Position detection device for robot, robotic system, and position detection method for robot
First Claim
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1. A position detection device for a robot comprising:
- an imaging section configured to take an image of an object located in an imaging area during movement of the robot, the object being held by an end effector of the robot;
an image processor configured to calculate a centroid of the object based on the image taken by the imaging section;
an acquisition section configured to obtain a drive amount of a drive source of the robot so as to calculate an end effector calculated position;
a controller configured to correct an end effector location of the end effector; and
a sensor including;
a light projector that outputs a light; and
a light receiver that receives the light, whereinthe light traverses the imaging area of the imaging section so that the sensor is configured to generate a common trigger signal when the object is detected by the sensor based on the light, whereinthe imaging section starts to take the image of the object when the imaging section receives the common trigger signal,the acquisition section starts to obtain the drive amount when the acquisition section receives the common trigger signal, andan object location of the object is detected based on the image and the drive amount, andthe controller corrects the end effector location based on the centroid of the object and the end effector calculated position.
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Abstract
A position detection device for a horizontal articulated robot includes a camera for imaging the robot or a work as an imaging object, a control section for calculating a location of the imaging object from an image, an acquisition section (I/O) for obtaining the drive amounts of first and second electric motors of the robot, and a storage section for storing the calculated location of the imaging object and the drive amounts so as to correspond to each other. A common trigger signal for detecting the location of the imaging object is input to the camera and the I/O. The camera starts to image the imaging object in response to the input of the trigger signal. The I/O starts to obtain the drive amounts in response to the input of the trigger signal.
24 Citations
11 Claims
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1. A position detection device for a robot comprising:
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an imaging section configured to take an image of an object located in an imaging area during movement of the robot, the object being held by an end effector of the robot; an image processor configured to calculate a centroid of the object based on the image taken by the imaging section; an acquisition section configured to obtain a drive amount of a drive source of the robot so as to calculate an end effector calculated position; a controller configured to correct an end effector location of the end effector; and a sensor including; a light projector that outputs a light; and a light receiver that receives the light, wherein the light traverses the imaging area of the imaging section so that the sensor is configured to generate a common trigger signal when the object is detected by the sensor based on the light, wherein the imaging section starts to take the image of the object when the imaging section receives the common trigger signal, the acquisition section starts to obtain the drive amount when the acquisition section receives the common trigger signal, and an object location of the object is detected based on the image and the drive amount, and the controller corrects the end effector location based on the centroid of the object and the end effector calculated position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A position detection method for a robot comprising:
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taking an image of an object located in an imaging area during movement of the robot, the object being held by an end effector of the robot; calculating a centroid of the object based on the image; obtaining a drive amount of a drive source of the robot so as to calculate an end effector calculated position; correcting an end effector location of the end effector; and generating a common trigger signal when a sensor detects the object, wherein the sensor includes; a light projector that outputs a light; and a light receiver that receives the light, wherein the light traverses the imaging area so that the sensor detects the object based on the light, the taking and the obtaining start in response to receiving the common trigger signal so that an object location of the object is detected based on the image and the drive amount, and the end effector location is corrected based on the centroid of the object and the end effector calculated position.
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Specification
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Current AssigneeSeiko Epson Corporation (Seiko Group)
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Original AssigneeSeiko Epson Corporation (Seiko Group)
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InventorsIuchi, Chieko, Igarashi, Katsuji, Asada, Atsushi, Setsuda, Nobuyuki
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Primary Examiner(s)Jen, Ian
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Application NumberUS13/372,866Publication NumberTime in Patent Office1,694 DaysField of Search700/259, 901/19, 901/30, 901/47US Class Current1/1CPC Class CodesB25J 9/1697 Vision controlled systemsG05B 2219/39397 Map image error directly to...
