JP2016120529A - Robot, robot system, control device, and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot capable of improving efficiency of work related to the installation of a work target.SOLUTION: A robot comprises: an arm which has a plurality of joints; an end effector; and a control unit, and the control unit moves the arm, controls the end effector to have a predetermined position attitude, and then puts a plurality of recognizable markers for identifying a work area.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a robot, a robot system, a control device, and a control method.

  Research and development have been conducted on robots that grip a work target and perform work using the gripped work target.

  In relation to this, there is known an operation notification device that displays an object to be operated by a robot by projecting light and clearly indicates the operation of the robot and the content of the work to a person in the work environment (see Patent Document 1). ).

JP 2004-122313 A

  However, it is difficult for the conventional motion notification device to accurately grasp the movable range of the robot, and it takes a lot of time to determine the work layout.

  Therefore, the present invention has been made in view of the above-described problems of the prior art, and provides a robot, a robot system, a control device, and a control method that can improve the efficiency of work related to installation of work objects.

One aspect of the present invention includes an arm having a plurality of joints, an end effector, and a control unit. The control unit moves the arm and causes the end effector to take a predetermined position and orientation. A robot characterized by attaching a plurality of recognizable markers for identifying a work area.
With this configuration, the robot moves the arm and causes the end effector to assume a predetermined position and orientation, and then attaches a plurality of recognizable markers for identifying the work area. Thus, the robot can improve the efficiency of work related to installation of work objects.

According to another aspect of the present invention, in the robot, a configuration in which the control unit calculates the work area using configuration information of the arm may be used.
With this configuration, the robot calculates the work area using the configuration information of the arm. Thereby, the robot can inform the user of the calculated work area.

According to another aspect of the present invention, in the robot, the control unit calculates positions of a plurality of representative points indicating the work area as positions indicating the work area, and calculates the positions of the calculated representative points. A configuration in which each of the markers is attached may be used.
With this configuration, the robot calculates the positions of a plurality of representative points indicating the work area as positions representing the work area, and attaches a marker to each of the calculated positions of the representative points. Thereby, the robot can inform the user of the range in which the work target can be set by the markers attached to the positions of the plurality of representative points.

According to another aspect of the present invention, there is provided the robot, wherein the control unit calculates a position of the plurality of representative points on a boundary of the work area as a position representing the work area. Good.
With this configuration, the robot calculates the positions of a plurality of representative points on the boundary of the work area as positions representing the work area. Thus, the robot can more reliably notify the user of the range in which the work target can be set at a plurality of positions where the arm moves.

According to another aspect of the present invention, in the robot, the control unit calculates a position of each point on the boundary of the work area as a position representing the work area, and based on the calculated points on the boundary. A configuration in which the marker is attached so as to trace the boundary may be used.
With this configuration, the robot calculates the position of each point on the boundary of the work area as a position representing the work area, and attaches a marker to trace the boundary based on each point on the calculated boundary. Thereby, the robot can inform the user of the range in which the work target can be set by the boundary indicated by the marker.

Further, another aspect of the present invention includes a robot including an arm having a plurality of joints, an end effector, and a control device that operates the robot, wherein the control device moves the arm, and A robot system characterized in that a plurality of recognizable markers for identifying a work area are attached after causing an end effector to assume a predetermined position and orientation.
With this configuration, the robot system attaches a plurality of recognizable markers for identifying the work area after moving the arm and causing the end effector to assume a predetermined position and orientation. Thereby, the robot system can improve the efficiency of work related to installation of work objects.

According to another aspect of the present invention, a plurality of recognizable markers for identifying a work area are attached after moving an arm included in a robot and causing an end effector included in the robot to take a predetermined position and orientation. This is a control device characterized by that.
With this configuration, the control device attaches a plurality of recognizable markers for identifying the work area after moving the arm included in the robot and causing the end effector included in the robot to take a predetermined position and orientation. Thereby, the control apparatus can aim at the efficiency improvement of the operation | work which concerns on installation of a work object.

According to another aspect of the present invention, a plurality of recognizable markers for identifying a work area are attached after moving an arm included in a robot and causing an end effector included in the robot to take a predetermined position and orientation. This is a control method characterized by this.
With this configuration, the control method moves the arm included in the robot and causes the end effector included in the robot to take a predetermined position and orientation, and then attaches a plurality of recognizable markers for identifying the work area. Thereby, the control method can aim at the efficiency improvement of the operation | work which concerns on installation of a work target.

  As described above, the robot, the robot system, the control device, and the control method attach a plurality of recognizable markers for identifying the work area after the arm is moved and the end effector takes a predetermined position and orientation. . Thereby, the robot, the robot system, the control device, and the control method can improve the efficiency of the work related to the installation of the work target.

It is a lineblock diagram showing an example of robot system 1 concerning a 1st embodiment. 2 is a diagram illustrating an example of a hardware configuration of a control device 30. FIG. 3 is a diagram illustrating an example of a functional configuration of a control device 30. FIG. 4 is a flowchart illustrating an example of a process flow until the control device 30 causes the robot 20 to mark a representative point position. It is a block diagram which shows an example of the robot system 1 which concerns on 2nd Embodiment. It is a figure which shows an example of a function structure of the control apparatus 30a. 4 is a flowchart illustrating an example of a process flow until the control device 30a causes the robot 20 to mark the position of a representative point.

<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 a robot 20 including one or more imaging units and a control device 30.

  The robot system 1 causes the robot 20 to perform a predetermined operation using a part or all of the upper surface of the work table TB. Hereinafter, for convenience of explanation, an area where the robot 20 performs a predetermined work will be referred to as a work area. In FIG. 1, the work area is indicated by an area A, and the area A will be hereinafter referred to as the work area A. The predetermined work is, for example, a work of gripping a work target at a certain position in the work area A and arranging the gripped work target at another position in the work area A. In place of this, instead of this, a tool placed at a certain position in the work area A is gripped, and a work target placed at another position in the work area A by the gripped tool is used. Other work such as work for performing processing or the like may be used.

  That is, the work area A is an area where a predetermined purpose can be achieved by an operation performed by the robot. The predetermined purpose indicates completion of a predetermined operation. More specifically, for example, the work area A is a part or all of the upper surface of the work table TB where a predetermined part of the end effector of the robot 20 reaches, or the end effector of the robot 20 is a predetermined value on the work table TB. An area or the like in which the posture necessary for performing the work can be realized is shown. In this example, the work area A is some planar area on the upper surface of the work table TB. Instead, for example, the work area A is a three-dimensional area (space) that can be indicated by the robot 20. Alternatively, it may be a region including a part of a shelf or a three-dimensional jig (for example, the third to fifth steps of the shelf). The work area A is an example of an area where a predetermined purpose can be achieved.

  In this example, the work table TB is a table, a table, or the like used by the robot 20 to perform work, but may be a floor surface, a wall surface, or the like instead. Before causing the robot 20 to perform a predetermined operation, the robot system 1 images a range wider than the work area (in this example, the range including the upper surface of the work table TB) by one or more imaging units included in the robot 20. . Then, the robot system 1 causes the robot 20 to point to the position indicating the work area A on the upper surface of the work table TB based on the captured image that is captured and includes a range wider than the work area.

  The method of causing the robot 20 to point to the position indicating the work area A on the upper surface of the work table TB may be, for example, a method of causing the robot 20 to grip a pen or stamp and marking with the pen or stamp. Other methods such as a method in which the robot 20 simply moves the end effector provided at the tip of the manipulator to a position indicating the work area A may be used. In this example, the robot 20 holds in advance a pen for marking a position indicating the work area A on the upper surface of the work table TB, and the robot 20 marks a position indicating the work area A with this pen. explain. The position indicating the work area A where the robot 20 marks with the pen is an example of an arbitrary position on the boundary of the area where the predetermined purpose can be achieved.

Hereinafter, the robot 20 included in the robot system 1 and the control device 30 will be described.
The robot 20 includes a first moving image capturing unit 11, a second moving image capturing unit 12, a first fixed image capturing unit 21, a second fixed image capturing unit 22, a first end effector END1, a second end effector END2, This is a double-arm robot including a first manipulator MNP1, a second manipulator MNP2, and a plurality of actuators (not shown).

  The dual-arm robot includes an arm (hereinafter referred to as a first arm) constituted by a first end effector END1 and a first manipulator MNP1 (or only the first manipulator MNP1), a second end effector END2 and a second manipulator MNP2. The robot which has two arms with the arm (henceforth a 2nd arm) comprised by (or only 2nd manipulator MNP2) is shown. In this example, the first end effector END1 and the second end effector END2 are each configured to have a claw portion that can grip an object, but instead of this, a functional unit specialized for other work (for example, , A driver, etc.).

  The robot 20 may be a single arm robot instead of the double arm robot. The single arm robot indicates a robot having one arm, for example, a robot having one of the first arm and the second arm described above. The robot 20 further includes a control device 30 and is controlled by the built-in control device 30. The robot 20 may be configured to be controlled by the control device 30 installed outside, instead of the configuration including the control device 30.

Each of the first arms is a seven-axis vertical articulated type, and the support base, the first manipulator MNP1, and the first end effector END1 can perform operations with seven degrees of freedom by a coordinated operation by an actuator. it can. Further, the first arm includes a first moving imaging unit 11.
Each of the second arms is a seven-axis vertical articulated type, and the support base, the second manipulator MNP2, and the second end effector END2 can move with a degree of freedom of seven axes by a coordinated operation by an actuator. it can. In addition, the second arm includes a second moving imaging unit 12.
Each of the first arm and the second arm may operate with 6 degrees of freedom (6 axes) or less, or may operate with 8 degrees of freedom (8 axes) or more.

  The first moving imaging unit 11 is, for example, a camera including a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), or the like, which is an imaging device that converts collected light into an electrical signal. The first moving image pickup unit 11 is connected to the control device 30 via a cable so as to be communicable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB (Universal Serial Bus), for example. The first moving image capturing unit 11 and the control device 30 may be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

The first moving image pickup unit 11 is provided in a part of the first manipulator MNP1 constituting the first arm as shown in FIG. 1, and can be moved by the movement of the first arm. The first moving image capturing unit 11 is configured to capture a still image as the first moving image. However, instead, the first moving image capturing unit 11 may be configured to capture the moving image as the first moving image. .
The second moving imaging unit 12 is, for example, a camera that includes a CCD, a CMOS, or the like that is an imaging element that converts collected light into an electrical signal.

  The 2nd moving image pickup part 12 is connected with the control apparatus 30 by the cable so that communication is possible. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The second moving imaging unit 12 and the control device 30 may be configured to be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark). The second moving imaging unit 12 is provided in a part of the second manipulator MNP2 constituting the second arm as shown in FIG. 1, and can be moved by the movement of the second arm. The second moving image capturing unit 12 is configured to capture a still image as the second moving image, but may be configured to capture a moving image as the second moving image. .

  The first fixed imaging unit 21 is, for example, a camera including a CCD, a CMOS, or the like that is an imaging element that converts collected light into an electrical signal. The first fixed imaging unit 21 is communicably connected to the control device 30 via a cable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The second moving imaging unit 12 and the control device 30 may be configured to be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  In this example, the first fixed imaging unit 21 is installed at a position where the range including the upper surface of the work table TB can be imaged. Hereinafter, the still image captured by the first fixed imaging unit 21 will be described as a first fixed captured image. The first fixed imaging unit 21 is configured to capture a still image as the first fixed captured image. Alternatively, the first fixed imaging unit 21 may be configured to capture a moving image as the first fixed captured image. .

  The second fixed imaging unit 22 is, for example, a camera provided with a CCD, a CMOS, or the like that is an imaging element that converts the collected light into an electrical signal. The second fixed imaging unit 22 is communicably connected to the control device 30 via a cable. Wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. The second fixed imaging unit 22 and the control device 30 may be connected by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  In this example, the second fixed imaging unit 22 is installed at a position where the same imaging range as the first fixed imaging unit 21 (a range including the upper surface of the work table TB) can be imaged. Hereinafter, the still image captured by the second fixed imaging unit 22 will be referred to as a second fixed captured image. The second fixed imaging unit 22 is configured to capture a still image as the second fixed captured image. Alternatively, the second fixed imaging unit 22 may be configured to capture a moving image as the second fixed captured image. .

  In addition, the first fixed imaging unit 21 and the second fixed imaging unit 22 are configured to be installed on the top H of the robot 20 as a part of the robot 20 as a stereo camera as shown by a dotted line in FIG. However, instead of this, a configuration in which the range including the upper surface of the work table TB is separately installed from the robot 20 at a position where it can be imaged may be used. Hereinafter, for convenience of explanation, the first fixed captured image and the second fixed captured image are collectively referred to as a stereo captured image. The robot 20 may be configured to include only one of the first fixed imaging unit 21 and the second fixed imaging unit 22, and may include three or more imaging units including the first fixed imaging unit 21 and The structure provided with the imaging part fixed like the 2nd fixed imaging part 22 may be sufficient.

  The robot 20 is communicably connected to a control device 30 built in the robot 20 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).

  In the present embodiment, each functional unit included in the robot 20 acquires a control signal from the control device 30 built in the robot 20, and based on the acquired control signal, the first end effector END1 and the second end effector END2 A position indicating the work area A on the work table TB is indicated by a pen held by one or both of them.

  In the following description, the operation performed by the first arm may be performed by the second arm, and the operation performed by the second arm may be performed by the first arm. In other words, the robot 20 may have a configuration in which the position indicating the work area A indicated by the first end effector END1 is indicated by the second end effector END2. In this case, the operations performed by the first arm and the second arm are interchanged in the following description. In addition, the structure which points the position which shows the work area A by sharing the position which the 1st end effector END1 and the 2nd end effector END2 point may be sufficient.

  The control device 30 images the range including the upper surface of the work table TB by using the first fixed image capturing unit 21 and the second fixed image capturing unit 22, and determines each point on the upper surface of the work table TB based on the captured stereo image. Calculate the position. In this example, the case where the upper surface of the work table TB is a flat surface will be described, but the upper surface of the work table TB is not limited thereto, and may be a surface having unevenness, for example. The control device 30 calculates a range indicating the work area A based on the calculated position of each point on the upper surface of the work table TB. The control device 30 calculates the positions of a plurality of points (hereinafter referred to as representative points) indicating the work area A based on the calculated range indicating the work area A. Then, the control device 30 sets the position of each representative point by the pen gripped by one or both of the first end effector END1 and the second end effector END2 based on the calculated positions of the plurality of representative points. The robot 20 is controlled to put a mark (marker).

  In FIG. 1, positions P <b> 1 to P <b> 4 are examples of a plurality of points (that is, representative points) indicating the work area A. In FIG. 1, the work area A is a rectangular range, but instead may be a range of other shapes such as a circular shape or an elliptical range. As described above, the control device 30 can increase the efficiency of the work related to the installation of the work target on the upper surface of the work table TB by causing the robot 20 to point to the position indicating the work area A. The work target is, for example, an industrial product to be gripped when the robot 20 performs work, its parts, jigs or tools for performing work, a tray on which various parts are arranged, and the like. Other objects may be used as long as they can be performed.

  In addition, it replaces with the structure which calculates the position of each point on the upper surface of the worktable TB based on a stereo captured image, and the control apparatus 30 is based on either one of a 1st fixed captured image and a 2nd fixed captured image. The position of each point on the upper surface of the work table TB may be calculated. In addition, the control device 30 is configured to calculate the position of each point on the upper surface of the work table TB by performing a stereo image of the range including the upper surface of the work table TB using the first moving image capturing unit 11 and the second moving image capturing unit 12. The work table TB may be provided by one or more of the first moving imaging unit 11, the second moving imaging unit 12, the first fixed imaging unit 21, and the second fixed imaging unit 22. The configuration may be such that the position of each point on the upper surface is calculated.

  Next, the hardware configuration of the control device 30 will be described with reference to FIG. FIG. 2 is a diagram illustrating an example of a hardware configuration of the control device 30. The control device 30 includes, for example, a CPU (Central Processing Unit) 31, a storage unit 32, an input reception unit 33, a communication unit 34, and a display unit 35, and each functional unit of the robot 20 via the communication unit 34. Communicate with. These components are connected to each other via a bus Bus so that they can communicate with each other. The CPU 31 executes various programs stored in the storage unit 32.

  The storage unit 32 includes, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a ROM (Read-Only Memory), a RAM (Random Access Memory), and the like. Various information, images, programs and the like processed by the control device 30 are stored. Note that the storage unit 32 may be an external storage device connected by a digital input / output port such as a USB instead of the one built in the control device 30.

The input receiving unit 33 is, for example, a keyboard, a mouse, a touch pad, or other input device. In addition, the input reception part 33 may be comprised integrally with a display part as a touchscreen.
The communication unit 34 includes, for example, a digital input / output port such as USB, an Ethernet (registered trademark) port, and the like.
The display unit 35 is, for example, a liquid crystal display panel or an organic EL (ElectroLuminescence) display panel.

  Next, the functional configuration of the control device 30 will be described with reference to FIG. FIG. 3 is a diagram illustrating an example of a functional configuration of the control device 30. The control device 30 includes a storage unit 32, an input reception unit 33, a display unit 35, an image acquisition unit 36, and a control unit 37. Part or all of the functional units included in the control unit 37 is realized by the CPU 31 executing various programs stored in the storage unit 32, for example. Some or all of these functional units may be hardware functional units such as LSI (Large Scale Integration) and ASIC (Application Specific Integrated Circuit).

The image acquisition unit 36 acquires a stereo captured image from the first fixed imaging unit 21 and the second fixed imaging unit 22. The image acquisition unit 36 outputs the acquired stereo captured image to the control unit 37.
The control unit 37 controls the entire control device 30. The control unit 37 includes a display control unit 40, an imaging control unit 42, a range calculation unit 44, a representative point position calculation unit 46, and a robot control unit 48.
The display control unit 40 generates a GUI (Graphical User Interface) that allows the user to select the type of the work area A that the user wants the robot 20 to point to, and causes the display unit 35 to display the generated GUI. The types of work area A are, for example, the following four.

1) Maximum reach range of the first end effector END1 2) Maximum reach range of the second end effector END2 3) Range that combines the maximum reach ranges of the first end effector END1 and the second end effector END2 4) Perform registration work Possible range

  Here, the registration work refers to some work for causing the robot 20 registered in advance by the input receiving unit 33 to perform. The types of work area A are not limited to the above four types, and may be five or more types including other types. Further, the type of work area A may be three or less types including other types, or may be three or less types by any combination of the above 1) to 4).

The imaging control unit 42 controls the first fixed imaging unit 21 and the second fixed imaging unit 22 to image a range including the upper surface of the work table TB.
The range calculation unit 44 calculates a range indicating a work area based on a stereo captured image in which a range including the upper surface of the work table TB acquired by the image acquisition unit 36 is captured.
The representative point position calculation unit 46 calculates the position of the representative point based on the range indicating the work area calculated by the range calculation unit 44.
Based on the position of the representative point calculated by the representative point position calculation unit 46, the robot control unit 48 uses the pen held by either one or both of the first end effector END1 and the second end effector END2. The robot 20 is controlled so as to mark the position.

  Hereinafter, with reference to FIG. 4, a process until the control device 30 causes the robot 20 to mark the position of the representative point will be described. FIG. 4 is a flowchart illustrating an example of a processing flow until the control device 30 causes the robot 20 to mark the position of the representative point. First, the display control unit 40 generates a GUI for allowing the user to select the type of the work area A that the user wants the robot 20 to point to, and displays the generated GUI on the display unit 35 (step S100). .

  Next, the range calculation unit 44 selects the type of the work area A to be calculated based on the operation received by the input reception unit 33 via the GUI (step S110). Next, the imaging control unit 42 causes the first fixed imaging unit 21 and the second fixed imaging unit 22 to perform stereo imaging of a range including the upper surface of the work table TB (step S120). Next, the range calculation unit 44 acquires the stereo captured image captured in stereo in step S120 from the image acquisition unit 36. Then, the range calculation unit 44 calculates a range indicating the work area A based on the acquired stereo captured image and the type of the work area A selected in step S110 (step S130). Here, the calculation processing of the range indicating the work area A by the range calculation unit 44 will be described.

  When the range calculation unit 44 acquires a stereo captured image in which the range including the upper surface of the work table TB is captured from the image acquisition unit 36, the position of each point on the upper surface of the work table TB based on the acquired stereo captured image. Is calculated. In addition, the range calculation unit 44 reads configuration information of the robot 20 from the storage unit 32. The configuration information of the robot 20 includes, for example, the following eight pieces of information A) to H).

A) Information indicating the length of each of the plurality of links provided in the first manipulator MNP1 (hereinafter referred to as link length) B) Information indicating the number of the plurality of actuators provided in the first manipulator MNP1 C) The first manipulator MNP1 includes Information indicating the rotatable range of each of the plurality of actuators D) Information indicating the shape and structure of the first end effector END1 E) Information indicating the link length of each of the plurality of links provided in the second manipulator MNP2 F) The second manipulator MNP2 Information indicating the number of the plurality of actuators provided G) Information indicating the rotatable range of each of the plurality of actuators provided in the second manipulator MNP2 H) Information indicating the shape and structure of the second end effector END2

  The range calculation unit 44 sets the type of the work area A based on the calculated position of each point on the upper surface of the work table TB, the read configuration information, and the type of the work area A selected in step S110. A range indicating the corresponding work area A is calculated. For example, when the type of the work area A selected in step S110 is 1) above, the range calculation unit 44 uses the position and orientation of each point on the upper surface of the work table TB and the read configuration information. Based on this, all the positions of the predetermined points of the first end effector END1 that can be reached when the first manipulator MNP1 is fully extended and on the upper surface of the work table TB are calculated. The range calculation unit 44 specifies the calculated positions of the plurality of points on the upper surface of the work table TB as ranges indicating the work area A.

  After the range indicating the work area A is specified by the range calculation unit 44 in step S130, the representative point position calculation unit 46 determines the position of the representative point based on the range indicating the work area A specified by the range calculation unit 44. Is calculated (step S140). The representative point is preferably a point on the outline of the range indicating the work area A, but is not limited thereto, and the representative point indicates the work area A as long as it is a representative point that can represent the work area A. Other points different from the points on the outline of the range may be used. However, such a point is inside the outline of the range indicating the work area A so that the user does not place any object related to the predetermined work outside the range indicating the work area A. Is desirable.

  Next, the robot controller 48 grips the position of the representative point calculated by the representative point position calculator 46 in step S140 by either one or both of the first end effector END1 and the second end effector END2. The robot 20 is marked with the pen that has been used (step S150).

  The representative point position calculation unit 46 is configured to calculate all points on the boundary of the range indicating the work area A as representative points based on the range indicating the work area A specified by the range calculation unit 44. May be. In this case, the robot control unit 48 uses the pens held by either one or both of the first end effector END1 and the second end effector END2 based on the plurality of representative points calculated by the representative point position calculation unit 46. Thus, the robot 20 is marked so as to trace the boundary of the range indicating the work area A.

  As described above, the robot system 1 in the present embodiment moves either one or both of the first arm and the second arm, and either one of the first end effector END1 and the second end effector END2 or After allowing both to take a predetermined position and orientation, a plurality of recognizable markers for identifying the work area are attached. As a result, the robot system 1 can improve the efficiency of work related to installation of work objects.

  Further, the robot system 1 calculates the work area using the configuration information of one or both of the first arm and the second arm. Thereby, the robot system 1 can inform the user of the calculated work area.

  Further, the robot system 1 calculates the positions of a plurality of representative points indicating the work area as positions representing the work area, and attaches a marker to each of the calculated positions of the representative points. Thereby, the robot system 1 can notify the user of the range in which the work target can be set by the markers attached to the positions of the plurality of representative points.

  Further, the robot system 1 calculates the positions of a plurality of representative points on the boundary of the work area as positions representing the work area. Thereby, the robot system 1 can inform the user of the range in which the work target can be set by a plurality of positions where one or both of the first arm and the second arm move.

  Further, the robot system 1 calculates the position of each point on the boundary of the range indicating the work area as the position representing the work area, and attaches a marker to trace the boundary based on each point on the calculated boundary. . Thereby, the robot system 1 can inform the user of the range where the work target can be set by the boundary indicated by the marker.

Second Embodiment
Hereinafter, a second embodiment of the present invention will be described with reference to the drawings. FIG. 5 is a configuration diagram illustrating an example of the robot system 1 according to the second embodiment. The robot system 1 according to the second embodiment includes a robot 20 and a control device 30a. In the second embodiment, the same components as those in the first embodiment will be described with the same reference numerals.

  The robot system 1 according to the second embodiment causes the robot 20 to mark the positions indicating the plurality of work areas on the upper surface of the work table TB. The plurality of work areas indicate areas where the robot 20 performs work for each of a plurality of predetermined works. In this example, a case will be described in which each of a plurality of predetermined tasks is registered in advance in the control device 30a as each of a plurality of registered tasks.

  In the present embodiment, it is assumed that the plurality of predetermined operations are four operations of the predetermined operations X1 to X4, but may be less than four predetermined operations, and may be five or more predetermined operations. May be. In this example, the plurality of predetermined tasks are different from each other. Alternatively, some or all of the plurality of predetermined tasks may be the same task.

  In FIG. 5, an area A1 is a work area related to a predetermined work X1, and is hereinafter referred to as a work area A1. The area A2 is a work area related to the predetermined work X2, and is hereinafter referred to as a work area A2. The area A3 is a work area related to the predetermined work X3, and is hereinafter referred to as a work area A3. The area A4 is a work area related to the predetermined work X4, and is hereinafter referred to as a work area A4.

  The control device 30a marks the robot 20 at positions indicating ranges indicating the work areas A1 to A4. Here, the functional configuration of the control device 30a will be described with reference to FIG. FIG. 6 is a diagram illustrating an example of a functional configuration of the control device 30a.

The control device 30a includes a storage unit 32, an input reception unit 33, a display unit 35, an image acquisition unit 36, and a control unit 37a.
The control unit 37a includes a display control unit 40a, an imaging control unit 42, a range calculation unit 44a, a region arrangement unit 45, a representative point position calculation unit 46a, and a robot control unit 48.

  In addition to having the function of the display control unit 40, the display control unit 40a causes the display unit 35 to display information indicating an error in response to a request from the region arrangement unit 45.

The range calculation unit 44a calculates a range indicating each of the plurality of work areas based on a stereo captured image in which a range including the upper surface of the work table TB acquired by the image acquisition unit 36 is captured.
The area arrangement unit 45 includes a range indicating each of the plurality of work areas calculated by the range calculation unit 44a within an area where the robot 20 can perform all of the plurality of predetermined tasks so that the ranges do not overlap each other. Deploy. More specifically, the area arrangement unit 45 first performs a simulation in which a range indicating each of the plurality of work areas is arranged so as not to overlap in the virtual space representing the work area. In the present embodiment, this executable region is a part or all of the upper surface of the work table TB.

Based on the result of this simulation, the area placement unit 45 assigns the range indicating each of the plurality of work areas calculated by the range calculation unit 44a to the area in which all of the plurality of predetermined works can be performed by the robot 20. It is determined whether or not it can be arranged so as not to become. As a result of this determination, if the region placement unit 45 determines that the placement is impossible, the region placement unit 45 outputs a request to display information indicating an error on the display unit 35 to the display control unit 40a.
As a result of the determination by the region placement unit 45, the representative point position calculation unit 46a is configured to perform a plurality of operations calculated by the range calculation unit 44a based on the result of the simulation by the region placement unit 45. The position of the representative point in the range indicating each region is calculated.

  Hereinafter, with reference to FIG. 7, a process until the control device 30a marks the position of the representative point on the robot 20 will be described. FIG. 7 is a flowchart illustrating an example of a processing flow until the control device 30a causes the robot 20 to mark the position of the representative point. First, the display control unit 40a generates a GUI for allowing the user to select each type of the plurality of work areas that the user wants the robot 20 to point to, and displays the generated GUI on the display unit 35 (step 35). S200).

  At this time, for example, the display control unit 40a displays a GUI so that only 4) can be selected from the types of the above-described work areas because a plurality of predetermined works are stored in the storage unit 32. The control device 30a replaces the configuration in which the display control unit 40a displays a GUI for allowing the user to select the type of each of the plurality of work areas that the user wants the robot 20 to point to. A configuration in which the types are registered in advance may be used.

  Next, the range calculation unit 44a selects the types of the plurality of work areas A1 to A4 to be calculated based on the operation received by the input reception unit 33 via the GUI (step S210). In this example, the GUI displayed in step S200 displays only 4) of the above work area types so that the work areas A1 to A4 can be registered. Suppose that it is selected as an executable range.

  Next, the imaging control unit 42 causes the first fixed imaging unit 21 and the second fixed imaging unit 22 to perform stereo imaging of a range including the upper surface of the work table TB (step S220). Next, the range calculation unit 44a acquires the stereo captured image captured in stereo in step S220 from the image acquisition unit 36. Then, the range calculation unit 44a indicates a range (area) indicating each of the plurality of work areas A1 to A4 based on the acquired stereo captured image and the types of the plurality of work areas A1 to A4 selected in step S210. Is calculated (step S230).

  Next, the area placement unit 45 sets the range indicating each of the plurality of work areas A1 to A4 calculated by the range calculation unit 44a within the area in which all of the plurality of predetermined works X1 to X4 can be executed by the robot 20. Then, a simulation is performed in a virtual space representing the work area so that they do not overlap each other (step S240). Next, the area placement unit 45 sets a range indicating each of the plurality of work areas A1 to A4 calculated by the range calculation unit 44a based on the result of the simulation in step S240 for a plurality of predetermined works X1 to X4. It is determined whether or not everything can be arranged in an area executable by the robot 20 (step S250).

  As a result of the determination by the area arrangement unit 45, when it is determined that the arrangement is impossible (step S250-No), the control unit 37a controls the display control unit 40a to display information indicating an error on the display unit 35. (Step S280), the process ends. On the other hand, as a result of the determination by the region placement unit 45, when it is determined that placement is possible (step S250-Yes), the representative point position calculation unit 46a is based on the result of the simulation by the region placement unit 45 in step S240. The position of the representative point in the range indicating each of the plurality of work areas calculated by the range calculation unit 44a is calculated (step S260). Next, the robot controller 48 grasps either one or both of the first end effector END1 and the second end effector END2 based on the position of the representative point calculated by the representative point position calculator 46a in step S260. The robot 20 is marked with the pen that has been used (step S270).

  As described above, the robot system 1 according to the present embodiment marks the robot 20 at a position indicating a range indicating one work area A related to a certain predetermined work X with respect to the upper surface of the work table TB. Instead of the configuration to be attached, the robot 20 is marked at a position indicating a range indicating each of a plurality of work areas related to each of a plurality of predetermined tasks. Thereby, the robot system 1 can acquire the effect similar to 1st Embodiment.

  Note that the robot 20 included in the robot system 1 described above may include an actuator at the position of the waist C shown in FIG. The actuator includes a first fixed position of an end portion of the first manipulator MNP1 opposite to the first end effector END1, and an end portion of the second manipulator MNP2 opposite to the second end effector END2, and a first fixed position. The positions of the imaging unit 21 and the second fixed imaging unit 22 are moved along with the rotation of the actuator. In this case, the robot system 1 rotates the actuator of the lower back C, thereby further increasing the stereo image captured by the first fixed imaging unit 21 and the second fixed imaging unit 22 in the first and second embodiments. Stereo imaging of a wide range is possible. Thereby, the robot system 1 indicates the range indicating the work area by either one or both of the first end effector END1 and the second end effector END2 in a wider range than the first embodiment and the second embodiment. Can do.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and changes, substitutions, deletions, and the like are possible without departing from the gist of the present invention. May be.

  Further, a program for realizing the function of an arbitrary component in the above-described apparatus (for example, the control devices 30 and 30a of the robot system 1) is recorded on a computer-readable recording medium, and the program is stored in the computer system. You may make it read and execute. Here, the “computer system” includes hardware such as an OS (Operating System) and peripheral devices. “Computer-readable recording medium” means a portable disk such as a flexible disk, a magneto-optical disk, a ROM (Read Only Memory), a CD (Compact Disk) -ROM, or a hard disk built in a computer system. Refers to the device. Further, the “computer-readable recording medium” means a volatile memory (RAM: Random Access) 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. Memory that holds a program for a certain period of time, such as Memory).

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, 11 1st motion imaging part, 12 2nd motion imaging part, 20 Robot, 21 1st fixed imaging part, 22 2nd fixed imaging part, 30, 30a Control apparatus, 31 CPU, 32 Memory | storage part, 33 input Reception unit, 34 communication unit, 35 display unit, 36 image acquisition unit, 37, 37a control unit, 40, 40a display control unit, 42 imaging control unit, 44, 44a range calculation unit, 45 region arrangement unit, 46, 46a Point position calculation unit, 48 Robot control unit

Claims (8)

An arm having a plurality of joints, an end effector, and a control unit;
The control unit attaches a plurality of recognizable markers for identifying a work area after moving the arm and causing the end effector to assume a predetermined position and orientation. The robot according to claim 1,
The control unit calculates the work area using configuration information of the arm.
robot. The robot according to claim 1 or 2,
The control unit calculates the position of a plurality of representative points indicating the work area as a position representing the work area, and attaches the marker to each of the calculated positions of the representative points.
robot. The robot according to claim 3,
The control unit calculates positions of the representative points on a boundary of the work area as a position representing the work area;
robot. The robot according to claim 1 or 2,
The control unit calculates the position of each point on the boundary of the work area as a position representing the work area, and attaches the marker to trace the boundary based on the calculated point on the boundary,
robot. A robot including an arm having a plurality of joints and an end effector;
A control device for operating the robot;
Including
The controller is
A plurality of recognizable markers for identifying a work area are attached after moving the arm and causing the end effector to assume a predetermined position and posture.
Robot system.   A control apparatus comprising: a plurality of recognizable markers for identifying a work area after moving an arm included in a robot and causing an end effector included in the robot to take a predetermined position and orientation.   A control method comprising attaching a plurality of recognizable markers for identifying a work area after moving an arm provided in a robot and causing an end effector provided in the robot to take a predetermined position and orientation.

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