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US 9,272,420 B2Granted
Robot system and imaging method
AssigneeKabushiki Kaisha Yaskawa Denki
InventorYoshimitsu Nakahara
Life of this patent
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Abstract
A robot system includes: an imaging unit including an imaging device and a distance measuring part; and a robot to which the imaging unit is attached. The imaging device preliminarily images a workpiece. The robot preliminarily moves the imaging unit based on the result of the preliminary imaging. The distance measuring part measures the distance to the workpiece. The robot actually moves the imaging unit based on the result of the measurement. The imaging device actually images the workpiece.
Claims7
A robot system comprising:
- an imaging unit including an imaging device and a distance measuring part;
- an imaging controller configured to control the imaging unit, the imaging controller including a storage device that stores a reference image;
- and
- a robot to which the imaging unit is attached,
- wherein the imaging device preliminarily images a workpiece, the robot preliminarily moves the imaging unit based on the result of the preliminary imaging, the distance measuring part measures the distance to the workpiece, the robot actually moves the imaging unit based on the result of the measurement, and the imaging device actually images the workpiece,
- wherein the distance measuring part is distinct from and separately or integrally provided relative to the imaging unit and measures the distance to the workpiece prior to the robot actually moving the imaging unit and prior to the imaging device actually imaging the workpiece, and
- wherein the reference image and the actual image are imaged at substantially the same distance from the workpiece.
4 more elements
An imaging method comprising:
- preparing a robot system that has an imaging unit including an imaging device and a distance measuring part, and a robot to which the imaging unit is attached, and an imaging controller configured to control the imaging unit, the imaging controller including a storage device that stores a reference image;
- using the imaging device to preliminarily image a workpiece;
- preliminarily moving the imaging unit by the robot based on the result of the preliminary imaging;
- after the preliminary movement, measuring the distance to the workpiece by the distance measuring part;
- and
- actually moving the imaging unit by the robot based on the result of the measurement to actually image the workpiece by the imaging device,
- wherein the distance measuring part is distinct from and separately or integrally provided relative to the imaging unit and measures the distance to the workpiece prior to the robot actually moving the imaging unit and prior to the imaging device actually imaging the workpiece, and
- wherein the reference image and the actual image are imaged at substantially the same distance from the workpiece.
5 more elements
Dependencies are inferred from the claim text.