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1. 发明授权

US11209790B2 Actuator control system, actuator control method, information processing program, and storage medium 有权
公开(公告)号：US11209790B2
公开(公告)日：2021-12-28
申请号：US16086538
申请日：2017-04-03
申请人： OMRON Corporation
发明人： Taku Oya , Hiroyuki Yanagi , Yasuaki Abe , Yuki Taniyasu
IPC分类号： G05B19/05 , B25J9/16 , G06T7/73
摘要： An actuator control system includes: a transmission control unit configured to transmit final data, which is a final result of the computation by a sensor output computation unit, and to transmit intermediate data before transmitting the final data; and a command value computation unit configured to compute a command value for driving an actuator, based on the intermediate data and the final data transmitted by the transmission control unit.

2. 发明授权

US11498220B2 Control system and control method 有权
公开(公告)号：US11498220B2
公开(公告)日：2022-11-15
申请号：US16805226
申请日：2020-02-28
申请人： OMRON Corporation
发明人： Takafumi Okura , Taku Oya
IPC分类号： B25J9/16
摘要： A control device estimates a position and pose of an imaging device relative to a robot based on an image of the robot captured by the imaging device. A simulation device arranges a robot model at a teaching point, and generates a simulation image of the robot model captured by a virtual camera that is arranged so that a position and pose of the virtual camera relative to the robot model in the virtual space coincide with the estimated position and pose of the imaging device. The control device determines an amount of correction of a position and pose of the robot for the teaching point so that the position and pose of the robot on the actual image captured after the robot has been driven according to a movement command to the teaching point approximate to the position and pose of the robot model on the simulation image.

3. 发明授权

US10860010B2 Information processing apparatus for estimating behaviour of driving device that drives control target, information processing method and computer readable recording medium 有权
公开(公告)号：US10860010B2
公开(公告)日：2020-12-08
申请号：US16103944
申请日：2018-08-15
申请人： OMRON Corporation
发明人： Haruna Shimakawa , Taku Oya
IPC分类号： G05B19/418 , B25J9/12 , B25J9/16 , G06F3/14 , G06F3/0482 , G06F3/0484
摘要： An information processing apparatus includes a first emulator that estimates a behavior of a device for driving a first control target that moves on a first target trajectory and a second emulator that estimates a behavior of a device for driving a second control target that moves on a second target trajectory. A visualization module generates drawing data for visualizing and drawing movement of the first control target and movement of the second control target in a three-dimensional virtual space by using a first command value and a second command value. The first and second emulators calculate the first command value and the second command value that control first and second driving devices in each control cycle according to a calculation command respectively. The calculation command instructs to calculate the command value for setting a movement amount in each control cycle variable.

4. 发明授权

US11021333B2 Conveyor tracking system and calibration method 有权
公开(公告)号：US11021333B2
公开(公告)日：2021-06-01
申请号：US16188281
申请日：2018-11-13
申请人： OMRON Corporation
发明人： Junji Shimamura , Yosuke Iwai , Akiro Kobayashi , Taku Oya
IPC分类号： B65G47/90 , B25J9/00 , B25J9/16 , B65G43/00
摘要： A method for allowing even a user with little experience in robot operation to be able to perform correct calibration is provided. A mobile device displays one or more patterns at predetermined positions and transmits information indicating a touch position to a control device according to touching applied to the touch position in a state that the patterns are displayed. The control device calculates a parameter set based on an image measurement result obtained by a visual sensor when the mobile device is disposed in an image visual field in a state that the patterns are displayed, a touch position when the mobile device is touched by a robot, and a distance between a position of the mobile device when disposed in the imaging visual field and a position when the mobile device is touched by the robot.

5. 发明授权

US10395046B2 Work process management system, individual controller used therein, and access restriction method 有权
公开(公告)号：US10395046B2
公开(公告)日：2019-08-27
申请号：US15121871
申请日：2015-02-19
申请人： OMRON Corporation
发明人： Taku Oya , Hiroyuki Yanagi , Nobuyuki Sakatani , Masanori Takahashi , Yasuaki Abe
IPC分类号： G06F21/60 , G05B19/418 , G06F21/62
摘要： A work process management system includes at least one work device and an individual controller that is directly or indirectly attached to a work object to control the work device. Each of the work device includes a work-device-side storage, a work-device-side communicator, a work part, and a work-device-side control part. The individual controller includes an individual-controller-side storage in which a work content of a work process performed with the work device and associated setting information are stored, an individual-controller-side communicator, and an individual-controller-side calculation controller that transmits the work content of the work process performed with the work device and the associated setting information in which a performance result is reflected to the work-device-side communicator, and additionally store the received performance result in the individual-controller-side storage.

6. 发明授权

US09679405B2 Simulator, simulation method, and simulation program 有权
公开(公告)号：US09679405B2
公开(公告)日：2017-06-13
申请号：US14385172
申请日：2013-02-20
申请人： OMRON Corporation
发明人： Taku Oya , Fumiaki Narutani , Yasunori Sakaguchi , Haruna Shimakawa
IPC分类号： G06T11/60 , G06T15/10 , G06T19/00 , G05B19/042 , G06T7/20
CPC分类号： G05B19/4069 , B25J9/1605 , B25J13/08 , G05B17/02 , G05B19/0426 , G05B19/41885 , G05B2219/23447 , G06F3/005 , G06F3/011 , G06F17/5009 , G06F17/5086 , G06T7/20 , G06T11/60 , G06T15/10 , G06T19/006
摘要： A command value for moving a virtual machine is calculated according to a control program and based on model data of a virtual object (step S313, step S314) where the virtual machine corresponds to a machine and the virtual object is manipulated by the virtual machine in a virtual space and corresponds to an object; motion of the virtual machine which is moved in accordance with the calculated command value is calculated (step S315); motion of the virtual object which is moved in accordance with the calculated motion of the virtual machine (step S315); a virtual space image is generated (step S115) where the virtual space image is assumed to be acquired in the case where the calculated motion of the virtual machine or the calculated motion of the virtual object is virtually photographed; and the command value is calculated further based on the generated virtual space image (step S313, step S314). An integrated simulation of a machine system covering a visual sensor in a real space corresponding to a virtual photographing part can be realized. A test in the case where the visual sensor is used in machine control can be carried out.

7. 发明授权

US10108875B2 Information processing device, information processing method, information processing program, and recording medium 有权
公开(公告)号：US10108875B2
公开(公告)日：2018-10-23
申请号：US15450634
申请日：2017-03-06
申请人： OMRON CORPORATION
发明人： Toshinori Tamai , Taku Oya
IPC分类号： G06K9/46 , G06F15/78 , H04N1/00
摘要： An image processing device configured to process image data obtained externally, the image processing device including a preprocessing circuit configured to carry out preprocessing during image processing; and a circuit configuration controller configured to carry out partial reconfiguration of the preprocessing circuit; the preprocessing circuit including: a plurality of arithmetic converter circuits configured to perform arithmetic computations on image data to convert the image data; and a timing control circuit provided between each one in the plurality of arithmetic converter circuits connected in order of processing, the timing control circuit configured to secure the reliable exchange of data; and the circuit configuration controller partially reconfiguring at least one arithmetic converter circuit in the plurality of arithmetic converter circuits while not partially reconfiguring the timing control circuit.

8. 发明申请

US20150161808A1 SIMULATOR, SIMULATION METHOD, AND SIMULATION PROGRAM 有权
标题翻译：模拟器，仿真方法和仿真程序
公开(公告)号：US20150161808A1
公开(公告)日：2015-06-11
申请号：US14385172
申请日：2013-02-20
申请人： OMRON Corporation
发明人： Taku Oya , Fumiaki Narutani , Yasunori Sakaguchi , Haruna Shimakawa
IPC分类号： G06T11/60 , G06T15/10 , G06T7/20 , G06T19/00
CPC分类号： G05B19/4069 , B25J9/1605 , B25J13/08 , G05B17/02 , G05B19/0426 , G05B19/41885 , G05B2219/23447 , G06F3/005 , G06F3/011 , G06F17/5009 , G06F17/5086 , G06T7/20 , G06T11/60 , G06T15/10 , G06T19/006
摘要： A command value for moving a virtual machine is calculated according to a control program and based on model data of a virtual object (step S313, step S314) where the virtual machine corresponds to a machine and the virtual object is manipulated by the virtual machine in a virtual space and corresponds to an object; motion of the virtual machine which is moved in accordance with the calculated command value is calculated (step S315); motion of the virtual object which is moved in accordance with the calculated motion of the virtual machine (step S315); a virtual space image is generated (step S115) where the virtual space image is assumed to be acquired in the case where the calculated motion of the virtual machine or the calculated motion of the virtual object is virtually photographed; and the command value is calculated further based on the generated virtual space image (step S313, step S314). An integrated simulation of a machine system covering a visual sensor in a real space corresponding to a virtual photographing part can be realized. A test in the case where the visual sensor is used in machine control can be carried out.
摘要翻译：根据控制程序并根据虚拟对象的模型数据（步骤S313，步骤S314）计算用于移动虚拟机的命令值，其中虚拟机对应于机器，虚拟对象被虚拟机操纵虚拟空间并对应于一个对象; 计算根据计算出的指令值移动的虚拟机的动作（步骤S315）。根据计算出的虚拟机的运动而移动的虚拟物体的运动（步骤S315）。在虚拟机的计算运动或虚拟物体的计算出的运动被虚拟拍摄的情况下，生成虚拟空间图像（步骤S115），其中假定要获取虚拟空间图像; 并且基于所生成的虚拟空间图像进一步计算命令值（步骤S313，步骤S314）。可以实现覆盖对应于虚拟拍摄部分的真实空间中的视觉传感器的机器系统的集成模拟。可以进行在机器控制中使用视觉传感器的情况下的测试。

9. 发明申请

US20150112460A1 INFORMATION PROCESSING DEVICE, SIMULATION METHOD, AND PROGRAM 审中-公开
标题翻译：信息处理设备，模拟方法和程序
公开(公告)号：US20150112460A1
公开(公告)日：2015-04-23
申请号：US14384406
申请日：2013-02-19
申请人： OMRON Corporation
发明人： Yasunori Sakaguchi , Fumiaki Narutani , Taku Oya
IPC分类号： G06F9/455 , G05B19/05
摘要： A PC, which is an information processing device, simulates a control program and displays the result of the simulation on a monitor. The PC acquires a value, and identification information identifying a variable for at least one variable at an arbitrary time during the simulation. The PC modifies the control program in accordance with an instruction from a user. The PC simulates the modified control program with the value of the variable identified by the acquired identification information as the value of the acquired variable. The PC displays the result of simulating the modified control program on the monitor.
摘要翻译：作为信息处理装置的PC模拟控制程序，并在监视器上显示模拟结果。在模拟期间，PC获取一个值，并在任意时间识别至少一个变量的变量的识别信息。 PC根据用户的指令修改控制程序。 PC通过所获取的识别信息识别的变量的值作为所获取的变量的值来模拟修改的控制程序。 PC显示在显示器上模拟修改后的控制程序的结果。

10. 发明授权

US11137747B2 Control system for a production line drive unit 有权
公开(公告)号：US11137747B2
公开(公告)日：2021-10-05
申请号：US15755124
申请日：2017-08-16
申请人： OMRON Corporation
发明人： Taku Oya , Kyohei Asai , Go Aoki
IPC分类号： G05B19/418 , G06Q10/06
摘要： A control device that controls a drive unit included by a production line includes: an obtaining unit that obtains physical information indicating a variation with time of a posture of a worker at work; a storage for storing physical information of the worker obtained when the worker works in a stable posture; a detection unit that detects a difference between a magnitude of the variation with time indicated by the physical information obtained and a magnitude of a variation with time indicated by the physical information stored in the storage; and a determination unit that determines from the detected difference whether to change an amount of controlling the drive unit.

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