Omron Corporation

Lin Miao

Xingdou Fu

Yasuhiro Ohnishi

A control apparatus according to one or more embodiments generates poses of the measurement device to measure an object, determines, for the measurement device, a measurement path including the poses to cause the measurement device to move along the measurement path including the poses and to measure the object, instructs the robot to move the measurement device along a movement path including the measurement path and instructs the measurement device to measure the object in the poses, recognizes the object using obtained measurement data, and determines the measurement path for the measurement device for a next operating cycle.

Control apparatus for robotic system, control method for robotic system, computer-readable storage medium storing a computer control program, and robotic system

Values of parameters specifying conditions for obtaining 3D measurement data representing a measurement object are output as values satisfying a condition designated by a user. The technique includes setting and changing, within a predetermined range, values of parameters specifying conditions for obtaining 3D measurement data represented by 3D coordinates indicating points on a surface of the measurement object, measuring the measurement object to obtain 3D data sets representing the measurement object based on the parameter values resulting from the setting or the change, registering the 3D data sets, storing an identification result of the measurement object based on 3D data obtained through the registration in association with the parameter values, receiving, from a user, designation of a priority condition for obtaining 3D measurement data, and outputting a combination(s) of values of parameters satisfying the priority condition based on association between identification results of the measurement object and the parameter values.

Measurement device, measurement method, and computer-readable storage medium storing a measurement program

A measurement parameter for use when measuring an object with a measuring device provided on a robot may be adjusted and optimized significantly more easily than in conventional technology. A measurement parameter optimization method or operations performed by a processor may include: acquiring N captured images of objects with first measurement parameters; estimating recognized object counts Zi for the objects based on acquiring N/j captured images of the objects with second measurement parameters, and storing the recognized object counts Zi as first data; based on acquiring N/j/k captured images of the objects with third measurement parameters, estimating recognized object counts Zi for the objects based on the first data and storing the recognized object counts Zi as second data; and determining an optimized measurement parameter that satisfies a predetermined judgment criterion from among the second data.

Measurement parameter optimization method and device, and computer control program stored on computer-readable storage medium

Provided are a measurement system, a measurement device, a measurement method, and a measurement program. 3D data is registered to 3D data based on the displacements of joints of a robot at a point in time when a 3D sensor measures 3D data of a measurement object at a specific measurement point while the robot is stopped, and the displacements of the joints of the robot at a point in time when the 3D sensor measures 3D data of the measurement object at a measurement point other than the specific measurement point while that robot is in motion. The 3D data is further registered to the 3D data such that a registration error between the 3D data and the 3D data is less than a threshold value. Similarly, each of 3D data is registered to the 3D data.

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Higashiosaka, Japan

Lin Miao