TW202434420A - 位置補正裝置、機器人系統及位置補正程式 - Google Patents

位置補正裝置、機器人系統及位置補正程式 Download PDF

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Publication number
TW202434420A
TW202434420A TW113102413A TW113102413A TW202434420A TW 202434420 A TW202434420 A TW 202434420A TW 113102413 A TW113102413 A TW 113102413A TW 113102413 A TW113102413 A TW 113102413A TW 202434420 A TW202434420 A TW 202434420A
Authority
TW
Taiwan
Prior art keywords
aforementioned
workpiece
position correction
correction device
dimensional
Prior art date
Application number
TW113102413A
Other languages
English (en)
Chinese (zh)
Inventor
李維佳
Original Assignee
日商發那科股份有限公司
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 日商發那科股份有限公司 filed Critical 日商發那科股份有限公司
Publication of TW202434420A publication Critical patent/TW202434420A/zh

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • 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
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • 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
    • G05B2219/40006—Placing, palletize, un palletize, paper roll placing, box stacking
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/06—Recognition of objects for industrial automation

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Manipulator (AREA)
TW113102413A 2023-02-21 2024-01-22 位置補正裝置、機器人系統及位置補正程式 TW202434420A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
WOPCT/JP2023/006260 2023-02-21
PCT/JP2023/006260 WO2024176359A1 (ja) 2023-02-21 2023-02-21 位置補正装置、ロボットシステムおよび位置補正プログラム

Publications (1)

Publication Number Publication Date
TW202434420A true TW202434420A (zh) 2024-09-01

Family

ID=92500421

Family Applications (1)

Application Number Title Priority Date Filing Date
TW113102413A TW202434420A (zh) 2023-02-21 2024-01-22 位置補正裝置、機器人系統及位置補正程式

Country Status (5)

Country Link
JP (1) JPWO2024176359A1 (https=)
CN (1) CN120380299A (https=)
DE (1) DE112023005156T5 (https=)
TW (1) TW202434420A (https=)
WO (1) WO2024176359A1 (https=)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5429614B2 (ja) * 2009-04-16 2014-02-26 株式会社Ｉｈｉ 箱状ワーク認識装置および方法
DE112019000125B4 (de) * 2018-10-30 2021-07-01 Mujin, Inc. Systeme, vorrichtungen und verfahren zur automatisierten verpackungsregistrierung
CN111783529B (zh) * 2019-07-26 2021-07-09 牧今科技 基于边缘和多维拐角的检测后改善
US20230125022A1 (en) * 2020-03-05 2023-04-20 Fanuc Corporation Picking system and method

Also Published As

Publication number Publication date
CN120380299A (zh) 2025-07-25
JPWO2024176359A1 (https=) 2024-08-29
WO2024176359A1 (ja) 2024-08-29
DE112023005156T5 (de) 2025-10-30

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