Robot, control device, and control method

Patent metadata

Field	Value
Publication number	US-10052767-B2
Application number	US-201615183978-A
Country	US
Kind code	B2
Filing date	Jun 16, 2016
Priority date	Jun 17, 2015
Publication date	Aug 21, 2018
Grant date	Aug 21, 2018

Abstract

A robot, wherein the robot operates on the basis of a picked-up image of at least a part of a work space of the robot picked up by an image pickup section, and a transparent member is disposed between the robot and the work space of the robot.

First claim

What is claimed is:

1. A robot comprising:
an arm, the arm being configured to operate in a work space;
an image pickup device configured to obtain images of the work space, the images including first and second images;
a transparent member provided to cover the work space;
a memory configured to store computer-readable instructions; and
a processor configured to execute the computer-readable instructions so as to:
cause the image pickup device to obtain the first image when the transparent member exists between the image pickup device and the work space;
cause the image pickup device to obtain the second image when the transparent member is out of a space between the image pickup device and the work space;
generate correction information based on the first and second images; and
operate the arm based on the correction information,

wherein the processor is configured to obtain an image difference between the first and second images, and
the correction information is generated based on the image difference.

2. The robot according to claim 1 ,
wherein the arm has a marker thereon, and
each of the first and second images includes an image of the marker.

3. The robot according to claim 1 ,
wherein each of the first and second images includes an image of a part of the robot.

4. A control device controlling an image pickup device and a robot arm, the robot arm being operable in a work space, the control device comprising:
a memory configured to store computer-readable instructions; and
a processor configured to execute the computer-readable instructions so as to:
cause the image pickup device to obtain a first image when a transparent member exists between the image pickup device and the work space;
cause the image pickup device to obtain a second image when the transparent member is out of a space between the image pickup device and the work space;
generate correction information based on the first and second images; and
operate the robot arm based on the correction information

wherein the processor is configured to obtain an image difference between the first and second imaqes, and
the correction information is generated based on the image difference.

5. A control method for causing a processor to execute computer-readable instructions stored in a memory so as to control a robot arm configured to operate in a work space covered by a transparent member and an image pickup device configured to obtain images of the work space, the control method comprising executing in the processor the steps of:
causing the image pickup device to obtain a first image when the transparent member exists between the image pickup device and the work space;
causing the image pickup device to obtain a second image when the transparent member is out of a space between the image pickup device and the work space;
generating correction information based on the first and second images; and
operating the robot arm based on the correction information,
wherein the processor is configured to obtain an image difference between the first and second imaqes, and
the correction information is qenerated based on the imaqe difference.

6. The control device according to claim 4 ,
wherein the robot arm has a marker thereon, and
each of the first and second images includes an image of the marker.

7. The control device according to claim 4 ,
wherein each of the first and second images includes an image of a part of the robot arm.

8. The control method according to claim 5 ,
wherein the robot arm has a marker thereon, and
each of the first and second images includes an image of the marker.

9. The control method according to claim 5 ,
wherein each of the first and second images includes an image of a part of the robot arm.

Assignees

• Seiko Epson Corp

Inventors

• Maruyama Kenichi
• Nammoto Takashi
• Harada Tomoki

Classifications

• B25J19/021

  Optical sensing devices · CPC title

• G07F11/62

  in which the articles are stored in compartments in fixed receptacles · CPC title

• G05B2219/39394

  Compensate hand position with camera detected deviation, new end effector attitude · CPC title

• G05B2219/39391

  Visual servoing, track end effector with camera image feedback · CPC title

• G05B19/41815

  characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell · CPC title