Multiple-sensor robot system for obtaining two-dimensional image and three-dimensional position information

• US 5,987,591 A
• Filed: 08/26/1997
• Issued: 11/16/1999
• Est. Priority Date: 12/27/1995
• Status: Expired due to Term

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Jyumonji, Takashi
• Primary Examiner(s): Grant, William
• Assistant Examiner(s): Rapp, Chad
• Application Number:
  US08/894,688
• Time in Patent Office: 812 Days
• Field of Search: 395/80, 395/93, 395/88, 712/94
• US Class Current: 700/259
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/36427 Jog feed to a command position, if close enough robot takes over positioning
• CPC Class Codes: G05B 2219/39391 Visual servoing, track end effector with camera image feedback
• CPC Class Codes: G05B 2219/40607 Fixed camera to observe workspace, object, workpiece, global
• CPC Class Codes: G05B 2219/40613 Camera, laser scanner on end effector, hand eye manipulator, local
• CPC Class Codes: G05B 2219/45123 Electrogoniometer, neuronavigator, medical robot used by surgeon to operate

Abstract

An image of a workpiece is taken by a CCD camera, which includes a view field covering a supply range of the workpiece, and is transmitted to an image processor to detect the position and posture of the workpiece. A robot controller controls a robot to approach a position from another position based on the result of the detection. Then, a measurement using a laser sensor is started. Scanning laser beams projected from an emitter are detected by a light detector and the detected data are analyzed by the image processor. When the robot reaches a third position, the measurement is terminated. The laser sensor may be of a split-light-projection type. For the approaching movement, the image taken by the camera is displayed on a display device to perform a jogfeed of the robot on the screen.

Claims

1. A multiple-sensor robot system comprising:

a robot;

a multiple sensor comprising;

first sensing means for obtaining a two-dimensional image within a relatively large area, and

second sensing means for measuring a three-dimensional position within a relative small area by projecting light on the relative small area;

means for outputting an operation command for said first sensor means;

means for outputting an operation command for said second sensor means;

means for processing an image signal obtained by said first sensor means;

means for processing a measurement output signal of said second sensor means;

robot control means for controlling said robot;

wherein said processing of said image signal from said first sensor means includes processing for determining a position of an object to be measured in said relatively large area;

said robot control means includes means for making said robot perform an approach movement to said object based on said determined position of said object; and

said processing of said measurement output signal from said second sensor means includes processing of said measuring output signal outputted after said second sensor means is moved to an approach position by said approach movement.

2. A multiple-sensor robot system according to claim 1, comprising an image processor which serves as said image signal processing means and also said measuring output signal processing means.

3. A multiple-sensor robot system according to claim 1, wherein said first sensor means comprises a visual sensor using a camera.

4. A multiple-sensor robot system according to claim 1, wherein said second sensor means comprises a laser sensor using a laser spot light or a laser slit light.

5. A multiple-sensor robot system according to claim 1, wherein said multiple sensor includes an element shared by said first sensor means and said second sensor means.

6. A multiple-sensor robot system according to claim 1, wherein said first sensor means comprises a visual sensor using a camera, and said second sensor means comprises a laser sensor using a laser spot light or a laser slit light, and said camera of said visual sensor is used as a light receiving section of said laser sensor.

7. A multiple-sensor robot system according to claim 1, wherein said processing for determining a position of the object to be measured includes processing for obtaining an amount of deviation from a reference position of said object, and

said approach position is determined as a position which is obtained by correcting a taught approach position according to said obtained amount of deviation.

8. A multiple-sensor robot system according to claim 1, further including image displaying means for displaying said two-dimensional image obtained by said first sensor means, and means for inputting said approach position on said two-dimensional image displayed by said image displaying means.

9. A multiple-sensor robot system comprising:

a robot; and

a multiple sensor comprising;

first sensing means for obtaining a two-dimensional image within a relatively large area, and

second sensing means for measuring a three-dimensional position within a relative small area by projecting light on the relative small area, wherein said first sensor means comprises a visual sensor using a camera, and said second sensor means comprises a laser sensor using a laser spot light or a laser slit light, and said camera of said visual sensor is used as a light receiving section of said laser sensor.