Robot and robot operating method

A robot having a camera mounted at a distal end portion of a robot arm, comprising:

• means for displaying an image captured by the camera on a display device;
• means for allowing a first manual operation to specify an arbitrary point on an object in a first image captured by the camera at a first position and displayed on the display device;
• means for obtaining first position information of the specified point in the first image;
• means for determining a first direction/amount of motion based on the first position information;
• means for moving the distal end portion of the robot arm with the camera to a second position according to the determined first direction/amount of the first motion;
• means for allowing a second manual operation to specify the same point on the object as specified by the first manual operation, in a second image captured by the camera at the second position and displayed on the display device;
• means for obtaining second position information of the specified point in the second image;
• means for determining a second direction/amount of motion based on the first position information and the second position information;
• and
• means for moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A robot having a camera mounted at a distal end portion of a robot arm, comprising:

• means for displaying an image captured by the camera on a display device;
• means for allowing a first manual operation to specify an arbitrary point on an object in a first image captured by the camera at a first position and displayed on the display device;
• means for obtaining first position information of the specified point in the first image;
• means for determining a first direction of motion based on the first position information;
• means for moving the distal end portion of the robot arm with the camera to a second position according to the determined first direction of motion and a preset amount of motion;
• means for allowing a second manual operation to specify the same point on the object as specified by the first manual operation, in a second image captured by the camera at the second position and displayed on the display device;
• means for obtaining second position information of the specified point on the object in the second image;
• means for determining a second direction/amount of motion based on the first position information and the second position information;
• and
• means for moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A robot having a camera mounted at a distal end portion of a robot arm, comprising:

• means for displaying an image captured by the camera on a display device;
• means for allowing a first manual operation to specify an arbitrary point on an object in a first image captured by the camera at a first position and displayed on the display device;
• means for obtaining first position information of the specified point in the first image;
• means for moving the distal end portion of the robot arm with the camera to a second position according to a preset first direction/amount of motion;
• means for allowing a second manual operation to specify the same point on the object as specified by the first manual operation, in a second image captured by the camera at the second position and displayed on the display device;
• means for obtaining second position information of the specified point on the object in the second image;
• means for determining a second direction/amount of motion based on the first position information and the second position information;
• and
• means for moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A robot having a camera mounted on a distal end portion of a robot arm, comprising:

• means for detecting an object in a first image captured by the camera at a first position;
• means for obtaining first position information of the detected object in the first image;
• means for determining a first direction/amount of motion of the camera based on the first position information;
• means for moving the distal end portion of the robot arm with the camera to a second position according to the determined first direction/amount of motion;
• means for detecting the same object as the detected object, in a second-image captured by the camera at the second position;
• means for obtaining second position information of the detected object in the second image;
• means for determining a second direction/amount of motion based on the first position information and the second position information;
• and
• means for moving the distal end portion of the robot arm with the camera to a third position based on the determined second direction/amount of motion.

A robot having a camera mounted at a distal end portion of a robot arm, comprising:

• means for detecting an object in a first image captured by the camera at a first position;
• means for obtaining first position information of the detected object in the first image;
• means for determining a first direction of motion based on the first position information;
• means for moving the distal end portion of the robot arm with the camera to a second position according to the determined first direction of motion and a preset amount of motion;
• means for detecting the same object as the detected object, in a second image captured by the camera at the second position;
• means for obtaining second position information of the detected object in the second image;
• means for determining a second direction/amount of motion based on the first position information and the second position information;
• and
• means for moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A robot having a camera mounted at a distal end portion of a robot arm, comprising:

• means for detecting an object in a first image captured by the camera at a first position;
• means for obtaining first position information of the detected object in the first image;
• means for moving the distal end portion of the robot arm with the camera to a second position according to a preset first direction/amount of motion;
• means for detecting the same object as the detected object, in a second image captured by the camera at the second position;
• means for obtaining second position information of the detected object in the second image;
• means for determining a second direction/amount of motion based on the first position information and the second position information;
• and
• means for moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A robot having a camera mounted at a distal end portion of a robot arm, comprising:

• means for detecting an object in a first image captured by the camera at a first position;
• means for obtaining first size information of the detected object in the first image;
• means for determining a first amount of motion based on the first size information;
• means for moving the distal end portion of the robot arm to a second position according to a preset direction of motion and the determined first amount of motion;
• means for detecting the same object as the detected object, in a second image captured by the camera at the second position;
• means for obtaining second size information and position information of the detected object in the second image;
• means for determining a second direction/amount of motion based on the first size information, the second size information and the position information;
• and
• means for moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A robot having a camera mounted at a distal end portion of a robot arm, comprising:

• means for detecting an object in a first image captured by the camera at a first position;
• means for obtaining first size information of the detected object in the first image;
• means for moving the distal end portion of the robot arm with the camera to a second position according to a preset first direction/amount of motion;
• means for detecting the same object as the detected object, in a second image captured by the camera at the second position;
• means for obtaining second size information and position information of the detected object in the second image;
• means for determining a second direction/amount of motion of the camera based on the first size information, the second size information and the position information;
• and
• means for moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A robot having a camera mounted at a distal end portion of a robot arm, comprising:

• means for displaying an image captured by the camera on a display device;
• means for allowing a manual operation to specify an arbitrary point on an object in a first image captured by the camera at a first position and displayed on the display device;
• means for obtaining first position information of the specified point in the first image;
• means for creating an image model based on image information in the vicinity of the specified point in the first image;
• means for determining a first direction/amount of motion based on the first position information;
• means for moving the distal end portion of the robot arm with the camera to a second position according to the determined first direction/amount of motion;
• means for detecting the same point as the specified point, in a second image captured by the camera at the second position using the image model;
• means for obtaining second position information of the detected point in the second image;
• means for determining a second direction/amount of motion based on the first position information and the second position information;
• and
• means for moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A robot having a camera mounted at a distal end portion of a robot arm, comprising:

• means for displaying an image captured by the camera on a display device;
• means for allowing a manual operation to specify an arbitrary point on an object in a first image captured by the camera at a first position and displayed on the display device;
• means for obtaining first position information of the specified point in the first image;
• means for creating an image model based on image information in the vicinity of the specified point in the first image;
• means for determining a first direction of motion based on the first position information;
• means for moving the distal end portion of the robot arm with the camera to a second position according to the determined first direction of motion and a preset amount of motion;
• means for detecting the same point as the specified point, in a second image captured by the camera at the second position using the image model;
• means for obtaining second position information of the detected point in the second image;
• means for determining a second direction/amount of motion based on the first position information and the second position information;
• and
• means for moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A robot having a camera mounted at a distal end portion of a robot arm, comprising:

• means for displaying an image captured by the camera on a display device;
• means for allowing a manual operation to specify an arbitrary point on an object in a first image captured by the camera at a first position and displayed on the display device;
• means for obtaining first position information of the specified point in the first image;
• means for creating an image model based on image information in the vicinity of the specified point in the first image;
• means for moving the distal end portion of the robot arm with the camera to a second position according to a preset first direction/amount of motion;
• means for detecting the same point as the specified point, in a second image captured by the camera at the second position using the image model;
• means for obtaining second position information of the detected point in the second image;
• means for determining a second direction/amount of motion based on the first position information and the second position information;
• and
• means for moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A method of operating a robot having a camera mounted at a distal end portion of a robot arm, comprising the steps of:

• positioning the distal end portion of the robot arm with the camera at a first position on a plane spaced from an object by a predetermined first distance;
• displaying an image captured by the camera at the first position on a display device;
• allowing a manual operation to specify an arbitrary point on the object in the captured image displayed on the display device;
• obtaining position information of the specified point in the captured image;
• determining a direction/amount of motion of the camera to a second position where the camera confronts the specified point on the object with a predetermined second distance in between based on the obtained position information and the first predetermined distance;
• and
• moving the distal end portion of the robot arm with the camera to the second position in accordance with the determined direction/amount of motion.

A method of operating a robot having a camera mounted at a distal end portion of a robot arm, comprising the steps of:

• displaying a first image captured by the camera at a first position on a display device;
• allowing a first manual operation to specify an arbitrary point on an object in the first image displayed on the display device;
• obtaining first position information of the specified point in the first image;
• determining a first direction/amount of motion based on the first position information;
• moving the distal end portion of the robot arm with the camera to a second position according to the determined first direction/amount of the first motion;
• displaying a second image captured by the camera at the second position on the display device;
• allowing a second manual operation to specify the same point on the object as specified by the first manual operation, in the second image displayed on the display device;
• obtaining second position information of the specified point in the second image;
• determining a second direction/amount of motion based on the first position information and the second position information;
• and
• moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A method of operating a robot having a camera mounted at a distal end portion of a robot arm, comprising the steps of:

• displaying a first image captured by the camera at a first position on a display device;
• allowing a first manual operation to specify an arbitrary point on an object in the first image displayed on the display device;
• obtaining first position information of the specified point in the first image;
• determining a first direction of motion based on the first position information;
• moving the distal end portion of the robot arm with the camera to a second position according to the determined first direction of motion and a preset amount of motion;
• displaying a second image captured by the camera at the second position on the display device;
• allowing a second manual operation to specify the same point on the object as specified by the first manual operation, in the second image displayed on the display device;
• obtaining second position information of the specified point on the object in the second image;
• determining a second direction/amount of motion based on the first position information and the second position information;
• and
• moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A method of operating a robot having a camera mounted at a distal end portion of a robot arm, comprising the steps of:

• displaying a first image captured by the camera at a first position on a display device;
• allowing a first manual operation to specify an arbitrary point on an object in the first image displayed on the display device;
• obtaining first position information of the specified point in the first image;
• moving the distal end portion of the robot arm with the camera to a second position according to a preset first direction/amount of motion;
• displaying a second image captured by the camera at the second position on the display device;
• allowing a second manual operation to specify the same point on the object as specified by the first manual operation, in the second image displayed on the display device;
• obtaining second position information of the specified point on the object in the second image;
• determining a second direction/amount of motion based on the first position information and the second position information;
• and
• means for moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A method of operating a robot having a camera mounted on a distal end portion of a robot arm, comprising the steps of:

• detecting an object in a first image captured by the camera at a first position;
• obtaining first position information of the detected object in the first image;
• determining a first direction/amount of motion of the camera based on the first position information;
• moving the distal end portion of the robot arm with the camera to a second position according to the determined first direction/amount of motion;
• detecting the same object as the detected object, in a second image captured by the camera at the second position;
• obtaining second position information of the detected object in the second image;
• determining a second direction/amount of motion based on the first position information and the second position information;
• and
• moving the distal end portion of the robot arm with the camera to a third position based on the determined second direction/amount of motion.

A method of operating a robot having a camera mounted at a distal end portion of a robot arm, comprising the steps of:

• detecting an object in a first image captured by the camera at a first position;
• obtaining first position information of the detected object in the first image;
• determining a first direction of motion based on the first position information;
• moving the distal end portion of the robot arm with the camera to a second position according to the determined first direction of motion and a preset amount of motion;
• detecting the same object as the detected object, in a second image captured by the camera at the second position;
• obtaining second position information of the detected object in the second image;
• determining a second direction/amount of motion based on the first position information and the second position information;
• and
• moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A method of operating a robot having a camera mounted at a distal end portion of a robot arm, comprising the steps of:

• detecting an object in a first image captured by the camera at a first position;
• obtaining first position information of the detected object in the first image;
• moving the distal end portion of the robot arm with the camera to a second position according to a preset first direction/amount of motion;
• detecting the same object as the detected object, in a second image captured by the camera at the second position;
• obtaining second position information of the detected object in the second image;
• determining a second direction/amount of motion based on the first position information and the second position information;
• and
• moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A method of operating a robot having a camera mounted at a distal end portion of a robot arm, comprising the steps of:

• detecting an object in a first image captured by the camera at a first position;
• obtaining first size information of the detected object in the first image;
• determining a first amount of motion based on the first size information;
• moving the distal end portion of the robot arm to a second position according to a preset direction of motion and the determined first amount of motion;
• detecting the same object as the detected object, in a second image captured by the camera at the second position;
• obtaining second size information and position information of the detected object in the second image;
• determining a second direction/amount of motion based on the first size information, the second size information and the position information;
• and
• moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A method of operating a robot having a camera mounted at a distal end portion of a robot arm, comprising the steps of:

• detecting an object in a first image captured by the camera at a first position;
• obtaining first size information of the detected object in the first image;
• moving the distal end portion of the robot arm with the camera to a second position according to a preset first direction/amount of motion;
• detecting the same object as the detected object, in a second image captured by the camera at the second position;
• obtaining second size information and position information of the detected object in the second image;
• determining a second direction/amount of motion of the camera based on the first size information, the second size information and the position information;
• and
• moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A method of operating a robot having a camera mounted at a distal end portion of a robot arm, comprising the steps of:

• displaying a first image captured by the camera at a first position on a display device;
• allowing a manual operation to specify an arbitrary point on an object in the first image displayed on the display device;
• obtaining first position information of the specified point in the first image;
• creating an image model based on image information in the vicinity of the specified point in the first image;
• determining a first direction/amount of motion based on the first position information;
• moving the distal end portion of the robot arm with the camera to a second position according to the determined first direction/amount of motion;
• detecting the same point as the specified point, in a second image captured by the camera at the second position using the image model;
• obtaining second position information of the detected point in the second image;
• determining a second direction/amount of motion based on the first position information and the second position information;
• and
• moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A method of operating a robot having a camera mounted at a distal end portion of a robot arm, comprising the steps of:

• displaying a first image captured by the camera at a first position on a display device;
• allowing a manual operation to specify an arbitrary point on an object in the first image displayed on the display device;
• obtaining first position information of the specified point in the first image;
• creating an image model based on image information in the vicinity of the specified point in the first image;
• determining a first direction of motion based on the first position information;
• moving the distal end portion of the robot arm with the camera to a second position according to the determined first direction of motion and a preset amount of motion;
• detecting the same point as the specified point, in a second image captured by the camera at the second position using the image model;
• obtaining second position information of the detected point in the second image;
• determining a second direction/amount of motion based on the first position information and the second position information;
• and
• moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.

A method of operating a robot having a camera mounted at a distal end portion of a robot arm, comprising the steps of:

• displaying a first image captured by the camera at a first position on a display device;
• allowing a manual operation to specify an arbitrary point on an object in the first image displayed on the display device;
• obtaining first position information of the specified point in the first image;
• creating an image model based on image information in the vicinity of the specified point in the first image;
• moving the distal end portion of the robot arm with the camera to a second position according to a preset first direction/amount of motion;
• detecting the same point as the specified point, in a second image captured by the camera at the second position using the image model;
• obtaining second position information of the detected point in the second image;
• determining a second direction/amount of motion based on the first position information and the second position information;
• and
• moving the distal end portion of the robot arm with the camera to a third position according to the determined second direction/amount of motion.