Omron Corporation

Xingdou Fu

Lin Miao

Masaki Suwa

Yasuhiro Ohnishi

Takashi Shimizu

Yuki Hasegawa

A measurement system and associated techniques can reduce the time for obtaining 3D data about a target object by measurement. The measurement system includes a 3D sensor installable on a robot to obtain, by measurement, 3D data indicating 3D coordinates of surface points on a surface of a target object, a displacement detector that detects a displacement of a joint of the robot, a drive that drives the joint of the robot, a sensor controller that controls the 3D sensor to obtain 3D data about the target object by measurement at one or more measurement points, an integrator that performs 3D integration of 3D data about the target object obtained by measurement before a first operation performed by the robot on the target object and 3D data about the target object obtained by measurement at the one or more measurement points after the first operation performed by the robot on the target object, and a robot controller that outputs, to the drive, a drive command for controlling a second operation performed by the robot based on 3D coordinates of the surface points on the surface of the target object indicated by 3D data obtained through the 3D integration.

Measurement system, measurement device, measurement method, and measurement program

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

The three-dimensional measurement apparatus includes a projecting unit configured to project patterned light onto a measurement target and an image capturing unit configured to capture an image of the measurement target onto which the patterned light is projected, with a predetermined exposure time, a calculation unit configured to calculate positions of a three-dimensional point group expressing a three-dimensional shape of the measurement target based on the feature points included in the image, and a determination unit configured to determine the exposure time such that at least one of the number of feature points and the number of three-dimensional point groups is equal to or greater than a threshold that is defined based on one of their maximum numbers, and the exposure time is shorter than an exposure time for the maximum number.

Three-dimensional measurement apparatus, three-dimensional measurement method, and three-dimensional measurement non-transitory computer readable 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.

A three-dimensional measurement apparatus includes: projecting means for projecting, onto a measurement target, patterned light having a two-dimensionally coded pattern in which a plurality of types of words each having a different two-dimensional structure and being distinguishable from each other are two-dimensionally arranged; capturing means for capturing the measurement target onto which the patterned light is projected; and calculating means for calculating a three-dimensional position of a target pixel of the image from an image captured by the capturing means, and the two-dimensionally coded pattern is two-fold symmetrical. The two-dimensionally coded pattern is a pattern in which a predetermined word is repeated in the column direction for each column.

Three-dimensional measurement apparatus and three-dimensional measurement method

Three-dimensional measurement is performed by projecting patterned light having a hybrid pattern Ph onto a measurement target. The hybrid pattern Ph is a pattern in which a random pattern Pr is superimposed on a structured light pattern Ps, and is arranged in pattern such that the random pattern Pr and the structured light pattern Ps do not interfere mutually.

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Kizugawa, Japan

Xingdou Fu