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1. 发明授权

US09656388B2 Robot, robot system, control device, and control method 有权
公开(公告)号：US09656388B2
公开(公告)日：2017-05-23
申请号：US14636542
申请日：2015-03-03
申请人： Seiko Epson Corporation , Tohoku University
发明人： Takashi Nammoto , Kazuhiro Kosuge , Koichi Hashimoto
IPC分类号： G05B19/00 , B25J9/16
CPC分类号： B25J9/1612 , B25J9/1687 , B25J9/1697 , G05B2219/39346 , G05B2219/39394 , G05B2219/39483 , G05B2219/39487 , G05B2219/39543 , G05B2219/40583
摘要： Provided is a robot including a hand and a control unit that operates the hand. The control unit rotates a first object around a predetermined position of the first object with the hand and moves the first object with respect to a second object, based on a captured image including the hand and the first object.

2. 再颁专利

USRE47553E1 Robot, robot system, control device, and control method 有权
公开(公告)号：USRE47553E1
公开(公告)日：2019-08-06
申请号：US15958518
申请日：2018-04-20
申请人： Seiko Epson Corporation , TOHOKU UNIVERSITY
发明人： Takashi Nammoto , Kazuhiro Kosuge , Koichi Hashimoto
IPC分类号： B25J9/16 , G05B19/00
摘要： Provided is a robot including a hand and a control unit that operates the hand. The control unit rotates a first object around a predetermined position of the first object with the hand and moves the first object with respect to a second object, based on a captured image including the hand and the first object.

3. 发明授权

US09129358B2 Inspecting apparatus, robot apparatus, inspecting method, and inspecting program 有权
标题翻译：检查仪器，机器人装置，检查方法和检查程序
公开(公告)号：US09129358B2
公开(公告)日：2015-09-08
申请号：US13753794
申请日：2013-01-30
申请人： Seiko Epson Corporation
发明人： Takashi Nammoto , Koichi Hashimoto , Tomohiro Inoue
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06T7/001 , G06T2207/10144 , G06T2207/20221 , G06T2207/30164
摘要： An inspecting apparatus includes an image pickup unit configured to pick up a plurality of images of an inspection target object with different exposure times and generate, image data of an inspection target object image including an inspection region, a weighted-image-data generating unit configured to weight, for each of the image data generated with the exposure times different from one another, data of pixels indicating a region where a difference in gradation of pixel values is relatively large among regions of pixels included in the image data and generate weighted image data, an image-data combining unit configured to generate combined image data obtained by combining the generated respective weighted image data, and a determining unit configured to determine a state of the inspection region on the basis of image data of a reference image set and the generated combined image data.
摘要翻译：检查装置包括图像拾取单元，其被配置为拾取具有不同曝光时间的检查对象物体的多个图像，并生成包括检查区域的检查对象图像的图像数据，配置的加权图像数据生成单元对于以相互不同的曝光时间生成的图像数据中的每一个图像数据，表示在图像数据中包括的像素区域中的像素值的灰度差相对较大的区域的像素的数据，并生成加权图像数据，被配置为生成通过组合所生成的各个加权图像数据而获得的组合图像数据的图像数据组合单元和被配置为基于参考图像集合的图像数据确定检查区域的状态的确定单元，组合图像数据。

4. 发明授权

US10329042B2 Packing apparatus and packing method 有权
公开(公告)号：US10329042B2
公开(公告)日：2019-06-25
申请号：US15069055
申请日：2016-03-14
申请人： Seiko Epson Corporation
发明人： Takashi Nammoto , Kazuhiro Kosuge , Tomoki Harada , Koichi Hashimoto , Kengo Yamaguchi
IPC分类号： B25J9/00 , B65B5/06 , B25J13/08 , B25J19/02 , B65B35/16 , B65B35/32 , B65B57/06
摘要： For accurate housing of an object to be packed even in an unfixed box body, a packing apparatus includes a movable unit and a force detection part provided in the movable unit and houses an object to be packed in a box body formed from a packing material based on an output value of the force detection part.

5. 发明授权

US09764467B2 Robot, robot system, control device, and control method 有权
公开(公告)号：US09764467B2
公开(公告)日：2017-09-19
申请号：US14612701
申请日：2015-02-03
申请人： Seiko Epson Corporation
发明人： Tomoki Harada , Koichi Hashimoto , Shogo Arai
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J9/1697 , G05B2219/39543 , G05B2219/40053 , Y10S901/47
摘要： A robot includes: a hand; and a control unit that operates the hand, in which the control unit generates three-dimensional point group information for a partial image forming a captured image obtained by an imaging unit, and causes the hand to hold an object included in the partial image.

6. 发明授权

US09527209B2 Robot 有权
标题翻译：机器人
公开(公告)号：US09527209B2
公开(公告)日：2016-12-27
申请号：US14663897
申请日：2015-03-20
申请人： Seiko Epson Corporation
发明人： Tomoki Harada , Koichi Hashimoto , Shogo Arai , Kengo Yamaguchi
IPC分类号： B25J9/16 , B25J15/00
CPC分类号： B25J9/1612 , B25J9/1697 , B25J15/0042 , G05B2219/39476 , G05B2219/39487 , G05B2219/40053 , G05B2219/40583 , G05B2219/40607
摘要： A robot includes a hand that grips an object and a control unit that operates the hand, the hand includes fingers that are able to grip the object at four or more contact points, and an object of which a metallic tone index is equal to or higher than 5 is gripped with the hand.
摘要翻译：机器人包括握住物体的手和操作手的控制单元，手包括能够在四个或更多个接触点处夹住物体的手指，以及金属色调指数等于或等于更高的物体超过5手握住手。

7. 发明授权

US09082017B2 Robot apparatus and position and orientation detecting method 有权
标题翻译：机器人装置及位置和方向检测方法
公开(公告)号：US09082017B2
公开(公告)日：2015-07-14
申请号：US13743655
申请日：2013-01-17
申请人： Seiko Epson Corporation
发明人： Takashi Nammoto , Koichi Hashimoto , Chuantao Zang
IPC分类号： G06T7/00 , G06T17/00 , G06T19/00 , G06K9/00
CPC分类号： G06K9/00664 , G06T7/74 , G06T2207/10004 , G06T2207/30244 , Y10S901/47
摘要： A robot apparatus includes a reference-model storing unit configured to store a reference model of an object, a feature-value-table storing unit configured to store a feature value table that associates position data and orientation data of the reference model and a feature value, a photographed-image acquiring unit configured to capture a photographed image of the object, a detecting unit configured to calculate a photographed image feature value from the photographed image, and a driving control unit configured to control a robot main body on the basis of the position data and the orientation data to change the position and the orientation of a gripping unit.
摘要翻译：一种机器人装置，包括：被配置为存储对象的参照模型的参照模型存储部，特征值表存储部，存储将所述参照模型的位置数据和姿势数据相关联的特征量值表以及特征值拍摄图像获取单元，被配置为拍摄被摄体的拍摄图像;检测单元，被配置为从拍摄图像计算拍摄图像特征值;以及驱动控制单元，被配置为基于所述拍摄图像控制机器人主体位置数据和取向数据，以改变夹持单元的位置和方向。

8. 发明授权

US10181202B2 Control apparatus, robot, and control method 有权
公开(公告)号：US10181202B2
公开(公告)日：2019-01-15
申请号：US14719870
申请日：2015-05-22
申请人： Seiko Epson Corporation
发明人： Tomoki Harada , Koichi Hashimoto , Shogo Arai , Toshiki Boshu
IPC分类号： G06T7/60 , H04N13/275 , G01B11/25 , G06T7/593 , H04N13/02
摘要： A control apparatus includes a projection unit configured to project a first pattern onto an object; and a selection unit configured to select a single first pattern from a plurality of first patterns. After the projection unit projects each of the plurality of first patterns having different resolutions onto the object, the projection unit projects a second pattern onto the object, the second pattern having the same resolution as that of the selected single first pattern.

9. 发明授权

US10562182B2 Robot, robot system, control device, and control method 有权
公开(公告)号：US10562182B2
公开(公告)日：2020-02-18
申请号：US15680625
申请日：2017-08-18
申请人： Seiko Epson Corporation
发明人： Tomoki Harada , Koichi Hashimoto , Shogo Arai
IPC分类号： B25J9/16
摘要： A robot includes: a hand; and a control unit that operates the hand, in which the control unit generates three-dimensional point group information for a partial image forming a captured image obtained by an imaging unit, and causes the hand to hold an object included in the partial image.

10. 发明授权

US09652660B2 Control system, robot system, and control method 有权
公开(公告)号：US09652660B2
公开(公告)日：2017-05-16
申请号：US14810657
申请日：2015-07-28
申请人： Seiko Epson Corporation
发明人： Tomoki Harada , Koichi Hashimoto , Shogo Arai
IPC分类号： G06K9/00 , G06K7/00 , G01B11/30 , G06K9/50 , B25J9/16 , G06T7/00
CPC分类号： G06K9/00201 , B25J9/1697 , G05B2219/35315 , G06K9/00664 , G06K9/50 , G06T7/521 , G06T7/593 , Y10S901/47
摘要： A control system includes a projection section that projects predetermined patterned light on a target object, a first imaging section that captures an image of the target object on which the predetermined patterned light is projected by the projection section, a second imaging section that is disposed in a position different from a position where the first imaging section is disposed and captures an image of the target object on which the predetermined patterned light is projected by the projection section, and a calculation section that calculates a three-dimensional shape of the target object based on a first point in a first captured image captured by the first imaging section and a second point in a second captured image captured by the second imaging section.

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