JP2019077026A5 - - Google Patents
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- JP2019077026A5 JP2019077026A5 JP2018182701A JP2018182701A JP2019077026A5 JP 2019077026 A5 JP2019077026 A5 JP 2019077026A5 JP 2018182701 A JP2018182701 A JP 2018182701A JP 2018182701 A JP2018182701 A JP 2018182701A JP 2019077026 A5 JP2019077026 A5 JP 2019077026A5
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Description
上記の目的を達成する本発明に係る制御装置は、
ロボットに取り付けられた撮像装置により、前記ロボットが回転制御可能な制御対象及び前記制御対象を移動させる凹部である目標位置を撮像した画像を取得する画像取得手段と、
前記制御対象の回転軸の進行方向を取得する進行方向取得手段であって、前記制御対象の進行方向は、前記制御対象の回転軸に沿っている、軸方向取得手段と、
前記画像から前記目標位置を検出する目標位置検出手段と、
前記回転軸の進行方向の延長上に前記目標位置が存在し、前記回転軸の進行方向と前記凹部の深さ方向とが一致するように前記制御対象の姿勢を変更する動作を前記制御対象が前記目標位置に達する前に生成し、さらに姿勢を変更した制御対象の進行方向に沿って前記制御対象を前記目標位置に近づける動作を生成する動作生成手段と、
前記動作に従って前記制御対象を制御する制御手段と、
を備えることを特徴とする。
The control device according to the present invention that achieves the above object is
An image acquisition means for acquiring an image of a control object whose rotation can be controlled by the robot and a target position which is a recess for moving the control object by an image pickup device attached to the robot.
A travel direction acquiring means for acquiring the traveling direction of the control target of the rotational axis, the traveling direction of the controlled object is along the control target of the rotary shaft, and the axial direction obtaining means,
A target position detecting means for detecting the target position from the image and
Wherein the target position is present on the extension of advancing direction of the rotary shaft, wherein the operation of the traveling direction of the rotation axis and the depth of the recess to change the control target posture to match the control target An action generating means that generates an action before reaching the target position and further brings the controlled object closer to the target position along the traveling direction of the controlled object whose posture has been changed.
A control means that controls the control target according to the operation, and
It is characterized by having.
Claims (13)
前記制御対象の回転軸の進行方向を取得する進行方向取得手段であって、前記制御対象の進行方向は、前記制御対象の回転軸に沿っている、軸方向取得手段と、
前記画像から前記目標位置を検出する目標位置検出手段と、
前記回転軸の進行方向の延長上に前記目標位置が存在し、前記回転軸の進行方向と前記凹部の深さ方向とが一致するように前記制御対象の姿勢を変更する動作を前記制御対象が前記目標位置に達する前に生成し、さらに姿勢を変更した制御対象の進行方向に沿って前記制御対象を前記目標位置に近づける動作を生成する動作生成手段と、
前記動作に従って前記制御対象を制御する制御手段と、
を備えることを特徴とする制御装置。 An image acquisition means for acquiring an image of a control object whose rotation can be controlled by the robot and a target position which is a recess for moving the control object by an image pickup device attached to the robot.
A travel direction acquiring means for acquiring the traveling direction of the control target of the rotational axis, the traveling direction of the controlled object is along the control target of the rotary shaft, and the axial direction obtaining means,
A target position detecting means for detecting the target position from the image and
Wherein the target position is present on the extension of advancing direction of the rotary shaft, wherein the operation of the traveling direction of the rotation axis and the depth of the recess to change the control target posture to match the control target An action generating means that generates an action before reaching the target position and further brings the controlled object closer to the target position along the traveling direction of the controlled object whose posture has been changed.
A control means that controls the control target according to the operation, and
A control device comprising.
前記動作生成手段は、前記目標平面に基づいて、前記凹部の深さ方向を求めることを特徴とする請求項１に記載の制御装置。 Further equipped with a plane measuring means for measuring the target plane,
The control device according to claim 1, wherein the motion generating means obtains the depth direction of the recess based on the target plane.
前記キャリブレーション値および前記動作生成手段により生成された結果に基づいて、前記キャリブレーション値を補正するキャリブレーション値補正手段と、
をさらに備えることを特徴とする請求項１に記載の制御装置。 A calibration value saving means for storing a calibration value which is a parameter representing a positional / posture relationship between the image pickup device, the robot arm of the robot, and the controlled object.
A calibration value correction means for correcting the calibration value based on the calibration value and the result generated by the motion generation means, and a calibration value correction means.
The control device according to claim 1, further comprising.
前記画像から前記制御対象に関連付けられた制御位置を検出する位置検出手段と、
前記画像から前記目標に関連付けられた回転軸に沿った進行方向を検出する方向検出手段と、
前記回転軸の進行方向及び前記制御位置に基づいて、前記回転軸の進行方向と前記凹部の深さ方向とが一致するように前記制御対象の姿勢を変更する動作を前記制御対象が目標位置に達する前に生成し、さらに姿勢を変更した制御対象の回転軸の進行方向に沿って前記制御対象を前記制御位置に近付ける動作を生成する動作生成手段と、
前記動作に従って前記制御対象を制御する制御手段と、
を備えることを特徴とする制御装置。 An image acquisition means for acquiring an image of a control object whose rotation can be controlled by the robot and a target which is a recess for moving the control object by an image pickup device attached to the robot.
A position detecting means for detecting a control position associated with the controlled object from the image, and
A direction detecting means for detecting a traveling direction along a rotation axis associated with the target from the image, and
Based on the traveling direction and the control position of said rotating shaft, said controlled object target position operation of changing the control target posture as the depth direction of the traveling direction and the recess matching the rotary shaft An action generating means for generating an action of bringing the controlled object closer to the controlled position along the traveling direction of the rotation axis of the controlled object whose posture has been changed, which is generated before reaching the control object.
A control means that controls the control target according to the operation, and
A control device comprising.
前記制御対象の回転軸の進行方向を取得する進行方向取得手段であって、前記制御対象の進行方向は、前記制御対象の回転軸に沿っている、軸方向取得手段と、
前記画像から前記目標位置を検出する目標位置検出手段と、
前記回転軸の進行方向の延長上に前記目標位置が存在し、前記回転軸の進行方向と前記凹部の深さ方向とが一致するように前記制御対象の姿勢を変更する動作を前記制御対象が前記目標位置に達する前に生成し、さらに姿勢を変更した制御対象の進行方向に沿って前記制御対象を前記目標位置に近づける動作を生成する動作生成手段と、
前記動作に従って前記制御対象を制御する制御手段と、
を備える制御装置と、
前記ロボットと、
前記撮像装置と、
を備えることを特徴とするロボットシステム。 An image acquisition means for acquiring an image of a control object whose rotation can be controlled by the robot and a target position which is a recess for moving the control object by an image pickup device attached to the robot.
A travel direction acquiring means for acquiring the traveling direction of the control target of the rotational axis, the traveling direction of the controlled object is along the control target of the rotary shaft, and the axial direction obtaining means,
A target position detecting means for detecting the target position from the image and
Wherein the target position is present on the extension of advancing direction of the rotary shaft, wherein the operation of the traveling direction of the rotation axis and the depth of the recess to change the control target posture to match the control target An action generating means that generates an action before reaching the target position and further brings the controlled object closer to the target position along the traveling direction of the controlled object whose posture has been changed.
A control means that controls the control target according to the operation, and
With a control device
With the robot
With the image pickup device
A robot system characterized by being equipped with.
ロボットに取り付けられた撮像装置により、前記ロボットが回転制御可能な制御対象及び前記制御対象を移動させる凹部である目標位置を撮像した画像を取得する工程と、
前記制御対象の回転軸の進行方向を取得する工程であって、前記制御対象の進行方向は、前記制御対象の回転軸に沿っている、取得する工程と、
前記画像から前記目標位置を検出する工程と、
前記回転軸の進行方向の延長上に前記目標位置が存在し、前記回転軸の進行方向と前記凹部の深さ方向とが一致するように前記制御対象の姿勢を変更する動作を前記制御対象が前記目標位置に達する前に生成し、さらに姿勢を変更した制御対象の進行方向に沿って前記制御対象を前記目標位置に近づける動作を生成する工程と、
前記動作に従って前記制御対象を制御する工程と、
を備えることを特徴とする制御装置。
を有することを特徴とする制御装置の動作方法。 It is the operation method of the control device.
A process of acquiring an image of a control target whose rotation can be controlled by the robot and a target position which is a recess for moving the control target by an imaging device attached to the robot.
In the step of acquiring the traveling direction of the rotation axis of the controlled object, the traveling direction of the controlled object is along the rotation axis of the controlled object, the step of acquiring and the step of acquiring .
The process of detecting the target position from the image and
Wherein the target position is present on the extension of advancing direction of the rotary shaft, wherein the operation of the traveling direction of the rotation axis and the depth of the recess to change the control target posture to match the control target A step of generating an operation before reaching the target position and further bringing the controlled object closer to the target position along the traveling direction of the controlled object whose posture has been changed.
The step of controlling the control target according to the operation and
A control device comprising.
A method of operating a control device, which comprises.
ロボットに取り付けられた撮像装置により、前記ロボットが回転制御可能な制御対象及び前記制御対象を移動させる凹部である目標を撮像した画像を取得する工程と、
前記画像から前記制御対象に関連付けられた制御位置を検出する工程と、
前記画像から前記目標に関連付けられた回転軸に沿った進行方向を検出する工程と、
前記回転軸の進行方向及び前記制御位置に基づいて、前記回転軸の進行方向と前記凹部の深さ方向とが一致するように前記制御対象の姿勢を変更する動作を前記制御対象が目標位置に達する前に生成し、さらに姿勢を変更した制御対象の回転軸の進行方向に沿って前記制御対象を前記制御位置に近付ける動作を生成する工程と、
前記動作に従って前記制御対象を制御する工程と、
を有することを特徴とする制御装置の動作方法。 It is the operation method of the control device.
A process of acquiring an image of a control object whose rotation can be controlled by the robot and a target which is a recess for moving the control object by an image pickup device attached to the robot.
A step of detecting a control position associated with the control target from the image, and
A step of detecting the traveling direction along the rotation axis associated with the target from the image, and
Based on the traveling direction and the control position of said rotating shaft, said controlled object target position operation of changing the control target posture as the depth direction of the traveling direction and the recess matching the rotary shaft A step of generating an operation of bringing the controlled object closer to the controlled position along the traveling direction of the rotation axis of the controlled object whose posture has been changed, which is generated before reaching the control object.
The step of controlling the control target according to the operation and
A method of operating a control device, which comprises.
ロボットに取り付けられた撮像装置により、前記ロボットが回転制御可能な制御対象及び前記制御対象を移動させる凹部である目標位置を撮像した画像を取得する工程と、
前記制御対象の回転軸の進行方向を取得する工程であって、前記制御対象の進行方向は、前記制御対象の回転軸に沿っている、取得する工程と、
前記画像から前記目標位置を検出する工程と、
前記回転軸の進行方向の延長上に前記目標位置が存在し、前記回転軸の進行方向と前記凹部の深さ方向とが一致するように前記制御対象の姿勢を変更する動作を前記制御対象が前記目標位置に達する前に生成し、さらに姿勢を変更した制御対象の進行方向に沿って前記制御対象を前記目標位置に近づける動作を生成する工程と、
前記動作に従って前記制御対象を制御する工程と、
を有する制御装置の動作方法を、コンピュータに実行させるためのプログラム。 It is the operation method of the control device.
A process of acquiring an image of a control target whose rotation can be controlled by the robot and a target position which is a recess for moving the control target by an imaging device attached to the robot.
In the step of acquiring the traveling direction of the rotation axis of the controlled object, the traveling direction of the controlled object is along the rotation axis of the controlled object, the step of acquiring and the step of acquiring .
The process of detecting the target position from the image and
Wherein the target position is present on the extension of advancing direction of the rotary shaft, wherein the operation of the traveling direction of the rotation axis and the depth of the recess to change the control target posture to match the control target A step of generating an operation before reaching the target position and further bringing the controlled object closer to the target position along the traveling direction of the controlled object whose posture has been changed.
The step of controlling the control target according to the operation and
A program for causing a computer to execute a method of operating a control device having the above.
ロボットに取り付けられた撮像装置により、前記ロボットが回転制御可能な制御対象及び前記制御対象を移動させる凹部である目標を撮像した画像を取得する工程と、
前記画像から前記制御対象に関連付けられた制御位置を検出する工程と、
前記画像から前記目標に関連付けられた回転軸に沿った進行方向を検出する工程と、
前記回転軸の進行方向及び前記制御位置に基づいて、前記回転軸の進行方向と前記凹部の深さ方向とが一致するように前記制御対象の姿勢を変更する動作を前記制御対象が目標位置に達する前に生成し、さらに姿勢を変更した制御対象の回転軸の進行方向に沿って前記制御対象を前記制御位置に近付ける動作を生成する工程と、
前記動作に従って前記制御対象を制御する工程と、
を有する制御装置の動作方法を、コンピュータに実行させるためのプログラム。 It is the operation method of the control device.
A process of acquiring an image of a control object whose rotation can be controlled by the robot and a target which is a recess for moving the control object by an image pickup device attached to the robot.
A step of detecting a control position associated with the control target from the image, and
A step of detecting the traveling direction along the rotation axis associated with the target from the image, and
Based on the traveling direction and the control position of said rotating shaft, said controlled object target position operation of changing the control target posture as the depth direction of the traveling direction and the recess matching the rotary shaft A step of generating an operation of bringing the controlled object closer to the controlled position along the traveling direction of the rotation axis of the controlled object whose posture has been changed, which is generated before reaching the control object.
The step of controlling the control target according to the operation and
A program for causing a computer to execute a method of operating a control device having the above.
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| US16/163,745 US11358290B2 (en) | 2017-10-19 | 2018-10-18 | Control apparatus, robot system, method for operating control apparatus, and storage medium |
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| JP2019077026A JP2019077026A (en) | 2019-05-23 |
| JP2019077026A5 true JP2019077026A5 (en) | 2021-11-04 |
| JP7323993B2 JP7323993B2 (en) | 2023-08-09 |
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| CN110253586A (en) * | 2019-07-12 | 2019-09-20 | 珠海优特电力科技股份有限公司 | Electrical anti-error operates device and method |
| US20230089195A1 (en) * | 2020-03-31 | 2023-03-23 | Nec Corporation | Control device, control system, control method, and recording medium with control program recorded thereon |
| WO2022091895A1 (en) * | 2020-10-30 | 2022-05-05 | パナソニックＩｐマネジメント株式会社 | Robot control method |
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| JPS61279481A (en) * | 1985-06-01 | 1986-12-10 | 株式会社安川電機 | Method of detecting and controlling starting point of operation of robot |
| JP3998741B2 (en) * | 1995-07-12 | 2007-10-31 | ファナック株式会社 | Robot movement control method |
| JP2006331255A (en) * | 2005-05-30 | 2006-12-07 | Daihen Corp | Control method for industrial robot |
| JP5045556B2 (en) | 2008-05-29 | 2012-10-10 | 株式会社豊田自動織機 | Robot hand posture detection system |
| CN102448683B (en) * | 2009-07-02 | 2014-08-27 | 松下电器产业株式会社 | Robot, control device for robot arm, and control program for robot arm |
| JP2014161950A (en) * | 2013-02-25 | 2014-09-08 | Dainippon Screen Mfg Co Ltd | Robot system, robot control method, and robot calibration method |
| JP6188440B2 (en) * | 2013-06-17 | 2017-08-30 | キヤノン株式会社 | Robot apparatus and robot control method |
| US10112303B2 (en) * | 2013-10-25 | 2018-10-30 | Aleksandar Vakanski | Image-based trajectory robot programming planning approach |
| JP6227993B2 (en) * | 2013-12-12 | 2017-11-08 | 株式会社Ihi | Robot remote control system and method |
| JP6427972B2 (en) * | 2014-06-12 | 2018-11-28 | セイコーエプソン株式会社 | Robot, robot system and control device |
| EP3159125A4 (en) | 2014-06-17 | 2018-05-23 | Yujin Robot Co., Ltd. | Device for recognizing position of mobile robot by using direct tracking, and method therefor |
| JP2016159406A (en) * | 2015-03-03 | 2016-09-05 | キヤノン株式会社 | Robot control device, robot control method and robot system |
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