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US 11,992,960 B2Granted
Robot system, control apparatus of robot system, control method of robot system, imaging apparatus, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorsYasuharu Maeda, Manabu Takayama
Life of this patent
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Abstract
A robot system including a robot apparatus and an imaging apparatus includes a control apparatus configured to control the robot apparatus and the imaging apparatus, and the control apparatus controls, based on a path in which a predetermined part of the robot apparatus is moved, a movement of the imaging apparatus to image the predetermined part even if the robot apparatus is moved.
Claims37
A robot system including a robot apparatus and an imaging apparatus, the robot system comprising:
- a control apparatus configured to control the robot apparatus and the imaging apparatus, and
- wherein the control apparatus acquires, based on a path in which a predetermined part of the robot apparatus is to be moved, control data for controlling the imaging apparatus to image the predetermined part even if the robot apparatus is moved,
- wherein the imaging apparatus is a first imaging apparatus including (i) an imaging unit and a driving unit configured to drive the imaging unit, or (ii) a second imaging apparatus having a zoom function, or (iii) a third imaging apparatus having a digital zoom function, or (iv) a fourth imaging apparatus that is an omnidirectional camera, and
- wherein (i) in a case where the imaging apparatus is the first imaging apparatus, the control apparatus acquires the control data based on a driving amount based on which the control apparatus enables the driving unit to cause the imaging unit to image the predetermined part, (ii) in a case where the imaging apparatus is the second imaging apparatus, the control data includes a zoom amount of the zoom function, (iii) in a case where the imaging apparatus is the third imaging apparatus, the control data includes a zoom amount of the digital zoom function, and (iv) in a case where the imaging apparatus is the fourth imaging apparatus, the control apparatus controls the omnidirectional camera to enlarge the predetermined part and image the enlarged predetermined part.
1 more element
A control apparatus that controls a robot system including a robot apparatus and an imaging apparatus,
- wherein the control apparatus acquires, based on a path in which a predetermined part of the robot apparatus is to be moved, control data for controlling a movement of the imaging apparatus to image the predetermined part even if the robot apparatus is moved,
- wherein the imaging apparatus is a first imaging apparatus including (i) an imaging unit and a driving unit configured to drive the imaging unit, or (ii) a second imaging apparatus having a zoom function, or (iii) a third imaging apparatus having a digital zoom function, or (iv) a fourth imaging apparatus that is an omnidirectional camera, and
- wherein (i) in a case where the imaging apparatus is the first imaging apparatus, the control apparatus acquires the control data based on a driving amount based on which the control apparatus enables the driving unit to cause the imaging unit to image the predetermined part, (ii) in a case where the imaging apparatus is the second imaging apparatus, the control data includes a zoom amount of the zoom function, (iii) in a case where the imaging apparatus is the third imaging apparatus, the control data includes a zoom amount of the digital zoom function, and (iv) in a case where the imaging apparatus is the fourth imaging apparatus, the control apparatus controls the omnidirectional camera to enlarge the predetermined part and image the enlarged predetermined part.
A method of controlling a robot apparatus and an imaging apparatus which are included in a robot system, the method being performed by a control apparatus included in the robot system, the method comprising:
- obtaining, based on a path in which a predetermined part of the robot apparatus is to be moved, control data for controlling the imaging apparatus to image the predetermined part even if the robot apparatus is moved,
- wherein the imaging apparatus is (i) a first imaging apparatus including an imaging unit and a driving unit configured to drive the imaging unit, or (ii) a second imaging apparatus having a zoom function, or (iii) a third imaging apparatus having a digital zoom function, or (iv) a fourth imaging apparatus that is an omnidirectional camera, and
- wherein (i) in a case where the imaging apparatus is the first apparatus, the control apparatus acquires the control data based on a driving amount based on which the control apparatus enables the driving unit to cause the imaging unit to image the predetermined part, (ii) in a case where the imaging apparatus is the second apparatus, the control data includes a zoom amount of the zoom function, (iii) in a case where the imaging apparatus is the third apparatus, the control data includes a zoom amount of the digital zoom function, and (iv) in a case where the imaging apparatus is the fourth apparatus, the control apparatus controls the omnidirectional camera to enlarge the predetermined part and image the enlarged predetermined part.
A non-transitory computer-readable storage medium storing a control program for executing a method of controlling a robot apparatus and an imaging apparatus which are included in a robot system, the method being performed by a control apparatus included in the robot system, the method comprising:
- obtaining, based on a path in which a predetermined part of the robot apparatus is to be moved, control data for controlling the imaging apparatus to image the predetermined part even if the robot apparatus is moved,
- wherein the imaging apparatus is (i) a first imaging apparatus including an imaging unit and a driving unit configured to drive the imaging unit, or (ii) a second imaging apparatus having a zoom function, or (iii) a third imaging apparatus having a digital zoom function, or (iv) a fourth imaging apparatus that is an omnidirectional camera, and
- wherein (i) in a case where the imaging apparatus is the first apparatus, the control apparatus acquires the control data based on a driving amount based on which the control apparatus enables the driving unit to cause the imaging unit to image the predetermined part, (ii) in a case where the imaging apparatus is the second apparatus, the control data includes a zoom amount of the zoom function, (iii) in a case where the imaging apparatus is the third apparatus, the control data includes a zoom amount of the digital zoom function, and (iv) in a case where the imaging apparatus is the fourth apparatus, the control apparatus controls the omnidirectional camera to enlarge the predetermined part and image the enlarged predetermined part.
An imaging apparatus that images a robot apparatus,
- wherein the imaging apparatus includes a control unit, and
- wherein the control unit acquires, based on a path in which a predetermined part of the robot apparatus is to be moved, control data for controlling the imaging apparatus to image the predetermined part even if the robot apparatus is moved,
- wherein the imaging apparatus is (i) a first imaging apparatus including an imaging unit and a driving unit configured to drive the imaging unit, or (ii) a second imaging apparatus having a zoom function, or (iii) a third imaging apparatus having a digital zoom function, or (iv) a fourth imaging apparatus that is an omnidirectional camera, and
- wherein (i) in a case where the imaging apparatus is the first apparatus, the control unit acquires the control data based on a driving amount based on which the control apparatus enables the driving unit to cause the imaging unit to image the predetermined part, (ii) in a case where the imaging apparatus is the second apparatus, the control data includes a zoom amount of the zoom function, (iii) in a case where the imaging apparatus is the third apparatus, the control data includes a zoom amount of the digital zoom function, and (iv) in a case where the imaging apparatus is the fourth apparatus, the control unit controls the omnidirectional camera to enlarge the predetermined part and image the enlarged predetermined part.
1 more element
A control method of an imaging apparatus which images a robot apparatus, the control method comprising:
- acquiring, based on a path in which a predetermined part of the robot apparatus is to be moved, control data for controlling the imaging apparatus to image the predetermined part even if the robot apparatus is moved,
- wherein the imaging apparatus is (i) a first imaging apparatus including an imaging unit and a driving unit configured to drive the imaging unit, or (ii) a second imaging apparatus having a zoom function, or (iii) a third imaging apparatus having a digital zoom function, or (iv) a fourth imaging apparatus that is an omnidirectional camera, and
- wherein (i) in a case where the imaging apparatus is the first apparatus, the control data is acquired based on a driving amount based on which the control apparatus enables the driving unit to cause the imaging unit to image the predetermined part, (ii) in a case where the imaging apparatus is the second apparatus, the control data includes a zoom amount of the zoom function, (iii) in a case where the imaging apparatus is the third apparatus, the control data includes a zoom amount of the digital zoom function, and (iv) in a case where the imaging apparatus is the fourth apparatus, the omnidirectional camera is controlled to enlarge the predetermined part and image the enlarged predetermined part.
A control method performed by a control apparatus which controls a robot system including a robot apparatus and an imaging apparatus,
- wherein the control method acquires, based on a path in which a predetermined part of the robot apparatus is to be moved, control data for controlling a movement of the imaging apparatus to image the predetermined part even if the robot apparatus is moved,
- wherein the imaging apparatus is (i) a first imaging apparatus including an imaging unit and a driving unit configured to drive the imaging unit, or (ii) a second imaging apparatus having a zoom function, or (iii) a third imaging apparatus having a digital zoom function, or (iv) a fourth imaging apparatus that is an omnidirectional camera, and
- wherein (i) in a case where the imaging apparatus is the first apparatus, the control data is acquired based on a driving amount based on which the control apparatus enables the driving unit to cause the imaging unit to image the predetermined part, (ii) in a case where the imaging apparatus is the second apparatus, the control data includes a zoom amount of the zoom function, (iii) in a case where the imaging apparatus is the third apparatus, the control data includes a zoom amount of the digital zoom function, and (iv) in a case where the imaging apparatus is the fourth apparatus, the omnidirectional camera is controlled to enlarge the predetermined part and image the enlarged predetermined part.
An operation apparatus which operates a robot system including a robot apparatus and an imaging apparatus,
- wherein the operation apparatus acquires, based on a path in which a predetermined part of the robot apparatus is to be moved, control data for controlling the imaging apparatus to image the predetermined part even if the robot apparatus is moved,
- wherein the imaging apparatus is (i) a first imaging apparatus including an imaging unit and a driving unit configured to drive the imaging unit, or (ii) a second imaging apparatus having a zoom function, or (iii) a third imaging apparatus having a digital zoom function, or (iv) a fourth imaging apparatus that is an omnidirectional camera, and
- wherein (i) in a case where the imaging apparatus is the first apparatus, the operation apparatus acquires the control data based on a driving amount based on which the control apparatus enables the driving unit to cause the imaging unit to image the predetermined part, (ii) in a case where the imaging apparatus is the second apparatus, the control data includes a zoom amount of the zoom function, (iii) in a case where the imaging apparatus is the third apparatus, the control data includes a zoom amount of the digital zoom function, and (iv) in a case where the imaging apparatus is the fourth apparatus, the operation apparatus controls the omnidirectional camera to enlarge the predetermined part and image the enlarged predetermined part.
A control method performed by an operation apparatus which operates a robot system having a robot apparatus and an imaging apparatus,
- wherein the control method acquires, based on a path in which a predetermined part of the robot apparatus is to be moved, control data for controlling the imaging apparatus to image the predetermined part even if the robot apparatus is moved,
- wherein the imaging apparatus is (i) a first imaging apparatus including an imaging unit and a driving unit configured to drive the imaging unit, or (ii) a second imaging apparatus having a zoom function, or (iii) a third imaging apparatus having a digital zoom function, or (iv) a fourth imaging apparatus that is an omnidirectional camera, and
- wherein (i) in a case where the imaging apparatus is the first apparatus, the control data is acquired based on a driving amount based on which the control apparatus enables the driving unit to cause the imaging unit to image the predetermined part, (ii) in a case where the imaging apparatus is the second apparatus, the control data includes a zoom amount of the zoom function, (iii) in a case where the imaging apparatus is the third apparatus, the control data includes a zoom amount of the digital zoom function, and (iv) in a case where the imaging apparatus is the fourth apparatus, the omnidirectional camera is controlled to enlarge the predetermined part and image the enlarged predetermined part.
Dependencies are inferred from the claim text.