JP2016063309A - Image processor and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image processor and a robot system capable of automatically setting relevant to a network on a network compatible imaging apparatus.SOLUTION: The image processor includes: a connection part for connecting to an imaging apparatus; a determination section that determines whether or not the set information on the imaging apparatus should be changed using the set information of the imaging apparatus and the set information of the connection part; and a changing part that, when the determination section determines the set information of the imaging apparatus should be changed, changes the set information of the imaging apparatus.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an image processing apparatus and a robot system.

There has been proposed a robot system that calculates the position and orientation of a work target using an image captured by an imaging apparatus and causes the robot to perform a predetermined operation based on the calculated position and orientation.
Such a robot system includes an imaging device, an image processing device, a robot controller, and a robot. The image processing apparatus calculates the center position of the work target using the image captured by the imaging apparatus. Then, the robot controller recognizes the position and orientation of the work target based on information indicating the center position of the work target calculated by the image processing apparatus. Then, the robot controller generates a command for positioning the hand mechanism of the robot to an appropriate position and posture based on the recognized position and posture of each work target, and controls the gripping operation of the robot ( For example, see Patent Document 1).

In the conventional robot system, the imaging apparatus is connected to the image processing apparatus via a USB (Universal Serial Bus) or a LAN (Local Area Network) cable.
When the imaging apparatus and the image processing apparatus are connected via a LAN cable, the user has made settings related to the network for the imaging apparatus. Alternatively, in a conventional robot system, a DHCP (Dynamic Host Configuration Protocol (Dynamic Host Configuration Protocol)) server is provided in the network, so that settings relating to the network of the imaging apparatus are automatically performed.

JP 2012-242281 A

  However, in the conventional image processing apparatus, a DHCP server is necessary to automatically perform settings related to the network of the imaging apparatus. When the DHCP server is not used, the user has to manually perform settings related to the network of the imaging apparatus. In this case, the user has to know the setting contents related to the network of the image processing apparatus and the robot controller connected to the robot system.

  SUMMARY An advantage of some aspects of the invention is that it provides an image processing apparatus and a robot system that can automatically perform network-related settings for an imaging apparatus.

According to one embodiment of the present invention, it is necessary to change the setting information of the imaging device using a connection unit connected to the imaging device, the setting information of the imaging device, and the setting information of the connection unit. And a change unit that changes the setting information of the imaging device when it is determined by the determination by the determination unit that the setting information of the imaging device needs to be changed. An image processing apparatus.
With this configuration, when it is determined that the image processing apparatus needs to change the setting information of the imaging device using the connection unit connected to the imaging device, the setting information of the imaging device, and the setting information of the connection unit The setting information of the imaging device can be changed. As a result, the image processing apparatus can automatically set the network settings for the imaging apparatus.

In one aspect of the present invention, the setting information of the imaging device and the setting information of the connection unit are setting information related to a network, respectively, and include network segment information indicating a network segment and an IP address including the network segment information. And the determination unit compares the network segment information included in the setting information of the imaging device with the network segment information included in the setting information of the connection unit, and if they match, the imaging The IP address included in the setting information of the imaging apparatus is compared with the IP address included in the setting information of the connection unit when the IP address included in the setting information of the apparatus matches the IP address. To determine that the fourth segment of needs to be changed It may be.
With this configuration, when the network segment of the connection unit and the network segment of the imaging device match, and the IP address of the connection unit and the IP address of the imaging device match, the image processing device has the first IP address of the imaging device. Four segments can be changed. Thereby, in the image processing apparatus, even when the IP addresses of the connection unit and the imaging apparatus match, settings relating to the network can be automatically set for the imaging apparatus.

1 aspect of this invention WHEREIN: The said determination part is the said imaging, when the said network segment information contained in the said setting information of the said connection part and the said network segment information contained in the said setting information of the said imaging device do not correspond It may be determined that the setting information of the device and the setting information of the connection unit need to be changed so that the network segment information of the IP address matches and the fourth segment is different.
With this configuration, when the network segment of the connection unit does not match the network segment of the imaging device, the image processing device changes the IP address of the imaging device so that it matches the network segment of the connection unit and the fourth segment is different. can do. Thereby, in the image processing apparatus, even when the network segment of the connection unit and the imaging apparatus match, settings relating to the network can be automatically set for the imaging apparatus.

One aspect of the present invention includes an external communication connection unit connected to a control device that controls a robot or another image processing device, and the determination unit uses setting information of the external communication connection unit to It may be determined whether or not the setting information needs to be changed.
With this configuration, it is determined that the image processing apparatus needs to change the setting information of the imaging device using the connection unit connected to the imaging device, the setting information of the external communication connection unit, and the setting information of the connection unit. In this case, the setting information of the imaging device can be changed. As a result, the image processing apparatus can automatically set the network settings for the imaging apparatus.

In one aspect of the present invention, the setting information of the imaging device and the setting information of the external communication connection unit are setting information related to a network, respectively, and include network segment information indicating a network segment and the network segment information. An address is included, and the determination unit compares the network segment information included in the setting information of the imaging device with the network segment information included in the setting information of the external communication connection unit, and they match In addition, it may be determined that the network segment information of the IP address included in the setting information of the imaging device needs to be changed.
With this configuration, the image processing apparatus can change the network segment of the imaging apparatus when the network segment of the connection unit matches the network segment of the external communication connection unit. Thereby, in the image processing apparatus, when the IP address address of the external communication connection unit is changed, even if the network segment of the external communication connection unit and the imaging device is the same, the setting related to the network for the imaging device is performed. Can be set automatically.

According to another aspect of the present invention, communication is performed using the image processing apparatus according to one aspect of the present invention, a robot main body, and setting information changed by the changing unit of the image processing apparatus. And a robot control device that performs drive control.
With this configuration, the robot system determines that the setting information of the imaging device needs to be changed using the connection unit that connects the image processing device to the imaging device, the setting information of the imaging device, and the setting information of the connection unit. In such a case, the setting information of the imaging device can be changed. As a result, the robot system can control the robot using the result of the image processing apparatus automatically setting the network settings for the imaging apparatus.

  According to each aspect of the present invention, using the network setting information of the imaging device and the network setting information of the connection unit to which the imaging device is connected or the external communication connection unit to which another device is connected, the imaging device When it is necessary to change the network setting information of the image pickup device, the network setting information of the image pickup device is changed. can do.

It is a lineblock diagram showing an example of a robot system concerning a 1st embodiment. 1 is a schematic block diagram illustrating a configuration of an image processing apparatus according to a first embodiment. It is a figure explaining the network segment which concerns on 1st Embodiment. It is a figure explaining an example of the relationship between the IP address previously allocated to the 1st imaging device connection part-the 4th imaging device connection part memorize | stored in the memory | storage part which concerns on 1st Embodiment, and a network segment. It is a figure explaining an example of the IP address previously allocated to the imaging device connected to the 1st imaging device connection part-the 4th imaging device connection part memorize | stored in the memory | storage part which concerns on 1st Embodiment. It is a flowchart of the process sequence which the imaging device communication part which concerns on 1st Embodiment performs. It is a figure explaining an example of a network segment and IP address in case the network segment of the nth imaging device connection part and imaging device which concern on 1st Embodiment differs. It is a figure explaining an example of a network segment and an IP address in case the network segment of the nth imaging device connection part and imaging device which concern on 1st Embodiment is the same, and an IP address address is the same. It is a flowchart of the process sequence which the imaging device communication part which concerns on 2nd Embodiment performs. It is a figure explaining an example of a network segment and an IP address in case the network segment of the external communication connection part which concerns on 2nd Embodiment, an nth imaging device connection part, and an imaging device is the same.

<First Embodiment>
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram illustrating an example of a robot system 1 according to the first embodiment. The robot system 1 includes an information processing device 5, an imaging device 10, a robot 20, a control device 30, and an image processing device 40.

  The robot system 1 receives an operation from a user by the information processing apparatus 5 and causes the robot 20 to perform a predetermined operation based on the received operation. For example, as shown in FIG. 1, the predetermined work indicates a work for rearranging the work target M arranged on the upper surface of the work table TB to a predetermined position, but may be another work. The work table TB is, for example, a table or the like, but may be a floor surface, a wall surface, or the like as long as the work object M can be arranged instead.

  The work target M is an object that can be gripped by the robot 20, and is, for example, a part of an industrial product such as a screw or bolt, but may be another object. In FIG. 1, the work object M is shown as a rectangular parallelepiped object. The robot system 1 causes the robot 20 to perform a predetermined work based on the position and posture of the work target M calculated by the image processing device 40.

  The information processing apparatus 5 includes a display capable of installing an application program for controlling the robot 20 such as a notebook PC (Personal Computer), a desktop PC, a tablet PC, or a multi-function mobile phone terminal (smartphone). Device. This application program uses a GUI (Graphical User Interface) for creating a control program for controlling the robot 20 and a GUI having various functions such as a GUI for displaying the state of the robot system 1. Display on the display.

The information processing apparatus 5 accepts an operation from the user via the GUI displayed on the display unit, creates the above-described control program based on the accepted operation, and compiles it. By this compilation, the control program is converted into an object code that can be executed by the control device 30. The information processing device 5 accepts an operation from the user via the GUI displayed on the display unit, and outputs this object code to the control device 30 based on the accepted operation. In this object code, for example, a plurality of processing procedures are described. A processing procedure in which a device that executes this object code communicates with an external device includes, for each processing, information indicating a transmission source of a processing request (device that executes this object code) and a transmission destination (the above-described device). The information indicating the external device) is described in association with it. The information indicating the transmission source is an IP (Internet Protocol) address set in the information processing apparatus 5 or the control apparatus 30. The information indicating the transmission destination is an IP address set in the external communication connection unit 41 (FIG. 2) of the control device 30 or the image processing device 40.
The information processing device 5 is communicably connected to the control device 30 via a cable. Wired communication via a cable is performed according to the Ethernet (registered trademark) standard.

The imaging device 10 is, for example, a camera including a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), or the like that is an imaging element that converts collected light into an electrical signal. The imaging device 10 is connected to the image processing device 40 via a cable so as to be communicable. Wired communication via a cable is performed, for example, according to the standard of GigE (Giga Ethernet (registered trademark)) that can supply power to the imaging device 10 via a LAN cable. The communication between the imaging device 10 and the image processing device 40 may be performed according to the Ethernet (registered trademark) standard. In this case, power may be separately supplied to the imaging device 10. Further, when the image processing apparatus 40 can be connected to a plurality of imaging apparatuses 10, the imaging apparatus 10 may be plural.
The imaging device 10 is installed at a position where a range including the work target M can be captured as a captured image. The imaging device 10 is configured to capture a still image as a captured image, but may be configured to capture a moving image as a captured image instead.

  The robot 20 acquires a control signal based on the position and orientation of the work target M from the control device 30, and performs a predetermined work based on the acquired control signal. The robot 20 is, for example, a single-arm robot including an end effector END having a claw portion that can grip an object (in this example, the work target M), a manipulator MNP, and a plurality of actuators (not shown). The single-arm robot refers to a robot having one arm constituted by the end effector END and the manipulator MNP (or only the manipulator MNP).

  The robot 20 may be a scalar robot (horizontal articulated robot), a double-arm robot, or the like instead of the single-arm robot. A scalar robot is a robot in which the manipulator moves only in the horizontal direction and only the slide shaft at the tip of the manipulator moves up and down. The dual-arm robot refers to a robot having two arms each constituted by an end effector END and a manipulator MNP (or only the manipulator MNP).

  The arm of the robot 20 is a 6-axis vertical articulated type in the example shown in FIG. 1, and the support base, the manipulator MNP, and the end effector END perform an operation with 6 degrees of freedom by a coordinated operation by an actuator. Can do. Note that the arm of the robot 20 may operate with 5 degrees of freedom (5 axes) or less, or may operate with 7 degrees of freedom (7 axes) or more. Hereinafter, the operation of the robot 20 performed by the arm having the end effector END and the manipulator MNP will be described.

  The robot 20 is communicably connected to the control device 30 by a cable, for example. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The robot 20 and the control device 30 may be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark). The robot 20 is configured to be connected to the control device 30 installed outside the robot 20 as shown in FIG. 1. However, instead of this configuration, the control device 30 is built in the robot 20. It may be.

  The control device 30 acquires the object code from the information processing device 5 and controls the robot 20 to perform a predetermined operation based on the acquired object code. More specifically, in this example, the control device 30 acquires and acquires a captured image in which the range including the work target M is captured by the imaging device 10 from the image processing device 40 based on the object code. A request to perform image processing for calculating the position and orientation of the work target M based on the captured image is output. In addition, in the request output from the control device 30 to the image processing device 40, information indicating the settings related to the networks of the external communication connection unit 41 (FIG. 2) and the imaging device 10 included in the image processing device 40 to be described later indicates the transmission destination. It is included as information to show.

The control device 30 is communicably connected to the image processing device 40 via a LAN cable. Wired communication via a LAN cable is performed according to a standard such as Ethernet (registered trademark), for example. The control device 30 outputs, to the information processing device 5, information indicating the network settings of the external communication connection unit 41 (FIG. 2) and the imaging device 10 that are output from the image processing device 40 when the image processing device 40 is activated. To share information.
Then, after the image processing is completed by the image processing device 40, the control device 30 acquires information indicating the position and orientation of the work target M from the image processing device 40. The control device 30 generates a control signal based on the acquired position and orientation of the work target M, and outputs the generated control signal to the robot 20 so that the robot 20 performs a predetermined work.

  In response to a request from the control device 30 based on the object code, the image processing device 40 acquires a captured image in which a range including the work target M is captured from the imaging device 10. Then, after acquiring the captured image from the imaging device 10, the image processing device 40 performs image processing for calculating the position and orientation of the work target M based on the acquired captured image. The image processing device 40 outputs information indicating the position and orientation of the work target M obtained as a result of the image processing to the control device 30 via the LAN cable.

The image processing device 40 recognizes the imaging device 10 connected to the imaging device connection unit 48 (FIG. 2) when the own device is activated. Note that an IP address (third setting information) is initially set in the external communication connection unit 41 (FIG. 2), as will be described later. In addition, an IP address (first setting information) is initially set in the imaging device connection unit 48 as described later. When the image processing apparatus 40 can recognize the imaging apparatus 10, the image processing apparatus 40 acquires an IP address (second setting information) set in the imaging apparatus 10. The image processing apparatus 40 compares the acquired second setting information with the first setting information and determines whether or not the second setting information needs to be changed. When it is determined that the second setting information needs to be changed, the image processing apparatus 40 changes the second setting information based on a change rule described later. Each initial setting may be arbitrarily set by the user.
The image processing device 40 outputs information indicating the settings related to the network of the external communication connection unit 41 (FIG. 2), first setting information, and second setting information to the control device 30.

  Note that the image processing device 40 periodically acquires captured images from the imaging device 10 instead of a configuration that performs these processes in response to a request from the control device 30 based on the object code, and acquires the captured images. The position and orientation of the work target M may be calculated by performing the above-described image processing on the acquired captured image each time. In this case, the image processing apparatus 40 outputs information indicating the position and orientation of the work target M calculated in response to a request from the control apparatus 30 to the control apparatus 30.

Next, a schematic configuration of the image processing apparatus 40 will be described.
FIG. 2 is a schematic block diagram illustrating the configuration of the image processing apparatus 40 according to the present embodiment. As illustrated in FIG. 2, the image processing device 40 includes an external communication connection unit 41, an external communication unit 42, an input reception unit 43, a control unit 44, a storage unit 45, an image processing unit 46, and an imaging device. A control unit 47, an imaging device connection unit 48 (connection unit), and an imaging device communication unit 49 are provided. The imaging device connection unit 48 includes a first imaging device connection unit 481 to a fourth imaging device connection unit 484. In the present embodiment, the n-th imaging device connection unit 48n (n is an integer of 1 to 4) is also referred to as an imaging device port. The imaging device communication unit 49 includes an acquisition unit 491, a determination unit 492, and a change unit 493. In addition, a display unit 50 and an input unit 60 are connected to the image processing apparatus 40.

  The display unit 50 displays the image information output from the control unit 44. The display unit 50 is, for example, a liquid crystal display device. The image information displayed on the display unit 50 is image information such as an image captured by the imaging device 10-1 to the imaging device 10-4, an image of a network setting screen (hereinafter referred to as a network setting image), and the like.

  The input unit 60 is an input device operated by a user, and is, for example, a mouse, a keyboard, a pointing device, a touch panel provided on the display unit 50, or the like. The input unit 60 outputs operation information indicating the operation result to the image processing apparatus 40.

A LAN cable is connected to the external communication connection unit 41. The external communication connection unit 41 includes a LAN connector. An IP address is initially set in the external communication connection unit 41.
The external communication connection unit 41 outputs the request received from the control device 30 via the LAN cable to the external communication unit 42. Further, the external communication connection unit 41 transmits the image processing result and the image information output by the external communication unit 42 to the control device 30 via the LAN cable in accordance with the control of the external communication unit 42. Note that the request received by the external communication connection unit 41, the image processing result to be transmitted, and the image information include information indicating the transmission destination and information indicating the transmission source.

  When the image processing apparatus 40 is activated, the external communication unit 42 is shared by acquiring the IP address of the external device connected via the LAN cable and the external communication connection unit 41. The external device is any one of the information processing device 5, the robot 20, the control device 30, and another image processing device 40.

The external communication unit 42 receives the request output from the external communication connection unit 41. The external communication unit 42 extracts information indicating the transmission destination included in the received request. The external communication unit 42 determines whether the information indicating the transmission destination of the extracted request matches the information indicating the IP addresses set in the external communication connection unit 41 and the imaging device connection unit 48, respectively. The external communication unit 42 indicates the received request and the transmission source when the information indicating the transmission destination of the extracted request matches the IP address set in the external communication connection unit 41 or the imaging device connection unit 48. Information is output to the control unit 44.
The external communication unit 42 outputs the image processing result and the image information to the transmission destination included in the image processing result and the image information output from the control unit 44 via the LAN cable.

  The input receiving unit 43 receives information input from the input unit 60 and outputs the received operation information to the control unit 44.

  The control unit 44 receives a request output from the external communication unit 42, operation information output from the input receiving unit 43, and an image processing result output from the image processing unit 46. When the request output from the external communication unit 42 is a request for image processing and the imaging apparatus, the control unit 44 outputs the input request to the image processing unit 46.

  The control unit 44 receives the image processing result output from the image processing unit 46 and the image information of the captured image. The image processing result includes information indicating the position and orientation of the work target M. The control unit 44 adds information indicating the transmission source of the request included in the request to the image processing result output by the image processing unit 46 and outputs the result to the external communication unit 42. In addition, the control unit 44 adds information indicating the transmission source of the request included in the request to the image information output from the image processing unit 46 and outputs the information to the external communication unit 42.

  The storage unit 45 stores a control program for the control unit 44 to control each unit of the image processing apparatus 40. The storage unit 45 stores an IP address previously assigned to the external communication connection unit 41, for example, “192.168.0.3”. The storage unit 45 stores IP addresses assigned in advance to the first imaging device connection unit 481 to the fourth imaging device connection unit 484 shown in FIG. The storage unit 45 stores IP addresses assigned in advance to the imaging devices 10-1 to 10-4 connected to the first imaging device connection unit 481 to the fourth imaging device connection unit 484 shown in FIG. Yes.

  Here, the network segment will be described with reference to FIG. FIG. 3 is a diagram for explaining a network segment according to the present embodiment. In FIG. 3, “192.168.11.11” indicated by reference sign g21 is an example of an IP address. "192" indicated by reference numeral g1 is the first segment, "168" indicated by reference numeral g2 is the second segment, "11" indicated by reference numeral g3 is the third segment, and "11" indicated by reference numeral g4 is the fourth segment (host part) (Or host address). In addition, “192.168.11”, which is the first segment to the third segment indicated by reference sign g11, is referred to as a network segment (network portion or network address).

  FIG. 4 illustrates an example of a relationship between an IP address pre-assigned to the first imaging device connection unit 481 to the fourth imaging device connection unit 484 stored in the storage unit 45 according to the present embodiment and a network segment. It is a figure to do. In the example illustrated in FIG. 4, the IP address assigned to the first imaging device connection unit 481 is “192.168.11.1”, and the network segment is “192.168.11”. The IP address assigned to the second imaging device connection unit 482 is “192.168.12.1”, and the network segment is “192.168.12”. The IP address assigned to the third imaging device connection unit 483 is “192.168.13.1”, and the network segment is “192.168.13”. The IP address assigned to the fourth imaging device connection unit 484 is “192.168.14.1”, and the network segment is “192.168.14”. In the example of FIG. 4, the network segment at the IP address previously assigned to the first imaging device connection unit 481 to the fourth imaging device connection unit 484 is different from the network segment previously assigned to the external communication connection unit 41. Is set to The network segments of the first imaging device connection unit 481 to the fourth imaging device connection unit 484 are also set differently.

  FIG. 5 is assigned in advance to the imaging devices 10-1 to 10-4 connected to the first imaging device connection unit 481 to the fourth imaging device connection unit 484 stored in the storage unit 45 according to the present embodiment. It is a figure explaining an example of the existing IP address. In the example illustrated in FIG. 5, the IP address assigned to the imaging device 10-1 connected to the first imaging device connection unit 481 is “192.168.11.11”. The IP address assigned to the imaging device 10-2 connected to the second imaging device connection unit 482 is “192.168.12.11”. The IP address assigned to the imaging device 10-3 connected to the third imaging device connection unit 483 is “192.168.13.11.” The IP address assigned to the imaging device 10-4 connected to the fourth imaging device connection unit 484 is “192.168.14.11.” As shown in FIG. 5, the network segment of the IP address pre-assigned to the imaging devices 10-1 to 10-4 connected to the first imaging device connection unit 481 to the fourth imaging device connection unit 484 is the first. It matches the network segment of the imaging device connection unit 481 to the fourth imaging device connection unit 484. And only the value of the fourth segment is set to be different.

Returning to FIG. 2, the description of the image processing apparatus 40 will be continued.
In response to a request input from the control unit 44, the image processing unit 46 performs image processing on the image information output from the imaging device control unit 47 using a well-known method, and the position and orientation of the work target M. Is calculated. The image processing unit 46 outputs information indicating the calculated position and orientation of the work target M to the control unit 44. Further, when the information output from the control unit 44 includes a request for the imaging device control unit 47, the image processing unit 46 outputs this request to the imaging device control unit 47. Further, the image processing unit 46 outputs the image information output by the imaging device control unit 47 to the control unit 44.

  The imaging device control unit 47 selects the image information input from the imaging device communication unit 49 in response to the request input from the image processing unit 46, and outputs the selected image information to the image processing unit 46. The imaging device control unit 47 determines the imaging sensitivity of the imaging device 10-1 to the imaging device 10-4, the selection of the area to be captured, the angle of view to be captured, and the like according to the request input from the image processing unit 46. Control may be performed via the imaging device communication unit 49 and the imaging device connection unit 48.

  Each of the first imaging device connection unit 481 to the fourth imaging device connection unit 484 supplies power to the imaging device 10-1 to the imaging device 10-4. The first imaging device connection unit 481 to the fourth imaging device connection unit 484 include, for example, a PoE (Power over Ethernet) standard connector. The IP addresses shown in FIG. 4 are set in advance in each of the first imaging device connection unit 481 to the fourth imaging device connection unit 484.

The imaging device 10-1 is connected to the first imaging device connection unit 481. The first imaging device connection unit 481 acquires the image information output by the imaging device 10-1 and outputs the acquired image information to the imaging device communication unit 49.
The imaging device 10-2 is connected to the second imaging device connection unit 482. The second imaging device connection unit 482 acquires the image information output by the imaging device 10-2 and outputs the acquired image information to the imaging device communication unit 49.

The imaging device 10-3 is connected to the third imaging device connection unit 483. The third imaging device connection unit 483 acquires the image information output by the imaging device 10-3, and outputs the acquired image information to the imaging device communication unit 49.
The imaging device 10-4 is connected to the fourth imaging device connection unit 484. The fourth imaging device connection unit 484 acquires the image information output by the imaging device 10-4 and outputs the acquired image information to the imaging device communication unit 49. The image information includes imaging device identification information indicating the imaging device 10-n (n is an integer of 1 to 4).

  Note that the imaging device identification information includes information indicating IP addresses set in advance as shown in FIG. 5 for each of the imaging devices 10-1 to 10-4. However, the imaging devices 10-1 to 10-4 may not have IP addresses set in the initial state. When the IP address is not set and when the IP address is different from the preset one, the imaging device communication unit 49 changes or sets the IP address.

  When the power of the image processing device 40 is turned on, the acquisition unit 491 acquires the imaging devices 10-1 to 10- connected to the first imaging device connection unit 481 to the fourth imaging device connection unit 484, respectively. 4 is detected. Thereafter, the acquisition unit 491 obtains the IP addresses (first setting information) of the first imaging device connection unit 481 to the fourth imaging device connection unit 484 and the detected IP addresses of the imaging devices 10-1 to 10-4. (Second setting information). The acquisition unit 491 outputs the acquired IP addresses of the first imaging device connection unit 481 to the fourth imaging device connection unit 484 and the IP addresses of the imaging devices 10-1 to 10-4 to the determination unit 492.

  The determination unit 492 compares the IP addresses of the first imaging device connection unit 481 to the fourth imaging device connection unit 484 output by the acquisition unit 491 with the IP addresses of the imaging devices 10-1 to 10-4, It is determined whether or not the IP addresses of the imaging devices 10-1 to 10-4 need to be changed. If the determination unit 492 determines that there is a need for change, the acquired IP addresses of the first imaging device connection unit 481 to the fourth imaging device connection unit 484 and the IP addresses of the imaging devices 10-1 to 10-4, respectively. The address is output to the changing unit 493.

  The changing unit 493 receives the IP addresses of the first imaging device connection unit 481 to the fourth imaging device connection unit 484 and the IP addresses of the imaging devices 10-1 to 10-4 from the determination unit 492. The changing unit 493 changes the IP address of the imaging apparatus 10 that needs to be changed, and causes the storage unit 45 to store the changed IP address. Further, the changing unit 493 transmits information indicating the changed IP address to the imaging device 10 via the imaging device connection unit 48 and the LAN cable, thereby setting or changing the IP address of the imaging device 10.

Next, processing performed by the imaging device communication unit 49 will be described.
In the following description, when one of the first imaging device connection unit 481 to the fourth imaging device connection unit 484 is not specified, the nth imaging device connection unit 48n (n is an integer of 1 to 4), imaging When one of the devices 10-1 to 10-4 is not specified, the imaging device 10-n (n is an integer of 1 to 4).
FIG. 6 is a flowchart of a processing procedure performed by the imaging device communication unit 49 according to the present embodiment.
(Step S1) The acquisition unit 491 detects the imaging device 10-n connected to each of the n-th imaging device connection unit 48n when the power of the image processing device 40 is turned on.

(Step S2) The acquisition unit 491 acquires each IP address of the n-th imaging device connection unit 48n and each detected IP address of the imaging device 10-n. Next, the acquisition unit 491 extracts a network segment from each IP address of the n-th imaging device connection unit 48n. Next, the acquisition unit 491 extracts network segments from the detected IP addresses of the respective imaging devices 10-n.

(Step S3) The determination unit 492 compares each network segment of the n-th imaging device connection unit 48n output from the acquisition unit 491 with each network segment of the imaging device 10-n, and determines whether the network segments are the same. Determine whether. If the determination unit 492 determines that the network segments are the same (step S3; YES), the process proceeds to step S4. If the determination unit 492 determines that the network segments are different (step S3; NO), the process proceeds to step S7.

(Step S4) The determination unit 492 compares each IP address of the n-th imaging device connection unit 48n with each IP address of the imaging device 10-n, and determines whether or not the IP addresses are the same. When determining that the IP addresses are the same (step S4; YES), the determining unit 492 proceeds to step S5, and when determining that the IP addresses are different (step S4; NO), the determining unit 492 proceeds to step S6.

(Step S5) The changing unit 493 changes the IP address of the imaging device 10-n having the same IP address as that of the n-th imaging device connection unit 48n to an IP address (for example, set in advance). In this case, the changing unit 493 changes the IP address by changing only the fourth segment without changing the network segment. The changing unit 493 ends the process after the change.
(Step S6) The changing unit 493 terminates the process without changing the IP address of the imaging device 10-n.

(Step S7) The changing unit 493 changes the IP address of the imaging device 10-n having a different network segment from the n-th imaging device connection unit 48n to a network segment and an IP address (for example, set in advance). The changing unit 493 ends the process after the change.
Above, the process which the imaging device communication part 49 performs is complete | finished.

<< Address change example 1 >>
Here, an example of processing when the network segment of the n-th imaging device connection unit 48n and the imaging device 10-n are different will be described. In this example, settings related to the network of the external communication connection unit 41 of the image processing apparatus 40 are set in advance. Here, the settings relating to the network are settings such as an IP address, an IP address subnet mask, and a gateway address. In this example, an example in which an IP address “192.168.0.3” different from the network segments of the n-th imaging device connection unit 48n and the imaging device 10-n is preset in the external communication connection unit 41 will be described. To do.

FIG. 7 is a diagram illustrating an example of a network segment and an IP address when the network segment is different between the n-th imaging device connection unit 48n and the imaging device 10-n according to the present embodiment.
The diagram of the area indicated by reference numeral g101 in FIG. 7 is a diagram for explaining the acquired network segments and IP addresses of the n-th imaging device connection unit 48n and the imaging device 10-n. Also, the diagram of the area indicated by reference numeral g111 in FIG. 7 is a diagram for explaining the change of the network segment and the IP address of the imaging device 10-n.

  In the example indicated by reference sign g101 in FIG. 7, the network segment of the n-th imaging device connection unit 48n is “192.168.11” and the IP address is “192.168.11.1”. The network segment of the imaging device 10-n connected to the n-th imaging device connection unit 48n is “192.168.50” and the IP address is “192.168.50.1”.

  In the example indicated by reference sign g101 in FIG. 7, the network segments of the n-th imaging device connection unit 48n and the imaging device 10-n are different. For this reason, the network segment and the IP address of the imaging apparatus 10-n are changed by the changing unit 493 to values set in advance as in the areas indicated by the symbols g111 and g112 in FIG. Specifically, the network segment “192.168.50” of the imaging device 10-n is changed to the network segment “192.168.11” of the n-th imaging device connection unit 48n by the changing unit 493. Thereafter, the IP address of the imaging device 10-n is changed by the changing unit 493 to “192.168.11.11”, which is a value for which the fourth segment is determined in advance.

<< Address change example 2 >>
Next, an example of processing when the network segment of the n-th imaging device connection unit 48n and the imaging device 10-n are the same and the IP address is the same will be described. Also in this example, an example in which the IP address “192.168.0.3” is preset in the external communication connection unit 41 will be described.

FIG. 8 illustrates an example of a network segment and an IP address when the network segment of the n-th imaging device connection unit 48n and the imaging device 10-n according to the present embodiment have the same network segment and the same IP address. FIG.
The diagram of the area indicated by reference numeral g121 in FIG. 8 is a diagram for explaining the acquired network segment and IP address of the n-th imaging device connection unit 48n and the imaging device 10-n. Further, the diagram of the area indicated by reference numeral g131 in FIG. 8 is a diagram for explaining the change of the IP address of the imaging device 10-n.

  In the example indicated by reference sign g121 in FIG. 8, the network segment of the n-th imaging device connection unit 48n is “192.168.11”, and the IP address is “192.168.11.1”. The network segment of the imaging device 10-n connected to the n-th imaging device connection unit 48n is “192.168.11”, and the IP address is “192.168.11.1”.

  In the example indicated by reference numeral g121 in FIG. 8, the network segment is the same between the n-th imaging device connection unit 48n and the imaging device 10-n. For this reason, the network segment and the IP address of the imaging apparatus 10-n are changed by the changing unit 493 from a region indicated by reference sign g122 in FIG. 8 to a preset value such as a region indicated by reference sign g132. Specifically, the IP address of the imaging device 10-n is changed by the changing unit 493 to “192.168.11.11”, which is a value for which the fourth segment is determined in advance.

  Note that “11” of the fourth segment of the imaging device 10-n described with reference to FIGS. 7 and 8 is an example, and a predetermined value is the fourth segment of the n-th imaging device connection unit 48n. It may be different from the value of. For example, the value of the fourth segment in the IP address of the imaging device 10-n may be assigned randomly by the changing unit 493 or may be assigned in order. For example, when it is determined that the value of the fourth segment of the imaging device 10-n after the change is the same as the value of the fourth segment of the n-th imaging device connection unit 48n, Further changes may be made.

  According to the image processing device 40 and the robot system 1 of the present embodiment described above, the network setting information of the imaging device 10-n and the network setting of the nth imaging device connection unit 48n to which the imaging device 10-n is connected. The information is used to determine whether or not the network setting information of the imaging device 10-n needs to be changed. Then, according to the image processing apparatus 40 and the robot system 1 of the present embodiment, the network setting information of the imaging apparatus 10-n is changed when it is necessary to change it. Network settings can be made automatically.

Accordingly, the user uses the robot system 1 without being aware of the settings of the imaging device 10-n connected to the image processing device 40 and the n-th imaging device connection unit 48n to which the imaging device 10-n is connected. can do. Further, when a plurality of imaging devices 10-n are used, the setting for each imaging device 10-n is automatically performed by the image processing device 40, so that it is possible to reduce the time and effort for setting the user's network.
Furthermore, according to the present embodiment, for example, by connecting an imaging apparatus that has been connected to another robot system or another image processing apparatus to the image processing apparatus 40 of the present embodiment, the imaging apparatus 10 The image processing apparatus 40 automatically performs setting for each −n. As a result, according to the present embodiment, the setting for each imaging device 10-n can be automatically performed regardless of the IP address set for the imaging device 10-n to be connected. In this way, the user can use the imaging device 10-n in the image processing device 40 without connecting to the image processing device 40 by simply connecting the imaging device 10-n to the image processing device 40.

Second Embodiment
In the first embodiment, the example in which the settings related to the network of the external communication connection unit 41 of the image processing apparatus 40 are set in advance has been described.
In the present embodiment, a case will be described in which the IP address of the external communication connection unit 41 is changed by, for example, a user. The configuration of the image processing device 40 is the same as that of FIG. 2 of the first embodiment.

FIG. 9 is a flowchart of a processing procedure performed by the imaging device communication unit 49 according to the present embodiment. In the following processing, it is assumed that the set network segment is the same and the IP address is different in each of the n-th imaging device connection unit 48n and the imaging device 10-n.
(Step S11) When the power of the image processing device 40 is turned on, the acquisition unit 491 is a network set in each of the external communication connection unit 41, the n-th imaging device connection unit 48n, and the imaging device 10-n. Get a segment.

(Step S12) The determination unit 492 determines whether or not the network segment of the external communication connection unit 41 is the same as the network segment of the n-th imaging device connection unit 48n. If the determination unit 492 determines that the network segment of the external communication connection unit 41 and the network segment of the n-th imaging device connection unit 48n are the same (step S12; YES), the determination unit 492 proceeds to step S13. When the determination unit 492 determines that the network segment of the external communication connection unit 41 is different from the network segment of the n-th imaging device connection unit 48n (step S12; NO), the n-th imaging device connection unit 48n and the imaging device The processing ends without changing the IP addresses of 10-n.

(Step S13) The changing unit 493 performs processing for changing to a network segment different from the network segment of the external communication connecting unit 41 for the n-th imaging device connecting unit 48n. For example, the changing unit 493 sets (changes) a value obtained by adding 10 to the value of the third segment of the network segment of the external communication connection unit 41 as a new network segment of the n-th imaging device connection unit 48n. Next, the changing unit 493 changes the network segment of the imaging device 10-n to the same network segment as the network segment newly set for the n-th imaging device connection unit 48n.

A specific example of processing performed by the imaging device communication unit 49 when the IP address of the external communication connection unit 41 is changed by the user will be described below.
FIG. 10 is a diagram illustrating an example of a network segment and an IP address when the external communication connection unit 41, the n-th imaging device connection unit 48n, and the imaging device 10-n according to the present embodiment have the same network segment. is there.
10 is a diagram for explaining the acquired external communication connection unit 41, the n-th imaging device connection unit 48n, and the network segments and IP addresses of the imaging device 10-n. Further, the diagram of the region indicated by reference numeral g151 in FIG. 10 is a diagram for explaining the change of the network segments of the n-th imaging device connection unit 48n and the imaging device 10-n.

  In the example indicated by reference numeral g141 in FIG. 10, the network segment of the external communication connection unit 41 is “192.168.11” and the IP address is “192.168.11.3”. The network segment of the n-th imaging device connection unit 48n is “192.168.11” and the IP address is “192.168.11.1”. The network segment of the imaging device 10-n connected to the n-th imaging device connection unit 48n is “192.168.11” and the IP address is “192.168.11.11”.

In the example indicated by reference sign g141 in FIG. 10, the network segment of the external communication connection unit 41 is the same as the network segment of the n-th imaging device connection unit 48n and the imaging device 10-n. For this reason, the network segment of the n-th imaging device connection unit 48n is a value obtained by adding 10 to the value of the network segment of the external communication connection unit 41 like the region indicated by the symbol g152 from the region indicated by the symbol g142 in FIG. It is changed by the changing unit 493 to “192.168.21”. In this case, the fourth segment “1” is not changed from the area indicated by reference sign g142 in FIG. 10 to the area indicated by reference sign g152.
Further, the network segment of the imaging device 10-n is changed to the same value as the network segment newly set in the n-th imaging device connection unit 48n from the area indicated by reference numeral g143 in FIG. 10 to the area indicated by reference numeral g153. It changes by the part 493. In this case, the fourth segment “11” is not changed from the area indicated by reference numeral g143 in FIG. 10 to the area indicated by reference numeral g153.

  As described above, according to the present embodiment, the network segment settings of the n-th imaging device connection unit 48n and the imaging device 10-n are dynamically changed according to the network settings of the external communication connection unit 41. . Thereby, even if it is a case where the setting regarding the network of the external communication connection unit 41 is changed by the user, the user does not change the IP addresses of the n-th imaging device connection unit 48n and the imaging device 10-n. It will end. As a result, according to the present embodiment, in the image processing device 40, the IP address of the n-th imaging device connection unit 48n to which the imaging device 10 is connected and the IP address of the imaging device 10 can be automatically set. .

  According to the image processing apparatus 40 and the robot system 1 of the present embodiment described above, even if the IP address of the external communication connection unit 41 of the image processing apparatus 40 is changed, the network setting of the external communication connection unit 41 is performed. The information and the network setting information of the imaging device 10-n are used to determine whether or not the network setting information of the imaging device 10-n needs to be changed. Then, according to the image processing apparatus 40 and the robot system 1 of the present embodiment, the network setting information of the imaging apparatus 10-n is changed when it is necessary to change it. Network settings can be made automatically.

In the present embodiment, the example in which the image processing device 40 includes the four nth imaging device connection units 48n has been described. However, the number of the nth imaging device connection units 48n may be one or more.
In the present embodiment, the example in which the image processing apparatus 40 includes one external communication connection unit 41 has been described, but the number of external communication connection units 41 may be two or more.

  Further, a program for realizing the functions of arbitrary components in the above-described apparatus (for example, the image processing apparatus 40) is recorded on a computer-readable recording medium, and the program is read into a computer system and executed. You may make it do. Here, the “computer system” includes hardware such as an OS (Operating System) and peripheral devices. The “computer-readable recording medium” is a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD (Compact Disc) (registered trademark) -ROM, or a storage device such as a hard disk built in the computer system. I mean. Further, the “computer-readable recording medium” means a volatile memory (for example, RAM) inside a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. As described above, it is assumed that the program is held for a certain period of time.

In addition, the above program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the above program may be for realizing a part of the functions described above. Further, the program may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

DESCRIPTION OF SYMBOLS 1 ... Robot system, 5 ... Information processing apparatus, 10, 10-1 to 10-4, 10-n ... Imaging apparatus, 20 ... Robot, 30 ... Control apparatus, 40 ... Image processing apparatus, 41 ... External communication connection part, 42 ... external communication unit, 43 ... input receiving unit, 44 ... control unit, 45 ... storage unit, 46 ... image processing unit, 47 ... imaging device control unit, 48 ... imaging device connection unit, 481 ... first imaging device connection unit 482 ... second imaging device connection unit 483 ... third imaging device connection unit 484 ... fourth imaging device connection unit 48n ... n-th imaging device connection unit 49 ... imaging device communication unit 491 ... acquisition unit 492 ... Determination part, 493 ... Change part, 50 ... Display part, 60 ... Input part

Claims (6)

A connection unit connected to the imaging device;
A determination unit that determines whether the setting information of the imaging device needs to be changed using the setting information of the imaging device and the setting information of the connection unit;
When it is determined by the determination by the determination unit that the setting information of the imaging device needs to be changed, a changing unit that changes the setting information of the imaging device;
An image processing apparatus. The setting information of the imaging device and the setting information of the connection unit are setting information related to a network, respectively, including network segment information indicating a network segment and an IP address including the network segment information,
The determination unit
The network segment information included in the setting information of the imaging device is compared with the network segment information included in the setting information of the connection unit, and if they match, they are included in the setting information of the imaging device The IP address included in the setting information of the connection unit is changed, and if they match, the fourth segment of the IP address included in the setting information of the imaging device is changed. The image processing apparatus according to claim 1, wherein the image processing apparatus determines that it is necessary. The determination unit
When the network segment information included in the setting information of the imaging device does not match the network segment information included in the setting information of the connection unit, the setting information of the imaging device and the setting information of the connection unit The image processing apparatus according to claim 2, wherein it is determined that the network segment information of the IP address matches and the fourth segment needs to be changed. Including an external communication connection unit connected to a control device or other image processing device for controlling the robot,
The determination unit
The image processing apparatus according to claim 1, wherein it is determined whether the setting information of the imaging apparatus needs to be changed using setting information of the external communication connection unit. The setting information of the imaging apparatus and the setting information of the external communication connection unit are setting information related to a network, respectively, including network segment information indicating a network segment and an IP address including the network segment information,
The determination unit
The network segment information included in the setting information of the imaging device is compared with the network segment information included in the setting information of the external communication connection unit, and when these match, the setting information of the imaging device The image processing apparatus according to claim 4, wherein it is determined that the network segment information of the IP address included in the information needs to be changed. The image processing apparatus according to any one of claims 1 to 5,
The robot body,
A robot controller that performs communication using the setting information changed by the changing unit of the image processing apparatus and performs drive control of the robot body; and
A robot system comprising:

Images