Mitsubishi Electric Corporation

Kyoto University

Haruhisa Okuda

Kazuhiko Sumi

Toshiyuki Hatta

Yasuo Kitaaki

Kenichi Tanaka

Hiroichiro Shimano

Hiroshi Kage

Hiroaki Nakanishi

Koji Shiratsuchi

Hidenobu Sakamoto

Yukiyasu Domae

Ryosuke Kawanishi

Tatsuya Nagatani

Hideo Utsuno

Hiroshi Matsuhisa

Masaharu Komori

Kazuhiro Izui

Tetsuo Sawaragi

Akio Noda

Yukio Horiguchi

Takehisa Kouda

Kosuke Hirasawa

Ryoichi Yamakoshi

Shinjiro Kawato

Yasuyoshi Yokokouji

Kenta Kato

Hajime Mizuyama

A work support device supports work including a series of operations performed by a working entity and includes: a sensor data input device receiving a sensor data string in which sensor data obtained by measuring work of the working entity is arranged in order of acquisition; a class data calculator calculating a class data string indicating sections obtained by dividing the sensor data string by comparing the sensor data string with a template that is set for each class as a type of temporal change of the sensor data and is a set including a probability distribution of the sensor data at each time; a reliability calculator calculating reliability for each section based on information on the sections indicated by the class data string; a reliability determiner determining whether the reliability satisfies criterion and generating information on operation included in the section in which the reliability satisfies the criterion.

Work support device and work support method

A sensor data input device obtains a plurality of sensor data sequences, each indicating time-series sensor values generated by measuring a work of a working subject using a sensor. A class data generator determines a plurality of intervals obtained by temporally dividing each sensor data sequence based on the sensor values, determines classes of the intervals, each class indicating a type of temporal variations in the sensor values included in one of the intervals, and generates a plurality of first class data sequences for each sensor data sequence, each first class data sequence indicating the intervals and the classes of the sensor data sequence. A class data linker associates the corresponding intervals having an identical class with each other, among the plurality of first class data sequences. A determiner calculates characteristic values of the intervals associated with each other.

Work analysis apparatus for analyzing work including series of actions performed by working subject

An apparatus including a combination possibility calculation unit to calculate a stable orientation in which, from three-dimensional shape data of a part, the part is stabilized on a flat surface, to calculate a grasping method for grasping the part with a hand, and to calculate a combination in which the hand does not interfere from system configuration data including information on a connection destination of the hand and a combination group of the grasping method and the stable orientation; a regrasping path calculation unit to calculate a regrasping path of the part by using the calculated combination; a path group calculation unit to calculate a path having the minimum number of teaching points from the regrasping path as a path group based on orientation data for designating an input orientation and an alignment orientation of the part; and a program generation unit to generate a program of a robot based on the path group.

Apparatus and method for generating robot program

An industrial robot system may enable a reduction in an installation/adjustment period, and an increase in a no-error continuous operation period. The system includes an action planning section for temporary halts, an error-inducing-task restraining section, a section for teaching task, an operation mastering section, a hand library, an optimum-task-operation generating section, a specific task library, an error-recovery-task teaching section, an error recovery library, a finger-eye-camera measurement section including an omnidirectional mirror, a three-dimensional recognition section, a controller, a manipulator, and a hand with a plurality of fingers.

Industrial robot system including action planning circuitry for temporary halts

A workpiece pick-up apparatus including: a hand for gripping a workpiece; a robot for bringing the hand into a desired gripping position or posture; a sensor for performing three-dimensional measurement of the workpiece to obtain workpiece measurement data; a storage medium for accumulating at least hand profile data; an information processing unit for calculating the gripping position or posture based on data from the sensor and data from the storage medium; and a control unit for controlling the robot based on the gripping position or posture calculated by the information processing unit. The information processing unit includes an optimum gripping candidate creating section for directly deriving the gripping position or posture based on the workpiece measurement data and the hand profile data.

Workpiece pick-up apparatus

Parts detector for industrial robot

An image matching device in which, in automatic positioning calculation using an ICP method, a solution is converged to an optimal solution while avoiding reaching a local solution, and a patient positioning device using this matching device. The device includes a CT image data reading unit reading first and second CT image data, a point group data generation unit generating first and second point group data in a three-dimensional space by binarization processing and edge-extraction processing on sliced images of the first and second CT image data, respectively, a point group data resolution conversion unit thinning-out point group data so as to extend a point-group-data array pitch, and an ICP calculation unit obtaining, using an ICP method, a conversion amount for the second point group data so that an error function of the first point group data and the second point group data outputted from the point group data resolution conversion unit is minimized.

Image matching device and patient positioning device using the same

Growing community of inventors

Tokyo, Japan

Haruhisa Okuda