JPWO2022091767A1 - - Google Patents

Info

Publication number
JPWO2022091767A1
JPWO2022091767A1 JP2022558978A JP2022558978A JPWO2022091767A1 JP WO2022091767 A1 JPWO2022091767 A1 JP WO2022091767A1 JP 2022558978 A JP2022558978 A JP 2022558978A JP 2022558978 A JP2022558978 A JP 2022558978A JP WO2022091767 A1 JPWO2022091767 A1 JP WO2022091767A1
Authority
JP
Japan
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2022558978A
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed filed Critical
Publication of JPWO2022091767A1 publication Critical patent/JPWO2022091767A1/ja
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37067—Calibrate work surface, reference markings on object, work surface
    • 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
    • G05B2219/39045—Camera on end effector detects reference pattern
    • 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
    • G05B2219/39057—Hand eye calibration, eye, camera on hand, end effector
    • 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
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • 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
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2022558978A 2020-10-30 2021-10-12 Pending JPWO2022091767A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US17/085,285 US20220134577A1 (en) 2020-10-30 2020-10-30 Image processing method, image processing apparatus, robot-mounted transfer device, and system
PCT/JP2021/037688 WO2022091767A1 (ja) 2020-10-30 2021-10-12 画像処理方法、画像処理装置、ロボット搭載型搬送装置、及びシステム

Publications (1)

Publication Number Publication Date
JPWO2022091767A1 true JPWO2022091767A1 (ja) 2022-05-05

Family

ID=81380594

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022558978A Pending JPWO2022091767A1 (ja) 2020-10-30 2021-10-12

Country Status (5)

Country Link
US (1) US20220134577A1 (ja)
EP (1) EP4144494A4 (ja)
JP (1) JPWO2022091767A1 (ja)
CN (1) CN115697653A (ja)
WO (1) WO2022091767A1 (ja)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024057836A1 (ja) * 2022-09-12 2024-03-21 株式会社島津製作所 対象物の搬送を制御する制御方法、対象物を搬送する搬送装置、および搬送装置を備える作業システム

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0448304A (ja) * 1990-06-18 1992-02-18 Hitachi Ltd 自走ロボットの位置補正方法及びその装置
JP2769947B2 (ja) * 1992-05-15 1998-06-25 株式会社椿本チエイン マニピュレータの位置・姿勢制御方法
JPH08161470A (ja) * 1994-12-08 1996-06-21 Fuji Electric Co Ltd 画像読取装置
JP3466340B2 (ja) * 1995-09-07 2003-11-10 アシスト シンコー株式会社 自立走行ロボットの三次元位置姿勢較正方法
JP2001300875A (ja) * 2000-04-19 2001-10-30 Denso Corp ロボットシステム
US6681151B1 (en) * 2000-12-15 2004-01-20 Cognex Technology And Investment Corporation System and method for servoing robots based upon workpieces with fiducial marks using machine vision
JP3823799B2 (ja) * 2001-10-02 2006-09-20 株式会社デンソーウェーブ ビジュアルサーボによる位置姿勢制御方法
JP2003305676A (ja) * 2002-04-11 2003-10-28 Denso Wave Inc 移動ロボットの制御方法及び制御装置
JP2010162635A (ja) * 2009-01-14 2010-07-29 Fanuc Ltd 自走式ロボットの位置および姿勢の補正方法
JP5561260B2 (ja) * 2011-09-15 2014-07-30 株式会社安川電機 ロボットシステム及び撮像方法
JP6126067B2 (ja) * 2014-11-28 2017-05-10 ファナック株式会社 工作機械及びロボットを備えた協働システム
JP6267157B2 (ja) 2015-05-29 2018-01-24 ファナック株式会社 位置補正機能を有するロボットを備えた生産システム
JP2017132002A (ja) 2016-01-28 2017-08-03 株式会社安川電機 ロボットアーム付自動搬送車、ロボットシステム、及びロボットアーム付自動搬送車の制御方法
JP6490037B2 (ja) * 2016-10-04 2019-03-27 ファナック株式会社 移動可能な台車に支持されたロボットを備えるロボットシステム
JP6457469B2 (ja) * 2016-12-08 2019-01-23 ファナック株式会社 移動ロボットの干渉領域設定装置
JP6963748B2 (ja) * 2017-11-24 2021-11-10 株式会社安川電機 ロボットシステム及びロボットシステムの制御方法
JP6669713B2 (ja) * 2017-11-28 2020-03-18 ファナック株式会社 ロボットおよびロボットシステム
US10878260B2 (en) * 2018-10-17 2020-12-29 Aurora Flight Sciences Corporation Micro-fiducial for machine vision
JP7022097B2 (ja) * 2019-03-29 2022-02-17 ファナック株式会社 搬送装置及び受渡システム
JP6785931B1 (ja) * 2019-08-30 2020-11-18 Dmg森精機株式会社 生産システム
JP6861778B1 (ja) * 2019-11-01 2021-04-21 株式会社牧野フライス製作所 ワーク把持装置

Also Published As

Publication number Publication date
US20220134577A1 (en) 2022-05-05
EP4144494A1 (en) 2023-03-08
CN115697653A (zh) 2023-02-03
WO2022091767A1 (ja) 2022-05-05
EP4144494A4 (en) 2024-06-12

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