Fanuc Corporation

Yuta Namiki

Fumikazu Warashina

Shoutarou Ogura

Hiromitsu Takahashi

Wanfeng Fu

Kyouhei Kokubo

Yasuhiro Shibasaki

Yuutarou Takahashi

Provided is a coordinate system setting system with which it is possible to easily set a coordinate system used in control of an industrial machine, A coordinate system setting systemcomprises: a calibrated camera; a calibration data storage unitthat stores, in advance, calibration data obtained when the camerawas calibrated; an image processing unitthat processes a captured image obtained upon imaging a calibration jig J disposed at a position for which a coordinate system is to be set by the camera; and a coordinate system setting unitthat uses the result of image processing performed by the image processing unitto set a coordinate system used in controlling a robot

Coordinate system setting system and position/orientation measurement system

An image processing system includes: an industrial machine; a visual sensor; a visual pattern arranged on a part to be detected, for identifying a relative positional relationship between the visual sensor and the visual pattern; an image processing unit that determines the relative positional relationship between the visual sensor and the visual pattern on the basis of an image of the visual pattern captured by the visual sensor; and a focusing operation control unit that, with the visual pattern within the field of view of the visual sensor, causes the visual sensor to capture the visual pattern while changing the relative positions of the visual sensor and the visual pattern in a predetermined direction with reference to the visual pattern, on the basis of the determined relative positional relationship to obtain a focus degree of the visual pattern, whereby the visual sensor is focused on the visual pattern.

Image processing system and image processing method

A teaching device for creating a program using icons representing functions that form a control program for an industrial machine, the teaching device being provided with: a screen display generation unit that generates a program creation screen which has a predetermined region for arranging multiple icons to create a control program; and a relationship display generation unit that, on the basis of information related to multiple icons, extracts two or more icons which are related to each other in terms of processing contents from among the multiple icons arranged on the predetermined region, and displays the relationships between the extracted two or more icons so as to be visibly recognized.

Teaching device

Provided is a programming device capable of reducing the load of an operator that creates a control program including a command corresponding to a function of an imaging device. Provided is a programming device for programming industrial machinery, the programming device including: a command generation unit that acquires information regarding an imaging device connected to a control device of the industrial machinery and that, on the basis of the acquired information, generates an icon or command statement expressing a command using an image acquired by the imaging device; and a command display unit that displays the generated icon or command statement on a display screen.

Programming device

The present invention makes it possible to create a vision detection program without a sense of incongruity, even for an operator who is used to robot programming but not used to vision detection programming. Provided is a program editing device for editing a motion program for a robot, the program editing device including: a program editing unit which receives common input operations with respect to a first type of icon that corresponds to commands relating to control of the robot and a second type of icon that corresponds to commands relating to image capture by a visual sensor and to processing of captured images; and a program generation unit which generates the motion program in accordance with the first type of icon and second type of icon subjected to editing.

Program editing device

The present invention addresses the problem of providing an image processing system that can accurately and efficiently detect a target object even when the positional relationship between an image capturing device and the target object differs between the time of teaching and the time of detection. An image processing systemincludes: a control unitthat obtains, on the basis of position information of a robotfor specifying the position of a visual sensorin a robot coordinate system and on the basis of position information showing the position of a target object W in an image coordinate system, the positional relationship between the visual sensorand the target object W; and a storage unitthat stores, on the basis of a model pattern consisting of feature points extracted from a teaching image and on the basis of the positional relationship between the visual sensorand the target object W when capturing the teaching image, the model pattern in the form of three-dimensional position information. The control unitperforms detection processing, in which the target object W is detected from a detection image on the basis of a result obtained by matching the model pattern with the feature points extracted from the detection image including the target object W.

Image processing system

A robot system including: a robot that grips one of a first and second workpiece that are disposed adjacent to each other; an illumination device that radiates light beam onto surfaces of the first workpiece and the second workpiece on either side of a border between the workpieces along a plane that intersects the border; a camera that captures an image containing a first line image of the light beam formed on the surface of the first workpiece and a second line image of the light beam formed on the surface of the second workpiece; and a robot controller that operates the robot based on a misalignment amount and direction of the second line image with respect to the first line image in the image acquired and that performs a correction of a level difference between the surface of the first workpiece and the surface of the second workpiece.

Robot system

A robot system is provided which can suitably perform robot movement correction. The robot system is provided with: a visual sensor which captures a first image of a target with the robot in a prescribed position and which captures a second image of the target with the robot in the position resulting from moving the robot a prescribed distance from the aforementioned prescribed position; a calibration data storage unit which stores calibration data that associates the robot coordinate system of the robot and the image coordinate system of the visual sensor; a first acquisition unit which, on the basis of the first image and the calibration data, acquires a first position of the target in the robot coordinate system; a second acquisition unit which, on the basis of the first image and the second image, acquires a second position of the target in the robot coordinate system; and a determination unit which determines whether or not the difference between the first position and the second position is within a prescribed range.

Provided is a machine-learning device which can efficiently perform machine learning. The machine-learning device comprises: a vision execution unit which captures an image of an object W by means of a visual sensor by executing a vision execution command from a robot program, and detects or determines the object W from the captured image; a result acquisition unit which acquires the detection result or the determination result for the object W by executing a result acquisition command from the robot program; an additional annotation unit which gives a label to the captured image on the basis of the detection result or the determination result for the image of the object W by executing an annotation command from the robot program, and acquires new training data; and a learning unit which performs machine learning by using the new training data by executing a learning command from the robot program.

Machine-learning device

An interference avoidance device is provided with: a three-dimensional sensor that is attached to a tip portion of a robot arm and acquires a distance image of an area around a robot; a position data creating portion that converts coordinates of a nearby object in the distance image to coordinates on a robot coordinate system and creates the position data of the nearby object based on the coordinates of the nearby object on the robot coordinate system; a storage portion that stores the position data; and a control portion that controls the robot based on the robot coordinate system; and the control portion controls the robot to avoid interference of the robot with the nearby object, based on the position data stored in the storage portion.

Interference avoidance device and robot system

An image processing system that detects a picture of an object from an image in which the object is captured includes: a first detector that detects a picture of the object from the image based on a model pattern representing a feature of the picture of the object; a learning device that learns a learning model using the image used for detection by the first detector as input data, and using a detection result by the first detector as training data; and a second detector that detects the picture of the object from the image based on the learning model learned by the learning device.

Provided is a display device for an industrial machine capable of automatically switching between augmented reality display and 3D computer graphics display. A robot display devicecomprises: a camera; a display unitcapable of switching between a first display by means of 3D computer graphics for a robotor for the robotand peripheralsthereof, and a second display using augmented reality for the robotand the peripheralsthereof captured by the camera; and a selection unitthat activates the first display and displays the first display on the display unit when the cameradoes not face the robot and the peripheralsthereof, and activates the second display and displays the second display on the display unitwhen the camerafaces the robotand the peripheralsthereof.

Display device for industrial machine

An image processing apparatus includes: a model pattern storage unit that stores a model pattern composed of a plurality of model feature points; an image data acquisition unit that acquires a plurality of images obtained through capturing an object to be detected; an object detection unit that detects the object to be detected from the images using the model pattern; a model pattern transformation unit that transforms a position and posture such that the model pattern is superimposed on an image of the object to be detected; a corresponding point acquisition unit that acquires a corresponding point on image data corresponding to each of the model feature points; a corresponding point set selection unit that selects a set of corresponding points on the plurality of images; and a three-dimensional position calculation unit that calculates a three-dimensional position of the image of the object to be detected.

Image processing apparatus and image processing method

An annotation device includes an image-capturing device, a robot, a control unit, a designation unit, a coordinate processing unit, and a storage unit. The control unit controls the robot so as to acquire a learning image of a plurality of objects, each having a different positional relationship with the image-capturing devices. Furthermore, the storage unit converts a position of the object in a robot coordinate system into a position of the object in an image coordinate system at the time of image-capturing or a position of the object in a sensor coordinate system, and stores the position thus converted together with the learning image.

Annotation device

A discrimination device includes a sub-data set extraction unit for extracting from a plurality of labeled learning data a sub-learning data set to be used for learning and a sub-verification data set to be used for verification, a learning unit for performing supervised learning on the basis of the sub-learning data set to generate a pre-trained model for discriminating a label from data related to an object, a discrimination unit for conducting a discrimination processing using the pre-trained model on each piece of learning data contained in the sub-verification data set, a verification result recording unit for recording a result of the discrimination processing in association with the learning data, and a correctness detection unit for detecting learning data attached with a label that may be incorrect based on the discrimination processing results recorded in association with respective learning data.

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Yamanashi, Japan

Yuta Namiki