Visual control robot system

• US 6,763,283 B1
• Filed: 09/05/1997
• Issued: 07/13/2004
• Est. Priority Date: 09/10/1996
• Status: Expired due to Fees

• Current Assignee: Record Audio, Inc.
• Original Assignee: Record Audio, Inc.
• Inventors: Murakami, Naoyuki
• Primary Examiner(s): Voeltz, Emanuel Todd
• Application Number:
  US08/924,856
• Time in Patent Office: 2,503 Days
• Field of Search: 395/80, 395/88, 395/99, 395/84, 395/94, 395/93, 364/513, 364/191, 364/140, 362/233, 128/898, 382/153, 482/904, 700/245, 700/258, 700/259, 701/23, 701/28, 701/207, 348/113
• US Class Current: 700/259
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/37266 Infrared
• CPC Class Codes: G05B 2219/37572 Camera, tv, vision
• CPC Class Codes: G05B 2219/40591 At least three cameras, for tracking, general overview and underview
• CPC Class Codes: G05B 2219/40607 Fixed camera to observe workspace, object, workpiece, global
• CPC Class Codes: G05B 2219/40611 Camera to monitor endpoint, end effector position

Abstract

A visually controlled robot system has a robot driven in three-dimensions to a target position by instructions from a controller. The position of the robot and its target are determined by video cameras placed to take images of the entire moving area of the robot from at least two directions and a control circuit for interpreting those images.

Claims

1. A visually controlled robot system comprising:

a robot means for moving three-dimensionally,

means for taking images of the entire moving area of the robot, the means for taking images comprising three video cameras mounted on three mutually perpendicular axis'"'"'s placed to provide images of the entire moving area of the robot from at least two directions,

a visible target existing within the moving area of the robot,

a control circuit having a function to recognize beforehand the moving area of the robot and another function to store in a memory the position of the visible target taken by said means for taking images as well as an ordering signal to move the robot so said position, and

a drive control means for driving the robot by said ordering signal from the memory of the control circuit.

2. A visually controlled robot system as claimed in claim 1, further comprising;

a display means for displaying a coordinate system of the moving area of the robot and

an input means, for entering a coordinate from the display means, wherein the control circuit further has a function to give said drive control means an ordering signal to move the robot to a position corresponding to the coordinate entered.

3. The visually controlled robot system as claimed in claim 1, wherein said video cameras are infrared video cameras and said visible target has an infrared light emitting diode and a battery and is able to bond to a surface of an object.

4. The visually controlled robot system as claimed in claim 1, wherein said display means and input means are on a wheel chair.