JP2915979B2 - Position and rotation angle detecting device, pointing device thereof, and robot operation teaching device using the same - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a detection device for analyzing a position and a rotation angle of an operation and an indicating tool used for the detection device, and in particular, a position and a rotation suitable for teaching an operation of a robot. The present invention relates to an angle detection device, a pointing device thereof, and the like.

[Prior Art] Conventionally, as a teaching method for teaching the operation of a robot, for example, as shown in JP-A-59-37082, a so-called operation arm having a substantially similar shape is operated by a human. Accordingly, a method of inputting the position, the rotation angle, and the like is generally performed.

According to, for example, Japanese Patent Application Laid-Open No. 60-60502, as a device for facilitating three-dimensional position input in a CAD system, a pen equipped with a light-emitting body is used.
There has been proposed a three-dimensional position specifying device that obtains the three-dimensional position coordinates of the pen using a TV camera.

[Problems to be Solved by the Invention] However, in the above-mentioned conventional technology, in particular, in the former, a plurality of teaching points of the operation of the robot must be manually performed while moving the input arm, so that the teaching operation is extremely difficult. There is a problem that it takes time and effort. Further, with the latter position specifying device, it is possible to obtain the three-dimensional position coordinates of one point with respect to the light-emitting body of the pen, but in order to teach the operation of the robot, more detailed positional information, for example, It is difficult to use this as a motion teaching device for a robot, because it requires the rotation angle of the pen and the pen itself.

Therefore, in the present invention, in view of the above-mentioned problems in the prior art, it is possible to easily and quickly input detailed and minute information including not only the position and the rotation angle but also the rotation angle of itself. It is an object of the present invention to provide a position and rotation angle detection indicator for use in a simple position and rotation angle detection device.

It is another object of the present invention to provide a robot operation teaching device capable of quickly inputting detailed and fine operation information with a simple operation.

[Means for Solving the Problems] The object of the present invention is to provide an indicator for a position and a rotation angle designated by a human, wherein the indicator is photographed to detect the position and the rotation angle. The first component is provided at both ends in the longitudinal direction of the substantially rod-shaped main body and displays the position and the rotation angle, and the first marker is provided on the outer periphery of the rod-shaped main body and displays the rotation angle of itself. This is achieved by a position and rotation angle detection indicator, which is provided with two markers.

Further, another object of the present invention is attained by an operation teaching device for a robot, wherein the position and the rotation angle detecting device are used to analyze and teach a reference point of the operation to the robot.

[Operation] In other words, according to the above-described present invention, by using an operation indicator that can display the rotation angle of itself as well as the position and rotation angle, and by photographing this, and inputting operation information, It is possible to easily, easily and quickly instruct detailed and minute information such as a position and a rotation angle by a human operation or the like.

In addition, by using the position and rotation angle detecting indicator for the operation teaching device of the robot, the reference point of the operation can be easily and easily taught by a normal operation operation of a human such as an operator, and quickly. It becomes possible to input.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The embodiment described in detail below relates to a soldering work robot device using the position and rotation angle detection device according to the present invention for teaching operation. Further, in this soldering operation, as shown in FIG. 6 (a) and FIG. 6 (b), which is an enlarged view of the tip portion, the tip portion 201 of the soldering iron 200 has a so-called tip shape. , Has directionality. Therefore, the soldering work robot that operates such a soldering iron needs to accurately control not only the position and the rotation angle of the fall, but also the rotation angle of its own rotation.

First, FIG. 1 shows a schematic configuration of the soldering work robot. The soldering work robot includes a so-called robot body 10 and a robot controller for controlling its operation. And a so-called work teaching unit 30 for inputting and teaching information necessary for work to the robot controller 20. As shown in the figure, the robot body 10 includes a base 11, an articulated arm 12 provided on the base 11, and a hand 13 attached to the tip of the arm 12. The arm section 12 and the solder section 13 are driven to perform a predetermined operation by an actuator such as a servo motor (not shown), and the soldering iron for the soldering operation is It is gripped by the hand unit 13.

The robot controller 20 is configured by, for example, a digital computer or the like, and based on position data DP and speed data DS, which are work data of the robot output from the work teaching unit 30 described in detail below, the robot main body. It generates a drive signal for driving an actuator or the like of the unit.

The work teaching unit 30 includes a pen 31 as a work operation instruction tool assuming a soldering iron held by the hand unit 13 at the tip of the robot arm 12, a printed board 32 for performing soldering work, and a foot switch 33. And a plurality (two in this embodiment) of TV cameras 34 and 35 arranged vertically in the X and Y directions of the printed board 32, and a measurement command signal INS from the foot switch 33 and the TV cameras 34, 3
5 and input the video signals I ₃₄ and I ₃₅ from the position data D
An image processing device 36 that outputs P and speed data DS is provided.

Further, FIG. 2 shows a detailed structure of a work instruction pen 31 gripped by the hand unit 13 at the tip of the robot arm 12, and the pen 31 has an opaque outer shape having a substantially cylindrical shape. Both ends in the major axis direction of the main body 311 are pointed. A light emitting source (not shown) is provided inside the main body 311.
In addition, point (circular) windows 312 and 313 are formed at both ends in the major axis direction, and a spiral window 314 having a gap W is formed at the center outer peripheral surface. The windows 312 are red (R), the window 313 is blue (B), and the spiral window 314 is green (G). The three primary colors are arbitrarily color-coded so that a significant pattern can be formed to determine the three-dimensional coordinates necessary for teaching the robot to perform a task.

Next, of the soldering work robot device described above,
In particular, the teaching and input of the work operation will be described in detail below. First, in FIG.
Performs a work operation while holding the work instruction pen 31 in its hand. At the same time, the measurement command signal INS is transmitted to the image processing device 36 while stepping on the foot switch 33 as necessary. On the other hand, the video signals I ₃₄ from the TV cameras 34 and 35,
I _{35 is} also transmitted to the image processing device 36 and converted into data necessary for controlling the robot, and the position data DP and speed data
This is output to the robot controller 20 as DS.

3 (a) and 3 (b) show images by the video signals I ₃₄ and I ₃₅ from the TV cameras 34 and ₃₅ , respectively. That is, the image from the TV camera 34 (FIG. 3 (a))
And the image from the TV camera 35 (FIG. 3 (b))
The work instruction pen 31 held by the operator 100 in his hand
Top window 312 image, bottom window 313 image, spiral window
An example of the image 314 and the image of the printed board 32 are shown, and are denoted by the same reference numerals in the drawing.

Next, FIG. 4 shows coordinates indicating the attitude of the work instruction pen 31 in a three-dimensional space. That is,
Any posture in the three-dimensional space can be represented by the parameters of the orthogonal coordinate axes X, Y, Z and the rotation angle θ1, the inclination angles θ2, θ3 of the pen 31 for work instruction.

FIG. 5 is a flowchart showing a series of processes in the above-described apparatus, and the operation will be described below with reference to this flowchart.

First, the operator holds the work instruction pen 31 in his hand and
At step 100, when the soldering operation to the printed board 32 is completed, the foot switch 33 is depressed, and the measurement command signal INS for notifying the start of measurement is transmitted to the image processing device 36 (processing FC
1). As a result, the images of the work instruction pen 31 and the printed board 32 are transmitted to the image processing device 36 by the video signals I ₃₄ and I ₃₅ of the TV cameras ₃₄ and ₃₅ (process FC2).

Here, in the image transmitted as described above (in FIGS. 3A and 3B, denoted by reference numerals 312, 313, 314, and 32), each parameter X, Y, Z, θ1, θ2, θ3 is set. It is calculated as follows (processing FC4).

X: The parallel distance between the image 313 and the origin 0 (FIG. 3 (a)).

Y: parallel distance between image 313 and origin 0 (FIG. 3 (b)).

Z: vertical distance between the image 313 (FIG. 3A) or 313 (FIG. 3B) and the origin.

θ1... The distance between the image 312 and the image 314 on the straight line C1 connecting the image 312 and the image 313 (FIG.
Since the rotation angle θ1 differs depending on the rotation angle θ1, the rotation angle θ1 is calculated from the data. However, the distance is the distance between image 312 and image 313
Is changed by the slope of the straight line C2 (FIG. 3 (c)) connecting the distances.

θ2... Image 313 (FIG. 3 (a)), X and Y coordinates P1 of image 313 (FIG. 3 (FIG. 3 (b)), image 312 (FIG. 3 (a)), image 312 X and Y coordinates P in (Fig. 3 (b))
By using 2, a θ2 is obtained by a trigonometric function.

.theta.3... In the image of FIG. 3A, the straight-line distance from the image 313 to an arbitrary point in the coordinate group among the coordinate groups parallel to the Y-axis of the Z coordinate of the coordinate 312 was obtained by the above-mentioned θ2. Coordinate P
1, Y of the line connecting the point that coincides with the linear distance P of P2 and the image 313
The inclination with respect to the axis is the required θ3.

Parameters X, Y, Z, θ obtained in the above process FC3
1, θ2 and θ3 are temporarily stored in the storage device of the image processing device 36 (process FC4).

Next, if the operator 100 has not released the foot switch 33, the above processing is repeated from the processing FC2. On the other hand, if the foot switch 33 has been released, the process proceeds to the next process FC6 (process FC5). The speed is calculated based on the time of each processing step when the above processing FC2 to FC4 is repeated and the moving distance of the image 313 (FIG. 3A or FIG. 3B) at that time (processing FC6).

Further, the parameters stored in the above process FC4 and the process F
The step data is edited according to the data format to be transmitted at the speed obtained in C6 (processing FC7). After that, the step data edited in the above process FC7 is transmitted to the robot controller 20 (process FC8), and the process ends.

[Effects of the Invention] As is clear from the above detailed description, according to the present invention, it is possible to easily and easily input detailed coordinate data representing an operation by operating a pen as an indicator. Therefore, by using this, it is possible to easily and quickly teach the robot a work operation, and it is also possible to improve the safety of the teaching work to the robot. It has an extremely excellent effect.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an entire configuration of a soldering robot device according to an embodiment to which a position and rotation angle detecting device according to the present invention is applied, and FIG. FIGS. 3A and 3B are external views of a work instruction pen to be used, and FIGS. 3A and 3B are views showing an example of an image of the work instruction pen and a printed board on a TV camera for explaining the operation. FIG. 4 is a view for explaining the relationship between coordinate parameters for determining the attitude of the work instruction pen, FIG. 5 is a flowchart for explaining the processing of the apparatus of the embodiment,
FIGS. 6 (a) and 6 (b) are an external view and a partially enlarged view illustrating the structure of a soldering iron on which the soldering operation robot device of the above embodiment operates. 10 ... Robot main unit, 20 ... Robot controller,
30 ... Work teaching unit, 31 ... Work instruction pen, 34,35 ... T
V camera, 36 ... Image processing device, 312, 313 ... Window, 314 ...
... a spiral window.

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G05B 19/42 G05B 19/408 B25J 9/22 B25J 19/04

Claims (3)

(57) [Claims] 1. A pointing device for detecting a position and a rotation angle designated by a human by photographing, comprising a substantially rod-shaped main body, and a position and a rotation angle of the inclination provided at both longitudinal ends of the rod-shaped main body. And a second marker provided on the outer periphery of the rod-shaped main body for displaying the rotation angle of rotation, and a position and rotation angle detection indicator. . 2. The method according to claim 1, wherein the second marker is
An indicator for detecting a position and a rotation angle, which is formed in a stripe shape and spirally provided around the rod-shaped main body. 3. An operation teaching device for a robot, comprising: the position and rotation angle detecting tool according to claim 1 or 2 as means for teaching the robot the operation of the robot.