Imaging system and robot system

{
  "publication_number": "US2023239439A1",
  "country": "US",
  "kind": "A1",
  "title": "Imaging system and robot system",
  "abstract": "An imaging system includes: an unmanned flight vehicle; an imager that is mounted on the unmanned flight vehicle and takes an image of a robot which performs work with respect to a target object; a display structure which is located away from the unmanned flight vehicle and displays the image taken by the imager to a user who manipulates the robot; and circuitry which controls operations of the imager and the unmanned flight vehicle. The circuitry acquires operation related information that is information related to an operation of the robot. The circuitry moves the unmanned flight vehicle such that a position and direction of the imager are changed so as to correspond to the operation related information.",
  "claims": [
    "1. An imaging system comprising: an unmanned flight vehicle; an imager that is mounted on the unmanned flight vehicle and takes an image of a robot which performs work with respect to a target object; a display structure that is located away from the unmanned flight vehicle and displays the image taken by the imager to a user who manipulates the robot; and circuitry that controls operations of the imager and the unmanned flight vehicle, wherein: the circuitry acquires operation related information that is information related to an operation of the robot; and the circuitry moves the unmanned flight vehicle such that a position and direction of the imager are changed so as to correspond to the operation related information. 2. The imaging system according to claim 1, wherein: the circuitry acquires, as the operation related information, operation information indicating the operation of the robot; and the circuitry moves the unmanned flight vehicle such that the position and direction of the imager are changed in accordance with the operation information. 3. The imaging system according to claim 1, further comprising an inputter that receives input of a command from the user, wherein: the circuitry receives, through the inputter, a correction command that is a command to correct the position and direction of the imager; and the circuitry moves the unmanned flight vehicle such that the position and direction of the imager which correspond to the operation related information are changed to the position and direction of the imager in accordance with the correction command. 4. The imaging system according to claim 3, wherein after the position and direction of the imager are changed in accordance with the correction command, the circuitry reflects result of the change of the position and direction of the imager in accordance with the correction command on the position and direction of the imager which correspond to the operation related information. 5. The imaging system according to claim 1, further comprising a detector that detects a movement of a head of the user, wherein: the circuitry acquires information of the movement of the head of the user from the detector; and the circuitry moves the unmanned flight vehicle such that the position and direction of the imager are changed so as to follow the movement of the head of the user. 6. The imaging system according to claim 1, wherein: the robot includes an end effector and a robotic arm that moves the end effector; the circuitry acquires, as the operation related information, information of a position and direction of the end effector; and the circuitry moves the unmanned flight vehicle such that the position and direction of the imager are changed so as to follow the position and direction of the end effector. 7. The imaging system according to claim 6, wherein the circuitry controls the operation of the unmanned flight vehicle based on the information of the position and direction of the end effector such that a distance between the end effector and the unmanned flight vehicle becomes a first predetermined distance or more. 8. The imaging system according to claim 7, wherein when the circuitry receives such a command that the distance between the end effector and the unmanned flight vehicle becomes less than the first predetermined distance, the circuitry performs such control that: the unmanned flight vehicle is located away from the end effector by the first predetermined distance or more; and the imager performs zoom-up imaging. 9. The imaging system according to claim 7, wherein the circuitry increases or decreases the first predetermined distance in accordance with a movement speed of the end effector, the movement speed being based on the information of the position and direction of the end effector. 10. The imaging system according to claim 6, wherein the circuitry controls the operation of the unmanned flight vehicle based on the information of the position and direction of the end effector such that a distance between the end effector and the unmanned flight vehicle becomes a second predetermined distance or less. 11. The imaging system according to claim 10, wherein when the circuitry receives such a command that the distance between the end effector and the unmanned flight vehicle exceeds the second predetermined distance, the circuitry performs such control that: the unmanned flight vehicle is located away from the end effector by the second predetermined distance or less; and the imager performs zoom-back imaging. 12. The imaging system according to claim 10, wherein the circuitry increases or decreases the second predetermined distance in accordance with a movement speed of the end effector, the movement speed being based on the information of the position and direction of the end effector. 13. A robot system comprising: the imaging system according to claim 1; and the robot."
  ],
  "description_excerpt": "The present disclosure relates to an imaging system and a robot system.\n\nThere is a conventional technology that accepts remote control of a robot by a user who sees a monitor that displays an image of a target object which is taken by a camera. For example, PTL 1 discloses a robot system that displays an image of a robot on a monitor based on imaging data acquired by a drone that is an unmanned flight vehicle including a camera whose posture is changeable.\n\nPatent Literature PTL 1: Japanese Laid-Open Patent Application Publication No. 2019-93471\n\nThe robot system of PTL 1 includes: a robot operating unit for manipulating the robot; and a flight vehicle operating unit for manipulating the drone. For example, when moving the drone while operating the robot, an operator needs to manipulate both the robot operating unit and the flight vehicle operating unit with his/her hands. However, manipulating both of these in parallel is difficult. An object of the present disclosure is to provide an imaging system and a robot system each of which facilitates manipulation of an unmanned flight vehicle on which an imager is mounted. Solution to Problem An imaging system according to one aspect of the present disclosure includes: an unmanned flight vehicle; an imager that is mounted on the unmanned flight vehicle and takes an image of a robot which performs work with respect to a target object; a display structure that is located away from the unmanned flight vehicle and displays the image taken by the imager to a user who manipulates the robot; and a controller that controls operations of the imager and the unmanned flight vehicle.",
  "cpc": [
    "G05D 1/2247",
    "B25J 13/00",
    "B25J 13/06",
    "B25J 19/023",
    "B25J 9/1689",
    "B64C 13/20",
    "B64C 39/024",
    "B64U 10/14",
    "B64U 20/87",
    "B64U 2101/30",
    "B64U 2201/20",
    "B64U 50/19",
    "G05D 1/0094",
    "G05D 1/106",
    "G05D 1/2248",
    "G05D 1/621",
    "G05D 1/689",
    "H04N 23/611",
    "H04N 23/661",
    "H04N 23/69",
    "H04N 23/695",
    "H04N 7/185"
  ],
  "ipc": [
    "B64U 20/87",
    "G05D 1/00",
    "G05D 1/10",
    "H04N 23/611",
    "H04N 23/661",
    "H04N 23/69",
    "H04N 23/695",
    "H04N 7/18"
  ],
  "assignees": [
    "KAWASAKI HEAVY IND LTD"
  ],
  "inventors": [
    "KAMON MASAYUKI",
    "SUGIYAMA HIROKAZU"
  ],
  "filing_date": "2021-06-15",
  "publication_date": "2023-07-27",
  "priority_date": "2020-06-19",
  "application_number": "US-202118001877-A",
  "family_id": "79267959",
  "citations": [
    "US2018371723A1",
    "US2020055195A1",
    "US2020317335A1",
    "WO2019102789A1"
  ]
}