JP2018069425A - Robot device and control method for robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot device that can correct errors in controlling a distance at which a grasping part is moved, in controlling a robot arm on the basis of a photographed image by a camera.SOLUTION: A robot device according to one embodiment comprises a grasping part, an arm mechanism, a photographing part, a property member and a control part. The grasping part grasps an object to be conveyed. The arm mechanism moves the grasping part. The photographing part photographs a placement part on which the object to be conveyed is placed. The property member is mounted on the grasping part or the arm mechanism. The control part recognizes a distance between the object to be conveyed mounted on the placement part and the photographing part on the basis of the photographed image, and controls the arm mechanism on the basis of the recognized distance. Further, the control part, when the photographing part photographs the property member positioned at a known prescribed distance from the photographing part, recognizes a first distance between the photographing part and the property member from a first image photographed by the photographing part, and determines a distance at which the arm mechanism is controlled on the basis of a relation between the prescribed distance and the first distance.SELECTED DRAWING: Figure 1

Description

  Embodiments described herein relate generally to a robot apparatus and a method for controlling the robot apparatus.

  There is known a robot apparatus that grasps the position of a conveyance object imaged by a camera by image recognition, and grasps and conveys the object by a robot arm. For example, the robot apparatus is controlled such that the transport object is gripped by recognizing the distance from the transport object based on the captured image.

International Publication No. 2014/181582 JP 2002-202122 A JP 2012-254518 A

  Control of the robot arm based on the imaging of the camera causes an error in the distance to move the gripping part of the robot arm to the transfer object due to an error in the distance recognized by the external environment such as the temperature. There was a possibility that it would cause trouble in gripping.

  The problem to be solved by the present invention is to provide a robot apparatus and a robot apparatus control method capable of correcting a control error of a distance for moving a gripping part in control of a robot arm based on imaging by a camera. is there.

  The robot apparatus according to the embodiment includes a gripping unit, an arm mechanism, an imaging unit, a characteristic member, and a control unit. The gripping unit grips the conveyance object. The arm mechanism moves the grip portion. The imaging unit images the stacking unit on which the conveyance object is stacked. The characteristic member is attached to the grip portion or the arm mechanism. The control unit recognizes the distance between the transport object loaded on the stacking unit and the imaging unit based on the captured image, and controls the arm mechanism based on the recognized distance. And when the said imaging part images the said characteristic member located in the known predetermined distance from the said imaging part, the control part is between the said imaging part and the said characteristic member from the 1st image imaged by the said imaging part. The first distance is recognized, and the distance for controlling the arm mechanism is determined based on the relationship between the predetermined distance and the first distance.

The figure which shows the use condition of the robot apparatus 1 of embodiment. The figure which illustrates the shape of the characteristic member 7 of embodiment. The figure explaining the folding mechanism of the characteristic member 7 of embodiment. 1 is a block diagram showing a configuration of a robot apparatus 1. FIG. The figure which shows the table with which distance information Dn and control information Ln of embodiment were matched. The figure explaining control of the robot apparatus 1 of embodiment. The figure which shows the state which the robot apparatus 1 of embodiment performs a calibration. 6 is a flowchart illustrating processing for controlling calibration of the robot apparatus 1 according to the embodiment. 6 is a flowchart illustrating specific processing for controlling calibration of the robot apparatus 1 according to the embodiment. The figure which shows the modification which used the hinge in the folding mechanism of the characteristic member 7 of embodiment. The figure which shows the modification which used the air cylinder in the folding mechanism of the characteristic member 7 of embodiment.

Hereinafter, a robot apparatus according to an embodiment and a control method of the robot apparatus will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a diagram illustrating a usage state of the robot apparatus 1. The robot apparatus 1 is a depalletizing apparatus for taking out a package W that is a conveyance object loaded from, for example, a carriage P (loading unit) or a pallet and placing it on a conveyor (not shown) or the like. The robot apparatus 1 includes a support unit 2, an arm mechanism 3, an imaging unit 10, and a processing device 11. The robot apparatus 1 controls the movement amount of the arm mechanism 3 based on the distance to the package W recognized by the imaging unit 10. The support portion 2 is, for example, an L-shaped housing that is fixed upside down from the floor surface E. The support portion 2 includes a horizontal member 2b fixed along the floor surface E, and a vertical member 2a that is inverted upward from one end in the −Z direction of the horizontal member 2b.

  The arm mechanism 3 is attached to the vertical member 2a so as to protrude forward (Z direction). The arm mechanism 3 includes an arm main body 4 extending in the horizontal direction (Z-axis direction), and an extendable arm 5 provided to be extendable and retractable from the tip 4b of the arm main body 4. The base end 4a of the arm body 4 is attached to be slidable in the vertical direction (Y-axis direction) with respect to the vertical member 2a. The arm body 4 is controlled to move in the vertical direction by, for example, a laser distance meter (not shown). Expansion and contraction of the arm body 4 is controlled by the control unit 20 described later. In addition, a conveyor is provided above the horizontal member 2b, for example, and conveys the package W in a X direction.

  The telescopic arm 5 is housed inside the arm body 4 in a contracted state. When the telescopic arm 5 extends, it slides so as to protrude forward (Z direction) along the axis S of the arm body 4 from the tip 4b of the arm body 4. The telescopic arm 5 is driven by a driving device (for example, a motor) by the control information Ln of the control unit 20. For example, the maximum stroke length (maximum distance) of the telescopic arm 5 is Dmax. Expansion and contraction of the telescopic arm 5 is controlled by a control unit 20 described later. A gripping portion 6 for gripping the package W is attached to the lower surface side of the distal end 5 a of the telescopic arm 5.

  A plurality of suction cups 6 a that suck the package W are provided on the lower surface side of the grip portion 6. From the suction cup 6a, air is taken into the grip 6 and a negative pressure is generated inside the suction cup 6a. The upper surface of the package W is adsorbed by this negative pressure and is gripped by the grip portion 6. An air pipe (not shown) is connected to the suction cup 6a. The piping is inserted into the telescopic arm 5 and the arm body 4. The gripping unit 6 does not adsorb the package W by negative pressure, and may be a robot hand that grips the package W while sandwiching it.

  For example, the grip portion 6 of the robot hand may include a pair of claw portions. For example, the grip portion 6 of the robot hand may be one that sandwiches both side surfaces of the package W viewed from the front with a pair of claws from both sides and lifts the package W by the frictional force of the pair of claws. A characteristic member 7 to be imaged is attached to the upper surface 5a side of the distal end 5a of the telescopic arm 5 so as to stand up.

  FIG. 2 is a diagram illustrating the shape of the characteristic member 7. The characteristic member 7 is formed in a shape that can be clearly distinguished from the package W or the background. As shown in the figure, for example, the characteristic member 7 is formed in a shape that can clearly recognize the presence of the surrounding imaging object in the image captured by the imaging unit 10. For example, since the package W is often box-shaped, the characteristic member 7 is formed in a shape of “○” or “x” so as to be clearly distinguished from the package W. In addition, the characteristic member 7 may be formed using, for example, a pattern or a color that can clearly recognize the presence of the surrounding imaging target in the image captured by the imaging unit 10. For example, the characteristic member 7 may be formed using a stripe pattern or a color whose hue is opposite to the color of the package W. In addition, the characteristic member 7 may be formed using any material as long as it is clearly distinguished from the package W or the background. And the characteristic member 7 is attached to the front-end | tip 5a of the expansion-contraction arm 5 so that folding is possible downward.

  FIG. 3 is a diagram for explaining the folding mechanism of the characteristic member 7. The folding of the characteristic member 7 is controlled by the control unit 20 described later. The characteristic member 7 is rotated and folded by the shaft 8, for example. The shaft 8 is rotatably provided above the tip 5 a of the extendable arm 5 in parallel along the axis S of the extendable arm 5. A base end 7 a of the characteristic member 7 is fixed to one end 8 a of the shaft 8. The other end side (not shown) of the shaft is connected to, for example, a stepping motor (not shown) inside the telescopic arm 5. The stepping motor is controlled by a control unit 20 to be described later, and is controlled so that the characteristic member 7 rotates around the shaft 8. Thereby, the characteristic member 7 is controlled by the control unit 20 so as to stand up or hang down at the tip 5a of the telescopic arm 5.

  The characteristic member 7 is imaged by the imaging unit 10 attached to the upper surface 4 c side of the tip 4 b of the arm body 4. The characteristic member 7 enters the field of view of the imaging unit 10 when the control unit 20 is rotationally controlled to stand up from the distal end 5a of the telescopic arm 5. When the feature member 7 is rotationally controlled by the control unit 20 so as to hang down from the distal end 5a of the telescopic arm 5, the characteristic member 7 does not enter the field of view of the imaging unit 10 and falls within the surface of the distal end 5a of the telescopic arm 5. The characteristic member 7 is controlled to enter the field of view of the imaging unit 10 when the imaging unit 10 of the robot apparatus 1 is calibrated, for example, as will be described later, and is imaged while the robot apparatus 1 is gripping the package W. Control is performed so as not to enter the field of view of the unit 10.

  The imaging unit 10 is a distance camera that recognizes the distance between the imaging unit 10 and the package W. The imaging unit 10 may be a monocular camera, a stereo camera, or a TOF (Time Of Flight) camera. The imaging unit 10 recognizes the distance based on the captured image. The expansion / contraction amount of the extendable arm 5 is controlled by the distance recognized by the imaging unit 10. When imaging the package W, the imaging unit 10 acquires distance information Dn that is a value of the distance between the imaging unit 10 and the package W. The acquired distance information Dn is transmitted to the processing device 11 described later. For example, the size of the characteristic member 7 recognized from the image captured by the imaging unit 10 and the distance from the imaging unit 10 to the characteristic member 7 are associated in advance. When the imaging unit 10 is a stereo camera or the like that can directly measure the distance, the distance between the imaging unit 10 and the characteristic member 7 is directly acquired. Thereby, the imaging unit 10 images the characteristic member 7 and calibrates the distance recognized by the imaging. Imaging of the imaging unit 10 is controlled by a control unit 20 described later.

  The imaging unit 10, the arm mechanism 3, the gripping unit 6, and the characteristic member 7 are each connected to the processing device 11. The processing device 11 is, for example, a PC (Personal Computer). Although the processing apparatus 11 is illustrated as being placed on the upper surface 4c of the arm body 4, the position of the processing apparatus 11 may be located outside the robot apparatus 1 and is connected via a network. It may be a thing.

  FIG. 4 is a block diagram showing a configuration of the robot apparatus 1. As illustrated, the processing device 11 includes a control unit 20 and a storage unit 21. The storage unit 21 stores a control table in which distance information Dn for moving the telescopic arm 5 of the arm mechanism 3 and control information Ln for controlling the telescopic arm 5 are associated with each other in advance.

  FIG. 5 is a diagram showing a control table in which distance information Dn and control information Ln are associated with each other. The distance information Dn is a distance value at which the extendable arm 5 expands and contracts. The distance information Dn is 16-bit digital data, for example. The control information Ln is read from the control table and used when the control unit 20 moves the extendable arm 5 of the arm mechanism 3.

  For example, when the distance recognized by the imaging unit 10 by imaging is 1 / 2D, the control unit 20 controls the control information 1 corresponding to the distance information 1 / 2D of the arm mechanism 3 from the control table stored in the storage unit 21. / 2L is read, and the drive unit of the arm mechanism 3 is operated using the control information 1 / 2L, and the telescopic arm 5 is moved. The control table is not fixed and is updated when the imaging unit 10 is calibrated as will be described later.

  The control unit 20 controls the imaging unit 10, the arm mechanism 3, the gripping unit 6, and the characteristic member 7. The control unit 20 is realized, for example, when a processor such as a CPU (Central Processing Unit) executes a control program. Also, some of the functional units in the control unit 20 may be realized by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or software. And hardware may cooperate.

  Next, the operation of the robot apparatus 1 will be described.

  FIG. 6 is a diagram illustrating the control of the robot apparatus 1. The characteristic member 7 is folded at the tip 5 a of the telescopic arm 5. For example, when the imaging unit 10 recognizes the position up to the package W (not shown) as D1 = 1 m, the control unit 20 refers to the control table (see FIG. 5) and uses the control information L1 corresponding to 1 m. The telescopic arm 5 is moved. The telescopic arm 5 moves D1 = 1 m based on the control information L = 1. The imaging unit 10 is affected by an external environment such as a temperature change. Accordingly, an error may occur in the distance recognized from the image captured by the imaging unit 10.

  For example, when the correct position to the package W (not shown) is D1 = 1 m as illustrated, the imaging unit 10 recognizes the distance from the captured image to the package W as D1 = 0.9 m. There is a case. At this time, the control unit 20 refers to the control table (see FIG. 5) and moves the telescopic arm 5 by 0.9 m with control information L = 0.9 corresponding to 0.9 m. Then, the robot apparatus 1 may fail to grip the package W. Therefore, the robot apparatus 1 performs calibration for updating the table in a timely manner.

  FIG. 7 is a diagram illustrating a state in which the robot apparatus 1 performs calibration. When performing the calibration, the control unit 20 extends the extendable arm 5 to a predetermined distance Dmax that is, for example, the maximum stroke length. Dmax is a known distance. The control unit 20 controls the feature member 7 to stand up from the tip 5 a of the extendable arm 5. The control unit 20 causes the imaging unit 10 to image the characteristic member 7 in a state where the distance from the imaging unit 10 to the characteristic member 7 is the predetermined distance Dmax. At this time, the imaging unit 10 captures the first image in which the characteristic member 7 is captured. The control unit 20 recognizes the characteristic member 7 from the first image captured by the imaging unit 10.

  The control unit 20 recognizes a first distance D′ max that is an estimated distance from the imaging unit 10 to the feature member 7 from the size of the feature member 7 recognized in the first image. Further, when the imaging unit 10 can directly measure the distance, the control unit 20 directly recognizes the first distance D′ max that is the estimated distance between the imaging unit 10 and the characteristic member 7. The control unit 20 updates the control table (see FIG. 5) from the ratio D′ max / Dmax between the recognized first distance D′ max and the predetermined distance Dmax. The control table may be updated by multiplying the distance information Dn by the ratio D′ max / Dmax or by multiplying the control information Ln by D′ max / Dmax. For example, the updated distance information D′ n is obtained by D′ n = Dn × D′ max / Dmax. Thereby, the control unit 20 determines the distance for controlling the arm mechanism 3 based on the relationship between the predetermined distance Dmax and the first distance D′ max.

  When the updated control table is used, the control unit 20 can control the arm mechanism 3 to move at an accurate distance even if there is an error in the distance recognized from the image captured by the imaging unit 10. . By appropriately performing calibration, the control unit 20 controls the arm mechanism 3 based on the relationship between the first distance D′ max and the predetermined distance Dmax, and distance information indicating the position of the arm mechanism 3. The distance for controlling the arm mechanism 3 can be determined while updating the control table associated with Dn in advance. At this time, the control unit 20 updates at least one of the control information and the distance information in the control table.

  Further, the control unit 20 electrically corrects the driving amount of the driving device that drives the arm mechanism 3 when the arm mechanism 3 is driven based on the ratio D′ max / Dmax to determine the distance for controlling the arm mechanism 3. May be. In the above example, the calibration is performed at the predetermined distance Dmax that is the maximum stroke length of the telescopic arm 5. However, when the position of the telescopic arm 5 is known, the position other than the predetermined distance Dmax is used instead of the predetermined distance Dmax. Calibration may be performed at the position.

  Next, the flow of performing calibration in the robot apparatus 1 will be described.

  FIG. 8 is a flowchart showing a process for controlling the calibration of the robot apparatus 1. The control unit 20 extends the arm mechanism 3 to a known predetermined distance Dmax based on the control information Lmax (step S10). The control unit 20 images the characteristic member 7 located at the predetermined distance Dmax (step S11). The control unit 20 recognizes the first distance D′ max based on the feature member 7 recognized from the first image (step S12). The control unit 20 determines a distance for controlling the arm mechanism based on the relationship between the predetermined distance and the first distance (step S13).

  As described above, according to the robot apparatus 1, even when the distance recognized by the imaging unit 10 is generated due to the influence of the external environment or the like as a result of continuing the conveyance work of the package W, the imaging unit The imaging unit 10 can be calibrated by imaging the characteristic member 7. By performing the calibration, the robot apparatus 1 can accurately determine the distance for controlling the arm mechanism 3.

(Second Embodiment)
In the first embodiment, the robot apparatus 1 has explained the execution of calibration for determining the distance to move the arm mechanism 3. In the second embodiment, an example in which the robot apparatus 1 performs calibration during the transfer operation will be specifically described.

  FIG. 9 is a flowchart showing a specific process for controlling the calibration of the robot apparatus 1. The control information given from the control unit 20 to the drive device when the telescopic arm 5 of the arm mechanism 3 is in the initial state is Lmin. The control information given to the drive device when moving to a predetermined distance Dmax that is the maximum stroke length in the movable range of the telescopic arm 5 is assumed to be Lmax.

  The distance information Dmax and the control information Lmax at the predetermined distance Dmax are associated in advance. After the robot apparatus 1 is activated, the control information Lmax is given to the drive unit of the telescopic arm 5 from the control unit 20 (step S20). The control unit 20 extends the telescopic arm 5 to a predetermined distance Dmax that is the maximum stroke length. At this time, the control unit 20 controls the characteristic member 7 to stand up.

  When the control unit 20 refers to the control table and determines that the control information Ln has reached Lmax / 2, which is 1/2 of the control information Lmax on the control table, during the expansion, the control unit 20 moves the imaging unit 10 to the extendable arm 5. The provided characteristic member 7 is imaged. At this time, the control unit 20 recognizes the distance D′ max / 2 by the imaging unit 10, and stores the distance information D′ max / 2 in the storage unit 21 (step S21). The control unit 20 updates the distance information D′ max / 2 and the control information Lmax / 2 in the control table in association with each other and stores them in the storage unit 21 (step S22).

  When the control unit 20 further extends the telescopic arm 5 and determines that the control information Ln corresponding to the moving amount of the telescopic arm 5 has reached the control information Lmax corresponding to the predetermined distance Dmax, the control unit 20 causes the imaging unit 10 to The characteristic member 7 provided in is imaged. The control unit 20 recognizes the distance D'max at this time in the imaging unit 10, and stores the distance information D'max in the storage unit 21 (step S23). The control unit 20 updates the distance information D′ max and the control information Lmax in association with each other in the control table, and stores them in the storage unit 21 (step S24). After determining that the control information Ln of the telescopic arm 5 has reached the control information Lamx on the control table, the control unit 20 gives the control information Lmin to the drive device of the telescopic arm 5 in order to contract the telescopic arm 5 (step) S25).

  Next, the robot apparatus 1 shifts to an operation of gripping the package W. After moving the telescopic arm 5 to the initial position, the control unit 20 controls the feature member 7 to be folded, and recognizes the distance information Dobj to the package W by the imaging unit 10 (step S26). The control unit 20 gives control information Lobj to the drive device of the telescopic arm 5 (step S27). When the control unit 20 refers to the control table and determines that the control information Ln corresponding to the movement amount of the telescopic arm 5 has reached Loj / 2, which is 1/2 of the control information Lobj, on the control table, the characteristic member 7 is displayed. The characteristic member 7 is imaged by the imaging unit 10 by standing.

  Then, the control unit 20 recognizes the distance D′ obj / 2 to the characteristic member 7 by the imaging unit 10, and stores the distance information D′ obj / 2 in the storage unit 21 (step S28). The control unit 20 updates the distance information D′ obj / 2 and the control information Lobj2 in association with each other, and stores them in the storage unit 21 (step S29).

  When the control unit 20 refers to the control table and determines that the control information Ln corresponding to the amount of movement of the telescopic arm 5 has reached the control information Lobj on the control table, the control unit 20 causes the imaging unit 10 to image the characteristic member 7 and The distance D′ obj corresponding to the distance from the unit 10 to the characteristic member 7 is recognized, and the distance information D′ obj is stored in the storage unit 21 (step S30). The control unit 20 updates the distance information D′ obj and the control information Lobj in association with each other and stores them in the storage unit 21 (step S31). The control unit 20 causes the gripping unit 6 of the telescopic arm 5 to grip the package W, and moves the package W to a predetermined position (step S32). The control unit 20 gives control information Lmin to the drive device of the telescopic arm 5 (step S33).

  After the telescopic arm 5 has moved to the initial position, the control unit 20 controls the feature member 7 to be folded, causes the imaging unit 10 to image the package W, and determines the presence or absence of the package W (step S34). When the package W exists (step S35: No), the control part 20 returns to the process of step S26. Here, the control unit 20 may perform a process of determining re-initialization on the control table and returning the control table to the initial value (step S36). The re-initialization may be performed when the number of operations of the robot apparatus 1 reaches a predetermined number or when the total operation time reaches a predetermined time. When there is no package W in step S35 (step S35: Yes), the control unit 20 ends the process.

  In step S22, step S24, step S29, and step S31 of the above process, an additional process may be performed when the control unit 20 corrects the correspondence between the distance information Dn and the control information Ln. For example, when the difference between the distance information Dp stored in the storage unit 21 before correction and the recognized distance information Dc between the imaging unit 10 and the characteristic member 7 is larger than a preset threshold value, the control unit 20 May perform the process of discarding the value of the distance information Dc without performing the process of updating.

  Through the above processing, the robot apparatus 1 can perform calibration during the conveyance work of the package W, and determines the distance for controlling the arm mechanism 3 based on the relationship between the updated distance information Dn and the control information Ln. be able to.

  According to at least one embodiment described above, the robot apparatus 1 has the characteristic member 7 having a characteristic shape imaged by the imaging unit 10, thereby causing an error in the distance recognized by the imaging unit 10. Calibration can be performed, and the distance for controlling the arm mechanism 3 can be determined.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof. For example, the folding mechanism of the characteristic member 7 may be one using a hinge or a pneumatic cylinder in addition to the one rotating on the shaft 8 as described above.

  FIG. 10 is a view showing a modification using a hinge in the folding mechanism of the characteristic member 7. The characteristic member 7 includes a hinge mechanism 9 at the proximal end 7a. In the hinge mechanism 9, the characteristic member 7 is rotatably attached around the rotation axis T. A gear G <b> 1 concentric with the rotation axis T is provided at the base end 7 a of the characteristic member 7. The gear G1 meshes with a gear G2 provided inside the distal end 5a of the telescopic arm 5. The gear G2 is driven by, for example, a motor (not shown). The motor is controlled by the control unit 20. The characteristic member 7 may be driven by a pulley and a belt in addition to the gears G1 and G2. Thereby, the characteristic member 7 is controlled by the control unit 20 to stand up or hang down from the distal end 5a of the telescopic arm 5.

  FIG. 11 is a view showing a modification using an air cylinder in the folding mechanism of the characteristic member 7. The telescopic arm 5 includes the grip 6 as described above, and the grip 6 grips the package W by the negative pressure of air. The folding mechanism of the characteristic member 7 may be configured to use the negative pressure of the air. For example, the characteristic member 7 is connected to an air cylinder 30 provided inside the telescopic arm 5. The air cylinder 30 includes a cylinder body 31 and a piston 32 that slides inside the cylinder body 31. A shaft 33 that extends upward and penetrates the upper portion of the cylinder body 31 is connected to the piston 32.

  A spring 34 is provided so as to be wound around the shaft 33. A pipe 35 that connects the inside and outside of the cylinder body 31 is connected to the upper portion of the cylinder body 31. For example, an electromagnetic valve (not shown) is connected to the pipe 35, and opening and closing is controlled by the control unit 20. The upper end of the shaft 33 is connected to the base end 7 a of the characteristic member 7 through the connecting member 36. A slit hole Q for sliding the connecting member 36 is provided at the distal end 5a of the telescopic arm 5. When the control unit 20 controls the solenoid valve to open to remove air from the pipe 35, the piston 32 moves upward in the cylinder body 31. In conjunction with the piston 32, the characteristic member 7 rises from the tip 5 a of the extendable arm 5. Thereby, the characteristic member 7 is controlled by the control unit 20 to stand up or hang down from the distal end 5a of the telescopic arm 5.

DESCRIPTION OF SYMBOLS 1 ... Robot apparatus, 2 ... Support part, 2a ... Vertical member, 2b ... Horizontal member, 3 ... Arm mechanism, 4 ... Arm main body, 4a ... Base end, 4b ... Tip, 4c ... Top surface, 5 ... Telescopic arm part, 5 ... telescopic arm, 5a ... distal end, 5a ... upper surface, 5b ... lower surface, 6 ... gripping part, 6a ... sucker, 7 ... characteristic member, 7a ... proximal end, 8 ... shaft, 8a ... one end, 9 ... hinge mechanism, 10 ... Image pick-up unit, 11 ... processing device, 20 ... control unit, 21 ... storage unit, 30 ... air cylinder, 31 ... cylinder body, 32 ... piston, 33 ... shaft, 34 ... spring, 35 ... piping, 36 ... connecting member, E ... Floor surface, G1 ... Gear, G2 ... Gear, P ... Carriage, Q ... Slit hole, S ... Axis, T ... Rotary shaft, W ... Package

Claims (7)

A gripping part for gripping a conveyance object;
An arm mechanism for moving the gripping part;
An imaging unit for imaging a stacking unit on which the conveyance object is loaded;
A characteristic member attached to the gripping part or the arm mechanism;
A controller that recognizes a distance between the object to be transported loaded on the loading unit and the imaging unit based on an image captured by the imaging unit, and controls the arm mechanism based on the recognized distance; Have
When the imaging unit images the characteristic member located at a known predetermined distance from the imaging unit, the control unit determines between the imaging unit and the characteristic member from a first image captured by the imaging unit. Recognizing a first distance and determining a distance to control the arm mechanism based on a relationship between the predetermined distance and the first distance;
Robot device. The control unit is configured to capture the imaging based on the feature member recognized from the first image captured by the imaging unit when the imaging unit images the feature member located at a known predetermined distance from the imaging unit. Recognizing a first distance between the part and the characteristic member;
The robot apparatus according to claim 1. The control unit updates a table in which control information for controlling the arm mechanism based on a relationship between the first distance and the predetermined distance and distance information indicating the position of the arm mechanism are associated in advance. Determining a distance to control the arm mechanism;
The robot apparatus according to claim 1 or 2. The control unit updates at least one of the control information or the distance information in the table based on a relationship between the first distance and the predetermined distance.
The robot apparatus according to claim 3. The characteristic member is formed in a shape, pattern, or color that can clearly recognize the presence of the surrounding imaging object in the captured image.
The robot apparatus according to claim 1 or 2. The characteristic member is movably attached at the tip of the arm mechanism, and is driven by the control unit to enter the field of view of the imaging unit when the imaging unit is calibrated. Is driven not to enter the field of view of the imaging unit,
The robot apparatus according to claim 1 or 2. A gripping part for gripping a conveyance object;
An arm mechanism for moving the gripping part;
An imaging unit for imaging a stacking unit on which the conveyance object is loaded;
A characteristic member attached to the gripping part or the arm mechanism;
A controller that recognizes a distance between the object to be transported loaded on the loading unit and the imaging unit based on an image captured by the imaging unit, and controls the arm mechanism based on the recognized distance; A control method for a robot apparatus having
When the imaging unit captures the control unit in the computer and the imaging unit captures the characteristic member located at a known predetermined distance from the imaging unit, the imaging unit and the characteristic member are extracted from the first image captured by the imaging unit. A first distance between them, and a distance for controlling the arm mechanism is determined based on a relationship between the predetermined distance and the first distance.
A method for controlling a robotic device.

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