COVER, ROBOT SYSTEM, AND METHOD OF OPERATING ROBOT SYSTEM - Patent application

Abstract

To provide a cover that is used for imaging a correction mark and that allows the correction mark to be properly imaged. [Solution] The robot system includes a robot including an imaging unit, a work table on which a workpiece to be worked by the robot is placed and on which correction marks are arranged for correcting the robot's position information relative to the workpiece, and a cover that is movably arranged at a predetermined position for adjusting the brightness of the correction mark. The robot moves the cover from the predetermined position to an imaging position where the cover covers the correction mark, and then moves the cover from the imaging position to the predetermined position. The cover has a cylindrical cover body, a first opening that is arranged at one end of the cover body and is larger than the correction mark, a second opening that is arranged at the other end of the cover body and is configured to allow the imaging unit to image the correction mark, and a held portion that is held by the robot when the robot moves the cover and when the imaging unit images the correction mark.

Description

[Technical Field]

[0001] The present invention relates to a cover, a robotic system, and a method of operating a robotic system. [Background technology]

[0002] Collaborative robots and the like are known as devices that perform tasks on workpieces. Collaborative robots are placed indoors and perform tasks such as grasping, moving, and assembling workpieces. Such collaborative robots accurately grasp their own position information by recognizing landmarks that are used to correct their own position information relative to the workpiece (see, for example, Patent Document 1).

[0003] Patent Document 1 describes a landmark (correction mark) that includes a position recognition unit consisting of three marks for recognizing the position information of a mobile robot, and an area recognition unit consisting of a combination of multiple marks for recognizing additional area information of the mobile robot. When the landmark is placed on the ceiling of a room, the landmark is imaged by a camera mounted on the mobile robot, and when the landmark is placed on the mobile robot moving inside the room, the landmark is imaged by a camera mounted on the ceiling. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Special Publication No. 2010-521733 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when using the landmarks described in Patent Document 1, for example, light emitted from indoor lighting and reflected by the landmarks, or sunlight entering the room through a window and reflected by the landmarks, may enter the camera, making it impossible to properly capture the landmarks.

[0006] Therefore, an object of the present invention is to provide a cover that is used for imaging a correction mark and that properly images the correction mark, and a robot system having the cover. Another object of the present invention is to provide an operating method of a robot system that can properly image the correction mark. [Means for solving the problem]

[0007] In order to solve the above problem, according to one aspect of the present invention, A cover for use in a robotic system, comprising: The robot system includes: a robot including an imaging unit; a work table on which a workpiece to be worked by the robot is placed and on which correction marks are arranged for correcting position information of the robot relative to the workpiece; the cover is movably disposed at a predetermined position and is for adjusting the brightness of the correction mark; and The robot before capturing an image of the correction mark by the imaging unit, moving the cover from the predetermined position to an imaging position where the cover covers the correction mark; After the image capturing unit captures an image of the correction mark, the cover is moved from the image capturing position to the predetermined position; The cover is A cylindrical cover body; a first opening disposed at one end of the cover body and larger than the correction mark; a second opening portion disposed at the other end portion of the cover body and configured to allow the imaging unit to capture an image of the correction mark; a held portion that is held by the robot when the robot moves the cover and when the imaging unit captures an image of the correction mark; having A cover is provided.

[0008] In order to solve the above problem, according to one aspect of the present invention, A cover for use in a robotic system, comprising: The robot system includes: a robot including an imaging unit; a work table on which a workpiece to be worked by the robot is placed and on which correction marks are arranged for correcting position information of the robot relative to the workpiece; a cover disposed on the work table so as to surround the correction mark, the cover being for adjusting the brightness of the correction mark; and The cover is A cylindrical cover body; a first opening disposed at one end of the cover body and larger than the correction mark; a second opening portion disposed at the other end portion of the cover body and configured to allow the imaging unit to capture an image of the correction mark; a bottom portion disposed at an end of the cover body on the first opening side and configured to support the cover body when the cover is placed on the workbench; having A cover is provided.

[0009] In order to solve the above problem, according to one aspect of the present invention, a robot including an imaging unit; a work table on which a workpiece to be worked by the robot is placed and on which correction marks are arranged for correcting position information of the robot relative to the workpiece; a cover that is movably disposed at a predetermined position and that adjusts the brightness of the correction mark; and The robot before capturing an image of the correction mark by the imaging unit, moving the cover from the predetermined position to an imaging position where the cover covers the correction mark; After the image capturing unit captures an image of the correction mark, the cover is moved from the image capturing position to the predetermined position; The cover is A cylindrical cover body; a first opening disposed at one end of the cover body and larger than the correction mark; a second opening portion disposed at the other end portion of the cover body and configured to allow the imaging unit to capture an image of the correction mark; a held portion that is held by the robot when the robot moves the cover and when the imaging unit captures an image of the correction mark; having A robotic system is provided.

[0010] In order to solve the above problem, according to one aspect of the present invention, a robot including an imaging unit; a work table on which a workpiece to be worked by the robot is placed and on which correction marks are arranged for correcting position information of the robot relative to the workpiece; a cover that is placed on the work table so as to surround the correction mark and that adjusts the brightness of the correction mark; and The cover is A cylindrical cover body; a first opening disposed at one end of the cover body and larger than the correction mark; a second opening portion disposed at the other end portion of the cover body and configured to allow the imaging unit to capture an image of the correction mark; a bottom portion disposed at an end of the cover body on the first opening side and configured to support the cover body relative to the workbench; having A robotic system is provided.

[0011] In order to solve the above problem, according to one aspect of the present invention, 1. A method of operating a robotic system, comprising: The robot system includes: a robot including an imaging unit; a work table on which a workpiece to be worked by the robot is placed and on which correction marks are arranged for correcting position information of the robot relative to the workpiece; a cover that is movably disposed at a predetermined position and that adjusts the brightness of the correction mark; and The cover is A cylindrical cover body; a first opening disposed at one end of the cover body and larger than the correction mark; a second opening portion disposed at the other end portion of the cover body and configured to allow the imaging unit to capture an image of the correction mark; a held portion that is held by the robot when the robot moves the cover and when the imaging unit captures an image of the correction mark; and The method for operating the robot system includes: the robot holding the cover disposed at the predetermined position; a step of moving the cover by the robot to an imaging position where the cover covers the correction mark; a step of using the imaging unit to capture an image of the correction mark covered by the cover and correcting position information of the robot with respect to the workpiece; a step of, after the imaging unit captures an image of the correction mark, the robot moving the cover from the imaging position to the predetermined position; Including, A method for operating a robotic system is provided. [Effects of the Invention]

[0012] According to the present invention, it is possible to provide a cover that is used for imaging a correction mark and that can properly image the correction mark, and a robot system having the cover. Also, according to the present invention, it is possible to provide an operation method of a robot system that can properly image the correction mark. [Brief explanation of the drawings]

[0013] [Figure 1] 1A and 1B are schematic diagrams showing the configuration of a robot system according to a first embodiment of the present invention. [Figure 2]2A to 2D are diagrams showing the configuration of the cover according to the first embodiment of the present invention. [Figure 3] FIG. 3 is a flowchart showing an operation method of the robot system according to the first embodiment of the present invention. [Figure 4] 4A and 4B are diagrams illustrating the process in which the robot holds the cover. [Figure 5] 5A to 5C are diagrams showing a state in which the robot holds the cover. [Figure 6] 6A and 6B are diagrams for explaining the process of moving the cover to the imaging position. [Figure 7] 7A and 7B are schematic diagrams showing the configuration of a robot system according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A robot system and a cover according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0015] [Embodiment 1] (Robot system configuration) FIG. 1A is a plan view showing the configuration of a robot system 10 according to a first embodiment of the present invention, and FIG. 1B is a side view.

[0016] The robot system 10 includes a robot 11, a work table 12 on which a workpiece W is placed and on which a correction mark 41 is arranged, and a cover 13.

[0017] The robot 11 is a so-called articulated robot (collaborative robot) that moves the cover 13 and performs work on the workpiece W. The robot 11 is rotatably fixed to a base 14. The configuration of the robot 11 is not particularly limited as long as it can perform the above-mentioned functions. In this embodiment, the robot 11 includes a base 21 fixed to the base 14, a plurality of arms 22 rotatably connected to the base 21, a working unit 23 disposed at the tip of the arm 22 and performing work on the workpiece W, an imaging unit 24 disposed at the tip of the working unit 23 and for capturing an image of the correction mark 41, a holding arm 25 for holding the cover 13, and a control unit 26 that controls these components. Before capturing an image of the correction mark 41 with the imaging unit 24, the robot 11 moves the cover 13 from a predetermined position (cover placement unit 15) to an imaging position where the cover 13 covers the correction mark 41, and after capturing an image of the correction mark 41 with the imaging unit 24, moves the cover 13 from the imaging position to the predetermined position (cover placement unit 15).

[0018] The number of arms 22 is not particularly limited. In this embodiment, the number of arms 22 is three. The arm 22 has a first arm 31 connected to the base 21, a second arm 32 connected to the tip of the first arm 31, and a third arm 33 connected to the tip of the second arm. A working unit 23 and an imaging unit 24 are disposed at the tip of the third arm 33. By operating the base 14, the first arm 31, the second arm 32, and the third arm 33, the working unit 23 and the imaging unit 24 of the robot 11 can move to any position and perform work on a workpiece W or the like.

[0019] The working unit 23 is a part that performs work on the workpiece W. The working unit 23 is disposed at the tip of the third arm 33. The configuration of the working unit 23 is set appropriately depending on the workpiece W and the work content on the workpiece W. In this embodiment, a jig 34 for performing work on the workpiece W is disposed in the working unit 23.

[0020] The imaging unit 24 is a component that captures an image of the correction mark 41. The imaging unit 24 is disposed at the tip of the working unit 23. The imaging unit 24 may be disposed movably relative to the tip of the working unit 23, or may be fixed to the tip of the working unit 23. In the present embodiment, the imaging unit 24 is fixed to the working unit 23. The configuration of the imaging unit 24 is not particularly limited as long as it can properly capture an image of the correction mark 41. In the present embodiment, the imaging unit 24 includes a camera 35 and a light 36. The type of camera 35 is not particularly limited as long as it can capture an image of the correction mark 41. Examples of the camera 35 include a visible light camera such as a 3D camera or a 2D camera, an infrared camera, etc. The light 36 is not particularly limited as long as it can brightly illuminate the correction mark 41. Examples of the light 36 include a light-emitting diode (LED), a light bulb, a fluorescent lamp, etc. The positional relationship between the camera 35 and the light 36 is not particularly limited. In this embodiment, the lighting 36 is arranged to surround the camera 35, and the lighting 36 and the camera 35 are arranged so as to be flush with each other.

[0021] The holding arm 25 is a component that holds the cover 13. In the present embodiment, the holding arm 25 is fixed to the third arm 33. The configuration of the holding arm 25 is not particularly limited as long as it can hold the cover 13. In the present embodiment, a pair of holding arms 25 are arranged to sandwich the imaging unit 24 when the robot 11 is viewed from above. In the present embodiment, the holding arm 25 includes a holding arm main body 37 and a stopper 38 disposed at the tip of the holding arm main body 37. The cross-sectional shape of the holding arm main body 37 in a direction perpendicular to the longitudinal direction is not particularly limited. The cross-sectional shape of the holding arm main body 37 may be polygonal or circular. In the present embodiment, the cross-sectional shape of the holding arm main body 37 is circular. The stopper 38 prevents the holding arm main body 37 from coming off the held portion 54 of the cover 13. The structure of the stopper 38 is not particularly limited as long as it can perform the above function. In the present embodiment, the cross-sectional area of ​​the stopper 38 is formed to be larger than the cross-sectional area of ​​the holding arm main body 37.

[0022] The control unit 26 has a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory). The CPU controls the base 21, the multiple arms 22, the working unit 23, the imaging unit 24, and the holding arm 25 in accordance with programs stored in the ROM, and corrects the position information of the robot 11 relative to the workpiece W. The programs include a program for correcting the position information of the robot 11 relative to the workpiece W.

[0023] In addition, the control unit 26 may send and receive various data via a communication unit (not shown) with an external device (e.g., a personal computer) connected to a communication network such as a LAN (Local Area Network) or a WAN (Wide Area Network).

[0024] A robot 11 and a cover 13 are arranged on the base 14. The cover 13 is movably arranged on a cover arrangement unit 15. In this embodiment, the robot 11 is arranged on the workbench 12 side, and the cover arrangement unit 15 is arranged on the opposite side of the workbench 12 from the robot 11.

[0025] The work table 12 is placed with a workpiece W, which is the work target of the robot 11, and is provided with correction marks 41 for correcting the position information of the robot 11 relative to the workpiece W. In this embodiment, a workpiece placement section 43 for placing the workpiece W is also provided.

[0026] The correction mark 41 is used to correct the position information (X coordinate information, Y coordinate information, Z coordinate information) of the robot 11 relative to the workpiece W. The configuration of the correction mark 41 is not particularly limited as long as it can perform the above function. The size of the correction mark 41 is, for example, 5 cm x 5 cm. The position of the correction mark 41 on the work table 12 is not particularly limited as long as it can be imaged by the robot 11. In this embodiment, the position of the correction mark 41 is arranged in the area on the base 14 side of the upper surface of the work table 12.

[0027] The workpiece W is the object to be worked on by the robot 11. The workpiece W is placed on the workpiece placement section 43 on the upper surface of the work table 12. The workpiece W is set appropriately depending on the work content of the robot 11. The workpiece placement section 43 places the workpiece W on it. The configuration of the workpiece placement section 43 is not particularly limited as long as it can place the workpiece W. The configuration of the workpiece placement section 43 is set appropriately. The method of placing the workpiece W on the workpiece placement section 43 is not particularly limited. The workpiece W may be placed on the workpiece placement section 43 by another robot, or may be placed by a worker each time.

[0028] An auxiliary cover (not shown) that surrounds the correction mark 41 and can be engaged with the cover 13 may be fixed to the workbench 12. The auxiliary cover helps the cover 13 to properly cover the correction mark 41. The auxiliary cover is preferably made of a light-blocking material. Examples of materials for the auxiliary cover include resins such as nylon and various metals such as aluminum.

[0029] 2A is a perspective view of cover 13 (a perspective view seen from the back and left side), FIG. 2B is a front view of cover 13, FIG. 2C is a plan view, and FIG. 2D is a right side view.

[0030] As shown in FIGS. 2A to 2D, the cover 13 has a cover main body 51, a first opening 52, a second opening 53, and a hold portion 54. In this embodiment, the cover 13 further has a connection plate 55 connecting the cover main body 51 and the hold portion 54, and a restriction plate 57 that restricts the position of the cover 13 relative to the robot 11. The cover 13 adjusts the brightness of the correction mark 41. In this embodiment, the cover 13 adjusts the brightness of the correction mark 41 by blocking light incident on the correction mark 41 from the surroundings. In this embodiment, the cover 13 surrounds and covers the correction mark 41, thereby blocking light incident on the correction mark 41 from directions other than above. All light incident on the correction mark 41 may be blocked, or only a small amount may leak through. The material of the cover 13 is not particularly limited as long as it has light-blocking properties. Examples of materials for the cover 13 include resins such as nylon and various metals such as aluminum.

[0031] The cover body 51 is formed in a cylindrical shape, with the first opening 52 located at one end (lower end) and the second opening 53 located at the other end (upper end). The outer shape of the cover body 51 is not particularly limited. Examples of the outer shape of the cover body 51 include a polygonal prism, a circular cylinder, and an elliptical cylinder. In this embodiment, the outer shape of the cover body 51 is a quadrangular prism. The inner shape of the cover body 51 is also not particularly limited. Examples of the inner shape of the cover body 51 include a polygonal prism, a circular cylinder, and an elliptical cylinder. In this embodiment, the inner shape of the cover body 51 is a quadrangular prism. The inner surface of the cover 13 (cover body 51) is preferably a smooth surface to prevent diffuse reflection of light. The height of the cover body 51 is appropriately set depending on the performance of the camera 35. The height of the cover body 51 is, for example, within a range of 80 to 130 mm. A pair of connecting plates 55 that connect the cover body 51 and the held portion 54 are disposed at the other end (upper end) of the cover body 51. The height of the connecting plates 55 is set appropriately depending on the distance between the end (on the image capture target side) of the camera 35 and the holding arm 25.

[0032] The first opening 52 is disposed at one end (lower end) of the cover body 51. The size of the first opening 52 is formed to be larger than the correction mark 41. The shape of the first opening 52 is not particularly limited. In this embodiment, the shape of the first opening 52 is the same as the cross-sectional shape of the inner shape of the cover body 51.

[0033] The second opening 53 is disposed at the other end (upper end) of the cover body 51. The shape of the second opening 53 is not particularly limited. The shape of the second opening 53 is preferably a shape that is approximately complementary to the outer shape of the imaging unit 24. Here, a complementary shape does not only mean a perfectly complementary shape, but also a substantially complementary shape. In this embodiment, the shape of the second opening 53 is a shape that is approximately complementary to the outer shapes of the camera 35 and the lighting 36 when viewed from a direction facing the camera 35 of the imaging unit 24.

[0034] The held portion 54 is held by the holding arm 25 of the robot 11. The configuration of the held portion 54 is not particularly limited as long as it can perform the above-mentioned function. In this embodiment, the held portion 54 protrudes outward from the upper end of the connecting plate 55. A groove 56 is formed on the underside of the held portion 54. The shape of the groove 56 is not particularly limited as long as it can engage with the holding arm 25. The groove 56 may be a U-shaped groove, a V-shaped groove, or a U-shaped groove with a corner. In this embodiment, the groove 56 is a V-shaped groove.

[0035] The restricting plate 57, together with the stopper 38, is a part for restricting the position of the robot 11. The restricting plate 57 is configured to come into contact with the robot 11 when the stopper 38 comes into contact with the tip of the held portion 54.

[0036] (Operation method of the robot system) Next, an operation method of the robot system 10 will be described. Fig. 3 is a flowchart of the operation method of the robot system 10. Fig. 4A is a plan view showing the step (S110) of holding the cover 13, and Fig. 4B is a side view. Fig. 5A is a front view showing the configuration when the robot 11 holds the cover, Fig. 5B is a plan view, and Fig. 5C is a side view. Fig. 6A is a plan view of the step (S120) of moving the cover 13 to an imaging position and the step (S130) of correcting the position information, and Fig. 6B is a side view.

[0037] As shown in Figures 3, 4A, B, 5A-C, and 6A, B, the operating method of the robot system 10 includes a step of holding the cover 13 (S110), a step of moving the cover 13 to an imaging position (S120), a step of correcting position information (S130), and a step of moving the cover 13 to a predetermined position (cover placement section 15) (S140).

[0038] The robot system 10 used is the above-described robot system 10. That is, the robot system 10 has a robot 11 including an imaging unit 24, a work table 12 on which a workpiece W, which is an object of work by the robot 11, is placed and on which correction marks 41 are arranged for correcting position information of the robot 11 relative to the workpiece W, and a cover 13 that is movably arranged at a predetermined position (cover arrangement unit 15) and for adjusting the brightness of the correction marks 41.

[0039] As shown in FIGS. 3, 4A, 4B, and 5A-C, in the step (S110) of holding the cover 13, the robot 11 holds the cover 13, which has been placed in a predetermined position. Specifically, the holding arm 25 of the robot 11 is inserted from the front side of the cover 13 to the underside of the held portion 54. At this time, the holding arm 25 is inserted so that the stopper 38 is positioned at the tip of the held portion 54 and the restricting plate 57 contacts the robot 11. When the cover 13 is held (lifted) in this state, the holding arm main body 37 engages with the held portion 54 and the stopper 38 prevents the cover 13 from falling. At this time, the distance between the imaging unit 24 of the robot 11 and the second opening 53 is preferably 50 mm or less, more preferably 10 mm or less. By setting this distance to 50 mm or less, light is less likely to enter through the gap between the imaging unit 24 and the second opening 53, allowing for more reliable adjustment of the brightness of the correction mark 41.

[0040] 3 and 6A and 6B, in the step (S120) of moving the cover 13 to the imaging position, the cover 13 held by the robot 11 is moved to the imaging position to cover the correction mark 41 arranged on the work table 12. Here, the imaging position means a position for capturing an image of the correction mark 41 with the imaging unit 24 of the robot 11. For example, the imaging unit 24 may be moved to directly above the correction mark 41, and after the correction mark 41 is recognized, the cover 13 may be lowered.

[0041] As shown in FIGS. 3 and 6A and 6B, in the step of correcting the position information (S130), the image capturing unit 24 captures an image of the correction mark 41 with the correction mark 41 covered by the cover 13, thereby acquiring the position information. The cover 13 may or may not be in contact with the work table 12. Specifically, in this embodiment, the image capturing unit 24 captures the image of the correction mark 41 with the camera 35 irradiating the correction mark 41 with light from the illumination 36 of the image capturing unit 24 with the cover 13 in close proximity to the work table 12 (with the cover 13 and the work table 12 slightly separated). Next, the control unit 26 corrects the position information (X coordinate information, Y coordinate information, Z coordinate information) of the robot 11 with respect to the workpiece W based on the acquired position information. Note that the step of moving the image capturing unit 24 directly above the correction mark 41, recognizing the correction mark 41, then lowering the cover 13, and capturing the image of the correction mark 41 with the image capturing unit 24 may be performed multiple times (e.g., three times).

[0042] As shown in FIG. 3, in the step (S140) of moving the cover 13 to a predetermined position (cover placement section 15), after capturing an image of the correction mark 41, the robot moves the cover 13 from the image capturing position to the cover placement section 15.

[0043] (effect) As described above, the cover 13 of the present embodiment can adjust the brightness of the correction mark 41, and therefore the image capturing unit 24 can capture an appropriate image of the correction mark 41.

[0044] The method by which the robot 11 holds the cover 13 may be other than the above. For example, a suction device may be provided on the robot 11, and the cover may be held by suction. Alternatively, the robot 11 may hold the cover 13 by magnetic force.

[0045] [Embodiment 2] Next, the cover 13 of the robot system 10 and the robot system 10 according to the second embodiment will be described. The robot system according to the present embodiment differs from the robot system 10 according to the first embodiment in the configuration of the cover 13. Therefore, the same components as those in the robot system 10 according to the first embodiment will be assigned the same reference numerals and their description will be omitted.

[0046] (Robot system configuration) FIG. 7A is a plan view of a robot system according to the second embodiment of the present invention, and FIG. 7B is a side view thereof.

[0047] As shown in Figures 7A and 7B, the robot system 60 includes a robot 61, a work table 62 on which a workpiece W is placed and on which a correction mark 41 is arranged, and a cover 13 arranged on the work table 62 so as to surround the correction mark 41.

[0048] The robot 61 is a so-called articulated robot (collaborative robot) that captures an image of the correction mark 41 and performs work on the workpiece W. In this embodiment, the robot 61 has a base 21 fixed to the base 14, a plurality of arms 22 rotatably connected to the base 21, a working unit 23 that is arranged at the tip of the arm 22 and performs work on the workpiece W, an imaging unit 24 that is arranged at the tip of the working unit 23 and captures an image of the correction mark 41, and a control unit 26 that controls these components. That is, the robot 61 in this embodiment does not have a holding arm 25 for holding the cover 63.

[0049] On the work table 62, there are arranged a workpiece W that is the object of work of the robot 61, a correction mark 41 for correcting the position information of the robot 61 relative to the workpiece W, and a cover 63 for adjusting the brightness of the correction mark 41.

[0050] The cover 63 in this embodiment has a cover body 51, a first opening 52, a second opening 53, and a hem portion 64. That is, the cover 63 in this embodiment does not have the held portion 54, but has the hem portion 64.

[0051] The hem portion 64 is disposed at one end of the cover body 51. More specifically, the hem portion 64 is disposed at the end of the cover body 51 on the first opening 52 side. The shape of the hem portion 64 is not particularly limited as long as it can support the cover body 51 when the cover 63 is placed on the workbench 62. Examples of the shape of the hem portion 64 include a plate-like portion disposed so as to protrude outward from the lower end of the cover body 51, and a thick portion formed thickly at one end of the cover body 51. In the present embodiment, the hem portion 64 is a plate-like portion disposed so as to protrude outward from the lower end of the cover body 51.

[0052] (Operation method of the robot system) Next, a description will be given of an operation method of the robot system 60. The operation method of the robot system 60 according to this embodiment includes a step of correcting position information and a step of moving the cover 63 to a predetermined position (cover placement unit 15). That is, the operation method of the robot system according to this embodiment does not include a step (S110) of holding the cover 13, a step (S120) of moving the cover 13 to an imaging position, and a step (S140) of moving the cover 13 to the predetermined position (cover placement unit 15).

[0053] (effect) As described above, the cover 63 of this embodiment can adjust the brightness of the correction mark 41, and therefore the image capturing unit 24 can capture an appropriate image of the correction mark 41. [Industrial Applicability]

[0054] The cover according to the present invention is useful for collaborative robots and the like. [Explanation of symbols]

[0055] 10, 60 Robot System 11, 61 Robot 12, 62 Workbench 13, 63 Cover 14 Foundation 15 Cover placement section 21 Pedestal 22 Arm 23 Working section 24 Imaging unit 25 Holding arm 26 Control Unit 31 First Arm 32 Second Arm 33 Third Arm 34 Jig 35 Camera 36 Lighting 37 Holding arm body 38 Stopper 41 Correction Mark 43 Work placement section 51 Cover body 52 First Opening 53 Second Opening 54 Holding part 55 Connection board 56 Groove 57 Restriction board 64 Hem double work

Claims

1. A cover for use in a robotic system, comprising: The robot system includes: a robot including an imaging unit; a work table on which a workpiece to be worked by the robot is placed and on which correction marks are arranged for correcting position information of the robot relative to the workpiece; the cover is movably disposed at a predetermined position and is for adjusting the brightness of the correction mark; and The robot before capturing an image of the correction mark by the imaging unit, moving the cover from the predetermined position to an imaging position where the cover covers the correction mark; After the image capturing unit captures an image of the correction mark, the cover is moved from the image capturing position to the predetermined position; The cover is A cylindrical cover body; a first opening disposed at one end of the cover body and larger than the correction mark; a second opening portion disposed at the other end portion of the cover body and configured to allow the imaging portion to capture an image of the correction mark; a held portion that is held by the robot when the robot moves the cover and when the imaging unit captures an image of the correction mark; having cover.

2. A cover for use in a robotic system, comprising: The robot system includes: a robot including an imaging unit; a work table on which a workpiece to be worked by the robot is placed and on which correction marks are arranged for correcting position information of the robot relative to the workpiece; a cover disposed on the work table so as to surround the correction mark, the cover being for adjusting the brightness of the correction mark; and The cover is A cylindrical cover body; a first opening disposed at one end of the cover body and larger than the correction mark; a second opening portion disposed at the other end portion of the cover body and configured to allow the imaging portion to capture an image of the correction mark; a bottom portion disposed at an end of the cover body on the first opening side, the bottom portion supporting the cover body when the cover is placed on the workbench; having cover.

3. The cover according to claim 1 or claim 2, the imaging unit includes a camera and lighting; The cover is characterized in that the shape of the second opening is substantially complementary to the outer shapes of the camera and the lighting that face each other.

4. a robot including an imaging unit; a work table on which a workpiece to be worked by the robot is placed and on which correction marks are arranged for correcting position information of the robot relative to the workpiece; a cover that is movably disposed at a predetermined position and that adjusts the brightness of the correction mark; and The robot before capturing an image of the correction mark by the imaging unit, moving the cover from the predetermined position to an imaging position where the cover covers the correction mark; After the image capturing unit captures an image of the correction mark, the cover is moved from the image capturing position to the predetermined position; The cover is A cylindrical cover body; a first opening disposed at one end of the cover body and larger than the correction mark; a second opening portion disposed at the other end portion of the cover body and configured to allow the imaging portion to capture an image of the correction mark; a held portion that is held by the robot when the robot moves the cover and when the imaging unit captures an image of the correction mark; having Robot system.

5. a robot including an imaging unit; a work table on which a workpiece to be worked by the robot is placed and on which correction marks are arranged for correcting position information of the robot relative to the workpiece; a cover that is placed on the work table so as to surround the correction mark and that adjusts the brightness of the correction mark; and The cover is A cylindrical cover body; a first opening disposed at one end of the cover body and larger than the correction mark; a second opening portion disposed at the other end portion of the cover body and configured to allow the imaging portion to capture an image of the correction mark; a bottom portion disposed at an end of the cover body on the first opening side and configured to support the cover body on the workbench; having Robot system.

6. The robot system according to claim 4 or claim 5, the imaging unit includes a camera and lighting; A robot system, wherein the shape of the second opening is substantially complementary to the outer shapes of the camera and the lighting that face each other.

7. 1. A method of operating a robotic system, comprising: The robot system includes: a robot including an imaging unit; a work table on which a workpiece to be worked by the robot is placed and on which correction marks are arranged for correcting position information of the robot relative to the workpiece; a cover that is movably disposed at a predetermined position and that adjusts the brightness of the correction mark; and The cover is A cylindrical cover body; a first opening disposed at one end of the cover body and larger than the correction mark; a second opening portion disposed at the other end portion of the cover body and configured to allow the imaging portion to capture an image of the correction mark; a held portion that is held by the robot when the robot moves the cover and when the imaging unit captures an image of the correction mark; and The method for operating the robot system includes: the robot holding the cover disposed at the predetermined position; a step of moving the cover by the robot to an imaging position where the cover covers the correction mark; a step of using the imaging unit to capture an image of the correction mark covered by the cover and correcting position information of the robot with respect to the workpiece; a step of, after the imaging unit captures an image of the correction mark, moving the cover from the imaging position to the predetermined position by the robot; Including, How the robotic system works.

Images