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1. 发明申请

US20180333857A1 WORKPIECE PICKING SYSTEM 审中-公开
公开(公告)号：US20180333857A1
公开(公告)日：2018-11-22
申请号：US15925883
申请日：2018-03-20
申请人： Fanuc Corporation
发明人： Toshiyuki Ando
IPC分类号： B25J9/16 , B25J13/08 , G01B21/16
CPC分类号： B25J9/1684 , B25J9/0096 , B25J9/1612 , B25J9/1694 , B25J9/1697 , B25J13/08 , B25J13/088 , B25J19/02 , G01B21/16 , G05B2219/39058 , G05B2219/39473 , G05B2219/39484 , G05B2219/39527 , G05B2219/40053
摘要： A workpiece picking system including: a robot; a hand, attached to a hand tip portion of the robot, for picking workpieces; a three-dimensional sensor, attached to the hand tip portion, for acquiring positional information of a three-dimensional point group in a partial region in a container; a workpiece state calculation unit which calculates a position and posture of a workpiece based on positional information of a three-dimensional point group in an acquired first partial region; a data acquisition position calculation unit which calculates a robot corresponding to a second partial region where positional information is to be acquired next, based on the positional information of the three-dimensional point group in the acquired first partial region; and a control unit which controls the robot and the hand based on the calculated position and posture of the workpiece and based on the calculated robot position corresponding to the second partial region.

2. 发明授权

US09764475B2 Workpiece taking out robot system having conversion-calculation function of position and orientation, and workpiece taking out method 有权
公开(公告)号：US09764475B2
公开(公告)日：2017-09-19
申请号：US15014689
申请日：2016-02-03
申请人： FANUC Corporation
发明人： Tadanori Suzuki
IPC分类号： G05B15/00 , G05B19/00 , B25J9/16
CPC分类号： B25J9/1697 , B25J9/1666 , G05B2219/40053
摘要： A robot system and a method, by which a robot can effectively and sequentially take out a plurality of randomly located workpieces, while avoiding interference by a simple calculation. A first detection coordinate system for determining the motion of the robot is defined on the lateral surface of the workpiece. The first detection coordinate system is translated by a predetermined distance in the negative direction of a Z-axis, and then an X-Z plane is rotated about an X-axis of the workpiece so that the X-Z plane is perpendicular to an X-Y plane of a robot coordinate system, whereby a work coordinate system is obtained. Next, the work coordinate system is rotated about the X-axis by a target angle, and then is translated by a distance corresponding to a radius of the workpiece in the positive direction of the Z-axis, whereby a second detection coordinate system is obtained and output.

3. 发明申请

US20170177746A1 MODEL GENERATING DEVICE, POSITION AND ORIENTATION CALCULATING DEVICE, AND HANDLING ROBOT DEVICE 审中-公开
公开(公告)号：US20170177746A1
公开(公告)日：2017-06-22
申请号：US15381671
申请日：2016-12-16
申请人： FANUC CORPORATION
发明人： Takefumi Gotou
IPC分类号： G06F17/50
CPC分类号： G06F17/50 , B25J9/1697 , G05B2219/39527 , G05B2219/39543 , G05B2219/40053 , G06F17/5086
摘要： A model generating device for generating a three-dimensional model of an object includes a three-dimensional measuring machine which three-dimensionally measures a plurality of objects each disposed at a given orientation in a three-dimensional space, to obtain measurement data, a model measurement data extracting unit which treats the measurement data of the plurality of objects measured by the three-dimensional measuring machine as a set of model measurement data obtained by measuring one object from a plurality of virtual measurement positions, to extract the model measurement data corresponding to the plurality of virtual measurement positions, and a model measurement data integrating unit which integrates the model measurement data extracted by the model measurement data extracting unit, to generate a three-dimensional model of each object.

4. 发明申请

US20170173796A1 TRANSFER ROBOT AND CONTROL METHOD THEREOF 审中-公开
公开(公告)号：US20170173796A1
公开(公告)日：2017-06-22
申请号：US15278402
申请日：2016-09-28
申请人： Samsung Electronics Co., Ltd.
发明人： Kwang-Jun Kim , Doojin Kim , Kongwoo Lee , Joohyung Kim , Kyungbin Park , Nam-Su Yuk
IPC分类号： B25J9/16 , B65G47/90 , G05D1/02
CPC分类号： B25J9/1697 , B25J9/1612 , B25J9/162 , B25J9/1679 , B65G47/905 , G05B2219/40053 , G05B2219/40538 , G05B2219/40613 , G05D1/0225 , G05D1/0234 , G05D1/0246 , G05D2201/0216 , Y10S901/01
摘要： The present disclosure relates to a transfer robot and a method for controlling the same. The transfer robot includes a robot main body and a driving unit configured to move the robot main body toward a stage. The robot main body includes a distance sensor unit configured to obtain distance information between the robot main body and the stage, a first image acquisition unit configured to receive an image of a first mark of the stage and obtain a first image information, a manipulation unit configured to pick up a target object disposed on the stage, and a control unit configured to control the driving unit using the distance information and the first image information and thereby to causing the robot main body to be placed at a desired position spaced apart from the stage.

5. 发明授权

US09630320B1 Detection and reconstruction of an environment to facilitate robotic interaction with the environment 有权
公开(公告)号：US09630320B1
公开(公告)日：2017-04-25
申请号：US14793246
申请日：2015-07-07
申请人： Industrial Perception, Inc.
发明人： Kurt Konolige , Ethan Rublee , Stefan Hinterstoisser , Troy Straszheim , Gary Bradski , Hauke Malte Strasdat
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16 , G06T19/00 , G06T7/00
CPC分类号： B25J9/163 , B25J5/00 , B25J9/0093 , B25J9/1612 , B25J9/162 , B25J9/1664 , B25J9/1671 , B25J9/1687 , B25J9/1694 , B25J9/1697 , B25J19/00 , B25J19/021 , B65G41/008 , B65G47/46 , B65G47/50 , B65G61/00 , B65H67/065 , G01B11/254 , G05B2219/31312 , G05B2219/39391 , G05B2219/40053 , G05B2219/40298 , G05B2219/40442 , G05B2219/40543 , G06K9/00201 , G06K9/00664 , G06K9/3208 , G06K9/4604 , G06K9/4661 , G06K9/52 , G06K9/6202 , G06T7/0065 , G06T7/13 , G06T7/529 , G06T7/55 , G06T7/593 , G06T7/60 , G06T17/00 , G06T19/003 , G06T2200/04 , H04N5/33 , H04N13/239 , H04N2013/0081 , Y10S901/01 , Y10S901/02 , Y10S901/06 , Y10S901/09 , Y10S901/47
摘要： Methods and systems for detecting and reconstructing environments to facilitate robotic interaction with such environments are described. An example method may involve determining a three-dimensional (3D) virtual environment representative of a physical environment of the robotic manipulator including a plurality of 3D virtual objects corresponding to respective physical objects in the physical environment. The method may then involve determining two-dimensional (2D) images of the virtual environment including 2D depth maps. The method may then involve determining portions of the 2D images that correspond to a given one or more physical objects. The method may then involve determining, based on the portions and the 2D depth maps, 3D models corresponding to the portions. The method may then involve, based on the 3D models, selecting a physical object from the given one or more physical objects. The method may then involve providing an instruction to the robotic manipulator to move that object.

6. 发明申请

US20170109876A1 MEASURING APPARATUS, MEASURING METHOD, AND ARTICLE MANUFACTURING METHOD 审中-公开
公开(公告)号：US20170109876A1
公开(公告)日：2017-04-20
申请号：US15292822
申请日：2016-10-13
申请人： CANON KABUSHIKI KAISHA
发明人： Tsuyoshi Kitamura
IPC分类号： G06T7/00 , B25J9/16 , G06T7/60
CPC分类号： B25J9/1612 , B25J9/1697 , G05B2219/39476 , G05B2219/40053 , G06T7/75
摘要： A measuring apparatus comprises an image sensor configured to image an object; and a processor configured to obtain information of a position, posture or both thereof of a first object, and a contact between the first object and a second object different from the first object based on an output of the image sensor, and perform evaluation of the information based on the contact.

7. 发明申请

US20170050315A1 Method And Facility For Automatically Gripping An Object 审中-公开
标题翻译：自动抓取对象的方法和设施
公开(公告)号：US20170050315A1
公开(公告)日：2017-02-23
申请号：US15306715
申请日：2015-04-23
申请人： SILEANE
发明人： Herve Henry , Florian Sella , Romain Bregier
IPC分类号： B25J9/16 , B25J15/00 , B25J15/06
CPC分类号： B25J9/1612 , B25J9/1664 , B25J9/1687 , B25J9/1697 , B25J15/0028 , B25J15/0616 , G05B2219/39473 , G05B2219/39536 , G05B2219/39553 , G05B2219/40053
摘要： A method of using a polyarticulated system associated with a vision system for automatically picking up an article situated in a zone suitable for receiving at least one article, the polyarticulated system including at least one pick-up member suitable for taking hold of an article via at least one specific zone of the article. In accordance with the invention, the method includes at least the steps of: taking an image of the article-receiving zone; processing the information resulting from the 3D image and identifying all of the specific zones that are present on the articles to be taken hold of, and that are compatible with the pick-up member(s); locating the identified compatible specific zone(s); choosing one of the located compatible specific zones and automatically defining a pick path; and taking hold of the corresponding article along the defined path.
摘要翻译：一种使用与视觉系统相关联的多分类系统的方法，用于自动拾取位于适于接收至少一个物品的区域中的物品，该多分散系统包括适合于通过以下方式保持物品的至少一个拾取构件：文章的至少一个特定区域。根据本发明，该方法至少包括以下步骤：拍摄物品接收区域的图像; 处理由3D图像产生的信息，并且识别存在于待拍摄的物品上并与拾取构件兼容的所有特定区域; 找到所识别的兼容特定区域; 选择一个位于兼容的特定区域并自动定义拾取路径; 并沿着定义的路径抓住相应的文章。

8. 发明申请

US20170008172A1 STABLE GRASP POINT SELECTION FOR ROBOTIC GRIPPERS WITH MACHINE VISION AND ULTRASOUND BEAM FORMING 有权
标题翻译：具有机器视觉和超声波束形成的机器人的稳定格点选择
公开(公告)号：US20170008172A1
公开(公告)日：2017-01-12
申请号：US14794648
申请日：2015-07-08
申请人： Empire Technology Development LLC
发明人： Harm Stefan Cronie
IPC分类号： B25J9/16
CPC分类号： B25J9/1669 , B25J9/1612 , B25J9/1697 , G05B2219/39505 , G05B2219/39509 , G05B2219/39536 , G05B2219/40053
摘要： Technologies are generally described for grasp point selection for robotic grippers through machine vision and ultrasound beam based deformation. The grasp point selection may aim to increase a probability that the grasp points on an object behave in a substantially similar way when a robotic gripper executes a corresponding grasp on the object. According to some examples, an outline of an object may be extracted from a three-dimensional (3D) image of the object and a set of points may be selected as candidate grasp points from the outline based on the candidate grasp points' potential to achieve force closure. One or more ultrasound transducers may be used to exert a local force on the candidate grasp points through an ultrasound beam and resulting local deformations may be recorded. Final grasp points may be selected based on having similar response to the force applied by the ultrasound transducers.
摘要翻译：通常通过机器视觉和基于超声波束的变形来描述用于机器人抓爪的抓取点选择的技术。抓握点选择可以旨在增加当机器人抓取器对对象执行相应的抓握时基本相似的方式上的对象上的抓握点的概率。根据一些示例，可以从对象的三维（3D）图像中提取对象的轮廓，并且可以基于候选抓取点的潜力来从轮廓中选择一组点作为候选抓取点强制关闭。可以使用一个或多个超声换能器通过超声波束在候选抓握点上施加局部力，并且可以记录所得到的局部变形。可以基于对由超声换能器施加的力具有相似的响应来选择最终抓握点。

9. 发明申请

US20160229061A1 CONVEYOR ROBOT SYSTEM PROVIDED WITH THREE-DIMENSIONAL SENSOR 有权
标题翻译：输送机系统提供三维传感器
公开(公告)号：US20160229061A1
公开(公告)日：2016-08-11
申请号：US15014656
申请日：2016-02-03
申请人： FANUC Corporation
发明人： Shouta TAKIZAWA , Fumikazu WARASHINA , Kazunori BAN
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1679 , B25J9/1694 , G05B15/02 , G05B2219/39107 , G05B2219/40053 , G05B2219/40564 , G05B2219/40607 , G05B2219/45063 , Y10S901/02 , Y10S901/31 , Y10S901/40 , Y10S901/46
摘要： A robot system is provided with a three-dimensional sensor which acquires three-dimensional information of an object, and a robot which includes a gripping device for gripping an object. The robot system uses first three-dimensional information which relates to a state before an object is taken out and second three-dimensional information which relates to a state after an object is taken out as the basis to acquire three-dimensional shape information of an object, and uses the three-dimensional shape information of the object as the basis to calculate a position and posture of the robot when an object is placed at a target site.
摘要翻译：机器人系统设置有三维传感器，其获取物体的三维信息，以及包括用于夹持物体的夹持装置的机器人。机器人系统使用与取出对象之前的状态相关的第一三维信息和与取出对象之后的状态相关的第二三维信息作为获取对象的三维形状信息的基础并且使用对象的三维形状信息作为基础来计算当对象放置在目标位置时机器人的位置和姿势。

10. 发明申请

US20160221187A1 Object Pickup Strategies for a Robotic Device 有权
标题翻译：机器人设备的对象拾取策略
公开(公告)号：US20160221187A1
公开(公告)日：2016-08-04
申请号：US15093118
申请日：2016-04-07
申请人： Industrial Perception, Inc.
发明人： Gary Bradski , Kurt Konolige , Ethan Rublee , Troy Straszheim , Hauke Strasdat , Stefan Hinterstoisser , Steve Croft , John Zevenbergen
IPC分类号： B25J9/16 , B25J19/02 , B25J9/00
CPC分类号： B25J9/163 , B25J5/00 , B25J9/0093 , B25J9/1612 , B25J9/162 , B25J9/1664 , B25J9/1671 , B25J9/1687 , B25J9/1694 , B25J9/1697 , B25J19/00 , B25J19/021 , B65G41/008 , B65G47/46 , B65G47/50 , B65G61/00 , B65H67/065 , G01B11/254 , G05B2219/31312 , G05B2219/39391 , G05B2219/40053 , G05B2219/40298 , G05B2219/40442 , G05B2219/40543 , G06K9/00201 , G06K9/00664 , G06K9/3208 , G06K9/4604 , G06K9/4661 , G06K9/52 , G06K9/6202 , G06T7/0065 , G06T7/13 , G06T7/529 , G06T7/55 , G06T7/593 , G06T7/60 , G06T17/00 , G06T19/003 , G06T2200/04 , H04N5/33 , H04N13/239 , H04N2013/0081 , Y10S901/01 , Y10S901/02 , Y10S901/06 , Y10S901/09 , Y10S901/47
摘要： Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.
摘要翻译：示例性实施例可以涉及用于选择对象上的抓取点的方法和系统。特别地，机器人操纵器可以识别物理环境内的物理对象的特征。基于所识别的特征，机器人操纵器可以确定对应于附接到机器人操纵器的夹持器可操作以夹持物理对象的点的物理对象上的潜在抓握点。随后，机器人操纵器可以确定用于抓握器的运动路径以便将物理物体移动到物理物体的下落位置，然后基于所确定的运动从潜在的抓取点中选择抓取点路径。在选择抓握点之后，机器人操纵器可以用夹具夹住所选抓握点处的物理物体，并将物理物体通过确定的运动路径移动到落下位置。

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