DE69929502D1 - Bildverarbeitungsgerät für einen Roboter - Google Patents

Bildverarbeitungsgerät für einen Roboter

Info

Publication number
DE69929502D1
DE69929502D1 DE69929502T DE69929502T DE69929502D1 DE 69929502 D1 DE69929502 D1 DE 69929502D1 DE 69929502 T DE69929502 T DE 69929502T DE 69929502 T DE69929502 T DE 69929502T DE 69929502 D1 DE69929502 D1 DE 69929502D1
Authority
DE
Germany
Prior art keywords
robot
processing apparatus
image processing
image
processing
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.)
Expired - Lifetime
Application number
DE69929502T
Other languages
English (en)
Other versions
DE69929502T2 (de
Inventor
Atsushi Watanabe
Ryuichi Hara
Taro Arimatsu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Publication of DE69929502D1 publication Critical patent/DE69929502D1/de
Application granted granted Critical
Publication of DE69929502T2 publication Critical patent/DE69929502T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • 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
    • G05B2219/39449—Pendant, pda displaying camera images overlayed with graphics, augmented reality
    • 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
    • G05B2219/40385—Compare offline teached point with online teached point, modify rest as function of error
    • 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
    • G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global
DE69929502T 1998-10-30 1999-10-29 Bildverarbeitungsgerät für einen Roboter Expired - Lifetime DE69929502T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP32591998 1998-10-30
JP10325919A JP2000135689A (ja) 1998-10-30 1998-10-30 ロボット用画像処理装置

Publications (2)

Publication Number Publication Date
DE69929502D1 true DE69929502D1 (de) 2006-04-06
DE69929502T2 DE69929502T2 (de) 2006-07-13

Family

ID=18182070

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69929502T Expired - Lifetime DE69929502T2 (de) 1998-10-30 1999-10-29 Bildverarbeitungsgerät für einen Roboter

Country Status (4)

Country Link
US (1) US7151848B1 (de)
EP (1) EP0997236B1 (de)
JP (1) JP2000135689A (de)
DE (1) DE69929502T2 (de)

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JP2002127060A (ja) * 2000-10-23 2002-05-08 Matsushita Electric Ind Co Ltd ロボット装置
EP1535706A1 (de) * 2002-07-18 2005-06-01 Kabushiki Kaisha Yaskawa Denki Robotersteuerung und robotersystem
JP3950805B2 (ja) * 2003-02-27 2007-08-01 ファナック株式会社 教示位置修正装置
EP1716983B1 (de) * 2005-04-19 2008-05-14 COMAU S.p.A. Verfahren zur Steuerung von industriellen Robotern und entsprechend gesteuerte Roboter, Robotersysteme und Computerprogramme
US9198728B2 (en) * 2005-09-30 2015-12-01 Intouch Technologies, Inc. Multi-camera mobile teleconferencing platform
FR2898824B1 (fr) * 2006-03-27 2009-02-13 Commissariat Energie Atomique Dispositif interface intelligent pour la saisie d'un objet par un robot manipulateur et procede de mise en oeuvre de ce dispositif
US8930025B2 (en) * 2006-05-25 2015-01-06 Takehiro Ishizaki Work robot
JP4221014B2 (ja) 2006-06-20 2009-02-12 ファナック株式会社 ロボット制御装置
US8355818B2 (en) * 2009-09-03 2013-01-15 Battelle Energy Alliance, Llc Robots, systems, and methods for hazard evaluation and visualization
US8271132B2 (en) * 2008-03-13 2012-09-18 Battelle Energy Alliance, Llc System and method for seamless task-directed autonomy for robots
US7974738B2 (en) 2006-07-05 2011-07-05 Battelle Energy Alliance, Llc Robotics virtual rail system and method
US8965578B2 (en) 2006-07-05 2015-02-24 Battelle Energy Alliance, Llc Real time explosive hazard information sensing, processing, and communication for autonomous operation
US8073564B2 (en) * 2006-07-05 2011-12-06 Battelle Energy Alliance, Llc Multi-robot control interface
US7801644B2 (en) 2006-07-05 2010-09-21 Battelle Energy Alliance, Llc Generic robot architecture
WO2008036354A1 (en) 2006-09-19 2008-03-27 Braintech Canada, Inc. System and method of determining object pose
JP2009050958A (ja) * 2007-08-27 2009-03-12 Fanuc Ltd 停止監視機能を備えたロボット制御装置
JP2009218933A (ja) * 2008-03-11 2009-09-24 Seiko Epson Corp スマートカメラ及びロボットビジョンシステム
US7945349B2 (en) * 2008-06-09 2011-05-17 Abb Technology Ab Method and a system for facilitating calibration of an off-line programmed robot cell
US20100017033A1 (en) * 2008-07-18 2010-01-21 Remus Boca Robotic systems with user operable robot control terminals
US8559699B2 (en) 2008-10-10 2013-10-15 Roboticvisiontech Llc Methods and apparatus to facilitate operations in image based systems
JP2011108044A (ja) * 2009-11-18 2011-06-02 Fanuc Ltd Ｎ個のロボットを同時に制御するロボット制御装置
DE102012110508B4 (de) * 2011-11-04 2022-05-12 Fanuc Robotics America Corp. Roboter Einstellvorrichtung mit 3-D Display
US9310482B2 (en) * 2012-02-10 2016-04-12 Ascent Ventures, Llc Methods for locating and sensing the position, orientation, and contour of a work object in a robotic system
US9579788B2 (en) 2012-02-10 2017-02-28 Ascent Ventures, Llc Automated testing and verification of a robotic system
JP6052576B2 (ja) * 2012-05-30 2016-12-27 日本電気株式会社 情報処理システム、情報処理方法、情報処理装置、携帯端末およびその制御方法と制御プログラム
JP5983763B2 (ja) * 2012-11-30 2016-09-06 株式会社安川電機 ロボットシステム
JP5672326B2 (ja) * 2013-03-19 2015-02-18 株式会社安川電機 ロボットシステム
JP5939213B2 (ja) * 2013-08-09 2016-06-22 株式会社安川電機 ロボット制御装置及びロボット制御方法
JP5850004B2 (ja) * 2013-08-09 2016-02-03 株式会社安川電機 ロボット制御装置及びロボット制御方法
DE102014005351A1 (de) * 2014-04-11 2015-10-15 Thyssenkrupp Ag Getriebeprüfvorrichtung
JP6410388B2 (ja) * 2014-12-25 2018-10-24 株式会社キーエンス 画像処理装置、画像処理システム、画像処理方法及びコンピュータプログラム
JP6486678B2 (ja) * 2014-12-25 2019-03-20 株式会社キーエンス 画像処理装置、画像処理システム、画像処理方法及びコンピュータプログラム
US10099368B2 (en) * 2016-10-25 2018-10-16 Brandon DelSpina System for controlling light and for tracking tools in a three-dimensional space
JP2019058993A (ja) * 2017-09-27 2019-04-18 セイコーエプソン株式会社 ロボットシステム
DE102017011252A1 (de) * 2017-12-06 2019-06-06 Kuka Deutschland Gmbh Verfahren und System zur Bauteilbearbeitung durch Roboter
WO2019212985A1 (en) 2018-04-30 2019-11-07 Path Robotics, Inc. Reflection refuting laser scanner
US11040452B2 (en) * 2018-05-29 2021-06-22 Abb Schweiz Ag Depth sensing robotic hand-eye camera using structured light
CA3111249A1 (en) * 2018-08-24 2020-02-27 naiture GmbH & Co. KG Carrier system comprising a carrier and a mobile device for tilling the soil and/or for manipulating flora and fauna, and method therefor
WO2020090809A1 (ja) * 2018-11-01 2020-05-07 キヤノン株式会社 外部入力装置、ロボットシステム、ロボットシステムの制御方法、制御プログラム、及び記録媒体
US10471590B1 (en) * 2019-04-08 2019-11-12 Frédéric Vachon Cable robot
EP3953112A1 (de) 2019-04-08 2022-02-16 Rbot9 Inc. Kabelroboter
US11478936B2 (en) * 2019-10-09 2022-10-25 Canon Kabushiki Kaisha Image processing apparatus that processes image picked up by image pickup apparatus attached to robot, control method therefor, and storage medium storing control program therefor
CN111604888B (zh) * 2020-05-29 2021-09-14 珠海格力电器股份有限公司 巡检机器人控制方法、巡检系统、存储介质及电子设备
US11407110B2 (en) 2020-07-17 2022-08-09 Path Robotics, Inc. Real time feedback and dynamic adjustment for welding robots
JP2024508564A (ja) 2021-02-24 2024-02-27 パス ロボティクス， インコーポレイテッド 自律型溶接ロボット

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4812614A (en) * 1987-02-26 1989-03-14 Industrial Technology Research Institute Machine vision seam tracking method and apparatus for welding robots
JP2741555B2 (ja) * 1991-09-06 1998-04-22 ファナック株式会社 画像処理装置におけるモニタ装置
JPH06324733A (ja) * 1993-05-12 1994-11-25 Fanuc Ltd センサ付きロボットの制御方法及び装置
JP2933305B2 (ja) * 1994-12-15 1999-08-09 ファナック株式会社 ロボット用教示操作盤
US5572102A (en) * 1995-02-28 1996-11-05 Budd Canada Inc. Method and apparatus for vision control of welding robots
EP0840909B1 (de) * 1995-07-22 1999-03-31 KUKA Roboter GmbH Steuer- und programmiereinrichtung
DE69618606T2 (de) * 1995-09-19 2002-09-12 Yaskawa Denki Kitakyushu Kk Prozessor für robotersprache
EP0812662B1 (de) * 1995-12-27 2008-01-23 Fanuc Ltd Kompositdetektionssystem für roboter
US6148100A (en) * 1996-12-20 2000-11-14 Bechtel Bwxt Idaho, Llc 3-dimensional telepresence system for a robotic environment

Also Published As

Publication number Publication date
DE69929502T2 (de) 2006-07-13
US7151848B1 (en) 2006-12-19
EP0997236B1 (de) 2006-01-18
JP2000135689A (ja) 2000-05-16
EP0997236A1 (de) 2000-05-03

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