Robot system, robot monitoring device, and robot monitoring method

Patent metadata

Field	Value
Publication number	US-9545722-B2
Application number	US-201514636181-A
Country	US
Kind code	B2
Filing date	Mar 3, 2015
Priority date	Mar 5, 2014
Publication date	Jan 17, 2017
Grant date	Jan 17, 2017

Abstract

A robot system, includes: a robot; a camera configured to capture an image of operation of the robot; and a circuit configured to: control the robot so as to perform work in accordance with work contents information preliminarily stored to indicate a series of work contents; save image information captured by the camera during work performance by the robot in association with time information; and display the saved image information together with the time information.

First claim

What is claimed is:

1. A robot system, comprising:
a robot;
an imaging device configured to capture an image of operation of the robot; and
a circuit configured to:
control the robot so as to perform work in accordance with work contents information preliminarily stored to indicate a series of work contents;
save image information captured by the imaging device during work performance by the robot in association with time information; and
display the saved image information together with the time information, wherein

the circuit is configured to save the image information in association with the work contents information, and sequentially display the image information simultaneously with the work contents information as a moving image.

2. The robot system according to claim 1 , wherein
the circuit is configured to store work result information to indicate whether the robot has successfully accomplished the work, and display the image information together with the work result information.

3. The robot system according to claim 2 , further comprising
a corrected information input device in order that an operator corrects the work contents information corresponding to the work in the case where the work result information displayed by the circuit indicates that the robot has not accomplished the work successfully.

4. The robot system according to claim 2 , further comprising
a corrected information input circuit configured to allow an operator to correct the work contents information corresponding to the work in the case where the work result information displayed by the circuit indicates that the robot has not accomplished the work successfully.

5. The robot system according to claim 1 , wherein
the circuit is configured to synchronize time information in the imaging device with time information in the circuit.

6. The robot system according to claim 1 , wherein
the time information indicates relative timing between the imaging device and the circuit.

7. The robot system according to claim 1 , wherein
the circuit includes
a control module configured to control the robot so as to perform work in accordance with work contents information preliminarily stored to indicate a series of work contents,
a saving module configured to save image information captured by the imaging device during work performance by the robot in association with time information, and
a display module configured to display the image information saved by the saving module together with the time information, wherein

the saving module saves the image information in association with the work contents information, and
the display module displays the image information together with the work contents information.

8. The robot system according to claim 7 , wherein
the control module is configured to store work result information indicating whether the robot has successfully accomplished the work, and
the display module displays the image information together with the work result information.

9. The robot system according to claim 8 , further comprising
a corrected information input device in order that an operator corrects the work contents information corresponding to work in the case where the work result information displayed by the display module indicates that the robot has not accomplished the work successfully.

10. The robot system according to claim 9 , wherein
the circuit includes a computer including a display and an input device, and a robot controller,
the saving module is configured by the computer,
the control module is configured by the robot controller,
the display module is configured by the display, and
the corrected information input device is configured by the input device.

11. The robot system according to claim 8 , further comprising
a corrected information input circuit configured to allow an operator to correct the work contents information corresponding to work in the case where the work result information displayed by the display module indicates that the robot has not accomplished the work successfully.

12. The robot system according to claim 7 , wherein
the circuit further includes
a synchronizing module configured to synchronize time information in the imaging device with time information in the saving module.

13. The robot system according to claim 7 , wherein
the circuit includes a computer including a display and a robot controller,
the saving module is configured by the computer,
the control module is configured by the robot controller, and
the display module is configured by the display.

14. The robot system according to claim 1 , wherein
the work contents information includes an explanatory description of the work performed in the image information being displayed simultaneously with the work contents information.

15. A robot monitoring device, comprising
a circuit configured to control a robot so as to perform work in accordance with work contents information preliminarily stored to indicate a series of work contents, configured to save image information captured by an imaging device during work performance by the robot in association with time information, and configured to display the image information saved by the saving module together with the time information, wherein
the circuit is configured to save the image information in association with the work contents information, and sequentially display the image information simultaneously with the work contents information as a moving image.

16. The robot monitoring device according to claim 15 , wherein
the work contents information includes an explanatory description of the work performed in the image information being displayed simultaneously with the work contents information.

17. A robot monitoring method, comprising steps of:
controlling a robot so as to perform work in accordance with work contents information preliminarily stored to indicate a series of work contents;
saving image information captured by an imaging device during work performance by the robot in association with time information; and
displaying the image information saved in the saving step together with the time information, wherein
the image information is saved in association with the work contents information when saving the image information, and
the image information is sequentially displayed simultaneously with the work contents information as a moving image when displaying the image information.

18. The robot monitoring method according to claim 17 , wherein
the work contents information includes an explanatory description of the work performed in the image information being displayed simultaneously with the work contents information.

Assignees

• Yaskawa Electric Corp

Inventors

• Matsukuma Kenji
• Umeno Makoto

Classifications

• B25J9/1676 Primary

  Avoiding collision or forbidden zones · CPC title

• G05B2219/31447

  Process error event detection and continuous process image detection, storage · CPC title

• G05B2219/40216

  Record image of working robot; display to detect errors · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• Y10S901/47

  Optical · CPC title