JP7438734B2 - Tip member orientation recognition method, tip member orientation method, tip member insertion method, tip member orientation recognition device, and tip member orientation system - Google Patents

Description

The present invention relates to a method for recognizing the orientation of a tip member, a method for orienting the tip member, a method for inserting the tip member, a device for recognizing the orientation of the tip member, and a system for orienting the tip member.

BACKGROUND ART Robots that autonomously grasp an object by recognizing the object using a three-dimensional camera or the like are becoming more and more popular. For example, Japanese Patent Application Laid-Open No. 2014-176917 (hereinafter referred to as "Patent Document 1") describes a method for gripping a connector provided at the tip of a linear body and connecting this connector to a predetermined connection point. A possible robotic device is disclosed.

Japanese Patent Application Publication No. 2014-176917

In a system including a robot as described in Patent Document 1, there are cases where it is required to insert a tip member (such as a connector) provided at the tip of a linear object into a predetermined insertion portion. In this case, if there is a restriction on the posture of the tip member that allows the tip member to be inserted into the insertion portion, the tip member cannot be inserted into the insertion portion in a posture different from that posture. Therefore, it is necessary to insert the distal end member in such a manner that it can be inserted into the insertion section.

Therefore, by registering the CAD data of the tip member in advance, acquiring an image of the tip member, and matching the acquired image with the registered CAD data, the orientation of the tip member can be measured and recognized. There are ways to do this. However, depending on the material and shape of the tip member, it is difficult to recognize the outline of the tip member on the acquired image, so there is a problem that matching with CAD data is difficult. In addition, pattern matching processing between three-dimensional data is burdensome and requires a long calculation time.

The present invention aims to solve the above problems, and includes a method for recognizing the orientation of a tip member, a method for aligning the tip member, a method for inserting the tip member, a device for recognizing the orientation of the tip member, a system for aligning the tip member, The goal is to provide the following.

A method for recognizing the orientation of a tip member according to one aspect of the present invention is a method for recognizing the orientation of the tip member around a predetermined axis in a state where an object having the tip member is gripped by a robot hand, the method comprising: an image information acquisition step of photographing the tip member with a camera while the object is gripped by the robot hand to obtain image information; and first posture information of the tip member in a first posture; The tip in the image information acquired based on comparison information including second attitude information of the tip member in a second attitude rotated by a predetermined angle around the predetermined axis of the tip member from the first attitude. and a calculation step of calculating a rotation angle from the orientation of the member around the predetermined axis to a desired orientation.

Further, the tip member can be inserted into an insertion section that allows insertion of the tip member when the tip member is in a normal posture, and the predetermined axis is such that the tip member is inserted into the insertion section. It is preferable that the desired orientation is an orientation in which the tip member can be inserted into the insertion portion.

Further, it is preferable that the first attitude information and the second attitude information are feature quantities that change when the distal end member is rotated around the predetermined axis and imaged.

Moreover, it is preferable that the feature amount is the width, area, or outer circumference of the tip member or a shape included in the tip member.

Further, in a method for orienting a tip member according to one aspect of the present invention, in a state where an object having a tip member is gripped by a robot hand, the tip member is oriented in a normal direction around a predetermined axis of the tip member. The facing method includes an image information acquisition step of photographing the object with a camera in a state gripped by the robot hand to obtain image information, and first posture information of the tip member in a first posture. , and the image information acquired based on comparison information including second attitude information of the tip member in a second attitude rotated by a predetermined angle around the predetermined axis of the tip member from the first attitude. a calculation step of calculating a rotation angle from the orientation of the tip member around the predetermined axis to the normal orientation; and a rotation step of rotating the object around the predetermined axis by the rotation angle by the robot hand. and.

In this tip member orientation method, the rotation angle from the orientation of the tip member around a predetermined axis in the acquired image information to the normal orientation is calculated based on the comparison information, and the robot hand moves the object by that rotation angle. For rotation, the tip member is oriented.

Further, in the tip member insertion method according to one aspect of the present invention, in a state where an object having the tip member is gripped by a robot hand, the tip member is inserted into the tip member such that the tip member is oriented in a normal direction around a predetermined axis of the tip member. A tip member insertion method in which the tip member is inserted into an insertion section that allows insertion of the tip member only when The method further includes an insertion step of inserting the tip member into the insertion portion using the robot hand simultaneously with the rotation step.

In this way, the tip member is inserted into the insertion section.

Further, a tip member orientation recognition device according to one aspect of the present invention includes a tip member orientation recognition device that recognizes the orientation of the tip member around a predetermined axis when an object having the tip member is gripped by a robot hand. The apparatus includes: an imaging unit that captures an image of the tip member in a state where the object is gripped by the robot hand; first posture information of the tip member in a first posture; and first posture information of the tip member in a first posture. a storage unit that stores comparison information including second attitude information of the tip member in a second attitude rotated by a predetermined angle around the predetermined axis of the tip member; A calculation unit that calculates a rotation angle from the orientation of the tip member around the predetermined axis to a desired orientation in image information.

Further, a tip member orientation system according to one aspect of the present invention includes the tip member orientation recognition device and a robot having the robot hand, and the robot moves the robot hand toward the object by the rotation angle. Rotate the object around the predetermined axis.

As explained above, according to the present invention, there is provided a method for recognizing the orientation of a tip member and a method for orienting the tip member, which can stably recognize the orientation of the tip member and align the orientation of the tip member at a regular angle. A tip member insertion method, a tip member orientation recognition device, and a tip member orientation system can be provided.

1 is a perspective view schematically illustrating a tip member orientation system of an embodiment of the present invention. FIG. 2 is a perspective view of the tip orientation system at a different angle than that shown in FIG. 1; FIG. FIG. 2 is a diagram schematically showing the configuration of a tip member orientation recognition device and a robot. FIG. 7 is a projection view formed when the tip member is projected in the insertion direction. FIG. 6 is a diagram schematically showing an image captured by the imaging unit in a state where the robot hand grips an object and the tip member is in a posture directly facing the imaging unit. FIG. 6 is a diagram schematically showing an image captured by the imaging unit in a state where the tip member is rotated 30 degrees around its central axis from the posture shown in FIG. 5; FIG. 6 is a diagram schematically showing an image captured by the imaging unit in a state where the tip member is rotated 60 degrees around its central axis from the posture shown in FIG. 5; FIG. 6 is a diagram schematically showing an image captured by the imaging unit in a state where the tip member is rotated 90 degrees around its central axis from the posture shown in FIG. 5; FIG. 3 is a perspective view schematically showing a state in which the tip member is inserted into the insertion section. FIG. 3 is a perspective view schematically showing a state in which the tip member is inserted into a terminal block serving as an insertion portion.

FIG. 1 is a perspective view schematically illustrating a tip member orientation system according to an embodiment of the present invention. FIG. 2 is a perspective view of the tip orientation system at a different angle than that shown in FIG. FIG. 3 is a diagram schematically showing the configuration of the tip member orientation recognition device and the robot.

This tip member orientation system 1 aligns the tip member 3 provided at the tip of the object 2 to a direction that allows insertion into the insertion section 100, and inserts the tip member 3 into the insertion section 100. This is a system that allows you to do this. Examples of the object 2 include electric wires, optical fibers, wire harnesses, strings, threads, fibers, glass fibers, tubes, etc. (hereinafter referred to as "wire object 2"). The effects of the present application will be more effective if the object is a flexible object such as a cable. In this embodiment, an electric wire is used as the linear object 2.

The distal end member 3 has a projection view (FIG. 4) formed when the distal end member 3 is projected in the insertion direction of the distal end member 3 into the insertion section 100, and a central axis A of the distal end member 3 in a direction parallel to the insertion direction. (See FIG. 4) It has a shape that has an angle that does not overlap with the projected view before rotation when rotated. In other words, the tip member 3 has a shape different from a circular shape in the projection view. In this embodiment, a crimp terminal is used as the tip member 3. As shown in FIG. 5, the tip member 3 has a crimp portion 3a and a terminal portion 3b. A hole 3h is provided in the terminal portion 3b.

The insertion section 100 allows insertion of the distal end member 3 only when the distal end member 3 is in a normal posture. Examples of the insertion portion 100 include a slit in a wiring duct, a terminal block, and the like. In this embodiment, as shown in FIGS. 1 and 9, the insertion portion 100 is formed into a square tube shape. However, as shown in FIG. 10, the insertion section 100 may be a terminal block. Note that the normal posture means a posture in which the tip member 3 does not overlap the insertion section 100 in the insertion direction (a posture in which insertion of the tip member 3 into the insertion section 100 is permitted), and the tip relative to the insertion section 100 is The angle of the member 3 around the central axis A is not strictly defined.

As shown in FIGS. 1 and 2, the tip member orientation system 1 includes a tip member orientation recognition device 10, a robot 20, a hanging section 32, a screen 34, and lighting 36.

The hanging part 32 is a part from which the linear object 2 is suspended. Specifically, the hanging portion 32 holds the end of the linear object 2 to which the tip member 3 is not connected (the upper end in FIG. 1).

The screen 34 is installed behind the linear object 2 when viewed from the imaging unit 12 (tip member orientation recognition device 10). Screen 34 is white.

Preferably, the illumination 36 is transmitted light illumination. This is because when the imaging unit 12 acquires a transmitted light image of the tip member 3, it becomes easier to recognize the outline of the shape of the tip member 3 in the image processing step, and the accuracy of calculation of the rotation angle, which will be described later, is increased. Further, since the surface of the tip member 3 of this embodiment has gloss, when a reflected light image is captured, the shape of the tip member 3 may not be properly captured depending on the angle. Further, if the tip member 3 has unevenness or uneven color, it is preferable to acquire a transmitted light image. In this embodiment, the illumination 36 irradiates the screen 34 with light. The light emitted from the illumination 36 is reflected by the screen 34 and irradiates the tip member 3 located between the screen 34 and the imaging section 12 described later. In this way, the tip member orientation recognition device 10 is arranged so as to be able to acquire a transmitted light image of the tip member 3. This makes it easier to recognize the image information to be compared with the feature amount such as the outline of the shape of the tip member 3, which will be described later, and increases the accuracy of calculating the rotation angle. Here, transmitted light means light that is not blocked by an object and passes through a space where there is no object and reaches the camera (also called backlight, backlight, or back illumination light). A transmitted light image is also called a silhouette image, a backlight image, a backlight image, or a backlight image.

The robot 20 includes a robot hand 22 and a receiving section 24.

The robot hand 22 is capable of gripping the linear object 2 . In this embodiment, the robot hand 22 is capable of moving vertically while gripping the linear object 2 and rotating the linear object 2 around the central axis A of the linear object 2 .

The receiving section 24 will be described later.

The tip member orientation recognition device 10 is a device that recognizes the orientation of the tip member 3 around a predetermined axis when the object 2 is gripped by the robot hand 22. The tip member orientation recognition device 10 can also instruct the robot 20 to insert the tip member 3 into the insertion section 100 while holding the linear object 2 with the robot hand 22. As shown in FIG. 1, the tip member orientation recognition device 10 is arranged on the opposite side to the side where the screen 34 is arranged with respect to the linear object 2 suspended from the hanging part 32 as a reference. As shown in FIGS. 1 to 3, the tip member orientation recognition device 10 includes an imaging section 12, a storage section 14, a calculation section 16, and a transmission section 18.

The imaging unit 12 images the tip member 3 while the linear object 2 is being held by the robot hand 22 . More specifically, the imaging unit 12 photographs the tip member 3 from a direction intersecting the insertion direction (orthogonal direction in this embodiment) while the linear object 2 is being held by the robot hand 22, and captures image information. get.

The imaging unit 12 may be any device that can image the distal end member 3, and may be a two-dimensional camera or a three-dimensional camera. If only the rotation angle of the tip member 3 is calculated, a two-dimensional camera can be used. When using a two-dimensional camera, since the position in the X-axis direction and the Y-axis direction can be recognized when viewed from the camera, the approximate position in the Z-axis direction may be transmitted to the robot, which is measured separately in advance. However, when transmitting accurate three-dimensional coordinates of the tip member 3 to the robot, it is preferable to use a three-dimensional camera that can measure the position of the tip member 3. Furthermore, it is more preferable that the imaging unit 12 is a stereo camera. With 3D measuring machines that use TOF cameras or lasers, the recognition process must be performed on 3D data, which takes time, but with stereo cameras, comparison information is compared on 2D images. Since processing for acquiring image information may be performed, the processing time can be reduced. Furthermore, when the tip part to be measured is a member with a glossy surface such as metal, a stereo camera is less affected by the glossy surface than a TOF camera or a three-dimensional measuring machine using a laser, and provides a more stable three-dimensional measurement. Original measurement is possible. Therefore, it is preferable that the imaging unit 12 is a stereo camera. In this embodiment, the imaging unit 12 is a stereo camera. When calculating the rotation angle, image information to be compared with a feature amount described later may be acquired based on at least one image of the stereo camera.

The storage unit 14 stores comparison information. The comparison information includes first attitude information of the tip member 3 in the first attitude, and a second attitude rotated by a predetermined angle around the central axis A parallel to the insertion direction of the tip member 3 from the first attitude. It includes second attitude information of a certain tip member 3. It is preferable that the first posture information is first image information obtained by imaging the distal end member 3 in the first posture from a cross direction. It is preferable that the second posture information is second image information obtained by imaging the distal end member 3 in the second posture from a cross direction. Each piece of image information is a feature amount that changes when the tip member 3 is rotated around a predetermined axis (center axis A) and an image is captured. The feature amounts include, for example, the outer circumference, area, and width of a predetermined location (for example, a predetermined distance from the tip) of the tip member 3. Note that the comparison information may further include at least one other piece of image information obtained by imaging the tip member 3 in a posture different from the first posture and the second posture from a cross direction.

In this embodiment, the storage unit 14 stores the width W1 of the terminal portion 3b or the number of pixels corresponding to the width W1, and the width W2 of the crimp portion 3a or the number of pixels corresponding to the width W2, as each image information that is comparison information. , remember. The width W1 is the width of the terminal portion 3b at a position a first distance L1 upward from the lower end of the tip member 3. The width W2 is the width of the crimp portion 3a at a position a second distance L2 upward from the lower end of the tip member 3, which is larger than the first distance L1. Each image information may be the width, area, or outer circumference of the tip member 3 or a shape included in the tip member 3. Here, the "width of the shape" means the length in the direction perpendicular to the axis parallel to the insertion direction of the tip member 3. The "shape included in the tip member 3" means, for example, a hole or a pattern in the tip member 3, and is, for example, the area of the hole 3h of the tip member 3 in FIG. 5 or the outer circumference of the hole 3h.

For example, the first image information shows that the tip member 3 is directly facing the imaging section 12, and the rotation angle around the central axis A parallel to the insertion direction is such that it can be inserted into the insertion section. These are the width W1 or the number of pixels corresponding to the width W1, and the width W2 or the number of pixels corresponding to the width W2 in the facing attitude (the attitude shown in FIG. 5). The second image information includes the width W1 or the number of pixels corresponding to the width W1 when the tip member 3 is rotated 90 degrees around the central axis A from the facing orientation (the orientation shown in FIG. 8), and the width W2 or the width. This is the number of pixels corresponding to W2. FIG. 6 is a diagram schematically showing an image captured by the imaging unit 12 in a state where the tip member 3 is rotated by 30 degrees around the central axis A from the facing position. FIG. 7 is a diagram schematically showing an image captured by the imaging unit in a state where the tip member 3 is rotated 60 degrees around the central axis A from the facing position.

The calculation unit 16 calculates the rotation angle from the orientation of the tip member 3 around a predetermined axis to a desired orientation in the image information acquired by the imaging unit 12, based on the comparison information. In the present embodiment, the calculation unit 16 includes image information (width W1 or the number of pixels corresponding to the width W1, and width W2 or the number of pixels corresponding to the width W2) in the captured image captured by the imaging unit 12 and comparison information. By comparing these, the rotation angle around the central axis A from the current posture of the tip member 3 to the normal posture is calculated. Specifically, since the image information changes sinusoidally according to the rotation angle around the central axis A, the calculation unit 16 calculates the current state of the tip member 3 based on the image information in the captured image and the sine function. The rotation angle around the central axis A from the posture to the normal posture is calculated.

Alternatively, the storage unit 14 stores a table showing the relationship between the angle around the central axis A of the tip member 3 from the front facing posture and the image information of the tip member 3 at that time, and the calculation unit 16 The rotation angle around the central axis A from the current posture of the distal end member 3 to the normal posture may be calculated based on the map and the image information in the captured image captured by the imaging section 12.

Furthermore, when calculating the rotation angle, if the central axis A of the tip member 3 is inclined with respect to the vertical direction, the calculation unit 16 calculates the rotation angle such that the central axis A is parallel to the vertical direction in the image information. The rotation angle may be calculated after performing some processing.

The calculation unit 16 may also calculate position information (coordinate information) of the tip member 3. In this embodiment, the calculation unit 16 can obtain the three-dimensional coordinates of the tip member 3 using the principle of triangulation based on image information obtained by imaging with a stereo camera. The calculation unit 16 calculates, for example, the position of the lowest point of the distal end member 3 (the distal end portion to be inserted) as the positional information of the distal end member 3.

The transmitter 18 transmits the rotation signal and the insertion signal to the receiver 24 of the robot 20. The rotation signal is a signal that causes the robot hand 22 to rotate the tip member 3 around the center axis A by the rotation angle calculated by the calculation unit 16, that is, the center axis A from the current posture of the tip member 3 to the normal posture. This is a signal indicating the rotation angle of the surroundings. The insertion signal is a signal indicating that the robot hand 22 inserts the tip member 3 into the insertion section 100 based on the position information of the tip member calculated by the calculation section.

The tip member orientation recognition device 10 described above performs an image information acquisition process and a calculation process. The image information acquisition process is a process executed by the imaging unit 12. The calculation process is a process executed by the calculation unit 16.

Here, the receiving section 24 will be explained. The receiving unit 24 receives the rotation signal and the insertion signal from the transmitting unit 18 of the tip member orientation recognition device 10. The receiving unit 24 instructs the robot hand 22 to rotate the linear object 2 based on the rotation signal. The receiving section 24 instructs the robot hand 22 to insert the tip member 3 into the insertion section 100 based on the insertion signal.

That is, the robot hand 22 operates the linear object 2 so that the tip member 3 rotates around the central axis A based on the rotation signal (rotation operation), and the tip member 3 moves into the insertion portion based on the insertion signal. 100 (insertion operation). In other words, the robot 20 uses the robot hand 22 to rotate the linear object 2 around the central axis A by the rotation angle based on the rotation signal, and also uses the robot hand 22 to rotate the tip member 3 to the insertion section 100 based on the insertion signal. have it inserted. Note that the rotation operation and the insertion operation may be performed in this order or may be performed simultaneously.

The robot 20 described above can perform a rotation process and an insertion process. The rotation process is a process of performing a rotation operation. The insertion process is a process of performing an insertion operation.

As explained above, in the tip member orientation system 1 of the present embodiment, by comparing the image information of the tip member 3 taken and acquired by the camera with comparison information, the current posture of the tip member 3 is normalized. The rotation angle around the central axis A up to the posture is calculated, and the robot hand 22 rotates the linear object 2 by that rotation angle, so that the posture of the tip member 3 is such that the tip member 3 can be inserted into the insertion section 100. posture (regular posture). The image information may be the image itself obtained by imaging by the imaging unit 12, or may be the geometric feature amount in the image obtained by analyzing the image (for example, a circular parameter or a specific figure). information such as the aspect ratio, outer circumference length, etc. when approximated by .

Further, since the distal end member orientation recognition device 10 transmits a rotation signal and an insertion signal to the robot 20, it becomes possible to insert the linear object 2 into the insertion section 100 using the robot hand 22.

Note that the embodiments disclosed herein are illustrative in all respects and should not be considered restrictive. The scope of the present invention is indicated by the claims rather than the description of the embodiments described above, and includes all changes within the meaning and range equivalent to the claims.

For example, the storage section 14, the calculation section 16, and the transmission section 18 may be separated from the imaging section 12. That is, the tip member orientation recognition device 10 has a first case and a second case separate from the first case, in which the first case houses the imaging unit 12, and the second case houses the storage unit 14 and the calculation unit. The unit 16 and the transmitting unit 18 may be housed therein.

Further, before calculating the rotation angle (rotation angle around the central axis A from the current posture of the tip member 3 to the normal posture), the calculation unit 16 calculates the vertical axis of the central axis A of the tip member 3 in the image information. An inclination angle with respect to the direction may also be calculated. In this case, the transmitting unit 18 transmits a vertical signal to the receiving unit 24 indicating that the central axis A of the tip member 3 is to be tilted so that the central axis A is parallel to the vertical direction, and based on the instruction from the receiving unit 24. The robot hand 22 operates the linear object 2 so that the central axis A of the tip member 3 is parallel to the vertical direction (vertical operation). In this state, that is, in a state in which the central axis A of the distal end member 3 is substantially parallel to the vertical direction, the calculating section 16 calculates the rotation angle based on the image information from the imaging section 12. In this way, the rotation angle can be calculated more accurately.

Also, depending on the type of tip member, the shape may be formed when the tip member is projected in the insertion direction when rotated 180 degrees around the central axis of the tip member in a direction parallel to the direction in which the tip member is inserted into the insertion section. The projected image that is rotated has the same shape as the projected image before rotation, but there are cases where the front and back sides are functionally different. In this case, in addition to calculating the rotation angle, it is necessary to determine the front and back sides. If there is a difference between the front and back of the tip member due to the color or pattern of the tip member, it is possible to identify the color or pattern from the acquired image information and add the process of determining front and back to the rotation angle calculation process. It is possible to realize orientation recognition and alignment that reflect the different orientations. At this time, in order to distinguish colors, patterns, etc., it is preferable to acquire a reflected light image in addition to a transmitted light image. When acquiring a reflected light image, it is sufficient to acquire the reflected light image while the linear object is irradiated with environmental light such as indoor light or sunlight. In order to more stably acquire a reflected light image, it is preferable to have a reflected light irradiation member that irradiates light onto the linear object. Ordinary lighting such as a lamp or LED can be used as the reflected light irradiation member. More preferably, it is a diffused light illumination that can irradiate uniform light to the tip member from the same side as the imaging section.

1 tip member orientation system, 2 object (linear object), 3 tip member, 3a crimp section, 3b connection section, 3h hole, 10 tip member orientation recognition device, 12 imaging section, 14 storage section, 16 calculation section, 18 transmitting section, 20 robot, 22 robot hand, 24 receiving section, 32 hanging section, 34 screen, 36 lighting, 100 insertion section.

Claims (8)

A method in which a tip member orientation recognition device recognizes the orientation of the tip member around a predetermined axis in a state in which an object having the tip member is gripped by a robot hand, the method comprising:
an image information acquisition step of photographing the tip member with a camera while the object is gripped by the robot hand, and acquiring image information;
First attitude information of the tip member in a first attitude, and information on the tip member in a second attitude rotated by a predetermined angle around the predetermined axis of the tip member from the first attitude. a calculation step of calculating a rotation angle from the orientation of the tip member around the predetermined axis in the acquired image information to a desired orientation based on comparison information including two posture information;
How to recognize the orientation of the tip member. The tip member can be inserted into an insertion portion that allows insertion of the tip member when in a normal posture,
The predetermined axis is an axis parallel to an insertion direction in which the tip member is inserted into the insertion section,
the desired orientation is an orientation in which the distal end member can be inserted into the insertion section;
The method for recognizing the orientation of a tip member according to claim 1. The first posture information and the second posture information are feature quantities that change when the tip member is rotated around the predetermined axis and imaged.
The method for recognizing the orientation of a tip member according to claim 1 or 2. The feature amount is the width, area, or outer circumference of the tip member or the shape included in the tip member,
The method for recognizing the orientation of a tip member according to claim 3. A tip member in which a tip member orientation system including the robot hand and a tip member orientation recognition device adjusts the orientation of the tip member around a predetermined axis to a normal orientation when an object having the tip member is gripped by a robot hand. A method of facing
an image information acquisition step of photographing the object with a camera while it is being held by the robot hand, and acquiring image information;
First attitude information of the tip member in a first attitude, and second attitude information of the tip member in a second attitude rotated by a predetermined angle around the predetermined axis of the tip member from the first attitude. a calculation step of calculating a rotation angle from the orientation of the tip member around the predetermined axis in the acquired image information to the normal orientation based on comparison information including posture information;
A method for aligning tip members, comprising: a rotation step of rotating the object around the predetermined axis by the rotation angle by the robot hand. When an object having a tip member is gripped by a robot hand, a tip member orientation system including the robot hand and a tip member orientation recognition device determines whether the tip member is correctly oriented around a predetermined axis of the tip member. A method of inserting a tip member into an insertion section that allows insertion of the tip member only when the tip member is oriented in the direction of
Aligning the orientation of the tip member by the tip member orientation method according to claim 5,
The tip member insertion method further comprises an insertion step of inserting the tip member into the insertion portion by the robot hand after the rotation step or simultaneously with the rotation step. A tip member orientation recognition device that recognizes the orientation of the tip member around a predetermined axis in a state where an object having the tip member is gripped by a robot hand, the device comprising:
an imaging unit that captures an image of the tip member in a state in which the object is gripped by the robot hand;
First attitude information of the tip member in a first attitude, and information on the tip member in a second attitude rotated by a predetermined angle around the predetermined axis of the tip member from the first attitude. a storage unit that stores comparison information including two-position information;
a calculation unit that calculates a rotation angle from the orientation of the tip member around the predetermined axis to a desired orientation in the acquired image information, based on the comparison information;
A tip member orientation recognition device comprising: A tip member orientation recognition device according to claim 7;
a robot having the robot hand,
The robot is a tip member facing system that rotates the object around the predetermined axis by the rotation angle by the robot hand.

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