CN102957939B - Robot system with anomaly detection function of camera - Google Patents
Robot system with anomaly detection function of camera Download PDFInfo
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- CN102957939B CN102957939B CN201210307134.9A CN201210307134A CN102957939B CN 102957939 B CN102957939 B CN 102957939B CN 201210307134 A CN201210307134 A CN 201210307134A CN 102957939 B CN102957939 B CN 102957939B
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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
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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 carrying out some robot systems of robot location's correction or the judgement of the good and the bad of workpiece, the pixel count of the video camera being 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, the data volume corresponding with this pixel count is stored in the storage devices such as RAM, carries out image processing.
For example, in TOHKEMY 2011-19058 communique, recorded 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 generates after vertical synchronizing signal in the timing of hope, frequency with the horizontal-drive signal by horizontal sync frequencies testing circuit 38 detected inner synchronousing signals generates horizontal-drive signal, and generated vertical synchronizing signal and horizontal-drive signal are offered to video camera 48 as outer synchronous signal.
In addition, in Japanese kokai publication hei 9-233501 communique, recorded and accepted from the vision signal of video camera output, the phase place of isolated synchronizing signal and fundamental clock from this vision signal relatively, the output based on corresponding with phase difference detects abnormal image processing apparatus.
In addition, in TOHKEMY 2003-289554 communique, recorded and in camera head and camera control unit, carried respectively CPU, by each CPU, carry out independently failure diagnosis, the method for diagnosing faults that diagnostic result separately can be transmitted to the opposing party's CPU.
, in the fault of video camera own, or 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, in the situation that obtaining incorrect image, cannot easily judge that this situation is the environment existing problems of captured subject or its shooting, or because video camera or camera cable abnormal causes.
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, for the so special-purpose analog circuit of the AD converter of voltage measurement, therefore need corresponding cost.In addition, use the circuit of phase comparator or voltage controlled oscillator to form feedback control system, therefore, in the design of the control system for stably moving, spend the time.And, sometimes on robot controller, connect the different multiple video camera of pixel count, in order to have used the circuit of phase comparator and voltage controlled oscillator can be corresponding from the video camera of different pixel count, than situation corresponding to the video camera with single, the design of control system becomes more complicated.
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 abnormal.
In order to achieve the above object, the invention provides a kind of robot system, it has: video camera, it has following function: with using vertical synchronizing signal that the frequency that predetermines generates as inner synchronousing signal and horizontal-drive signal synchronously output packet containing the inside synchronizing function of the signal of video signal of vertical synchronizing signal, horizontal-drive signal and view data; With the vertical synchronizing signal identical with described inner synchronousing signal frequency providing as outer synchronous signal and horizontal-drive signal synchronously output packet containing the external sync function of the signal of video signal of vertical synchronizing signal, horizontal-drive signal and view data, 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 from the signal of video signal of described video camera output, be taken into described robot controller by described external sync function, carry out image processing, the result of processing according to this image is carried out control, and this robot system has: the synchronizing signal separation unit of isolating inner horizontal synchronizing signal from described signal of video signal; The phase place comparing section of the phase place of the external horizontal synchronization relatively providing to described video camera from described robot controller 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 whether described video camera synchronously moved with described external horizontal synchronization and synchronize detection unit.
In a 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, when its difference is greater than determined surplus, is judged to be described video camera and does not synchronously move with described external horizontal synchronization.
In a preferred embodiment, described phase place comparing section is the external horizontal synchronization providing to described video camera from described robot controller is provided, the in the situation that of again detecting external horizontal synchronization before detecting by the isolated inner horizontal synchronizing signal of described synchronizing signal separation unit, output alarm.
Accompanying drawing explanation
Above-mentioned and other objects, feature and strong point of the present invention, can further understand by the preferred implementation with reference to the accompanying drawings of following.
Fig. 1 means the figure of Sketch of control device of the robot system of an embodiment of the invention.
Fig. 2 means the figure of horizontal-drive signal and the synchronous situation of vision signal.
Fig. 3 means the figure of horizontal-drive signal and the nonsynchronous situation of vision signal.
Fig. 4 is for the figure of the processing of horizontal-drive signal phase-comparison circuit is described.
Fig. 5 is for the flow chart of the processing of 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 control to process the figure of relevant part (image processing apparatus) with image in the robot controller 10 of robot 8 of simplified schematic illustration.Robot controller 10 has: synchronizing signal separation unit 12; A/D transformation component 14; Clamper portion 16; Carry out the horizontal-drive signal phase place comparing section 18 of the phase bit comparison of horizontal-drive signal; Judge the whether synchronous synchronous detection unit 20 of horizontal-drive signal; Image is taken into portion 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 portion 16, horizontal-drive signal phase place comparing section 18, synchronous detection unit 20, image is taken into portion 22 and synchronizing signal generating unit 26 all forms as circuit.
Video camera 28 has following function: with using vertical synchronizing signal that the frequency that predetermines generates as inner synchronousing signal and horizontal-drive signal synchronously output packet containing the inside synchronizing function of the signal of video signal of vertical synchronizing signal, horizontal-drive signal and view data; With the vertical synchronizing signal identical with inner synchronousing signal frequency providing as outer synchronous signal and horizontal-drive signal synchronously, output packet is containing the external sync function of the signal of video signal of vertical synchronizing signal, horizontal-drive signal and view data, when not being supplied to outer synchronous signal, by inner synchronizing function and inner synchronousing signal output image signal synchronously, when being supplied to outer synchronous signal, by external sync function and described outer synchronous signal output image signal synchronously.In addition, the signal of video signal of exporting from video camera 28 by external sync function is taken into robot controller 10, carry out image processing, the output control robot 8 processing according to this image.
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 pre-stored information relevant with kind, the frequency of inner horizontal synchronizing signal, the corresponding relation of pixel count of these video cameras.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 distributed with data area.CPU34 is according to the various programs of storing in RAM38, and the image carrying out based on view data is processed.
Video camera 28, according to the request from robot controller 10, is exported the signal of video signal such as composograph data.Sync separator circuit 12 is isolated vision signal and the horizontal-drive signal of simulation from the composograph data from video camera 28, and the vision signal of simulation is imported into image and is taken into circuit 22 after being digitized by A/D translation circuit 14.Image is taken into circuit 22 and will sends to handling part 24 from the DID of A/D translation circuit 14 inputs.
Clamp circuit 16 is in order to suppress to be input to from sync separator circuit 12 change of DC level of the signal of video signal of A/D translation circuit 14, make DC Level hold constant, and use from the horizontal-drive signal of sync separator circuit 12 inputs, performance remains the black level of view data the function of the black level of A/D translation circuit 14.By using clamp circuit 16 to carry out A/D conversion to view data exactly in A/D translation circuit 14.
On the other hand, in sync separator circuit 12, isolated horizontal-drive signal is used as inner horizontal synchronizing signal, is input to clamp circuit 16 and phase-comparison circuit 18.Phase-comparison circuit 18 is relatively from robot controller 10(synchronizing signal generative circuit 26 in this case) offer external horizontal synchronization the outer synchronous signal of video camera 28 and by the phase difference of the isolated inner horizontal synchronizing signal of sync separator circuit 12, phase place comparative result is input to synchronous decision circuit 20.Synchronous decision circuit 20 judges that phase place comparative result is synchronous regime or asynchronous regime, in the situation that being judged to be asynchronous regime, to handling part 24 notices, reports to the police.
In robot controller 10, in order to control by the timing of robot side, and need to video camera 28, there is outer synchronous signal from robot controller 10 sides (being synchronizing signal generative circuit 26) the example of Fig. 1, video camera 28Yu robot is synchronously moved.In the phase place of the external horizontal synchronization providing to video camera 28 from robot controller 10 with by between the phase place of sync separator circuit 12 isolated horizontal-drive signals, due to delay corresponding to the line length of cable 39 with connecting robot controller 10 and video camera 28 with by the delay that the kind of video camera 28 determines, produce phase difference.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, is steady state value.But at video camera 28 with the asynchronous action of outer synchronous signal in the situation that, video camera 28 synchronously moves with the inner synchronousing signal that internal circuit (not shown) by self generates.At this, for generating the clock of inner synchronousing signal, be the clock that is present in video camera internal circuit, different from the clock of outer synchronous signal that generates robot controller 10 outputs, therefore, in both frequencies of clock, conventionally there is certain deviation.Therefore, at video camera 28 with inner synchronousing signal synchronization action in the situation that, the phase place of external horizontal synchronization and by the phase place of sync separator circuit 12 isolated horizontal-drive signals, along with time process, phase difference expands gradually.With reference to Fig. 2 and Fig. 3, this situation is described.
The figure that it is synchronous regime that Fig. 2 means to the vision signal of the external horizontal synchronization of video camera input and video camera output.In the situation that obtain the external horizontal synchronization 40 shown in Fig. 2 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 is synchronizeed with outer synchronous signal.
On the other hand, Fig. 3 means the figure that external horizontal synchronization and vision signal are asynchronous regime.In the situation that obtained the external horizontal synchronization 50 shown in Fig. 3 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. unequal (△ T1 ' ≠ △ T2 ' ≠ △ T3 ' ≠ △ Tk ') mutually, therefore, in this case, video camera and outer synchronous signal are asynchronous, become asynchronous regime (being inner synchronous regime on the contrary).
Next, the details of phase-comparison circuit 18 is described.In the phase place of the external horizontal synchronization providing to video camera 28 from robot controller 10 with by between the phase place of the isolated inner horizontal synchronizing signal of sync separator circuit 12, due to delay corresponding to the line length of cable 39 with connecting robot controller 10 and video camera 28 with by the delay that the kind of video camera 28 determines, produce phase difference, but, the decades of times left and right that be the fundamental clock corresponding with a pixel of video camera the time of delay that this phase difference causes.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 form, and can easily pack ASIC(Application Specific Integrated Circuit into) or FPGA(Field Programmable Gate Array) in such integrated circuit.
Concrete processing about in phase-comparison circuit 18, describes with reference to Fig. 4.First, detect the rising (or decline) of the external horizontal synchronization 60 provide to video camera 28 from robot controller 10 along 62, start to increase progressively counting (count up) shown in 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 the isolated inner horizontal synchronizing signal 68 of sync separator circuit 12 (or decline) along 70 time, stop counting.Count value when this stops (in this case n) is imported into synchronous decision circuit 20 as phase place comparative result, the phase place comparative result of last time (in this case m) is updated to this phase place comparative result (in this case n).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, the processing in synchronous decision circuit 20 is described.The video camera 28 with external sync function starts the input of outer synchronous signal, after predetermined time (standby), becomes external sync state.Thereby synchronous decision circuit 20, from the output of the synchronizing signal of synchronizing signal generating unit 26 generations, till passed through the time predetermining, is not synchronously judged.Through after the time predetermining (step S1), video camera 28 becomes external sync state, therefore, using through the fiducial value judged as synchronous regime of the initial phase place comparative result after the time predetermining read in, store in the register 32 of CPU34 (step S2).
After, as shown in step S3 and S4, when new phase comparative result (routine m → n described above) more, carry out fiducial value and upgrade after the comparison of phase place comparative result.Specifically, the impact of consideration error etc., preset surplus, in the situation that fiducial value and upgrade after the difference of phase place comparative result be this more than surplus, synchronously decision circuit 20 is output as the warning (step S5) of the meaning of asynchronous regime to handling part 24.For example, in the situation that the such asynchronous regime of above-mentioned Fig. 3, because the difference of △ T1 ' and △ T2 ' is in error range (below surplus), so can be judged to be, not asynchronous regime, but asynchronous regime if, △ Tk ' increases along with time process, therefore, is all 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 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 this processing as the digital device of state machine, be also 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 abnormal.
(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 the state that cannot synchronize with external horizontal synchronization,
(3) in the system being connected with robot controller at the different multiple video camera of pixel count, robot controller need to send to each video camera the horizontal-drive signal in the cycle determining according to the kind of video camera, but, owing to setting error etc., there is the external horizontal synchronization of robot controller output and the inconsistent state of inner horizontal synchronizing signal of video camera.
In addition, phase-comparison circuit 18, as mentioned above, the rising edge that the external horizontal synchronization providing to video camera 28 from robot controller 10 is provided to before detecting the rising edge of 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 inner horizontal synchronizing signal, again detect the rising edge of external horizontal synchronization.In this case, be judged as and in by the isolated horizontal-drive signal of sync separator circuit 12, have extremely, therefore, phase-comparison circuit 18 can will notify this abnormal warning to output to synchronous decision circuit 20 or handling part 24.This abnormal not connection of video camera 28 or broken string of fault, the holding wire of transmission resultant image signal or the cable of transmission vision signal of representing.
According to the present invention, can judge abnormal 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 video camera faults itself and cannot synchronize with external horizontal synchronization cause.And, in the situation that the robot system that the different multiple video camera of pixel count is connected with robot controller, robot controller need to send to each video camera the external horizontal synchronization in the cycle determining according to the kind of video camera, but, according to the present invention, can detect owing to setting error and wait the external horizontal synchronization of robot controller output and the inconsistent state of inner horizontal synchronizing signal of video camera of occurring.
Detecting the external horizontal synchronization that offers video camera from robot controller, detecting by synchronizing signal separation unit output alarm again detect external horizontal synchronization before isolated inner horizontal synchronizing signal in the situation that, thus, can detect the broken string of the fault of connection, video camera that video camera has occurred or the holding wire of transmission resultant image signal.
Claims (3)
1. a robot system, it has:
Video camera (28), it has following function: with using vertical synchronizing signal that the frequency that predetermines generates as inner synchronousing signal and horizontal-drive signal synchronously output packet containing the inside synchronizing function of the signal of video signal of vertical synchronizing signal, horizontal-drive signal and view data; With the vertical synchronizing signal identical with described inner synchronousing signal frequency providing as outer synchronous signal and horizontal-drive signal synchronously output packet containing the external sync function of the signal of video signal of vertical synchronizing signal, horizontal-drive signal and view data, 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),
By being taken into described robot controller (10) by described external sync function from the signal of video signal of described video camera (28) output, carry out image processing, the result of processing according to this image is carried out control (8), and this robot system is characterised in that,
Have:
Signal of video signal from described from video camera (28) output, 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 relatively providing to described video camera (28) from described robot controller (10) 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, judging whether described video camera (28) synchronously moved with described external horizontal synchronization synchronizes detection unit (20).
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, when its difference is greater than determined surplus, is judged to be described video camera (28) and does not synchronously move with described external horizontal synchronization.
3. robot system according to claim 1 and 2, is characterized in that,
Described phase place comparing section (18) is the external horizontal synchronization providing to described video camera (28) from described robot controller (10) is provided, the in the situation that of again detecting external horizontal synchronization before detecting by the isolated inner horizontal synchronizing signal of described synchronizing signal separation unit (12), 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 |
Publications (2)
| Publication Number | Publication Date |
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| CN102957939A CN102957939A (en) | 2013-03-06 |
| CN102957939B true 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (8)
| 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 |
| CN1136738C (en) * | 2002-01-31 | 2004-01-28 | 北京理工大学 | Miniaturized real-time stereoscopic visual display |
| JP4486850B2 (en) * | 2004-06-04 | 2010-06-23 | パナソニック株式会社 | Superimposed pulse automatic setting circuit for external synchronization system |
| US20100066908A1 (en) * | 2007-09-19 | 2010-03-18 | Katsuyuki Kitano | Synchronizing-signal generating device |
| JP4653844B2 (en) * | 2009-07-08 | 2011-03-16 | ファナック株式会社 | Image processing apparatus for robot system and robot system including the same |
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2011
- 2011-08-26 JP JP2011184763A patent/JP5296847B2/en active Active
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2012
- 2012-08-17 DE DE201210016544 patent/DE102012016544B4/en active Active
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| Publication number | Publication date |
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| DE102012016544A1 (en) | 2013-02-28 |
| DE102012016544B4 (en) | 2014-09-18 |
| CN102957939A (en) | 2013-03-06 |
| JP5296847B2 (en) | 2013-09-25 |
| JP2013046350A (en) | 2013-03-04 |
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