Robot system

• US 8,473,141 B2
• Filed: 08/31/2009
• Issued: 06/25/2013
• Est. Priority Date: 12/11/2008
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: Kouno, Dai
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): TISSOT, ADAM D
• Application Number:
  US12/550,402
• Publication Number:
  US 20100152944A1
• Time in Patent Office: 1,394 Days
• Field of Search: None
• US Class Current: 701/23
• CPC Class Codes: G05B 2219/39387 Reflex control, follow movement, track face, work, hand, visual servoing
• CPC Class Codes: G05B 2219/40005 Vision, analyse image at one station during manipulation at next station
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robot system includes camera, a distance direction sensor and a controller. The controller is configured to store a plurality of instruction images obtained as a target of the real-time image at each of a plurality of discrete instruction points provided on a predetermined running path. The controller is configured to switch, on the basis of predetermined switching conditions, between an image guidance mode in which the controller controls a running subsystem on the basis of a comparison result between the real-time image and the instruction image, and a measurement distance guidance mode in which the controller controls the running subsystem on the basis of a detection result of the distance direction sensor.

Claims

1. A robot system comprising:

a robot having a running subsystem;

a camera configured to capture a real-time image;

a distance direction sensor configured to detect a distance between the distance direction sensor and an object and a direction from the distance direction sensor to the object; and

a controller configured to control the robot and comprising;

a memory configured to store a plurality of instruction images obtained as targets of the real-time image at each of a plurality of discrete instruction points provided on a predetermined running path;

an image guidance configured to control the running subsystem based on a comparison result between the real-time image and the instruction image;

a measurement distance guidance configured to control the running subsystem based on a detection result of the distance direction sensor;

a switch configured to set one of the image guidance and the measurement distance guidance to be effective to control the running system based on predetermined switching conditions; and

an extracting device configured to extract an area satisfying a predetermined condition from a pixel arrangement of the real-time image as a distinctive point, the switch being further configured to set the image guidance out of the image guidance and the measurement distance guidance to be effective to control the running system in a case where a number of the distinctive points is equal to or more than a predetermined image guidance beginning number, the switch being further configured to set the measurement distance guidance out of the image guidance and the measurement distance guidance to be effective to control the running system in a case where the number of the distinctive points is less than the predetermined image guidance beginning number.

3. The robot system according to claim 1, wherein the switch is further configured to set the measurement distance guidance out of the image guidance and the measurement distance guidance to be effective to control the running system in a case where the comparison result between the real-time image and the instruction image is greater than a threshold.

4. The robot system according to claim 1, wherein the switch is further configured to set the image guidance out of the image guidance and the measurement distance guidance to be effective to control the running system in a case where the comparison result between the real-time image and the instruction image is smaller than a threshold.

5. The robot system according to claim 1, further comprising:

a planar sign provided along the predetermined running path, the planar sign having a diffusive reflection face for diffusive reflection of light and mirror surface finished portions for mirror reflection of light, wherein

the controller further comprises

a map data memory configured to store map data of the predetermined running path including a position of the planar sign, and

a progress direction determining device configured to compare a detection result of the distance direction sensor and the stored map data so as to determine a progress direction of the robot.

6. The robot system according to claim 5, wherein

the distance direction sensor is configured to emit light for detection in a substantially horizontal direction, and

the mirror surface finished portion is inclined by a particular angle with respect to a vertical plane.

7. The robot system according to claim 5, wherein the mirror surface finished portions are provided on both sides of the diffusive reflection face.

8. The robot system according to claim 5, wherein the planar sign is provided at an end of a portion of the predetermined running path on which the robot progresses straight ahead in such a way as to face in a direction opposite to a direction in which the robot progresses straight ahead.

9. The robot system according to claim 5, wherein the planar sign is arranged on a wall forming the predetermined running path.

10. The robot system according to claim 1, wherein the image guidance is further configured to obtain an offset value with respect to the predetermined running path, and to control the running subsystem based on the comparison result between the real-time image and the instruction image, and based on the obtained offset value.

11. The robot system according to claim 10, wherein

a normal running range and an offset running range are set on the predetermined running path, the robot being configured to autonomously run along the predetermined running path in the normal running range, the robot being configured to autonomously run along a path offset from the predetermined running path in the offset running range, and

a distance between the instruction points in the offset running range is smaller than a distance between the instruction points in the normal running range.

12. The robot system according to claim 10 comprising a plurality of the robots.

2. A robot system comprising:

a robot having a running subsystem;

a camera configured to capture a real-time image;

a distance direction sensor configured to detect a distance between the distance direction sensor and an object and a direction from the distance direction sensor to the object; and

a controller configured to control the robot and comprising;

a memory configured to store a plurality of instruction images obtained as targets of the real-time image at each of a plurality of discrete instruction points provided on a predetermined running path;

an image guidance configured to control the running subsystem based on a comparison result between the real-time image and the instruction image;

a measurement distance guidance configured to control the running subsystem based on a detection result of the distance direction sensor;

a switch configured to set one of the image guidance and the measurement distance guidance to be effective to control the running system based on predetermined switching conditions; and

an extracting device configured to extract an area satisfying a predetermined condition from a pixel arrangement of the real-time image as a distinctive point, the switch being further configured to set the measurement distance guidance out of the image guidance and the measurement distance guidance to be effective to control the running system in a case where a number of the distinctive points is equal to or less than a predetermined image guidance beginning number, the switch being further configured to set the image guidance out of the image guidance and the measurement distance guidance to be effective to control the running system in a case where the number of the distinctive points is more than the predetermined image guidance beginning number.