Tool checking device, storage device storing tool checking program, and tool checking method for robot arm
AssigneeMayekawa Mfg. Co., Ltd.
InventorsJunta Hirayama, Masaru Tokumoto, Tomoki Yamashita, Kenichiro Kimura
Life of this patent
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Abstract
A tool checking device for a robot arm includes: a tool movement control unit configured to control the robot arm so as to move a tool attached to the robot arm to a defined position; an imaging control unit configured to control an imaging device so as to capture an image of the tool moved to the defined position; and a determination unit configured to determine whether the tool satisfies a tool condition regarding a tool type or tool state that needs to be satisfied, on the basis of a captured image imaged by the imaging device.
Claims12
A tool checking device for a robot arm of a workpiece processing system including the robot arm to which a tool for processing a food product as a workpiece is attached and an imaging device for capturing an image of the workpiece, the workpiece being processed by the tool based on results of the image analysis of the captured image of the workpiece, the tool checking device comprising:
- a tool movement control unit configured to control the robot arm so as to move the tool attached to the robot arm to a defined position;
- an imaging control unit configured to control the imaging device so as to capture an image of the tool moved to the defined position;
- and
- a determination unit configured to determine whether the tool satisfies a tool condition regarding a tool type or a tool state that needs to be satisfied, on a basis of the captured image imaged by the imaging device,
- wherein the tool movement control unit is configured to control the robot arm so as to move the tool to the defined position that is a position within a first portion of an imaging range of the imaging device and excluded from a second portion of the imaging range of the imaging device outside the first portion of the imaging range.
A storage device storing a tool checking program for a robot arm of a workpiece processing system including the robot arm to which a tool for processing a food product as a workpiece is attached and an imaging device for capturing an image of the workpiece, the workpiece being processed by the tool based on results of the image analysis of the captured image of the workpiece, the tool checking program being configured to cause a computer to execute:
- a tool movement control step of controlling the robot arm so as to move the tool attached to the robot arm to a defined position;
- an imaging control step of controlling the imaging device so as to capture an image of the tool moved to the defined position;
- and
- a determination step of determining whether the tool satisfies a tool condition regarding a tool type or a tool state that needs to be satisfied, on a basis of the captured image imaged by the imaging device,
- wherein the tool movement control step controls the robot arm so as to move the tool to the defined position that is a position within a first portion of an imaging range of the imaging device and excluded from a second portion of the imaging range of the imaging device outside the first portion of the imaging range.
A tool checking method for a robot arm of a workpiece processing system including the robot arm to which a tool for processing a food product as a workpiece is attached and an imaging device for capturing an image of the workpiece, the workpiece being processed by the tool based on results of the image analysis of the captured image of the workpiece, the tool checking method comprising:
- a tool movement control step of controlling the robot arm so as to move the tool attached to the robot arm to a defined position;
- an imaging control step of controlling the imaging device so as to capture an image of the tool moved to the defined position;
- and
- a determination step of determining whether the tool satisfies a tool condition regarding a tool type or a tool state that needs to be satisfied, on a basis of the captured image imaged by the imaging device,
- wherein the tool movement control step controls the robot arm so as to move the tool to the defined position that is a position within a first portion of an imaging range of the imaging device and excluded from a second portion of the imaging range of the imaging device outside the first portion of the imaging range.
A workpiece processing system comprising:
- a robot arm to which a tool for processing a food product as a workpiece is attached;
- an imaging device for capturing an image of the workpiece, the robot arm being configured to process the workpiece by the tool based on results of the image analysis of the captured image of the workpiece;
- and
- a tool checking device for checking the tool attached to the robot arm, the tool checking device comprising:
- a tool movement control unit configured to control the robot arm so as to move the tool attached to the robot arm to a defined position;
- an imaging control unit configured to control the imaging device so as to capture an image of the tool moved to the defined position;
- and
- a determination unit configured to determine whether the tool satisfies a tool condition regarding a tool type or a tool state that needs to be satisfied, on a basis of the captured image imaged by the imaging device,
- wherein the tool movement control unit is configured to control the robot arm so as to move the tool to the defined position that is a position within a first portion of an imaging range of the imaging device and excluded from a second portion of the imaging range of the imaging device outside the first portion of the imaging range.
Dependencies are inferred from the claim text.