Patents by Inventor Fumikazu Warashina
Fumikazu Warashina has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
-
Publication number: 20180197311Abstract: A camera abnormality cause estimation system for estimating the causes of abnormalities in a camera in a production system in which the camera controls a robot. The production system includes a robot, a camera that detects visual information of the robot or the surrounding thereof, and a controller that controls the robot based on an image signal obtained by the camera. The camera abnormality cause estimation system estimates the causes of abnormalities in the camera and includes an environment information acquisition unit that acquires environment information of the camera, and an abnormality cause estimation unit that estimates a probability that each of a plurality of predetermined abnormality cause items is the cause of an abnormality in the camera for the respective abnormality cause items using the environment information acquired by the environment information acquisition means and displays the estimated probability on a display unit for the respective abnormality cause items.Type: ApplicationFiled: January 5, 2018Publication date: July 12, 2018Inventors: Shouta TAKIZAWA, Fumikazu WARASHINA
-
Publication number: 20180194007Abstract: A parameter for detecting a target mark 5 is not required to be set for each camera repeatedly while a stereo camera 2 is calibrated. A calibration device 1 associates position information in an image coordinate system at a first camera 21 of a stereo camera 2, position information in an image coordinate system at a second camera 22 of the stereo camera 2, and position information in a robot coordinate system at a robot 4. The calibration device comprises: first parameter setting unit 102 that sets a first parameter for detecting a target mark 5 attached to the robot 4 from data about an image captured by the first camera 21; and a second parameter setting unit 104 that sets a second parameter for detecting the target mark 5 from data about an image captured by the second camera 22 based on the first parameter.Type: ApplicationFiled: January 4, 2018Publication date: July 12, 2018Inventors: Yuuta NAMIKI, Fumikazu WARASHINA
-
Publication number: 20180194008Abstract: For calibration on a single camera or a stereo camera, a calibration range is set in advance in an image coordinate system and the calibration is performed in an arbitrary range. A visual sensor controller is a calibration device that associates a robot coordinate system at a robot and an image coordinate system at a camera by placing a target mark at the robot, moving the robot, and detecting the target mark at multiple points in a view of the camera. The calibration device comprises: an image range setting unit that sets an image range in the image coordinate system at the camera; and a calibration range measurement unit that measures an operation range for the robot corresponding to the image range before implementation of calibration by moving the robot and detecting the target mark.Type: ApplicationFiled: January 4, 2018Publication date: July 12, 2018Inventors: Yuuta NAMIKI, Fumikazu WARASHINA, Shouta TAKIZAWA
-
Patent number: 9969090Abstract: A robot system which is inexpensive and can easily measure a position of a target point. The system stores feature quantities of an image of a target mark included in an image acquired as reference data when the target mark is placed at a known first target mark position at the robot coordinate system and stores the first target mark position with respect to an arm tip as the position of the tool center point. The system compares the feature quantities obtained from the image acquired when the target mark is arranged at a second target mark position and the feature quantities of the reference data to make the arm tip move and calculates the second target mark position at the robot coordinate system based on a second robot position corresponding to the position of the arm tip after movement and the position of the tool center point.Type: GrantFiled: September 30, 2016Date of Patent: May 15, 2018Assignee: FANUC CORPORATIONInventors: Fumikazu Warashina, Keisuke Watanabe, Kenshirou Oono
-
Publication number: 20180101962Abstract: A projection pattern creation apparatus is configured to capture an image of a projection pattern projected from a pattern projection device by an imaging device to measure a three-dimensional position and/or a shape of an object. The projection pattern creation apparatus includes: a projection pattern deformation unit configured to reproduce deformation when a projected projection pattern is included in an image captured by the imaging device on the basis of characteristics of optical systems of the pattern projection device and the imaging device, and/or a positional relation between the pattern projection device and the imaging device and generate a deformation projection pattern; and a first projection pattern improvement unit configured to generate a second projection pattern obtained by improving a first projection pattern, on a basis of a first deformation projection pattern generated when the first projection pattern is projected toward evaluation surfaces having different positions and inclinations.Type: ApplicationFiled: September 29, 2017Publication date: April 12, 2018Inventors: Shouta TAKIZAWA, Junichirou YOSHIDA, Fumikazu WARASHINA
-
Publication number: 20180093380Abstract: The robot system includes a carriage for supporting a robot. The robot system includes a camera, and a mark disposed in a workspace. The control device includes a position acquisition part that is configured to acquire a position of the mark on the basis of an image captured by the camera, and a determination part configured to determine whether or not the robot is located at a position within a predetermined determination range. When the determination part determines that the position of the robot deviates from the determination range, the display device displays the direction and the movement amount in which the carriage is to be moved.Type: ApplicationFiled: October 3, 2017Publication date: April 5, 2018Applicant: FANUC CORPORATIONInventors: Junichirou Yoshida, Fumikazu Warashina
-
Patent number: 9844882Abstract: A robot system is provided with a three-dimensional sensor which acquires three-dimensional information of an object, and a robot which includes a gripping device for gripping an object. The robot system uses first three-dimensional information which relates to a state before an object is taken out and second three-dimensional information which relates to a state after an object is taken out as the basis to acquire three-dimensional shape information of an object, and uses the three-dimensional shape information of the object as the basis to calculate a position and posture of the robot when an object is placed at a target site.Type: GrantFiled: February 3, 2016Date of Patent: December 19, 2017Assignee: FANUC CORPORATIONInventors: Shouta Takizawa, Fumikazu Warashina, Kazunori Ban
-
Publication number: 20170274534Abstract: A positioning system using a robot, capable of eliminating an error factor of the robot such as thermal expansion or backlash can be eliminated, and carrying out positioning of the robot with accuracy higher than inherent positioning accuracy of the robot. The positioning system has a robot with a movable arm, visual feature portions provided to a robot hand, and vision sensors positioned at a fixed position outside the robot and configured to capture the feature portions. The hand is configured to grip an object on which the feature portions are formed, and the vision sensors are positioned and configured to capture the respective feature portions.Type: ApplicationFiled: March 23, 2017Publication date: September 28, 2017Applicant: FANUC CORPORATIONInventors: Yuutarou Takahashi, Shouta Takizawa, Fumikazu Warashina
-
Publication number: 20170249766Abstract: An image processing device including an object detection unit for detecting one or more images of objects from an input picture image, on the basis of a model pattern of the object, and a detection result display unit for graphically superimposing and displaying a detection result. The detection result display unit includes a first frame for displaying the entire input picture image and a second frame for listing and displaying one or more partial picture images each including an image detected. In the input picture image displayed in the first frame, a detection result is superimposed and displayed on all the detected images, and in the partial picture image displayed in the second frame, a detection result of an image corresponding to each partial picture image is superimposed and displayed.Type: ApplicationFiled: February 24, 2017Publication date: August 31, 2017Applicant: FANUC CORPORATIONInventors: Yuta Namiki, Fumikazu Warashina
-
Patent number: 9672630Abstract: A contour line measurement apparatus includes an edge line extraction unit for setting a picture processing region and extracting an edge line from an object picture in each of the regions, an edge point generation unit for generating edge points which are intersections of the edge lines and epipolar lines, a corresponding point selection unit for selecting, from the plurality of edge points, a pair of edge points corresponding to the same portion of the reference contour line, and a three dimensional point calculation unit for calculating a three dimensional point on the contour line of the object on the basis of lines of sight of cameras which pass the pair of edge points.Type: GrantFiled: September 11, 2015Date of Patent: June 6, 2017Assignee: FANUC CORPORATIONInventors: Yuuta Namiki, Fumikazu Warashina
-
Publication number: 20170132451Abstract: An image processing device that detects an image of an object from input data captured by a vision sensor, on the basis of a model pattern including a set of a plurality of first feature points representing the shape of the object, includes an object detection unit that detects images of the object by matching between a plurality of second feature points extracted from the input data and a plurality of first feature points forming the model pattern, a corresponding point selection unit that selects, for each image of the object, second feature points corresponding to the first feature points and stores the selected second feature points as corresponding points, and a model pattern correction unit that calculates a statistic of a predetermined physical quantity of the plurality of corresponding points associated with each first feature point and corrects the first feature point on the basis of the statistic.Type: ApplicationFiled: November 4, 2016Publication date: May 11, 2017Inventors: Yuta NAMIKI, Fumikazu WARASHINA
-
Publication number: 20170095930Abstract: A robot system which is inexpensive and can easily measure a position of a target point. The system stores feature quantities of an image of a target mark included in an image acquired as reference data when the target mark is placed at a known first target mark position at the robot coordinate system and stores the first target mark position with respect to an arm tip as the position of the tool center point. The system compares the feature quantities obtained from the image acquired when the target mark is arranged at a second target mark position and the feature quantities of the reference data to make the arm tip move and calculates the second target mark position at the robot coordinate system based on a second robot position corresponding to the position of the arm tip after movement and the position of the tool center point.Type: ApplicationFiled: September 30, 2016Publication date: April 6, 2017Inventors: Fumikazu WARASHINA, Keisuke WATANABE, Kenshirou OONO
-
Publication number: 20160229061Abstract: A robot system is provided with a three-dimensional sensor which acquires three-dimensional information of an object, and a robot which includes a gripping device for gripping an object. The robot system uses first three-dimensional information which relates to a state before an object is taken out and second three-dimensional information which relates to a state after an object is taken out as the basis to acquire three-dimensional shape information of an object, and uses the three-dimensional shape information of the object as the basis to calculate a position and posture of the robot when an object is placed at a target site.Type: ApplicationFiled: February 3, 2016Publication date: August 11, 2016Inventors: Shouta TAKIZAWA, Fumikazu WARASHINA, Kazunori BAN
-
Publication number: 20160086343Abstract: A contour line measurement apparatus includes an edge line extraction unit for setting a picture processing region and extracting an edge line from an object picture in each of the regions, an edge point generation unit for generating edge points which are intersections of the edge lines and epipolar lines, a corresponding point selection unit for selecting, from the plurality of edge points, a pair of edge points corresponding to the same portion of the reference contour line, and a three dimensional point calculation unit for calculating a three dimensional point on the contour line of the object on the basis of lines of sight of cameras which pass the pair of edge points.Type: ApplicationFiled: September 11, 2015Publication date: March 24, 2016Inventors: Yuuta NAMIKI, Fumikazu WARASHINA
-
Patent number: 8326460Abstract: A robot system calculates positional information of a workpiece with respect to a visual sensor and calculates positional information of an arm tip at a second time based on first times stored by a storing section and the second time at which the visual sensor measures the workpiece.Type: GrantFiled: January 27, 2011Date of Patent: December 4, 2012Assignee: Fanuc CorporationInventors: Kazunori Ban, Fumikazu Warashina, Makoto Yamada, Yuuta Namiki
-
Patent number: 8132835Abstract: A workpiece gripping device includes a primary catching mechanism having a suction pad adapted to hold a workpiece by suction power and a rod-like part having the suction pad mounted on one end thereof, gripping pawls sandwiching and gripping the workpiece, a drive unit for supplying a drive power, and a transmission mechanism transmitting the drive power of the drive unit to the gripping pawls. The transmission mechanism moves the gripping pawls along an axis of the rod-like part between a gripping position where the gripping pawls are projected beyond the suction pad and a retreated position where the gripping pawls are retreated from the suction pad toward the base plate. The gripping pawls are moved to the gripping position along the axis of the rod-like part while shortening the distance between the gripping pawls.Type: GrantFiled: September 8, 2009Date of Patent: March 13, 2012Assignee: Fanuc LtdInventors: Kazunori Ban, Fumikazu Warashina, Shouta Takizawa
-
Publication number: 20110218675Abstract: A robot system (10) includes: a processing section (32) that calculates positional information of a workpiece with respect to a visual sensor (13); a clock (35) to which a robot controlling section (31) and the processing section access to check a present time; a first storing section (33) that sequentially stores first times at a predetermined cycle in combination with positional information items of an arm tip at the first times, respectively; a second storing section (34) that stores a second time when the visual sensor measures the workpiece; an arm tip position calculating section (41) that calculates positional information of the arm tip when the visual sensor measures the workpiece based on the second time, at least two of the first times before and after the second time among the first times and the positional information items of the arm tip corresponding to the respective first times; and a workpiece position calculating section (42) that calculates positional information of the grasped workpiece wiType: ApplicationFiled: January 27, 2011Publication date: September 8, 2011Applicant: FANUC CORPORATIONInventors: Kazunori BAN, Fumikazu Warashina, Makoto Yamada, Yuuta Namiki
-
Patent number: 8014899Abstract: An article conveying robot system capable of effectively containing an article in a container conveyed by a conveyor by using a robot. A container detecting part measures the distribution of shading of an image of each containing cell based on a detection result of the container, detects the containing state of each cell, and stores the detection result of each cell. An information managing part of a controller of an upstream side robot receives information from a container detecting part of a controller of a downstream side robot, and then generates containing cell information. An information managing part checks the cell information to be processed, and then transmits the cell information to a task executing part only when an article is not located in the corresponding cell. Task executing part controls the robot so as to locate an article in the selected cell based on the cell information.Type: GrantFiled: April 28, 2010Date of Patent: September 6, 2011Assignee: Fanuc LtdInventors: Kazunori Ban, Ichiro Kanno, Fumikazu Warashina, Masafumi Ooba
-
Patent number: 7957580Abstract: A workpiece picking device capable of correctly detecting the size of a workpiece. The picking device has a robot capable of picking the same kind of workpieces contained in a work container, a robot controller for controlling the robot, a video camera positioned above the work container so as to widely image the workpieces and an image processor for processing an image obtained by the video camera. The three-dimensional position and posture of each workpiece is measured by a three-dimensional vision sensor arranged on a wrist element of the robot.Type: GrantFiled: January 31, 2007Date of Patent: June 7, 2011Assignee: Fanuc LtdInventors: Kazunori Ban, Fumikazu Warashina, Keisuke Watanabe
-
Publication number: 20100305754Abstract: An article conveying robot system capable of effectively containing an article in a container conveyed by a conveyor by using a robot. A container detecting part measures the distribution of shading of an image of each containing cell based on a detection result of the container, detects the containing state of each cell, and stores the detection result of each cell. An information managing part of a controller of an upstream side robot receives information from a container detecting part of a controller of a downstream side robot, and then generates containing cell information. An information managing part checks the cell information to be processed, and then transmits the cell information to a task executing part only when an article is not located in the corresponding cell. Task executing part controls the robot so as to locate an article in the selected cell based on the cell information.Type: ApplicationFiled: April 28, 2010Publication date: December 2, 2010Applicant: FANUC LTDInventors: Kazunori BAN, Ichiro KANNO, Fumikazu WARASHINA, Masafumi OOBA