Robot system using a vision sensor

• US 9,782,897 B2
• Filed: 08/19/2016
• Issued: 10/10/2017
• Est. Priority Date: 08/31/2015
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Watanabe, Atsushi, Takahashi, Yuuki
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Peche, Jorge
• Application Number:
  US15/241,143
• Publication Number:
  US 20170057088A1
• Time in Patent Office: 417 Days
• Field of Search: 700247, 700255, 700259, 700262
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/40202 Human robot coexistence
• CPC Class Codes: G05B 2219/40203 Detect position of operator, create non material barrier to protect operator
• CPC Class Codes: Y10S 901/47 Optical
• CPC Class Codes: Y10S 901/49 Protective device

Abstract

In a robot system, a signal output unit outputs, depending on a processing result of an image processing unit, an entry preparation signal indicating an entry preparation state, and an entry permission signal for permitting a person to enter a predetermined section in a case where the person has been requested to enter the predetermined section. The entry preparation signal is outputted when the stopping of the operation of the robot is detected, and thereafter, when the person requests to enter the predetermined section, an instruction to stop the operation of the robot, or an instruction to stop the operation of the robot as well as an instruction to stop a portion of the robot system which is necessary to enable the person to enter therein, are outputted, and the entry permission signal is outputted.

Claims

1. A robot system including a robot which is provided in a robot operating section and a robot controller which controls the operation of the robot in the robot operating section, comprising:

an imaging unit for imaging a predetermined section which includes at least a portion of the robot operating section;

an image processing unit which processes images taken by the imaging unit;

an entry request unit which is to be operated when a person requests to enter the predetermined section; and

a signal output unit which outputs, depending on a processing result of the image processing unit, an entry preparation signal indicating an entry preparation state for receiving the operation of the entry request unit, and an entry permission signal indicating that, in a case where the entry request unit has requested the person to enter the predetermined section, the person is permitted to enter the predetermined section;

wherein if the image processing unit detects that the operation of the robot has been stopped, the signal output unit outputs the entry preparation signal, and thereafter, if the person requests to enter the predetermined section using the entry request unit, an instruction to stop the operation of the robot, or an instruction to stop the operation of the robot as well as an instruction to stop a portion of the robot system which is necessary to enable the person to enter therein, are outputted, and the signal output unit outputs the entry permission signal.

2. The robot system according to claim 1, wherein when the robot is operating, the signal output unit outputs, depending on a processing result of the image processing unit, at least either one of an entry disabling signal indicating that the person is not permitted to enter the predetermined section and the entry permission signal.

3. The robot system according to claim 1, wherein, only if the image processing unit detects that the robot has stopped its operation at a previously taught stopping position, the signal output unit outputs the entry preparation signal, and thereafter, if the person requests to enter the predetermined section using the entry request unit, an instruction to stop the operation of the robot, or an instruction to stop the operation of the robot as well as an instruction to stop a portion of the robot system which is necessary to enable the person to enter therein, are outputted.

4. The robot system according to claim 1, wherein if the image processing unit detects that the person has exited the predetermined section, the portion of the robot system or the robot is configured to be restarted.

5. The robot system according to claim 1, wherein if the image processing unit detects, after the signal output unit outputs the entry permission signal, that the operation of the robot has been started, an instruction to stop the operation of the robot, or an instruction to stop the operation of the robot as well as an instruction to stop a portion of the robot system which is necessary to enable the person to enter therein, are outputted.

6. The robot system according to claim 1, wherein the image processing unit includes a moving body determining portion which determines that a moving body which includes a worn article image model of an article worn by the person is the person and which determines that a moving body which does not include the worn article image model is a foreign object, and

wherein if the moving body, which has been determined as being the foreign object by the moving body determining portion, is detected in the predetermined section, an instruction to stop the operation of the robot, or an instruction to stop the operation of the robot as well as an instruction to stop a portion of the robot system which is necessary to enable the person to enter therein, are outputted.

7. The robot system according to claim 1, wherein if the image processing unit loses sight of the person before it detects that the person has exited the predetermined section, an instruction to stop the operation of the robot, or an instruction to stop the operation of the robot as well as an instruction to stop a portion of the robot system which is necessary to enable the person to enter therein, are outputted.

8. The robot system according to claim 1, wherein the image processing unit includes a moving body determining portion, and wherein if the moving body determining portion determines that a moving body in the predetermined section is the person before the signal output unit outputs the entry permission signal, an instruction to stop the operation of the robot, or an instruction to stop the operation of the robot as well as an instruction to stop a portion of the robot system which is necessary to enable the person to enter therein, are outputted.

9. The robot system according to claim 2, wherein the signal output unit includes at least one of a first output portion which outputs the entry permission signal and a second output portion which outputs the entry disabling signal, and a third output portion which outputs the entry preparation signal,

in the case where the signal output unit includes only the first output portion and the third output portion, the fact that the first output portion does not output the entry permission signal, means that the person is not permitted to enter the predetermined section, and the first output portion and the third output portion are disposed such that they are recognizable to the person,

in the case where the signal output unit includes only the second output portion and the third output portion, the fact that the second output portion does not output the entry disabling signal, means that the person is permitted to enter the predetermined section, and the second output portion and the third output portion are disposed such that they are recognizable to the person, and

in the case where the signal output unit includes the first output portion, the second output portion, and the third output portion, the first output portion, the second output portion, and the third output portion are disposed such that they are recognizable to the person.

10. The robot system according to claim 3, wherein the stopping position is taught as a space of predetermined size, and wherein, when the image processing unit detects that the robot has stopped its operation in the space, it is considered that the robot has stopped at the stopping position.

11. The robot system according to claim 9, wherein the entry permission signal, the entry disabling signal, or the entry preparation signal is outputted either visually or audibly, or both such that they are different from one another.

12. A robot system including a robot which is provided in a robot operating section and a robot controller which controls the operation of the robot in the robot operating section, comprising:

an imaging unit for imaging a predetermined section which includes at least a portion of the robot operating section;

an image processing unit which processes images taken by the imaging unit;

an entry request unit which is to be operated when a person requests to enter the predetermined section; and

a signal output unit which outputs, depending on a processing result of the image processing unit, an entry preparation signal indicating an entry preparation state for receiving the operation of the entry request unit, and an entry permission signal indicating that, in a case where the entry request unit has requested the person to enter the predetermined section, the person is permitted to enter the predetermined section;

wherein if the image processing unit detects that the operation of the robot has been stopped at a previously taught stopping position, only when the person previously requests to enter the predetermined section using the entry request unit, the entry preparation signal is outputted from the time the entry is requested, and at the time of detecting the stopping of the operation of the robot at the previously taught stopping position, an instruction to stop the operation of the robot, or an instruction to stop the operation of the robot as well as an instruction to stop a portion of the robot system which is necessary to enable the person to enter therein, are outputted, and the signal output unit outputs the entry permission signal.