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US 12,569,980 B2Granted
Robot system comprising robot equipped with display unit
AssigneeFanuc Corporation
InventorTakahiro Iwatake
Life of this patent
Estimating the term…
Abstract
This robot system comprises: a display control unit which controls an image to be displayed in a display region of a display unit; and a reference direction setting unit which sets a reference direction for determining the orientation of an image. On the basis of the axial positions of respective joint shafts of the robot and the reference direction, the display control unit controls the orientation of an image shown on the display unit so as to perform display that represents a prescribed postural relation with respect to the reference direction.
Claims14
A robot system, comprising:
- a robot including a plurality of joint axes;
- a display part disposed on a main body part of the robot;
- a display control unit configured to control an image to be displayed in a display region of the display part;
- and
- a reference direction setting unit configured to set a reference direction being a direction used as a reference when an orientation of the image to be displayed on the display part is determined,
- wherein
- the display control unit is configured to control the orientation of the image in the display region of the display part and display the image such that display with a predetermined relationship of an orientation relative to the reference direction is provided, based on an axis position of each of the plurality of joint axes of the robot and the reference direction,
- the robot system further comprises:
- a coordinate system setting unit configured to set a display coordinate system being a coordinate system set in the display region of the display part, a reference plane being a plane as a reference for the display region of the display part and set in the display coordinate system, and a reference point being a point as a reference for display in the display region of the display part and set in the display coordinate system;
- a coordinate system calculating unit configured to calculate a position and an orientation of the display coordinate system based on the axis position of each of the joint axes of the robot;
- and
- a display phase calculating unit configured to calculate a display phase direction being a direction as a reference of an orientation of display in the display region of the display part by projecting the reference direction onto the reference plane in the display coordinate system, and
- the display control unit is configured to control the orientation of the image in the display region of the display part and display the image, based on the display phase direction calculated by the display phase calculating unit and the reference point.
10 more elements
A robot system, comprising:
- a robot including a plurality of joint axes;
- a display part disposed on a main body part of the robot;
- a display control unit configured to control an image to be displayed in a display region of the display part;
- and
- a reference direction setting unit configured to set a reference direction being a direction used as a reference when an orientation of the image to be displayed on the display part is determined,
- wherein
- the display control unit is configured to control the orientation of the image in the display region of the display part and display the image such that display with a predetermined relationship of an orientation relative to the reference direction is provided, based on an axis position of each of the plurality of joint axes of the robot and the reference direction,
- the robot system further comprises:
- a coordinate system setting unit configured to set a display coordinate system being a coordinate system set in the display region of the display part, a reference plane being a plane as a reference for the display region of the display part and set in the display coordinate system, and a reference point being a point as a reference for display in the display region of the display part and set in the display coordinate system;
- a coordinate system calculating unit configured to calculate a position and an orientation of the display coordinate system based on the axis position of each of the joint axes of the robot;
- and
- a display phase calculating unit configured to calculate a display phase direction being a direction as a reference of an orientation of display in the display region of the display part by projecting the reference direction onto the reference plane in the display coordinate system and further performing rotation about the reference point as the center by an offset angle being a predetermined angle, and
- the display control unit is configured to control the orientation of the image in the display region of the display part and display the image, based on the display phase direction calculated by the display phase calculating unit and the reference point.
10 more elements
Dependencies are inferred from the claim text.