EP1725378A1 - Systeme de robot presentant des outils, une camera et une source lumineuse - Google Patents

Systeme de robot presentant des outils, une camera et une source lumineuse

Info

Publication number
EP1725378A1
EP1725378A1 EP05700859A EP05700859A EP1725378A1 EP 1725378 A1 EP1725378 A1 EP 1725378A1 EP 05700859 A EP05700859 A EP 05700859A EP 05700859 A EP05700859 A EP 05700859A EP 1725378 A1 EP1725378 A1 EP 1725378A1
Authority
EP
European Patent Office
Prior art keywords
camera
light source
tool
robot system
workpiece
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP05700859A
Other languages
German (de)
English (en)
Inventor
Hardy BÜRKLE
Uwe Haas
Claus LÖRCHER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
Original Assignee
DaimlerChrysler AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DaimlerChrysler AG filed Critical DaimlerChrysler AG
Publication of EP1725378A1 publication Critical patent/EP1725378A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera

Definitions

  • Robot system with tools, camera and light source Robot system with tools, camera and light source
  • the present invention relates to a robot system which is provided with a light source and a camera for detecting geometric properties of a workpiece and at least one tool for carrying out manipulations on the workpiece.
  • a robot system is e.g. known from JP-A-07-28 68 20.
  • a light source and a camera are mounted together, but independently of a tool, on the tip of an articulated robot arm and can be placed in space with a plurality of degrees of freedom, so that the light source illuminates a workpiece to be machined and the camera takes pictures of the workpiece ,
  • the camera and light source of this known system are not mutually movable.
  • the light source is able to selectively illuminate different strip-shaped zones in the field of view of the camera even without moving the light source, but the direction from which a specific point of an object is illuminated in the field of view is always the same as long as the light source and camera are not moving together. This can make the evaluation of the images recorded by the camera considerably more difficult, in particular if the areas of interest of an object are shadowed by objects lying between the light source and them.
  • the object of the invention is to create a robot system in which optimum viewing conditions for a camera for detecting a workpiece with different geometries of the workpiece or an environment in which it is installed can be realized.
  • the object is achieved in that the light source and the camera can be moved independently of one another in order to illuminate the field of view from different directions. That is, if, in a given position of the light source and camera in relation to one another, an area of interest of a workpiece is poorly illuminated, the light source can be moved independently of the camera in order to improve the illumination of this area.
  • the variability of the orientations of the light source and the camera relative to one another also facilitates the acquisition of 3D information from an image captured by the camera, since the change in the shape of the shadow associated with a change in the direction of irradiation onto an object makes it possibly connected to the camera Image evaluation electronics make it possible to distinguish shadow zones from naturally dark surfaces.
  • an assembly comprising the camera and the light source and at least one first actuating device for moving the camera and light source against one another can be moved by a second actuating device with respect to a common base.
  • a second actuating device For example, it is possible to set a standard position of the camera and light source in relation to one another, which provides images usable for most geometries of a workpiece to be examined, on the first actuating device and only to actuate the second actuating device to vary the field of view or angle of the camera , As this camera and light source move together, apart from parallax effects, the light source remains focused on the field of view of the camera, without the movement of the former having to be controlled specifically for this.
  • one of the camera and light source is permanently connected to the second actuating device, so that their position and orientation is given completely and exclusively by the position of the second actuating device, whereas the position of the light source in relation to the camera is defined by the position of the first actuating device ,
  • an assembly which comprises the camera and at least one of the tools and at least one third actuating device for moving the camera and tool against one another, can be moved by a fourth actuating device with respect to a common base.
  • a fourth actuating device preferably one camera and one tool are firmly connected to the fourth actuating device, so that their position and orientation are given completely and exclusively by the position of the fourth actuating device and the position of the third actuating device is the position of the camera and tool in relation to one another sets.
  • the tools of the robot system according to the invention preferably include at least one gripping tool and another tool for carrying out any machining step on the workpiece.
  • the gripping tool which is understood here to include any tool for temporarily holding and possibly moving a workpiece, can in particular be used to grip and (at least temporarily) remove obstacles which would otherwise free access of the light from the light source Obstruct the view of the camera or the access of the additional tool to a point of interest on the workpiece.
  • the gripping tool and the camera are preferably mounted on mutually independent movable supports, in other words, the number of degrees of freedom with which the gripping tool and the camera can be moved in relation to one another should be greater than the number of degrees of freedom of the camera or the Gripping tool in relation to a stationary part of the robot system.
  • FIG. 1 shows a first exemplary embodiment of a robot system according to the invention, in which the camera, light source and tool are each carried by robot arms mounted on a fixed base;
  • FIG. 2 shows a modification of the robot system from FIG. 1, with two tools
  • FIG. 3 shows a second embodiment of a robot system with two tools
  • Fig. 4 shows a third embodiment of the robot system, in which the camera, light source and tool-carrying robot arms are mounted on a portal.
  • FIG. 1 shows a schematic representation of the basic principle of the invention.
  • a stationary base for example mounted on the floor of a workshop, carries a robot arm 2 with a plurality of articulated links 3.
  • Joints 4 between the base 1 and the links 3 or between two links 3 each have at least one, preferably a plurality of rotators. degrees of freedom and can be controlled by a control device, not shown, to position and pivot a tool 5 mounted at the end of the arm 2 within the scope of the arm 2 in any three spatial directions.
  • the tool 5 can be of any known type suitable for machining a workpiece 6, for example a gripper, a drill, a milling machine, a welding tool, etc.
  • a second base 7 carries a second robot arm 8, the construction of which can be the same as that of the robot arm 2.
  • a camera 9 is mounted on the free end of the robot arm 8, which can be positioned anywhere in the room under the control of the control device and aligned with the workpiece 6 to provide images of the workpiece 6 to the control device.
  • a rail 10 projects from the camera 9, on which a carriage 11 can be moved under the control of the control device.
  • the carriage 11 carries a light source 13 via a joint 12, which can also be controlled.
  • the light source 13 can be a simple headlight with reflector, as indicated in the figure, which supplies a light cone with a main beam direction B, which is produced by displacing the carriage 11 and pivoting of the joint 12 from different angles relative to the viewing direction of the camera 9 on the workpiece 6 can be aligned.
  • the rail 10 is preferably rotatable about the optical axis A of the camera 9, so that not only the angle between the main beam direction B of the light source 13 and the optical axis A of the camera 9 is variable, but also the position of the plane defined by these two directions , While the robot arm 8 represents a first actuating device with which the control device camera 9 and light source 13 can move in a fixed positional relationship to one another, the slide 11 and the joint 12 are part of a second actuating device with which, given the position and orientation of the camera 9, the Illumination of the field of view of the camera 9 can be varied in order to find the illumination that is interesting details of the workpiece 6 best recognizable.
  • FIG. 2 A preferred development of the robot system is shown in FIG. 2. Parts of this robot system that already correspond to parts described with reference to FIG. 1 have the same reference numerals and, unless there are any differences from the embodiment of FIG. 1, are not explained again.
  • the gripping tool 15 can conventionally have a plurality of mutually movable fingers for clamping the workpiece 6 or a part thereof, or, if the part to be gripped is ferromagnetic, can contain an electromagnet, it can be a suction cup connected to a vacuum source or any other Have means for temporarily holding an object.
  • control device If the control device identifies in the image provided by the camera 9 an object that blocks the view of the point of interest of the workpiece 6 or shadows this point, it controls the gripping tool 15 in order to temporarily remove the relevant object, For example, to push aside a hose connected to the workpiece to be examined or to disconnect a connector connected to it. After the workpiece has been inspected, the plug connector is plugged in again by the gripping tool 15.
  • the light source 13 is here mounted on a third fixed base 16 via a fourth robot arm 17 and therefore, in contrast to the gripping tool 15, does not move coupled to the camera 9. Thus, it does not restrict the mobility of the robot arm 14 around the camera 9 , Alternatively, the gripping tool 15 and the light source 13 could of course both be mounted movably on the robot arm 8 with respect to the camera 9.
  • the tool 5 and the camera 9 are mounted on the free end of the first robot arm 2.
  • the camera 9 can be firmly connected to the tool 5, with it firmly aligned with a tip of the tool 5 that interacts with the workpiece.
  • the light source 13 and, connected to it via the robot arm 14, the gripping tool 15 are arranged on the second robot arm.
  • the gripping tool 15 follows as long as the arm 14 is not adjusted, so that any movement of the light source is always in the vicinity of the light source when it is needed, in order to avoid an obstacle between the light source and the surface of the workpiece 6 or 9 observed by the camera 9 between this surface and the camera 9 to remove.
  • FIG. 4 schematically shows a robot system in which the arm 2 carrying the tool 5 and the arm 8 carrying the camera 9 and the light source 13 are mounted on rails 18 of a trolley 19, which in turn is movable on rails 20 of a portal structure.
  • Structure and operation of the arms 2, 8 is the same here as in the case of FIG. 1. If desired, however, the number of joints 4 in the arms 2, 8 of this embodiment can be reduced compared to that of FIG. 1, because of the Mobility along the rails 18, 20 two degrees of freedom of translation are added.
  • the robot arms could also be mounted together on one vehicle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Studio Devices (AREA)

Abstract

Un système de robot comprend un ou plusieurs outils (5, 15), une caméra (9) et une source lumineuse (13) pouvant être déplacée indépendamment de la caméra (9), en vue d'éclairer le champ de vision de la caméra (9) en des directions différentes.
EP05700859A 2004-02-05 2005-01-13 Systeme de robot presentant des outils, une camera et une source lumineuse Withdrawn EP1725378A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004005574A DE102004005574B3 (de) 2004-02-05 2004-02-05 Robotersystem mit Werkzeug, Kamera und Lichtquelle
PCT/EP2005/000241 WO2005075158A1 (fr) 2004-02-05 2005-01-13 Systeme de robot presentant des outils, une camera et une source lumineuse

Publications (1)

Publication Number Publication Date
EP1725378A1 true EP1725378A1 (fr) 2006-11-29

Family

ID=34673155

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05700859A Withdrawn EP1725378A1 (fr) 2004-02-05 2005-01-13 Systeme de robot presentant des outils, une camera et une source lumineuse

Country Status (5)

Country Link
US (1) US20080316306A1 (fr)
EP (1) EP1725378A1 (fr)
JP (1) JP2007527800A (fr)
DE (1) DE102004005574B3 (fr)
WO (1) WO2005075158A1 (fr)

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JP2006224279A (ja) * 2005-02-21 2006-08-31 Fanuc Ltd ロボット撮像装置
US20080212840A1 (en) * 2006-09-12 2008-09-04 Tamir Shalom Imaging system, method, and accessory therefor
US7654348B2 (en) * 2006-10-06 2010-02-02 Irobot Corporation Maneuvering robotic vehicles having a positionable sensor head
EP2393636B1 (fr) * 2009-02-04 2012-12-26 SMS Siemag AG Robot industriel doté d'une assistance par organes sensoriels
US9346499B2 (en) 2011-01-27 2016-05-24 Irobot Corporation Resilient wheel assemblies
US9522595B2 (en) 2011-01-27 2016-12-20 Irobot Defense Holdings, Inc. Small unmanned ground vehicle
JP5892168B2 (ja) * 2011-08-10 2016-03-23 株式会社安川電機 ロボットシステム
US9157795B1 (en) 2013-07-16 2015-10-13 Bot & Dolly, Llc Systems and methods for calibrating light sources
WO2016124241A1 (fr) * 2015-02-05 2016-08-11 Abb Technology Ag Procédé de chargement d'ébauches dans une presse, et système
CN108349087A (zh) 2015-11-16 2018-07-31 川崎重工业株式会社 机器人
JP2017100242A (ja) * 2015-12-02 2017-06-08 グローリー株式会社 検査ロボットシステム
US10554881B2 (en) 2016-12-06 2020-02-04 Microsoft Technology Licensing, Llc Passive and active stereo vision 3D sensors with variable focal length lenses
US10469758B2 (en) 2016-12-06 2019-11-05 Microsoft Technology Licensing, Llc Structured light 3D sensors with variable focal length lenses and illuminators
DE102017219407A1 (de) * 2017-10-27 2019-05-02 Robert Bosch Gmbh Erfassungsvorrichtung
JP2021073099A (ja) * 2018-03-09 2021-05-13 ソニーグループ株式会社 制御システム及び制御システムにおける方法
US10823879B2 (en) * 2018-07-27 2020-11-03 The Chamberlain Group, Inc. Obstacle detection systems and methods
JP7274208B2 (ja) * 2019-07-18 2023-05-16 レボックス株式会社 光学系設計情報管理システム
DE102022200461A1 (de) 2022-01-17 2023-07-20 Volkswagen Aktiengesellschaft Verfahren und Robotersystem zum Bearbeiten eines Werkstücks sowie Koordinatensystemmarker für ein Robotersystem

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US5267143A (en) * 1984-10-12 1993-11-30 Sensor Adaptive Machines, Incorporated Vision assisted fixture construction
JPH03136730A (ja) * 1989-05-30 1991-06-11 Zexel Corp ロータリ式ロボットハンドないしツール
JPH0639762A (ja) * 1992-07-24 1994-02-15 Omron Corp 部品供給装置
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Also Published As

Publication number Publication date
DE102004005574B3 (de) 2005-07-14
JP2007527800A (ja) 2007-10-04
WO2005075158A1 (fr) 2005-08-18
US20080316306A1 (en) 2008-12-25

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