Robot system

• US 9,037,336 B2
• Filed: 03/15/2013
• Issued: 05/19/2015
• 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, Nakamura, Tamio
• Primary Examiner(s): TISSOT, ADAM D
• Application Number:
  US13/832,354
• Publication Number:
  US 20130204481A1
• Time in Patent Office: 795 Days
• Field of Search: 701/23, 701/27, 701/28, 701/1, 701/532, 382/153, 901/47, 700/245, 318/640, 180/169
• 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 a planar sign, a robot, a distance direction sensor, and a controller. The controller is configured to control the robot and includes a map data memory and a progress direction determining device. The map data memory is configured to store map data of a predetermined running path including a position of the planar sign. The progress direction determining device is 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.

Claims

1. A robot system comprising:

a planar sign provided along a predetermined running path, the planar sign having a diffusive reflection face for diffusive reflection of light for detection regardless of an angle of incidence of the light and mirror surface finished portions for mirror reflection of the light for detection, the mirror surface finished portions being respectively provided on both sides of the diffusive reflection face;

a robot having a running subsystem;

a distance direction sensor provided to the robot and configured to sense light diffusively reflected by the diffusive reflection face of the planar sign to detect a distance between the distance direction sensor and the planar sign and a direction from the robot to the planar sign; and

a controller configured to control the robot and comprising;

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.

2. The robot system according to claim 1, 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.

3. The robot system according to claim 1, wherein the planar sign is arranged on a wall forming the predetermined running path.

5. The robot system according to claim 1, wherein the planar sign comprises a plurality of planar signs.

6. The robot system according to claim 1, wherein the diffusive reflection face has patterns.

7. The robot system according to claim 1, wherein the diffusive reflection face comprises a paper.

8. The robot system according to claim 1, wherein the diffusive reflection face comprises a resin.

4. A robot system comprising:

a planar sign provided along a predetermined running path, the planar sign having a diffusive reflection face for diffusive reflection of light for detection regardless of an angle of incidence of the light and a mirror surface finished portion for mirror reflection of the light for detection, the mirror surface finished portion being inclined by a particular angle with respect to a vertical plane;

a robot having a running subsystem;

a distance direction sensor provided to the robot and configured to sense light diffusively reflected by the diffusive reflection face of the planar sign to detect a distance between the distance direction sensor and the planar sign and a direction from the robot to the planar sign, the distance direction sensor being configured to emit light for detection in a substantially horizontal direction; and

a controller configured to control the robot and comprising;

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.

9. The robot system according to claim 4, wherein the planar sign comprises a plurality of planar signs.

10. The robot system according to claim 4, wherein the diffusive reflection face has patterns.

11. The robot system according to claim 4, wherein the diffusive reflection face comprises a paper.

12. The robot system according to claim 4, wherein the diffusive reflection face comprises a resin.