JP7427115B2 - 安心ビジョン装置、及び安心ビジョンシステム - Google Patents

安心ビジョン装置、及び安心ビジョンシステム Download PDF

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Publication number
JP7427115B2
JP7427115B2 JP2022572201A JP2022572201A JP7427115B2 JP 7427115 B2 JP7427115 B2 JP 7427115B2 JP 2022572201 A JP2022572201 A JP 2022572201A JP 2022572201 A JP2022572201 A JP 2022572201A JP 7427115 B2 JP7427115 B2 JP 7427115B2
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robot
dimensional
estimation model
camera
joint
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Japanese (ja)
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JPWO2022138340A1 (https=
Inventor
洋平 中田
丈士 本▲高▼
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Hitachi Ltd
Fanuc Corp
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Hitachi Ltd
Fanuc Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/061—Safety devices with audible signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/251—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving models
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/142—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using image capturing devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39098—Estimate stop, brake distance in predef time, then verify if in safe distance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40202—Human robot coexistence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Geometry (AREA)
  • Manipulator (AREA)
  • Image Analysis (AREA)
JP2022572201A 2020-12-21 2021-12-14 安心ビジョン装置、及び安心ビジョンシステム Active JP7427115B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020211721 2020-12-21
JP2020211721 2020-12-21
PCT/JP2021/046118 WO2022138340A1 (ja) 2020-12-21 2021-12-14 安心ビジョン装置、及び安心ビジョンシステム

Publications (2)

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JPWO2022138340A1 JPWO2022138340A1 (https=) 2022-06-30
JP7427115B2 true JP7427115B2 (ja) 2024-02-02

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US (1) US12409572B2 (https=)
JP (1) JP7427115B2 (https=)
CN (1) CN116745083B (https=)
DE (1) DE112021005409T5 (https=)
WO (1) WO2022138340A1 (https=)

Cited By (1)

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KR102772458B1 (ko) * 2024-11-19 2025-02-26 주식회사 엑스와이지 사람과 로봇 간의 충돌을 방지하기 위한 실시간 충돌 방지 방법 및 이를 이용한 실시간 충돌 방지 시스템

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DE102023117654B4 (de) * 2023-07-04 2025-01-23 K.A. Schmersal Holding Gmbh & Co. Kg Verfahren zur Überwachung eines Schutzbereichs basierend auf einem Modellobjektdatensatz mit mindestens einem 3D-Modellobjekt

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102772458B1 (ko) * 2024-11-19 2025-02-26 주식회사 엑스와이지 사람과 로봇 간의 충돌을 방지하기 위한 실시간 충돌 방지 방법 및 이를 이용한 실시간 충돌 방지 시스템

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CN116745083A (zh) 2023-09-12
DE112021005409T5 (de) 2023-08-03
WO2022138340A1 (ja) 2022-06-30
US20230415363A1 (en) 2023-12-28
JPWO2022138340A1 (https=) 2022-06-30
CN116745083B (zh) 2025-12-16
US12409572B2 (en) 2025-09-09

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