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发明授权
CN109108959B 机器人系统 有权

机器人系统
摘要：
本发明提供一种机器人，即使在物品未被连续供给的状况下，也能够实施机器人的跟踪。机器人系统(1)包括：输送装置(2)，用于输送物品(O)；机器人(3)，用于对由输送装置(2)输送的物品(O)进行处理；照相机(4)，用于在比机器人(3)更靠近输送方向的上游侧，拍摄由输送装置(2)输送的物品(O)；输送速度计算部，其基于照相机(4)在不同时刻获取的多个图像，计算输送装置(2)的物品(O)的位置和输送速度中的至少一个；以及控制部，其基于输送速度计算部计算出的位置和输送速度中的至少一个，控制机器人(3)，控制部判定在照相机(4)获取的图像中是否存在物品(O)，当不存在物品(O)时，基于此前刚刚由输送速度计算部计算出的位置和输送速度的至少一个，控制机器人(3)。
摘要（英）：

A robot system provided with: a conveying apparatus; a robot that performs processing on an article being conveyed; a camera that captures images of the article being conveyed; a conveying-velocity calculating portion that calculates at least one of a position of the article on the conveying apparatus and a velocity at which the article is conveyed by the conveying apparatus on the basis of the plurality of images captured by the camera; and a control unit that controls the robot on the basis of at least one of the position and the conveying velocity. The control unit determines whether or not the article is present in the images, and, in the case in which the article is absent, controls the robot on the basis of at least one of the position and the conveying velocity calculated by the conveying-velocity calculating portion immediately therebefore.

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