Robot with camera

• US 8,352,076 B2
• Filed: 05/25/2010
• Issued: 01/08/2013
• Est. Priority Date: 06/03/2009
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Someya, Yuichi
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): Edwards, Jerrah
• Application Number:
  US12/786,554
• Publication Number:
  US 20100312393A1
• Time in Patent Office: 959 Days
• Field of Search: 700/259, 901/2, 901/15, 901/47
• US Class Current: 700/259
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/37302 Measure tool length, workpiece configuration without stopping movement
• CPC Class Codes: G05B 2219/40033 Assembly, microassembly
• CPC Class Codes: G05B 2219/40598 Measure velocity, speed of end effector
• CPC Class Codes: G05B 2219/40609 Camera to monitor end effector as well as object to be handled
• CPC Class Codes: G05B 2219/40613 Camera, laser scanner on end effector, hand eye manipulator, local

Abstract

A robot with a camera includes a hand with a finger, a camera disposed on the hand, a robot arm including the hand, and a control portion which searches for a work based on an image obtained by the camera and controls the robot arm. In addition, a unit detects a velocity of the camera, and a unit detects a position of the camera relative to a predicted stopping position of the camera. The control portion permits the camera to take the image used for searching for the work, when the velocity of the camera takes a preset velocity threshold value or lower and the position of the camera relative to the predicted stopping position takes a preset position threshold value or lower.

Claims

1. A robot with a camera, comprising:

a hand with a finger;

a camera disposed on the hand;

a robot arm including the hand;

a control portion which searches for a work based on an image obtained by the camera and controls the robot arm;

a unit which detects a velocity of the camera; and

a unit which detects a position of the camera relative to a preset stopping position of the camera,

with the control portion being configured to control the camera to take the image used for searching for the work, when the velocity of the camera is equal to or lower than a preset velocity threshold value and the position of the camera relative to the preset stopping position is equal to or lower than a preset position threshold value.

2. A robot with a camera according to claim 1, wherein the unit which detects the velocity is a velocity sensor mounted on the camera.

3. A robot with a camera according to claim 1, further comprising a force sensor which is disposed on the hand and measures a force applied to the finger, and

the unit which detects the velocity and the unit which detects the position respectively is configured to detect the velocity and the position of the camera based on an output of the force sensor.

4. A robot with a camera according to claim 1, further comprising a unit which detects an acceleration of the camera, and

the control portion is configured to control the camera to take the image used for searching for the work, when the acceleration of the camera is equal to or lower than a preset acceleration threshold value, the velocity of the camera is equal to or lower than the preset velocity threshold value, and the position of the camera is equal to or lower than the preset position threshold value.