KR20250003671A - 제어 장치, 제어 시스템, 로봇 시스템, 제어 방법 및 컴퓨터 프로그램 - Google Patents

제어 장치, 제어 시스템, 로봇 시스템, 제어 방법 및 컴퓨터 프로그램 Download PDF

Info

Publication number
KR20250003671A
KR20250003671A KR1020247036541A KR20247036541A KR20250003671A KR 20250003671 A KR20250003671 A KR 20250003671A KR 1020247036541 A KR1020247036541 A KR 1020247036541A KR 20247036541 A KR20247036541 A KR 20247036541A KR 20250003671 A KR20250003671 A KR 20250003671A
Authority
KR
South Korea
Prior art keywords
obj
image data
imaging
coordinate system
similarity
Prior art date
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
KR1020247036541A
Other languages
English (en)
Korean (ko)
Inventor
다이스케 고야나기
쇼야 요코타
Original Assignee
가부시키가이샤 니콘
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 by 가부시키가이샤 니콘 filed Critical 가부시키가이샤 니콘
Publication of KR20250003671A publication Critical patent/KR20250003671A/ko
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—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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • 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
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three-dimensional [3D] modelling for computer graphics
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • 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
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • 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
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • 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
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation
    • 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
    • G05B2219/40577—Multisensor object recognition
    • 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
    • G05B2219/40584—Camera, non-contact sensor mounted on wrist, indep from gripper
    • 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
    • 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
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Signal Processing (AREA)
  • Quality & Reliability (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
KR1020247036541A 2022-04-28 2022-04-28 제어 장치, 제어 시스템, 로봇 시스템, 제어 방법 및 컴퓨터 프로그램 Pending KR20250003671A (ko)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/019364 WO2023209974A1 (ja) 2022-04-28 2022-04-28 制御装置、制御システム、ロボットシステム、制御方法及びコンピュータプログラム

Publications (1)

Publication Number Publication Date
KR20250003671A true KR20250003671A (ko) 2025-01-07

Family

ID=88518160

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020247036541A Pending KR20250003671A (ko) 2022-04-28 2022-04-28 제어 장치, 제어 시스템, 로봇 시스템, 제어 방법 및 컴퓨터 프로그램

Country Status (6)

Country Link
US (1) US20250326125A1 (https=)
EP (1) EP4516465A4 (https=)
JP (1) JPWO2023209974A1 (https=)
KR (1) KR20250003671A (https=)
CN (1) CN119300961A (https=)
WO (1) WO2023209974A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2026069666A1 (ja) * 2024-09-30 2026-04-02 株式会社ニコン 制御装置、制御システム、ロボットシステム、制御方法及びコンピュータプログラム

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130230235A1 (en) 2010-11-19 2013-09-05 Canon Kabushiki Kaisha Information processing apparatus and information processing method

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5088278B2 (ja) * 2008-09-17 2012-12-05 株式会社安川電機 物体検出方法と物体検出装置およびロボットシステム
US9279661B2 (en) * 2011-07-08 2016-03-08 Canon Kabushiki Kaisha Information processing apparatus and information processing method
US9437005B2 (en) * 2011-07-08 2016-09-06 Canon Kabushiki Kaisha Information processing apparatus and information processing method
JP6444027B2 (ja) * 2013-12-09 2018-12-26 キヤノン株式会社 情報処理装置、情報処理装置の制御方法、情報処理システムおよびプログラム
JP6784991B2 (ja) * 2016-06-07 2020-11-18 国立大学法人 岡山大学 ワーク検知システム及び衣服検知システム
JP7115096B2 (ja) * 2018-07-23 2022-08-09 オムロン株式会社 制御システム、制御方法およびプログラム
JP7372161B2 (ja) * 2020-01-23 2023-10-31 三菱重工業株式会社 マニピュレータ、自動化方法及びプログラム
WO2023127021A1 (ja) * 2021-12-27 2023-07-06 株式会社ニコン 制御装置、制御システム、ロボットシステム、制御方法及びコンピュータプログラム

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130230235A1 (en) 2010-11-19 2013-09-05 Canon Kabushiki Kaisha Information processing apparatus and information processing method

Also Published As

Publication number Publication date
WO2023209974A1 (ja) 2023-11-02
EP4516465A1 (en) 2025-03-05
JPWO2023209974A1 (https=) 2023-11-02
US20250326125A1 (en) 2025-10-23
EP4516465A4 (en) 2026-03-11
CN119300961A (zh) 2025-01-10

Similar Documents

Publication Publication Date Title
CN105654464B (zh) 图像处理装置及图像处理方法
CN210046133U (zh) 基于激光结构光的焊缝视觉跟踪系统
US9025857B2 (en) Three-dimensional measurement apparatus, measurement method therefor, and computer-readable storage medium
CN110926330B (zh) 图像处理装置和图像处理方法
US20180338090A1 (en) Image processing system, image processing device, and image processing program
WO2020180342A1 (en) Method and system for performing automatic camera calibration for robot control
JP6902208B2 (ja) 把持方法、把持システム及びプログラム
CN110136208A (zh) 一种机器人视觉伺服系统的联合自动标定方法及装置
KR20240130076A (ko) 제어 장치, 제어 시스템, 로봇 시스템, 제어 방법 및 컴퓨터 프로그램
JP5539138B2 (ja) シーンにおける物体の姿勢を求めるためのシステム及び方法
WO2020034872A1 (zh) 目标获取方法、设备和计算机可读存储介质
JP7331527B2 (ja) ロボットの動作を決定する装置、方法およびプログラム
JP2020180914A (ja) 対象物の位置姿勢を検出する装置、方法およびプログラム
US12058468B2 (en) Image capturing apparatus, image processing apparatus, image processing method, image capturing apparatus calibration method, robot apparatus, method for manufacturing article using robot apparatus, and recording medium
JP2020179441A (ja) 制御システム、情報処理装置および制御方法
CN109773777B (zh) 把持方法、把持系统以及存储介质
JP2019158427A (ja) 制御装置、ロボット、ロボットシステム，及び、物体を認識する方法
KR20250003671A (ko) 제어 장치, 제어 시스템, 로봇 시스템, 제어 방법 및 컴퓨터 프로그램
Blomqvist et al. Semi-automatic 3D object keypoint annotation and detection for the masses
JP6890422B2 (ja) 情報処理装置、情報処理装置の制御方法およびプログラム
JP2018146347A (ja) 画像処理装置、画像処理方法、及びコンピュータプログラム
CN113554703B (zh) 机器人定位方法、装置、系统和计算机可读存储介质
US20260102920A1 (en) Arithmetic apparatus, arithmetic system, robot system, arithmetic method, and computer program
JP7757756B2 (ja) 画像処理装置、ロボット制御システムおよび制御方法
US20250196351A1 (en) Robot system

Legal Events

Date Code Title Description
PA0105 International application

Patent event date: 20241031

Patent event code: PA01051R01D

Comment text: International Patent Application

PG1501 Laying open of application
A201 Request for examination
PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 20250424

Comment text: Request for Examination of Application