JP2005078406A - Position teaching method using camera and display method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simply move a robot device; to reduce the movement frequency of the robotic device in teaching; to easily ensure an action; and to facilitate editing work for data in the teaching method of the data on the XY plane of the robot device using a camera. <P>SOLUTION: A picture on the XY plane captured with the camera 2 is captured in a personal computer 5 by using high-speed communication such as IEEE 1394 and USB, and their interface to display the picture on the personal computer screen. The picture captured with the camera 2 is directly displayed without data conversion. The teaching position data is captured by successively pointing working positions located on the display screen by using a pointing device such as a mouse. Simultaneously, the teaching position data and a moving path based on the moving instruction is displayed on the screen. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

The present invention provides X for cutting printed circuit boards, nameplate processing, sealing agent application, etc.
The present invention relates to a method for facilitating position teaching and confirmation of a taught trajectory using a camera in an apparatus for creating an operation program by teaching Y coordinates.

As a method of teaching data on the XY plane, there is a method of using a camera, which has the advantage of easy confirmation of the position, and thus is practically used for data teaching in a robot apparatus.
A practical camera teaching apparatus performs marking by placing a mark at the center of the image display unit, moving the robot apparatus by operating a teaching box, and aligning the point to be taught with the mark. Since it is easier than visual teaching, it was sufficient for practical use.
However, considering teaching operations such as cutting operations and complicated shapes with continuous trajectories such as application of a sealing agent, there is a drawback that the alignment operation by moving the robot apparatus takes time.

Conventionally, the taught data is stored as position data, but there is no confirmation method by comparison with the object, and there is no method other than moving the robot device for confirmation, and it takes time for confirmation and correction There was a problem. As an improvement measure, CA
There is a method of creating teaching data using D data. However, the CAD data as it is cannot be used as teaching data, and conversion work is required because the coordinate system of the robot and the CAD data is different. There is a method of converting image data and processing it as position data. However, in the case of a continuous curve or straight line, data processing is difficult and not suitable for practical use.
Japanese Patent Laid-Open No. 7-210222

The problem to be solved is that in the teaching method of XY plane data using a camera in a robot apparatus,
1) Make the robot device move easily.
2) Reduce the number of movements of the robotic device when teaching.
3) Make it easy to check the operation.
4) To facilitate data editing work.

An image on the XY plane captured by the camera is captured by a personal computer using high-speed communication such as IEEE 1394 or USB and its interface, and displayed on the personal computer screen. The camera image is not converted and the teaching position data is fetched by sequentially specifying the machining position in the display screen using a pointing device. At the same time, the operation path based on the teaching position data and the operation instruction is displayed on the screen. indicate. In this way, teaching can be performed with a simple operation.

The present invention solves the problems as follows.
1) It is not necessary to align the center position indicated by the cursor 8 in FIG.
Even when teaching multiple points on the same screen is necessary, there is no need to move the robot apparatus.
2) In the case of teaching at a position off the screen, it is necessary to move the robot, but the operation can be performed with the scroll bar 9 displayed on the side of the teaching screen, and the approximate position can be known.
3) The taught position is displayed on the screen where data is being created. When checking, the operation path based on the taught data is displayed on the screen so that it is easy to check the data.
4) Editing is performed by selecting the corrected part of the operation path 7 displayed on the screen, and there is no need to search for a step as in the prior art.

FIG. 1 is a configuration example of an apparatus for carrying out the present invention. The camera 2 is mounted on the same mounting surface as the Z-axis stage 1, the XY stage 3, the controller 4 for controlling the operation of the XYZ stage, and a personal computer device 5 having an interface between the controller and the camera.
The image on the XY plane on the XY stage 3 is captured by the camera 2 and transmitted to a personal computer using a high-speed communication interface such as IEEE1394 or USB, and displayed on the personal computer screen without conversion. .

When the displayed screen is shown in FIG. 2, the teaching position data is fetched by sequentially instructing the processing position 6 in the display screen using a pointing device such as a mouse, and at the same time based on the teaching position data and the operation instruction. The operation path 7 is displayed on the screen. That is, the operation order is such that the scroll bar 9 is first operated so that the teaching target screen enters the teaching area 10. Next, the operation start point P1 is indicated and taught by the pointing device. The movement line (non-processed line) 11 is displayed by changing the line type so that it can be distinguished from the processed line. Next, specify the line type and teach the next point. A straight line is indicated between P1 and P2 in FIG. An arc is designated between P2 and P3, and P4 is taught to determine the radius. Similarly, the type of the line from P3 to P5 is designated, and the machining line is designated by the pointing device along the outer line in the figure from P5 and P5 to P1. By repeating this operation, all operations can be taught very easily.

Since the image displayed on the screen has a large error in the peripheral portion due to lens distortion or the like, actual teaching is performed in the teaching area 10. Teaching area 10
The relationship between the display position and the actual distance is calibrated in advance with a reference gauge or the like.

The teaching device of the present invention does not need to be aligned with the center position indicated by the cursor 8, and has an advantage that the robot device does not need to be moved even when teaching of multiple points is required on the same screen. You can know the approximate position by scroll bar 9,
The taught position is displayed on the screen during data creation, so you can see how far you have worked. At the same time, the operation route based on the taught data is displayed on the screen so that the data can be easily confirmed. As described above, since the simplification is greatly achieved as compared with the conventional case, the spread is expected to be extremely fast.

Configuration example of an apparatus for carrying out the present invention Example of a screen displayed on a personal computer device

Explanation of symbols

1 Z-axis stage 2 Camera mounted on the same mounting surface as the Z-axis stage 3 XY stage 4 Controller for controlling the operation of the XYZ stage 5 PC device equipped with controller and camera interface 6 Processing position by pointing device 7 Teached Movement path 8 Cursor indicating the center 9 Scroll bar
10 Teaching area
11 Movement line

Claims (2)

When creating an operation program for cutting and applying sealant to a flat shaped material, the shape of the target object is captured as image data on the computer screen using a camera, and image processing is not performed. A program creation method, wherein position data is fetched by designating a position on a screen using a pointing device such as a mouse, and an operation program is created using the data. By displaying the operation trajectory of the created program on the image data,
The method for creating a program according to claim 1, wherein the method facilitates confirmation.

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