JP2687154B2 - 3D position measuring device - Google Patents
3D position measuring deviceInfo
- Publication number
- JP2687154B2 JP2687154B2 JP63323740A JP32374088A JP2687154B2 JP 2687154 B2 JP2687154 B2 JP 2687154B2 JP 63323740 A JP63323740 A JP 63323740A JP 32374088 A JP32374088 A JP 32374088A JP 2687154 B2 JP2687154 B2 JP 2687154B2
- Authority
- JP
- Japan
- Prior art keywords
- measuring device
- dimensional
- distance measuring
- light
- optical distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
- Light Receiving Elements (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、産業用のロボット等の可動部の所定位置を
３次元的に計測する三次元位置計測装置に関するもので
ある。Description: TECHNICAL FIELD The present invention relates to a three-dimensional position measuring device that three-dimensionally measures a predetermined position of a movable part of an industrial robot or the like.
現在、自動溶接機械等のような産業ロボットにおいて
は、機差の問題がクローズアップされてきている。At present, in industrial robots such as automatic welding machines, the problem of machine difference has been highlighted.
機差とは、同じ型のロボットにおいても、関節間の長
さや構造体のねじれ角等のパラメータが製造誤差によっ
て個々のロボットで異なるために、２台のロボットに同
じ指令を与えても同じ軌跡を描かないということであ
る。The machine difference means that even in the same type of robot, the parameters such as the length between joints and the twist angle of the structure are different for each robot due to manufacturing error. Therefore, even if the same command is given to two robots, the same trajectory Is not drawn.
従って従来は、同一作業を複数台のロボットを使って
行なう場合でも、同一作業のティーチングをロボットの
台数だけの回数行なわなければならず、またあるロボッ
トを別のロボットに置き換えたときには、再度同じ作業
のティーチングを行なわなければならない等の不便があ
った。Therefore, conventionally, even when the same work is performed using a plurality of robots, the same work must be taught as many times as the number of robots, and when one robot is replaced with another robot, the same work is performed again. There was an inconvenience such as having to teach.
そのため、上記パラメータを、個々のロボットについ
て正確に求めて補正を加えることによって機差の減少を
図る試みが数多くなされているが、ロボットの手先位置
の計測、例えばダイヤルゲージを用いて手動計測するの
に、多大の工数がかかる点が障害になって普及が妨げら
れていた。For this reason, many attempts have been made to reduce the machine difference by accurately obtaining and correcting the above parameters for each robot.However, it is necessary to measure the hand position of the robot, for example, manually using a dial gauge. In addition, the fact that it takes a lot of man-hours has been an obstacle to the spread.
本発明は上記のことにかんがみなされたもので、個々
のロボットの手先位置を、正確に、素速く、手間をかけ
ずに自動計測することができるようにした三次元位置計
測装置を提供することを目的とするものである。The present invention has been made in view of the above circumstances, and provides a three-dimensional position measuring device capable of automatically measuring the hand position of each robot accurately, quickly, and without trouble. The purpose is.
上記目的を達成するために、本発明に係る三次元位置
計測装置は、三角測量の原理を用いたロボット等の可動
部に取付けられる光学式距離計測装置と、この光学式距
離計測装置が発する光ビームの一部をこの光学式距離計
測装置の受光器へ反射し、一部を透過し、かつこの光ビ
ームの重心位置を検出する第１の二次元光位置検出素子
と、この第１の二次元光位置検出素子と一定の距離だけ
離間して設置され、かつ第１の二次元光位置検出素子を
通過してあたった光ビームの重心位置を検出する第２の
二次元位置検出素子とからなり、かつ所定位置に設置可
能にしたターゲットと、上記光学式距離計測装置とター
ゲットを構成する第１、第２の二次元光位置検出素子か
らの信号を処理する演算装置とからなる。In order to achieve the above object, a three-dimensional position measuring device according to the present invention is an optical distance measuring device attached to a movable part such as a robot using the principle of triangulation, and a light emitted by the optical distance measuring device. A first two-dimensional optical position detecting element that reflects a part of the beam to a light receiver of the optical distance measuring device, transmits a part of the beam, and detects the position of the center of gravity of the light beam; A two-dimensional position detecting element which is installed apart from the three-dimensional light position detecting element by a certain distance and which detects the position of the center of gravity of the light beam that has passed through the first two-dimensional light position detecting element. And a target that can be installed at a predetermined position, and an arithmetic unit that processes signals from the optical distance measuring device and the first and second two-dimensional optical position detecting elements that form the target.
例えば第１図に示すように、ロボット２の手先３に配
設された光学式距離計測装置１の発する光ビームがこの
光学式距離計測装置１の基準点Ｐを通り、愛１の二次元
光位置検出素子７に点Ｒであたると、この第１の二次元
光位置検出素子７によってＰ−Ｒ間の距離ｄがわかると
共に、第１の二次元光位置検出素子７によって、基準座
標系における点Ｒの位置▲▼が知られる。For example, as shown in FIG. 1, the light beam emitted by the optical distance measuring device 1 arranged on the hand 3 of the robot 2 passes through the reference point P of the optical distance measuring device 1 and passes through the two-dimensional light of love 1. If the position detection element 7 is at the point R, the distance d between P and R can be known by the first two-dimensional light position detection element 7, and the first two-dimensional light position detection element 7 can be used in the reference coordinate system. The position ▲ ▼ of the point R is known.
また、第１の二次元位置検出素子７を透過した光ビー
ムが第２の二次元光位置検出素子８に点Ｔで当たると、
点Ｔの位置▲▼が知られる。Further, when the light beam transmitted through the first two-dimensional position detecting element 7 hits the second two-dimensional position detecting element 8 at the point T,
The position ▲ ▼ of the point T is known.
従って、ロボットの手先の基準点Ｐの三次元位置は より演算装置で求められる。Therefore, the three-dimensional position of the reference point P of the hand of the robot is More required by the computing device.
本発明の実施例を図面に基づいて説明する。 An embodiment of the present invention will be described with reference to the drawings.
第１図は本発明の概念図であり、図中１はロボット２
の手先３に容易に着脱可能に取付けられる光学式距離計
測装置１（光学式距離センサ）であり、この光学式距離
計測装置１は光ビーム投光器４と受光器５とからなって
おり、投光器４からの光ビームがターゲット６にあたっ
て反射した光を受光器５にて受光することにより、光学
式距離計測装置１の光ビームが通過する基準位置Ｐと上
記ターゲット６の表面までの距離ｄが三角測量の原理に
基づいて計測できるようになっている。FIG. 1 is a conceptual diagram of the present invention, in which 1 is a robot 2
Is an optical distance measuring device 1 (optical distance sensor) that can be easily and detachably attached to the hand 3 of the hand. The optical distance measuring device 1 includes a light beam projector 4 and a light receiver 5, and the projector 4 By receiving the light reflected by the light beam from the target 6 on the light receiver 5, the reference position P where the light beam of the optical distance measuring device 1 passes and the distance d to the surface of the target 6 are triangulated. It can be measured based on the principle of.
上記ターゲット６は内壁に反射防止加工が施された箱
状になっており、これの上側と下側に、一定の距離だけ
離間して第１、第２の二次元光位置検出素子7,8が配設
されている。この二次元位置検出素子［以下これをPSD
（Position Sensitine Device）という］7,8は特開昭59
−50579号公報に示されたもの、すなわち、Ｐ型アモル
ファスシリコン層にｉ型アモルファスシリコン層及びｎ
型アモルファスシリコン層を順次接合してなる半導体層
と、この半導体層の両面にそれぞれ接合した透光性導電
膜と、この透光性導電膜に互いに直交する方向に対向配
置した２対の棒状電極とを備えた構成となっており、こ
れに光ビームをあてたときに、この光ビームがあたった
位置座標を電気的に検出するようになっている。上記両
PSD7,8のうち、上側のPSD7は光ビームの一部を上記光学
式距離計測装置１の受光器５へ反射し、一部を透過する
ようになっている。The target 6 has a box-like shape with an inner wall having an antireflection treatment, and the upper and lower sides of the target 6 are separated by a certain distance from each other, and the first and second two-dimensional optical position detecting elements 7 and 8 are provided. Is provided. This two-dimensional position detecting element [hereinafter this is PSD
(Position Sensitine Device)] 7,8
No. 50579, namely, a P-type amorphous silicon layer, an i-type amorphous silicon layer, and an n-type amorphous silicon layer.
Type semiconductor layers formed by sequentially bonding amorphous silicon layers, transparent conductive films bonded to both surfaces of the semiconductor layer, and two pairs of rod-shaped electrodes facing each other in a direction orthogonal to the transparent conductive films. When the light beam is applied to it, the position coordinates of the light beam are electrically detected. Both of the above
Of the PSDs 7 and 8, the upper PSD 7 reflects a part of the light beam to the light receiver 5 of the optical distance measuring device 1 and transmits a part thereof.
今簡単のため、第２図に示すように、第１、第２のPS
D7,8はそれぞれのｘ軸、ｙ軸は平行に、ｚ軸は一致する
ようになっているものとする。また上側のPSD7の上面に
は光ビーム透光器４の波長以外の波長をカットするフィ
ルタを取付けてもよい。For the sake of simplicity, as shown in Fig. 2, the first and second PS
It is assumed that D7 and D8 are arranged so that their x-axes and y-axes are parallel and their z-axes are coincident. Further, a filter for cutting wavelengths other than the wavelength of the light beam translucent device 4 may be attached to the upper surface of the upper PSD 7.
上記光学式距離計測装置１とターゲット６の量PSD7,8
は、これらからの信号を処理する演算装置９に接続され
ている。Amount PSD7,8 of the optical distance measuring device 1 and the target 6
Are connected to an arithmetic unit 9 which processes signals from these.
上記構成における作用を以下に説明する。 The operation of the above configuration will be described below.
光学式距離計測装置１をロボット２の手先３に取付
け、またターゲット６を基準位置に、例えば説明が簡単
になるようにするために、第２図に示すように、第2PSD
8の基準位置OTが測定治具の基準座標系の原点Ｏと一
致するように設置したとする。In order to attach the optical distance measuring device 1 to the hand 3 of the robot 2 and set the target 6 at the reference position, for example, in order to simplify the explanation, as shown in FIG.
Reference position O T 8 is an installation were to coincide with the origin O of the reference coordinate system of the measuring jig.
ロボット２の手先３を移動し、これに取付けた光学式
距離計測装置１の投光器４をターゲット６に向けて光ビ
ームを投光する。この光ビームは光学式距離計測装置１
の基準の位置Ｐを通り、ターゲット６の上側の第１のPS
D7の点Ｐにあたる。この光ビームの一部は反射して光学
式距離計測装置１の受光器５に受光され、これによりPR
間の距離ｄが求まる。The hand 3 of the robot 2 is moved, and the light beam is projected toward the target 6 by the projector 4 of the optical distance measuring device 1 attached thereto. This light beam is an optical distance measuring device 1
The first PS above the target 6 through the reference position P of
It corresponds to point P of D7. A part of this light beam is reflected and received by the light receiver 5 of the optical distance measuring device 1, and the PR
The distance d between them is obtained.
また光ビームの他の一部は第１のPSD7に吸収されて、
その出力信号を処理して第１のPSD7上での座標▲
▼が求まる。The other part of the light beam is absorbed by the first PSD7,
The output signal is processed and the coordinates on the first PSD7 are ▲
▼ is obtained.
また光ビームのさらに他の一部は第１のPSD7を透過し
てターゲット６の下側のPSD8の点Ｔにあたり、これの一
部が第２のPSD8に吸収されて、その出力信号を処理して
第２のPSD8での座標▲▼が求まる。またORとOT間
の距離は既知であるから、▲▼は三角形OTORRか
ら、 と求められる。Further, another part of the light beam passes through the first PSD 7 and hits the point T of the PSD 8 below the target 6, and a part of this is absorbed by the second PSD 8 to process its output signal. Then, the coordinates ▲ ▼ on the second PSD8 can be obtained. Also, since the distance between O R and O T is known, ▲ ▼ is a triangle O T O R R Is required.
従って基準座標OTにおけるロボット２の手先３の基準
点Ｐの三次元位置▲▼は より求まる。Thus the three-dimensional position of the reference point P of the hand 3 of the robot 2 in the reference coordinate O T ▲ ▼ is Find more.
これらの演算処理は電気回路とコンピュータを用いた
演算装置９にてなされ、これによりロボット２の手先３
の基準点Ｐが正確に、速く、手間をかけることなく計測
できる。These arithmetic processes are performed by the arithmetic unit 9 using an electric circuit and a computer, whereby the hand 3 of the robot 2 is processed.
The reference point P can be measured accurately, quickly, and without trouble.
実際のロボットで用いる場合、上記基準点Ｐの計測は
作業空間内の複数個所で行ない、それによって移動軌跡
の関係を求めることが考えられる。When used in an actual robot, it is conceivable that the reference point P is measured at a plurality of locations in the work space to obtain the relationship of the movement locus.
この場合、作業空間程度の大きさのターゲットを用い
れば１個のターゲットにて複数個所の計測を行うことが
できるが、実際にはそんなに大きなターゲットを作るの
は不可能であるので、位置関係が既知である複数のター
ゲットを組合せた治具を用いて計測を行なうことが考え
られる。In this case, if you use a target that is about the size of the working space, you can measure multiple points with one target, but in reality it is impossible to make such a large target, so the positional relationship is It is conceivable to perform the measurement using a known jig that combines a plurality of targets.
上記実施例では、第２のPSD8の基準位置OTに対するロ
ボット２の手先３の基準点Ｐの三次元位置▲▼を
示したが、第２のPSD8の基準位置OTを、第１図に示すよ
うに、一般の基準座標系Ｏの原点Ｏに置き換えて示すと で示される。In the above embodiment, the three-dimensional position ▲ ▼ of the reference point P of the hand 3 of the robot 2 with respect to the reference position O T of the second PSD 8 is shown, but the reference position O T of the second PSD 8 is shown in FIG. As shown, if replaced with the origin O of the general reference coordinate system O, Indicated by
本発明によれば、三角測量の原理を用いた光学式距離
計測装置１を配設した、例えばロボット２の手先３の、
ターゲット６の基準座標系における三次元位置を正確
に、素速く、手間をかけずに計測することができる。According to the present invention, the optical distance measuring device 1 using the principle of triangulation is provided, for example, the hand 3 of the robot 2,
The three-dimensional position of the target 6 in the reference coordinate system can be measured accurately, quickly, and without any trouble.
第１図は本発明の概念を示す説明図、第２図は本発明の
実施例の概略的な作用説明図である。 １は光学式距離計測装置、２はロボット、３は手先、５
は受光器、６はターゲット、7,8は二次元光位置検出素
子、９は演算装置。FIG. 1 is an explanatory view showing the concept of the present invention, and FIG. 2 is a schematic operation explanatory view of an embodiment of the present invention. 1 is an optical distance measuring device, 2 is a robot, 3 is a hand, 5
Is a light receiver, 6 is a target, 7 and 8 are two-dimensional optical position detecting elements, and 9 is an arithmetic unit.
Claims (1)
動部に取付けられる光学式距離計測装置１と、この光学
式距離計測装置１が発生する光ビームの一部をこの光学
式距離計測装置１の受光器５へ反射し、一部を透過し、
かつこの光ビームの重心位置を検出する第１の二次元光
位置検出素子７と、この第１の二次元光位置検出素子７
と一定の距離だけ離間して設置され、かつ第１の二次元
光位置検出素子７を通過してあたった光ビームの重心位
置を検出する第２の二次元位置検出素子８とからなり、
かつ所定位置に設置可能にしたターゲット６と、上記光
学式距離計測位置１とターゲット６を構成する第１、第
２の二次元光位置検出素子7,8からの信号を処理する演
算装置９とからなることを特徴とする三次元位置計測装
置。1. An optical distance measuring device 1 attached to a movable part of a robot 2 or the like using the principle of triangulation, and a part of a light beam generated by the optical distance measuring device 1 is measured by the optical distance measuring device 1. The light is reflected by the light receiver 5 of the device 1 and partially transmitted,
Also, the first two-dimensional light position detecting element 7 for detecting the center of gravity of the light beam, and the first two-dimensional light position detecting element 7
And a second two-dimensional position detecting element 8 that is installed at a fixed distance from each other and that detects the position of the center of gravity of the light beam that has passed through the first two-dimensional optical position detecting element 7 and
And a target 6 which can be installed at a predetermined position, and an arithmetic unit 9 which processes signals from the optical distance measuring position 1 and the first and second two-dimensional optical position detecting elements 7 and 8 which constitute the target 6. A three-dimensional position measuring device comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63323740A JP2687154B2 (en) | 1988-12-23 | 1988-12-23 | 3D position measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63323740A JP2687154B2 (en) | 1988-12-23 | 1988-12-23 | 3D position measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02170004A JPH02170004A (en) | 1990-06-29 |
| JP2687154B2 true JP2687154B2 (en) | 1997-12-08 |
Family
ID=18158087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63323740A Expired - Lifetime JP2687154B2 (en) | 1988-12-23 | 1988-12-23 | 3D position measuring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2687154B2 (en) |
Cited By (1)
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|---|---|---|---|---|
| CN103286782A (en) * | 2013-06-07 | 2013-09-11 | 上海发那科机器人有限公司 | Flexible tracking and positioning system and flexible tracking and positioning method of robot |
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-
1988
- 1988-12-23 JP JP63323740A patent/JP2687154B2/en not_active Expired - Lifetime
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286782A (en) * | 2013-06-07 | 2013-09-11 | 上海发那科机器人有限公司 | Flexible tracking and positioning system and flexible tracking and positioning method of robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| JPH02170004A (en) | 1990-06-29 |
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