JP2009248214A - Image processing device and robot control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain high-accuracy positional information of a workpiece from image information of the workpiece photographed by a camera in an image processing device. <P>SOLUTION: The image processing device 1 which acquires the image information of the workpiece photographed by stereo cameras 3a, 3b and measures a position of the workpiece using the image information is provided with: a master register part 11 storing master positional information which shows a predetermined reference position of the workpiece in three dimensions; a position measuring part 12 calculating three-dimensional positions of characteristic points at three places of the workpiece and the center of gravity of the work by using the image information of the workpiece; and a deviation calculation part 13 calculating a deviation amount of the workpiece in three-dimensional directions and respective inclinations of the workpiece in the three-dimensional directions from the three-dimensional positions of the characteristic points calculated at the three places, the calculated center of gravity, and the master position information of the workpiece. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an image processing apparatus that measures position information of an object from image information of the object imaged by a camera, and a robot control system that controls the operation of a robot using position information measured by the image processing apparatus. About.

  2. Description of the Related Art Conventionally, in a production site or the like, a robot control system that takes out and conveys an object (work) placed on a predetermined work place has been used. Here, a conventionally known robot control system will be described with reference to FIG.

FIG. 6 is a schematic configuration diagram of a conventional robot control system.
As shown in the figure, the robot control system includes a vision system A for obtaining the three-dimensional position of the workpiece, and a robot system B for gripping and transporting the workpiece W using the three-dimensional position of the workpiece obtained by the vision system A. .

The vision system A acquires stereo cameras 52a and 52b that capture a workpiece, a controller 51 that controls driving of the stereo cameras 52a and 52b, and images captured by the stereo cameras 52a and 52b via the controller 51. An image processing device 50 for obtaining a three-dimensional position of a predetermined part (for example, the center of gravity) of the workpiece from the obtained image.
The robot system B includes a robot 7 having an arm 7a and a robot controller 60 that controls the operation of the robot 7.
Then, the robot control system performs the following operation to grip and transport the workpiece placed on a predetermined workpiece placement site.

Specifically, the robot controller 60 requests the image processing apparatus 50 of the vision system A to measure the position of the workpiece when the robot 7 comes close to the workpiece.
Upon receiving the position measurement request, the image processing apparatus 50 causes the stereo cameras 52a and 52b to image the workpiece, and acquires image information of the captured workpiece. Then, the image processing device 50 calculates a three-dimensional position of a feature point at one place of the workpiece (a three-dimensional position of one part of the workpiece) using the acquired image information, and the calculated three-dimensional position and the master in advance. The amount of displacement of the workpiece is calculated from the difference from the three-dimensional position of the feature point of the workpiece registered as data (information indicating the reference position of the workpiece). The image processing apparatus 50 outputs the above-described positional deviation amount to the robot controller 60.
The robot controller 60 corrects the posture of the robot 7 and the trajectory of the robot arm 7a using the displacement amount, grips and transports the workpiece, and sets the workpiece at a predetermined position.

And as mentioned above, the structure of the robot control system provided with a vision system and a robot is disclosed by patent document 1, for example.
Further, for example, Patent Document 2 discloses an image processing technique for obtaining the position of a predetermined portion (center of gravity) of an inspection object using image data of the inspection object imaged by a camera.
JP 2000-67238 A JP 2001-27511 A

However, the above-described prior art robot control system has a technical problem that the positional displacement of the entire workpiece may not be accurately grasped depending on the size and shape of the workpiece. As a result, the robot control system of the prior art sometimes cannot grip the workpiece when taking out a workpiece having a large size. In other words, the robot control system of the prior art controls the robot in accordance with the positional deviation of one part of the workpiece. There was a case that it was not possible to cope with the whole gap.
Hereinafter, a case where the robot cannot hold the workpiece will be described with reference to FIG.

FIG. 7 is a diagram illustrating an example of a workpiece that is gripped and transported by a robot in a conventional robot control system.
Here, the symbol W indicates a workpiece (a workpiece at a reference position) registered as master data in the robot controller 60 (see FIG. 6), and the symbols 111, 112, and 113 indicate workpieces W registered as master data. A gripping position (a position gripped by the robot) is shown. Reference sign W ′ indicates the position of the work to be transported (work actually placed on the work place), and reference numerals 121, 122, and 123 denote gripping positions of the work W ′ (positions gripped by the robot). ). Reference numeral 130 denotes a predetermined feature point.

As shown in the figure, when the workpiece W ′ to be transported is inclined from the workpiece W of the master data, only the positional deviation of the feature point 130 is taken into account (even if the positional deviation of the characteristic point 130 is corrected). In some cases, it is not possible to cope with the positional deviations of the gripping positions 121, 122, and 123 of the workpiece W ′ (the positional deviations of the gripping positions 121, 122, and 123 cannot be corrected). Therefore, in the case shown in the figure, the robot may not be able to grip the workpiece W even if only the positional deviation of the feature point 130 is taken into consideration.
By positioning the work and placing it on the work place, an error that the robot cannot grip the work can be prevented. However, this method requires positioning for each type of workpiece, and the versatility of the robot control system itself is lost.

  The present invention has been made to solve the above technical problem, and in an image processing apparatus that obtains workpiece position information from workpiece image information captured by a camera, obtains workpiece position information with high accuracy. It is intended. It is another object of the present invention to provide a robot control system for controlling a robot with high accuracy using position information obtained by the image processing apparatus.

In order to solve the above problems, the present invention is applied to an image processing apparatus that acquires image information of a workpiece imaged by a camera and measures the position of the workpiece using the image information.
The image processing apparatus stores the master position information indicating the predetermined reference position of the workpiece in three dimensions and the image information of the workpiece, and uses the image information of the workpiece at predetermined three locations in the workpiece. Using the measurement means for calculating the three-dimensional position of the feature point and the center of gravity of the workpiece, the three-dimensional position of the three feature points calculated, the calculated center of gravity, and the master position information, the three-dimensional of the workpiece And a deviation calculating means for calculating the amount of deviation in the direction and calculating the inclination of each of the workpieces in the three-dimensional direction.

As described above, according to the present invention, using the image information of the workpiece imaged by the camera, the three-dimensional positions of the three feature points of the workpiece and the center of gravity of the workpiece are obtained, and the obtained three-dimensional position and By using the center of gravity, in addition to the amount of deviation of the workpiece in the three-dimensional direction, the respective inclinations of the workpiece in the three-dimensional direction are calculated.
That is, according to the present invention, since not only the displacement amount of the workpiece in the three-dimensional direction but also the inclination in the three-dimensional direction is obtained, for example, the position of the workpiece placed in a predetermined workpiece place can be accurately grasped. Will be able to.
Therefore, for example, the position information of the workpiece (the amount of deviation in the three-dimensional direction and the inclination in the three-dimensional direction) obtained by the image processing apparatus of the present invention is used for the operation control of the robot that holds the workpiece as described above. By doing so, the robot can be controlled with high accuracy.

Further, the master position information includes a master center of gravity indicating the center of gravity of the workpiece obtained from the workpiece design information, and a master reference plane passing through the three feature points in the workpiece, The deviation calculating means calculates the amount of deviation in the three-dimensional direction of the workpiece from the difference between the center of gravity calculated by the measuring means and the master center of gravity, and obtains a plane passing through the calculated feature points of the three points. It is desirable to calculate the respective inclinations of the workpiece in the three-dimensional direction using the master reference plane.
As described above, according to the present invention, the master reference plane passing through the three feature points in the workpiece is stored as the master position information, and the plane passing through the three feature points calculated by the measuring means is obtained, The inclination of the workpiece is obtained using the flat surface and the master reference surface.
Therefore, according to the present invention, the inclination of the workpiece in the three-dimensional direction can be obtained with high accuracy, and as a result, the position of the workpiece can be accurately grasped.

  In addition, in a robot control system having the image processing apparatus and a robot that includes an arm and grips and conveys a workpiece at the tip of the arm, the operation of the arm of the robot is controlled according to preset teaching data. And a control unit configured to cause the image processing device to calculate a shift amount and an inclination of the workpiece in a three-dimensional direction when the arm reaches a predetermined position, and to calculate the shift amount and the calculated It is desirable to correct the teaching data using an inclination and control the operation of the arm using the corrected teaching data.

As described above, according to the present invention, in addition to the amount of deviation in the three-dimensional direction of the workpiece measured by the image processing apparatus, the movement of the robot is controlled by reflecting the inclination of the workpiece in the three-dimensional direction. .
Therefore, according to the present invention, in a robot that grips and conveys a workpiece as described above, even if a workpiece with a large dimension is taken out, an operation error that prevents the robot from gripping the workpiece may occur. Can be reduced.

  According to the present invention, in an image processing apparatus that obtains workpiece position information from workpiece image information captured by a camera, the workpiece position information can be obtained with high accuracy. In addition, a robot control system for controlling the robot with high accuracy can be obtained by using the position information obtained by the image processing apparatus.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, the configuration of the robot control system of this embodiment will be described with reference to FIGS. 1 and 2.
FIG. 1 is a block diagram of a robot control system according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an example of a workpiece that is gripped and conveyed by the robot control system according to the embodiment of the present invention.
In FIG. 1 and FIG. 2, the same components as those in the prior art shown in FIG. 6 and FIG.

  As shown in the figure, the robot control system includes a vision system V that measures the positional deviation amount of the workpiece W, and a robot that grips and conveys the workpiece W using the positional deviation amount of the workpiece W obtained by the vision system V. System R.

The vision system V includes stereo cameras 3a and 3b configured by two CCD cameras, a controller 2 that controls driving of the stereo cameras 3a and 3b, and images captured by the stereo cameras 3a and 3b via the controller 2. And an image processing apparatus 1 for obtaining “deviation amount information (position deviation and inclination in a three-dimensional direction)” indicating the amount of deviation of the workpiece W from the obtained image. Then, the image processing apparatus 1 outputs the obtained “deviation amount information” to the robot controller 6 of the robot system R.
The image processing apparatus 1 includes an output device 4 configured by a liquid crystal display or the like for displaying an interface screen to the user, an image processing result, and the like, and an input configured by a keyboard, a mouse, or the like that accepts various requests from the user. The apparatus 5 is connected.
Since the stereo cameras 3a and 3b and the controller 2 constituting the vision system V are realized by existing technology, detailed description thereof will be omitted below.

The robot system R includes an arm 7a, and includes a robot 7 that grips and transports the workpiece W at the tip of the arm 7a, and a robot controller 6 that controls the operation of the robot 7 using previously stored teaching data. Prepare.
The robot 7 is controlled by the robot controller 6 and grips the workpiece W placed on a predetermined workpiece place with the tip of the arm 7a and conveys it to a predetermined position. The specific configuration of the robot 7 is not particularly limited. For example, a vertical articulated 6-axis robot can be used as the robot 7.

The robot controller 6 is configured to be communicable with the image processing apparatus 1 of the vision system V, and calculates a positional deviation amount of the workpiece W in the image processing apparatus 1 at a predetermined timing (when the arm 7a reaches a predetermined position). Let
Further, the robot controller 6 corrects the teaching data by using “displacement amount information” indicating the displacement amount of the workpiece W calculated by the image processing apparatus 1, and uses the corrected teaching data to operate the robot 7. To control.

Next, a functional configuration of the image processing apparatus 1 configuring the vision system V of the present embodiment will be described.
The image processing apparatus 1 includes a master registration unit 11, a position measurement unit 12, a deviation calculation unit 13, an image output unit 14, and a communication processing unit 15.

The master registration unit 11 stores master position information indicating a predetermined reference position of the workpiece W in three dimensions.
Specifically, the master registration unit 11 uses the work W design information (for example, CAD information of the work W) to indicate three-dimensional position information indicating the reference position of the work W placed on the work place. And the position information is stored as master position information.
The master position information includes a plane (hereinafter referred to as “master reference”) that passes through all three feature points 101, 102, and 103 of the workpiece W shown in FIG. 2 (characterized by holes and the like formed in the workpiece W). And information indicating the center of gravity of the workpiece W (hereinafter referred to as “master center of gravity”).

The position measuring unit 12 acquires image information of the work W placed on the work place imaged by the stereo cameras 3a and 3b (obtained via the controller 2), and uses the acquired image information to acquire the work W. The three-dimensional positions of the three feature points 101, 102, 103 are calculated.
Further, the position measuring unit 12 obtains the center of gravity (hereinafter referred to as “measurement center of gravity”) of the work W placed on the work place using the acquired image information of the work W.

  The deviation calculation unit 13 uses the master centroid stored by the master registration unit 11 as the master position information and the measured centroid obtained by the position measurement unit 12, and the three-dimensional direction (x, y, z) of the workpiece W. Is obtained (that is, the deviation from the reference position of the work W actually placed on the work place is obtained).

  Further, the deviation calculation unit 13 uses the three-dimensional positions of the three feature points 101, 102, and 103 calculated by the position measurement unit 12, and passes through all the three feature points 101, 102, and 103 (hereinafter referred to as the planes). , Called “measurement reference plane”). Then, the deviation calculation unit 13 calculates the respective inclinations of the workpiece in the three-dimensional direction by using the obtained measurement reference plane and the master reference plane stored as master position information by the master registration unit 11.

Here, the inclination of the workpiece W in the three-dimensional direction will be described with reference to FIG.
FIG. 3 is a conceptual diagram showing a workpiece modeled in order to explain the inclination of the workpiece in the three-dimensional direction. Here, reference numeral 105 indicates the center of gravity of the workpiece W. In the conceptual diagram shown in the figure, the center of gravity 105 of the workpiece W is taken as a reference point, and three axes (x axis, y axis, z axis) are defined.
Then, the deviation calculating unit 13 determines the three axes (x) of the workpiece W registered as the master position information for each of the three axes (x axis, y axis, z axis) of the workpiece W actually placed on the workpiece placement site. The inclinations from “axis, y-axis, z-axis” (“slope θ in the x-axis direction”, “slope Φ in the y-axis direction,“ slope ψ in the z-axis direction ”) are obtained.

Returning to FIG. 1, the description of the functional configuration of the image processing apparatus 1 will be continued.
The image output unit 14 outputs the image information of the workpiece W captured by the stereo cameras 3a and 3b to the output device 4, and causes the output device 4 to display the image information. In addition, the image output unit 14 generates image information indicating the calculation result calculated by the position measurement unit and the position shift amount calculated by the shift calculation unit 13 and causes the output device 4 to display the image information.

  The communication processing unit 15 controls the exchange of various data performed with the controller 2 that controls the stereo camera 2 and controls the exchange of various data performed with the robot controller 6.

Next, the hardware configuration of the image processing apparatus 1 will be described.
The image processing apparatus 1 includes a computer having a CPU, a memory, an I / O interface, and a network interface.
Further, the memory includes a program (position deviation calculation program) for realizing the functions of the above-described units (master registration unit 11, position measurement unit 12, deviation calculation unit 13, image output unit 14, and communication processing unit 15). ) Is stored.
The functions of the above-described units (the master registration unit 11, the position measurement unit 12, the deviation calculation unit 13, the image output unit 14, and the communication processing unit 15) are executed by the CPU using a positional deviation calculation program stored in the memory. It is realized by executing.
The master position information described above is stored in a predetermined area of the memory.

Next, the procedure of the workpiece transfer process performed by the robot control system of this embodiment will be described with reference to FIGS.
FIG. 4 is a flowchart illustrating a procedure of workpiece transfer processing performed by the robot control system of the present embodiment.
FIG. 5 is a conceptual diagram of a master reference plane and a measurement reference plane used for calculating the amount of positional deviation of the workpiece. FIG. 5A is a conceptual diagram of the master reference plane, and FIG. 5B is a conceptual diagram of the measurement reference plane. FIG. 5C is a conceptual diagram of processing for obtaining the workpiece inclination using the measurement reference plane and the master reference plane.

First, prior to each processing step shown in FIG. 4, the robot control system performs processing (preprocessing) for registering master position information of the workpiece W.
This preprocessing is performed by the master registration unit 11 of the image processing apparatus 1 constituting the vision system V.
Specifically, the master registration unit 11 receives input of design information (such as CAD information of the work W) of the work W, and uses the design information to indicate the master centroid 121 that shows the centroid 121 of the work W in three dimensions. Is obtained (see FIG. 5A).
Further, the master registration unit 11 obtains a plane (master reference plane 131) that passes through all of the predetermined three feature points 101, 102, 103 in the workpiece W using the design information (FIG. 5A). reference).

Next, the master registration unit 11 stores the master centroid 121 and the master reference plane 131 obtained as described above as master position information (for example, stores in a predetermined area of a memory (not shown) of the image processing apparatus).
Then, when the above pre-processing is completed, the robot control system performs processing for holding and transporting the workpiece W according to the processing steps shown in FIG. Note that the process shown in FIG. 4 is started when a request for an instruction to convey the workpiece W is received from the user.

  Specifically, first, when the robot controller 6 of the robot control system receives a request for an instruction to convey the workpiece W from the user, the robot controller 6 sets the robot 7 to the original position (S1).

Next, the robot controller 7 operates the arm 7a of the robot 7 from the original position to a predetermined measuring position. When the arm 7a of the robot 7 reaches the measuring side position (S2), the robot controller 7 stops the operation of the arm 7a and sets the amount of displacement of the workpiece W to the image processing apparatus 1 of the vision system V. A request signal (measurement instruction signal) is transmitted (S3).
When the robot controller transmits the measurement instruction signal, the robot controller waits (stops) the robot 7 until it receives “deviation amount information” indicating the amount of positional deviation sent from the image processing apparatus 1.

  On the other hand, on the image processing apparatus 1 side, the position measurement unit 12 receives a measurement-side instruction signal from the robot controller 7 via the communication processing unit 15 (S10). When the position measuring unit 12 receives the meter-side instruction signal, the position measuring unit 12 instructs the controller 2 to image the workpiece W via the communication processing unit 15.

  Next, when receiving an imaging instruction from the position measurement unit 12, the controller 2 causes the stereo cameras 3a and 3b to image the workpiece W placed on the workpiece placement site (S11). Then, the controller 2 transmits the image information of the workpiece W imaged by the stereo cameras 3a and 3b to the position measurement unit 12 of the image processing apparatus 1.

  The position measurement unit 12 receives the image information of the workpiece W transmitted from the controller 2 via the communication processing unit 15, and the predetermined three feature points 101, 102 of the workpiece W from the image information of the workpiece W, A three-dimensional position 103 (see FIGS. 2 and 5) is obtained. Further, the position measuring unit 12 obtains the center of gravity of the workpiece W from the received image information of the workpiece W (S12).

Here, in this step (S12), the procedure for obtaining the three-dimensional positions of the feature points 101, 102, 103 from the image information of the workpiece W imaged by the stereo cameras 3a, 3b is realized by a well-known triangulation procedure. Is.
The position measuring unit 12 causes the stereo cameras 3a and 3b to capture an image for each feature point (101, 102, 103), and for each image information including each feature point, each feature point (101, 102, 103). 102, 103) may be obtained. Alternatively, the position measurement unit 12 may obtain the image information of the three feature points 101, 102, 103 from the image information including all the feature points 101, 102, 103.

Further, in this step (S12), the method for obtaining the center of gravity of the workpiece W from the image information of the workpiece W is realized by a known image processing technique, and the specific procedure is not particularly limited. .
For example, the brightness for each predetermined color component of each pixel of the image of the work W is obtained, and binarization is performed for each color component with reference to a predetermined threshold value. And the value which totaled the binarized data for every said color component is calculated | required, each average value of the X coordinate of the pixel in which the workpiece | work W exists, a Y coordinate, and a Z coordinate is calculated | required, and the average value is obtained for the workpiece | work W. It may be the center of gravity.

Next, the process of S13 performed after the process of S12 will be described.
In S <b> 13, the deviation calculation unit 13 calculates the deviation amount of the workpiece W in the three-dimensional direction.
Specifically, the deviation calculation unit 13 obtains a difference between the master centroid stored in the master registration unit 11 and the measurement centroid calculated by the position measurement unit 12 as a deviation amount in the three-dimensional direction (three-dimensional direction). Deviation amount (Δx, Δy, Δz) = “master centroid” − “measurement centroid”).

Next, the deviation calculation unit 13 calculates the inclination of the workpiece W in the three-dimensional direction (S14).
Specifically, in S14, first, the deviation calculation unit 13 uses the three-dimensional positions of the feature points 101, 102, and 103 of the workpiece calculated in S12, and a plane that passes through all the three-dimensional positions (measurement reference plane). 132) is calculated (see FIG. 5B).
Then, the deviation calculation unit 13 calculates the inclination of the measurement reference surface 132 from the master reference surface 131 using the master reference surface 131 stored in the master registration unit 11 and the calculated measurement reference surface 132. The calculated inclination is set as the inclination of the workpiece W.
The method for calculating the inclination of the workpiece W is not particularly limited, but may be obtained as follows, for example.

  Specifically, as shown in FIG. 5C, the master center of gravity 121 of the master reference surface 131 and the measurement center of gravity of the measurement reference surface are matched, and the state (the master center of gravity 121 and the measurement center of gravity 122 are matched). State), the inclinations of each of the three axes (x-axis, y-axis, z-axis) (“slope θ in the x-axis direction”, “slope Φ in the y-axis direction,“ slope ψ in the z-axis direction ”) Ask.

  Next, the deviation calculating unit 13 via the communication processing unit 15 determines the amount of deviation (Δx, Δy, Δz) of the workpiece W obtained in S13 in the three-dimensional direction of the workpiece W obtained in S14. The “deviation information” including the inclination (θ, Φ, ψ) is transmitted to the robot controller 6 (S15).

When the robot controller 6 receives the “deviation amount information” from the deviation calculation unit 13 (S4), the robot controller 6 uses the received “deviation amount information” to correct the operation determined by the previously stored teaching data (S5). .
Then, the robot controller 6 reflects the displacement amount information from the displacement calculation unit 13, moves the arm 7a of the robot 7 to the workpiece removal position (object removal position) (S6), grips the workpiece W, The sheet is conveyed to a predetermined position (S7).
When the robot controller 6 transports the workpiece W to the predetermined position by the robot 7 and sets the workpiece to the predetermined position, the robot controller 6 returns the robot 7 to the original position (returns to the process of S1).

Thus, according to the present embodiment, the three-dimensional positions of the three feature points of the workpiece W are obtained using the image information of the workpiece W imaged by the camera.
Then, in addition to the positional deviation of the workpiece W in the three-dimensional direction, the three-dimensional positions of the three feature points are further used to perform the above-described processing of S14, whereby each workpiece tilt in the three-dimensional direction ( θ, Φ, ψ) are also calculated.
That is, according to this embodiment, since not only the amount of deviation of the workpiece W in the three-dimensional direction but also the inclination in the three-dimensional direction is obtained, it is possible to accurately grasp the position of the workpiece W placed in the workpiece storage area. it can.

Moreover, in this embodiment, since the operation | movement of the robot 7 is correct | amended using the position of the said workpiece | work W correctly grasped | ascertained, the robot can be controlled with high precision.
Moreover, in this embodiment, since the vision system V can grasp | ascertain the position of the workpiece | work W correctly, when mounting the workpiece | work W in a workpiece | work place, fine positioning becomes unnecessary and work can be simplified.

  In addition, this invention is not limited to the said embodiment, A various deformation | transformation is possible within the range of the summary.

  For example, in the above-described embodiment, the robot 7 that holds and transports the workpiece W at the tip of the arm is shown as the robot to be controlled. However, the present invention is not limited to this. The present invention can be applied to any robot that performs some work on the workpiece W.

  For example, in the present embodiment, the case where the image processing apparatus 1 is realized by a computer that executes software (computer program) is described as an example, but the present invention is not particularly limited thereto. For example, the image processing apparatus 1 is designed exclusively for realizing the functions of the above-described units (the master registration unit 11, the position measurement unit 12, the deviation calculation unit 13, the image output unit 14, and the communication processing unit 15). You may be comprised by the apparatus provided with a hardware circuit (for example, "Application Specific Integrated Circuit").

It is a block diagram of the robot control system of the embodiment of the present invention. It is the figure which showed an example of the workpiece | work grasped and conveyed by the robot control system of embodiment of this invention. It is the conceptual diagram which modeled and showed the workpiece | work W in order to demonstrate the inclination of the three-dimensional direction of the workpiece | work calculated | required by this embodiment. It is a flowchart which shows the procedure of the workpiece conveyance process which the robot control system of embodiment of this invention performs. It is a conceptual diagram of a master reference plane and a measurement reference plane that are used for calculating the amount of positional deviation of a workpiece. It is a schematic block diagram of the robot control system of a prior art. It is the figure which illustrated the workpiece | work grasped and conveyed by the robot in the robot control system of a prior art.

Explanation of symbols

R ... Robot system V ... Vision system W ... Work 1 ... Image processing device 2 ... Controller 3a, 3b ... Stereo camera 4 ... Output device 5 ... Input device 6 ... Robot controller 7 ... Robot 11 ... Master registration unit 12 ... Position measurement unit DESCRIPTION OF SYMBOLS 13 ... Displacement calculation part 14 ... Image output part 15 ... Communication processing part 101,102,103 ... Feature point 111,112,113 ... Work holding | grip position

Claims (3)

In an image processing apparatus that acquires image information of a workpiece imaged by a camera and measures the position of the workpiece using the image information,
Means for storing master position information indicating a predetermined reference position of the workpiece in three dimensions;
Measuring means for calculating the three-dimensional positions of the predetermined three feature points in the workpiece and the center of gravity of the workpiece using the image information of the workpiece;
Using the calculated three-dimensional positions of the three feature points, the calculated center of gravity, and the master position information, a displacement amount of the workpiece in the three-dimensional direction is calculated, and each of the workpieces in the three-dimensional direction is calculated. An image processing apparatus comprising: a deviation calculating unit that calculates an inclination. The master position information includes a master center of gravity indicating the center of gravity of the workpiece obtained from the design information of the workpiece, and a master reference plane passing through the three feature points in the workpiece,
The deviation calculating means calculates a deviation amount in the three-dimensional direction of the workpiece from the difference between the center of gravity calculated by the measuring means and the master center of gravity, and obtains a plane passing through the calculated three feature points, The image processing apparatus according to claim 1, wherein an inclination of each of the workpieces in a three-dimensional direction is calculated using a plane and the master reference plane. A robot control system comprising: the image processing apparatus according to claim 1; and a robot that includes an arm and that grips and conveys a workpiece at a tip portion of the arm.
Control means for controlling the operation of the robot arm in accordance with preset teaching data;
When the arm reaches a predetermined position, the control means causes the image processing apparatus to calculate a shift amount and a tilt in a three-dimensional direction of the workpiece, and uses the calculated shift amount and the tilt to perform the teaching. A robot control system which corrects data and controls the operation of the arm using the corrected teaching data.

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