US 11,865,697 B2
Robot system and method for operating same
Masayuki Watanabe, Kobe (JP); and Takayuki Yoshimura, Kakogawa (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 16/636,139
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Jul. 27, 2018, PCT No. PCT/JP2018/028251
§ 371(c)(1), (2) Date Feb. 3, 2020,
PCT Pub. No. WO2019/026790, PCT Pub. Date Feb. 7, 2019.
Claims priority of application No. 2017-149757 (JP), filed on Aug. 2, 2017.
Prior Publication US 2020/0156258 A1, May 21, 2020
Int. Cl. B25J 1/00 (2006.01); B25J 13/06 (2006.01); B25J 13/00 (2006.01); G02B 27/01 (2006.01); G06F 3/01 (2006.01); G06T 11/00 (2006.01)
CPC B25J 13/065 (2013.01) [B25J 13/003 (2013.01); G02B 27/0172 (2013.01); G06F 3/011 (2013.01); G06T 11/00 (2013.01); G02B 2027/0138 (2013.01); G02B 2027/0178 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A robot system comprising:
an operating device that receives an operation instruction from an operator and comprises a sensor that measures movement of a hand of the operator;
a real robot that is installed in a work space and performs a series of works constituted of a plurality of steps;
a display configured to allow the operator to visually recognize a real world and configured to display a virtual robot; and
a controller implemented with hardware configured to:
cause the display to display the virtual robot so as to overlap the real robot, the virtual robot having a shape that corresponds to a shape of the real robot;
operate the virtual robot displayed on the display based on the operation instruction input from the operating device, such that the virtual robot moves away from the real robot on the display and either only partially overlaps the real robot or does not overlap the real robot at all; and
thereafter, operate the real robot when the operation instruction input from the operating device is an instruction to execute an operation of the real robot.