Robot system and method for controlling the same

Patent metadata

Field	Value
Publication number	US-11213956-B2
Application number	US-201916598565-A
Country	US
Kind code	B2
Filing date	Oct 10, 2019
Priority date	Sep 17, 2019
Publication date	Jan 4, 2022
Grant date	Jan 4, 2022

Abstract

Provided is a robot system. The robot system includes a manipulator configured to perform a preset operation on a plurality of objects, a transparent cover configured to define a chamber in which the plurality of objects and the manipulator are accommodated, the transparent cover being provided with a touch panel, a camera installed to face an internal region of the chamber, a projector configured to emit light to one area within the chamber, and a controller configured to control the projector so that the projector emits the light to a target area corresponding to a touch point of the touch panel, recognize a target object disposed in the target area based on image information of the camera, and control the manipulator so that an operation is performed on the target object.

First claim

What is claimed is:

1. A robot system comprising:
a manipulator configured to perform a preset operation on a plurality of objects;
a transparent cover configured to define a chamber in which the plurality of objects and the manipulator are accommodated, the transparent cover being provided with a touch panel;
a camera installed to face an internal region of the chamber;
a projector configured to emit light to one area within the chamber; and
a controller configured to control the projector so that the projector emits the light to a target area corresponding to a touch point of the touch panel, recognize a target object disposed in the target area based on image information of the camera, and control the manipulator so that an operation is performed on the target object.

2. The robot system according to claim 1 , wherein the target area overlaps the touch point in a direction perpendicular to the touch panel.

3. The robot system according to claim 1 , wherein the controller controls, when a preset first gesture is inputted into the touch panel, the manipulator to perform a first action corresponding to the first gesture, and
controls, when a preset second gesture different from the preset first gesture is inputted into the touch panel, the manipulator to perform a second action corresponding to the preset second gesture and different from the first action.

4. The robot system according to claim 1 , wherein the manipulator comprises:
a plurality of arms; and
a gripper provided on an end arm of the plurality of arms, and
the controller controls, when a preset pattern is inputted into the touch screen in a state in which a preset object is gripped by the gripper, the manipulator to perform an action corresponding to the preset pattern.

5. The robot system according to claim 1 , wherein the manipulator comprises:
a plurality of arms; and
a gripper provided on an end arm of the plurality of arms, and
the controller controls, when a pitch-to-zoom gesture is inputted into the touch panel, the manipulator to allow the gripper to grip or release the target object.

6. The robot system according to claim 5 , wherein the controller controls, when a drag gesture is inputted into the touch panel in a state in which the target object is gripped by the gripper, the manipulator to allow the target object to move in a direction of the drag gesture.

7. The robot system according to claim 6 , wherein the controller controls the manipulator to allow the target object to move by a distance between a start point and an end point of the drag gesture.

8. The robot system according to claim 1 , wherein the projector is provided in plurality, which are spaced apart from each other to supplement a blind spot, and
the camera is provided in plurality, which are spaced apart from each other to supplement a blind spot.

9. The robot system according to claim 1 , further comprising:
a base disposed below the transparent cover to cover a bottom surface of the chamber; and
a robot body which is seated on the base and on which the manipulator is mounted,
wherein the transparent cover covers at least a portion of a circumferential surface of the chamber and a top surface of the chamber.

10. The robot system according to claim 1 , further comprising:
a base disposed below the transparent cover to cover a bottom surface of the chamber; and
a ceiling which is disposed above the transparent cover to cover a top surface of the chamber and on which the manipulator is hung to be supported,
wherein the transparent cover covers at least a portion of a circumferential surface of the chamber.

11. A method for controlling a robot system, the method comprising:
setting a target area corresponding to a touch point inputted into a touch panel provided on a transparent cover;
performing pointing on the target area, which is disposed within a chamber covered by the transparent cover, by using a projector;
performing targeting to recognize a target object disposed on the target area based on image information of the camera; and
performing a preset operation on the target object by using a manipulator accommodated in the chamber.

12. The method according to claim 11 , wherein, during the preset operation, when a preset first gesture is inputted into the touch panel, the manipulator performs a first action corresponding to the preset first gesture, and
when a preset second gesture different from the preset first gesture is inputted into the touch panel, the manipulator performs a section action corresponding to the preset second gesture and different from the first action.

13. The method according to claim 11 , wherein the manipulator comprises:
a plurality of arms; and
a gripper provided on an end arm of the plurality of arms, and
during the preset operation, when a preset pattern is inputted into the touch screen in a state in which a preset object is gripped by the gripper, the manipulator performs an action corresponding to the preset pattern.

14. The method according to claim 11 , wherein the manipulator comprises:
a plurality of arms; and
a gripper provided on an end arm of the plurality of arms, and
during the preset operation, when a pinch-to-zoom gesture is inputted into the touch panel, the gripper grips or releases the target object.

15. The method according to claim 14 , wherein, during the preset operation, when a drag gesture is inputted into the touch panel in a state in which the target object is gripped by the gripper, the manipulator allows the target object to move in a direction of the drag gesture.

16. The method according to claim 15 , wherein the manipulator allows the target object to move by a distance between a start point and an end point of the drag gesture.

17. The method according to claim 11 , wherein the projector is provided in plurality, which are spaced apart from each other to supplement a blind spot, and
the performing of the pointing comprises:
determining one projector that is capable of emitting light to the target area among the plurality of protectors; and
emitting the light to the target area by using the one projector.

18. The method according to claim 11 , wherein the camera is provided in plurality, which are spaced apart from each other to supplement a blind spot, and
the performing of the targeting comprises:
determining one camera that is capable of acquiring image information of the target area among the plurality of cameras; and
recognizing the target area based on the image information of the one camera.

Assignees

• Lg Electronics Inc

Inventors

• Lee Wonhee

Classifications

• B25J9/1697

  Vision controlled systems · CPC title

• G05B2219/35444

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

• B25J9/1602 Primary

  characterised by the control system, structure, architecture · CPC title

• G06F3/04883

  for inputting data by handwriting, e.g. gesture or text · CPC title

• G06F3/0488

  using a touch-screen or digitiser, e.g. input of commands through traced gestures · CPC title