US 12,246,454 B2
Robot system and method of forming three-dimensional model of workpiece
Masayuki Kamon, Kobe (JP); Hirokazu Sugiyama, Kobe (JP); and Yuki Tanaka, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 17/784,118
Filed by Kawasaki Jukogyo Kabushiki Kaisha, Kobe (JP)
PCT Filed Dec. 11, 2020, PCT No. PCT/JP2020/046282
§ 371(c)(1), (2) Date Jun. 10, 2022,
PCT Pub. No. WO2021/117868, PCT Pub. Date Jun. 17, 2021.
Claims priority of application No. 2019-225562 (JP), filed on Dec. 13, 2019.
Prior Publication US 2023/0028457 A1, Jan. 26, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1671 (2013.01) [B25J 9/1697 (2013.01); B25J 13/089 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A robot system, comprising:
a robot installed in a work area;
a three-dimensional (3D) camera operated by an operator;
a sensor that is disposed in a manipulation area that is a space different from the work area, and wirelessly detects position information and posture information on the 3D camera;
a display;
first control circuitry configured to:
acquire image information on a workpiece imaged by the 3D camera;
acquire, from the sensor, the position information and the posture information when the workpiece is imaged by the 3D camera;
display the image information on the display;
form a 3D model of the workpiece based on the image information, the position information and the posture information;
display the 3D model of the workpiece on the display; and
output first data of the 3D model of the workpiece to second control circuitry which controls the robot;
a conveying device that conveys the workpiece from the manipulation area to a first position in the work area; and
a first interface that manipulates the robot, the first interface disposed in the manipulation area, wherein the second control circuitry includes a memory which stores second data of a 3D model of the robot, and when the operator operates the first interface to manipulate the robot to perform a work for the workpiece, the second control circuitry is configured to display on the display a spatial relationship between the workpiece and a tip-end part of the robot in a state where the workpiece and the robot are seen from a direction different from a direction in which the operator looks at the robot from the manipulation area, based on the first data, first position information indicating the first position, the second data and manipulation information to manipulate the robot input from the first interface.