POSITION DETECTION DEVICE FOR ROBOT, ROBOTIC SYSTEM, AND POSITION DETECTION METHOD FOR ROBOT
First Claim
1. A position detection device for a robot comprising:
- an imaging section adapted to image at least one of the robot and a work held by the robot as an imaging object during movement of the robot;
a calculation section adapted to calculate a location of the imaging object from an image taken by the imaging section;
an acquisition section adapted to obtain a drive amount of a drive source of the robot; and
a storage section adapted to store the calculated location of the imaging object and the drive amount so as to correspond to each other,wherein a common trigger signal for triggering the detection of the location of the imaging object is input to the imaging section and the acquisition section,the imaging section starts to image the imaging object in response to the trigger signal, andthe acquisition section starts to obtain the drive amount in response to the trigger signal.
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Abstract
A position detection device for a horizontal articulated robot includes a camera for imaging the robot or a work as an imaging object, a control section for calculating a location of the imaging object from an image, an acquisition section (I/O) for obtaining the drive amounts of first and second electric motors of the robot, and a storage section for storing the calculated location of the imaging object and the drive amounts so as to correspond to each other. A common trigger signal for detecting the location of the imaging object is input to the camera and the I/O. The camera starts to image the imaging object in response to the input of the trigger signal. The I/O starts to obtain the drive amounts in response to the input of the trigger signal.
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Citations
11 Claims
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1. A position detection device for a robot comprising:
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an imaging section adapted to image at least one of the robot and a work held by the robot as an imaging object during movement of the robot; a calculation section adapted to calculate a location of the imaging object from an image taken by the imaging section; an acquisition section adapted to obtain a drive amount of a drive source of the robot; and a storage section adapted to store the calculated location of the imaging object and the drive amount so as to correspond to each other, wherein a common trigger signal for triggering the detection of the location of the imaging object is input to the imaging section and the acquisition section, the imaging section starts to image the imaging object in response to the trigger signal, and the acquisition section starts to obtain the drive amount in response to the trigger signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A position detection method for a robot comprising:
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imaging at least one of the robot and a work held by the robot as an imaging object during movement of the robot; calculating a location of the imaging object from an image taken in the imaging; obtaining a drive amount of a drive source of the robot; and storing the calculated location of the imaging object and the drive amount so as to correspond to each other, wherein the imaging step and the obtaining step start in response to a common trigger signal for triggering the detection of the location of the imaging object.
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Specification