Apparatus for recognizing and approaching a three-dimensional target

• US 4,941,106 A
• Filed: 12/05/1988
• Issued: 07/10/1990
• Est. Priority Date: 12/05/1987
• Status: Expired due to Fees

• Current Assignee: Noell GmbH 8700 Wurzburg FED REP of Germany
• Original Assignee: Noelle GmbH
• Inventors: Krieger, Friedrich
• Primary Examiner(s): MacDonald, Allen
• Application Number:
  US07/280,398
• Time in Patent Office: 582 Days
• Field of Search: 364/513, 901/47, 318/568.16
• US Class Current: 700/259
• CPC Class Codes: B23Q 17/24 using optics or electromagnetic waves
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 9/04 by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 19/427 Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control G05B19/423 takes precedence

Abstract

An apparatus for recognizing and approaching a target in a space not directly visible within the maximum range of an industrial robot with camera on the end of a boom. The camera is used to observe an environment of the space including the target and to send images to a monitor at a remote control station. The apparatus includes an industrial robot with a plurality of axes having degrees of freedom and a camera with a lens having an optical axis which can be selectively rotated 360 degrees around a first axis and selectively pivoted 180 degrees around a second axis that is perpendicular to the first axis. The rotating and pivoting motions are used to move the camera and the optical axis until the target can be seen in the monitor. A system is used to control various movements of the robot while sensing and maintaining the camera position and the target direction during movement of the end of the boom from the robot to the target.

Claims

1. An apparatus for recognizing and approaching a target in a space with an industrial robot of a type which has a camera on an end of a boom of said industrial robot, said camera being used to observe an environment of said space including said target and to send images thereof to a monitor at a remote control station, said apparatus comprising:

said industrial robot having a plurality of axes having degrees of freedom;

said camera having a lens with an optical axis;

means for selectively rotating said camera and said optical axis thereof by 360 degrees around a first axis of said plurality of axes;

means for selectively pivoting said camera and said optical axis thereof by 180 degrees around a second axis of said plurality of axes which is perpendicular to said first axis;

said means for selectively rotating and said means for selectively pivoting being used to move said camera and said optical axis thereof until said target can be seen in said monitor and located at a target position therein;

said camera having a camera position relative to said optical axis thereof and said optical axis having a target direction when said target is at said target position in said monitor;

means for moving said industrial robot through said degrees of freedom for each of said axes of said plurality of axes;

said means for moving said industrial robot including said means for selectively rotating and said means for selectively pivoting;

control means for controlling said means of moving;

said control means including means for sensing said camera position and said target direction of said optical axis;

said control means maintaining said camera position and said target direction during controlled movement of said end of said boom along said target direction to said target; and

said controlled movement by said control means being produced by said means for moving of a first group of said axes of said plurality of axes while said axes of a second group of said plurality of axes are limited to synchronous movement in direct response to said controlled movement of said axes of said first group.

2. The apparatus according to claim 1, wherein said control means includes means for selectively including each axis in said first group and for selectively excluding said each axis from said first group to limit said first group to include a maximum of three of said axes of said plurality of axes.

3. The apparatus according to claim 1, wherein said remote control station includes an operator control panel thereon and said remote control station includes means for displaying coordinates and directions of motion of said end of said boom from said control means.

4. The apparatus according to claim 3, wherein said control means includes means for storing said target direction and said controlled movements of said first group of said plurality of axes.

5. The apparatus according to claim 4, wherein said control means includes said means for storing to produce a repeat of said approaching of said target as said repeat of said approaching is displayed at said remote control station.

6. The apparatus according to claim 3, wherein said means for selectively rotating and said means for selectively pivoting are operated manually at said operator control panel of said remote control station to locate said target on said monitor in said target position and said controlled movement to said target is produced automatically by said control means.

7. The apparatus according to claim 1, further including a tool head on said end of said boom, wherein said tool head includes a tool axis of said plurality of axes, said camera and said optical axis thereof are outside of said tool axis, and said control means includes means for correcting a parallax error between said optical axis and said tool axis.

8. The apparatus according to claim 7, wherein said camera and said optical axis thereof can be moved relative to said tool axis and said optical axis and said tool axis intersect at said target.

9. The apparatus according to claim 8, wherein said camera is mounted on an arc-shaped camera guide and said optical axis extends through a center point of said tool axis throughout movement of said camera on said arc-shaped camera guide.

10. The apparatus according to claim 1, wherein said control means include means for avoiding contact with an object by said industrial robot by said controlled movement of said end of said boom along said target direction to said target and said means for avoiding includes adjusting said controlled movement away from said target direction until said object is clear of said industrial robot.

11. The apparatus according to claim 1, wherein said remote control station includes means for selectively interrupting said controlled movement and said remote control station includes manual control of said plurality of axes during activation of said means for selectively interrupting said controlled movement.