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Robot system

A robot system and projection area technology, applied in the field of robot systems, can solve the problems of reduced speed and accuracy, without considering the estimated projection area, etc., and achieve the effect of improving speed and accuracy

Inactive Publication Date: 2013-03-27
YASKAWA DENKI KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] However, in conventional robotic systems for estimating the projection area of ​​slit light, no special measures are considered to optimize the estimated projection area
As a result, there is a problem that the speed and accuracy with which the robot picks up workpieces may decrease

Method used

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Experimental program
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Embodiment Construction

[0023] Embodiments of the robotic system disclosed herein will now be described in detail with reference to the accompanying drawings which form a part hereof. The present disclosure is not limited to the embodiments described below. figure 1 is a schematic diagram showing components of the robot system according to the embodiment.

[0024] like figure 1 As shown, the robot system 1 includes a projection unit 4 , a camera unit 5 , a control device 6 and a robot 7 . The projection unit 4 is a light projection unit for projecting the slit light 40 onto the designated placement area 2 where the workpiece 3 is placed, and for moving the slit light 40 along a designated moving direction.

[0025] The projection unit 4 performs projection and movement of the slit light 40 under the control of the control device 6 . The structure of projection unit 4 will refer to later Figure 4 to describe. The imaging unit 5 is a camera for sequentially imaging the slit light 40 moving on the...

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Abstract

A robot system includes: a projecting unit for projecting a slit light on a specified placement region and moving the slit light in a specified direction; an imaging unit for imaging the slit light moving on a work on the placement region; an estimated projection region determining unit for determining an estimated projection region such that the length of the estimated projection region in a direction substantially parallel to the moving direction grows larger toward the center of the image in the intersection direction; a projection position detecting unit for detecting a projection position of the slit light within the estimated projection region. The robot system further includes a robot for gripping the workpiece.

Description

technical field [0001] Embodiments disclosed herein relate to robotic systems. Background technique [0002] Japanese Application Publication No. 2008-87074 discloses a robot system in which a work of picking up workpieces from a container holding (bulk) workpieces in disorder is automatically performed by a robot. In this robot system, the three-dimensional shape of a bulk workpiece is measured, and a gripping target workpiece selected in accordance with the three-dimensional shape is picked up from a container by a robot. [0003] In this regard, a light sectioning method is widely used to measure three-dimensional shapes. In the light section method, the slit light (ie, line light) projected toward the workpiece is moved in a specified movement direction. The image of the slit light moving on the workpiece is picked up sequentially multiple times by the camera. [0004] Then, each pixel in the thus captured image is sequentially read in a direction parallel to the movi...

Claims

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Application Information

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IPC IPC(8): B25J13/08
CPCG05B2219/37048B25J9/1697
Inventor 一丸勇二
Owner YASKAWA DENKI KK