Robot System Equipped with a Tool, Camera and Light Source

• US 20080316306A1
• Filed: 01/13/2005
• Published: 12/25/2008
• Est. Priority Date: 02/05/2004
• Status: Abandoned Application

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler AG (Mercedes-Benz Group AG)
• Inventors: Haas, Uwe, Burkle, Hardy, Lorcher, Claus
• Application Number:
  US10/588,557
• Publication Number:
  US 20080316306A1
• Time in Patent Office: Days
• US Class Current: 348/86
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 19/04 Viewing devices
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G06T 1/0014 Image feed-back for automatic industrial control, e.g. robot with camera robots B25J19/023

Abstract

A robot system comprises one or more tools (5, 15), a camera (9) and a light source (13), which can be moved independent of the camera (9), in order to illuminate the field of vision of the camera from different directions.

Claims

1. A robot system equipped with one or more tools (5, 15), a camera (9) and a light source (13) for illuminating the filed of view of the camera (9), wherein the light source (13) and the camera (9) can be moved independently of one another in order to illuminate the filed of view from different directions.

2. The robot system as claimed in claim 1, wherein a subassembly that comprises the camera (9) and the light source (13) as well as at least a first adjusting device (10, 11, 12) for moving camera (9) and the light source (13) relative to one another can be moved by a second adjusting device (8) with reference to a common base.

3. The robot system as claimed in claim 2, wherein one of the camera (9) and light source (3) is firmly connected to the second adjusting device (8).

4. The robot system as claimed in claim 2, wherein a subassembly that comprises the camera (9) and at least one of the tools (15) as well as at least one third adjusting device (14) for moving camera (9) and tool (15) relative to one another can be moved by a fourth adjusting device (8) with reference to a common base.

5. The robot system as claimed in claim 4, wherein one of the camera (9) and tool (15) is firmly connected to the fourth adjusting device (8).

6. The robot system as claimed in claim 4, wherein the tools (5, 15) include at least a gripping tool (15) and a further tool (5).

7. The robot system as claimed in claim 6, wherein the number of degrees of freedom with which the gripping tool (15) and the camera (9) can be moved with reference to one another is greater than the number of degrees of freedom of the camera (9) and the gripping tool (15) with reference to a stationary part of the robot system.

8. A robot system equipped with

one or more tools (5, 15) for manipulation of a workpiece (6),

a camera (9) for detecting the geometric characteristics of the workpiece, the camera having a field of view, and

a light source (13) for illuminating the filed of view of the camera (9), wherein the light source (13) and the camera (9) are moveable independently of one another in order to illuminate the filed of view from different directions.

9. The robot system as claimed in claim 8, wherein a subassembly that comprises the camera (9) and the light source (13) as well as at least a first adjusting device (10, 11, 12) for moving camera (9) and the light source (13) relative to one another is moveable by a second adjusting device (8) with reference to a common base.

10. The robot system as claimed in claim 9, wherein one of the camera (9) and light source (3) is firmly connected to the second adjusting device (8).

11. The robot system as claimed in claim 9, wherein a subassembly that comprises the camera (9) and at least one of the tools (15) as well as at least one third adjusting device (14) for moving camera (9) and tool (15) relative to one another can be moved by a fourth adjusting device (8) with reference to a common base.

12. The robot system as claimed in claim 11, wherein one of the camera (9) and tool (15) is firmly connected to the fourth adjusting device (8).

13. The robot system as claimed in claim 11, wherein the tools (5, 15) include at least a gripping tool (15) and a further tool (5).

14. The robot system as claimed in claim 13, wherein the number of degrees of freedom with which the gripping tool (15) and the camera (9) can be moved with reference to one another is greater than the number of degrees of freedom of the camera (9) and the gripping tool (15) with reference to a stationary part of the robot system.