Robot system and robot control method

• US 9,393,696 B2
• Filed: 06/04/2014
• Issued: 07/19/2016
• Est. Priority Date: 06/17/2013
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Hayashi, Tadashi
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US14/296,030
• Publication Number:
  US 20140371910A1
• Time in Patent Office: 776 Days
• Field of Search: 700/245, 700/250, 700/251, 700/253, 700/258, 700/259, 318/568.11, 318/568.12, 318/568.16, 318/568.21
• US Class Current: 1/1
• CPC Class Codes: B05C 11/1018 responsive to distance of target
• CPC Class Codes: B05C 5/0216 by relative movement of article and outlet according to a predetermined path
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robot system includes a robot body, a camera mounted on the robot body and capable of photographing a work piece; and a control device for driving and controlling the robot body based on a trajectory to an instruction point, which is set in advance, and, when the camera arrives at an area in which the camera is capable of photographing the work piece during this driving and controlling, driving and controlling the robot body so that the camera moves linearly toward the work piece, taking an image of the work piece with the camera while the camera is moving linearly, and measuring a position of the work piece from the taken image.

Claims

1. A robot system, comprising:

a robot body;

a camera mounted on the robot body configured to take an image of an object; and

a control device for driving the robot body based on a trajectory to an instruction point, which is set in advance, and, when driving the robot body so that the camera moves linearly toward the object in parallel with an optical axis of the camera, taking an image of the object with the camera while the camera is moving linearly, and measuring a position of the object from the taken image.

2. The robot system according to claim 1, wherein, when the camera arrives at the area in which the camera is configured to take an image of the object, the control device drives the robot body so that the instruction point is located on an optical axis of the camera.

3. The robot system according to claim 1,

wherein the robot body comprises a robot arm and an end effector, the end effector being mounted on a tip of the robot arm to perform a given work, and

wherein the camera is mounted on one of the robot arm and the end effector at a given angle with respect to the end effector so that a tip of the end effector is included in the taken image.

4. The robot system according to claim 2,

wherein the robot body comprises a robot arm and an end effector, the end effector being mounted on a tip of the robot arm to perform a given work, and

wherein the camera is mounted on one of the robot arm and the end effector at a given angle with respect to the end effector so that a tip of the end effector is included in the taken image.

7. The robot system according to claim 1, wherein the control device modifies the trajectory of the robot body based on the measured position of the object.

5. A robot system, comprising:

a robot body;

a stereo camera mounted on the robot body and configured to take an image of an object; and

a control device for driving the robot body based on a trajectory to an instruction point, which is set in advance, and, during this driving, driving the robot body so that the stereo camera moves linearly toward the object so as to be parallel to the epipolar plane, taking an image of the object with the stereo camera while the stereo camera is moving linearly, and measuring a three-dimensional position of the object from the taken image.

6. The robot system according to claim 5, wherein the control device drives the robot body so that the stereo camera moves linearly in parallel to an epipolar plane including a plane that comprises two focal points of the stereo camera and the instruction point set in advance.

8. The robot system according to claim 5, wherein the control device modifies the trajectory of the robot body based on the measured three-dimensional position of the object.

9. A robot control method, comprising:

a linear movement control step of driving, by a control unit, a robot body based on a trajectory to an instruction point, which is set in advance, and, during this driving, driving the robot body so that the camera moves linearly toward the object so as to be parallel to the epipolar plane;

a object position measuring step of taking, by the control unit, an image of the object with the camera while the camera is moving linearly, and measuring a position of the object from the taken image.

10. The robot control method according to claim 9, wherein the linear movement control step further comprises driving and controlling the robot body so that the camera moves linearly in parallel to an optical axis of the camera.

13. The robot control method according to claim 9, further comprising a trajectory modifying step of modifying, by the control unit, the trajectory of the robot body based on the measured position of the object.

11. A robot control method, comprising:

a linear movement control step of driving, by a control unit, a robot body based on a trajectory to an instruction point, which is set in advance, and, during this driving, driving the robot body so that the stereo camera moves linearly toward the object so as to be parallel to the epipolar plane; and

a three-dimensional position measuring step of taking, by the control unit, an image of the object with the stereo camera while the stereo camera is moving linearly, and measuring a three-dimensional position of the object from the taken image.

12. The robot control method according to claim 11, wherein the linear movement control step further comprises driving and controlling the robot body so that the stereo camera moves linearly in parallel to an epipolar plane including a plane that comprises two focal points of the stereo camera and the instruction point.

14. The robot control method according to claim 12, further comprising a trajectory modifying step of modifying, by the control unit, the trajectory of the robot body based on the measured three-dimensional position of the object.

15. A non-transitory computer-readable recording medium having recorded thereon the robot control program for controlling a computer so that the computer executes the steps of a robot control method, the method comprising:

a linear movement control step of driving, by a control unit, a robot body based on a trajectory to an instruction point, which is set in advance, and, during this driving, driving the robot body so that the camera moves linearly toward the object so as to be parallel to the epipolar plane;

a object position measuring step of taking, by the control unit, an image of the object with the camera while the camera is moving linearly, and measuring a position of the object from the taken image.

16. A non-transitory computer-readable recording medium having recorded thereon the robot control program for controlling a computer so that the computer executes the steps of a robot control method, the method comprising:

a linear movement control step of driving, by a control unit, a robot body based on a trajectory to an instruction point, which is set in advance, and, during this driving, driving the robot body so that the stereo camera moves linearly toward the object so as to be parallel to the epipolar plane; and

a three-dimensional position measuring step of taking, by the control unit, an image of the object with the stereo camera while the stereo camera is moving linearly, and measuring a three-dimensional position of the object from the taken image.