Robotic system

Abstract

The utility model provides a kind of robot system, provide a kind of the image of the article that can efficiently and high-precisionly obtain as shooting object technique. Robot system has: mobile station, it can move;Work robot, it is carried on mobile station;Light shielding box body, it is carried on mobile station in different position with work robot;And shooting device, it can photograph the article in the inside of box body. Also can be, work robot can hold article in the inside of box body. Also can be, shooting device photographs the article that work robot holds in the inside of box body.

Description

Technical Field

[0001] The technology disclosed in this specification relates to robotic systems. Background Technology

[0002] Patent Document 1 discloses an industrial robot. The industrial robot of Patent Document 1 includes a movable platform, a working robot mounted on the movable platform, a workpiece mounting platform mounted on the movable platform at a different position than the working robot, and a camera capable of photographing the workpiece mounted on the workpiece mounting platform.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 08-290350 Utility Model Content

[0006] Problems to be solved by utility models

[0007] In the industrial robot described in Patent Document 1, sometimes external light shines on the workpiece mounted on the workpiece platform, causing the light to be reflected by the workpiece. As a result, when photographing the workpiece with a camera, the reflected light sometimes enters the camera and affects the image capture. Consequently, there is a problem of not being able to acquire a high-precision image of the workpiece.

[0008] Furthermore, in the industrial robot of Patent Document 1, after the workpiece is mounted on the workpiece mounting platform by the work robot, the workpiece is photographed while the arm of the work robot is retracted from the workpiece, which results in low work efficiency.

[0009] This specification provides a technique for efficiently and accurately acquiring images of objects that are the subjects of a photograph.

[0010] Solution for solving the problem

[0011] In the first technical solution of this invention, the robot system comprises: a mobile platform capable of movement; a working robot mounted on the mobile platform; a light-shielding enclosure mounted on the mobile platform at a different position than the working robot; and a camera capable of photographing an item inside the enclosure. Alternatively, the working robot may be able to hold an item inside the enclosure. Alternatively, the camera may photograph the item held by the working robot inside the enclosure.

[0012] According to this structure, when the imaging device photographs an object, the light-blocking enclosure can be used to block external light, thus suppressing external light from shining on the object and preventing external light from being reflected by the object. Therefore, excess light can be suppressed from entering the imaging device when photographing the object, enabling high-precision acquisition of images of the object being photographed.

[0013] Furthermore, according to the above structure, since the working robot holds the item inside the container when the shooting device is taking pictures of the item, the item held by the working robot inside the container can be quickly moved to the outside of the container after the shooting device has taken pictures of the item. In addition, before the shooting device takes pictures of the item, preparation for shooting can be completed simply by moving the item held outside the container to the inside of the container using the working robot. Therefore, the item being photographed can be photographed quickly, thus enabling efficient acquisition of images of the item being photographed.

[0014] The second technical solution is based on the first technical solution above, wherein the working robot can hold an item inside the box by moving the item held outside the box to the inside of the box.

[0015] Based on this structure, it is possible to quickly photograph the object after the robot moves it from the outside of the container to the inside. This allows for efficient acquisition of images of the object being photographed.

[0016] The third technical solution is based on the first or second technical solution described above. Alternatively, the robot system may be configured such that, after the shooting device takes a picture of the item held by the robot inside the housing, the robot moves the item held by it to the outside of the housing.

[0017] According to this structure, after the imaging device photographs an item inside the box, the item being photographed can be quickly moved to the outside of the box. This allows the box to be opened quickly for photographing the next item. Therefore, images of the items being photographed can be acquired efficiently. Attached Figure Description

[0018] Figure 1 This is a perspective view (1) schematically representing the robot system of an embodiment.

[0019] Figure 2 This is a perspective view (2) schematically representing the robot system of an embodiment.

[0020] Explanation of reference numerals in the attached figures

[0021] 2. Robot system; 10. Working robot; 12. Base end; 13. Part 1; 14. Part 2; 15. Top end; 16. Holding part; 30. Moving platform; 32. Main body; 34. Wheel; 36. Upper surface; 38. Side; 50. Box; 51. Upper component; 52. Lower component; 53. Left component; 54. Right component; 55. Rear component; 60. Opening; 70. Camera; 100. Control device; 102. Power supply; W. Item. Detailed Implementation

[0022] The robot system 2 of the embodiment will be described with reference to the accompanying drawings. Figure 1 and Figure 2 As shown, the robot system 2 of this embodiment includes a mobile platform 30, a work robot 10 mounted on the mobile platform 30, a light-shielding housing 50 mounted on the mobile platform 30 at a different position than the work robot 10, and a camera device 70 mounted on the housing 50. Furthermore, the robot system 2 includes a power supply 102 that supplies power to the work robot 10 and the camera device 70, and a control device 100 that controls the movement of the work robot 10 and the camera device 70.

[0023] The movable platform 30 includes a main body 32 and a plurality of wheels 34 mounted on the main body 32. The movable platform 30 is configured to move in multiple directions due to the presence of the plurality of wheels 34. The plurality of wheels 34 are mounted on the lower part of the main body 32. The movable platform 30 can, for example, move in multiple directions on a floor. In a variation, the movable platform 30 may also move along a track. The movable platform 30 can move manually or automatically.

[0024] The main body 32 of the mobile platform 30 is configured as a box shape, for example. The main body 32 has an upper surface portion 36 for mounting the work robot 10 and the box body 50. The main body 32 supports the work robot 10 and the box body 50. The main body 32 is made of aluminum alloy, for example.

[0025] The work robot 10 is fixed to the upper surface 36 of the moving platform 30. The mounting position of the work robot 10 on the upper surface 36 of the moving platform 30 can be appropriately set. The work robot 10 is, for example, a multi-joint robot with multiple arms. The work robot 10 is capable of holding the object W, which is the subject of the photograph. Furthermore, the work robot 10 can move the object W while holding it. For example, the work robot 10 can move the object W from the outside to the inside of the housing 50 or from the inside to the outside of the housing 50. The object W is sometimes also referred to as a workpiece.

[0026] The structure of the work robot 10 is not particularly limited. For example, the work robot 10 includes a base end 12, a first part 13, a second part 14, a top end 15, and a gripping part 16. The base end 12 of the work robot 10 is fixed to the upper surface 36 of the moving table 30.

[0027] Part 13 is connected to base end 12. Part 13 is configured to rotate relative to base end 12. Part 13 rotates, for example, about one or more axes. Part 24 is connected to Part 13. Part 24 is configured to rotate relative to Part 13. Part 24 rotates, for example, about one or more axes. Top end 15 is connected to Part 24. Top end 15 is configured to rotate relative to Part 24. Top end 15 rotates, for example, about one or more axes.

[0028] The gripping part 16 is connected to the top part 15. The gripping part 16 is configured to grip the object W, which is the subject of the photograph. The gripping part 16 has, for example, multiple claw members, and grips the object W by moving the multiple claw members closer or further apart. The gripping part 16 is sometimes also referred to as a clamp.

[0029] Furthermore, the work robot 10 may also have components different from those described above. For example, the work robot 10 may also have a telescopic section that extends and retracts in the front-to-back direction. The work robot 10 can also move the object W, which is the subject of the photograph, from the outside to the inside of the box 50 or from the inside to the outside of the box 50 by extending and retracting the telescopic section relative to the box 50 in the front-to-back direction. The structure of the work robot 10 is not particularly limited.

[0030] The housing 50 is fixed to the upper surface 36 of the moving platform 30. The housing 50 is mounted on the moving platform 30 at a different position than the working robot 10. The working robot 10 and the housing 50 are arranged in a face-to-face configuration on the upper surface 36 of the moving platform 30. Furthermore, the mounting position of the housing 50 on the upper surface 36 of the moving platform 30 can be appropriately set.

[0031] The enclosure 50 blocks external light from entering its interior. Inside the enclosure 50, a space is formed capable of holding the object W to be photographed.

[0032] The housing 50 includes, for example, an upper member 51, a lower member 52, a left member 53, a right member 54, and a rear member 55. The upper member 51, left member 53, right member 54, and rear member 55 respectively block external light from entering the housing 50 (i.e., suppress external light from entering the housing 50). For example, the upper member 51 suppresses light from entering the housing 50 from its upper side. The left member 53 and right member 54 suppress light from entering the housing 50 from its side (left or right). The rear member 55 suppresses light from entering the housing 50 from its rear side. The lower member 52 is fixed to the upper surface 36 of the moving platform 30. The lower member 52 suppresses light reflection. Each member is, for example, a black plate-shaped member.

[0033] Additionally, the housing 50 has an opening 60. The opening 60 is located on the front side of the housing 50 (on the side of the working robot 10). The opening 60 is located between the rear member 55 of the housing 50 and the working robot 10. The opening 60 faces the working robot 10. In the robot system 2, the object W, which is to be photographed, enters and exits the housing 50 through the opening 60.

[0034] The imaging device 70 is mounted on the housing 50. The imaging device 70 is fixed to the left side member 53 of the housing 50, for example. In a modified example, the imaging device 70 may also be fixed to the right side member 54, the rear member 55, the upper member 51, or the lower member 52 of the housing 50.

[0035] The imaging device 70 is capable of photographing the interior of the housing 50. When an item W is present inside the housing 50, the imaging device 70 is capable of photographing the item W inside the housing 50. The imaging device 70 acquires an image of the item W by photographing it. The imaging device 70 acquires images of the item W in the form of still images and / or moving images. In addition, the imaging device 70 may also be equipped with a lighting device for illuminating the item W inside the housing 50.

[0036] The power supply 102 of the robot system 2 may include, for example, a primary battery or a secondary battery. In this embodiment, the power supply 102 is an independent power supply. In a variation, the power supply 102 may be electrically connected to an external power source, receiving power from the external source. The control device 100 of the robot system 2 may include, for example, a CPU, ROM, and RAM, and executes various controls and processes related to the robot system 2 based on a predetermined program. The control device 100 and the power supply 102 may be disposed, for example, inside the main body 32 of the mobile stage 30.

[0037] Next, the operation of robot system 2 will be described. In the aforementioned robot system 2, firstly, the working robot 10 holds the item W (refer to) outside the housing 50. Figure 1For example, the robot 10 holds an item W held by a designated holding part (not shown) outside the housing 50. The designated holding part is provided, for example, on the moving platform 30. In a variation, the designated holding part may also be provided on a platform different from the moving platform 30.

[0038] Next, the robot 10 moves the item W held on the outside of the container 50 into the inside of the container 50 (see reference). Figure 2 For example, the work robot 10 moves the held item W from the outside of the box 50 to the inside of the box 50 by moving the first part 13, the second part 14, and the top part 15. The work robot 10 maintains the state of holding the item W inside the box 50.

[0039] Next, the imaging device 70 photographs the item W inside the housing 50. The imaging device 70 photographs the item W held by the working robot 10 inside the housing 50. The imaging device 70 acquires an image of the item W by photographing it. The image information of the item W acquired by the imaging device 70 is transmitted to the control device 100, for example, via wireless or wired communication. In a modified example, the image information of the item W can also be transmitted via wireless or wired communication to an external device different from the robot system 2.

[0040] Next, the robot 10 moves the item W held inside the container 50 to the outside of the container 50 (see reference). Figure 1 After the shooting device 70 takes a picture of the item W inside the box 50, the working robot 10 moves the item W it is holding from inside the box 50 to the outside of the box 50.

[0041] Next, the work robot 10 returns the currently held item W to the designated holding part (not shown) outside the container 50. Then, the work robot 10 repeats the above series of actions. Additionally, the camera device 70 also repeats the above series of actions. The robot system 2 repeatedly performs the above series of actions.

[0042] (Effect)

[0043] The robot system 2 of the embodiment has been described above. As can be seen from the above description, the robot system 2 includes a work robot 10 mounted on a mobile platform 30, a light-shielding housing 50 mounted on the mobile platform 30 at a different position than the work robot 10, and a camera device 70 capable of photographing an item W inside the housing 50. The work robot 10 is able to hold the item W inside the housing 50. The camera device 70 photographs the item W held by the work robot 10 inside the housing 50.

[0044] According to this structure, when the imaging device 70 photographs the object W, the light-blocking housing 50 can be used to block external light, thus suppressing external light from shining onto the object W and preventing external light from being reflected by the object W. Therefore, excess light can be suppressed from entering the imaging device 70 when photographing the object W, and thus images of the object W can be acquired with high precision.

[0045] Furthermore, according to the above structure, since the working robot 10 holds the item W inside the housing 50 when the shooting device 70 is shooting the item W, the item W held by the working robot 10 inside the housing 50 can be quickly moved to the outside of the housing 50 after the shooting device 70 shoots the item W. Moreover, before the shooting device 70 shoots the item W, preparation for shooting can be made simply by moving the item W held outside the housing 50 to the inside of the housing 50 by the working robot 10. Therefore, the item W can be shot quickly, and thus images of the item W can be acquired efficiently.

[0046] The work robot 10 can hold an item W inside the box 50 by moving the item W held outside the box 50 into the box 50. According to this structure, the item W can be photographed quickly after the work robot 10 moves the item W from the outside of the box 50 into the box 50. Therefore, images of the item W as the subject of the photograph can be acquired efficiently.

[0047] After the imaging device 70 photographs the item W held by the work robot 10 inside the housing 50, the work robot 10 moves the held item W to the outside of the housing 50. According to this structure, after the imaging device 70 photographs the item W inside the housing 50, the item W, as the subject of the photograph, can be quickly moved to the outside of the housing 50. Therefore, the inside of the housing 50 can be quickly opened for photographing the next item W. Thus, images of the item W as the subject of the photograph can be acquired efficiently.

[0048] (Modified Example)

[0049] In the above embodiment, the imaging device 70 is mounted on the housing 50, but is not limited to this structure. In a variation, the imaging device 70 may also be mounted on the mobile platform 30 or the work robot 10.

[0050] In the above embodiment, the work robot 10 is mounted on the upper surface 36 of the main body 32 of the mobile platform 30, but is not limited to this structure. The position where the work robot 10 is mounted on the mobile platform 30 is not particularly limited. For example, the work robot 10 may also be mounted on the side 38 of the main body 32 of the mobile platform 30. The mounting position of the work robot 10 on the mobile platform 30 can be appropriately set.

[0051] In the above embodiment, the housing 50 is mounted on the upper surface 36 of the main body 32 of the moving stage 30, but this structure is not limited. The position where the housing 50 is mounted on the moving stage 30 is not particularly limited. For example, the housing 50 may also be mounted on the side 38 of the main body 32 of the moving stage 30. The mounting position of the housing 50 on the moving stage 30 can be appropriately set.

[0052] The above description details specific examples of this utility model, but these are merely illustrative and do not limit the scope of the claims. The technology described in the claims includes techniques obtained by various modifications and alterations to the specific examples described above. The technical elements described in this specification or drawings exert their technical usefulness individually or in various combinations, and are not limited to the combinations described in the claims at the time of application. Furthermore, the technology illustrated in this specification or drawings simultaneously achieves multiple objectives, and achieving one of these objectives is itself technically useful.

Claims

1. A robot system, characterized in that, This robot system has the following features: A mobile station, capable of movement; A work robot, mounted on the mobile platform; A light-shielding enclosure, mounted on the mobile platform at a different location than the working robot; and A camera device capable of photographing items inside the box. The robot is capable of holding items inside the container. The camera device captures images of the items held by the robot inside the container.

2. The robot system according to claim 1, characterized in that, The robot is able to hold an item inside the box by moving the item held outside the box to the inside of the box.

3. The robot system according to claim 1 or 2, characterized in that, The robot system is configured such that after the camera takes a picture of the item held by the robot inside the housing, the robot moves the item held by it to the outside of the housing.

Images