JP3264378B2 - Method of creating teaching data for imaging device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for creating teaching data of an imaging apparatus, and more particularly, to a method for creating teaching data for performing offline simulation by teaching data.

[0002]

2. Description of the Related Art Conventionally, in a car manufacturing plant, automation of processing and assembly work has been promoted using a robot or the like. Recently, however, automation of inspection work such as inspection of a painted surface of a vehicle body has also been promoted. ing. As a device for automatically inspecting the painted surface of the vehicle body, an image capturing device having a robot and an image head mounted on a hand part of the robot is used. The divided imaging regions are set in advance, and then the teaching device creates teaching data for teaching an imaging point on a normal passing through the center of each imaging region, and drives and controls the imaging device based on the teaching data to obtain the imaging region. Are being developed in order to automatically and sequentially image each of them, and inspect the presence or absence of a paint defect portion in the imaging region.

Conventionally, as a method of creating teaching data, a method in which an operator directly teaches an imaging device provided at an inspection station or teaches by remote control to create teaching data can be easily put into practical use. It is. However, since it is desirable that teaching can be performed off-line, display means including a display, image data for receiving structural data of a work from the outside, and teaching data of an imaging point to be displayed on the display are created. It is desirable to put into practical use a method in which an operator creates teaching data offline by simulation using data processing means and operating means for operating the display means via the data processing means.

[0004]

In the above-described method of creating teaching data of an image pickup apparatus by simulation, it is necessary to set an image pickup area obtained by dividing the surface of a work into a plurality of pieces and display the image on a display. When setting the imaging area, it is conceivable to set the imaging area using the structure data of the work. However, complicated procedures such as data extraction and numerical calculation processing have to be repeatedly performed. However, there is a problem in that it takes a long time, and setting errors are apt to occur, so that the efficiency of creating teaching data is significantly reduced and highly accurate teaching data cannot be obtained.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method of generating teaching data of an imaging apparatus which can easily and accurately set a plurality of imaging areas and can significantly improve the efficiency and accuracy of generating teaching data. It is to be.

[0006]

According to a first aspect of the present invention, there is provided a method for generating teaching data for an image pickup apparatus, wherein, as shown in a functional block diagram of FIG. A method for creating teaching data for teaching an imaging point on a normal passing through the center of each imaging region to an imaging device for imaging, a display unit including a display, and receiving structural data of a workpiece from the outside and displaying the data on the display Data processing means for creating image data for teaching and the teaching data, and a method for creating teaching data using operating means for operating the display means via the data processing means , the display, the surface of the work surface At least in part and said
Specify the area for one-time imaging of the surface of the work with the imaging device
And an indication mark M to be displayed.
Move the indicator marks M on the surface of
And a plurality of imaging regions for sequentially imaging the surface of the workpiece a plurality of times, and teeing is performed using the plurality of imaging regions.
It is characterized in that it creates ringing data.

[0007] teaching data creation method of the imaging apparatus according to claim 2 is the invention of claim 1, wherein each of the indication mark M that is displayed on the display, and the imaging region indication mark Ma, the imaging region indication mark Ma And an overlapping area indication mark Mb corresponding to an overlapping area that is located in a frame shape on the outer peripheral side and is overlapped and imaged during imaging.

According to a third aspect of the present invention , there is provided a method for generating teaching data for an imaging apparatus according to the first aspect of the invention , wherein the imaging area determined via the indication mark M on the display is provided.
The region is displayed on the display in a distinguishable manner.

[0009] teaching data creation method of the imaging apparatus according to claim 4 is the invention of claim 3, wherein the identifiable
It is characterized in that the display colors are made different for the purpose of display .

[0010]

According to the first aspect of the present invention , when creating teaching data, the operator operates the operating means to input the structural data of the work to the data processing means, and to display the data on the display means via the data processing means. at least part of the surface of the workpiece on the display, follower by the imaging device
Instruction to 1 batch of the imaging region for imaging the surface of the over click
The mark M is displayed. Next, the operator
By operating, the front of the displayed workpiece surface
By moving the instruction marks M in order and arranging them,
Multiple imaging regions for imaging the surface of the workpiece multiple times
Teaching day using these multiple imaging areas.
Create data. Next, an imaging point is determined using the plurality of imaging regions determined as described above and the structure data of the work , and teaching data is created. in this way,
At least part batch of the surface of the workpiece on the display
Display an indication mark for indicating the imaging region of, because it determines a plurality of image pickup areas through the instructions mark this, it is possible to determine simply and efficiently, reliably prevent setting errors of the imaging region You can do it. Therefore, the efficiency of creating teaching data can be significantly improved, and highly accurate teaching data can be obtained.

According to the second aspect of the present invention , the display
Each of the instruction marks M displayed on the ray indicates an imaging area instruction.
Mark Ma and the outer peripheral side of the imaging region indication mark Ma.
Overlapping area that is located in a frame shape and is overlapped during imaging
, The overlapping area indication mark Mb corresponding to
Area that is not imaged on the surface of the
Can be Other operations are the same as those of the first aspect.
You.

According to the third aspect of the present invention , the display
An imaging area determined on the ray via the indication mark M
Is displayed on the display so that the operator can
Can clearly grasp the determined imaging region. So
Has the same effect as the first aspect.

In the invention according to claim 4 , the identifiable
In order to display in different colors, the operator
Easy to identify. Other actions similar to those of claim 3
Play.

[0014]

According to the method for creating teaching data of the image pickup apparatus of the present invention, the following effects can be obtained as described in the section of the operation. According to the invention of claim 1,
At least part batch of the surface of the workpiece on the display
Work by the display an indication mark M indicating the imaging region, arranged to move the finger <br/> shows mark M This in turn
Multiple imaging regions for sequentially imaging the surface of the camera
Teaching data using these multiple imaging areas
Is created, it is possible to easily and efficiently determine a plurality of imaging regions, and it is possible to reliably prevent an erroneous setting of the imaging regions. Therefore, the efficiency of creating teaching data can be significantly improved, and highly accurate teaching data can be obtained.

According to the second aspect of the present invention , the display
Each of the instruction marks M displayed on the a
Frame Ma and a frame on the outer peripheral side of the imaging region indication mark Ma.
In the overlapping area that is
Since the corresponding overlap region indicating mark Mb is included, it is possible to reliably prevent the occurrence of a region that is not imaged on the surface of the work. Other effects similar to those of the first aspect are obtained.
You.

According to the third aspect of the present invention , the display
The imaging area determined via the instruction mark M on
Since the information is displayed on the display in an identifiable manner, the operator can clearly grasp the determined imaging area. That
The same effect as in the first aspect can be obtained.

According to the fourth aspect of the present invention , the identifiable state
Since the display colors are different for display, it is easy for the operator to identify. Others as in claim 3
The effect of is obtained.

[0018]

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present embodiment teaches an imaging device, which is provided at an inspection station of a water laboratory processing line of an automobile manufacturing plant, for inspecting a painted surface of a vehicle body, at each imaging point of an imaging region obtained by dividing the painted surface of the vehicle body into a plurality. The present invention is applied to a method of creating teaching data to be performed offline by simulation. First, the imaging device 1 will be briefly described. As shown in FIG. 2, the inspection station includes an imaging device 1 for inspecting the painted surfaces of the hood, roof, and trunk lid of the vehicle body B,
Of the left and right front fender, door and rear fender, respectively, are provided with three sets of imaging devices 1, each of which is a multi-joint type robot having six degrees of freedom. 2, an imaging head 3 mounted on the hand 2a of the robot 2, a control device 4 for controlling the driving of the robot 2 based on the teaching data and processing an image signal from the imaging head 3, and the like.

Next, a teaching data creating device 10 for creating teaching data of the imaging device 1 will be described. As shown in FIGS. 2 and 3, the teaching data creating device 10 includes a display device 11 having a display 11a, a floppy disk storing the structural data of the vehicle body B created by CAD and utilized in the design, or a created teaching device. Controls a floppy disk drive 12 for driving a floppy disk or the like for storing data, a keyboard 13 and a mouse 14 operated by an operator, and a display 11, a floppy disk drive 12, a keyboard 13 and a mouse 14. And a control device 15 for performing various data processing. The control device 15 includes a display device 1
1. A floppy disk drive 12, a keyboard 13 and a mouse 14 are connected via a bus as shown in the figure. The control device 15 includes a CPU, a ROM, and an R
A computer including an AM and an input / output interface are provided. The ROM has a structure data readout process and a structure data interpolation operation process, a display data creation process and display control for various necessary displays, and an imaging area determination. A control program for teaching data creation processing for creating teaching data using data of the post-imaging point, and a control program for teaching data creation control described later, including simulation control for performing simulation based on the created teaching data, are stored.

Next, with regard to the teaching data creation control, the control according to the present invention will be described mainly with reference to the flowchart shown in FIG. Since the creation of the teaching data for the three sets of the imaging devices 1 is basically performed in the same manner, the case where the teaching data of the imaging device 1 for inspecting the painted surfaces of the hood, the roof, and the trunk lid of the vehicle body B is created. explain. In the figure, Si (i =
1, 2,...) Indicate each step. Further, it is assumed that the routine is started when the power of the teaching data creation device 10 is turned on. When the power is turned on, initial settings such as clearing of the memory are performed (S1). In parallel with this, the operator operates the floppy disk drive 12
Then, a floppy disk storing structural data of a vehicle body B of a predetermined vehicle type for which teaching data is to be created and a floppy disk for storing the created teaching data are mounted. Next, it waits until a command for reading the structural data of the vehicle body B is input (S2: No), and when the operator operates the keyboard 13 and inputs a data read command (S2: Ye)
s), the floppy disk drive 12 is driven, and the structural data of the vehicle body B is read (S3).

Next, based on the structural data of the vehicle body B and the specification data of the image pickup device 1, as shown in FIG. Is displayed three-dimensionally (S4).
In this case, the imaging device 1 stored in the program in advance
The image data to be displayed on the display 11a is created based on the specification data, the arrangement data of the imaging device 1 and the vehicle body B at the inspection station, and the read structural data of the vehicle body B. 11 and displayed. The display 11a has
The vehicle type code of the vehicle body B is also displayed. Next, it is determined whether or not a command for designating a part of the vehicle body B for which the teaching data is to be generated this time is input (S
5). If no command has been input (S5: N
o), and waits until a command is input. For example, when the operator inputs a command specifying the bonnet BN (S5: Yes), as shown in FIG.
N is displayed two-dimensionally at a substantially central portion of the display 11a, and an instruction mark M for setting a plurality of imaging regions on the bonnet BN is displayed at an initial position below the display 11a (S6). . This instruction mark M
Is an imaging area indication mark Ma corresponding to an imaging area, an overlapping area indication mark Mb corresponding to an overlapping area located on the outer peripheral side of the imaging area indication mark Ma and being overlapped during imaging, An imaging center indication mark Mc indicating the center of the imaging area.
“a” is displayed in red, and the overlap region indicating mark Mb and the imaging center indicating mark Mc are displayed in white.

Next, when the operator operates the mouse 14 so as to first move the instruction mark M to the right end of the rear end of the bonnet BN for setting the image pickup area, FIG. As shown, the instruction mark M
Is moved and displayed from the initial position toward the right rear end of the bonnet BN (S7). Next, the process waits until an imaging region determination command is input (S8: No), and an operator inputs an imaging region determination command in a state where the instruction mark M has been moved to a predetermined position on the right rear end of the bonnet BN. (S8: Yes), the imaging area indication mark Ma of the indication marks M is changed from red to white and displayed (S9). Next, the imaging point of the imaging region determined based on the imaging region instruction mark Ma is calculated, and the result is stored (S10). That is, the imaging region instruction mark M
The curved shape of the imaging region is obtained based on the structure data of the imaging region of the bonnet BN corresponding to a, and the imaging point on the normal passing through the center point of the imaging region corresponding to the imaging center instruction mark Mc. An imaging point whose distance to the center point of the region is equal to a predetermined imaging height of the imaging head is obtained, and the coordinate value of the imaging point and the direction value of the normal are stored as data of the imaging point.

Next, it is determined whether or not an imaging area setting end command has been input (S11). In this case, since the imaging area setting operation has just been started and the imaging area setting end command has not been input (S11: No) ), The process proceeds to S7, and S7 to S11 are executed in accordance with the operation of the keyboard 13 and the mouse 14 by the operator. That is, as shown in FIG. 6, the operator operates the mouse 14 to move the instruction mark M on the display 11a from the right rear end of the bonnet BN to the center of the rear end of the bonnet BN for setting the next imaging area. Move. At this time, the instruction mark M corresponding to the previously determined imaging region remains with the imaging region instruction mark Ma kept in a white state, and a new instruction mark M having a red imaging region instruction mark Ma is displayed on the display 11a. It is displayed and moves to the center of the rear end of the bonnet BN. In this manner, when the imaging region determination command is input by the operator in a state where the instruction mark M has been moved to the predetermined position at the center of the rear end of the bonnet BN, the imaging region instruction mark Ma of the instruction marks M is red. From white to white. In this state, the previous indication mark M and the current indication mark M of the imaging area indication mark Ma are adjacent to each other, and the respective overlapping area indication marks Mb overlap each other. Hereinafter, steps S7 to S11 are repeatedly executed in the same manner, and as shown in FIG.
Are sequentially determined over the entire area of.

When the setting of all the imaging areas of the bonnet BN is completed and an imaging area setting end command is input (S
11: Yes) Next, teaching data for teaching an imaging point is created in the imaging device 1, and the created teaching data is stored on a floppy disk (S12). In the generation of the teaching data, the imaging head 3 of the imaging apparatus 1 is moved from the initial position to a plurality of imaging points in a predetermined imaging posture along the optimal / shortest path based on the data of the imaging points obtained in S10. Thus, the control amount of each axis of the robot 2 for sequentially moving and driving and setting the imaging head 3 to a predetermined imaging posture at each imaging point is obtained and stored as teaching data. When the creation of the teaching data is completed, it is displayed on the display 11a that the creation of the teaching data is completed (S13), and it is determined whether or not a work end command has been input (S14).
If a work end command is input (S14: Ye
s), end the routine. If a work end command has not been input (S14: No), it is determined whether a simulation command has been input next (S14).
15) If a simulation command has not been input (S15: No), the process proceeds to S13, and S13 and S14 are repeated until a work end command or a simulation command is input. When the simulation command is input (S15: Yes), the simulation of the imaging device 1 is performed (S16). In this simulation, as shown in FIG. 8, the display 11a displays the vehicle body B disposed at a predetermined position of the inspection station and the imaging device 1, and the imaging head 3 of the imaging device 1 moves the bonnet BN based on the teaching data. Are sequentially moved over the respective imaging points of the imaging area. In this case, according to the moving order of the imaging head 3, the corresponding imaging area of the bonnet BN, the overlapping area, and the normal vector from the imaging point to the center point of the imaging area are displayed one by one. When the simulation is completed, S13
Then, when a work end command is input, the routine ends.

As described above, when the teaching data of the image pickup apparatus 1 is created, the image pickup area indication mark Ma is displayed on the display 11a, and the image pickup area indication mark Ma is displayed.
Since a plurality of imaging regions are determined via the, the plurality of imaging regions can be determined easily and in a short time, and an erroneous setting of the imaging region can be reliably prevented. Therefore, the efficiency of creating teaching data can be significantly improved, and highly accurate teaching data can be obtained. In addition, since the display 11a also displays the overlapping area which is overlapped and imaged at the time of imaging by the overlapping area instruction mark Mb, it is possible to surely prevent the occurrence of an area which is not imaged on the painted surface of the vehicle body B. . Further, since the imaging region determined via the imaging region instruction mark Ma displayed on the display 11a is displayed with a different display color from the undetermined imaging region, the operator can easily and quickly determine the determined imaging region. You can check.

It should be noted that the method of creating teaching data can be applied not only to imaging of a painted surface of a vehicle body but also to imaging of various work surfaces. Further, the color of the determined imaging region instruction mark is not limited to white, and various colors can be used as long as the color is different from the color of the undetermined imaging region instruction mark. The color of the area indication mark may be different. In addition, when the simulation is performed after the creation of the teaching data, it is also possible to display on the display 11a various kinds of equipment provided at the inspection station such as a chain conveyor for transporting the vehicle body B. Further, the robot constituting the imaging apparatus is not limited to the articulated type, and various types of robots such as a rectangular coordinate type may be used.

[Brief description of the drawings]

FIG. 1 is a functional block diagram according to the present invention.

FIG. 2 is a configuration diagram of a teaching data creation device according to an embodiment of the present invention .

FIG. 3 is an explanatory diagram showing a teaching data creation operation.

FIG. 4 is a flowchart of a teaching data creation control routine;

FIG. 5 is an explanatory diagram of a bonnet and an instruction mark displayed on a display.

FIG. 6 is an explanatory diagram showing a moving display of an instruction mark.

FIG. 7 is an explanatory diagram of all imaging regions set on the hood.

FIG. 8 is an explanatory diagram illustrating a simulation of the imaging apparatus.

[Explanation of symbols]

 B vehicle body Ma imaging area indicating mark Mb overlapping area indicating mark 1 imaging device 11 display device 11a display 13 keyboard 14 mouse 15 control device

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G05B 19/42 G05B 19/4097 B25J 9/22

Claims (4)

(57) [Claims] 1. The work surface is divided into a plurality of rows and a plurality of columns.
A method for creating teaching data for teaching an imaging point on a normal passing through the center of each imaging region to an imaging device that automatically automatically captures each of a plurality of imaging regions, the display device including a display, The teaching data is created by using data processing means for creating image data and the teaching data for displaying on a display in response to workpiece structure data from the user and operating means for operating the display means via the data processing means. a method of, in a display, and at least a portion of the surface of the workpiece, prior to
A single-time area for imaging the surface of the work with the imaging device
Instruction mark M to be displayed.
Move the indication marks M on the surface of the
In this way, a plurality of imaging regions for imaging the surface of the work in a plurality of times are sequentially determined, and a tee is formed using the plurality of imaging regions.
A method for creating teaching data for an imaging device, comprising creating teaching data. Wherein said each finger that appears on the display
The indication mark M includes an imaging area indication mark Ma and an overlapping area indication mark which is located in a frame shape on the outer peripheral side of the imaging area indication mark Ma and corresponds to an overlapping area which is overlapped and imaged during imaging .
2. The method according to claim 1, further comprising the step of generating the teaching data. 3. The indication mark M on the display.
Can identify the imaging area determined via the display
The method according to claim 1, wherein the teaching data is displayed on a display . 4. A display color for displaying in an identifiable manner.
The method according to claim 3, wherein the teaching data is made different.