Robot, control device, and control method
AssigneeSeiko Epson Corporation
InventorsKenichi Maruyama, Takashi Nammoto, Tomoki Harada
Life of this patent
Estimating the term…
Abstract
A robot, wherein the robot operates on the basis of a picked-up image of at least a part of a work space of the robot picked up by an image pickup section, and a transparent member is disposed between the robot and the work space of the robot.
Claims9
A robot comprising:
- an arm, the arm being configured to operate in a work space;
- an image pickup device configured to obtain images of the work space, the images including first and second images;
- a transparent member provided to cover the work space;
- a memory configured to store computer-readable instructions;
- and
- a processor configured to execute the computer-readable instructions so as to:
- cause the image pickup device to obtain the first image when the transparent member exists between the image pickup device and the work space;
- cause the image pickup device to obtain the second image when the transparent member is out of a space between the image pickup device and the work space;
- generate correction information based on the first and second images;
- and
- operate the arm based on the correction information,
- wherein the processor is configured to obtain an image difference between the first and second images, and
- the correction information is generated based on the image difference.
A control device controlling an image pickup device and a robot arm, the robot arm being operable in a work space, the control device comprising:
- a memory configured to store computer-readable instructions;
- and
- a processor configured to execute the computer-readable instructions so as to:
- cause the image pickup device to obtain a first image when a transparent member exists between the image pickup device and the work space;
- cause the image pickup device to obtain a second image when the transparent member is out of a space between the image pickup device and the work space;
- generate correction information based on the first and second images;
- and
- operate the robot arm based on the correction information
- wherein the processor is configured to obtain an image difference between the first and second imaqes, and
- the correction information is generated based on the image difference.
A control method for causing a processor to execute computer-readable instructions stored in a memory so as to control a robot arm configured to operate in a work space covered by a transparent member and an image pickup device configured to obtain images of the work space, the control method comprising executing in the processor the steps of:
- causing the image pickup device to obtain a first image when the transparent member exists between the image pickup device and the work space;
- causing the image pickup device to obtain a second image when the transparent member is out of a space between the image pickup device and the work space;
- generating correction information based on the first and second images;
- and
- operating the robot arm based on the correction information,
- wherein the processor is configured to obtain an image difference between the first and second imaqes, and
- the correction information is qenerated based on the imaqe difference.
Dependencies are inferred from the claim text.