CN102957939A - Robot system with anomaly detection function of camera - Google Patents
Robot system with anomaly detection function of camera Download PDFInfo
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- CN102957939A CN102957939A CN2012103071349A CN201210307134A CN102957939A CN 102957939 A CN102957939 A CN 102957939A CN 2012103071349 A CN2012103071349 A CN 2012103071349A CN 201210307134 A CN201210307134 A CN 201210307134A CN 102957939 A CN102957939 A CN 102957939A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
Abstract
The present invention provides a robot system with anomaly detection function of a camera. The system has a synchronization signal separation portion separating an internal horizontal synchronization signal from a video signal and can detect abnormaly of a camera through a simple structure. The robot control device comprises a sync signal separation circuit, an A/D conversion circuit, a clamp circuit, a horizontal sync signal phase comparison of horizontal synchronization signal phase comparison, determine whether the horizontal sync signal synchronization synchronous circuit decision circuit, image into the circuit, processing department, the vertical sync signal and horizontal synchronization signal as an external sync signal to generate a synchronization signal generated or circuit, and is used to connect the camera and robot control device connector.
Description
Technical field
The present invention relates to have the robot system of the abnormal detection function of video camera.
Background technology
In some robot systems that the good and the bad of the correction of carrying out the robot location or workpiece is judged, the pixel count of the video camera that is connected with robot controller and the frequency of synchronizing signal are known, export the synchronizing signal corresponding with this video camera and be taken into image, will the data volume corresponding with this pixel count be stored in the storage device such as RAM, carry out image and process.
For example, in TOHKEMY 2011-19058 communique, put down in writing image processing apparatus 30, this image processing apparatus 30 has: sync separator circuit 32, its from inner synchronousing signal separation of level synchronizing signal from the signal of video signal of video camera 48 output synchronously; Horizontal sync frequencies testing circuit 38, it detects the frequency of isolated horizontal-drive signal; Synchronizing signal generative circuit 44, it generates vertical synchronizing signal and horizontal-drive signal.At this, synchronizing signal generative circuit 44 is after the timing of hope generates vertical synchronizing signal, frequency with the horizontal-drive signal by horizontal sync frequencies testing circuit 38 detected inner synchronousing signals generates horizontal-drive signal, and vertical synchronizing signal and the horizontal-drive signal that generates offered video camera 48 as outer synchronous signal.
In addition, in Japanese kokai publication hei 9-233501 communique, put down in writing and accepted from the vision signal of video camera output, relatively the phase place of isolated synchronizing signal and fundamental clock from this vision signal detects unusual image processing apparatus based on the output corresponding with phase difference.
In addition, in TOHKEMY 2003-289554 communique, put down in writing and in camera head and camera control unit, carried respectively CPU, carry out independently failure diagnosis by each CPU, the method for diagnosing faults that separately diagnostic result can be transmitted to the opposing party's CPU.
, in the fault of video camera own, perhaps connected in the situation of camera cable broken string of video camera and robot controller in the past, not for detection of, determine the means of this fault or broken string.Therefore, obtaining in the situation of incorrect image, can't judge easily that this situation is the environment existing problems of captured be taken body or its shooting, or because unusually the causing of video camera or camera cable.
On the other hand, in the invention of Japanese kokai publication hei 9-233501 communique or TOHKEMY 2003-289554 communique, need phase comparator, voltage controlled oscillator, be used for the analog circuit of the such special use of the AD converter of voltage measurement, therefore need corresponding cost.In addition, use the circuit of phase comparator or voltage controlled oscillator to consist of feedback control system, therefore, spend the time at the control system design that is used for stably action.And, sometimes connect the different multiple video camera of pixel count at robot controller, for the circuit that used phase comparator and voltage controlled oscillator can be corresponding from the video camera of different pixel count, than the situation corresponding with single video camera, it is more complicated that control system design becomes.
Summary of the invention
Therefore, the object of the present invention is to provide a kind of robot system, it exports outer synchronous signal to video camera, to synchronously processing from the view data of video camera output with this outer synchronous signal, in order to solve above-mentioned problem, can be by simple structure detection video camera unusual.
In order to achieve the above object, the invention provides a kind of robot system, it has: video camera, and it has following function: the inside synchronizing function of synchronously exporting the signal of video signal that comprises vertical synchronizing signal, horizontal-drive signal and view data with the vertical synchronizing signal that generates as inner synchronousing signal with the frequency that predetermines and horizontal-drive signal; The external sync function of synchronously exporting the signal of video signal that comprises vertical synchronizing signal, horizontal-drive signal and view data with the vertical synchronizing signal identical with described inner synchronousing signal frequency that provides as outer synchronous signal and horizontal-drive signal, this video camera is not when being supplied to described outer synchronous signal, by described inner synchronizing function and described inner synchronousing signal output image signal synchronously, when being supplied to described outer synchronous signal, by described external sync function and described outer synchronous signal output image signal synchronously; And the robot controller that has connected described video camera, to be taken into described robot controller by the signal of video signal that described external sync function is exported from described video camera, carrying out image processes, the result who processes according to this image comes control, and this robot system has: the synchronizing signal separation unit of isolating the inner horizontal synchronizing signal from described signal of video signal; The phase place comparing section of the phase place of the external horizontal synchronization that relatively provides from described robot controller to described video camera and the phase place by the isolated inner horizontal synchronizing signal of synchronizing signal separation unit; And according to the phase place comparative result of described phase place comparing section over time, judge the synchronous detection unit whether described video camera synchronously moves with described external horizontal synchronization.
In preferred embodiment, the phase place comparative result of the more described phase place comparing section of described synchronous detection unit and the phase difference that becomes benchmark,, be judged to be described video camera and synchronously do not move with described external horizontal synchronization during greater than the surplus that determines in its difference.
In preferred embodiment, described phase place comparing section is after the external horizontal synchronization that provides to described video camera from described robot controller is provided, before detecting by the isolated inner horizontal synchronizing signal of described synchronizing signal separation unit, again detect in the situation of external horizontal synchronization output alarm.
Description of drawings
Above-mentioned and other purposes, feature and strong point of the present invention can further understand by the preferred implementation below the reference description of drawings.
Fig. 1 is the figure of Sketch of control device of the robot system of expression an embodiment of the invention.
Fig. 2 is the figure of the synchronous situation of expression horizontal-drive signal and vision signal.
Fig. 3 is the figure of expression horizontal-drive signal and the nonsynchronous situation of vision signal.
Fig. 4 is the figure for the processing of explanation horizontal-drive signal phase-comparison circuit.
Fig. 5 is the flow chart for the processing that synchronous decision circuit is described.
Embodiment
Fig. 1 is the block diagram of robot controller 10 of the preferred implementation of the present application, has particularly only represented to process the figure of relevant part (image processing apparatus) with image in the robot controller 10 of robot 8 of control simplified schematic illustration.Robot controller 10 has: synchronizing signal separation unit 12; A/D transformation component 14; Clamper section 16; Carry out the horizontal-drive signal phase place comparing section 18 of the phase bit comparison of horizontal-drive signal; Judge whether synchronous synchronous detection unit 20 of horizontal-drive signal; Image is taken into section 22; Handling part 24; The synchronizing signal generating unit 26 that vertical synchronizing signal and horizontal-drive signal are generated as outer synchronous signal; For the connector 30 that video camera 28 is connected with robot controller 10.In addition, in illustrative example, synchronizing signal separation unit 12, A/D transformation component 14, clamper section 16, horizontal-drive signal phase place comparing section 18, synchronously detection unit 20, image is taken into section 22 and synchronizing signal generating unit 26 all consists of as circuit.
Handling part 24 is such as having: have CPU34, the ROM36 of register 32 and RAM38 etc., can control synchronizing signal generative circuit 26, to video camera 28 request shootings.In register 32, store the frequency of horizontal-drive signal etc.In ROM36, about the various video cameras that can be connected with robot controller 10, the relevant information of corresponding relation of the kind of pre-stored and these video cameras, the frequency of inner horizontal synchronizing signal, pixel count.In addition, the various programs such as memory image handling procedure or video camera specific program in RAM38, and according to pixel count image is processed and to be distributed with the data area.CPU34 carries out processing based on the image of view data according to the various programs of storing in RAM38.
On the other hand, isolated horizontal-drive signal is used as the inner horizontal synchronizing signal in sync separator circuit 12, is input to clamp circuit 16 and phase-comparison circuit 18.Phase-comparison circuit 18 is synchronizing signal generative circuit 26 from robot controller 10(at this relatively) offer external horizontal synchronization the outer synchronous signal of video camera 28 and the phase difference by sync separator circuit 12 isolated inner horizontal synchronizing signals, the phase place comparative result is input to synchronous decision circuit 20.Decision circuit 20 judges that the phase place comparative result is synchronous regime or asynchronous regime synchronously, is being judged to be in the situation of asynchronous regime, reports to the police to handling part 24 notices.
In robot controller 10, in order to control by the timing of robot side, and need to video camera 28 outer synchronous signal occur from robot controller 10 sides (being synchronizing signal generative circuit 26 the example of Fig. 1), video camera 28 and robot are moved synchronously.In the phase place of 28 external horizontal synchronization that provide from robot controller 10 to video camera with by between the phase place of sync separator circuit 12 isolated horizontal-drive signals, because the delay corresponding with the line length of the cable 39 of connection robot controller 10 and video camera 28 and produce phase difference by the delay that the kind of video camera 28 determines.This phase difference can become various values according to the kind of cable line length and video camera 28, still, as long as video camera 28 synchronously moves with outer synchronous signal, if ignore error, then is steady state value.But in the situation of video camera 28 and the asynchronous action of outer synchronous signal, video camera 28 synchronously moves with the inner synchronousing signal that internal circuit (not shown) by self generates.At this, the clock that be used for to generate inner synchronousing signal is the clock that is present in the video camera internal circuit, and is different from the clock of the outer synchronous signal that generates robot controller 10 outputs, therefore, usually has certain deviation in both frequencies of clock.Therefore, in the situation of video camera 28 and inner synchronousing signal synchronization action, the phase place of external horizontal synchronization and the phase place by sync separator circuit 12 isolated horizontal-drive signals, along with the time process, phase difference enlarges gradually.With reference to Fig. 2 and Fig. 3 this situation is described.
Fig. 2 is that expression is the figure of synchronous regime to the external horizontal synchronization of video camera input and the vision signal of video camera output.In the situation that obtains external horizontal synchronization shown in Figure 2 40 and vision signal 42, time interval △ T1, the △ T2 of the trailing edge 44 of external horizontal synchronization 40 and the trailing edge 46 of vision signal 42, △ T3 ..., △ Tk about equally
Therefore, in this case, video camera and outer synchronous signal are synchronous.
On the other hand, Fig. 3 is that expression external horizontal synchronization and vision signal are the figure of asynchronous regime.In the situation that has obtained external horizontal synchronization shown in Figure 3 50 and vision signal 52, time interval △ T1 ', the △ T2 ' of the trailing edge 54 of external horizontal synchronization 50 and the trailing edge 56 of vision signal 52, △ T3 ' ..., △ Tk ' becomes large gradually, i.e. mutually unequal (△ T1 ' ≠ △ T2 ' ≠ △ T3 ' ≠ △ Tk '), therefore, in this case, video camera and outer synchronous signal are asynchronous, become asynchronous regime (being on the contrary inner synchronous regime).
Next, the details of phase-comparison circuit 18 is described.In the phase place of 28 external horizontal synchronization that provide from robot controller 10 to video camera with by between the phase place of sync separator circuit 12 isolated inner horizontal synchronizing signals, produce phase difference owing to the delay corresponding with the line length of the cable 39 that connects robot controller 10 and video camera 28 with by the delay that the kind of video camera 28 determines, but, about the decades of times of the time of delay that this phase difference causes for the fundamental clock corresponding with a pixel of video camera.Therefore, phase-comparison circuit 18 can utilize has used the counter circuit of the fundamental clock corresponding with a pixel of video camera 28 to consist of, and ASIC(Application Specific Integrated Circuit can easily pack into) or FPGA(Field Programmable Gate Array) in such integrated circuit.
Concrete processing about in the phase-comparison circuit 18 describes with reference to Fig. 4.At first, detect the rising (perhaps descending) of 28 external horizontal synchronization that provide 60 from robot controller 10 to video camera along 62, increase progressively counting (count up) shown in the beginning counter 64.Rising or decline at each each waveform of fundamental clock 66() carry out the increase that this increases progressively counting.Then, when detecting rising by sync separator circuit 12 isolated inner horizontal synchronizing signals 68 (perhaps descending) along 70 the time, stop counting.Count value when this stops (be n at this) is imported into synchronous decision circuit 20 as the phase place comparative result, the phase place comparative result of last time (be m at this) is updated to this phase place comparative result (being n at this).Phase-comparison circuit 18 moves when being transfused to external horizontal synchronization, and the phase place comparative result after upgrading is outputed to synchronous decision circuit 20.
Then, with reference to Fig. 5 processing in the synchronous decision circuit 20 is described.Have the input of the video camera 28 beginning outer synchronous signals of external sync function, after through predetermined time (standby), become the external sync state.Thereby, synchronously the output of the synchronizing signal that generates from synchronizing signal generating unit 26 of decision circuit 20, till having passed through the time that predetermines, do not judge synchronously.After through the time that predetermining (step S1), video camera 28 becomes the external sync state, therefore, will through the fiducial value that the initial phase place comparative result after the time that predetermining judges as synchronous regime and read in, store in the register 32 of CPU34 (step S2).
After, shown in step S3 and S4, whenever new phase comparative result more (during routine m described above → n), carry out fiducial value and upgrade after the comparison of phase place comparative result.Specifically, the impact of consideration error etc., preseted surplus, the difference of the phase place comparative result after fiducial value and renewal is in this situation more than surplus, and decision circuit 20 is output as the warning (step S5) of the meaning of asynchronous regime to handling part 24 synchronously.For example, in the situation of the such asynchronous regime of above-mentioned Fig. 3, because the difference of △ T1 ' and △ T2 ' is in error range (below the surplus), not asynchronous regime so can be judged to be, if but be asynchronous regime, then △ Tk ' increases along with the time process, therefore, all is judged to be asynchronous regime (difference of △ T1 ' and △ Tk ' is greater than surplus).Like this, by judging the temporal evolution of the phase place comparative result in the phase-comparison circuit 18, can judge whether video camera 28 synchronously moves with outer synchronous signal.
Above processing can be carried out in handling part 24, also can realize with microcomputer etc.In addition, by realizing that as the digital device of state machine this processing also is easy to, this digital device can be encased in the such integrated circuit of ASIC or FPGA.
According to the present invention, can detect shown below relevant with video camera various unusual.
(1) horizontal-drive signal of robot controller 10 output is sent to the holding wire of video camera 28 broken string,
(2) video camera 28 faults and can't with the synchronous state of external horizontal synchronization,
(3) in the different multiple video camera of pixel count and system that robot controller is connected, robot controller need to be to the horizontal-drive signal of each video camera transmission according to the cycle of the kind decision of video camera, but, owing to set error etc., the external horizontal synchronization of robot controller output and the inconsistent state of inner horizontal synchronizing signal of video camera occur.
In addition, phase-comparison circuit 18, as mentioned above, behind the rising edge that 28 external horizontal synchronization that provide from robot controller 10 to video camera are provided before the rising edge that detects isolated inner horizontal synchronizing signal from the signal of video signal of video camera, proceed to increase progressively counting, but, sometimes before the rising edge that detects the inner horizontal synchronizing signal, again detect the rising edge of external horizontal synchronization.In this case, being judged as has in by sync separator circuit 12 isolated horizontal-drive signals unusually, and therefore, phase-comparison circuit 18 can will notify this unusual warning to output to synchronous decision circuit 20 or handling part 24.The broken string of the cable of the holding wire of the not connection of this unusual expression video camera 28 or fault, transmission resultant image signal or transmission vision signal.
According to the present invention, can judge unusual about video camera, be that the broken string for the holding wire of the external horizontal synchronization of transfer robot control device output causes, or the video camera faults itself and can't with external horizontal synchronization synchronously cause.And, in the situation of the robot system that the different multiple video camera of pixel count is connected with robot controller, robot controller need to be to the external horizontal synchronization of each video camera transmission according to the cycle of the kind decision of video camera, but, according to the present invention, can detect owing to the external horizontal synchronization of robot controller output and the inconsistent state of inner horizontal synchronizing signal of video camera occur in setting error etc.
After detecting the external horizontal synchronization that offers video camera from robot controller, detecting output alarm in the situation that again detects external horizontal synchronization by the synchronizing signal separation unit before the isolated inner horizontal synchronizing signal, thus, can detect the fault that the connecting of video camera, video camera have occured or the broken string that transmits the holding wire of resultant image signal.
Claims (3)
1. robot system, it has:
Video camera (28), it has following function: the inside synchronizing function of synchronously exporting the signal of video signal that comprises vertical synchronizing signal, horizontal-drive signal and view data with the vertical synchronizing signal that generates as inner synchronousing signal with the frequency that predetermines and horizontal-drive signal; The external sync function of synchronously exporting the signal of video signal that comprises vertical synchronizing signal, horizontal-drive signal and view data with the vertical synchronizing signal identical with described inner synchronousing signal frequency that provides as outer synchronous signal and horizontal-drive signal, this video camera (28) is not when being supplied to described outer synchronous signal, by described inner synchronizing function and described inner synchronousing signal output image signal synchronously, when being supplied to described outer synchronous signal, by described external sync function and described outer synchronous signal output image signal synchronously; And
The robot controller (10) that has connected described video camera (28),
To be taken into described robot controller (10) from the signal of video signal of described video camera (28) output by described external sync function, and carry out image and process, the result who processes according to this image comes control (8), and this robot system is characterised in that,
Have:
From described signal of video signal, isolate the synchronizing signal separation unit (12) of inner horizontal synchronizing signal;
The phase place comparing section (18) of the phase place of the external horizontal synchronization that relatively provides from described robot controller (10) to described video camera (28) and the phase place by the isolated inner horizontal synchronizing signal of synchronizing signal separation unit (12); And
According to the phase place comparative result of described phase place comparing section (18) over time, judge the synchronous detection unit (20) whether described video camera (28) synchronously moves with described external horizontal synchronization.
2. robot system according to claim 1 is characterized in that,
The phase place comparative result of the more described phase place comparing section of described synchronous detection unit (20) (18) and the phase difference that becomes benchmark,, be judged to be described video camera (28) and synchronously do not move with described external horizontal synchronization during greater than the surplus that determines in its difference.
3. robot system according to claim 1 and 2 is characterized in that,
Described phase place comparing section (18) is after the external horizontal synchronization that provides to described video camera (28) from described robot controller (10) is provided, before detecting by the isolated inner horizontal synchronizing signal of described synchronizing signal separation unit (12), again detect in the situation of external horizontal synchronization output alarm.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011184763A JP5296847B2 (en) | 2011-08-26 | 2011-08-26 | Robot system with camera anomaly detection function |
| JP2011-184763 | 2011-08-26 |
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| CN102957939A true CN102957939A (en) | 2013-03-06 |
| CN102957939B CN102957939B (en) | 2014-07-30 |
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| CN201210307134.9A Active CN102957939B (en) | 2011-08-26 | 2012-08-24 | Robot system with anomaly detection function of camera |
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| JP (1) | JP5296847B2 (en) |
| CN (1) | CN102957939B (en) |
| DE (1) | DE102012016544B4 (en) |
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| DE102013100667A1 (en) | 2013-01-23 | 2014-07-24 | Ecs Engineered Control Systems Ag | Circuit device for a transmission |
| JP6392908B2 (en) | 2017-01-12 | 2018-09-19 | ファナック株式会社 | Visual sensor abnormality cause estimation system |
Citations (4)
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| CN1360440A (en) * | 2002-01-31 | 2002-07-24 | 北京理工大学 | Miniaturized real-time stereoscopic visual display |
| JP2005348201A (en) * | 2004-06-04 | 2005-12-15 | Matsushita Electric Ind Co Ltd | Superimpose pulse automatic setting circuit for external synchronizing system |
| CN101569172A (en) * | 2007-09-19 | 2009-10-28 | 松下电器产业株式会社 | Synchronization signal generation device |
| US20110007216A1 (en) * | 2009-07-08 | 2011-01-13 | Fanuc Ltd | Image processor for robot system and robot system including the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3720817B2 (en) | 1995-05-10 | 2005-11-30 | 株式会社日立国際電気 | Fault diagnosis method for television camera apparatus |
| JPH09233501A (en) | 1996-02-27 | 1997-09-05 | Mitsubishi Electric Corp | Image processor |
| JPH1023293A (en) * | 1996-07-01 | 1998-01-23 | Matsushita Electric Ind Co Ltd | Synchronizing signal generator and image display device |
| JP3139457B2 (en) * | 1998-06-15 | 2001-02-26 | 日本電気株式会社 | Image overlay display device, image overlay display method, and mobile communication device |
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- 2011-08-26 JP JP2011184763A patent/JP5296847B2/en active Active
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- 2012-08-17 DE DE201210016544 patent/DE102012016544B4/en active Active
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1360440A (en) * | 2002-01-31 | 2002-07-24 | 北京理工大学 | Miniaturized real-time stereoscopic visual display |
| JP2005348201A (en) * | 2004-06-04 | 2005-12-15 | Matsushita Electric Ind Co Ltd | Superimpose pulse automatic setting circuit for external synchronizing system |
| CN101569172A (en) * | 2007-09-19 | 2009-10-28 | 松下电器产业株式会社 | Synchronization signal generation device |
| US20110007216A1 (en) * | 2009-07-08 | 2011-01-13 | Fanuc Ltd | Image processor for robot system and robot system including the same |
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| Publication number | Publication date |
|---|---|
| CN102957939B (en) | 2014-07-30 |
| DE102012016544B4 (en) | 2014-09-18 |
| JP2013046350A (en) | 2013-03-04 |
| DE102012016544A1 (en) | 2013-02-28 |
| JP5296847B2 (en) | 2013-09-25 |
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