Camera and robot system
A camera and a robot system are provided. The camera includes a camera body attached to a tip of a robot arm and a camera unit housed in the camera body. The camera unit has a plurality camera devices that are different in optical characteristics for imaging a workpiece.
1. A camera comprising:
a camera body attached to a tip of a robot arm; and
a camera unit comprising one overhead camera and two close-range cameras mounted adjacent to each other in the same said camera body, wherein:
the one overhead camera has a different working distance from the two close-range cameras,
the one overhead camera and the two close-range cameras are arranged so that optical axes of the one overhead camera and the two close-range cameras are parallel with each other,
the one overhead camera is located above a center of each of the two close-range cameras within the same plane of the camera body so that lines connecting the centers of the close-range camera and the one overhead camera form a triangle,
the camera unit includes a plurality of camera devices that are different in optical characteristics for imaging a workpiece,
the two close-range cameras are configured to calculate a distance from the camera body to the workpiece,
the two close-range cameras and the one overhead camera are actuated according to distance information to the workpiece calculated by the two close-range cameras, and
when either the one overhead camera or the two close-range cameras is actuated, the other is turned off.
2. The camera according to claim 1 ,
wherein the two close-range cameras have the same camera devices having a same working distance, image a same workpiece simultaneously, acquire a pair of image having a parallax, and cause the distance from the two close-range cameras to the workpiece to be calculated on the basis of the pair of images.
3. The camera according to claim 1 ,
wherein a use mode of the camera unit is switched from an overhead mode in which the overhead camera is used to a close-range mode in which the two close-range cameras are used.
4. The camera according to claim 1 ,
wherein a use mode of the camera unit is switched from a close-range mode in which the two close-range cameras are used to an overhead mode in which the overhead camera is used.
5. The camera according to claim 1 ,
wherein the optical axes of the one overhead camera and the two close-range cameras are located at respective apices of the triangle in a plane that is perpendicular to the optical axes.
6. The camera according to claim 5 ,
wherein the triangle is a regular triangle.
7. The camera according to claim 5 ,
wherein an illumination opening is formed at a center of each side of the triangle.
8. The camera according to claim 1 ,
wherein an illumination opening is formed between the two close-range cameras.
9. The camera according to claim 8 ,
wherein a light source for illuminating the workpiece is provided in the illumination opening.
10. The camera according to claim 8 ,
wherein a light source configured to project a prescribed pattern is provided in the illumination opening.
11. The camera according to claim 10 ,
wherein the two close-range cameras have a same working distance, simultaneously image light of the prescribed pattern projected from the light source, acquire a pair of pattern images having a parallax, and cause calculation of a distance from the two close-range cameras to a pattern projection surface on which the light of the pattern is projected.
12. The camera according to claim 1 ,
wherein the camera body is disposed at a middle between a pair of finger members that are attached to a tip a robot arm,
wherein each finger member of the pair of finger members extends parallel to an axis of rotation of the robot arm, and
wherein each finger member of the pair of finger members adjustably extends toward and away from each other.
13. A robot system comprising:
a camera body which is attached to a tip of a robot;
a camera unit comprising a plurality of camera devices that are different in optical characteristics for imaging a workpiece, the camera unit comprising one overhead camera and two close-range cameras mounted adjacent to each other in the same said camera body, wherein:
the one overhead camera has a different working distance from the two close-range cameras,
the one overhead camera and the two close-range cameras are adjacently arranged so that optical axes of the one overhead camera and the two close-range cameras are parallel with each other,
the one overhead camera is located above a center of each of the two close-range cameras within the same plane of the camera body so that lines connecting the centers of the close-range camera and the one overhead camera form a triangle,
the two close-range cameras are configured to calculate a distance from the camera body to the workpiece, and
the two close-range cameras and the one overhead camera are actuated according to distance information to the workpiece calculated by the two close-range cameras, and when either the one overhead camera or the two close-range cameras is actuated, the other is turned off; and
a controller which generates a control signal for controlling operation of the robot arm on the basis of imaging information acquired by the camera unit.
14. The robot system according to claim 13 ,
wherein at timing when one camera device of the plurality of camera devices that are different in the optical characteristics becomes out of focus, the controller switches a use mode to another camera device of the plurality of camera devices that is different in the optical characteristics.
15. The robot system according to claim 13 ,
wherein the controller switches a use mode to any camera device of the plurality of camera devices that are different in the optical characteristics based on information sent from an external apparatus.