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US 12,600,042 B2Granted
Control device and robot system
AssigneeFanuc Corporation
InventorsYuutarou Takahashi, Yuta Namiki
Life of this patent
Estimating the term…
Abstract
This control device comprises a correction amount calculation unit for calculating a correction amount for an operation of a mobile robot with respect to a work space according to information from a visual sensor mounted on the robot, and a control unit for modifying the imaging position and/or imaging orientation of the visual sensor on the basis of the correction amount and applying a correction to the operation of the robot on the basis of the information from the visual sensor after the modification.
Claims6
A controller, comprising:
- a processor configured to
- calculate a correction amount of an operation of a movable type robot with respect to a workspace from information of a vision sensor mounted at the movable type robot,
- change at least one selected from a group of an imaging position and an imaging orientation of the vision sensor based on the correction amount, and
- correct the operation of the movable type robot based on information of the vision sensor after the change, wherein
- when a reference point of the workspace is not included in a detected image acquired from the vision sensor, the processor is configured to change at least one selected from the group of the imaging position and the imaging orientation of the vision sensor based on an arbitrary correction amount.
2 more elements
A controller, comprising:
- a processor configured to
- calculate a correction amount of an operation of a movable type robot with respect to a workspace from information of a vision sensor mounted at the movable type robot,
- change at least one selected from a group of an imaging position and an imaging orientation of the vision sensor based on the correction amount, and
- correct the operation of the movable type robot based on information of the vision sensor after the change, wherein
- when a reference point of the workspace is included in a detected image acquired from the vision sensor, the processor is configured to
- calculate a movement amount of the movable type robot as the correction amount such that the detected image is approximated to a reference image, and
- change at least one selected from the group of the imaging position and the imaging orientation of the vision sensor based on the movement amount.
4 more elements
A robot system, comprising:
- a movable type robot;
- a vision sensor mounted at the movable type robot;
- and
- a processor configured to
- calculate a correction amount of an operation of the movable type robot with respect to a workspace from information of the vision sensor,
- change at least one selected from a group of an imaging position and an imaging orientation of the vision sensor based on the correction amount, and
- correct the operation of the movable type robot based on information of the vision sensor after the change, wherein
- when a reference point of the workspace is included in a detected image acquired from the vision sensor, the processor is configured to
- calculate a movement amount of the movable type robot as the correction amount such that the detected image is approximated to a reference image, and
- change at least one selected from the group of the imaging position and the imaging orientation of the vision sensor based on the movement amount.
7 more elements
Dependencies are inferred from the claim text.