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US 11,157,226 B2Granted
Control apparatus, head mounted display and robot system
AssigneeSeiko Epson Corporation
InventorsYoshihito Yamada, Hiroki Adachi
Life of this patent
Estimating the term…
Abstract
A control apparatus that controls a robot having a movable unit, includes a display control unit that changes a display form of a virtual wall displayed on a display unit transmitting visible light based on a distance between the virtual wall on a real space and the movable unit and a velocity of the movable unit.
Claims20
A control apparatus that controls a robot having a movable unit, the control apparatus comprising:
- a memory configured to store a program;
- and
- a processor configured to execute the program so as to:
- detect a worker position of a worker in a work space by using an area sensor;
- detect an arm of the worker based on a captured image of the worker by a camera and determine a length of the arm of the worker by analyzing the captured image of the worker;
- detect a robot position of the robot;
- detect a robot posture of the robot;
- calculate a movable area of the movable unit of the robot;
- determine no-collision distances from the robot to a surrounding area in the work space based on the worker position, the robot position, and the calculated movable area of the movable unit of the robot;
- adjust the no-collision distances by adding the determined length of the arm of the worker in consideration of a distance between the robot position and a tip of a finger of the worker when the worker stretches the arm toward the robot and generate adjusted no-collision distances;
- calculate a position of a virtual wall surrounding the robot based on the adjusted no-collision distances;
- display the virtual wall on a see-through display attached to the worker;
- and
- change the position of the virtual wall displayed on the see-through display according to changes of the worker position.
11 more elements
A head mounted display comprising:
- a see-through display configured to display a virtual wall and transmits visible light;
- a memory configured to store a program;
- and
- a processor configured to execute the program so as to:
- detect a worker position of a worker in a work space by using an area sensor;
- detect arm of the worker based on a captured image of the worker by a camera and determine a length of the arm of the worker by analyzing the captured image of the worker;
- detect a robot position of a robot;
- detect a robot posture of the robot;
- calculate a movable area of a movable unit of the robot;
- determine no-collision distances from the robot to a surrounding area in the work space based on the worker position, the robot position, and the calculated movable area of the movable unit of the robot;
- adjust the no-collision distances by adding the determined length of the arm of the worker in consideration of a distance between the robot position and a tip of a finger of the worker when the worker stretches the arm toward the robot and generate adjusted no-collision distances;
- calculate a position of the virtual wall surrounding the robot based on the adjusted no-collision distances;
- display the virtual wall on the see-through display attached to the worker;
- and
- change the position of the virtual wall displayed on the see-through display according to changes of the worker position.
12 more elements
A robot system comprising:
- a robot having a movable unit;
- a head mounted display unit having a see-through display that transmits visible light and displaying a virtual wall on the see-through display;
- a camera configured to capture an image of a worker;
- a memory configured to store a program;
- and
- a processor configured to execute the program so as to:
- detect a worker position of the worker in a work space by using an area sensor;
- detect an arm of the worker based on the captured image of the worker by the camera and determine a length of the arm of the worker by analyzing the captured image of the worker;
- detect a robot position of a robot;
- detect a robot posture of the robot;
- calculate a movable area of a movable unit of the robot;
- determine no-collision distances from the robot to a surrounding area in the work space based on the worker position, the robot position, and the calculated movable area of the movable unit of the robot;
- adjust the no-collision distances by adding the determined length of the arm of the worker in consideration of a distance between the robot position and a tip of a finger of the worker when the worker stretches the arm toward the robot and generate adjusted no-collision distances;
- calculate a position of the virtual wall surrounding the robot based on the adjusted no-collision distances;
- display the virtual wall on the see-through display attached to the worker;
- and
- change the position of the virtual wall displayed on the see-through display according to changes of the worker position.
14 more elements
Dependencies are inferred from the claim text.