JP2020089950A - Measurement device, system, measurement method, program and article manufacturing method - Google Patents

Abstract

To provide a technique that is advantageous in terms of robust performance in contrast to complexities of a shape and the like of a work-piece, in regard to accuracy in measuring a position and a posture of the work-piece.SOLUTION: A measurement device that measures a position and a posture of a work-piece comprises: a measurement part that photographs the work-piece by projecting light to the work-piece; a processing part that performs first processing for determining an approximate position and posture of the work-piece and second processing for determining the position and posture of the work-piece more accurately than in the first processing, on the basis of an image of the work-piece photographed by the measurement part; and an output part that outputs control information for controlling at least either of a position and a posture of the measurement part when photographing the work-piece for the second processing, on the basis of the approximate position and posture of the work-piece determined in the first processing.SELECTED DRAWING: Figure 1

Description

The present invention relates to a measuring device, a system, a measuring method, a program, and an article manufacturing method.

Machine vision (hereinafter, also simply referred to as “vision”), which is a type of three-dimensional shape measuring apparatus, is used particularly for application of computer vision in the manufacturing industry. Vision is used as recognition of the position and orientation (position/orientation) of an object for use in various processes such as welding, handling, assembly, and inspection. Specifically, in the case of the assembling process, the components that are stacked indefinitely in the pallet are recognized by a vision, the robot grips the components based on the recognition result, and the components are used in the assembling process.

Conventionally, a "robot-vision system" has been proposed in which a vision is attached to a robot itself for performing work (for example, refer to Patent Document 1). The vision disclosed in Patent Document 1 defines a line-of-sight model that is the measurement direction of the vision with respect to the measurement target component. The line of sight is not limited to one direction, and a plurality of line of sight models can be defined according to the parts. The robot selects one from a plurality of line-of-sight models, operates the robot so that the measurement direction of vision matches the selected line-of-sight model, and performs measurement.

There are several methods for measuring vision. As one method, for example, there is a passive stereo type in which the three-dimensional position and orientation of the target component is obtained from images captured by a plurality of cameras. As another method, for example, there is an active stereo type in which a pattern projected on a target component by a projector is imaged by a camera and a three-dimensional position and orientation is obtained by triangulation. Further, Patent Document 1 discloses a method of obtaining a three-dimensional position and orientation of a component by comparing one image captured by a camera with a characteristic part defined in the component.

JP, 2011-83882, A

In the technique of Patent Document 1, it is necessary to discretely define a plurality of measurement directions for the measurement target component in order to guarantee the measurement accuracy. Therefore, there is a problem in that the movement of the robot in the measurement direction is wasted and the tact of the measurement process increases.

On the other hand, some of the measurement target components have measurement directions in which sufficient measurement accuracy cannot be obtained due to the shape, surface texture, color, texture, and the like. For example, in a connector for electronic components as shown in FIG. 2, one surface of a substantially cubic casing serves as an opening, and pins are arranged in the opening. In particular, when measuring such an electronic component in the active stereo system from the line-of-sight direction toward the opening, sufficient measurement accuracy may not be obtained. This is because the side wall of the casing has a large blind spot area, so that a sufficient measurement point cannot be obtained, and the projected pattern light is multiply scattered inside the opening.

It is an object of the present invention to provide a technique that is advantageous in terms of robustness with respect to the accuracy of measurement of the position and orientation of a work, for example, with respect to complexity such as the shape of the work.

According to one aspect of the present invention, there is provided a measuring device for measuring a position and a posture of a work, the measuring unit projecting light onto the work to image the work, and the work obtained by the measuring unit. A first processing for obtaining a rough position and orientation of the work based on an image; and a second processing for performing a second processing of obtaining the position and orientation of the work with higher accuracy than the first processing; Outputs control information for controlling at least one of the position and the posture of the measuring unit when the work is imaged for the second process, based on the approximate position and posture of the work obtained in the processing. And an output unit that operates.

According to the present invention, for example, regarding the measurement accuracy of the position and orientation of the work, it is possible to provide a technique advantageous in terms of robust performance with respect to complexity such as the shape of the work.

The figure which shows the structure of the robot-vision system in embodiment. The perspective view which shows the example of the external appearance of a work. 3 is a three-dimensional view of the work shown in FIG. The flowchart of the process which calculates|requires the position and orientation of a workpiece. The figure which shows the structure of the robot-vision system of embodiment. The flowchart of the process which calculates|requires the position and orientation of a workpiece. The flowchart of the process which calculates|requires the position and orientation of a workpiece. FIG. 3 is a block diagram showing a hardware configuration example of a control unit.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. It should be noted that the following embodiments are merely examples of the practice of the present invention, and the present invention is not limited to the following embodiments. In addition, not all combinations of features described in the following embodiments are essential for solving the problems of the present invention.

<First Embodiment>
FIG. 1 is a diagram showing a configuration of a robot-vision system 100 according to this embodiment. This system includes a measuring device that measures the position and orientation of the work, and a robot that grips and moves the work based on the measurement result of the measuring device. The robot-vision system 100 in FIG. 1 is assumed to be, for example, a system used for the purpose of gripping a work 50 placed in bulk and having an indefinite position and orientation by a robot and aligning or assembling components. .. The robot-vision system 100 includes a robot 101, a vision 201 attached to the robot 101, and a controller 102 that controls the robot 101 and the vision 201.

The robot 101 is, for example, a 6-axis articulated robot, and is widely used in parts sorting and assembling processes in the manufacturing industry. The robot 101 includes a robot arm 109 that is a drive unit, a flange portion 105 fixed to the tip of the robot arm 109, a mount portion 106 attached to the flange portion 105, and a hand 107 attached to the mount portion 106. The robot 101 can attach the gripped work 50 to another object, for example, by gripping the work 50 with the hand 107 and moving the work 50 at a desired position and posture.

The vision 201 is an active stereo type measurement unit having a projector that projects pattern light and uniform light onto a workpiece 50 that is an object to be inspected, and a camera that captures the light reflected by the workpiece 50. The vision 201 is supported by the robot arm 109 together with the hand 107 via the flange portion 105 and the mount portion 106. Therefore, the robot arm 109 also functions as an adjusting unit that adjusts at least one of the position and the posture of the vision 201.

The control device 102 processes the pattern image obtained by projecting the pattern light on the work 50 by the vision 201 to acquire the distance information. Further, the control device 102 acquires the two-dimensional information by processing the two-dimensional image obtained by projecting the uniform light on the work 50 by the vision 201. Then, the control device 102 can obtain the position and orientation of the work 50 based on the acquired information (position and orientation measurement processing). In this way, the control device 102 functions as a processing unit that obtains the position and orientation of the work based on the image of the work obtained from the vision 201 that is the measurement unit. The control device 102 has two functions regarding the position and orientation measurement processing. The first function is rough position/orientation measurement (first processing) for obtaining a rough position and posture of the work. In the rough position/orientation measurement, for example, an image obtained by viewing a three-dimensional CAD model of a work from a plurality of directions is stored as a reference image, and the rough position of the work is determined from a comparison between the reference image and the image processing result acquired by the measurement. Ask for posture at high speed. The second function is high-accuracy position/orientation measurement (second process) for obtaining the position and attitude of the work with higher accuracy than the rough position/orientation measurement. By fitting the image processing result acquired by the measurement with the three-dimensional CAD model, the position and orientation of the work can be obtained with high accuracy.

The control device 102 further functions as a control unit that sends a drive command to the robot arm 109 and controls the robot arm 109, which is a drive unit, based on the obtained information on the position and orientation of the work. The robot arm 109 grips the work 50 with the hand 107 (grasping part) at the tip and moves the work 50 such as translation and rotation. Furthermore, by assembling the work 50 with other parts by the robot arm 109, an article including a plurality of parts, such as an electronic circuit board or a machine, can be manufactured. Moreover, an article can be manufactured by processing the moved workpiece 50.

In the present embodiment, the control device 102 controls the robot 101 and the vision 201 as described above, but even if the device that controls the robot 101 and the device that controls the vision 201 are configured separately. Good. The function of the processing unit that obtains the position and orientation of the workpiece may be incorporated in the vision 201 instead of the control device 102. That is, in one embodiment, the measuring device of the present invention can be realized by a configuration including the vision 201 which is a measuring unit and the control device 102 which is a processing unit. Further, the control device 102 may be configured by dedicated hardware for controlling the robot 101 and the vision 201, but can also be realized by a general-purpose computer device. FIG. 8 is a block diagram showing a hardware configuration example when the control device 102 is configured by a general-purpose computer device. In FIG. 8, the CPU 21 is a central processing unit (processing unit). The ROM 24 stores fixed programs such as BIOS and various data. The RAM 22 functions as a main storage device and provides a work area for the CPU 21. A hard disk drive (HDD) 23, which is an external storage device, stores an operating system (OS), a control program for controlling the robot 101 and the vision 201, image data, and the like. The CPU 21 can execute the operation of the present embodiment by loading the control program stored in the HDD 23 into the RAM 22. An input device 31 and a recording medium 32 are connected to the general-purpose interface (I/F) 26. The input device 31 may include a keyboard, a mouse and the like. The recording medium 32 is a memory device such as an SD card or a USB. A display device 33 is connected to the video controller (VC) 27. Under the control of the VC 27, the display device 33 can display the processing result by the CPU 21 as an image, characters, or the like. A touch panel screen in which the input device 31 and the display device 33 are integrated may be configured. These above-mentioned units are interconnected by a bus 25.

The position/orientation of the work 50 determined based on the image captured by the vision 201 is the position/orientation in the vision coordinate system XvYvZv. In the vision coordinate system XvYvZv, for example, the focal position of the optical system of the image pickup system of the vision 201 is the origin, the image pickup direction of the vision 201 is the Z axis, and the two axes orthogonal to this Z axis are the X axis and the Y axis, respectively. Coordinate system.

For the robot 101, a robot coordinate system XwYwZw based on the robot 101 exists. The robot coordinate system XwYwZw is a coordinate system in which, for example, a specified position on the pedestal 108 of the robot 101 is an origin, and three axes orthogonal to each other at the origin are an X axis, a Y axis, and a Z axis, respectively. Since the robot coordinate system XwYwZw is provided as a reference coordinate system, it may be set at any position in the physical space as long as it is a coordinate system having a relative position and orientation with respect to the robot 101.

Further, for the flange portion 105, there is a flange coordinate system XfYfZf based on the flange portion 105. In the flange coordinate system XfYfZf, for example, the position of the flange portion 105 is the origin, the direction orthogonal to the flange surface (the extending direction of the robot arm) is the Z axis, and the two axes orthogonal to this Z axis are the X axis and the Y axis, respectively. It is a coordinate system that uses an axis. Since the vision 201 is also fixedly arranged in the robot 101 as described above, the relative position and orientation relationship between the vision coordinate system XvYvZv and the flange coordinate system XfYfZf is fixed. It is assumed that the relative position/orientation relationship between the vision coordinate system XvYvZv and the flange coordinate system XfYfZf is obtained at the time of calibration and stored in the RAM 22 of the control device 102.

In the present embodiment, the work 50 is a component having a measurement direction in which sufficient measurement accuracy cannot be obtained due to the influence of the shape, surface texture, color, texture and the like. Specifically, the work is the connector of the electronic component as shown in FIG. 2 as described above, and the desired measurement accuracy cannot be obtained when the image is taken from the direction of the opening. In the present embodiment, such a work is assumed to be placed in a state where the position and orientation are indefinite, for example, a state where the work is placed in bulk.

In the present embodiment, the control device 102, which is the processing unit, performs the first process for obtaining the approximate position and orientation of the work based on the image of the work obtained from the vision 201, which is the measurement unit, and the first process The second processing for obtaining the position and orientation of the work with high accuracy is performed. Further, the control device 102 controls at least one of the position and the posture of the vision 201 when capturing the image of the work for the second processing, based on the approximate position and the posture of the work obtained in the first processing. It also functions as an output unit that outputs the control information. The functions of the processing unit and the output unit may be included in the vision 201 that is the measurement unit.

Specific examples will be shown below. Here, the direction in which measurement is difficult and its angular range are defined in advance for each workpiece, the optimum drive amount for moving the robot outside the angular range is calculated, and the workpiece is measured by vision after driving. FIG. 4 is a flowchart of processing for obtaining the position and orientation of the work 50 by the robot-vision system 100 according to this embodiment. The program corresponding to this flowchart is included in, for example, a control program stored in the HDD 23, loaded into the RAM 22, and then executed by the CPU 21.

First, in S401, the control device 102 predefines a direction in which measurement is difficult and a range of the angle for high-accuracy position/orientation measurement (second process). This processing will be described with reference to FIG. FIG. 3 is a three-dimensional view of the connector shown in FIG. As described above, when the measurement is performed from the opening direction, the desired measurement accuracy may not be obtained. Therefore, in FIG. 3, the arrow n is a unit vector indicating the direction in which measurement is difficult. When the measuring direction changes from arrow n to n', the outer surface of the work changes to the main measuring surface. Since the effects of blind spots and multiple scattering are eliminated on the outer side surface, if a sufficient pattern light reflection intensity can be obtained and a reflection area can be secured, desired measurement accuracy can be obtained. The angle range θ that is difficult to measure depends on the shape of the work and the performance of the vision, but is generally about θ=30 to 45 degrees. Therefore, the direction n in which measurement is difficult and its angular range θ are defined based on the shape of the work and the performance of the vision. In S401, the user may perform the definition work of the direction n and its angular range θ, which are difficult to measure, in consideration of the shape of the work and the performance of the vision via the input device 31. Alternatively, the work is actually measured from various angles by using a vision to experimentally obtain a measurement direction and a range in which a desired measurement accuracy is obtained, and from the result, a direction n in which measurement is difficult and its angular range θ are obtained. May be defined. Further, the control device 102 may use CAD data to appropriately derive and set the direction n in which measurement is difficult and the angular range θ thereof from the characteristics of the shape and the like. Note that, for convenience, FIG. 3 shows the angle on the plane, but in reality, the cone area formed by the solid angle θ around the direction n in which measurement is difficult is the angle range in which measurement is difficult (see FIG. 1 ).

Next, in S402, the control device 102 measures the approximate position and orientation of the work. For example, a plurality of reference images having different line-of-sight directions with respect to the work CAD model are stored in advance in the RAM 22, which is a storage unit. Each reference image is associated with the work direction information. The control device 102 (processing unit) acquires the pattern image and the two-dimensional image by measuring the vision 201, and compares the two-dimensional image among them with each of the plurality of reference images stored in the RAM 22. Then, for example, by selecting the reference image with the highest degree of approximation, the approximate position and orientation of the work is obtained. What is obtained by this measurement is the approximate position and orientation of the workpiece in the vision coordinate system XvYvZv. As described above, since the flange coordinate system XfYfZf and the vision coordinate system XvYvZv are fixed, the rough position and orientation of the workpiece in the vision coordinate system can be converted into the flange coordinate system. The control device 102 converts the rough position/orientation of the workpiece from the vision coordinate system to the flange coordinate system, and then further from the flange coordinate system to the robot coordinate system XwYwZw.

Next, in S403, the control device 102 determines the measurement direction and the measurement direction range of the vision 201. Here, in the control device 102, the measurement direction of the vision when the work is imaged for the rough position/orientation measurement in S402 is defined in advance as the angular range in which the measurement for obtaining the high-accuracy position/orientation is difficult in S407. It is determined whether or not it is within a predetermined angle range. This determination is performed based on the approximate position and posture of the work piece obtained in S402. In S402, the approximate position and orientation of the work in the robot coordinate system is obtained. Therefore, based on this, it is possible to define a direction vector n defined in S401, which represents an angle at which high-precision position and orientation measurement is difficult, and a predetermined angle range θ with respect to this direction vector n, in the work of the robot coordinate system. .. The direction vector n may be a unit vector representing an angle (direction) in which highly accurate position and orientation measurement is difficult. The determination of the measurement direction is performed by determining the direction vector n indicating the angle at which the vision measurement direction (Zv direction in FIG. 1) at the time of measuring the approximate position and orientation of the work is unsuitable for high-accuracy position and orientation measurement, and a predetermined angle range θ relative thereto. It is determined whether or not it is included in the conical region (measuring-difficulty region) defined by. This determination is performed by evaluating the following equation (1), where L is a measurement direction vector indicating the vision measurement direction (unit vector indicating the measurement direction).

L·n>|L||n|cos θ ··· Equation (1)
Expression (1) represents the inner product of the direction vector n representing the angle at which high-precision position and orientation measurement is difficult and the measurement direction vector L representing the vision measurement direction. The left side of Expression (1) takes a value of -1 to +1 depending on the angle formed by n and L. When Expression (1) is satisfied, it is determined that the vision measurement direction at the time of rough position/orientation measurement is within the measurement difficulty region (within a predetermined angle range). When Expression (1) is satisfied, that is, when the vision measurement direction is included in the measurement difficulty region, the accuracy of the calculation of the high-accuracy position/orientation cannot be guaranteed as it is, and the process proceeds to the next S405. When Expression (1) is not satisfied, that is, when the vision measurement direction at the time of rough position/orientation measurement is not included in the measurement difficulty region, the measurement accuracy of the high-accuracy position/orientation can be guaranteed, and thus the process directly proceeds to S407. move on.

In S404, the control device 102 calculates the robot instruction value. Specifically, the control device 102 calculates a robot instruction value for moving the vision measurement direction outside the difficult measurement area (outside the predetermined angle range) by moving the robot, and outputs this as control information. If the vision measurement direction is outside the difficult measurement region, the measurement accuracy is guaranteed. Therefore, the control device 102 selects the optimum route that minimizes the robot movement in consideration of the current position of the vision and the operation of the next process. It is possible to minimize the increase in tact. For example, when the gripping position/orientation of the hand 107 with respect to the work is not limited, the robot instruction value may be the shortest path for moving the vision 201 from the current position to the outside of the conical region (difficult measurement region). On the other hand, when the grip position and orientation of the hand 107 with respect to the work is limited, the shortest path for moving the vision 201 from the current position to the outside of the conical area is not necessarily the optimum path. In this case, the robot instruction value is calculated so that the robot movement as a whole until the workpiece is gripped is minimized.

Next, in step S405, the control device 102 controls the robot arm 109, which is an adjustment unit, based on the robot instruction value obtained in S404 to move the robot 101. After that, in S406, the control device 102 executes the measurement by the vision 201. Since this measurement is from outside the difficult measurement area, the measurement accuracy is guaranteed.

Finally, in S407, the control device 102 measures the position and orientation of the work with higher accuracy than the rough position and orientation measurement of S402. Specifically, the control device 102 processes the pattern image and the two-dimensional image of the work obtained by the vision measurement in S406, and fits the image processing result with the three-dimensional CAD model to determine the position and orientation of the work. Highly accurate.

According to the above processing, even if the workpiece is a component having a direction in which measurement is difficult, it is possible to reliably acquire the position and orientation of the component.

<Second Embodiment>
FIG. 5 is a diagram showing the configuration of the robot-vision system 100 according to the second embodiment. The same components as those in FIG. 1 are designated by the same reference numerals, and their description will be omitted. The robot-vision system 100 of the present embodiment further includes a second vision 203 (second measuring unit). The second vision 203 is a stationary type that is not fixed to the robot 101 but fixed above the work 50. In the following, the vision 201 (first measurement unit) is referred to as the first vision, as opposed to the second vision 203.

In the present embodiment, the control device 102 as a processing unit performs rough position/orientation measurement (first processing) for obtaining a rough position and posture of the work based on the image of the work obtained from the second vision 203. Further, the control device 102 as the processing unit obtains the position and orientation of the work with higher accuracy than the rough position and orientation measurement based on the image of the work obtained from the first vision 201. Process). Further, the control device 102 as the output unit, based on the rough position and posture of the work obtained by the rough position and posture measurement, the position of the first vision 201 when the work is imaged for the highly accurate position and posture measurement. And control information for controlling at least one of the posture and the posture. Specific examples will be shown below.

FIG. 6 is a flowchart of a process (measurement process) for obtaining the position and orientation of the work 50 by the robot-vision system 100 according to this embodiment. First, in step S601, the control device 102 predefines a direction in which measurement is difficult and its angular range. Since this is the same as S401 of the first embodiment (FIG. 4), description thereof will be omitted.

Next, in step S602, the control device 102 measures the work by the second vision 203 and calculates the approximate position and orientation of the work.

Next, in step S603, the control device 102 determines the measurement direction and the measurement direction range of the first vision 201. Here, as in S403 of FIG. 4, it is determined whether or not the first vision measurement direction is included in the conical region (measuring difficult region) defined by the direction n and the angle range θ that are inappropriate for measurement. If it is determined that the first vision measurement direction is included in the measurement difficulty region, or if there is no work in the visual field of the first vision, the process proceeds to S604. On the other hand, when the measurement direction of the first vision is not included in the measurement difficulty region and when the work is present in the visual field of the first vision, the process proceeds to S606. Since S604, S605, S606, and S607 are the same as S404, S405, S406, and S407 of FIG. 4, respectively, description thereof will be omitted.

FIG. 7 is a flowchart of processing for obtaining the position and orientation of the work according to the modification of FIG. The same processing steps as those in FIG. 6 are designated by the same reference numerals, and the description thereof will be omitted. Here, the measurement direction of the measurement result by the second vision 203 is also determined. Specifically, in S703-1, the control device 102 determines whether or not the second vision measurement direction is included in the measurement difficulty region. If the second vision measurement direction is included in the measurement difficulty region, the process proceeds to S703-2, and if not, the process proceeds to S607. In S703-2, the control device 102 determines whether or not the first vision measurement direction is included in the measurement difficulty region. If the first vision measurement direction is included in the measurement difficulty region, the process proceeds to S604, and if not, the process proceeds to S606.

According to this modification, when the measurement directions of both the first vision and the second vision are included in the measurement difficult region, the robot is moved so that the measurement direction is outside the measurement difficult region, and It becomes possible to acquire the position and orientation of parts. If the first vision and the second vision differ in the direction n in which measurement is difficult and the angle range θ, the respective visions may be defined in S601.

<Third Embodiment>
Next, an embodiment different from the first and second embodiments will be described with respect to the method of defining the direction and angle range in which measurement is difficult.

For example, a plurality of reference images having different line-of-sight directions with respect to the work CAD model are stored in advance in the RAM 22, which is a storage unit. Since each reference image is associated with the work direction information, by specifying the reference image in the direction that is difficult to measure and storing the angle range θ from the specified image direction, the direction and angle range that are difficult to measure Can be defined.

The other processes in the measurement process are the same as those in the first and second embodiments, and thus the description thereof will be omitted.

<Fourth Embodiment>
In the above-described first to third embodiments, the measurement accuracy is ensured by defining the direction n and the angle range θ that are difficult to measure with respect to the workpiece and measuring from outside the defined angle range. On the other hand, in the fourth embodiment, the direction and the angle range in which the work can be measured are defined, and the measurement accuracy is guaranteed by measuring from the defined angle range.

Specifically, in step S401 in the first embodiment and step S601 in the second embodiment, the direction n in which high-accuracy position/orientation measurement is difficult and the predetermined angle range θ relative thereto are defined. Then, the direction n and the angle range θ suitable for measurement are defined. Correspondingly, the determination of the vision measurement direction and the measurement direction range of the present embodiment is performed by evaluating the following expression (2) in which the inequality sign of the judgment expression is inverted with respect to expression (1).

L·n<|L||n|cos θ ··· Equation (2)
If Expression (2) is satisfied, that is, if the vision measurement direction at the time of rough position/orientation measurement is not included in the measurable cone area (measurable area), the vision is in the measurable area (predetermined angle). Move to (within range) and measure again. The details are the same as those in the first embodiment, and the description thereof will be omitted.

On the other hand, in the third embodiment, the reference image in the direction in which measurement is difficult and the angular range θ from the image direction are defined. However, in the present embodiment, the reference image in the direction in which measurement is possible and the reference image from the image direction are defined. The angular range θ may be defined.

<Fifth Embodiment>
The vision system and the robot-vision system according to the above embodiments can be used in an article manufacturing method. This article manufacturing method may include a step of measuring an object or a part (work) using the system, and a step of processing or manufacturing the object or a part (work) measured in this step. This processing can include, for example, at least one of processing, cutting, carrying, assembling (assembling), inspection, and sorting. The article manufacturing method of the present embodiment is advantageous in performance, quality, productivity, production cost and the like of articles as compared with the conventional methods.

<Other Embodiments>
The present invention supplies a program that implements one or more functions of the above-described embodiments to a system or apparatus via a network or a storage medium, and one or more processors in a computer of the system or apparatus read and execute the program. It can also be realized by the processing. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

50: Work, 100: Robot-vision system, 101: Robot, 102: Control device, 201: Vision

Claims (12)

A measuring device for measuring the position and posture of a work,
A measuring unit that projects light onto the work to image the work,
First processing for obtaining a rough position and orientation of the workpiece based on the image of the workpiece obtained from the measuring unit, and second processing for obtaining the position and orientation of the workpiece with higher accuracy than the first processing. And a processing unit that performs
Control for controlling at least one of the position and the posture of the measuring unit when the workpiece is imaged for the second process, based on the approximate position and posture of the work obtained in the first process. An output section for outputting information,
A measuring device having: The processing unit, based on the approximate position and orientation of the work obtained in the first process, the measurement direction of the measurement unit when the work is imaged for the first process is the second direction. Determines whether or not it is within a predefined angle range that is difficult to measure for processing,
When it is determined that the measurement direction is within the predetermined angle range, the output unit sets at least one of the position and the posture of the measurement unit when the work is imaged for the second processing, The control device outputs control information for controlling the measurement direction of the measurement unit to be outside the predetermined angle range. L is a measurement direction vector that represents the measurement direction of the measurement unit when the workpiece is imaged for the first process, n is a direction vector that represents an angle that is difficult to measure for the second process, and the direction vector is When the predetermined angle range with respect to is θ, the processing unit
L・n>|L||n|cos θ
The measurement device according to claim 2, wherein when the condition is satisfied, it is determined that the measurement direction of the measurement unit when the work is imaged for the first process is within the predetermined angular range. .. The processing unit, based on the approximate position and orientation of the work obtained in the first process, the measurement direction of the measurement unit when the work is imaged for the first process is the second direction. It is determined whether or not it is within a predetermined angle range that is predefined as an angle range suitable for measurement for processing,
When it is determined that the measurement direction is not within the predetermined angle range, the output unit determines at least one of the position and the posture of the measurement unit when the work is imaged for the second processing. The control device outputs control information for controlling the measurement direction of the measurement unit to be within the predetermined angle range. L is a measurement direction vector that represents the measurement direction of the measurement unit when the workpiece is imaged for the first process, n is a direction vector that represents an angle suitable for measurement for the second process, and the direction vector is When the angle range with respect to is θ, the processing unit
L・n<|L||n|cos θ
The measurement device according to claim 4, wherein when the condition is satisfied, it is determined that the measurement direction of the measurement unit when the work is imaged for the first process is not within the predetermined angle range. .. Further comprising a storage unit for storing a plurality of reference images of the work with different gaze directions,
In the first process, the processing unit compares the image of the work obtained by the measuring unit for the first process with each of the plurality of reference images stored in the storage unit. The measuring device according to any one of claims 2 to 5, wherein the approximate position and orientation of the work are obtained by selecting a reference image having the highest degree of approximation. An adjusting unit for adjusting at least one of the position and the posture of the measuring unit,
Based on the control information output from the output unit, a control unit for controlling the adjustment unit,
The measuring device according to any one of claims 1 to 6, further comprising: A measuring device for measuring the position and posture of a work,
A first measuring unit that projects light onto the work to image the work;
A second measuring unit that projects light onto the work to image the work;
Based on the image of the work obtained by the second measuring unit, a first process for obtaining a rough position and orientation of the work, and based on the image of the work obtained by the first measuring unit, A processing unit that performs a second process for obtaining the position and orientation of the work with higher accuracy than the first process;
To control at least one of the position and the posture of the first measuring unit when the work is imaged for the second process based on the approximate position and posture of the work obtained in the first process. An output unit for outputting the control information of
A measuring device having: A system including a measuring device that measures the position and orientation of a work, and a robot that grips and moves the work based on the result of measurement by the measuring device,
The measuring device is
A measuring unit that projects light onto the work to image the work,
First processing for obtaining a rough position and orientation of the workpiece based on the image of the workpiece obtained from the measuring unit, and second processing for obtaining the position and orientation of the workpiece with higher accuracy than the first processing. And a processing unit that performs
Control for controlling at least one of the position and the posture of the measuring unit when the workpiece is imaged for the second process based on the approximate position and posture of the work obtained in the first process An output section for outputting information,
Have
The robot is
An adjusting unit that supports the measuring unit and adjusts at least one of the position and the posture of the measuring unit,
A control unit that controls the adjustment unit based on the control information output from the output unit;
A system having: A measuring method for measuring the position and orientation of the work by using a measuring device comprising a measuring unit for projecting light onto the work and imaging the work,
A first processing step of obtaining an approximate position and posture of the work based on the image of the work obtained from the measuring unit;
A second processing step for obtaining the position and orientation of the work with higher accuracy than the first processing step, based on the image of the work obtained by the measuring unit;
Have,
Furthermore, before the second treatment step,
Control for controlling at least one of the position and the posture of the measuring unit when capturing an image of the work for the second treatment step, based on the approximate position and posture of the work obtained in the first treatment step. A measuring method characterized by comprising steps. A program for causing a computer to execute each step of the measuring method according to claim 10. A step of measuring a workpiece using the measuring device according to claim 1.
Manufacturing an article by processing the workpiece based on the result of the measurement,
An article manufacturing method comprising:

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