Non-contact gesture controllable robot

Patent metadata

Field	Value
Publication number	US-10286567-B2
Application number	US-201715585554-A
Country	US
Kind code	B2
Filing date	May 3, 2017
Priority date	May 3, 2017
Publication date	May 14, 2019
Grant date	May 14, 2019

Abstract

A robot includes a moving mechanism, a sensor device and a control device. The sensor device senses a gesture of a user hand in a sensing zone thereof. The control device causes the moving mechanism to perform an action instruction that corresponds to the gesture when the gesture matches a piece of gesture data in a gesture database thereof.

First claim

What is claimed is:

1. A robot comprising:
a base;
a moving mechanism that includes a driver module mounted to said base, and a driven member that is configured to be driven by said driver module to move in one of a first direction, a second direction and a third direction, the first, second and third directions being perpendicular to each other;
a sensor device mounted to said driven member, and facing a sensing zone thereof for sensing, in a non-contact manner, a gesture performed by a user hand in the sensing zone, the sensing zone being separate from said sensor device by a minimum sensing distance in the third direction; and
a control device electrically coupled to said driver module and said sensor device, having a gesture database and an action instruction database corresponding to said gesture database, and configured to, when the gesture that is performed by the user hand in the sensing zone and that is sensed by said sensor device matches a piece of gesture data included in said gesture database, cause said driver module to execute an action instruction that is included in said action instruction database and that corresponds to the piece of gesture data.

2. The robot of claim 1 , wherein said gesture database includes following gesture data, and said action instruction database includes a following action instruction that corresponds to said following gesture data and that causes said driver module to drive said driven member to follow movement of the user hand; and
wherein said control device is further configured to, when the gesture that is performed by the user hand in the sensing zone and that is sensed by said sensor device matches said following gesture data, execute said following action instruction to cause said driver module to drive said driven member to follow movement of the user hand.

3. The robot of claim 1 , wherein said gesture database includes first inching gesture data, second inching gesture data and third inching gesture data, and said action instruction database includes:
a first inching action instruction that corresponds to said first inching gesture data and that causes said driver module to drive inching of said driven member in the first direction;
a second inching action instruction that corresponds to said second inching gesture data and that causes said driver module to drive inching of said driven member in the second direction; and
a third inching action instruction that corresponds to said third inching gesture data and that causes said driver module to drive inching of said driven member in the third direction;
wherein said control device is further configured to, when the gesture that is performed by the user hand in the sensing zone and that is sensed by said sensor device matches said first inching gesture data, execute said first inching action instruction to cause said driver module to drive movement of said driven member by a first inching distance in the first direction;
wherein said control device is further configured to, when the gesture that is performed by the user hand in the sensing zone and that is sensed by said sensor device matches said second inching gesture data, execute said second inching action instruction to cause said driver module to drive movement of said driven member by a second inching distance in the second direction; and
wherein said control device is further configured to, when the gesture that is performed by the user hand in the sensing zone and that is sensed by said sensor device matches said third inching gesture data, execute said third inching action instruction to cause said driver module to drive movement of said driven member by a third inching distance in the third direction.

4. The robot of claim 3 , wherein each of the first, second, and third inching distances is adjustable between one millimeter and ten millimeters.

5. The robot of claim 1 , wherein the sensing zone ranges between the minimum sensing distance and a maximum sensing distance from said sensor device in the third direction, the minimum sensing distance is ten centimeters, and the maximum sensing distance is twenty centimeters.

6. The robot of claim 1 , wherein said sensor device includes an infrared sensor module that is configured to sense whether or not the user hand is in the sensing zone, and a camera module that is configured to capture images in a direction toward the sensing zone.

7. The robot of claim 6 , further comprising:
a light emitting device that is electrically coupled to said control device, and that is configured to emit light in different manners corresponding to different states in which said robot operates; and
an end effector controllable by said control device to act;
wherein said sensor device further includes an adaption board on which said light emitting device and said end effector are disposed, and a bracket connected to said adaption board for mounting said infrared sensor module and said camera module thereto; and
wherein said adaption board has an installation surface to which said driven member is mounted, and a working surface which is opposite to said installation surface and to which said end effector is mounted.

8. The robot of claim 7 , wherein the third direction is perpendicular to said working surface.

9. The robot of claim 7 , wherein said adaption board further includes a surrounding surface which interconnects said installation surface and said working surface, and said light emitting device includes a plurality of light emitting diodes mounted to said surrounding surface.

10. The robot of claim 7 , wherein the different manners in which said light emitting device is configured to emit light differ from each other in terms of at least one of color of light or emission style.

Assignees

• Hiwin Tech Corp

Inventors

• Chang Che-Hsuan
• Chen Chih-Hsuan
• Huang Po-Chiao
• Jiang Zong-Sian

Classifications

• G06V10/75

  Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries · CPC title

• G06V40/28

  Recognition of hand or arm movements, e.g. recognition of deaf sign language (static hand signs G06V40/113) · CPC title

• G06F3/017 Primary

  Gesture based interaction, e.g. based on a set of recognized hand gestures (interaction based on gestures traced on a digitiser G06F3/04883) · CPC title

• G06F18/22

  Matching criteria, e.g. proximity measures · CPC title

• G05B2219/35444

  Gesture interface, controlled machine observes operator, executes commands · CPC title