Abstract: A work model (or an image) is displayed on an image plane of a robot simulator (201), and a measuring portion and a measuring method are designated (202, 203) and a work shape and a work loading state are designated (204), and then it is judged whether or not the measuring portion and the measuring method are good (205). When the measuring portion and the measuring method are good, a program is generated and the processing is completed (207, 208). When the measuring portion and the measuring method are not good, an alarm is given (206), and the continuation (207) or the repetition (201) of the processing is directed. At the time of analyzing the program, the loading (101), the analysis and display of the measuring portion and the measuring method (102, 103) and the work information (104) are designated, and then it is judged whether or not the measuring portion and the measuring method, which have been analyzed, are good (105).

Abstract: The system includes a detecting section detecting an object to be picked, among a plurality of objects placed in a manner as to be at least partially superimposed on each other; a storage section storing appearance information of a predetermined portion of a reference object having an outward appearance identical to an outward appearance of the object to be picked; a determining section determining whether an inspected portion of the object to be picked, corresponding to the predetermined portion of the reference object, is concealed by another object, based on the appearance information of the reference object stored in the storage section; a control section deciding a picking motion for the object to be picked and outputting a control signal of the picking motion; and a picking mechanism performing the picking motion on the object to be picked in accordance with the control signal output from the control section.

Abstract: An object picking device, which is inexpensive and capable of speedily and accurately picking one object at a time from a random pile state. A target detecting part of an image processing part processes an image captured by a camera and detects objects. A target selecting part selects an object among the detected objects based on a certain rule. A view line direction calculating part calculates the direction of a view line extending to the selected object. A target position estimating part estimates the position including the height of the selected object based on size information of the object in the image. Then, a grip correction calculating part calculates an amount of correction of the movement of a robot so as to grip the object by using the robot.

Abstract: The present invention is a storage apparatus including a disk device having a storage medium for storing data, a controller unit configured to control the disk device, a setting unit configured to accept a setting operation for the disk device performed by a user and configure the setting according to the setting operation, a log information collection unit for collecting, as log information, the setting operation accepted by the setting unit, and a log information analysis unit for performing predetermined analysis processing on the setting operation based on the log information collected by the log information collection unit. The storage apparatus prevents unauthenticated operations by collecting and analyzing the log information about the setting operations, and achieves secure and smooth management.

Abstract: An organic semiconductor material is provided. The organic semiconductor material includes a polyacene derivative expressed by the following general formula (1): where each of R1 to R10 may be independently the same substituents or different substituents but all of R1, R4, R5, R6, R9 and R10 may never be hydrogen atoms at the same time, and where each of R1 to R10 is at least one kind of substituent selected from the group consisting of an aliphatic hydrocarbon group having a substituent and of which number of carbon atoms ranges of from 1 to 20, an aromatic hydrocarbon group having a substituent, a complex aromatic group having a substituent, a carboxyl group, a hydride, an ester group, a cyano group, a hydroxyl group, a halogen atom and a hydrogen atom. The organic semiconductor material can be dissolved into an organic solvent at low temperature (for example, room temperature) and is suitable for use with a coating process.

Abstract: A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.

Abstract: An organic semiconductor material is provided. The organic semiconductor material includes a polyacene derivative expressed by the following general formula (1): where each of R1 to R10 may be independently the same substituents or different substituents but all of R1, R4, R5, R6, R9 and R10 may never be hydrogen atoms at the same time, and where each of R1 to R10 is at least one kind of substituent selected from the group consisting of an aliphatic hydrocarbon group having a substituent and of which number of carbon atoms ranges of from 1 to 20, an aromatic hydrocarbon group having a substituent, a complex aromatic group having a substituent, a carboxyl group, a hydride, an ester group, a cyano group, a hydroxyl group, a halogen atom and a hydrogen atom. The organic semiconductor material can be dissolved into an organic solvent at low temperature (for example, room temperature) and is suitable for use with a coating process.

Abstract: Slit light is projected onto the surface of an object, the reflected light is received using a video camera and analyzed by means of an image processor to thereby determine an equation of the surface onto which the slit light is projected. Then, an image is captured through normal image taking using the video camera and a straight line (line of sight) passing through the measuring point on the object and the center of the video camera is determined. Furthermore, parameters such as an affine transformation are determined by a comparison between the image of a characteristic area F of the object and a reference image. Then, the three-dimensional position and posture of the measuring point are determined from an intersection between the line of sight and the determined surface.

Abstract: A three-dimensional visual sensor which measures the three-dimensional position and orientation of an objective workpiece accurately even when the position and orientation thereof varies. The position Ca, tilting angle ?a and size S of a first region A which includes a characteristic part of an objective workpiece, and the position Cb and radius Rb of a second region B which is a target region of measurement are determined in a two-dimensional image of a representative objective workpiece captured from a predetermined position, and stored as reference information. An image of a to-be-measured objective workpiece is captured, and in the image, a region corresponding to the second region is determined on the basis of the position C?a, tilting angle ??a and size S? of a region corresponding to the first region A, and the reference information. The position and orientation of the objective workpiece is obtained by measuring the region determined as corresponding to the second region.

Abstract: An apparatus for picking up objects including a robot for picking up an object, at least one part of the object having a curved shape, having a storing means for storing a gray gradient distribution model of the object, a recognizing means for recognizing a gray image of the object, a gradient extracting means for extracting a gray gradient distribution from the gray image recognized by the recognizing means, an object detecting means for detecting a position or position posture of the object in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means and the gray gradient distribution model stored by the storing means, a detection information converting means for converting information of the position or position posture detected by the object detecting means into information of position or position posture in a coordinate system regarding the robot; and a robot moving means for moving the robot to the position or position posture converted by the detection

Abstract: A workpiece is gripped by a robot hand and an image of the workpiece is captured by a camera. An image processing device detects the position and posture of a characteristic portion of the workpiece. On the basis of the present position of the robot, the relative position and posture between a flange of the robot and the workpiece characteristic portion is detected. The relative position and posture is compared with that observed when the workpiece is gripped correctly, to determine a gripping error. If the gripping error exceeds a permissible error, the robot is stopped. If the gripping error is equal to or less than the permissible error, a taught position where the workpiece is to be released is corrected so as to cancel the adverse effect of the gripping error.

Abstract: A re-calibration method and device for a three-dimensional visual sensor of a robot system, whereby the work load required for re-calibration is mitigated. While the visual sensor is normal, the visual sensor and a measurement target are arranged in one or more relative positional relations by a robot, and the target is measured to acquire position/orientation information of a dot pattern etc. by using calibration parameters then held. During re-calibration, each relative positional relation is approximately reproduced, and the target is again measured to acquire feature amount information or position/orientation of the dot pattern etc. on the image. Based on the feature amount data and the position information, the parameters relating to calibration of the visual sensor are updated. At least one of the visual sensor and the target, which are brought into the relative positional relation, is mounted on the robot arm.

Abstract: A measuring system for easily detecting Misjudged Detection (M/D). A camera for measurement attached to a robot is used to obtain an image for measurement of a workpiece so as to measure and detect a set point. Next, a camera for validation is used to obtain an image for validation of the workpiece so as to measure and detect the set point. One camera may capture both of the images for measurement and validation, by utilizing movement of the robot. It is judged whether the measured results obtained from the images represent the same point on the workpiece or not. If yes, the measured results are judged to be valid, otherwise, the measured results are judged to be invalid and an exception process, such as a retrial, is executed. The images by the camera may also be used for judging a moving path of the robot during measurement of a large object.

Abstract: A workpiece picking apparatus includes a robot, a workpiece recognition device for recognizing the workpieces located in a wide area, an accurate measurement device for accurately measuring the three-dimensional position of the workpiece, a workpiece select device for selecting the workpiece to be picked, and an NG workpiece storage device for storing information on the rough position of an failed NG workpiece when the measurement of the three-dimensional position or the picking for the workpiece has failed. The workpiece select device excludes the NG workpiece stored in the NG workpiece storage device and selects the next workpiece to be measured. The robot picks the selected workpiece based on the three-dimensional position of the workpiece measured by the accurate measurement device.

Abstract: The present invention is a storage apparatus including a disk device having a storage medium for storing data, a controller unit configured to control the disk device, a setting unit configured to accept a setting operation for the disk device performed by a user and configure the setting according to the setting operation, a log information collection unit for collecting, as log information, the setting operation accepted by the setting unit, and a log information analysis unit for performing predetermined analysis processing on the setting operation based on the log information collected by the log information collection unit. The storage apparatus prevents unauthenticated operations by collecting and analyzing the log information about the setting operations, and achieves secure and smooth management.

Abstract: A position/orientation detecting device for detecting a three-dimensional position/orientation of an object such as a workpiece in a stereo mode of highly reliable determination of corresponding images, which is suitable for use to be combined with a robot to constitute an object picking apparatus. Pictures of workpieces are taken by video cameras. Two-dimensional taught models are created by model creating means and stored as model information, and the positions of three or more reference points are determined by reference point position setting means. Object detecting sections detect images of workpieces using the model information. A corresponding image determining section determines corresponding images, using models or images which are prepared by performing geometrical transformation (represented by a set of parameters) on the two-dimensional taught models or the two-dimensional images.

Abstract: A teaching position correcting apparatus (1) corrects plural teaching point positions of a robot (2) in a robot operation program, by sequentially moving the robot (2) to each of the plural teaching points and by sequentially reading a current position of the robot (2) at each of the plural teaching points. The teaching position correcting apparatus (1) includes: a position correction amount calculating means (11a) that calculates a position correction amount (A), based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating means (11b) that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount (A). At the time of moving the robot to uncorrected teaching points, a moving means (15) moves the robot to corrected positions of the teaching point positions before correction.

Abstract: A workpiece taking-out apparatus performs snap with a camera of a three-dimensional visual sensor in a robot position for snap and captures an image in a personal computer. The workpiece taking-out apparatus detects workpieces to find a line of sight of the camera for each workpiece, decides an area for height measurement by a range finder to save height data in the area, and finds an intersection of line of sight data of the camera and height distribution for each detected workpiece to find a posture of the workpiece from the height data around it. Then, the workpiece taking-out apparatus decides a workpiece to be taken out this time from the position and the posture and decides a measurement position of the three-dimensional visual sensor close to the workpiece.

Abstract: A three-dimensional visual sensor is disclosed. A two-dimensional image of a two-dimensional feature portion including a point determined on a work is acquired, and N points are determined. A slit of light is projected by a projector, an image of a projected portion is obtained, and M points are determined. The three-dimensional position of the intersection point between each straight line connecting the N points and a point in a camera and the slit of light plane is determined on the sensor coordinate system, and transformed to the data on the reference coordinate system. The three-dimensional positions of M points are similarly subjected to coordinate transform to the data on the reference coordinate system. Straight lines defined by the M and N points are determined. The intersection point between the two straight lines is determined and returned to the data on the sensor coordinate system by inverse transform.

Abstract: An organic semiconductor material is provided. The organic semiconductor material includes a polyacene derivative expressed by the following general formula (1): where each of R1 to R10 may be independently the same substituents or different substituents but all of R1, R4, R5, R6, R9 and R10 may never be hydrogen atoms at the same time, and where each of R1 to R10 is at least one kind of substituent selected from the group consisting of an aliphatic hydrocarbon group having a substituent and of which number of carbon atoms ranges of from 1 to 20, an aromatic hydrocarbon group having a substituent, a complex aromatic group having a substituent, a carboxyl group, a hydride, an ester group, a cyano group, a hydroxyl group, a halogen atom and a hydrogen atom. The organic semiconductor material can be dissolved into an organic solvent at low temperature (for example, room temperature) and is suitable for use with a coating process.