CN115771154A

CN115771154A - Alignment method, fitting method, and alignment mechanism

Info

Publication number: CN115771154A
Application number: CN202211083211.7A
Authority: CN
Inventors: 近藤贵幸
Original assignee: Seiko Epson Corp
Current assignee: Seiko Epson Corp
Priority date: 2021-09-08
Filing date: 2022-09-06
Publication date: 2023-03-10
Also published as: JP2023039051A

Abstract

Provided are a positioning method, a fitting method, and a positioning mechanism that can perform positioning without using a force sensor. In the alignment method, use is made of: an image pickup unit that picks up an image of an object; a moving mechanism that moves the object in a moving direction including a direction along a scanning line of the imaging unit; and a control device that controls driving of the moving mechanism, wherein the imaging unit acquires an image in which the target object and a target position that is a destination of movement of the target object are included in one imaging region, and the control device generates a drive signal for the moving mechanism in which a separation distance between the target object and the target position in a direction along the scanning line is reduced on the basis of the image, and controls driving of the moving mechanism on the basis of the drive signal.

Description

Alignment method, fitting method, and alignment mechanism

Technical Field

The invention relates to an alignment method, an engagement method and an alignment mechanism.

Background

Patent document 1 discloses a robot system for fitting as follows: the fitting member and the fitting target member are positioned based on the detection result of the force sensor, and the fitting member is fitted to the fitting target member.

Patent document 1: japanese laid-open patent publication No. 2009-125904

However, such a fitting method has a technical problem that a force sensor is required.

Disclosure of Invention

The alignment method of the invention uses:

an image pickup unit that picks up an image of an object;

a moving mechanism that moves the object in a moving direction including a direction along a scanning line of the imaging unit; and

a control device that controls driving of the moving mechanism,

the imaging unit acquires an image in which the object and a target position that is a destination of movement of the object are included in one imaging area,

the control device generates a drive signal for the moving mechanism in which a separation distance between the object and the target position in the direction along the scanning line is reduced based on the image, and controls driving of the moving mechanism based on the drive signal.

The chimeric method of the present invention uses:

an image pickup unit for picking up an image of the chimeric object;

a moving mechanism that moves the mosaic object in a moving direction including a direction along a scanning line of the imaging unit; and

a control device that controls driving of the moving mechanism,

the imaging section acquires an image in which the chimeric object and the portion to be chimeric in which the chimeric object is fitted are included in one imaging region,

the control device generates a drive signal of the moving mechanism in which a separation distance between the fitted object and the fitted portion in the direction along the scanning line is reduced based on the image, and controls driving of the moving mechanism based on the drive signal.

The aligning mechanism of the present invention comprises:

an imaging unit that images an object;

a control device that controls driving of the moving mechanism,

the control device generates a drive signal for the movement mechanism in which a separation distance between the object and the target position in the direction along the scanning line is reduced based on the image, and controls the drive of the movement mechanism based on the drive signal.

Drawings

Fig. 1 is a perspective view showing a positioning mechanism according to a first embodiment.

Fig. 2 is a diagram showing an imaging region of the first imaging section.

Fig. 3 is a diagram showing an imaging region of the second imaging section.

Fig. 4 is a block diagram of the control device.

Fig. 5 is a flowchart of the fitting operation.

Fig. 6 is a diagram showing an image acquired by the first imaging unit.

Fig. 7 is a perspective view showing the aligning mechanism of the second embodiment.

Fig. 8 is a perspective view showing the alignment mechanism of the third embodiment.

Fig. 9 is a perspective view showing a positioning mechanism of the fourth embodiment.

Description of the reference numerals

<xnotran> 1 … ,2 … ,2A … ,2B … ,21 … X ,211 … ,212 … ,213 … ,22 … Y ,221 … ,222 … ,223 … ,23 … Z ,231 … ,232 … ,233 … ,29 … ,291 … ,292 … ,293 … ,3 … ,31 … ,32 … ,4 … ,41 … ,42 … ,5 … ,511 … ,512 … ,521 … ,522 … ,6 … ,61 … ,8 … ,81 … ,82 … ,821 … ,822 … ,823 … ,824 … ,825 … ,826 … , A … , A1 … , A2 … , B … , B1 … , B11 … , B12 … , D … , D1 … , D2 … , E … , J1 … , J2 … , J3 … , J4 … , J5 … , J6 … , lx … , ly … , OA1 … , OA2 … , oa … , ob … , P0 … , px … , py … , S1 … , S2 … , S21 … X , S211 … , S212 … , S213 … , S214 … , S22 … Y , S221 … , S222 … , S223 … , S224 … , S3 … , SL1 … , SL1a … , </xnotran> SL1b 8230, SL2 8230, scanning line Wa 8230, profile width Wb 8230and profile width Wb.

Detailed Description

Next, preferred embodiments of the alignment method, the fitting method, and the alignment mechanism will be described with reference to the drawings. In the following, three orthogonal axes are referred to as an X axis, a Y axis, and a Z axis, and the Z axis is along a vertical direction. The direction along the X axis is also referred to as "X axis direction". The direction along the Y axis is also referred to as "Y axis direction", and the direction along the Z axis is also referred to as "Z axis direction". The arrow side of each axis is also referred to as "positive", and the opposite side thereof is also referred to as "negative".

First embodiment

Fig. 1 is a perspective view showing a positioning mechanism according to a first embodiment. Fig. 2 is a diagram showing an imaging region of the first imaging section. Fig. 3 is a diagram showing an imaging region of the second imaging section. Fig. 4 is a block diagram of the control device. Fig. 5 is a flowchart of the fitting operation. Fig. 6 is a diagram showing an image acquired by the first imaging unit.

The positioning mechanism 1 shown in fig. 1 is a mechanism for moving a chimeric object a as an object to a target position, and in the present embodiment, is particularly used for an operation of fitting the chimeric object a to a chimeric object B.

The positioning mechanism 1 includes a moving mechanism 2 for moving the mosaic object a, an imaging unit 3 for imaging the mosaic object a, an illumination 4 for illuminating the mosaic object a, a control device 5 for controlling the drive of each unit, and a table 6 for placing the mosaic object B. For convenience of explanation, the following description will be made by taking as representative examples a case where the fitting a is a columnar member gripped along the Z-axis direction, and the fitting B is a flat plate-like member having a fitting portion B1 as a hole into which the fitting a is inserted. However, the shapes of the chimera A and the chimera B are not particularly limited.

Taiwan 6#

The stage 6 has a mounting surface 61 parallel to the X-Y plane, and the object B is mounted on the mounting surface 61. Hereinafter, the space on the placement surface 61 is also referred to as a working area E.

Moving mechanism 2#

The moving mechanism 2 is disposed above the stage 6. The moving mechanism 2 includes: a Z-axis moving mechanism 23 for moving the mosaic thing a in the Z-axis direction, an X-axis moving mechanism 21 as a first moving mechanism for moving the mosaic thing a in the X-axis direction, a Y-axis moving mechanism 22 as a second moving mechanism for moving the mosaic thing a in the Y-axis direction, and a gripper 29 for gripping the mosaic thing a. According to the moving mechanism 2 having such a configuration, the fitting a can be moved three-dimensionally, and therefore, the positioning of the fitting a is facilitated.

Further, the Z-axis moving mechanism 23 includes: a guide rail 231 extending in the Z-axis direction; a linear slider 232 connected to the guide 231 so as to be movable in the Z-axis direction with respect to the guide 231; and a driving source 233 for moving the linear slider 232 in the Z-axis direction with respect to the guide 231.

Further, the X-axis moving mechanism 21 includes: a guide 211 fixed to the linear slider 232 and extending in the X-axis direction; linear slider 212 connected to guide 211 so as to be movable in the X-axis direction with respect to guide 211; and a driving source 213 for moving the linear slider 212 in the X-axis direction with respect to the guide 211.

Further, the Y-axis moving mechanism 22 includes: a guide 221 fixed to linear slider 212 and extending in the Y-axis direction; a linear slider 222 connected to the guide rail 221 so as to be movable in the Y-axis direction with respect to the guide rail 221; and a drive source 223 for moving the linear slider 222 in the Y-axis direction with respect to the guide rail 221.

Note that the X-axis movement mechanism 21 and the Y-axis movement mechanism 22 may be of a so-called SCARA type, which is a two-axis horizontal swivel joint type, and in this case, a part of each circular arc may be moved approximately linearly.

Further, the gripper 29 has: a pair of

claws

291 and 292 connected to the linear slider 222 for gripping the fitting A; and a drive source 293 for opening and closing the pair of

claws

291 and 292. By such a gripper 29, the mosaic thing a can be gripped and held by closing the pair of

grippers

291 and 292, and the gripped mosaic thing a can be released by opening the pair of

grippers

291 and 292.

Here, the driving

sources

213, 223, 233, and 293 are incremental motors, for example, stepping motors. This facilitates and improves the control of the driving

sources

213, 223, 233, and 293. However, the

drive sources

213, 223, 233, and 293 are not particularly limited, and may be piezoelectric actuators, for example. The piezoelectric actuator is a vibration element that vibrates a piezoelectric element by energization and generates power by the vibration. This makes it possible to reduce the size and weight of the moving mechanism 2.

Camera part 3#

As shown in fig. 1, the imaging unit 3 includes a first imaging unit 31 and a second imaging unit 32 that image the work area E. In the first imaging unit 31, the optical axis OA1 coincides with the Y-axis direction, and the work area E is imaged from the negative side of the Y-axis direction. On the other hand, the optical axis OA2 of the second imaging unit 32 coincides with the X-axis direction, and the working area E is imaged from the positive side of the X-axis direction. As shown in fig. 2, the scanning lines SL1 are arranged along the X-axis direction in the first image pickup unit 31, and as shown in fig. 3, the scanning lines SL2 are arranged along the Y-axis direction in the second image pickup unit 32.

In this way, by making the optical axis OA1 of the first imaging unit 31 orthogonal to the X axis, which is the moving direction of the X-axis moving mechanism 21, the moving direction of the X-axis moving mechanism 21 can be easily made to coincide with the direction of the scanning line SL1 of the first imaging unit 31. Similarly, by making the optical axis OA2 of the second image pickup unit 32 orthogonal to the Y axis, which is the moving direction of the Y axis moving mechanism 22, the moving direction of the Y axis moving mechanism 22 can be easily made to coincide with the direction of the scanning line SL2 of the second image pickup unit 32. However, the optical axis OA1 is not limited thereto, and may be oriented in a direction intersecting the X axis, and the intersecting angle is preferably 45 ° or more. Similarly, the optical axis OA2 may be oriented in a direction intersecting the Y axis, and the intersecting angle is preferably 45 ° or more.

The first image pickup unit 31 and the second image pickup unit 32 are cameras of a global shutter system, respectively. With the global shutter camera, exposure and readout of the image sensor are performed at the same timing in all pixels, and therefore, it is possible to suppress a deviation when shooting a moving mosaic a. Therefore, the mosaic object a and the mosaic object B1 can be accurately detected based on the images D (D1, D2) shot by the image pickup unit 3.

Note that each of the first imaging unit 31 and the second imaging unit 32 is not particularly limited, and may be a rolling shutter camera or another shutter camera, for example.

Illumination 4#

As shown in fig. 1, the illumination 4 includes a first illumination 41 and a second illumination 42 that irradiate the mosaic object a and the mosaic object B. The first illumination 41 illuminates the mosaic object a and the mosaic object B from the Y-axis direction positive side so as to be a backlight with respect to the first imaging unit 31. On the other hand, the second illumination 42 irradiates the mosaic object a and the mosaic object B from the negative side in the X-axis direction so as to be a backlight with respect to the second imaging unit 32. With such a configuration, since the image D, which is an image with a high contrast ratio in which the contours of the mosaic object a and the mosaic object B are projected in a dark background, can be obtained from the imaging unit 3, the contours of the mosaic object a and the mosaic object B can be detected with high accuracy.

The first illumination 41 and the second illumination 42 are planar diffused light sources, respectively. The planar diffusion light source is, for example, illumination in which an LED as a light source and a diffusion plate diffusing light from the LED are combined. Thus, the first illumination 41 and the second illumination 42 having substantially uniform luminance distributions can be obtained, and the mosaic object a and the mosaic object B can be uniformly irradiated without unevenness. Therefore, the outlines of the mosaic object a and the mosaic object B can be detected more accurately based on the image D captured by the imaging unit 3.

Note that each of the first illumination 41 and the second illumination 42 is not particularly limited. Further, the illumination 4 may be omitted.

Control device 5#

The control device 5 controls the driving of each part of the moving mechanism 2, the imaging unit 3, and the illumination 4. As shown in fig. 4, the control device 5 mainly includes a first image processing unit 511 and a second image processing unit 512, and a first drive signal generation unit 521 and a second drive signal generation unit 522.

The first image processing unit 511 detects the positional relationship between the mosaic object a and the mosaic object B, in particular, the separation distance Lx in the X-axis direction between the mosaic object a and the mosaic object B1, based on the image D1 captured by the first imaging unit 31. The first drive signal generator 521 generates a drive signal Px for the X-axis moving mechanism 21, which decreases the separation distance Lx detected by the first image processor 511.

The second image processing unit 512 detects the relative positional relationship between the chimeric object a and the chimeric object B, in particular, the separation distance Ly in the Y-axis direction between the chimeric object a and the chimeric object B1, based on the image D2 captured by the second imaging unit 32. The second drive signal generation unit 522 generates the drive signal Py for the Y-axis movement mechanism 22 in which the separation distance Ly detected by the second image processing unit 512 is reduced.

Such a control device 5 includes, for example, a processor configured by a computer and configured to process information, a memory connected to the processor so as to be communicable with the processor, and an external interface. The memory stores various programs that can be executed by the processor, and the processor can read and execute the various programs stored in the memory. In particular, since the positioning means 1 employs a simple control method of controlling the drive of the moving means 2 so that the separation distances Lx and Ly are reduced, a hardware circuit such as an FPGA (field-programmable gate array) or an ASIC is preferable, but the positioning means may be a CPU. In case of FPGA, high speed processing can be performed in 1 frame.

The structure of the positioning mechanism 1 is explained above. Next, a positioning method using the positioning mechanism 1, specifically, a fitting operation of fitting the fitting object a to the fitting target portion B1 will be described.

As shown in fig. 5, such fitting work includes a gripping step S1, a positioning step S2, and a fitting step S3. The positioning step S2 includes an X-axis step S21 of controlling the drive of the X-axis moving mechanism 21 and a Y-axis step S22 of controlling the drive of the Y-axis moving mechanism 22, and these steps S21 and S22 are performed in parallel while moving the fitting a to the negative side in the Z-axis direction so as to approach the fitting object B. This can end the positioning step S2 in a shorter time. However, the present invention is not limited to this, and steps S21 and S22 may be performed in any order.

Gripping step S1#

In the gripping step S1, the moving mechanism 2 is driven to grip the mosaic object a by the gripper 29. At this time, the gripper 29 grips the fitting a so that the central axis of the fitting a substantially coincides with the Z-axis direction. Next, the moving mechanism 2 is driven to move the fitting a into the working area E, preferably to the vicinity of the fitting target portion B1.

Alignment step S2#

X-axis step S21

In the X-axis step S21, first, as step S211, the first image processing unit 511 acquires the image D1 captured by the first imaging unit 31. For example, as shown in fig. 2, the image D1 is transmitted to the first image processing unit 511 by raster scanning starting from the pixel P0 at the upper left end and starting along the scanning line SL 1. However, the transmission method of the image D1 is not particularly limited.

Next, as step S212, the first image processing unit 511 first performs noise removal and gamma correction using a median filter as preprocessing of the image D1. This increases the contrast, and therefore, the accuracy of contour detection can be improved and the circuit can be simplified. For example, by binarizing the image D1 into black and white, the contour detection can be easily performed, and the contour detection processing circuit can be simplified.

Next, the first image processing unit 511 binarizes the image D1 into black and white, and detects the outlines of the mosaic a and the mosaic subject B1. Note that, as described above, the image D1 of the backlight can be obtained by the first illumination 41, and therefore, the image D1 can be binarized with high accuracy. Here, in order to fit the fitting object a to the fitting object B1, for example, the fitting object a may be moved to the negative side in the Z-axis direction in a state where the lower end center Oa of the fitting object a is aligned with the opening center Ob of the fitting object B1. Then, in step S214, as shown in fig. 6, the position of the lower end center Oa is detected from the contour of the fitting a, and the position of the opening center Ob is detected from the contour of the fitting object portion B1.

Specifically, in the image D1, the contour width Wa along the scanning line SL1 is constant at a portion corresponding to the outer peripheral surface A1 of the mosaic a, but the contour width Wa decreases at a portion corresponding to the lower end surface A2. Therefore, when comparing the contour width Wa of the mosaic a in order from the upper scan line SL1, the contour width Wa is shifted to decrease at the boundary portion of the outer peripheral surface A1 and the lower end surface A2. Further, as described above, since the mosaic object a is gripped such that the central axis coincides with the Z-axis direction, it is also possible to estimate that the lower end center Oa is positioned on the scanning line SL1 where the boundary portion between the outer peripheral surface A1 and the lower end surface A2 is positioned. Then, the first image processing unit 511 detects the scanning line SL1 whose profile width Wa has been reduced, in the illustrated example, the scanning line SL1a, and determines the center of the profile width Wa on the scanning line SL1a as the lower end center Oa.

Note that, as shown in fig. 2, since each scan line SL1 is scanned from the pixel at the left end, it can be determined that the pixel switched from white (0) to black (1) is the contour of the left edge of the mosaic a and the pixel switched from black (0) to white (0) is the contour of the right edge of the mosaic a, and the contour width Wa and the lower end center Oa can be detected from the positions of these two edges.

Similarly, in the image D1, the contour width Wb along the scanning line SL1 increases at the portion B11 that is half of the fitting target portion B1 on the back side (positive side in the Y axis direction), and decreases at the portion B12 that is half of the front side (negative side in the Y axis direction). Therefore, when comparing the contour widths Wb in order from the scanning line SL1 on the upper side, the contour widths Wb change from increasing to decreasing at the boundary portions of the portions B11, B12. It is also possible to estimate that the aperture center Ob is located substantially on the scanning line SL1 where the boundary between the portions B11 and B12 is located. Then, the first image processing unit 511 detects the scanning line SL1 in which the profile width Wb changes from increasing to decreasing, detects the scanning line SL1b in the illustrated example, and determines the center of the profile width Wb on the scanning line SL1b as the opening center Ob.

Although step S212 has been described above, the method of detecting the positions of the lower end center Oa and the opening center Ob is not particularly limited. For example, template matching as described below may also be used: a plurality of templates in which the positions of the lower end center Oa and the opening center Ob are known are prepared in advance, and the positions of the lower end center Oa and the opening center Ob are detected by comparing these templates with the image D1. Template matching is effective when the shapes of the mosaic object a and the mosaic target portion B1 are complicated or the background is complicated, for example, and there is a possibility that the positions of the lower end center Oa and the opening center Ob can be detected more accurately than edge detection.

Next, in step S213, the first image processing unit 511 acquires the displacement information of the mosaic object a, specifically, whether the lower end center Oa is located on the positive side or the negative side in the X-axis direction with respect to the opening center Ob, and the separation distance Lx in the X-axis direction between the lower end center Oa and the opening center Ob.

Next, in step S214, the first drive signal generation unit 521 generates a drive signal Px for the X-axis movement mechanism 21 for moving the mosaic object a in the X-axis direction so that the separation distance Lx becomes smaller, and drives the X-axis movement mechanism 21 based on the drive signal Px. As a result, the separation distance Lx becomes small. Here, as described above, the scan line SL1 is along the X-axis direction, and therefore, the moving distance of the mosaic object a required to match the mosaic object B1 in the X-axis direction is shortened. Therefore, the fitting object a and the fitting object B1 can be aligned in a shorter time.

The drive signal Px includes at least a moving direction. That is, information on moving linear slide 212 to the positive side in the X-axis direction or to the negative side in the X-axis direction with respect to guide 211 is included. Information about the moving speed of the linear slider 212 may also be included in the driving signal Px. The moving speed may be constant regardless of the separation distance Lx, or may be proportional to the separation distance Lx. That is, the moving speed may be increased as the separation distance Lx becomes larger, and the moving speed may be decreased as the separation distance Lx becomes smaller. The change may be linear or stepwise. This makes it possible to bring the separation distance Lx close to 0 (zero) in a shorter time, and to converge the residual vibration of the mosaic a in a shorter time when the separation distance Lx is in the vicinity of 0 (zero). Although the drive signal Px is not particularly limited, for example, a pulse train signal can be used. This makes it possible to accurately control the movement speed of the linear slider 212 in the cycle of the pulse train, and therefore, control of the X-axis movement mechanism 21 becomes easy.

In step S214, after the movement of the linear slider 212 is started, the process returns to step S211, and the above steps are repeated until the lower end center Oa and the opening center Ob coincide with each other. That is, in the X-axis step S21, the first image pickup section 31 continuously picks up images of the work area E, the control device 5 generates the drive signal Px for each of the continuously transmitted images D1, and the drive of the X-axis movement mechanism 21 by the drive signal Px is started before the first image pickup section 31 picks up the next image D1. In other words, the driving of the X-axis movement mechanism 21 based on the drive signal Px generated based on the n-th image D1 (where n is an integer equal to or greater than 1) is started before the n + 1-th image D1 is captured. With such a configuration, the drive signal Px is updated for each of the continuously captured images D1, and therefore, effective registration can be achieved.

The frame rate (FPS) of the first image pickup unit 31 is not particularly limited, but is preferably about 1000 sheets/second. This enables alignment to be performed with higher accuracy and in a shorter time. For example, by limiting the scanning area to a small area including at least the lower end center Oa and the opening center Ob, rather than scanning the entire area of the image D1, it is possible to realize a high frame rate as described above even when a general camera (for example, pixel size VGA, 100 FPS) is used as the first image pickup unit 31.

Y-axis step S22

The Y-axis step S22 is similar to the X-axis step S21 described above, and therefore, the following description will be made briefly. In the Y-axis step S22, first, as step S221, the second image processing unit 512 acquires the image D2 captured by the second imaging unit 32.

Next, in step S222, the second image processing unit 512 binarizes the image D2 into black and white after performing noise removal and gamma correction using a median filter, and detects the lower end center Oa and the opening center Ob. Next, in step S223, the second image processing unit 512 acquires the deviation information of the mosaic object a, specifically, whether the lower end center Oa is located on the positive side or the negative side in the Y axis direction with respect to the opening center Ob, and the separation distance Ly in the Y axis direction between the lower end center Oa and the opening center Ob.

Next, in step S224, the second drive signal generating unit 522 generates the drive signal Py for the Y-axis moving mechanism 22 for moving the mosaic object a in the Y-axis direction so that the separation distance Ly becomes smaller, and drives the Y-axis moving mechanism 22 based on the drive signal Py. As a result, the separation distance Ly becomes smaller.

In step S224, after the movement of the linear slider 222 is started, the process returns to step S221, and the above steps are repeated until the lower end center Oa matches the opening center Ob. That is, in the Y-axis step S22, the second image pickup unit 32 continuously picks up images of the work area E, the control device 5 generates the drive signal Py for each of the images D2 continuously transferred, and starts the driving of the X-axis moving mechanism 21 based on the drive signal Py before the second image pickup unit 32 starts picking up the next image D2. Therefore, the drive signal Py is updated for each image D2 captured continuously, and effective alignment can be achieved.

The X-axis step S21 and the Y-axis step S22 are explained above. The control device 5 repeats the X-axis step S21 and the Y-axis step S22 until the lower end center Oa and the opening center Ob physically coincide with each other at the frame rate of the image pickup unit 3. Alternatively, the X-axis step S21 and the Y-axis step S22 may be repeated until the lower end of the chimeric object a comes into contact with the chimeric object B.

Note that as a method for determining that the lower end of the chimera a has contacted the chimera B, the following method is mentioned. For example, there is a method of detecting contact by providing a pressure sensitive switch on the gripper 29 gripping the chimeric object a. Further, there is a method as follows: a passive slider, a rubber bush, or the like is provided as a mechanism for allowing deformation in the Z-axis direction in the linear slider 232 of the Z-axis moving mechanism 23, and deformation occurring after the lower end of the fitting a comes into contact with the fitting B is detected by an electrical switch or an optical switch. Further, there is a method as follows: the embedded object A and the embedded object B are configured to be in an electric insulation state, electric conduction between the embedded object A and the embedded object B is measured in advance, and the embedded object A and the embedded object B are conducted after being contacted with each other, so that detection is performed.

Chimerization step S3#

In the fitting step S3, the linear slider 232 is moved to the negative side in the Z-axis direction in a state where the lower end center Oa and the opening center Ob coincide with each other in the alignment step S2, and the fitting a is inserted into the fitting target portion B1. Thereby, the fitting object a is fitted to the fitting target portion B1, and the fitting operation is completed.

By the fitting method (alignment method) as described above, the alignment of the fitted object a and the fitted portion B1 can be performed without using a force sensor. Further, the alignment of the fitting a and the fitting target portion B1 can be performed in a shorter time with simple control as compared with the alignment method using a force sensor. In addition, even if the absolute positional accuracy of the moving mechanism 2 and the imaging unit 3 is poor, the fitting object a and the fitting target portion B1 can be accurately positioned, and therefore, the assembly of the positioning mechanism 1 becomes easy. Further, the relative positions of the fitting object a and the fitting target portion B1 are used only without using an absolute coordinate system, so that the calibration of the imaging unit 3 and the coordinate system is not necessary. In a conventional robot or assembling machine, alignment is performed based on absolute coordinates, and even in alignment using a camera, it is necessary to specify the relationship between a camera image and an absolute coordinate system in a three-dimensional space by a calibration operation in order to calculate the absolute coordinates from the camera image. Therefore, a complicated work is required, and there is a problem that a re-operation occurs even if the positional relationship between the camera and the robot is slightly deviated after the calibration, but in the present embodiment, such a situation is improved, and the alignment work can be started more quickly.

The positioning mechanism 1 is explained above. As described above, the positioning method using the positioning mechanism 1 includes: an imaging unit 3 for imaging a chimeric object A as an object; a moving mechanism 2 for moving the mosaic object A in a moving direction including a direction along a scanning line of the imaging part 3; and a control device 5 that controls driving of the moving mechanism 2, wherein the imaging unit 3 acquires an image D in which the target portion B1, which is a target position and is a destination of movement of the mosaic object a and the mosaic object a, is included in one imaging region, and the control device 5 generates a drive signal for the moving mechanism 2 in which a separation distance between the mosaic object a and the target portion B1 in a direction along a scanning line becomes smaller based on the image D, and controls driving of the moving mechanism 2 based on the drive signal. By this method, the fitting object a and the fitting target portion B1 can be aligned without using a force sensor. Further, the control is simple and the alignment can be performed in a shorter time than the alignment method using the force sensor. Even if the absolute position accuracy of the moving mechanism 2 and the imaging unit 3 is poor, the positioning can be performed, and the assembly of the positioning mechanism 1 becomes easy. Moreover, the calibration of the imaging unit 3 with the coordinate system is not required.

Further, as described above, the image pickup unit 3 continuously acquires the images D, the control device 5 generates a drive signal for each image D, and starts driving of the moving mechanism 2 based on the generated drive signal before the next image D is acquired in the image pickup unit 3. By such a method, the drive signal is updated for each image D continuously captured, and therefore, effective alignment can be achieved.

As described above, the image pickup unit 3 performs image pickup in a state where the mosaic object a is irradiated with illumination light that is backlight with respect to the image pickup unit 3. This enables acquisition of an image D in which the mosaic a has a clearer contour. Therefore, the mosaic object a in the image D can be detected more accurately, and the mosaic object a and the mosaic object part B1 can be aligned accurately.

As described above, the image pickup unit 3 is a global shutter camera. This makes it possible to obtain an image D with less skew. Therefore, the mosaic object a in the image D can be detected more accurately, and the mosaic object a and the mosaic object part B1 can be aligned accurately.

Further, as described above, the moving mechanism 2 has the linear slider that moves in the direction along the scanning line. This makes it possible to easily move the mosaic member a in the direction along the scanning line.

As described above, the moving direction is orthogonal to the optical axis of the imaging unit 3. This allows the moving direction to be along the scanning line of the imaging unit 3, thereby achieving effective positioning.

As described above, the imaging unit 3 includes the first imaging unit 31 and the second imaging unit 32 having an optical axis orthogonal to the first imaging unit 31. Further, the moving mechanism 2 includes: an X-axis moving mechanism 21 as a first moving mechanism that moves the mosaic object a in an X-axis direction including a moving direction along the scanning line SL1 of the first imaging unit 31; and a Y-axis moving mechanism 22 as a second moving mechanism for moving the mosaic a in a Y-axis direction including a moving direction along the scanning line SL2 of the second imaging unit 32. This enables the chimeric material a to move two-dimensionally. Therefore, the fitting object a and the fitting target portion B1 can be positioned efficiently and accurately.

As described above, the fitting method using the positioning mechanism 1 uses: an imaging unit 3 for imaging the chimeric object A; a moving mechanism 2 for moving the mosaic object A in a moving direction including a direction along a scanning line of the imaging part 3; and a control device 5 that controls driving of the moving mechanism 2, wherein the imaging unit 3 acquires an image D in which the mosaic object a and the mosaic object B1 to be mosaic with the mosaic object a are included in one imaging region, and the control device 5 generates a drive signal for the moving mechanism 2 in which a separation distance between the mosaic object a and the mosaic object B1 in a direction along the scanning line is reduced based on the image D, and controls driving of the moving mechanism 2 based on the drive signal. By such a method, the fitted object a can be fitted to the fitted portion B1 without using a force sensor. Further, the fitting operation can be performed in a shorter time with simple control as compared with a fitting method using a force sensor. Even if the absolute positional accuracy of the moving mechanism 2 and the imaging unit 3 is poor, the fitting operation can be performed, and the assembly of the positioning mechanism 1 is facilitated. Further, since the calibration of the imaging unit 3 and the coordinate system is not required, the fitting operation can be started more quickly.

As described above, the aligning mechanism 1 further includes: an imaging unit 3 for imaging a chimeric object A as an object; a moving mechanism 2 for moving the mosaic object A in a moving direction including a direction along a scanning line of the imaging part 3; and a control device 5 that controls driving of the moving mechanism 2, wherein the imaging unit 3 acquires an image D in which the target portion B1, which is a target position and is a destination of movement of the mosaic object a and the mosaic object a, is included in one imaging region, and the control device 5 generates a drive signal for the moving mechanism 2 in which a separation distance between the mosaic object a and the target portion B1 in a direction along the scanning line becomes smaller based on the image D, and controls driving of the moving mechanism 2 based on the drive signal. With this configuration, the fitting object a and the fitting target portion B1 can be positioned without using a force sensor. Further, the control is simple and the alignment can be performed in a shorter time than the alignment method using the force sensor. Even if the absolute positional accuracy of the moving mechanism 2 and the imaging unit 3 is poor, the positioning can be performed, and the assembly of the positioning mechanism 1 is facilitated. Further, since the calibration of the imaging unit 3 and the coordinate system is not required, the alignment operation can be started more quickly.

Although the positioning mechanism 1 according to the first embodiment has been described above, the positioning mechanism 1 is not limited thereto. For example, in the X-axis step S21, when the separation distance Lx is sufficiently small (smaller than a predetermined threshold value), it may not be necessary to generate from one image D1The drive signal Px is generated from a plurality of images D1 continuously captured. For example, three images D1 taken in succession may also be acquired _m 、D1 _m+1 、D1 _m+2 For each image D1 _m 、D1 _m+1 、D1 _m+2 Detecting a separation distance Lx _m 、Lx _m+1 、Lx _m+2 Separating the three distances Lx _m 、Lx _m+1 、Lx _m+2 As the separation distance Lx, generates the drive signal Px. With this method, the separation distance Lx can be obtained with an accuracy equal to or less than the pixel size, and therefore, more accurate alignment can be achieved. The same applies to step S22 on the Y axis.

Second embodiment

The positioning mechanism 1 of the present embodiment is the same as the positioning mechanism 1 of the first embodiment described above, except that the configuration of the moving mechanism 2 is different. Therefore, in the following description, the present embodiment will be mainly described focusing on differences from the first embodiment described above, and descriptions of the same matters will be omitted. In the drawings of the present embodiment, the same components as those of the above-described embodiment are denoted by the same reference numerals.

As shown in fig. 7, the moving mechanism 2 of the present embodiment includes: a first moving mechanism 2A which includes an X-axis moving mechanism 21, a Z-axis moving mechanism 23, and a gripper 29, and moves the fitted object a held by the gripper 29 in the Z-axis direction and the X-axis direction; and a second moving mechanism 2B which includes a Y-axis moving mechanism 22 and the stage 6 and moves the object B placed on the stage 6 in the Y-axis direction.

The second embodiment described above can also exhibit the same effects as those of the first embodiment described above.

Third embodiment

Fig. 8 is a perspective view showing a positioning mechanism of the third embodiment.

The present embodiment is the same as the positioning mechanism 1 of the first embodiment described above, except that the moving mechanism 2 is attached to the robot 8 as an end effector. Therefore, in the following description, the present embodiment will be mainly described with respect to differences from the first embodiment described above, and descriptions of the same matters will be omitted. In the drawings of the present embodiment, the same components as those of the above-described embodiment are denoted by the same reference numerals.

As shown in fig. 8, the positioning mechanism 1 of the present embodiment further includes a robot 8 to which the moving mechanism 2 is attached. The robot 8 includes a base 81 fixed to a floor, and a robot arm 82 connected to the base 81. The robot arm 82 is configured by connecting a plurality of

arms

821, 822, 823, 824, 825, 826 to be rotatable, and includes six joints J1 to J6. The joints J2, J3, and J5 are bending joints, and the joints J1, J4, and J6 are torsion joints. Further, a moving mechanism 2 is connected to a distal end portion of the arm 826.

With this configuration, the robot arm 82 can move the moving mechanism 2. Therefore, for example, when it is necessary to convey the mosaic object a or the like from a predetermined position outside the working area, the step of moving the moving mechanism 2 to the outside of the working area E and gripping the mosaic object a and the step of conveying the gripped mosaic object a to the working area E are performed, so that the process can be smoothly shifted to the alignment step S2 and the fitting step S3, and the whole process can be smoothly performed. Therefore, the positioning mechanism 1 is more convenient.

The second embodiment described above can also exhibit the same effects as those of the first embodiment described above. Note that, for example, the imaging unit 3 and the illumination 4 may be connected to the arm 826 integrally with the moving mechanism 2. The Z-axis movement mechanism 23 may be omitted by moving the robot arm 82 in the Z-axis direction.

Fourth embodiment

This embodiment is the same as the third embodiment described above except that the robot 8 also serves as the movement mechanism 2. Therefore, in the following description, the present embodiment will be mainly described focusing on differences from the third embodiment described above, and descriptions of the same matters will be omitted. In the drawings of the present embodiment, the same components as those of the above-described embodiment are denoted by the same reference numerals.

As shown in fig. 9, in the positioning mechanism 1 of the present embodiment, the robot arm 82 also serves as the moving mechanism 2, and the gripper 29 is connected to the tip end of the arm 826. That is, the joints J1 to J6 of the robot arm 82 are moved to move the mosaic article a in the X-axis direction, the Y-axis direction, and the Z-axis direction independently.

The fourth embodiment described above can also exhibit the same effects as those of the first embodiment described above.

The alignment direction, the fitting method, and the alignment mechanism of the present invention have been described above based on the illustrated embodiments, but the present invention is not limited to this, and the configuration of each part may be replaced with any configuration having the same function. In addition, other arbitrary components may be added to the present invention. Further, the respective embodiments may be appropriately combined.

For example, the Y-axis moving mechanism 22, the second imaging unit 32, and the second illumination 42 may be omitted from the first embodiment. That is, the moving mechanism 2 may be configured to move the mosaic article a in two-dimensional directions of the Z-axis direction and the X-axis direction. For example, when the position of the mosaic object a in the Y axis direction of the target position is matched in advance, the positioning mechanism 1 configured as above can be preferably used. The Z-axis moving mechanism 23 may be omitted. That is, the moving mechanism 2 may be configured to move the mosaic member a only in the X-axis direction. The positioning mechanism 1 configured as described above can be preferably used even when the position of the mosaic object a matches the position of the target position in the Y-axis direction and the Z-axis direction.

Claims

1. An alignment method, characterized by using:

an image pickup unit that picks up an image of an object;

a control device that controls driving of the moving mechanism,

2. The method of claim 1,

the image pickup section continuously acquires the images,

the control device generates the drive signal for each of the images, and starts driving of the moving mechanism based on the generated drive signal before a next image is acquired in the image pickup section.

3. The method of alignment according to claim 1 or 2,

the image pickup unit performs image pickup while the object is irradiated with illumination light that is backlit with respect to the image pickup unit.

4. The method of claim 1,

the image pickup unit is a global shutter camera.

5. The method of claim 1,

the moving mechanism has a linear slide that moves in a direction along the scan line.

6. The method of claim 1,

the moving direction is orthogonal to an optical axis of the image pickup unit.

7. The method of claim 1,

the image pickup unit includes a first image pickup unit and a second image pickup unit having an optical axis orthogonal to the first image pickup unit,

the moving mechanism includes a first moving mechanism that moves the object in a direction along a scanning line of the first imaging unit, and a second moving mechanism that moves the object in a direction along a scanning line of the second imaging unit.

8. A method of chimerizing, using:

an image pickup unit for picking up an image of the chimeric object;

a control device that controls driving of the moving mechanism,

the control device generates a drive signal of the moving mechanism in which a separation distance between the fitted object and the fitted portion in the direction along the scanning line becomes smaller based on the image, and controls driving of the moving mechanism based on the drive signal.

9. An aligning mechanism, comprising:

an image pickup unit that picks up an image of an object;

a control device that controls driving of the moving mechanism,