Laser processing robot system for performing laser processing using robot

• US 10,413,994 B2
• Filed: 06/27/2017
• Issued: 09/17/2019
• Est. Priority Date: 07/08/2016
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Aoki, Toshimichi
• Primary Examiner(s): Chou, Jimmy
• Application Number:
  US15/634,473
• Publication Number:
  US 20180009059A1
• Time in Patent Office: 812 Days
• Field of Search: 21912183, 21912167, 21912163, 21912168, 2191216, 21912162, 21912182
• CPC Class Codes: B23K 26/032 using optical means
• CPC Class Codes: B23K 26/046 Automatically focusing the laser beam
• CPC Class Codes: B23K 26/0884 in at least in three axial directions, e.g. manipulators, robots
• CPC Class Codes: B23K 26/70 Auxiliary operations or equipment
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/36167 Use camera of handheld device, pda, pendant, head mounted display
• CPC Class Codes: G05B 2219/39449 Pendant, pda displaying camera images overlayed with graphics, augmented reality
• CPC Class Codes: G05B 2219/45041 Laser cutting
• CPC Class Codes: G05B 2219/45104 Lasrobot, welding robot
• CPC Class Codes: G05B 2219/45138 Laser welding
• CPC Class Codes: G05B 2219/45139 Laser drilling
• CPC Class Codes: G06T 19/006 Mixed reality object pose determination, tracking or camera calibration for mixed reality G06T7/00
• CPC Class Codes: H04N 23/633 for displaying additional information relating to control or operation of the camera

Abstract

A laser processing robot system, in which an augmented reality processing technology is used to enable a processing laser beam and its irradiation position to be safely and easily seen, is provided. A laser processing robot system includes an image processing device having an augmented reality image processing unit for performing augmented reality image processing for an actual image including an image of a robot captured by an imaging device. The augmented reality image processing unit is adapted to superimpose a virtual image representing at least one of a laser beam obtained by assuming that the laser beam is emitted from a laser irradiation device to a workpiece, and an irradiation position of the laser beam, onto the actual image, and to display the superimposed image on the display device.

Claims

1. A laser processing robot system using a robot having an arm to which a laser irradiation device for emitting a laser beam for processing is attached, the laser processing robot system comprising:

a robot control device controlling the robot to move the laser irradiation device to a position for processing a workpiece prior to outputting the laser beam;

an imaging device capturing an actual image including the robot while the laser irradiation device is in the position for processing the workpiece prior to outputting of the laser beam;

a display device for displaying, in real time, the actual image; and

an image processing device which is connected to the robot control device and which has an augmented reality image processing unit for performing augmented reality image processing of the actual image, wherein

prior to outputting the laser beam, the augmented reality image processing unit determines and superimposes a virtual image representing at least one of a virtual laser beam emitted from the laser irradiation device to the workpiece, and an irradiation position of the virtual laser beam onto the actual image and displays the superimposed image on the display device, the virtual image being determined based on at least the position of the laser irradiation port relative to the workpiece prior to outputting the laser beam.

2. The laser processing robot system according to claim 1, wherein

the laser irradiation device comprises a lens position adjusting mechanism which adjusts the position of a lens in response to a command from the robot control device, to change a focal length, and

the augmented reality image processing unit is adapted to generate the virtual image based on a command value or a detection value regarding the focal length and the position of the lens.

3. The laser processing robot system according to claim 1, wherein

the laser irradiation device comprises an irradiation position changing mechanism for changing the irradiation position of the laser beam on a surface of the workpiece in response to a command from the robot control device, and

the augmented reality image processing unit is adapted to generate the virtual image based on a command value or a detection value regarding the irradiation position.

4. The laser processing robot system according to claim 1, wherein the augmented reality image processing unit is adapted to display the locus of at least one of the laser beam represented as the virtual image and the irradiation position of the laser beam on the display device.

5. The laser processing robot system according to claim 1, wherein

the robot control device is adapted to convey information regarding irradiation conditions for irradiation with the laser beam to the image processing device, and

the augmented reality image processing unit is adapted to display, along with the virtual image, the information regarding the irradiation conditions on the display device.

6. The laser processing robot system according to claim 1, wherein the augmented reality image processing unit is adapted to change at least one of the display color and display size of the laser beam when the virtual image is generated.

7. The laser processing robot system according to claim 6, wherein the augmented reality image processing unit is adapted to change at least one of the display color and display size of the laser beam in accordance with irradiation conditions for irradiation with the laser beam.

8. The laser processing robot system according to claim 1, wherein the display device is a head-mounted display configured to be integral with the imaging device.