US 11,833,698 B2
Vision system for a robot
Masayuki Kamon, Akashi (JP); and Hirokazu Sugiyama, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 17/273,235
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Aug. 30, 2019, PCT No. PCT/JP2019/034227
§ 371(c)(1), (2) Date Mar. 3, 2021,
PCT Pub. No. WO2020/050179, PCT Pub. Date Mar. 12, 2020.
Claims priority of application No. 2018-164779 (JP), filed on Sep. 3, 2018.
Prior Publication US 2021/0323165 A1, Oct. 21, 2021
Int. Cl. B25J 9/16 (2006.01); G06T 3/40 (2006.01); H04N 13/275 (2018.01); H04N 13/30 (2018.01); H04N 13/344 (2018.01); H04N 13/239 (2018.01); G06T 5/00 (2006.01); H04N 3/30 (2006.01)
CPC B25J 9/1697 (2013.01) [G06T 3/40 (2013.01); G06T 5/006 (2013.01); H04N 3/30 (2013.01); H04N 13/239 (2018.05); H04N 13/275 (2018.05); H04N 13/344 (2018.05)] 6 Claims
OG exemplary drawing
 
1. A vision system comprising:
a robot body including an end effector that performs work and a robotic arm that moves the end effector;
a robot operation manipulator comprising a first joystick that is configured to receive a first input manipulation from an operator and output a robot manipulating signal that causes the robot body to operate according to the first input manipulation;
a left-eye camera and a right-eye camera that capture images of the end effector and a work target object on which the end effector performs the work;
a display that displays parallax images to be seen three-dimensionally by the operator using both eyes;
an optical filter that allows the parallax images displayed on the display to be seen three-dimensionally by the operator;
an area operation manipulator comprising a second joystick that is configured to receive a second input manipulation by the operator, specify a stereoscopic vision target area according to the second input manipulation, and output an area manipulating signal containing information of the stereoscopic vision target area, the stereoscopic vision target area specified by the area operation manipulator being an area that is located in an absolute space and that is to be seen three-dimensionally through the parallax images displayed on the display, the stereoscopic vision target area occupying only a portion of a field of view common between the left-eye camera and the right-eye camera;
first circuitry that controls operation of the robot body according to the robot manipulation signal received from the robot operation manipulator; and
second circuitry that (i) extracts, according to the area manipulating signal received from the area operation manipulator, images corresponding to the stereoscopic vision target area specified by the operation of the area operation manipulator, from a left-eye capturing image and a right-eye capturing image captured by the left-eye camera and the right-eye camera, respectively, one of the extracted images being a partial image of the left-eye capturing image, the other of the extracted images being a partial image of the right-eye capturing image, and (ii) displays the extracted partial images on the display as the parallax images, wherein when the area operation manipulator is not operated for a predetermined amount of time, the display displays the parallax images of an initial setting corresponding to a position of the end effector of the robot body.