Robot system and control method of robot system

Patent metadata

Field	Value
Publication number	US-10926415-B2
Application number	US-201615776644-A
Country	US
Kind code	B2
Filing date	Nov 16, 2016
Priority date	Nov 16, 2015
Publication date	Feb 23, 2021
Grant date	Feb 23, 2021

Abstract

A robot system including a plurality of manipulation parts used to input a command of the specified character information, configured to send the input command of the specified character information to an information processing device, including a manipulation tool unit capable of manipulating the plurality of manipulation parts of the character input device; a robot arm unit capable of holding and moving the manipulation tool unit; an imaging device; a controller including: an imaging device control section to take an image of the paper document; a character string determiner section to determine an input target of the paper document; a manipulation part position determiner section corresponding to the character string; and a robot control section controlling the arm unit so the manipulation tool unit held by the arm unit moves while manipulating the manipulation part determined by the character string determiner section in an arrangement order of the character string.

First claim

The invention claimed is:

1. A robot system configured to manipulate a character input device to perform a work operation for inputting specified character information written in a paper document, the character input device being located at a predetermined position, including a plurality of manipulation parts used to input a command of the specified character information, and being configured to send the input command of the specified character information to an information processing device, the robot system comprising:
a manipulation tool unit capable of manipulating each of the plurality of manipulation parts of the character input device;
a robot including a robot arm unit which is capable of holding the manipulation tool unit and is configured to move the manipulation tool unit in a state in which the manipulation tool unit is held by the robot arm unit;
an imaging device; and
a controller including:
an imaging device control section which controls the imaging device to take an image of the paper document;
a character string determiner section which determines a character string as an input target of the paper document which is contained in image data obtained by the imaging device;
a manipulation part position determiner section which determines a position of the manipulation part corresponding to each character of the character string determined by the character string determiner section; and
a robot control section which controls the robot arm unit so that the manipulation tool unit held by the robot arm unit moves while manipulating the manipulation part determined by the character string determiner section in an arrangement order of characters of the character string, based on the position of the manipulation part corresponding to each character of the character string, which is determined by the manipulation part position determiner section.

2. The robot system according to claim 1 ,
wherein the controller further comprises:
a path calculation section which calculates an operation path on which the robot arm unit operates so that the manipulation tool unit held by the robot arm unit moves while manipulating the manipulation part determined by the character string determiner section in the arrangement order of the characters of the character string, based on the position of the manipulation part corresponding to each character of the character string, which is determined by the manipulation part position determiner section,
wherein the robot control section is configured to control the robot arm unit based on the operation path.

3. The robot system according to claim 2 ,
wherein the manipulation tool unit includes a first manipulation tool and a second manipulation tool,
wherein the robot arm unit includes a first robot arm which is capable of holding the first manipulation tool and is configured to move the first manipulation tool in a state in which the first manipulation tool is held by the first robot arm, and a second robot arm which is capable of holding the second manipulation tool and is configured to move the second manipulation tool in a state in which the second manipulation tool is held by the second robot arm, and
wherein the path calculation section calculates a first operation path on which the first robot arm operates and a second operation path on which the second robot arm operates so that the first manipulation tool held by the first robot arm and the second manipulation tool held by the second robot arm move while manipulating the manipulation part determined by the character string determiner section in the arrangement order of the characters of the character string.

4. The robot system according to claim 3 , further comprising:
a suction unit including a first suction tool and a second suction tool, each of the first suction tool and the second suction tool being configured to suction an upper surface of the paper document,
wherein the controller further includes a suction unit control section which controls an operation of the suction unit for suctioning the paper document and an operation of the suction unit for releasing the paper document,
wherein the first robot arm is capable of holding the first suction tool and is configured to move the first suction tool held by the first robot arm, and
wherein the second robot arm is capable of holding the second suction tool and is configured to move the second suction tool held by the second robot arm.

5. The robot system according to claim 4 ,
wherein the robot control section is configured to control the first robot arm to locate the first suction tool at a first position where the first suction tool contacts an upper surface of a region which is in the vicinity of one of a pair of opposite side edges of the paper document,
wherein the suction unit control section is configured to control the suction unit to cause the first suction tool to suction the paper document,
wherein the robot control section is configured to control the second robot arm to locate the second suction tool at a second position where the second suction tool contacts an upper surface of a region which is in the vicinity of the other of the pair of opposite side edges of the paper document,
wherein the suction unit control section is configured to control the suction unit to cause the second suction tool to suction the paper document, and
wherein the robot control section is configured to control the second robot arm to move the second suction tool to a third position that is above the first suction tool in a normal line direction of an extending surface of the paper document, to then move the second suction tool back and forth between a fourth position that is between the second position and the third position, and the third position, and to control the first robot arm and the second robot arm to move the first suction tool and the second suction tool in a direction crossing the normal line direction of an upper surface of the paper document.

6. The robot system according to claim 1 ,
wherein the information processing device includes a display device including a display screen which displays the character information having been input by the character input device,
wherein the imaging device control section is configured to control the imaging device to take an image of the display screen,
wherein the character string determiner section is configured to determine an input character string corresponding to the character string having been input by the character input device and contained in the image data of the display screen having been obtained by the imaging device, and
wherein the controller further includes an input error determiner section which determines whether or not the character string as the input target contained in the image data of the paper document matches the input character string having been input by the character input device and contained in the image data of the display screen.

7. The robot system according to claim 1 ,
wherein the character input device is a hardware keyboard,
wherein the manipulation part is a key of the hardware keyboard, and
wherein the robot control section is configured to control the robot arm unit so that the manipulation tool unit moves while pushing down the key.

8. The robot system according to claim 7 ,
wherein a lower surface of the manipulation tool unit is curved to protrude in a downward direction and constitutes a contact element which contacts the key.

9. The robot system according to claim 7 ,
wherein the manipulation tool unit includes a float mechanism including an up-down element which is movable between a lower limit position and an upper limit position and has a lower surface configured

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Hashimoto Yasuhiko
• Kuraoka Shuhei
• Hasegawa Shogo
• Hibino Satoru
• Yamane Hideshi
• Mizumoto Hiroyuki
• Bando Kenji
• Himekawa Daichi
• Matsuoka Junichi
• UTO Tatsuhiro
• Kokushi Hiroki
• Tamada Souichi
• Haneda Akihiro
• Iwasaki Yukio

Classifications

• B25J15/0616 Primary

  with vacuum · CPC title

• B25J13/08 Primary

  by means of sensing devices, e.g. viewing or touching devices · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• B25J13/06

  Control stands, e.g. consoles, switchboards · CPC title

• B25J9/043

  double selective compliance articulated robot arms [SCARA] · CPC title