U.S. patent application number 10/375985 was filed with the patent office on 2003-07-10 for visual control robot system.
Invention is credited to Murakami, Naoyuki.
Application Number | 20030130763 10/375985 |
Document ID | / |
Family ID | 17037505 |
Filed Date | 2003-07-10 |
United States Patent
Application |
20030130763 |
Kind Code |
A1 |
Murakami, Naoyuki |
July 10, 2003 |
Visual control robot system
Abstract
The visual sense control robot system has robot 1 driven
three-dimensionally by an instruction from controller 11, video
cameras 2 for taking images of the all moving area of robot 1 from
at least two directions, and control circuit 10 for giving the
controller 11 an ordering signal to move robot 1 to the position of
the visible target 3 as being taken image thereof by the video
cameras 2.
Inventors: |
Murakami, Naoyuki; (Tokyo,
JP) |
Correspondence
Address: |
Jules E. Goldberg
Reed Smith, LLP
29th Floor
599 Lexington Avenue
New York
NY
10022
US
|
Family ID: |
17037505 |
Appl. No.: |
10/375985 |
Filed: |
February 28, 2003 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
10375985 |
Feb 28, 2003 |
|
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|
08924856 |
Sep 5, 1997 |
|
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Current U.S.
Class: |
700/259 |
Current CPC
Class: |
G05B 2219/40611
20130101; G05B 2219/37266 20130101; G05B 2219/37572 20130101; B25J
9/1697 20130101; G05B 2219/40607 20130101; G05B 2219/40591
20130101 |
Class at
Publication: |
700/259 |
International
Class: |
G05B 015/00; G05B
019/00 |
Foreign Application Data
Date |
Code |
Application Number |
Sep 10, 1996 |
JP |
8-238937 |
Claims
What is claimed is:
1. A visual sense control robot system comprising a robot means for
moving three-dimensionally, means for taking images all moving area
of the robot, a visible target existing within the moving area of
the robot, a control circuit having a function to recognize
beforehand the moving area of the robot and another function to
store in a memory the position of the visible target taken by said
means for taking images as well as an ordering signal to move the
robot to said position, and a drive control means for driving the
robot by said ordering signal from the memory of the control
circuit.
2. A visual sense control robot system as claimed in claim 1,
further comprising a display means and an input means for
instructing a coordinate on the display means connected to said
control circuit further having a function to give said drive
control means an ordering signal to move the robot to a position
corresponding to the coordinate as instructed.
3. The visual sense control robot system as claimed in claim 1,
characterized in that said means for taking images are an infrared
video camera and said visible target, which has an infrared light
emitting diode and a battery, is able to bond to a surface of an
object and.
4. The visual sense control robot system as claimed in claim 2,
characterized in that said means for taking images are an infrared
video camera and said visible target, which has an infrared light
emitting diode and a battery, is able to bond to a surface of an
object and.
5. The visual sense control robot system as claimed in claim 2,
characterized in that said display means and input means are loaded
on a wheel chair.
Description
BACKGROUND OF THE INVENTION
[0001] The present invention relates to a robot system controlling
a moving position by visual recognition.
[0002] Nowadays, a number of robot systems have been employed in
industrial fields. In most of general purpose robot systems,
pre-teaching assigns the operational positions of robot, which are
stored in a control circuit. As the program goes on, the
operational position is invoked, to which the robot is
displaced.
[0003] In some other systems, the robot provided with a visual
sensor is displaced to the direction and position of a target to be
recognized by the sensor. Even if a robot is provided with plural
sensors, however, the limited size of robot does not allow to set
the sensors away enough from each other. This makes it difficult
for the robot to recognize the correct three-dimensional position
of the target. Such robot systems, which have not yet been
universalized due to the restriction, still remain costly.
SUMMARY OF THE INVENTION
[0004] The primary purpose of the present invention is to furnish a
visual control robot system that allows for the operational control
of robot by means of commercially available general purpose robots
and general purpose visual recognition devices also commercially
available.
[0005] To achieve the purpose, a visual sense control robot system
of the present invention comprises a robot means for moving
three-dimensionally, means for taking images all moving area of the
robot, a visible target existing within the moving area of the
robot, a control circuit having a function to recognize beforehand
the moving area of the robot and another function to store in a
memory the position of the visible target taken by said means for
taking images as well as an ordering signal to move the robot to
said position, and a drive control means for driving the robot by
said ordering signal from the memory of the control circuit.
[0006] A visual control robot system of another aspect according to
the present invention for attaining the purpose further comprises
to the foregoing control robot system, a display means and an input
means for instructing a coordinate on the display means connected
to said control circuit further having a function to give said
drive control means an ordering signal to move the robot to a
position corresponding to the coordinate as instructed.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] FIG. 1 represents a block diagram showing the visual control
robot system of the present invention.
[0008] FIG. 2 represents a flow chart of the operation by the
control circuit of the visual control robot system.
DETAILED EXPLANATION OF THE INVENTION
[0009] The visual control robot system of the present invention has
robot 1 that is three-dimensionally driven by the instruction from
the controller 11, a video cameras 2 that are able to take images
the all moving area of the robot 1 from two directions at least, a
visible target 3 existing within the moving area of the robot 1,
and a control circuit 10 that recognizes beforehand the moving area
of the robot 1 and gives the controller 11 the ordering signal to
displace the robot 1 to the position of the visible target 3 as
photographed by the video camera 2.
[0010] In the visual control robot system to which the present
invention applies, connected to the control circuit are the display
means 12 and the input means 13 and/or 14 that indicates the
coordinates of the display means 12. This system may have a
function to give the controller 11 an ordering signal that
displaces the robot 1 to the position corresponding to the
coordinates indicated by the input means 13 and/or 14.
[0011] Referring now to the drawings, a specific embodiment of the
visual control robot system applied the present invention, to which
the scope thereof however is not to be limited, are described
below:
[0012] FIG. 1 is a block diagram of an embodiment of the visual
control robot system applied the present invention. As shown in
FIG. 1, there are three video cameras 2x, 2y and 2z installed as
visual field of all moving area of robot 1 from the three
directions. Connected to the robot 1 is the controller 11, which is
linked with the control circuit, that is CPU, 10 through the
intermediary of the input/output, that is I/O, interface 15. The
three units of video cameras 2x, 2y and 2z are linked with the
control circuit 10 through the intermediary of an analog/digital
converter, that is AND, 16. Connected to the control circuit 10 are
a cathode-ray tube, that is CRT, display 12 as a display means and
a keyboard 13 and a mouse 14 as input means. Provided in addition
to these is a visible target 3 of which an image can be taken by
video cameras 2x, 2y and 2z. The visible target 3 has a built-in
battery and an infrared light emitting diode incorporated in its
surface. Target 3 has an adhesive portion so that it may stick to
the surface of an object.
[0013] The control circuit 10 has a function to recognize, as a
moving range, the coordinates where the robot has been displaced to
the maximal extent, and another function to recognize the position
of the visible target 3 from the video signal of the target 3 as
photographed by the video cameras 2x, 2y and 2z. Further, the
control circuit 10 has a function to give the controller 11 an
ordering signal that displaces the robot 1 to the position
corresponding to the visible target 3 and another ordering signal
that displaces the robot 1 to the position corresponding to the
coordinates as indicated by the cathode ray tube display 12 by
means of a keyboard 13 and mouse 14.
[0014] In this embodiment, the cathode ray tube display 12,
keyboard 13 and mouse 14 have been loaded on a wheel chair.
[0015] The operation of the visual control robot system in the
foregoing embodiment is described now referring to a flow chart in
FIG. 2 as below:
[0016] The operation starts from Step 101, where control circuit 10
perceives all moving area of robot 1. With the infrared light
emitting diode of visible target 3 kept on, the robot is made to
hold the visible target 3 at a position within the moving area of
the robot 1, that is, within the visual field area of the video
cameras 2x, 2y and 2z. From the keyboard 13 or mouse 14, the
coordinates of the moving area limit of the robot 1 are given to
the control circuit 10, from which the ordering signal displaces
the robot 1 to its moving area limit by way of the controller 11.
The image of the visible target 3 is taken by the video cameras 2x,
2y and 2z, whose analog video signal is converted into digital
signal by the analog/digital converter 16 to be read into the
control circuit 10, where the total moving area of the robot 1 is
recognized, and the coordinates and ordering signal stored in the
memory area.
[0017] In Step 102, visible target 3 is held by the robot 1 at a
given position A within the moving area and the image thereof is
taken by the video cameras 2x, 2y and 2z with the position A
computed and stored into the control circuit 10 as an initial
position of the robot 1. In Step 103, the first position the robot
1 is to be displaced to is memorized in the control circuit 10.
When to that effect the visible target 3 is put away from the robot
1 and installed at a position B within the moving area of the robot
1, for instance, on a wheel chair with a patient on (at position B
which is not shown, Refer to the arrowed direction A B), the images
of visible target 3 at the position B is taken by the video cameras
2x, 2y and 2z, whose video signal is read into the control circuit
10, and the position B of the visible target 3 is computed to be
stored in the control circuit 10. Since the position B of the
visible target 3 at that time differs from the initial position A
of the robot 1, the control circuit 10 in Step 4 operates, from the
memory of the storage device, the ordering signal that displaces
the robot 1 to the position B of the visible target 3 and gives
this signal to the controller 11 through the input/output interface
15. The robot 1, which receives a control signal from the
controller 11, displaces to the position B of the visible target 3,
namely to the wheel chair.
[0018] Upon arrival of the robot 1 at the wheel chair by Step 5,
the patient on the chair point out another position C, where is a
position of second purpose such as a drug shelf, displayed on the
cathode-ray tube 12 by the keyboard 13 or mouse 14. Then the
position enter into the control circuit 10 as an interrupt signal.
In Step 106, the ordering signal is operated from the coordinates
at C by means of the memory stored, and output at the controller 11
through the input/output interface 15. By the ordering signal from
the controller 11, robot 1 moves to the position C, that is to the
drug shelf, and then where the robot 1 grasps a drug, as an
essential task thereof. When the patient releases the interrupt
signal in the control circuit 10 from the keyboard 13 by Step 107,
the position B of the visible target 3 as photographed by the video
cameras 2x, 2y and 2z differs from the position C where the robot 1
holds the drug.
[0019] Since in Step 108, the control circuit 10 returns the robot
1 to the position B of the visible target 3, the ordering signal is
computed by the memory from the coordinate B being photographed,
and given to the controller 11 through the input/output interface
15. By the control signal of the controller 11, the robot 1 will
carry the drug to the position B, that is, to the wheel chair.
[0020] Though three units of video cameras 2x, 2y and 2z are
provided in this embodiment, two minimal cameras will suffice. If
two video cameras are taking images from visible target 3, since a
video camera can take a 2-dimension image under normal conditions,
the three-dimensional position thereof can be analyzed. However, in
some cases where the visible target 3 enters in a shadow of an
object, the image thereof cannot often be taken a video camera if
the system is provided only with two video cameras. It is therefore
desirable that at least two video cameras out of three may take the
visible target 3 at any position whatever the visible target 3 may
be. Three video cameras at least are thus required.
[0021] As has been thus far described, an addition of a visual
recognition equipment to a robot enables to control the moving
function of the robot by means of the visual sense. The visual
control robot system may thus be materialized at an extremely low
cost. The visual sense control robot system according to the
present invention may be used, for instance, in the care of
patients.
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