Robot system, robot, and method for controlling robot system

Abstract

In this robot system (100), a robot controller (12) performs control for causing a second imaging unit (32) to stand by in a state in which the workpiece (W) is gripped by a robot arm (11) on the basis of imaging of the workpiece (W) by the second imaging unit (32) while the workpiece (W) is imaged by a first imaging unit (31).

Description

Technical Field

[0001] The present disclosure relates to a robot system, a robot, and a control method of the robot system. Background Art

[0002] In the past, a robot system is known, which includes a robot arm equipped with a hand for holding a workpiece and two camera units for photographing the workpiece. For example, Japanese Patent Laid-Open No. 6-155349 discloses a robot system, which includes a fixed camera fixed above the workpiece to photograph the workpiece, a handheld camera installed on the hand of the robot to photograph the workpiece, and a processing device for identifying images of the workpiece photographed by the fixed camera and the handheld camera. In the robot system disclosed in Japanese Patent Laid-Open No. 6-155349, when the fixed camera misidentifies the workpiece or detects that the fixed camera is broken, the camera for photographing the workpiece is switched from the fixed camera to the handheld camera.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 6-155349 Summary of the invention

[0006] Here, although it is not clearly described in Japanese Patent Application Laid-Open No. 6-155349, it is considered that in the robot system described in Japanese Patent Application Laid-Open No. 6-155349, after it is determined that the camera for photographing the workpiece is switched from a fixed camera to a handheld camera, first, by controlling the camera and the control unit of the robot, a pre-processing is performed to hold the workpiece with the hand of the robot based on the photographing of the workpiece by the handheld camera. The pre-processing for holding the workpiece with the hand of the robot based on the photographing of the workpiece by the handheld camera is, for example, a process of establishing a correspondence between the position information of the camera of the control unit and the position information of the hand of the robot. That is, in the robot system described in Japanese Patent Application Laid-Open No. 6-155349, it is considered that after the camera for photographing the workpiece is switched from a fixed camera to a handheld camera, the robot is not in a state where the workpiece can be held with the hand of the robot based on the photographing of the workpiece by the handheld camera. In this case, there is a time when the workpiece is not held with the hand of the robot based on the photographing of the workpiece by the handheld camera. That is, the work efficiency of the workpiece holding operation of the robot arm is reduced. Therefore, it is desired to suppress a decrease in the working efficiency of the work of gripping the workpiece by the robot arm.

[0007] The present disclosure is made to solve the above-mentioned problems, and one object of the present disclosure is to provide a robot system, a robot, and a control method of the robot system that can suppress a decrease in the working efficiency of a gripping operation of a robot arm on a workpiece.

[0008] In order to achieve the above-mentioned purpose, the robot system of the first aspect of the present disclosure comprises: a robot arm, which is equipped with a hand for holding a workpiece, two camera units, which take pictures of the workpiece and a control unit, which controls the two camera units, and the control unit controls the two camera units to put the other of the two camera units on standby while one of the two camera units is photographing the workpiece, in a state in which the robot arm can hold the workpiece based on the other of the two camera units photographing the workpiece, and controls to switch the state from the state in which the workpiece is photographed by one of the two camera units to the state in which the workpiece is photographed by the other of the two camera units when a failure of one of the two camera units is detected while one of the two camera units is photographing the workpiece.

[0009] In the robot system of the first aspect of the present disclosure, as described above, the control unit controls the other of the two imaging units to standby while one of the two imaging units is imaging the workpiece, in a state where the robot arm can hold the workpiece based on the imaging of the workpiece by the other of the two imaging units. In addition, the control unit controls the switching from the state where the workpiece is imaged by one of the two imaging units to the state where the workpiece is imaged by the other of the two imaging units when a failure of one of the two imaging units is detected while one of the two imaging units is imaging the workpiece. Thus, since during the period when one of the two imaging units is imaging the workpiece, the other of the two imaging units is put on standby in a state where the workpiece can be gripped by the robot arm based on the imaging of the workpiece by the other of the two imaging units, when a failure of one of the two imaging units is detected, the workpiece can be gripped by the robot arm based on the imaging of the workpiece by the other of the two imaging units immediately after the state where the workpiece is imaged by one of the two imaging units is switched to the state where the workpiece is imaged by the other of the two imaging units. That is, when the state where the workpiece is imaged by one of the two imaging units is switched to the state where the workpiece is imaged by the other of the two imaging units, the time during which the workpiece cannot be gripped by the robot arm based on the imaging of the workpiece by the imaging units can be shortened. As a result, the reduction in the work efficiency of the workpiece gripping operation performed by the robot arm can be suppressed.

[0010] In addition, in order to achieve the above-mentioned purpose, the robot of the second aspect of the present disclosure comprises: a robot arm, which is equipped with a hand for holding a workpiece, two camera units, which take pictures of the workpiece and a control unit, which controls the two camera units, and the control unit controls the two camera units to put the other of the two camera units on standby while one of the two camera units is photographing the workpiece, in a state in which the robot arm can hold the workpiece based on the other of the two camera units photographing the workpiece, and controls the state from switching the state in which the workpiece is photographed by one of the two camera units to the state in which the workpiece is photographed by the other of the two camera units when a failure of one of the two camera units is detected during the period in which one of the two camera units is photographing the workpiece.

[0011] In the robot of the second aspect of the present disclosure, as described above, the control unit can control the other of the two imaging units to standby while the other of the two imaging units is photographing the workpiece, based on the photographing of the workpiece by the other of the two imaging units. In addition, the control unit can control the switching from the state of photographing the workpiece by one of the two imaging units to the state of photographing the workpiece by the other of the two imaging units when a failure of one of the two imaging units is detected during the photographing of the workpiece by one of the two imaging units. Thus, as in the robot system of the first aspect described above, when a failure of one of the two imaging units is detected, after the photographing of the workpiece is switched from the state of photographing by one of the two imaging units to the state of photographing by the other of the two imaging units, the robot arm can be used to hold the workpiece based on the photographing of the workpiece by the other of the two imaging units immediately after the photographing of the workpiece by the other of the two imaging units is switched. As a result, a robot capable of suppressing the reduction in the work efficiency of the workpiece holding operation performed by the robot arm can be provided.

[0012] In addition, in order to achieve the above-mentioned purpose, the control method of the robot system of the third aspect of the present disclosure is a control method of a robot system having a robot arm equipped with a hand for holding a workpiece and two camera units for photographing the workpiece, which includes: while one of the two camera units photographs the workpiece, while one of the two camera units photographs the workpiece, putting the other of the two camera units on standby in a state in which the workpiece can be held by the robot arm based on the photographing of the workpiece by the other of the two camera units; and while one of the two camera units photographs the workpiece, when a failure of one of the two camera units is detected, switching from the state in which the workpiece is photographed by one of the two camera units to the state in which the workpiece is photographed by the other of the two camera units.

[0013] In the control method of the robot system of the third aspect of the present disclosure, as described above, during the period when one of the two imaging units is photographing the workpiece, in a state where the workpiece can be grasped by the robot arm based on the photographing of the workpiece by the other of the two imaging units, the other of the two imaging units is put on standby. In addition, during the period when one of the two imaging units is photographing the workpiece, in the case of detecting a failure of one of the two imaging units, the state of photographing the workpiece by one of the two imaging units is switched to the state of photographing the workpiece by the other of the two imaging units. Thus, as in the robot system of the first aspect described above, in the case of detecting a failure of one of the two imaging units, after the photographing of the workpiece is switched from the state of being performed by one of the two imaging units to the state of being performed by the other of the two imaging units, the workpiece can be grasped by the robot arm immediately based on the photographing of the workpiece by the other of the two imaging units. As a result, a control method of the robot system can be provided that can suppress the reduction in the work efficiency of the workpiece grasping operation performed by the robot arm.

[0014] According to the present disclosure, as described above, it is possible to provide a robot system, a robot, and a method for controlling the robot system that can suppress a decrease in the work efficiency of a work of gripping a workpiece by a robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a perspective view showing a robot arm and two imaging units of a robot system according to an embodiment of the present disclosure.

[0016] Figure 2 This is a block diagram showing the overall configuration of a robot system according to one embodiment of the present disclosure.

[0017] Figure 3 1 is a diagram showing a control flow of a robot controller of a robot system according to an embodiment of the present disclosure.

[0018] Figure 4 This is a block diagram showing the overall configuration of a robot according to a modified example of one embodiment of the present disclosure. DETAILED DESCRIPTION

[0019] Hereinafter, embodiments embodying the present disclosure will be described based on the drawings.

[0020] [Robot system structure]

[0021] Reference Figure 1 and Figure 2 The configuration of a robot system 100 according to an embodiment of the present disclosure will be described.

[0022] (Overall structure of the robot system)

[0023] like Figure 1As shown, the robot system 100 is a system in which a robot arm 11 performs a work on a workpiece W captured by an imaging unit. The work performed by the robot arm 11 is, for example, a work in which the robot arm 11 transfers the workpiece W disposed near the robot arm 11 to a predetermined position. Figure 1 This shows an example in which the workpiece W is a cardboard box.

[0024] like Figure 2 As shown, the robot system 100 includes a robot 10, a vision controller 20, a first imaging unit 31, and a second imaging unit 32. The first imaging unit 31 and the second imaging unit 32 are examples of "one of the two imaging units" and "the other of the two imaging units" in the claims, respectively.

[0025] The robot 10 includes a robot arm 11 and a robot controller 12. The robot controller 12 is an example of a "control unit" in the claims.

[0026] like Figure 1 As shown, the robot arm 11 is a vertical multi-joint robot arm having a plurality of joints. A hand H for holding a workpiece W is mounted on the robot arm 11. The hand H is mounted on the front end of the robot arm 11. The robot arm 11 is controlled by a robot controller 12 to move the plurality of joints.

[0027] like Figure 2 As shown, the robot controller 12 controls the motion of the robot arm 11. The robot controller 12 controls the motion of the hand H mounted on the robot arm 11. The robot controller 12 controls the motion of the first camera 31 and the second camera 32 via the vision controller 20. The robot controller 12 includes, for example, a processor such as a CPU (central processing unit) and a memory for storing information.

[0028] The visual controller 20 is an image processing device that processes images captured by the first imaging unit 31 and the second imaging unit 32. The visual controller 20 includes a processor such as a GPU (Graphics Processing Unit) and a memory that stores information.

[0029] The first imaging unit 31 and the second imaging unit 32 are used to image the workpiece W (see Figure 1 ) for imaging. The first imaging unit 31 and the second imaging unit 32 are connected in parallel to the visual controller 20. Thus, the robot controller 12 can simultaneously control the first imaging unit 31 and the second imaging unit 32 via the visual controller 20.

[0030] The first camera unit 31 and the second camera unit 32 are both cameras having the same field of view angle, which is an interface for connecting the first camera unit 31 and the second camera unit 32 to the robot controller 12 and performing information communication with the robot controller 12. Preferably, the first camera unit 31 and the second camera unit 32 are completely identical cameras of the same model from the same manufacturer.

[0031] The first imaging unit 31 and the second imaging unit 32 are general-purpose cameras that do not correspond to the environmental resistance specification, for example, other than industrial cameras that correspond to the environmental resistance specification. Thus, the general-purpose camera is cheaper than the industrial camera, and thus the cost required for the robot system 100 can be reduced compared to the case where the industrial cameras are used in the first imaging unit 31 and the second imaging unit 32. In addition, the general-purpose camera is easier to obtain than the industrial camera, and thus the robot system 100 can be operated more easily than the case where the industrial cameras are used in the first imaging unit 31 and the second imaging unit 32. In addition, as described later, in the robot system 100, when a failure of the first imaging unit 31 is detected, after the imaging of the workpiece W is switched from the state performed by one of the first imaging units 31 to the state performed by the second imaging unit 32, the workpiece W can be immediately grasped by the robot arm 11 based on the imaging of the workpiece W by the second imaging unit 32. This effect does not depend on the type of camera, and can be obtained even if the first imaging unit 31 and the second imaging unit 32 are general-purpose cameras.

[0032] like Figure 1 As shown in the figure, the first imaging unit 31 and the second imaging unit 32 are respectively arranged at substantially the same position relative to the robot arm 11 so as to image the common workpiece W. Specifically, the first imaging unit 31 and the second imaging unit 32 are respectively mounted at predetermined positions of a camera mounting member 33 arranged near the workpiece W. The predetermined position is a position where the first imaging unit 31 and the second imaging unit 32 can each image the workpiece W.

[0033] (The robot arm holds the workpiece based on the camera of the workpiece)

[0034] In the robot system 100, the robot arm 11 grasps the workpiece W based on the image of the workpiece W captured by the first imaging unit 31 or the second imaging unit 32. Specifically, the robot controller 12 (see Figure 2 ) controls the first imaging unit 31 or the second imaging unit 32 to capture the image of the workpiece W. The visual controller 20 (see Figure 2) processes the image captured by the first camera unit 31 or the second camera unit 32. The robot controller 12 recognizes the position of the workpiece W based on the image processed by the vision controller 20. The robot controller 12 controls the robot arm 11 and the hand H according to the recognized position of the workpiece W so that the hand H mounted on the robot arm 11 grasps the workpiece W.

[0035] (Switch the camera unit that captures the workpiece)

[0036] In the robot system 100, the first imaging unit 31 images the workpiece W while the second imaging unit 32 is in a standby state. When the first imaging unit 31 fails, the state of imaging the workpiece W is switched from the state of imaging the first imaging unit 31 to the state of imaging the workpiece W by the second imaging unit 32. Specifically, first, the robot controller 12 (see Figure 2 ) performs control to put the second imaging unit 32 on standby, and controls the first imaging unit 31 to capture an image of the workpiece W. Control to put the second imaging unit 32 on standby is to put the second imaging unit 32 on standby when the robot controller 12 wants to control the second imaging unit 32 so that the robot controller 12 can immediately control the second imaging unit 32. Control to put the second imaging unit 32 on standby is to put the second imaging unit 32 on standby at least, and to put the robot controller 12 and the second imaging unit 32 in a state where they can communicate.

[0037] Then, the robot controller 12 (refer to Figure 2 ) While continuing the control of making the second imaging unit 32 standby, the robot arm 11 and the hand H are controlled based on the recognized position of the workpiece W so that the hand H attached to the robot arm 11 holds the workpiece W. Then, during the period when the first imaging unit 31 is imaging the workpiece W, if a failure of the first imaging unit 31 is detected, the robot controller 12 controls the state of switching from the state of imaging the workpiece W by the first imaging unit 31 to the state of imaging by the second imaging unit 32. The robot controller 12 determines whether the first imaging unit 31 has failed, for example, based on the fact that the image captured by the first imaging unit 31 cannot be normally obtained. Then, after the imaging of the workpiece W is switched from the state of imaging by the first imaging unit 31 to the state of imaging by the second imaging unit 32, the robot controller 12 controls the robot arm 11 and the hand H based on the position of the workpiece W recognized by the image of the workpiece W captured by the second imaging unit 32 so that the hand H attached to the robot arm 11 holds the workpiece W.

[0038] Robot controller 12 (refer to Figure 2) During the period when the first imaging unit 31 is imaging the workpiece W, the second imaging unit 32 is controlled to be on standby in a state where the robot arm 11 can hold the workpiece W based on the imaging of the workpiece W by the second imaging unit 32. Specifically, during the period when the first imaging unit 31 is imaging the workpiece W, the robot controller 12 controls the second imaging unit 32 to be on standby in a state where the position information of the second imaging unit 32 is associated with the position information of the robot arm 11, so that the workpiece W can be held by the robot arm 11 based on the imaging of the workpiece W by the second imaging unit 32.

[0039] Specifically, in the robot system 100, when the robot arm 11 grasps the workpiece W based on the image of the workpiece W by the first image pickup unit 31, the robot controller 12 (see Figure 2 ) It is necessary to identify the relative relationship between the coordinate system of the first imaging unit 31 and the coordinate system of the robot arm 11. Similarly, when the robot arm 11 is used to hold the workpiece W based on the imaging of the workpiece W by the second imaging unit 32, the robot controller 12 needs to identify the relative relationship between the coordinate system of the second imaging unit 32 and the coordinate system of the robot arm 11. And, as the robot system 100 operates, an error will be generated in the relative relationship between the coordinate system of the first imaging unit 31 and the coordinate system of the robot arm 11, and an error will be generated in the relative relationship between the coordinate system of the second imaging unit 32 and the coordinate system of the robot arm 11. When the above-mentioned error becomes large, the robot arm 11 cannot properly hold the workpiece W. Therefore, the robot controller 12 performs a calibration process at a predetermined time to correct the relative relationship between the coordinate system of the first imaging unit 31 and the coordinate system of the robot arm 11 and the relative relationship between the coordinate system of the second imaging unit 32 and the coordinate system of the robot arm 11. The calibration process is performed, for example, as follows. While changing the position of the hand H, the marker provided on the hand H of the robot arm 11 is imaged multiple times. Then, based on the multiple positions of the hand H and the multiple positions of the marker corresponding to each of the multiple positions of the hand H, the relative relationship between the coordinate system of the image capturing unit and the coordinate system of the robot arm 11 is acquired. The calibration process may be performed frequently, at predetermined time intervals, or only during maintenance of the robot system 100.

[0040] Robot controller 12 (refer to Figure 2 ) When a failure of the first imaging unit 31 is detected during the first imaging unit 31 imaging the workpiece W, control is performed to notify the first imaging unit 31 of the failure. Specifically, in the visual controller 20 (refer to Figure 2) is provided with a notification unit 21 indicating whether the first camera unit 31 and the second camera unit 32 are normal. The notification unit 21 is, for example, a display, a light, a speaker, etc. The robot controller 12 controls the vision controller 20 to notify the first camera unit 31 of a failure through the notification unit 21 of the vision controller 20.

[0041] In addition, the probability that the first imaging unit 31 and the second imaging unit 32 fail at approximately the same time is much lower than the probability that only the first imaging unit 31 fails and the probability that only the second imaging unit 32 fails. Therefore, while the second imaging unit 32 is able to capture images of the workpiece W, the operator of the inspection robot system 100 repairs or replaces the failed first imaging unit 31. As a result, the robot arm 11 can continue to operate on the workpiece W captured by the imaging unit.

[0042] [Control method of robot system]

[0043] Reference Figure 3 , according to the control process of the robot controller 12, the control method of the robot system 100 is explained.

[0044] like Figure 3 As shown, in step S1, the robot controller 12 performs the following control: while photographing the workpiece W through the first camera unit 31, while photographing the workpiece W through the first camera unit 31, the second camera unit 32 on the other side is put on standby in a state where the workpiece W can be grasped by the robot arm 11 based on the photographing of the workpiece W through the second camera unit 32.

[0045] In step S2, the robot controller 12 determines whether a failure of the first imaging unit 31 is detected. If a failure of the first imaging unit 31 is detected in step S2, the process proceeds to step S3. If a failure of the first imaging unit 31 is not detected in step S2, the process returns to step S1. That is, step S2 is repeated until a failure of the first imaging unit 31 is detected.

[0046] In step S3 , the robot controller 12 performs control to switch from a state in which the first imaging unit 31 is imaging the workpiece W to a state in which the second imaging unit 32 is imaging the workpiece W. Then, the process proceeds to step S4 .

[0047] In step S4 , the robot controller 12 performs control to notify the first imaging unit 31 of the occurrence of a failure.

[0048] In addition, in the above control process, step S3 and step S4 can also be performed in the reverse order.

[0049] [Effects of Embodiment]

[0050] In this embodiment, the following effects can be obtained.

[0051] In the present embodiment, the robot controller 12 controls the second imaging unit 32 to standby while the first imaging unit 31 is imaging the workpiece W, in a state where the robot arm 11 can hold the workpiece W based on the imaging of the workpiece W by the second imaging unit 32. In addition, when the robot controller 12 detects a failure of the first imaging unit 31 while the first imaging unit 31 is imaging the workpiece W, the robot controller 12 controls the state of switching the imaging of the workpiece W by the first imaging unit 31 to the state of imaging by the second imaging unit 32. Thus, while the first imaging unit 31 is imaging the workpiece W, the second imaging unit 32 is placed on standby in a state where the robot arm 11 can hold the workpiece W based on the imaging of the workpiece W by the second imaging unit 32. Therefore, when a failure of the first imaging unit 31 is detected, the robot arm 11 can hold the workpiece W based on the imaging of the workpiece W by the second imaging unit 32 immediately after the state of imaging the workpiece W by one of the first imaging units 31 is switched to the state of imaging by the second imaging unit 32. That is, when the imaging of the workpiece W is switched from the state of imaging by the first imaging unit 31 to the state of imaging by the second imaging unit 32, the time during which the robot arm 11 cannot hold the workpiece W based on the imaging of the workpiece W by the imaging unit can be shortened. As a result, it is possible to suppress a decrease in the work efficiency of the workpiece W holding operation by the robot arm 11.

[0052] Furthermore, in the present embodiment, the robot controller 12 controls the second imaging unit 32 to standby while the first imaging unit 31 is imaging the workpiece W, in a state where the position information of the second imaging unit 32 is associated with the position information of the robot arm 11, so that the robot arm 11 can hold the workpiece W based on the imaging of the workpiece W by the second imaging unit 32. Thus, by associating the position information of the second imaging unit 32 with the position information of the robot arm 11, it is easy to achieve a state where the robot arm 11 can hold the workpiece W based on the imaging of the workpiece W by the second imaging unit 32. As a result, the second imaging unit 32 can be reliably placed on standby in a state where the robot arm 11 can hold the workpiece W based on the imaging of the workpiece W by the second imaging unit 32.

[0053] In addition, in the present embodiment, the first imaging unit 31 and the second imaging unit 32 are both interfaces for connecting the first imaging unit 31 and the second imaging unit 32 to the robot controller 12 and communicating information with the robot controller 12, and cameras having the same field of view angle in which the imaging range is expressed by angle. Thus, before and after the moment when the imaging of the workpiece W is switched from the state performed by the first imaging unit 31 to the state performed by the second imaging unit 32, the robot controller 12 for imaging the workpiece W has the same control content on the imaging unit, so that the processing burden of the robot controller 12 for controlling the imaging unit can be reduced.

[0054] Furthermore, in the present embodiment, the first imaging unit 31 and the second imaging unit 32 are respectively arranged at substantially the same position relative to the robot arm 11 so as to image the common workpiece W. Thus, compared with a case where the first imaging unit 31 and the second imaging unit 32 are arranged at substantially different positions relative to the robot arm 11, it is possible to easily image the common workpiece W using the first imaging unit 31 and the second imaging unit 32 .

[0055] Furthermore, in the present embodiment, when the robot controller 12 detects a failure in the first imaging unit 31 while the first imaging unit 31 is imaging the workpiece W, it controls to notify the first imaging unit 31 of the failure. Thus, when the first imaging unit 31 fails, the user can easily recognize that the first imaging unit 31 has failed.

[0056] [Modifications]

[0057] The embodiments disclosed this time should be considered as illustrative in all aspects and not restrictive. The scope of the present invention is indicated by the claims rather than the description of the above embodiments, and also includes all changes (modifications) within the meaning and scope equivalent to the claims.

[0058] For example, in the above embodiment, an example is shown in which the visual controller 20 is provided with the notification unit 21 indicating whether the first camera unit 31 and the second camera unit 32 are normal, but the present invention is not limited thereto. In the present invention, a notification unit indicating whether the two camera units are normal may also be provided in a part other than the visual controller.

[0059] Furthermore, in the above-described embodiment, an example is shown in which the robot controller 12 performs control to notify the first camera unit 31 of a failure when the first camera unit 31 detects a failure in the first camera unit 31 during the first camera unit 31 is photographing the workpiece W, but the present invention is not limited thereto. In the present disclosure, the control unit may also perform control to notify the first camera unit 31 of a failure when a failure in one of the two camera units is detected during the period when one of the two camera units is photographing the workpiece. Furthermore, since the probability of the two camera units failing at approximately the same time is very low compared to the probability of one camera unit failing, the user does not have to recognize that one of the two camera units has failed immediately after the failure.

[0060] In addition, in the above-mentioned embodiment, the first imaging unit 31 and the second imaging unit 32 are respectively arranged at substantially the same position relative to the robot arm 11 so as to image the common workpiece W, but the present disclosure is not limited thereto. In the present disclosure, as long as each of the two imaging units can image the common workpiece, one and the other of the two imaging units may be arranged at positions that are greatly different from each other relative to the robot arm.

[0061] In addition, in the above-mentioned embodiment, the first camera unit 31 and the second camera unit 32 are both cameras with the same interface for connecting the first camera unit 31 and the second camera unit 32 to the robot controller 12 and communicating information with the robot controller 12, and the same field of view angle in which the camera range is represented by an angle, but the present disclosure is not limited thereto. In the present disclosure, the two camera units may be cameras with the same interface and field of view only, or cameras with different interfaces and field of view.

[0062] In addition, in the above embodiment, the robot controller 12 controls the operation of the first camera unit 31 and the second camera unit 32 via the visual controller 20, but the present disclosure is not limited thereto. In the present disclosure, the visual controller 20 may also directly control the operation of the first camera unit 31 and the second camera unit 32.

[0063] In addition, in the above embodiment, an example is shown in which the visual controller 20, the first camera unit 31, and the second camera unit 32 are separately provided from the robot 10, but the present disclosure is not limited thereto. Figure 4 As shown in the modified example, the robot 210 may include a visual controller 220, a first imaging unit 231, and a second imaging unit 232 in addition to the robot arm 11 and the robot controller 12. The first imaging unit 231 and the second imaging unit 232 are examples of "one of the two imaging units" and "the other of the two imaging units" in the claims, respectively.

[0064] The functions of the elements disclosed in this specification can be performed using circuits or processing circuits, which include general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuit), conventional circuits and / or combinations thereof configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors or other circuits. In the present disclosure, a circuit, unit or device is hardware that performs the function or is programmed to perform the function. The hardware may be hardware disclosed in this specification, or it may be other known hardware that is configured or programmed to perform the function. When the hardware is a processor that is considered to be a type of circuit, the circuit, device or unit is a combination of hardware and software, and the software is used for the configuration of the hardware and / or processor.

[0065] [Way]

[0066] It should be understood by those skilled in the art that the above exemplary embodiments are specific examples of the following aspects.

[0067] (Item 1)

[0068] A robot system comprising:

[0069] a robotic arm equipped with a hand for holding a workpiece;

[0070] two camera units for photographing the workpiece; and

[0071] a control unit that controls the two camera units,

[0072] During a period when one of the two camera parts is photographing the workpiece, the control unit controls the other of the two camera parts to be on standby in a state where the robot arm can hold the workpiece based on the other of the two camera parts photographing the workpiece, and during a period when one of the two camera parts is photographing the workpiece, when a failure of one of the two camera parts is detected, the control unit controls the state of switching from the state of photographing the workpiece by one of the two camera parts to the state of photographing the workpiece by the other of the two camera parts.

[0073] (Item 2)

[0074] A robot system according to Item 1, wherein, while one of the two camera units is photographing the workpiece, the control unit controls the other of the two camera units to standby in a state where the position information of the other of the two camera units is associated with the position information of the robot arm, so that the robot arm can grasp the workpiece based on the photography of the workpiece by the other of the two camera units.

[0075] (Item 3)

[0076] A robot system according to Item 1 or Item 2, wherein the two camera units are both interfaces for connecting the two camera units to the control unit respectively and communicating information with the control unit, and cameras with the same field of view angle in which the camera range is represented by an angle.

[0077] (Item 4)

[0078] The robot system according to any one of items 1 to 3, wherein the two imaging units are respectively arranged at substantially the same position relative to the robot arm so as to image the common workpiece.

[0079] (Item 5)

[0080] A robot system according to any one of items 1 to 4, wherein, when the control unit detects a failure in one of the two camera units while one of the two camera units is photographing the workpiece, the control unit performs control to notify one of the two camera units of the failure.

[0082] (Item 6)

[0083] A robot having:

[0084] a robotic arm equipped with a hand for holding a workpiece;

[0085] two camera units for photographing the workpiece; and

[0086] a control unit that controls the two camera units,

[0087] During a period when one of the two camera parts is photographing the workpiece, the control unit controls the other of the two camera parts to be on standby in a state where the robot arm can hold the workpiece based on the other of the two camera parts photographing the workpiece, and during a period when one of the two camera parts is photographing the workpiece, when a failure of one of the two camera parts is detected, the control unit controls the state of switching from the state of photographing the workpiece by one of the two camera parts to the state of photographing the workpiece by the other of the two camera parts.

[0088] (Item 7)

[0089] A control method for a robot system, the robot system comprising: a robot arm equipped with a hand for holding a workpiece; and two camera units for photographing the workpiece.

[0090] The control method of the robot system comprises:

[0091] When one of the two imaging units is imaging the workpiece and during the imaging of the workpiece by the one of the two imaging units, the robot arm is allowed to hold the workpiece based on the imaging of the workpiece by the other of the two imaging units, placing the other of the two imaging units on standby; and

[0092] When a failure of one of the two imaging units is detected while one of the two imaging units is imaging the workpiece, the state in which the workpiece is imaged by one of the two imaging units is switched to a state in which the workpiece is imaged by the other of the two imaging units.

[0093] Description of Reference Numerals

[0094] 10.210 Robot

[0095] 11. Robotic Arm

[0096] 12 Robot controller (control unit)

[0097] 31, 231 First camera unit (one of the two camera units)

[0098] 32, 232 Second camera unit (the other of the two camera units)

[0099] 100 Robotic Systems

[0100] H Hand

[0101] W Workpiece

Claims

1. A robot system, characterized in that: have: a robotic arm equipped with a hand for holding a workpiece; two camera units for photographing the workpiece; and a control unit that controls the two camera units, During a period when one of the two camera parts is photographing the workpiece, the control unit controls the other of the two camera parts to be on standby in a state where the robot arm can hold the workpiece based on the other of the two camera parts photographing the workpiece, and during a period when one of the two camera parts is photographing the workpiece, when a failure of one of the two camera parts is detected, the control unit controls the state of switching from the state of photographing the workpiece by one of the two camera parts to the state of photographing the workpiece by the other of the two camera parts.

2. The robot system according to claim 1, characterized in that: While one of the two camera units is photographing the workpiece, the control unit controls the other of the two camera units to standby in a state where the position information of the other of the two camera units is associated with the position information of the robot arm, so that the robot arm can grasp the workpiece based on the photography of the workpiece by the other of the two camera units.

3. The robot system according to claim 1, characterized in that: The two camera units are cameras having the same viewing angle, and an interface for connecting the two camera units to the control unit and performing information communication with the control unit, and a field angle in which the camera range is expressed in degrees.

4. The robot system according to claim 1, characterized in that: The two imaging units are respectively arranged at substantially the same position relative to the robot arm so as to image the common workpiece.

5. The robot system according to claim 1, characterized in that: The control unit performs control to notify one of the two imaging units of the failure when a failure of one of the two imaging units is detected while one of the two imaging units is imaging the workpiece.

6. A robot, characterized in that: have: a robotic arm equipped with a hand for holding a workpiece; two camera units for photographing the workpiece; and a control unit that controls the two camera units, During a period when one of the two camera parts is photographing the workpiece, the control unit controls the other of the two camera parts to be on standby in a state where the robot arm can hold the workpiece based on the other of the two camera parts photographing the workpiece, and during a period when one of the two camera parts is photographing the workpiece, when a failure of one of the two camera parts is detected, the control unit controls the state of switching from the state of photographing the workpiece by one of the two camera parts to the state of photographing the workpiece by the other of the two camera parts.

7. A control method for a robot system, characterized in that: The robot system comprises: a robot arm equipped with a hand for holding a workpiece; and two imaging units for imaging the workpiece. The control method of the robot system comprises: When one of the two imaging units is imaging the workpiece and during the imaging of the workpiece by the one of the two imaging units, the robot arm is allowed to hold the workpiece based on the imaging of the workpiece by the other of the two imaging units, placing the other of the two imaging units on standby; and When a failure of one of the two imaging units is detected while one of the two imaging units is imaging the workpiece, the state in which the workpiece is imaged by one of the two imaging units is switched to a state in which the workpiece is imaged by the other of the two imaging units.

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