US 12,228,948 B2
Imaging system and robot system
Masayuki Kamon, Kobe (JP); and Hirokazu Sugiyama, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 18/001,877
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Jun. 15, 2021, PCT No. PCT/JP2021/022670
§ 371(c)(1), (2) Date Dec. 15, 2022,
PCT Pub. No. WO2021/256464, PCT Pub. Date Dec. 23, 2021.
Claims priority of application No. 2020-106027 (JP), filed on Jun. 19, 2020.
Prior Publication US 2023/0239439 A1, Jul. 27, 2023
Int. Cl. G05D 1/224 (2024.01); G05D 1/00 (2006.01); G05D 1/689 (2024.01); H04N 23/611 (2023.01); H04N 23/661 (2023.01); H04N 23/69 (2023.01); H04N 23/695 (2023.01); B64U 10/14 (2023.01); B64U 20/87 (2023.01); B64U 50/19 (2023.01); B64U 101/30 (2023.01)
CPC G05D 1/2247 (2024.01) [G05D 1/0094 (2013.01); G05D 1/106 (2019.05); G05D 1/2248 (2024.01); G05D 1/689 (2024.01); H04N 23/611 (2023.01); H04N 23/661 (2023.01); H04N 23/69 (2023.01); H04N 23/695 (2023.01); B64U 10/14 (2023.01); B64U 20/87 (2023.01); B64U 50/19 (2023.01); B64U 2101/30 (2023.01); B64U 2201/20 (2023.01)] 11 Claims
OG exemplary drawing
 
1. An imaging system comprising:
an unmanned flight vehicle;
an imager mounted to the unmanned flight vehicle, the imager capturing an image of a robot comprising a robot arm and an end effector, which performs work with respect to a target object;
a display structure located away from the unmanned flight vehicle, the display structure displaying the image taken by the imager; and
circuitry that controls, during an initial setting mode and a normal operating mode, operations of the imager and the unmanned flight vehicle, wherein the circuitry:
acquires operation related information related to an operation of the robot, the operation related information comprising a position and a posture of the end effector;
determining a predetermined relative relation to be maintained between the unmanned flight vehicle and the end effector by obtaining, during the initial setting mode, an initial position and an initial direction of the imager and calculating the predetermined relative relation based on the initial posture and the initial direction and the position and posture of the end effector, and terminating the initial setting mode;
calculating a target position and target direction of the imager that maintains the relative relation based on the operation related information; and
moving the unmanned flight vehicle such that a position and direction of the imager are changed so as to correspond to the target position and direction and maintain the relative relation based on the operation related information.