Optical position detecting device, robot hand, and robot arm

{
  "publication_number": "US9170091B2",
  "country": "US",
  "kind": "B2",
  "title": "Optical position detecting device, robot hand, and robot arm",
  "abstract": "An optical position detecting device includes a plurality of light source sections which emits detection light, a light detection section which receives the detection light reflected by a target object located in an emitting space of the detection light, a light source driving section which turns on some light source sections among the plurality of light source sections in a first period and turns on, in a second period, light source sections different from the light source sections turned on in the first period, and a position detecting section which detects the position of the target object on the basis of a light-receiving result of the light detection section in the first period and the second period. Each of the light source sections includes a plurality of light-emitting elements arrayed in a direction intersecting the direction of the optical axis of the detection light.",
  "claims": [
    "1. An optical position detecting device comprising: a plurality of light source sections which emit light; a light detection section which receives the light reflected by a target object; and a position detecting section which is electrically connected to the light detection section and includes a signal processor to detect a position of the target object, wherein each of the plurality of light source sections includes a plurality of light-emitting elements arrayed in a direction intersecting an optical axis direction of the light, the plurality of light-emitting elements are located on a same plane, and light-emitting intensities of the plurality of light-emitting elements are different from each other.",
    "2. The optical position detecting device according to claim 1, wherein a light source driving section executes a first mode where some light-emitting elements of the plurality of light-emitting elements are turned on and a second mode where light-emitting elements different from at least those in the first mode among the plurality of light-emitting elements are turned on.",
    "3. The optical position detecting device according to claim 2, wherein the light source driving section turns on the some light-emitting elements of the plurality of light-emitting elements in the first mode, and simultaneously turns on, in the second mode, the light-emitting elements turned on in the first mode and the light-emitting elements different from those in the first mode, thereby extending an emitting space in a direction in which the plurality of light-emitting elements are arrayed.",
    "4. The optical position detecting device according to claim 3, wherein the light source driving section turns on one light-emitting element among the plurality of light-emitting elements in the first mode, and simultaneously turns on, in the second mode, two or more light-emitting elements including the light-emitting element turned on in the first mode.",
    "5. The optical position detecting device according to claim 3, wherein all of the plurality of light source sections emit the light in a same direction.",
    "6. The optical position detecting device according to claim 5, wherein, as seen from the emitting space, the light detection section is arranged at a position surrounded by the plurality of light source sections, and the plurality of light-emitting elements is linearly arrayed toward a direction separated from a position near the light detection section in the light source sections, and wherein light-emitting elements at a position nearer the light detection section than light-emitting elements which are not turned on in the first mode but turned on in the second mode among the plurality of light-emitting elements are turned on in the first mode.",
    "7. The optical position detecting device according to claim 3, wherein light-emitting elements in a turned off state in the first mode among the light-emitting elements turned on in the second mode have a larger light-emitting intensity of the light than light-emitting elements in a turned on state in the first mode.",
    "8. The optical position detecting device according to claim 2, wherein the plurality of light source sections include light source sections which emit the light in directions opposite to each other on both sides between which an emitting space is pinched.",
    "9. The optical position detecting device according to claim 1, wherein the position detecting section detects a coordinate position of the target object based on a result obtained by differentially moving some light sources and other light sources of the plurality of light source sections based on a light-receiving result of the light detection section.",
    "10. The optical position detecting device according to claim 1, further comprising: a reference light source section which emits reference light which enters the light detection section without going via an emitting space, wherein the position detecting section detects coordinates of the target object based on a result obtained by changing and differentially moving combinations of some light source sections of the plurality of light source sections and the reference light source section based on a light-receiving result of the light detection section.",
    "11. A robot hand comprising: a plurality of grip claws which grip a target object; a grip claw support which holds the plurality of grip claws; a plurality of light source sections which emits light; a light detection section which receives the light reflected by the target object; and a position detecting section which is electrically connected to the light detection section and includes a signal processor to detect a position of the target object, wherein each of the plurality of light source sections includes a plurality of light-emitting elements arrayed in a direction intersecting an optical axis direction of the light, the plurality of light-emitting elements are located on a same plane, and light-emitting intensities of the plurality of light-emitting elements are different each other.",
    "12. A robot arm comprising: a plurality of grip claws which grips a target object; a grip claw support which holds the plurality of grip claws; an arm portion connected to the grip claw support; a strut to which the arm portion is connected; a plurality of light source sections which emit light; a light detection section which receives the light reflected by the target object; and a position detecting section which is electrically connected to the light detection section and includes a signal processor to detect a position of the target object, wherein each of the plurality of light source sections includes a plurality of light-emitting elements arrayed in a direction intersecting an optical axis direction of the light, the plurality of light-emitting elements are located on a same plane, and light-emitting intensities of the plurality of light-emitting elements are different from each other."
  ],
  "description_excerpt": "1. Technical Field\n\nThe present invention relates to an optical position detecting device which optically detects a target object.\n\n2. Related Art\n\nAn optical position detecting device has been suggested for optically detecting a target object, for example, by emitting detection light toward the target object via a translucent member from two detection light source sections, and detection light reflected by the target object is transmitted through the translucent member and is detected by a photodetector. In such an optical position detecting device, for example, if the two detection light source sections are differentially moved on the basis of the detection result in the photodetector, the ratio of the distance between one light source section for detection of the two detection light source sections and the target object and the distance between the other light source section for detection and the target object is known. Accordingly, the position of the target object can be detected (refer to JP-T-2003-534554).\n\nHowever, in the configuration described in JP-T-2003-534554, the emitting space of the detection light is fixed. Therefore, there are the following problems. First, even in a case where it is known in advance that the target object is present within a narrow range, it is necessary to emit the detection light with an illuminance higher than a predetermined value over a wide range. Therefore, there is a problem in that electric power is wastefully consumed.",
  "cpc": [
    "G01B 11/14",
    "B25J 13/084",
    "B25J 13/088"
  ],
  "ipc": [
    "B25J 13/08",
    "G01B 11/14"
  ],
  "assignees": [
    "Seiko Epson Corp"
  ],
  "inventors": [
    "Kanechika Kiyose"
  ],
  "filing_date": "2013-01-21",
  "publication_date": "2015-10-27",
  "grant_date": "2015-10-27",
  "priority_date": "2010-04-02",
  "application_number": "US-201313746129-A",
  "family_id": "44709883",
  "cited_by_count": 2,
  "citations": [
    "US4821636A",
    "US20010052581A1",
    "US20030155487A1",
    "JP2003534554A",
    "US6953926B2",
    "US20100128099A1",
    "US8035671B2",
    "US8304733B2"
  ]
}