Patent US5987591A successfully refreshed from Google Patents.
US5987591A
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Multiple-sensor robot system for obtaining two-dimensional image and three-dimensional position information
Assignee: Fanuc Corp
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Filing: 1996-12-24
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Granted: 1999-11-16
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Expires: 2016-12-24
Abstract
Abstract An image of a workpiece is taken by a CCD camera, which includes a view field covering a supply range of the workpiece, and is transmitted to an image processor to detect the position and posture of the workpiece. A robot controller controls a robot to approach a position from another position based on the result of the detection. Then, a measurement using a laser sensor is started. Scanning laser beams projected from an emitter are detected by a light detector and the detected data are analyzed by the image processor. When the robot reaches a third position, the measurement is terminated. The laser sensor may be of a split-light-projection type. For the approaching movement, the image taken by the camera is displayed on a display device to perform a jogfeed of the robot on the screen.
Inventors
- 👤 Takashi Jyumonji
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-27 17:35
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1694; B25J9/1697; G; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/36; G05B2219/36427; G05B2219/39; G05B2219/39391; G05B2219/40; G05B2219/40607; G05B2219/40613; G05B2219/45; G05B2219/45123
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
189 words
A multiple-sensor robot system comprising: a robot; a multiple sensor comprising: first sensing means for obtaining a two-dimensional image within a relatively large area, and second sensing means for measuring a three-dimensional position within a relative small area by projecting light on the relative small area; means for outputting an operation command for said first sensor means; means for outputting an operation command for said second sensor means; means for processing an image signal obtained by said first sensor means; means for processing a measurement output signal of said second sensor means; robot control means for controlling said robot; wherein said processing of said image signal from said first sensor means includes processing for determining a position of an object to be measured in said relatively large area; said robot control means includes means for making said robot perform an approach movement to said object based on said determined position of said object; and said processing of said measurement output signal from said second sensor means includes processing of said measuring output signal outputted after said second sensor means is moved to an approach position by said approach movement.
Claim 2
Dependent Claim
189 words
A multiple-sensor robot system comprising: a robot; a multiple sensor comprising: first sensing means for obtaining a two-dimensional image within a relatively large area, and second sensing means for measuring a three-dimensional position within a relative small area by projecting light on the relative small area; means for outputting an operation command for said first sensor means; means for outputting an operation command for said second sensor means; means for processing an image signal obtained by said first sensor means; means for processing a measurement output signal of said second sensor means; robot control means for controlling said robot; wherein said processing of said image signal from said first sensor means includes processing for determining a position of an object to be measured in said relatively large area; said robot control means includes means for making said robot perform an approach movement to said object based on said determined position of said object; and said processing of said measurement output signal from said second sensor means includes processing of said measuring output signal outputted after said second sensor means is moved to an approach position by said approach movement.
Claim 3
Dependent Claim
28 words
A multiple-sensor robot system according to claim 1, comprising an image processor which serves as said image signal processing means and also said measuring output signal processing means.
Claim 4
Dependent Claim
20 words
A multiple-sensor robot system according to claim 1, wherein said first sensor means comprises a visual sensor using a camera.
Claim 5
Dependent Claim
27 words
A multiple-sensor robot system according to claim 1, wherein said second sensor means comprises a laser sensor using a laser spot light or a laser slit light.
Claim 6
Dependent Claim
26 words
A multiple-sensor robot system according to claim 1, wherein said multiple sensor includes an element shared by said first sensor means and said second sensor means.
Claim 7
Dependent Claim
57 words
A multiple-sensor robot system according to claim 1, wherein said first sensor means comprises a visual sensor using a camera, and said second sensor means comprises a laser sensor using a laser spot light or a laser slit light, and said camera of said visual sensor is used as a light receiving section of said laser sensor.
Claim 8
Dependent Claim
61 words
A multiple-sensor robot system according to claim 1, wherein said processing for determining a position of the object to be measured includes processing for obtaining an amount of deviation from a reference position of said object, and said approach position is determined as a position which is obtained by correcting a taught approach position according to said obtained amount of deviation.
Claim 9
Dependent Claim
41 words
A multiple-sensor robot system according to claim 1, further including image displaying means for displaying said two-dimensional image obtained by said first sensor means, and means for inputting said approach position on said two-dimensional image displayed by said image displaying means.
Claim 10
Dependent Claim
96 words
A multiple-sensor robot system comprising: a robot; and a multiple sensor comprising: first sensing means for obtaining a two-dimensional image within a relatively large area, and second sensing means for measuring a three-dimensional position within a relative small area by projecting light on the relative small area, wherein said first sensor means comprises a visual sensor using a camera, and said second sensor means comprises a laser sensor using a laser spot light or a laser slit light, and said camera of said visual sensor is used as a light receiving section of said laser sensor.
Claim 11
Dependent Claim
96 words
A multiple-sensor robot system comprising: a robot; and a multiple sensor comprising: first sensing means for obtaining a two-dimensional image within a relatively large area, and second sensing means for measuring a three-dimensional position within a relative small area by projecting light on the relative small area, wherein said first sensor means comprises a visual sensor using a camera, and said second sensor means comprises a laser sensor using a laser spot light or a laser slit light, and said camera of said visual sensor is used as a light receiving section of said laser sensor.
References Cited (Backward Citations)
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