ROBOT SYSTEM

• US 20100152944A1
• Filed: 08/31/2009
• Published: 06/17/2010
• Est. Priority Date: 12/11/2008
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: NAKAMURA, Tamio, KOUNO, Dai
• Granted Patent: US 8,473,141 B2
• Time in Patent Office: Days
• US Class Current: 701/26
• CPC Class Codes: G05B 2219/39387 Reflex control, follow movement, track face, work, hand, visual servoing
• CPC Class Codes: G05B 2219/40005 Vision, analyse image at one station during manipulation at next station
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robot system includes camera, a distance direction sensor and a controller. The controller is configured to store a plurality of instruction images obtained as a target of the real-time image at each of a plurality of discrete instruction points provided on a predetermined running path. The controller is configured to switch, on the basis of predetermined switching conditions, between an image guidance mode in which the controller controls a running subsystem on the basis of a comparison result between the real-time image and the instruction image, and a measurement distance guidance mode in which the controller controls the running subsystem on the basis of a detection result of the distance direction sensor.

Claims

1. A robot system, comprising:

a robot having a running subsystem;

a camera configured to capture a real-time image;

a distance direction sensor configured to detect a distance to and a direction of an object existing in the vicinity of the robot system; and

a controller configured to control the robot, the controller having

a memory unit configured to store a plurality of instruction images obtained as targets of the real-time image at each of a plurality of discrete instruction points provided on a predetermined running path,

an image guidance unit configured to control the running subsystem on the basis of a comparison result between the real-time image and the instruction image,

a measurement distance guidance unit configured to control the running subsystem on the basis of a detection result of the distance direction sensor, and

a switch unit configured to set one of the image guidance unit and the measurement distance guidance unit to be effective on the basis of predetermined switching conditions.

2. The robot system according to claim 1, wherein

the controller is further configured to extract an area satisfying predetermined conditions from a pixel arrangement of the real-time image as a distinctive point, and

the switch unit is further configured to set the image guidance unit to be effective in a case where the number of the distinctive points is equal to or more than a predetermined image guidance beginning number.

3. The robot system according to claim 1, wherein

the controller is further configured to extract an area satisfying predetermined conditions from a pixel arrangement of the real-time image as a distinctive point, and

the switch unit is further configured to set the measurement distance guidance unit to be effective in a case where the number of the distinctive points is equal to or less than a predetermined image guidance beginning number.

4. The robot system according to claim 1, wherein the switch unit is further configured to set the measurement distance guidance unit to be effective in a case where the comparison result (error) between the real-time image and the instruction image is greater than a threshold.

5. The robot system according to claim 1, wherein the switch unit is further configured to set the image guidance unit to be effective in a case where the comparison result (error) between the real-time image and the instruction image is smaller than a threshold.

6. The robot system according to claim 1, further comprising a planar sign provided along the running path, the planar sign having a diffusive reflection face for diffusive reflection of light and a mirror surface finished portion for mirror reflection of light, wherein

the controller further has

a map data memory configured to store map data of the running path including a position of the planar sign, and

a progress direction determining unit configured to compare a detection result of the distance direction sensor and the stored map data so as to determine a progress direction of the robot.

7. The robot system according to claim 6, wherein

the distance direction sensor is configured to emit light for detection in a substantially horizontal direction, and

the mirror surface finished portion is inclined by a particular angle with respect to a vertical plane.

8. The robot system according to claim 6, wherein the mirror surface finished portion is provided on each of both sides of the diffusive reflection face.

9. The robot system according to claim 6, wherein the planar sign is provided at an end of a portion of the running path on which the robot progresses straight ahead in such a way as to face in a direction opposite to a direction in which the robot progresses straight ahead.

10. The robot system according to claim 6, wherein the planar sign is arranged on a wall forming the running path.

11. The robot system according to claim 1, wherein the image guidance unit is further configured to obtain an offset value with respect to the running path instructed in advance, and to control the running subsystem on the basis of the comparison result between the real-time image and the instruction image, and on the basis of the obtained offset value.

12. The robot system according to claim 11, wherein

a normal running range and an offset running range are set on the running path instructed in advance, the robot being configured to autonomously run along the running path instructed in advance in the normal running range, the robot being configured to autonomously run along a path offset from the running path instructed in advance in the offset running range, and

a distance between the instruction points corresponding to the instruction images stored in the memory unit is smaller in the offset running range than in the normal running range.

13. The robot system according to claim 11 comprising a plurality of the robots.

14. A robot system, comprising:

a planar sign provided along a preset running path, the planar sign having a diffusive reflection face for diffusive reflection of light for detection and a mirror surface finished portion for mirror reflection of the light for detection;

a robot having a running subsystem;

a distance direction sensor provided to the robot, the distance direction sensor being configured to detect a distance and a direction from the robot to an object existing in a search range; and

a controller configured to control the robot, the controller having

a map data memory configured to store map data of the running path including a position of the planar sign, and

a progress direction determining unit configured to compare a detection result of the distance direction sensor and the stored map data so as to determine a progress direction of the robot.

15. A robot system, comprising:

a robot having a running subsystem;

a camera configured to capture a real-time image; and

a controller having a memory unit configured to store a plurality of instruction images obtained as targets of the real-time image at each of a plurality of discrete instruction points provided on a preset running path,

the controller being configured to obtain an offset value with respect to the running path instructed in advance, and to control the running subsystem on the basis of the comparison result between the real-time image and the instruction image, and on the basis of the obtained offset value.