Robot, robot control method and robot control program

{
  "publication_number": "US9958856B2",
  "country": "US",
  "kind": "B2",
  "title": "Robot, robot control method and robot control program",
  "abstract": "The robot of this embodiment moves a work tool to points where multiple work-pieces are placed, and executes a process specified at each point where the work-piece is placed. A point sequence memory stores the point where the work-piece is placed. A work-instruction-sequence memory stores a work instruction executed at the point where the work-piece is placed. A work-piece-correction-level memory stores, in association with each other, a work-piece correction level at each point and a parameter of each point where the work-piece is placed. A work-piece-correction counter memory stores a counter indicating to which point the work-piece correction level at the point is reflected.",
  "claims": [
    "1. A robot which moves a work tool to points where a plurality of work-pieces are placed and which executes a specified process at the point where each work-piece is placed, the robot comprising: a point sequence memory storing the point where the work tool is moved; a work-instruction-sequence memory storing a work instruction causing the work tool to execute a work; a camera detecting a work-piece correction level at each point before executing the work instruction; a work-piece-correction-level memory storing, in association with each other, the work-piece correction level at each point detected by the camera and a parameter of the each point; a work-piece-correction counter memory storing a value of a counter to be reflected on the parameter; and a control device reading out the work-piece correction level at the points from the work-piece-correction-level memory, when the work tool reads out each point and a work instruction sequence at each point from the point sequence memory, wherein the control device, at each point, moves the work tool based on the work-piece correction level, and executes the work instruction, and wherein the work-piece-correction counter memory increments the counter value by 1 whenever the work-piece correction level is stored in the work-piece-correction-level memory, and increments the counter value by 1 whenever the work-piece correction level is read from the work-piece-correction-level memory.",
    "2. A control method for a robot which moves a work tool to points where a plurality of work-pieces are placed and which executes a specified process at the point where each work-piece is placed, the method comprising: a point sequence storing step for storing the point where the work tool is moved; a work instruction storing step for storing a work instruction causing the work tool to execute a work; a work-piece-correction-level detecting step for detecting, by a camera, a work-piece correction level at each point before executing the work instruction; a work-piece-correction-level storing step for storing, in association with each other, a work-piece correction level at each point detected by the camera and a parameter of the each point; a work-piece-correction-level reading step for reading out, by a control device, the work-piece correction level at the points from the work-piece-correction-level memory, when the work tool reads out each point and a work instruction sequence at each point from the point sequence memory; a work-piece-correction counter storing step for storing a value of a counter to be reflected on the parameter, incrementing the counter value by 1 whenever the work-piece correction level is stored, and incrementing the counter value by 1 whenever the work-piece correction level is read out; and a control step for reading out the work-piece correction level at the points from the work-piece-correction-level memory, when the work tool reads out each point and a work instruction sequence at each point from the point sequence memory, wherein the control step, at each point, moves the work tool based on the work-piece correction level, and executes the work instruction.",
    "3. A computer program product executing a control program for a robot which moves a work tool to points where a plurality of work-pieces are placed and which executes a specified process at the point where each work-piece is placed, comprising a non-transitory computer-readable medium to cause a computer controlling the robot to execute: a point sequence storing step for storing the point where the work tool is moved; a work instruction storing step for storing a work instruction executed at the point where the work-piece is placed; a work-piece-correction-level detecting step for detecting, by a camera, a work-piece correction level at each point before executing the work instruction; a work-piece-correction-level storing step for storing, in association with each other, a work-piece correction level at each point detected by the camera and a parameter of the each point where the work-piece is placed; a work-piece-correction-level reading step for reading out, by a control device, the work-piece correction level at the points from the work-piece-correction-level memory, when the work tool reads out each point and a work instruction sequence at each point from the point sequence memory; a work-piece-correction counter storing step for storing a value of a counter to be reflected on the parameter, incrementing the counter value by 1 whenever the work-piece correction level is stored, and incrementing the counter value by 1 whenever the work-piece correction level is read out; and a control step for reading out the work-piece correction level at the points from the work-piece-correction-level memory, when the work tool reads out each point and a work instruction sequence at each point from the point sequence memory, wherein the control step, at each point, moves the work tool based on the work-piece correction level, and executes the work instruction."
  ],
  "description_excerpt": "Field of the Invention The present disclosure relates to a robot control method for executing multiple stored work instructions at a predetermined position generally called a point, a robot utilizing the same, and an operating setting program for controlling the operation of the robot. Description of the Related Art In general, according to programs for controlling the operation of a robot, an instruction-based method to the robot for causing the robot to execute an arbitrary operation, and a process-based method at a point where the robot is actuated are known. According to a process-based robot at a point, the robot is caused to execute an arbitrary process at a predetermined position called a point. In the process-based robot at a point, in order to execute a certain process at a given point, an image of the position of a work-piece that is a process target is picked up before executing the process, a correction position of the work-piece is calculated based on the picked-up image, and the process is executed at a correction position. Such processes are commonly applied. Example certain processes are painting to the work-piece, screwing, and soldering.\n\nIn order to execute the process at the correction position, first, an image of the position of the work-piece is picked up to calculate a position correcting level (displacement). Next, it is necessary to set, for each point where a work is performed, coordinates of a point, a work instruction at this point, and a “work-piece correction” to calculate the correction position of the work-piece based on the calculated position correcting level (displacement).",
  "cpc": [
    "G05B 19/402",
    "B25J 9/161",
    "B25J 9/1661",
    "B25J 9/1664",
    "B25J 9/1666",
    "G05B 2219/37021",
    "Y02P 90/02",
    "Y02P 90/265",
    "Y10S 901/16",
    "Y10S 901/41"
  ],
  "ipc": [
    "B25J 9/16",
    "G05B 19/402"
  ],
  "assignees": [
    "JANOME SEWING MACHINE CO LTD"
  ],
  "inventors": [
    "SUMII YUSUKE",
    "HIRUMA KENICHIRO"
  ],
  "filing_date": "2014-11-26",
  "publication_date": "2018-05-01",
  "grant_date": "2018-05-01",
  "priority_date": "2013-12-20",
  "application_number": "US-201414554162-A",
  "family_id": "53399930",
  "citations": [
    "CN101213049A",
    "CN101828153A",
    "CN103056884A",
    "CN103442661A",
    "CN1150401A",
    "CN1754665A",
    "DE10192991T1",
    "DE3406255A1",
    "JP2004299013A",
    "JP2007193846A",
    "JPH06187021A",
    "JPH06218683A",
    "JPH0623562A",
    "JPH0623652A",
    "JPH0839357A",
    "KR20020067893A",
    "US2002067638A1",
    "US2009228144A1",
    "US2011184544A1",
    "US2011234788A1",
    "US3244368A",
    "US4166543A",
    "US4594670A"
  ]
}