be picked in accordance with the control signal output from the control section.
摘要翻译：一种用于拾取多个物体的物体拾取系统。该系统包括检测部分，其以至少部分地彼此重叠的方式在被放置的多个物体中检测作为图像的要被拾取的物体; 存储部，其存储具有与所述被拾取对象的外观相同的外观的参照物的规定部的外观信息; 确定部分，在由所述检测部检测到的要被拾取的对象的图像中确定与所述参考对象的所述预定部分相对应的要被拾取的对象的被检查部分是否被另一个对象隐藏，基于存储在存储部中的参考对象的外观信息; 控制部，根据上述判定部的判定结果，判定上述被拾取物的拾取动作，并输出上述拾取动作的控制信号; 以及拾取机构，根据从控制部输出的控制信号，对被拾取物进行拾取动作。

10. 发明申请

US20050273199A1 Robot system 审中-公开
标题翻译：机器人系统
公开(公告)号：US20050273199A1
公开(公告)日：2005-12-08
申请号：US11142496
申请日：2005-06-02
申请人： Kazunori Ban , Ichiro Kanno , Makoto Yamada , Toshihiko Inoue
发明人： Kazunori Ban , Ichiro Kanno , Makoto Yamada , Toshihiko Inoue
IPC分类号： B25J13/08 , B25J9/10 , B25J9/16 , G05B19/18 , G05B19/19 , G06F19/00
CPC分类号： B25J9/1692 , B25J9/1682 , G05B2219/39045 , G05B2219/39046 , G05B2219/39114 , G05B2219/39397
摘要： A robot system comprising a first robot (R1) with a camera of a visual sensor mounted thereon and a second robot (R2) having a feature portion, is disclosed. The robots (R1, R2) are set in the first initial states (G1), from which the first robot (R1) or the second robot (R2) is moved so that the image of the feature portion assumes a target position or size (G2), thereby to store the present positions (P1, Q1) (G3). The same process is repeated N times (N≧3) while changing the positions of the initial states of the robots (G4). Based on the positions P1, . . . , PN and Q1, . . . , QN obtained by the N repetitive above processes, a matrix T indicating the coordinate conversion from Σb to Σb′ is determined. One or two robot control units may be provided. As a result, the calibration to determine relative positions between the robots can be carried out easily and with high accuracy, thereby reducing the jig-related cost.
摘要翻译：公开了一种机器人系统，其包括具有安装在其上的视觉传感器的照相机的第一机器人（R 1）和具有特征部分的第二机器人（R 2）。机器人（R 1，R 2）被设定为第一初始状态（G 1），第一机器人（R 1）或第二机器人（R 2）从该初始状态（G1）移动，使得特征部分的图像呈现为目标位置或大小（G 2），从而存储当前位置（P 1，Q 1）（G 3）。在改变机器人的初始状态（G 4）的位置的同时，重复N次（N> = 3）。基于位置P 1，。。。，PN和Q 1，。。。，通过N次重复上述处理获得的QN，确定表示从Sigmab到Sigmab'的坐标转换的矩阵T. 可以提供一个或两个机器人控制单元。结果，可以容易且高精度地进行用于确定机器人之间的相对位置的校准，从而减少与夹具相关的成本。

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