Robot, robot system, robot control device and robot control method

Patent metadata

Field	Value
Publication number	US-9533412-B2
Application number	US-201514593284-A
Country	US
Kind code	B2
Filing date	Jan 9, 2015
Priority date	Jan 15, 2014
Publication date	Jan 3, 2017
Grant date	Jan 3, 2017

Abstract

An operation portion elevates or lowers imaging units of a robot in response to the user's operation of the operation portion, and when the robot is moved from a first work stand to a second work stand which have different heights, a control unit determines whether the difference between the height of the imaging units before the moving of the robot and the height of the second work stand is present in a predetermined range, and when the control unit determines that the difference is not present in the predetermined range, a display unit controls a display device to display information that instructs a user to change the height of the imaging units via the operation portion.

First claim

What is claimed is:

1. A robot comprising:
an imaging device; and
a robot control device that is configured to control the robot,
wherein when the robot moves from a first work stand to a second work stand which have different heights, and when a difference between a height of the imaging device before the robot moves and the height of the second work stand is out of a predetermined range, the robot controller instructs a display to display an instruction indicative of a change in the height of the imaging device.

2. The robot according to claim 1 ,
wherein a change value of the change in the height of the imaging device is displayed in the display.

3. The robot according to claim 1 ,
wherein a robot performing work region in which the robot performs work on the first work stand is in a visual field range of the imaging device.

4. The robot according to claim 1 ,
wherein the imaging device is configured with two cameras which corresponds to a stereo camera, and
wherein the predetermined range is determined based a distance between two cameras, a viewing angle of each of the two cameras, an object depth of the two cameras, a rotation of each of the two cameras, a translational position of each of the two cameras, and a robot performing work region in which the robot performs work.

5. The robot according to claim 1 ,
wherein the predetermined range is determined based on an area ratio between work regions which are occupied by viewing angles of the two cameras, respectively.

6. A robot comprising:
an imaging device; and
a robot control device that is configured to control the robot,
wherein when the robot moves from a first work region to a second work region which have different heights, and when a difference between a height of the imaging device before the robot moves and the height of the second work region is out of a predetermined range, the robot controller instructs a display to display an instruction indicative of a change in the height of the imaging device.

7. A robot control device that is configured to control a robot,
wherein when the robot moves from a first work stand to a second work stand which have different heights, and when a difference between a height of an imaging device before the robot moves and the height of the second work stand is out of a predetermined range, the robot control device instructs a display to display an instruction indicative of a change in the height of the imaging device.

Assignees

• Seiko Epson Corp

Inventors

• Ishige Taro

Classifications

• B25J18/02

  extensible · CPC title

• Y10S901/47

  Optical · CPC title

• G05B2219/40307

  Two, dual arm robot, arm used synchronously, or each separately, asynchronously · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• B25J9/0087

  Dual arms (double SCARA arms B25J9/043) · CPC title