WO2017138524A1 - 作業ロボット - Google Patents
作業ロボット Download PDFInfo
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- WO2017138524A1 WO2017138524A1 PCT/JP2017/004402 JP2017004402W WO2017138524A1 WO 2017138524 A1 WO2017138524 A1 WO 2017138524A1 JP 2017004402 W JP2017004402 W JP 2017004402W WO 2017138524 A1 WO2017138524 A1 WO 2017138524A1
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- Prior art keywords
- robot
- robot arm
- housing member
- contact
- fluid
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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
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- 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
- B25J13/081—Touching devices, e.g. pressure-sensitive
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- 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
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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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
- B25J19/0091—Shock absorbers
-
- 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
- B25J19/063—Safety devices working only upon contact with an outside object
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
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- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- 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
Definitions
- the present invention relates to a work robot for driving a robot arm to perform work such as workpiece transfer.
- a technique has been proposed in which a sensor detects that a person has approached the robot and controls the operation of the robot based on the detection result (see Patent Document 1). For example, if a sensor detects that a person has approached the robot, the robot operation is stopped to avoid contact with the person, or the operation speed of the robot is slowed to give to the person even when contacted with the person. This is to reduce the impact force.
- this method has a problem that it is difficult to ensure sufficient sensitivity because the operation of the sensor depends on the deformation state of the buffer material. That is, when an external force is applied in a direction substantially perpendicular to the surface of the cushioning material, a deformation state sufficient to operate the sensor is generated in the cushioning material, so even if there is no problem, it is oblique to the surface of the cushioning material When an external force is applied in the direction, the deformation state of the cushioning material may be insufficient for operating the sensor.
- the sensor may not operate depending on the contact direction, and the robot arm may continue to move and pinch the person.
- a sensor for detecting that a person has touched the robot arm is provided directly on the robot arm not provided with a buffer material. In that case, the contact is detected instantaneously and reliably. It is necessary to limit the operation of the robot arm.
- the present invention has been made in view of the above-mentioned problems of the prior art, and even when a person touches a robot arm in a collaborative work between a person and a robot, the contact is instantaneously and reliably detected.
- An object of the present invention is to provide a working robot capable of sufficiently ensuring the safety of the robot by restricting the operation of the robot.
- a work robot is provided with a robot arm and an impact for alleviating an impact when the robot arm comes into contact with an object. And a contact detection means for detecting contact between the robot arm and the object.
- the contact detection means is provided on the surface side of the impact cushioning member and is softer than the impact cushioning member.
- the robot controller further includes a robot controller for controlling driving of the robot arm, the robot controller based on a detection signal from the volume change detection unit. It is comprised so that the drive of an arm may be controlled, It is characterized by the above-mentioned.
- the robot controller causes the robot arm to contact a known object with a predetermined operation, and the volume change detection unit at that time Based on the detection signal, it is configured to confirm whether or not the contact detection means operates normally.
- a fourth aspect of the present invention is characterized in that, in the third aspect, the known object is a structure constituting a part of the work robot.
- a fifth aspect of the present invention is characterized in that, in any of the first to fourth aspects, the impact buffering member is disposed outside the housing member.
- the sixth aspect of the present invention is characterized in that, in any of the first to fourth aspects, the impact buffering member is disposed inside the housing member.
- the seventh aspect of the present invention is characterized in that, in any one of the first to sixth aspects, the fluid is air.
- a work robot is provided with a robot arm, and a contact detection means for detecting contact between the robot arm and the object provided on the surface of the robot arm.
- the contact detection means is formed of a flexible material that includes a soft porous member that has a function of mitigating an impact when the robot arm comes into contact with an object, and the soft porous member.
- a housing member and a fluid discharge pipe that communicates with the inside of the housing member, and discharges the fluid inside the housing member when the object contacts the housing member and the volume of the housing member decreases.
- a fluid discharge pipe, and a volume change detecting unit for detecting that the volume of the housing member has changed using the fluid discharged through the fluid discharge pipe. .
- the robot controller further includes a robot controller for controlling driving of the robot arm, and the robot controller is configured to detect the robot based on a detection signal from the volume change detection unit. It is comprised so that the drive of an arm may be controlled, It is characterized by the above-mentioned.
- a work robot is provided with a robot arm, and a contact detection means for detecting contact between the robot arm and the object, provided on the surface of the robot arm.
- the contact detecting means includes a soft porous member, a housing member that includes the soft porous member and is formed of a flexible material, and a fluid discharge pipe that communicates with the inside of the housing member.
- a fluid discharge pipe for discharging a fluid inside the storage member when the volume of the storage member decreases due to contact of the object with the storage member, and the fluid discharged through the fluid discharge pipe
- a volume change detecting unit for detecting that the volume of the housing member has changed using a fluid.
- the robot controller further includes a robot controller for controlling driving of the robot arm, and the robot controller is based on a detection signal from the volume change detection unit.
- the robot arm is configured to control the drive of the robot arm.
- the contact is instantaneously and reliably detected to limit the operation of the robot.
- a working robot that can be sufficiently secured can be provided.
- the figure which showed schematic structure of the working robot by one Embodiment of this invention The figure which expanded and showed the principal part of the working robot shown in FIG. The figure for demonstrating operation
- the figure which expanded and showed the principal part of the working robot shown in FIG. The figure for demonstrating operation
- the work robot according to the present embodiment has a function for ensuring the safety of a person when the person and the robot collaborate.
- the work robot 1 includes a robot base 2, a robot arm 3 having a base end connected to the robot base 2, and a robot controller that controls the operation of the robot arm 3. 4 to form a six-axis articulated robot.
- the work robot to which the present invention is applied is not limited to a six-axis articulated robot, and the present invention can be applied to various work robots equipped with a robot arm.
- the work robot 1 further includes an impact buffer member 5 for reducing the impact when the robot arm 3 comes into contact with an object (a person or an obstacle).
- an object a person or an obstacle
- the shock absorbing member 5 can be formed by, for example, a sponge.
- the hardness (hardness / softness) and thickness of the shock absorbing member 5 are set to values that do not cause harm to the person even when the robot arm 3 operating at the maximum speed collides with the person.
- the shock buffering member 5 is provided on the link on the distal end side of the robot arm 3, but the position where the shock buffering member 5 is provided is not limited to this, and can contact a person or an obstacle during operation. It can be provided at an appropriate part of the robot arm 3 having the characteristics.
- the work robot 1 further includes contact detection means 6 for detecting contact between the robot arm 3 and an object.
- the contact detection means 6 is sufficiently flexible as a whole so as not to reduce the buffering effect even if it is disposed on the surface of the impact buffering member 5.
- the contact detection means 6 has a sponge member 7 provided on the surface side of the shock absorbing member 5 (on the side opposite to the robot arm 3).
- the sponge member 7 is formed of an open-celled soft porous member, and the soft porous member is formed of a material softer than the shock absorbing member 5.
- the sponge member 7 is housed in a bag-like housing member 8 formed entirely of a flexible material.
- the accommodation member 8 is placed on the surface of the shock absorbing member 5 on the back side.
- the shock absorbing member 5 is disposed outside the housing member 8, and the sponge member 7 is placed on the shock absorbing member 5 provided on the surface of the robot arm 3.
- the enclosing member 8 is laminated.
- the housing member 8 is connected to one end of a fluid discharge pipe 9 communicating with the inside of the housing member 8.
- the fluid discharge pipe 9 discharges air (fluid) pushed out from the inside of the housing member 8 when an object comes into contact with the housing member 8 and the sponge member 7 is deformed to reduce the volume of the housing member 8.
- the other end of the fluid discharge pipe 9 is connected to the volume change detection unit 10, and the volume change detection unit 10 utilizes the air discharged through the fluid discharge pipe 9 to accommodate the contact detection means 6.
- 8 is configured so as to detect a change (decrease) in the volume of the housing member 8.
- the output signal of the volume change detection unit 10 is transmitted to the robot controller 4 that controls the driving of the robot arm 3.
- the robot controller 4 is configured to control driving of the robot arm 3 based on a detection signal from the volume change detection unit 10. That is, when the volume change detecting unit 10 detects that the volume of the housing member 8 has changed, the robot controller 4 reduces the speed of the operation of the robot arm 3 that is operating, or stops the operation. The movement of the arm 3 is restricted to ensure human safety.
- the volume change detection unit 10 monitors the rate of change of the internal pressure (time differential value of the amount of change) in addition to monitoring the amount of change of the internal pressure of the housing member 8 or instead of monitoring the amount of change of the internal pressure. To. By monitoring the rate of change of the internal pressure in this way, it is possible to distinguish between the case where the air expands due to a change in temperature and the pressure gradually changes, and the case where the pressure changes suddenly due to contact with a person. Can do.
- the internal pressure itself may be measured and compared with a certain threshold value to determine human contact.
- volume change detection unit 10 is not necessarily configured separately from the robot controller 4, and can be incorporated in the control circuit of the robot controller 4.
- the robot controller 4 in this embodiment has a function that allows daily inspection of whether or not the contact detection means 6 operates normally. That is, the robot controller 4 brings the robot arm 3 into contact with a known object by a predetermined operation, and whether or not the contact detection unit 6 operates normally based on the detection signal from the contact detection unit 6 at that time. It is configured to check.
- the above-mentioned known object that brings the robot arm 3 into contact with a predetermined motion can be a structure constituting a part of the work robot 1.
- the structure constituting a part of the work robot 1 in this way, the above-described predetermined operation can be performed using a common operation program regardless of the installation state of the robot in the work place.
- the fluid existing inside the housing member 8 of the contact detection means 6 is air, but it may be a gas other than air or a liquid.
- the volume change detection unit 10 detects the fluid pressure, but instead of this, or in addition to this, the fluid flow may be detected. In particular, when a liquid is used as the fluid, it is preferable to detect the flow.
- a cover member (not shown) can be provided so as to cover both the contact detection means 6 and the shock absorbing member 5 from the outside.
- a cover member may be used as a fixing means for fixing the contact detection means 6 and the shock absorbing member 5 to the surface of the robot arm 3.
- the contact detecting means 6 is provided on the shock absorbing member 5 made of a sponge material, but the sponge member 7 of the contact detecting means 6 is softer than the material (sponge) constituting the shock absorbing member 5. (That is, the shock absorbing member 5 is harder), so the sponge member 7 is sufficiently compressed in the thickness direction by an external force. Thereby, the volume of the housing member 8 is reduced, and the air inside the housing member 8 is pushed out through the fluid discharge pipe 9.
- the volume change detection unit 10 detects that the volume of the housing member 8 has changed (decreased) using the air discharged through the fluid discharge pipe 9, and the detection signal is transmitted to the robot controller 4. .
- the robot controller 4 receives the detection signal from the volume change detection unit 10, the robot controller 4 slows the operation speed of the robot arm 3 or stops the operation. Thereby, a dangerous situation such as a person being caught by the robot arm 3 can be avoided.
- shock buffering member 5 is provided on the surface of the robot arm 3, the impact when the robot arm 3 comes into contact with a person is alleviated, and it is possible to prevent harming the person at the time of contact.
- the shock at the time of contact is alleviated by the shock absorbing member 5, and the detection from the volume change detection unit 10 is performed. Since the contact can be detected instantaneously and reliably based on the signal to limit the operation of the robot, the safety can be sufficiently ensured in the cooperative work between the person and the robot.
- the robot controller 4 in this embodiment has a function that allows daily check whether or not the contact detecting means 6 operates normally, it is possible to ensure safety in a cooperative operation between a person and a robot. Can be secured.
- the contact detection means 6 and the shock buffering member 5 are configured as separate bodies, for example, when a failure occurs in the contact detection means 6, only the contact detection means 6 is left with the shock buffering member 5 as it is. Can be exchanged.
- the shock absorbing member 5 and the contact detection means 6 are configured as separate bodies, but as shown in FIG. 4, the work robot according to the present embodiment.
- the shock absorbing member 5 and the contact detecting means 6 are integrally formed.
- the shock absorbing member 5 is disposed inside the housing member 8 together with the sponge member 7. That is, the sponge member 7 is laminated on the shock absorbing member 5, and both of them are enclosed in the housing member 8, and the back surface of the housing member 8 is attached to the surface of the robot arm 3.
- the sponge member 7 of the contact detecting means 6 is laminated on the shock absorbing member 5 made of a sponge material.
- the sponge member 7 of the contact detecting means 6 constitutes the shock absorbing member 5. Since it is softer than the material (sponge) to be applied (that is, the shock absorbing member 5 is harder), it is sufficiently compressed in the thickness direction by an external force. Thereby, the volume of the housing member 8 is reduced, and the air inside the housing member 8 is pushed out through the fluid discharge pipe 9.
- the impact buffer member 5 reduces the impact at the time of contact, and the volume change detection unit. Since the operation of the robot can be restricted based on the detection signal from 10, the safety can be sufficiently ensured in the cooperative work between the person and the robot.
- shock absorbing member 5 is integrated with the contact detecting means 6, it is easy to handle in the work of attaching to the robot arm 3.
- the sponge member 7 of the contact detection means 6 is formed thicker, and when the sponge member 7 itself is alone and the robot arm 3 contacts the object. It has a function to sufficiently relieve the impact. That is, in the present embodiment, the sponge member 7 has a structure that also serves as the shock absorbing member 5.
- the sponge member 7 of the contact detection means 6 has a structure that also serves as the shock absorbing member 5, the structure can be simplified.
- the robot arm 3 itself is formed by the impact buffering member 5 that reduces the impact when contacting the object. That is, in the present embodiment, the robot arm 3 has a structure that also serves as the shock absorbing member 5.
- the robot arm 3 since the robot arm 3 has a structure that also serves as the shock absorbing member 5, the structure can be simplified.
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Abstract
Description
2 ロボット基台
3 ロボットアーム
4 ロボットコントローラ
5 衝撃緩衝部材
6 接触検出手段
7 スポンジ部材
8 収容部材
9 流体排出管
10 容積変化検出部
11 物体(人や障害物)
Claims (12)
- ロボットアームと、
前記ロボットアームの表面に設けられ、前記ロボットアームが物体と接触した際の衝撃を緩和するための衝撃緩衝部材と、
前記ロボットアームと前記物体との接触を検出するための接触検出手段と、を備え、
前記接触検出手段は、
前記衝撃緩衝部材の表面側に設けられ、前記衝撃緩衝部材よりも柔らかい軟性多孔質部材と、
前記軟性多孔質部材を内包し、可撓性材料で形成された収容部材と、
前記収容部材の内部に連通する流体排出管であって、前記収容部材に前記物体が接触して前記収容部材の容積が減少したときに前記収容部材の内部の流体を排出する、流体排出管と、
前記流体排出管を介して排出された前記流体を利用して前記収容部材の容積が変化したことを検出するための容積変化検出部と、を有する、ことを特徴とする作業ロボット。 - 前記ロボットアームの駆動を制御するためのロボットコントローラをさらに備え、
前記ロボットコントローラは、前記容積変化検出部からの検出信号に基づいて前記ロボットアームの駆動を制御するように構成されている、請求項1記載の作業ロボット。 - 前記ロボットコントローラは、既知の物体に対して所定の動作で前記ロボットアームを接触させ、その際の前記容積変化検出部からの検出信号に基づいて、前記接触検出手段が正常に動作するか否かを確認するように構成されている、請求項1または2に記載の作業ロボット。
- 前記既知の物体は、前記作業ロボットの一部を構成する構造体である、請求項3記載の作業ロボット。
- 前記衝撃緩衝部材は、前記収容部材の外部に配置されている、請求項1乃至4のいずれか一項に記載の作業ロボット。
- 前記衝撃緩衝部材は、前記収容部材の内部に配置されている、請求項1乃至4のいずれか一項に記載の作業ロボット。
- 前記流体は、空気である、請求項1乃至6のいずれか一項に記載の作業ロボット。
- ロボットアームと、
前記ロボットアームの表面に設けられ、前記ロボットアームと前記物体との接触を検出するための接触検出手段と、を備え、
前記接触検出手段は、
前記ロボットアームが物体と接触した際の衝撃を緩和する機能を有する軟性多孔質部材と、
前記軟性多孔質部材を内包し、可撓性材料で形成された収容部材と、
前記収容部材の内部に連通する流体排出管であって、前記収容部材に前記物体が接触して前記収容部材の容積が減少したときに前記収容部材の内部の流体を排出する、流体排出管と、
前記流体排出管を介して排出された前記流体を利用して前記収容部材の容積が変化したことを検出するための容積変化検出部と、を有する、ことを特徴とする作業ロボット。 - 前記ロボットアームの駆動を制御するためのロボットコントローラをさらに備え、
前記ロボットコントローラは、前記容積変化検出部からの検出信号に基づいて前記ロボットアームの駆動を制御するように構成されている、請求項8記載の作業ロボット。 - ロボットアームと、
前記ロボットアームの表面に設けられ、前記ロボットアームと前記物体との接触を検出するための接触検出手段と、を備え、
前記接触検出手段は、
軟性多孔質部材と、
前記軟性多孔質部材を内包し、可撓性材料で形成された収容部材と、
前記収容部材の内部に連通する流体排出管であって、前記収容部材に前記物体が接触して前記収容部材の容積が減少したときに前記収容部材の内部の流体を排出する、流体排出管と、
前記流体排出管を介して排出された前記流体を利用して前記収容部材の容積が変化したことを検出するための容積変化検出部と、を有する、ことを特徴とする作業ロボット。 - 前記ロボットアームの少なくとも一部は、前記ロボットアームが物体と接触した際の衝撃を緩和するための衝撃緩衝部材で形成されており、
前記収容部材は、前記衝撃緩衝部材の表面に設けられている、請求項10記載の作業ロボット。 - 前記ロボットアームの駆動を制御するためのロボットコントローラをさらに備え、
前記ロボットコントローラは、前記容積変化検出部からの検出信号に基づいて前記ロボットアームの駆動を制御するように構成されている、請求項10または11に記載の作業ロボット。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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US16/076,642 US11123883B2 (en) | 2016-02-08 | 2017-02-07 | Work robot |
DE112017000700.3T DE112017000700B4 (de) | 2016-02-08 | 2017-02-07 | Industrieroboter |
KR1020187025744A KR102205658B1 (ko) | 2016-02-08 | 2017-02-07 | 작업 로봇 |
CN201780010391.7A CN108602194B (zh) | 2016-02-08 | 2017-02-07 | 作业机器人 |
US17/320,837 US11679515B2 (en) | 2016-02-08 | 2021-05-14 | Work robot |
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JP2016-022162 | 2016-02-08 | ||
JP2016022162A JP6850538B2 (ja) | 2016-02-08 | 2016-02-08 | 作業ロボット |
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US16/076,642 A-371-Of-International US11123883B2 (en) | 2016-02-08 | 2017-02-07 | Work robot |
US17/320,837 Continuation US11679515B2 (en) | 2016-02-08 | 2021-05-14 | Work robot |
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JP (1) | JP6850538B2 (ja) |
KR (1) | KR102205658B1 (ja) |
CN (1) | CN108602194B (ja) |
DE (1) | DE112017000700B4 (ja) |
WO (1) | WO2017138524A1 (ja) |
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JP6794800B2 (ja) * | 2016-11-29 | 2020-12-02 | セイコーエプソン株式会社 | ロボット |
JP6687573B2 (ja) | 2017-09-07 | 2020-04-22 | ファナック株式会社 | ロボットシステム |
IT201700121883A1 (it) * | 2017-10-26 | 2019-04-26 | Comau Spa | "Dispositivo automatizzato con una struttura mobile, in particolare un robot" |
JP7156865B2 (ja) * | 2018-08-30 | 2022-10-19 | 川崎重工業株式会社 | 緩衝装置及びそれを備えるロボット |
KR102518302B1 (ko) * | 2022-09-25 | 2023-04-06 | (주) 마가커피 | 인공지능 카메라에 기반한 협동 로봇 토탈 제어 시스템 |
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CN108602194A (zh) | 2018-09-28 |
US20210268669A1 (en) | 2021-09-02 |
KR20180108801A (ko) | 2018-10-04 |
JP2017140660A (ja) | 2017-08-17 |
US20190039254A1 (en) | 2019-02-07 |
US11123883B2 (en) | 2021-09-21 |
DE112017000700T5 (de) | 2018-10-18 |
US11679515B2 (en) | 2023-06-20 |
DE112017000700B4 (de) | 2022-06-23 |
KR102205658B1 (ko) | 2021-01-21 |
JP6850538B2 (ja) | 2021-03-31 |
CN108602194B (zh) | 2021-09-10 |
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