Robot system including robot supported by movable carriage

• US 10,500,731 B2
• Filed: 10/03/2017
• Issued: 12/10/2019
• Est. Priority Date: 10/04/2016
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Yoshida, Junichirou, Warashina, Fumikazu
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US15/723,732
• Publication Number:
  US 20180093380A1
• Time in Patent Office: 798 Days
• Field of Search: 700259, 700192, 700245, 700254, 901 1, 901 41, 701 26, 701 28, 701523
• CPC Class Codes: B25J 13/088 with position, velocity or acceleration sensors
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/37067 Calibrate work surface, reference markings on object, work surface
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile

Abstract

The robot system includes a carriage for supporting a robot. The robot system includes a camera, and a mark disposed in a workspace. The control device includes a position acquisition part that is configured to acquire a position of the mark on the basis of an image captured by the camera, and a determination part configured to determine whether or not the robot is located at a position within a predetermined determination range. When the determination part determines that the position of the robot deviates from the determination range, the display device displays the direction and the movement amount in which the carriage is to be moved.

Claims

1. A robot system comprising:

a robot configured to perform a predetermined work;

a carriage for supporting the robot, and configured to be moved by an operation of an operator;

a vision sensor fixed on a wrist of the robot;

a first mark and a second mark disposed in a workspace where the carriage is located when the robot performs the work;

a control device including an arithmetic processing device configured to process information acquired by the vision sensor and controlling an operation of the robot; and

a display device configured to display a result of the processing executed by the arithmetic processing device;

wherein

the control device changes a position and a posture of the robot so as to move the vision sensor to the position for capturing an image of the second mark and captures an image of the second mark by the vision sensor after the vision sensor captures an image of the first mark in a state where the carriage is moved to the workspace,

the arithmetic processing device includes a position acquisition part configured to acquire positions of the first mark and the second mark on the basis of images captured by the vision sensor, and a determination part configured to determine whether or not the robot is located at a position within a predetermined determination range on the basis of the positions of the first mark and the second mark acquired by the position acquiring part,

the determination part computes, in a case when determining that the position of the robot deviates from the determination range, a direction and a movement amount in which the carriage is to be moved so as to enable the robot to reach a target position, and the display device displays the direction and the movement amount in which the carriage is to be moved.

2. The robot system according to claim 1, wherein

relationships between the position of the robot and an image of the first mark and an image of the second mark acquired by the vision sensor are calibrated in advance in the vision sensor, and

the position acquisition part computes the positions of the first mark and the second mark by processing an image of the first mark and an image of the second mark, in which a positional relationships with respect to the workspace are set.

3. The robot system according to claim 1, wherein the determination part computes a distance between the actual position of the mark and the target position of the mark in a plurality of predetermined directions on the basis of positions of the first mark and the second mark acquired by the position acquisition part, and determines whether or not the distance is within the determination range in respective directions.

4. The robot system according to claim 1, wherein the display device updates a display on the basis of a result of a determination by the determination part such that the operator can adjust a position of the carriage while monitoring the display device.

5. A robot system comprising:

a robot configured to perform a predetermined work;

a carriage for supporting the robot, and configured to be moved by an operation of an operator;

a first vision sensor and a second vision sensor arranged in a workspace where the carriage is located when the robot performs the work;

a mark disposed on a wrist of the robot;

a control device including an arithmetic processing device configured to process information acquired by the vision sensor and controlling an operation of the robot; and

a display device configured to display a result of a computation executed by the arithmetic processing device;

wherein

the control device changes a position and a posture of the robot so as to move the mark to the position for capturing an image of the mark by the second vision sensor and captures an image of the mark by the second vision sensor after the first vision sensor captures an image of the mark in a state where the carriage is moved to the workspace,

the arithmetic processing device includes a position acquisition part configured to acquire positions of the mark on the basis of an image captured by the first vision sensor and an image captured by the second vision sensor, and a determination part configured to determine whether or not the robot is located at a position within a predetermined determination range on the basis of the positions of the mark acquired by the position acquiring part,

the determination part computes, in a case when determining that the position of the robot deviates from the determination range, a direction and a movement amount in which the carriage is to be moved so as to enable the robot to reach a target position, and the display device displays the direction and the movement amount in which the carriage is to be moved.