JPH09304013A - Three-dimentional position and attitude detector of plane - Google Patents
Three-dimentional position and attitude detector of planeInfo
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- JPH09304013A JPH09304013A JP11725596A JP11725596A JPH09304013A JP H09304013 A JPH09304013 A JP H09304013A JP 11725596 A JP11725596 A JP 11725596A JP 11725596 A JP11725596 A JP 11725596A JP H09304013 A JPH09304013 A JP H09304013A
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- plane
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- mark
- height
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、平面の３次元位置
姿勢検出方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plane three-dimensional position / orientation detecting method.
【０００２】[0002]
【従来の技術】ロボットを利用した自動化システム、例
えば、中子を主型に納めるような作業をロボットで行な
う場合には、主型上面の３次元位置姿勢を検出し、その
検出結果に応じてロボットを制御する必要がある。この
ような平面の３次元位置姿勢検出方法としては、従来、
光切断方法が知られている。この光切断方法は、検出し
ようとする平面に対してスリット光を照射することによ
りその平面の３次元位置姿勢を検出するものである。2. Description of the Related Art An automated system using a robot, for example, in the case where a robot carries out work such as placing a core in a main mold, the three-dimensional position and orientation of the upper surface of the main mold is detected, and the detected result is detected. You need to control the robot. As a method of detecting the three-dimensional position and orientation of such a plane, conventionally,
Light cutting methods are known. In this light cutting method, the plane to be detected is irradiated with slit light to detect the three-dimensional position and orientation of the plane.
【０００３】[0003]
【発明が解決しようとする課題】しかし、光切断法は、
読み取りに時間がかかり、しかも、装置が高価である。However, the optical cutting method is
It takes time to read and the device is expensive.
【０００４】従って、主型への中子納め作業をロボット
を用いて行う場合において、主型の上面の３次元位置姿
勢検出を光切断法で行うと、作業能率が非常に低くな
り、しかも、設備費が膨大になる。Therefore, when the core is placed in the main mold by using a robot, if the three-dimensional position and orientation of the upper surface of the main mold is detected by the optical cutting method, the work efficiency becomes very low, and The equipment cost becomes huge.
【０００５】[0005]
【課題を解決するための手段】請求項１記載の発明は、
平面上に設けられた３個のマークのＺ軸方向の高さを高
さ検出センサからの出力に基づいて求め、各マークのＸ
−Ｙ軸方向の位置をこれらのマークを撮影したカメラの
撮影データと予め設定したこれらのマークの教示データ
とに基づいて求め、各マークのＺ軸方向の高さとＸ−Ｙ
軸方向の位置とに基づく演算処理により前記平面の３次
元位置姿勢を求めるようにした。従って、高さ検出セン
サによる検出とカメラによる撮影とを短時間で行うこと
ができ、３次元位置姿勢の検出を短時間で行える。しか
も、構造的には、高さ検出センサと、カメラと、各マー
クのＺ軸方向の高さ及びＸ−Ｙ軸方向の位置に基づく演
算処理を行う手段とを設ければよく、安価な装置により
平面の３次元位置姿勢を検出することができる。According to the first aspect of the present invention,
The heights of the three marks on the plane in the Z-axis direction are calculated based on the output from the height detection sensor, and the X of each mark is calculated.
The position in the Y-axis direction is obtained based on the photographing data of the camera that photographed these marks and the preset teaching data of these marks, and the height of each mark in the Z-axis direction and the XY direction.
The three-dimensional position / orientation of the plane is obtained by arithmetic processing based on the position in the axial direction. Therefore, the detection by the height detection sensor and the photographing by the camera can be performed in a short time, and the three-dimensional position and orientation can be detected in a short time. In addition, structurally, it is sufficient to provide a height detection sensor, a camera, and means for performing arithmetic processing based on the height of each mark in the Z-axis direction and the position in the XY axis direction, which is an inexpensive device. Thus, the three-dimensional position and orientation of the plane can be detected.
【０００６】[0006]
【発明の実施の形態】本発明の一実施の形態を図面に基
づいて説明する。図１は中子１を把持したロボット２の
ハンド部３と、この中子１を納める主型４とを示す模式
図である。この主型４における３次元位置姿勢を検出す
る平面である主型上面５には、丸穴形状の３個のマーク
６ａ，６ｂ，６ｃが形成されている。DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing a hand portion 3 of a robot 2 that holds a core 1 and a main mold 4 that houses the core 1. Three marks 6a, 6b, 6c in the shape of round holes are formed on the upper surface 5 of the main mold, which is a plane for detecting the three-dimensional position and orientation of the main mold 4.
【０００７】図２は、前記ロボット２の制御システムを
示したブロック図である。中子搬送ライン（図示せず）
上を搬送された前記中子１の停止位置、及び、主型搬送
ライン（図示せず）上を搬送された前記主型４の停止位
置の近傍に前記ロボット２が配置されている。このロボ
ット２の前記ハンド部３には、中子搬送ライン上で停止
している前記中子１の位置を求めるための中子検出用Ｃ
ＣＤカメラ７と、前記マーク６ａ〜６ｃの水平方向（Ｘ
−Ｙ軸方向）の位置を求めるためのカメラであるマーク
検出用ＣＣＤカメラ８と、前記マーク６ａ〜６ｃの垂直
方向（Ｚ軸方向）の高さを求めるための高さ検出センサ
であるレーザセンサ９とが取り付けられている。FIG. 2 is a block diagram showing a control system of the robot 2. Core transport line (not shown)
The robot 2 is arranged in the vicinity of the stop position of the core 1 conveyed above and the stop position of the main mold 4 conveyed on a main mold conveying line (not shown). The hand unit 3 of the robot 2 has a core detecting C for determining the position of the core 1 stopped on the core conveying line.
The CD camera 7 and the marks 6a to 6c in the horizontal direction (X
Mark detection CCD camera 8 which is a camera for obtaining the position in the (Y axis direction), and a laser sensor which is a height detection sensor for obtaining the height of the marks 6a to 6c in the vertical direction (Z axis direction). 9 and 9 are attached.
【０００８】前記ロボット２にはこのロボット２を駆動
させるロボットコントローラ１０が接続されている。前
記中子検出用ＣＣＤカメラ７と前記マーク検出用ＣＣＤ
カメラ８とは前記中子１や前記マーク６ａ〜６ｃの水平
方向の位置検出を行う画像処理装置１１に接続されてい
る。そして、これらのロボットコントローラ１０と画像
処理装置１１、及び、前記レーザセンサ９がＦＡ(Facto
ry Automation)コンピュータ１２に接続されている。A robot controller 10 for driving the robot 2 is connected to the robot 2. CCD camera 7 for detecting the core and CCD for detecting the mark
The camera 8 is connected to an image processing device 11 that detects the positions of the core 1 and the marks 6a to 6c in the horizontal direction. Then, the robot controller 10, the image processing device 11, and the laser sensor 9 are FA (Facto
ry Automation) connected to the computer 12.
【０００９】前記ＦＡコンピュータ１２では様々な演算
が行われる。その一つとして、前記画像処理装置１１か
らの前記中子１の位置データに基づいてこの中子１を前
記ハンド部３で把持する際に必要なロボット２の補正量
が演算される。また、前記画像処理装置１１からの前記
マーク６ａ〜６ｃの水平方向の位置データと前記レーザ
センサ９からの前記マーク６ａ〜６ｃの垂直方向の高さ
データとに基づいて各マーク６ａ〜６ｃの３次元位置が
演算され、各マーク６ａ〜６ｃの３次元位置に基づく主
型上面５の３次元位置姿勢が演算される。さらに、前記
ハンド部３で把持した中子１を主型４内に納める際に必
要なロボット２の補正量が演算される。Various calculations are performed in the FA computer 12. As one of them, based on the position data of the core 1 from the image processing device 11, a correction amount of the robot 2 required when the core 1 is held by the hand unit 3 is calculated. Further, based on the horizontal position data of the marks 6a to 6c from the image processing device 11 and the vertical height data of the marks 6a to 6c from the laser sensor 9, each of the marks 6a to 6c is set to three. The three-dimensional position is calculated, and the three-dimensional position / orientation of the main mold upper surface 5 is calculated based on the three-dimensional positions of the marks 6a to 6c. Further, a correction amount of the robot 2 required when the core 1 gripped by the hand portion 3 is stored in the main mold 4 is calculated.
【００１０】このような構成において、このロボット２
を用いて主型４内へ中子１を納める場合には、まず、中
子検出用ＣＣＤカメラ７で撮影した中子１の撮影データ
と予め設定した中子１の教示データとに基づいて中子１
の位置を求め、その結果に基づいてロボット２を位置制
御することによりハンド部３で中子１を把持する。In this structure, the robot 2
When the core 1 is put into the main mold 4 by using, the core 1 is first taken on the basis of the photographing data of the core 1 photographed by the core detecting CCD camera 7 and the preset teaching data of the core 1. Child 1
The position of the core 1 is determined by controlling the position of the robot 2 based on the result of the determination.
【００１１】ハンド部３で中子１を把持した後は、マー
ク検出用ＣＣＤカメラ８で撮影したマーク６ａ〜６ｃの
撮影データと予め設定したマーク６ａ〜６ｃの教示デー
タとに基づいて求めた各マーク６ａ〜６ｃのＸ−Ｙ軸方
向の位置と、レーザセンサ９の出力に基づいて求めたマ
ーク６ａ〜６ｃのＺ軸方向の高さとから、主型上面５の
３次元位置姿勢を演算し、その演算結果に基づいてロボ
ット２を位置制御することにより把持している中子１を
主型４内へ納める。After the core 1 is gripped by the hand portion 3, the respective values obtained based on the photographing data of the marks 6a to 6c photographed by the mark detecting CCD camera 8 and the preset teaching data of the marks 6a to 6c. From the positions of the marks 6a to 6c in the XY axis direction and the heights of the marks 6a to 6c in the Z axis direction obtained based on the output of the laser sensor 9, the three-dimensional position and orientation of the main mold upper surface 5 is calculated, By controlling the position of the robot 2 based on the result of the calculation, the core 1 being held is housed in the main mold 4.
【００１２】主型上面５の３次元位置姿勢の検出過程を
図３のフローチャートに基づいて説明する。まず、マー
ク６ａ〜６ｃの個数を意味するｎを“０”にクリアし、
クリア後にｎの値を１つインクリメントする。つぎに、
レーザセンサ９が主型上面５のｎ個目のマーク６ａのＺ
軸方向（垂直方向）の高さを検出できる位置へハンド部
３を移動させる制御が行われる（ステップＳ１）。その
後、レーザセンサ９から出射されて主型上面５で反射さ
れたレーザを受光することにより得られるレーザセンサ
９からの出力がＦＡコンピュータ１２へ入力され、レー
ザセンサ９からの出力に基づいてマーク６ａの高さ位置
が演算される（ステップＳ２）。この演算結果に基づい
て、マーク６ａとマーク検出用ＣＣＤカメラ８との距離
を、マーク検出用ＣＣＤカメラ８の焦点距離と等しくす
るために必要なＺ軸方向の補正量が演算され（ステップ
Ｓ３）、その補正量に応じてハンド部３が昇降制御され
る（ステップＳ４）。The process of detecting the three-dimensional position and orientation of the upper surface 5 of the main mold will be described with reference to the flowchart of FIG. First, clear n, which means the number of marks 6a to 6c, to "0",
After clearing, the value of n is incremented by 1. Next,
The laser sensor 9 is the Z of the nth mark 6a on the upper surface 5 of the main mold.
Control is performed to move the hand unit 3 to a position where the height in the axial direction (vertical direction) can be detected (step S1). After that, the output from the laser sensor 9 obtained by receiving the laser emitted from the laser sensor 9 and reflected by the upper surface 5 of the main mold is input to the FA computer 12, and the mark 6 a is output based on the output from the laser sensor 9. Is calculated (step S2). Based on this calculation result, the correction amount in the Z-axis direction required to make the distance between the mark 6a and the mark detecting CCD camera 8 equal to the focal length of the mark detecting CCD camera 8 is calculated (step S3). The hand unit 3 is controlled to move up and down according to the correction amount (step S4).
【００１３】つぎに、マーク検出用ＣＣＤカメラ８がｎ
個目のマーク６ａの水平方向（Ｘ−Ｙ軸方向）の位置を
検出できる位置へハンド部３を移動させる制御が行われ
（ステップＳ５）、マーク検出用ＣＣＤカメラ８がマー
ク６ａを撮影した撮影データとこのマーク６ａに関する
教示データとをＦＡコンピュータ１２で比較することに
より、マーク６ａのＸ−Ｙ軸方向（水平方向）の位置が
演算される（ステップＳ６）。そして、ステップＳ２の
演算結果とステップＳ６の演算結果とに基づいて、マー
ク６ａの３次元位置が演算される（ステップＳ７）。Next, the mark detecting CCD camera 8
Control is performed to move the hand unit 3 to a position where the horizontal position (X-Y axis direction) of the sixth mark 6a can be detected (step S5), and the mark detection CCD camera 8 photographs the mark 6a. The FA computer 12 compares the data with the teaching data about the mark 6a to calculate the position of the mark 6a in the X-Y axis direction (horizontal direction) (step S6). Then, the three-dimensional position of the mark 6a is calculated based on the calculation result of step S2 and the calculation result of step S6 (step S7).
【００１４】上述したステップＳ１〜ステップＳ７の処
理が他のマーク６ｂ，６ｃについても行われ、３個のマ
ーク６ａ〜６ｃの３次元位置データに基づいて主型上面
５の３次元位置姿勢が演算される（ステップＳ８）。な
お、この３次元位置姿勢の演算は、平面上の３点のデー
タに基づいて行われる周知の演算方法である。The processes of steps S1 to S7 described above are performed for the other marks 6b and 6c, and the three-dimensional position and orientation of the upper surface 5 of the main mold is calculated based on the three-dimensional position data of the three marks 6a to 6c. (Step S8). The calculation of the three-dimensional position and orientation is a known calculation method performed based on the data of three points on the plane.
【００１５】ここで、マーク６ａ〜６ｃの３次元位置の
演算について、１つのマーク６ａを例に挙げて説明す
る。教示時のレーザセンサ９の出力値をＴＨ１、教示時
のマーク検出用ＣＣＤカメラ８の出力値を（ＴＸ１，Ｔ
Ｙ１）とする。実際の検出時におけるレーザセンサ９の
出力値をＨ１、実際の検出時におけるマーク検出用ＣＣ
Ｄカメラ８の出力値を（ＩＸ１，ＩＹ１）とする。する
と、実際の検出時における教示時に対するマーク６ａの
位置変化量（Ｘ１，Ｙ１，Ｚ１）は、以下のようにな
る。Here, the calculation of the three-dimensional positions of the marks 6a to 6c will be described by taking one mark 6a as an example. The output value of the laser sensor 9 at the time of teaching is TH1, and the output value of the CCD camera 8 for mark detection at the time of teaching is (TX1, T
Y1). The output value of the laser sensor 9 at the time of actual detection is H1, the CC for mark detection at the time of actual detection
The output value of the D camera 8 is (IX1, IY1). Then, the position change amount (X1, Y1, Z1) of the mark 6a at the time of teaching at the time of actual detection is as follows.
【００１６】Ｘ１＝ＩＸ１−ＴＸ１ Ｙ１＝ＩＹ１−ＴＹ１ Ｚ１＝Ｈ１−ＴＨ１ 従って、この位置変化量から、教示時に基準とした座標
系におけるマーク６ａの３次元位置を演算することがで
きる。X1 = IX1-TX1 Y1 = IY1-TY1 Z1 = H1-TH1 Therefore, the three-dimensional position of the mark 6a in the coordinate system used as the reference during teaching can be calculated from this position change amount.
【００１７】本実施の形態によれば、主型上面５の３次
元位置姿勢を検出しているため、主型上面５が水平状態
から傾いた状態となっていても、その傾きに応じて中子
１を把持したハンド部３の向きを制御することにより、
主型４内への中子１納めを精度良く行うことができる。According to this embodiment, the three-dimensional position and orientation of the upper surface 5 of the main mold is detected. Therefore, even if the upper surface 5 of the main mold is tilted from the horizontal state, the middle surface is inclined according to the tilt. By controlling the direction of the hand unit 3 that holds the child 1,
The core 1 can be accurately stored in the main mold 4.
【００１８】なお、本実施の形態では、高さ検出センサ
としてレーザセンサ９を用いた場合を例に挙げて説明し
たが、超音波センサを用いてもよい。この場合には、超
音波センサから出射された超音波を主型上面で反射させ
て超音波センサに入射させるようにする。In the present embodiment, the case where the laser sensor 9 is used as the height detecting sensor has been described as an example, but an ultrasonic sensor may be used. In this case, the ultrasonic wave emitted from the ultrasonic sensor is reflected on the upper surface of the main mold and is incident on the ultrasonic sensor.
【００１９】[0019]
【発明の効果】請求項１記載の発明によれば、平面上に
設けられた３個のマークのＺ軸方向の高さを高さ検出セ
ンサからの出力に基づいて求め、各マークのＸ−Ｙ軸方
向の位置をこれらのマークを撮影したカメラの撮影デー
タと予め設定したこれらのマークの教示データとに基づ
いて求め、各マークのＺ軸方向の高さとＸ−Ｙ軸方向の
位置とに基づく演算処理により前記平面の３次元位置姿
勢を求めるようにしたので、高さ検出センサによる検出
とカメラによる撮影とを短時間で行うことができ、従っ
て、３次元位置姿勢の検出を短時間で行うことができ、
しかも、構造的には、高さ検出センサと、カメラと、各
マークのＺ軸方向の高さ及びＸ−Ｙ軸方向の位置に基づ
く演算処理を行う手段とを設ければよく、安価な装置に
より平面の３次元位置姿勢を検出することができる。According to the first aspect of the invention, the heights of the three marks provided on the plane in the Z-axis direction are determined based on the output from the height detection sensor, and the X- The position in the Y-axis direction is obtained based on the photographing data of the camera that photographed these marks and the preset teaching data of these marks, and the height of each mark in the Z-axis direction and the position in the X-Y-axis direction are determined. Since the three-dimensional position and orientation of the plane is obtained by the calculation processing based on the above, the detection by the height detection sensor and the photographing by the camera can be performed in a short time. Therefore, the detection of the three-dimensional position and orientation can be performed in a short time. Can be done
In addition, structurally, it is sufficient to provide a height detection sensor, a camera, and means for performing arithmetic processing based on the height of each mark in the Z-axis direction and the position in the XY axis direction, which is an inexpensive device. Thus, the three-dimensional position and orientation of the plane can be detected.
【図１】本発明の一実施の形態におけるロボットのハン
ド部に把持された中子と、この中子を納める主型とを示
す模式図である。FIG. 1 is a schematic diagram showing a core gripped by a hand portion of a robot and a main mold for accommodating the core according to an embodiment of the present invention.
【図２】ロボットの制御システムを示すブロック図であ
る。FIG. 2 is a block diagram showing a control system of a robot.
【図３】主型上面の３次元位置姿勢の検出過程を説明す
るフローチャートである。FIG. 3 is a flowchart illustrating a process of detecting the three-dimensional position and orientation of the upper surface of the main mold.
５ 平面 ６ａ〜６ｃ マーク ８ カメラ ９ 高さ検出センサ 5 planes 6a to 6c marks 8 camera 9 height detection sensor
フロントページの続き (72)発明者 水野 剛 長野県松本市石芝１丁目１番１号 石川島 芝浦機械株式会社松本工場内Front page continued (72) Inventor Tsuyoshi Mizuno 1-1-1 Ishishiba, Matsumoto City, Nagano Ishikawajima Shibaura Machinery Co., Ltd. Matsumoto Factory
Claims (1)
方向の高さを高さ検出センサからの出力に基づいて求
め、各マークのＸ−Ｙ軸方向の位置をこれらのマークを
撮影したカメラの撮影データと予め設定したこれらのマ
ークの教示データとに基づいて求め、各マークのＺ軸方
向の高さとＸ−Ｙ軸方向の位置とに基づく演算処理によ
り前記平面の３次元位置姿勢を求めるようにしたことを
特徴とする平面の３次元位置姿勢検出方法。1. The heights of three marks on a plane in the Z-axis direction are obtained based on the output from a height detection sensor, and the position of each mark in the XY-axis direction is determined by these marks. The three-dimensional position of the plane is calculated based on the photographed data of the photographed camera and preset teaching data of these marks, and is calculated based on the height of each mark in the Z-axis direction and the position in the XY axis direction. A method for detecting a three-dimensional position and orientation of a plane, characterized in that the orientation is obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11725596A JPH09304013A (en) | 1996-05-13 | 1996-05-13 | Three-dimentional position and attitude detector of plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11725596A JPH09304013A (en) | 1996-05-13 | 1996-05-13 | Three-dimentional position and attitude detector of plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH09304013A true JPH09304013A (en) | 1997-11-28 |
Family
ID=14707242
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11725596A Withdrawn JPH09304013A (en) | 1996-05-13 | 1996-05-13 | Three-dimentional position and attitude detector of plane |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH09304013A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8352212B2 (en) | 2009-11-18 | 2013-01-08 | Hexagon Metrology, Inc. | Manipulable aid for dimensional metrology |
| US10573021B2 (en) | 2016-09-28 | 2020-02-25 | Honda Motor Co., Ltd. | Position and attitude estimation method and position and attitude estimation system |
-
1996
- 1996-05-13 JP JP11725596A patent/JPH09304013A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8352212B2 (en) | 2009-11-18 | 2013-01-08 | Hexagon Metrology, Inc. | Manipulable aid for dimensional metrology |
| US10573021B2 (en) | 2016-09-28 | 2020-02-25 | Honda Motor Co., Ltd. | Position and attitude estimation method and position and attitude estimation system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 20030805 |