Three-dimensional measuring device, controller, and robot system

Patent metadata

Field	Value
Publication number	US-10837759-B2
Application number	US-201916451546-A
Country	US
Kind code	B2
Filing date	Jun 25, 2019
Priority date	Jun 26, 2018
Publication date	Nov 17, 2020
Grant date	Nov 17, 2020

Abstract

A three-dimensional measuring device includes a human detection information receiver for receiving information from a human detection sensor that detects a person present within a detection range, a laser emitter for irradiating a region including the object with the laser beam, a laser emission controller for controlling power of the laser beam irradiated from the laser emitter to first power and second power lower than the first power, an image capturing device for imaging the object, on which the laser beam is irradiated, and acquiring image data, and a point-group-data generator for generating, based on the image data, three-dimensional point group data of a region including the object. When the human detection information receiver receives, from the human detection sensor, first information indicating that a person is absent from the detection range, the laser emission controller controls the power of the laser beam to the first power.

First claim

What is claimed is:

1. A three-dimensional measuring system that performs three-dimensional measurement of an object using a laser beam, the three-dimensional measuring system comprising:
a robot configured to grasp the object, the robot being movable about movement range;
a human detection information receiver configured to receive information from a human detection sensor that detects a person present within a detection range that corresponds to the movement range of the robot;
a laser emitter configured to irradiate a region including the object with the laser beam;
a laser emission controller configured to control power of the laser beam irradiated from the laser emitter to first power and second power lower than the first power;
an image capturing device configured to image the object, on which the laser beam is irradiated, and acquire image data; and
a point-group-data generator configured to generate, based on the image data, three-dimensional point group data of a region including the object, wherein
when the human detection information receiver receives, from the human detection sensor, first information indicating that the person is absent within the detection range, the laser emission controller controls the power of the laser beam to the first power.

2. The three-dimensional measuring device according to claim 1 , wherein, when the human detection information receiver receives, from the human detection sensor, second information indicating that the person is present within the detection range, the laser emission controller controls the power of the laser beam to the second power.

3. The three-dimensional measuring device according to claim 1 , wherein the laser emission controller starts the irradiation of the laser beam at the second power and, when the human detection information receiver receives the first information before the irradiation of the laser beam is completed, maintains the irradiation of the laser beam at the second power.

4. The three-dimensional measuring device according to claim 1 , wherein the laser emission controller starts the irradiation of the laser beam at the first power and, when the human detection information receiver receives, before the irradiation of the laser beam is completed, from the human detection sensor, second information indicating that the person is present within the detection range, switches the power of the laser beam to the second power or stops the irradiation of the laser beam.

5. The three-dimensional measuring device according to claim 1 , further comprising an image capturing controller configured to control an image capturing mode of the image capturing device, wherein
the image capturing controller includes, as the image capturing mode, a first image capturing mode in which an exposure time of the image capturing device is a first exposure time and a second image capturing mode in which the exposure time of the image capturing device is longer than the first exposure time, and
when the power mode is the first power mode, the image capturing controller controls the image capturing mode to the first image capturing mode.

6. The three-dimensional measuring device according to claim 5 , wherein, when the power of the laser beam is the second power, the image capturing controller controls the image capturing mode to the second image capturing mode.

7. The three-dimensional measuring device according to claim 1 , wherein the laser emitter includes a mirror configured to diffuse the laser beam.

8. The three-dimensional measuring device according to claim 1 , wherein the laser emitter includes a lens configured to diffuse the laser beam.

9. The three-dimensional measuring device according to claim 1 , wherein the laser emitter includes a diffractive optical element configured to diffuse the laser beam.

Assignees

• Seiko Epson Corp

Inventors

• Wakabayashi Shuichi
• Hino Makiko
• Horiguchi Hirosada
• Ishida Daisuke

Classifications

• B25J19/022

  using lasers · CPC title

• B25J19/06

  Safety devices · CPC title

• G05B2219/40202

  Human robot coexistence · CPC title

• G01B11/2433 Primary

  for measuring outlines by shadow casting · CPC title

• G01C15/002

  Active optical surveying means (optical plumbing G01C15/105) · CPC title