JP3602687B2 - Automatic machine work support device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an automatic machine, such as a robot or an industrial machine, capable of automatically performing an operation using an image processing function. It concerns the device.
[0002]
[Prior art]
FIG. 16 is a block diagram showing a configuration of an apparatus for performing a robot offline programming method disclosed in, for example, Japanese Patent Application Laid-Open No. 1-177615. FIG. 17 is a diagram showing the operation of performing the robot offline programming method using the apparatus shown in FIG. FIG. 18 is a view showing a flowchart of the offline programming method for the robot of the apparatus shown in FIG.
[0003]
In FIG. 1, reference numeral 1 denotes an image generation device for generating a distance image and a grayscale image of a work target, and includes a light projecting device 1a, a camera 1b, and an image processor 1c. Reference numeral 2 denotes a main processor for executing an off-line programming process in accordance with a control program, 3 a main storage device, 4 a graphic display device, which comprises a display 4a and a display controller 4b. Is provided.
[0004]
Reference numeral 5 denotes a keyboard, 6 denotes a disk controller, 7 denotes a hard disk for storing the generated robot operation path, etc., 8 denotes an XY plotter, 9 denotes a work object for arc welding, and an arc is formed between the members 9a and 9b. Welding is the work objective. Reference numeral 10 denotes a distance image stored in the screen memory, 11 denotes a gray image of the work object 9 drawn on the display screen, 12 denotes a cursor, 13 denotes a motion path of the robot on the gray image 11, and 14 denotes a three-dimensional operation of the robot. It is a route.
[0005]
Next, a conventional offline programming method for a robot configured as described above will be described. First, the image generating device 1 is arranged so that the work object 9 in FIG. 17 is within the field of view of the camera. Then, the system is activated and started (step s1 in FIG. 18). Next, the distance image 10 and the grayscale image 11 are measured using the image generation device 1 (step s2 in FIG. 18).
[0006]
Next, the operator makes a judgment based on the grayscale image 11 of the graphic display device 4, and instructs a start point and an end point of the work as a work target point (step s3 in FIG. 18). Next, a work path is created along the welding line on the grayscale image 11 (step s4 in FIG. 18). Next, three-dimensional coordinates of a portion corresponding to the previously set work route are acquired from the distance image 10 (step s5 in FIG. 18). Next, the approach posture of the robot is determined and controlled based on the three-dimensional coordinates (step s6 in FIG. 18), and the process ends when the end point of the route is reached.
[0007]
In this way, the information on the grayscale image 11 presented to the operator through the graphic display device 4 as a display device is used to convert the work instruction given by the operator into three-dimensional measurement data and supplement it, so that the robot or the like can be used. Offline programming of automatic machines becomes possible.
[0008]
As another conventional example, FIG. 19 is a diagram showing a configuration of a remote control device for a robot disclosed in, for example, JP-A-6-110544. FIG. 20 is a view showing a flowchart of the operation of the remote control device for the robot shown in FIG. In the figure, reference numeral 15 denotes a correlation detection type three-dimensional position measuring device, 16 denotes a monitor device, 17 denotes a mouse, 18 denotes a coordinate conversion device, and 19 denotes a robot controller.
[0009]
Reference numeral 20 denotes a robot, which includes a hand 20a and a main body 20b. 21 is a work object which is a work, 22 is a television camera for imaging a predetermined area including a point where three-dimensional coordinates are to be detected, 23 is a rotating mechanism for changing the field of view of the television camera 22, and 24 is a rotation mechanism. An angle detector for detecting a rotation angle of the rotation mechanism 23, a processing device 25 for calculating three-dimensional coordinates of a predetermined position to be detected and controlling the driving of the rotation mechanism 23, a screen 26 of the monitor device 16, 26a Is a cursor on the screen 26.
[0010]
Next, the operation of the conventional robot remote control device configured as described above will be described. First, the three-dimensional position measuring device 15 is arranged so that the work object 21 is within the field of view of the imaging. Then, the system is activated and started (step s7 in FIG. 20). Next, using the three-dimensional position measuring device 15 and the television camera 22 in the same device, the three-dimensional distance to each point in the field of view and the grayscale image are measured (step s8 in FIG. 20).
[0011]
Next, the operation target point is designated by the operator using the cursor 26a (step s9 in FIG. 20). Next, from the three-dimensional distance information presented from the three-dimensional position measuring device 15, the three-dimensional coordinates of the designated work target point are acquired (step s10 in FIG. 20).
[0012]
Next, the deviation between the position of the hand 20a of the robot 20 and the three-dimensional position of the work target point is calculated by the coordinate conversion means 18 (step s11 in FIG. 20). Next, the position of the hand 20a of the robot 20 is controlled by the robot controller 19 in which the work target point is interpreted three-dimensionally (step s12 in FIG. 20), and the process ends when the end point of the route is reached (FIG. 20). Step 20 s13).
[0013]
As another conventional example, FIG. 21 is a diagram showing a configuration of a reaching position control device described in, for example, Japanese Patent Publication No. 58-54217. FIG. 22 is a block diagram showing a specific circuit configuration for measuring the distance of one television camera of the arrival position control device shown in FIG. 21, and FIG. 23 is a flowchart showing the operation of the arrival position control device shown in FIG. FIG.
[0014]
In the figure, 27 and 28 are television cameras, 29, 30, 31, and 32 are servo motors that change the elevation and horizontal angles of the television cameras 27 and 28, respectively, and control the azimuth of the optical axis, and 33 is a stack of raw materials. A work object formed of a mountain, P is a work object point in the work object 33, 34 and 35 are each television monitors of the television cameras 27 and 28, and 36 and 37 are cross marks, which indicate the work object point P.
[0015]
An azimuth control device 38 controls the azimuth of the television camera 27, and includes shaft encoders 39 and 40, an elevation angle control circuit 41, and a horizontal control circuit 42. Reference numeral 43 denotes a television camera measurement device, which includes a television camera control circuit 44, a video signal processing circuit 45, a monitor control circuit 46, a position meter 47, and an arithmetic circuit 49. Reference numeral 50 denotes an operation lever for moving the mark projected on the monitor television 51 two-dimensionally. The arithmetic circuit 49 is provided with an input A and an output B of the other TV camera 28.
[0016]
Next, the operation of the conventional arrival position control device configured as described above will be described. First, the two television cameras 27 and 28 are arranged so that the work object 33 falls within the field of view of the image. Then, the system is activated and started (step s14 in FIG. 23). Next, a gray image is input using the television cameras 27 and 28 (step s15 in FIG. 23).
[0017]
Next, the operation target point P is specified based on the image displayed on the monitor television 51, and the coordinate reading circuit 48 reads the coordinate data (step s16 in FIG. 23). Next, control is performed by the azimuth control device 38 so that the work target point P coincides with the center point 0 of the images on the television monitors 34 and 35 (step s17 in FIG. 23).
[0018]
Next, the distance to the work target point P is measured from the baseline distance 1 and the azimuth of the two television cameras 27 and 28 based on the principle of triangulation (step s18 in FIG. 23). Then, for example, the work device that performs the work is driven (step s19 in FIG. 23), and the process ends when the end point of the route is reached.
[0019]
In this way, the television cameras 27, 28, etc. are driven based on the instruction of the work target point P given on the image presented to the operator through the television monitors 34, 35, and the three-dimensional By acquiring the measurement data, it is easy to control the device to the work target point.
[0020]
[Problems to be solved by the invention]
Since the conventional work support device for an automatic machine is configured as described above, a robot or the like as an automatic machine can be provided by supplementing the contents specified by an operator on a grayscale image as two-dimensional information with three-dimensional measurement information. Provide an operable three-dimensional path. However, when the robot performs an actual work, the work object of the work instruction or the robot hand may interfere with another work object due to a defect that cannot be easily determined from the two-dimensional information or an error made by the operator. However, there was a problem that work was delayed.
[0021]
Such a problem is a problem caused by acquiring only the three-dimensional information corresponding to the path on the grayscale image designated by the operator from the three-dimensional information acquiring means. That is, in addition to the above-described conventional techniques, even if other methods are used, the three-dimensional path on which the robot can perform motion only by supplementing the two-dimensional path on the grayscale image using the three-dimensional information. As long as the one-way information utilization method of converting to is used, the same kind of problem is likely to occur.
[0022]
In addition, since the conventional work support device of each automatic machine is configured as described above, and the purpose is to automatically determine a work route on a work object regarded as a single on the image, a plurality of work objects exist on the image. If you do not consider. Therefore, when the above-described conventional technique is applied in a situation where a plurality of work objects are present, the same work instruction must be repeated for each work object, which increases the work time and the work load of the operator. There was a problem.
[0023]
In addition, the conventional work support device of each automatic machine is configured as described above, and it always takes all three-dimensional information in the imaging region regardless of the contents of the work instruction of the operator, so that it takes a long processing time. There was a problem.
[0024]
SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-described problems, and has as its object to provide a work support device for an automatic machine that can perform work without delay.
[0025]
[Means for Solving the Problems]
According to a first aspect of the present invention, there is provided an automatic machine operation support apparatus for recognizing a situation of a work object by performing signal processing of an image of a work area including the work object, and instructing the automatic machine to perform work. Machine work support deviceAndWork three-dimensional measurement means for obtaining three-dimensional information of a work object existing in the work area, and work three-dimensional information corresponding to a work instruction presented by an operator depending on the state of the work object from the three-dimensional measurement means Three-dimensional information acquiring means, three-dimensional information processing means for interpreting a three-dimensional object occupation state in a work instruction area from three-dimensional information obtained from three-dimensional measuring means, and three-dimensional information obtained from three-dimensional information processing means Based on the object occupation state and the work three-dimensional information obtained from the three-dimensional information acquisition means, a three-dimensional information verification means for verifying the consistency between the two is provided.In the work assisting apparatus for an automatic machine provided with an alternative generation rule database for storing alternative generation rules for generating alternatives, based on three-dimensional information from the three-dimensional measuring means and the alternative generation rules, An alternative generation unit that generates a plurality of alternatives to the work instructions having consistency in the dimensional information verification unit, and the operator presents the plurality of alternatives generated by the alternative generation unit to the operator, and the operator Is selected and presented to the automatic machine.
[0026]
In addition, according to the second aspect of the present invention, there is provided a work support device for an automatic machine.1In the case where the work object is composed of a plurality of objects, the alternative generation rule is set to the work object at the uppermost position of the plurality of work objects, and any of the plurality of work objects. This is a rule for performing work from the work object located at the end position.
[0027]
Further, according to a third aspect of the present invention, there is provided a work support device for an automatic machine.1In the case where the work object is composed of a plurality of objects, the alternative generation rule is set so that the work object at the uppermost position of the plurality of work objects and the posture of the plurality of work objects This is a rule for performing work from a work object having a small rotation angle to reach the posture of the work end position.
[0028]
Further, the work assisting device for an automatic machine according to claim 4 according to the present invention,1In the case where the work object is a stack of single objects, the alternative generation rule is set to the work object region that is the uppermost region of the work object and the work object region to the work end position. This is a rule for performing work from a work object area with a short distance.
[0029]
Further, the work support device for an automatic machine according to claim 5 according to the present invention,1Or claim4The selection frequency recording means for recording the selection frequency of the alternative generation rule used to create the alternative selected by the operator, and the alternative having a high selection frequency based on the information of the selection frequency recording means. Priority determining means for deciding the priority of the plan generation rules and prioritizing the plurality of alternatives is provided, and the plurality of alternatives are prioritized and presented to the operator.
[0030]
In addition, according to a sixth aspect of the present invention, there is provided a work support device for an automatic machine.1Or claim4In any one of the above, there is provided a work order determining means for determining the work order of a plurality of alternatives up to the work instruction instructed by the operator and presenting the work order to the operator.
[0031]
In addition, according to a seventh aspect of the present invention, there is provided a work support device for an automatic machine.1Or claim6In any one of the above, when the operator corrects the alternative and gives an instruction as a correction work instruction, the correction work three-dimensional information of the correction work instruction and the three-dimensional object occupation state obtained from the three-dimensional information processing means are used. And a modified alternative verification means for verifying the consistency between the two.
[0032]
Also, the work support device for an automatic machine according to claim 8 according to the present invention is the invention as set forth in claims 1 to 5.7In any one of the above, there is provided a measuring range limiting means for limiting the measuring range of the three-dimensional measuring means based on a work instruction given by the operator.
[0033]
Also, the work support device for an automatic machine according to the ninth aspect of the present invention is the first aspect of the present invention.8Wherein the three-dimensional measuring means obtains three-dimensional information from the image signal, and the operator gives a work instruction to the work object in the form of an image signal. The image processing means obtains two-dimensional information from the two-dimensional information. The information presenting means presents the image processing result of the image processing means to the operator, and the operator issues a work instruction based on the information presented from the information presenting means. And a work instruction input means for inputting.
[0034]
Further, according to a tenth aspect of the present invention, there is provided a work support device for an automatic machine.9A work instruction correction means for correcting a work instruction input by the work instruction input means based on an image processing result of the image processing means, wherein an operator presents a corrected work instruction corrected by the work instruction correction means. It is an instruction.
[0035]
Also, the work support device for an automatic machine according to claim 11 according to the present invention is characterized in that:10In any of the above, the three-dimensional information is constituted by a distance from an arbitrary point existing in the work area to the work target.
[0036]
Also, the work support device for an automatic machine according to claim 12 according to the present invention is characterized in that in claims 1 to11In any one of the above, a warning sound generating means for generating a warning sound to the operator when the three-dimensional information verification means determines that there is a mismatch is provided.
[0037]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a work support device for an automatic machine according to Embodiment 1 of the present invention, and FIG. 2 is a diagram showing a flowchart for explaining the operation of the work support device for an automatic machine shown in FIG. It is.
[0038]
For the sake of simplicity of description, it is assumed that a plurality of cardboard boxes having a polyhedral shape are stacked as work objects. These objects have the same shape and the same size. Then, it is assumed that the robot as the automatic machine performs the work by sucking and holding the work object by the suction hand.
[0039]
In the figure, reference numeral 52 denotes an image input means for capturing an image of a work area including a work target, converting the image by signal processing, and 53 an image processing means for obtaining two-dimensional information from the image input means 52. In the first embodiment, for example, a Laplacian filtering method as an image sharpening method of reducing blurring and obtaining a sharpened image is used as an image improving method at this time. Using this method, an image such as that shown in FIG. 3A is provided to the operator.
[0040]
Other methods include an image quality improvement method, for example, a histogram equalization process for equalizing the appearance frequency distribution of density values in an input grayscale image, or an image processing unit other than an image quality improvement method. There is a method of dividing an object into regions that can be regarded as uniform in a grayscale image by an area dividing method (FIG. 3B).
[0041]
Alternatively, the input image is searched by the image pattern of the work object registered in advance, and a region of each work object is extracted. The template matching method, or the image input device 52 without performing specific image processing. The input grayscale image (FIG. 3C) may be displayed as it is.
[0042]
54 is an information presenting means for providing the image signal processed by the image processing means 53 to the operator 55, and 56 is a work instruction input for the operator 55 to input a work instruction for a work target based on the information presenting means 54. Means 57 is a work instruction correcting means for correcting the work instruction input to the work instruction input means 56 based on the image processing result of the image processing means 53. As the correction method, for example, the operator 55 If the instruction indicates a position deviated from the center of gravity of the work object, the instruction is corrected to match the center of gravity of the work object.
[0043]
Reference numeral 58 denotes three-dimensional measurement means for obtaining three-dimensional information from an image signal. Here, the three-dimensional information means three-dimensional measurement based on the principle of triangulation using images input from two cameras. So-called binocular stereo vision is used. Then, for example, the distance from a point at the center position of the work object on the floor on which the work object is placed to a position on each surface of the work object, as an example, of an arbitrary point existing in the work area Can be configured.
[0044]
Reference numeral 59 denotes a three-dimensional information acquisition unit that acquires, from the three-dimensional measurement unit 58, work three-dimensional information corresponding to the corrected work instruction corrected by the work instruction correction unit 57, as a work instruction for the work target of the operator 55. Is a three-dimensional information processing means for interpreting the three-dimensional object occupation state in the work area from the three-dimensional information obtained from the three-dimensional measurement means 58, and 61 is a three-dimensional object occupation state obtained from the three-dimensional information processing means 60. The three-dimensional information verification means 62 for verifying the consistency between the two based on the work three-dimensional information obtained from the three-dimensional information acquisition means 59 is an automatic machine such as a robot.
[0045]
Next, the operation of the work supporting apparatus for an automatic machine according to the first embodiment configured as described above will be described with reference to FIG. First, the image input unit 52 is arranged so that the work target falls within the field of view of the image input unit 52. Then, the work support device of the automatic machine is activated and started (step s20 in FIG. 2). Then, an image of the work area is captured and input by the image input means 52 (step s21 in FIG. 2).
[0046]
Next, the image quality of the input image is improved by the image processing means 53, and the two-dimensional information is presented to the operator 55 using the information presenting means 54 (step s22 in FIG. 2). In this way, by displaying the image whose image quality has been improved to the operator 55, the burden on the operator 55 is reduced.
[0047]
Next, the work instruction presented by the operator 55 based on the two-dimensional information is input to the work instruction input means 56 (step s23 in FIG. 2). Next, the work instruction is corrected by the work instruction correcting means 57 to the position of the center of gravity of the work target based on the image processing result of the image processing means 53 (step s24 in FIG. 2), and is set as a corrected work instruction. .
[0048]
Next, the three-dimensional information acquisition means 59 acquires the work three-dimensional information corresponding to the correction work instruction from all the three-dimensional information of the three-dimensional measurement means 58 (step s25 in FIG. 2). Next, the three-dimensional information processing means 60 interprets the three-dimensional occupation state of the object existing in the work area in the three-dimensional space (step s26 in FIG. 2). In the first embodiment, as the interpretation of the three-dimensional occupation state, regions having the same height in the three-dimensional space and spatially adjacent regions are defined as the same region or distant regions are defined as different regions. A method of dividing an area is used.
[0049]
Next, the three-dimensional information verification unit 61 uses the three-dimensional information acquired by the three-dimensional information acquisition unit 59 and the three-dimensional object occupation state interpreted by the three-dimensional information processing unit 60 based on the three-dimensional object occupation state. The consistency between the two is verified (step s27 in FIG. 2). In the first embodiment, as the verification method of the three-dimensional information verification unit 61, the information on the height of the work object in the work instruction is compared with the information on the heights of other work objects, and If the height of another work object is lower than the height of the work object, it is verified that there is consistency, and if the height of the other work object is higher, it is verified that there is inconsistency (see FIG. 2). Step s28).
[0050]
As a result of the verification, when it is verified that there is consistency, a work instruction is given to the automatic machine 62, and the work is performed (step s29 in FIG. 2). Further, when it is verified that the information is inconsistent, warning information is issued to the operator 55 via the information presenting means 54, for example. Receiving the information from 54, the work instruction is presented again.
[0051]
According to the work supporting apparatus for an automatic machine of the first embodiment configured as described above, the work three-dimensional information corresponding to the work content instructed by the operator 55 and the three-dimensional object interpreted based on the three-dimensional information By verifying the consistency with the occupancy state, a mistake in the work instruction of the operator 55 is automatically detected, and a warning is issued in advance, whereby a situation in which the work is delayed can be prevented.
[0052]
Further, in the first embodiment, an example in which the selection of the work target is performed by inputting the position as the instruction content input by the work instruction input means 56 has been described. For example, the moving amount, the moving direction, and the like may be provided. In this case, the three-dimensional information verification unit 61 determines the three-dimensional object occupation state corresponding to the moving amount and the moving direction and the content of the work instruction. The consistency may be verified by comparing the three-dimensional information with the work three-dimensional information.
In addition, not only one work object may be selected as a work object, but a plurality of work objects may be selected and instructed.
[0053]
Further, in the first embodiment, as the verification method of the three-dimensional information verification unit 61, the verification method of comparing the work object with the height of the object around the work object is described as an example. As an example, the area corresponding to the position of the center of gravity of the work object is determined by the three-dimensional information verification means 61 as n% of one area of the work object (n is determined by the shape of the work object, etc. It is possible to determine that this work object is unnecessarily obscured by other objects in performing the work and is inconsistent if You may comprise.
[0054]
In addition, when the two-lens stereo vision is used as the three-dimensional measuring means 58, an image of only two-dimensional information input by one of the cameras is presented to the operator 55 in order to reduce the work load of the operator 55. Is the case. However, it may not be possible to observe another object concealing the work target in the image input by the one camera. Therefore, as described in the first embodiment, if the three-dimensional information verification unit 61 confirms the input, it is possible to take into account the input of both cameras, so that such a defect is detected in advance and It is possible to do.
[0055]
It is needless to say that various methods in each means described in the first embodiment can be similarly implemented in each of the following embodiments, and in each of the following embodiments, these methods are used. Description is omitted as appropriate.
[0056]
Embodiment 2 FIG.
FIG. 4 is a block diagram showing a configuration of a work assisting device for an automatic machine according to Embodiment 2 of the present invention, and FIG. 5 is a flowchart showing an operation of the work assisting device for an automatic machine shown in FIG. It is. In the figure, the same parts as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted. In addition, a description will be given using a case similar to the case described in Embodiment 1 as the work target.
[0057]
63 is an alternative generation rule database for storing alternative generation rules for generating alternatives, and 64 is a three-dimensional information verification unit 61 based on the three-dimensional information from the three-dimensional measuring unit 58 and the alternative generation rules. This is an alternative generation means for generating alternatives for a plurality of work instructions having consistency with each other.
[0058]
As an alternative generation rule, when the work object is composed of a plurality of objects, the work object at the uppermost position of the plurality of work objects, and any of the plurality of work objects It is assumed that the work is performed from the work object at the end position.
Further, as another alternative generation rule, a rotation angle for reaching the posture of the work object located at the uppermost position of the plurality of work objects and the posture of the plurality of work objects to the work end position is set. There is a rule that works from a small work target. Both of the above rules may be used, or only one of the rules may be used.
[0059]
Next, an operation of the work supporting apparatus for an automatic machine according to the second embodiment configured as described above will be described with reference to FIG. First, as in the first embodiment, the image input unit 52 is arranged so that the work target falls within the field of view of the image input unit 52. Then, the work support device of the automatic machine is activated and started (step s20 in FIG. 5), and an image of the work area is captured and input by the image input means 52 (step s21 in FIG. 5).
[0060]
Next, the image quality of the input image is improved by the image processing means 53, and the two-dimensional information is presented to the operator 55 using the information presenting means 54 (step s22 in FIG. 5). In this way, by displaying the image whose image quality has been improved to the operator 55, the burden on the operator 55 is reduced.
[0061]
Next, the work instruction presented by the operator 55 based on the two-dimensional information is input to the work instruction input means 56 (step s23 in FIG. 5). Next, the work instruction is corrected by the work instruction correction unit 57 to the position of the center of gravity of the work target based on the image processing result of the image processing unit 53 (step s24 in FIG. 5), and is set as a corrected work instruction. .
[0062]
Next, the three-dimensional information acquisition means 59 acquires the work three-dimensional information corresponding to the correction work target instruction from all the three-dimensional information of the three-dimensional measurement means 58 (step s25 in FIG. 5). Next, the three-dimensional information processing means 60 interprets the three-dimensional occupation state of the object existing in the work area in the three-dimensional space (step s26 in FIG. 5). In the second embodiment, as in the first embodiment, as an interpretation of the three-dimensional occupation state, regions having the same height in the three-dimensional space and spatially adjacent regions are the same region, or In addition, a method is used in which a distant region is divided as another region.
[0063]
Next, the three-dimensional information verification unit 61 uses the three-dimensional information acquired by the three-dimensional information acquisition unit 59 and the three-dimensional object occupation state interpreted by the three-dimensional information processing unit 60 based on the three-dimensional object occupation state. The consistency between the two is verified (step s27 in FIG. 5). As the verification method of the three-dimensional information verification means 61, in the second embodiment, similarly to the first embodiment, information on the height of the work object of the work instruction and information on the height of the other work objects are provided. Is verified, if the height of the other work object is lower than the height of the work object of the work instruction, it is verified that there is consistency, and if it is higher, it is verified that there is inconsistency. (Step s28 in FIG. 5).
[0064]
As a result of the verification, when it is verified that there is consistency, a work instruction is given to the automatic machine, and the work is performed (step s29 in FIG. 5). Further, when it is verified that they are inconsistent, the alternative generation unit 64 determines the 3D information based on the three-dimensional information from the three-dimensional measurement unit 58 and the alternative generation rule from the alternative generation rule database 63. A plurality of alternatives to the work instructions having consistency in the dimension information verification means 61 are generated (step s30 in FIG. 5).
[0065]
Then, the plurality of alternatives generated by the alternative generating unit 64 are presented to the operator 55 via the information presenting unit 54, and the operator 55 again provides information from the information presenting unit 54 (step s22 in FIG. 5). Upon receiving the confirmation again, one of the alternatives is selected as a work instruction, input to the work instruction input means 56 (step s23 in FIG. 5), and presented to the automatic machine 62 (step s23). Step s29 in FIG. 5).
[0066]
According to the work supporting apparatus for an automatic machine of the second embodiment configured as described above, the contents of the work instructed by the operator are interpreted based on the three-dimensional information in the same manner as in the first embodiment. In addition to verifying against the occupancy state, by automatically generating alternatives, the operator 55 does not need to create alternatives, and only needs to select presented alternatives. Work support to 62 is performed safely and promptly.
[0067]
In the second embodiment, only the alternative generated by the alternative generating means 64 is presented to the information presenting means 54. For example, the original work instruction given by the operator 55 is also displayed at the same time. When the operator 55 selects the original work instruction, the original work instruction may be forcibly executed. This is a remedy based on over-judgment such that the system of the work support device of the automatic machine itself, for example, is able to actually work, but judges that the work cannot be performed due to slight concealment of the work object. For example, even when the work instruction of the operator 55 is forcibly performed, it is effective in a case where the work is not substantially hindered by the operator's rule of thumb.
[0068]
Embodiment 3 FIG.
FIG. 6 is a block diagram showing the configuration of the work assisting device for an automatic machine according to Embodiment 3 of the present invention, and FIG. 7 is a diagram showing a flow chart for explaining the operation of the work assisting device for an automatic machine shown in FIG. It is. In the figure, the same parts as those in the above embodiments are denoted by the same reference numerals, and description thereof will be omitted. The work target will be described using the same cases as those described in the above embodiments.
[0069]
65 is a selection frequency recording unit that records the selection frequency of the alternative generation rule used to create the alternative selected by the operator 55, and 66 is a plurality of alternatives based on the information of the selection frequency recording unit 65. Is a priority determining means for determining the priority order of the alternative generation rules having a high selection frequency and assigning priorities to a plurality of alternatives.
[0070]
Next, the operation of the work supporting apparatus for an automatic machine according to the third embodiment configured as described above will be described with reference to FIG. In the third embodiment, the operation is the same as that of the second embodiment up to the operation in which the operator 55 presents the first work instruction, the operation instruction is determined to be inconsistent, and a plurality of alternatives are created. Omitted. Then, the plurality of alternatives generated by the alternative generating unit 64 are presented to the operator 55 via the information presenting unit 54, and the operator 55 again provides information from the information presenting unit 54 (step s22 in FIG. 7). receive.
[0071]
After reconfirmation, one alternative is selected from a plurality of alternatives, set as a work instruction, and input to the work instruction input means 56 (step s23 in FIG. 7). Next, this work instruction is presented to the automatic machine 62 (step s29 in FIG. 7), and at the same time, the alternative frequency generation rule used to create the alternative selected by the operator 55 is stored in the selection frequency recording means 65. Is recorded (step s31 in FIG. 7).
[0072]
Again, the operator 55 presents a work instruction through the same operation as in the second embodiment, and if the work instruction is determined to be inconsistent, the operation up to the operation of creating a plurality of alternatives is performed in the same manner as described above. It is. Next, the plurality of alternatives created by the alternative creating means 64 are determined by the priority determining means 66 based on the information of the selection frequency recording means 65 to give priority to the alternative generating rule with the higher selection frequency. Then, a plurality of alternatives are prioritized (step s32 in FIG. 7).
[0073]
Next, a plurality of alternatives are prioritized and presented to the operator 55 via the information presenting means 54 (step s22 in FIG. 7). Next, the operator 55 checks again by providing information from the information presenting means 54 again, and selects one alternative from a plurality of alternatives. At this time, the operator 55 can easily select an alternative according to the work environment. Then, the selected alternative is used as a work instruction and input to the work instruction input means 56 (step s23 in FIG. 7), and this work instruction is presented to the automatic machine 62 (step s29 in FIG. 7).
[0074]
According to the work supporting apparatus for an automatic machine of the third embodiment configured as described above, not only the same effects as those of the above-described embodiments can be achieved, but also a plurality of alternatives can be prioritized. Since the order is presented to the operator 55, the operator 55 can give a work instruction using this order as a judgment material. Therefore, it is possible to shorten the work time required to select an alternative that suits the work situation, and to improve the work efficiency.
[0075]
Embodiment 4 FIG.
FIG. 8 is a block diagram showing a configuration of a work support device for an automatic machine according to a fourth embodiment of the present invention, and FIG. 9 is a flowchart showing an operation of the work support device for an automatic machine shown in FIG. It is. In the figure, the same parts as those in the above embodiments are denoted by the same reference numerals, and description thereof will be omitted. The work target will be described using the same cases as those described in the above embodiments.
[0076]
Reference numeral 67 denotes a work order determining means for determining the work order of a plurality of alternatives up to the work instruction instructed by the operator 55 and presenting it to the operator 55 via the information presenting means 54.
[0077]
Next, the operation of the work supporting apparatus for an automatic machine according to the fourth embodiment configured as described above will be described with reference to FIG. In the fourth embodiment, the operation of the operator 55 presents a work instruction, the operation instruction is determined to be inconsistent, and the operation of creating a plurality of alternatives is the same as the operation of the second embodiment, and therefore will be omitted. I do. Then, the plurality of alternatives generated by the alternative generation unit 64 are determined by rearranging the plurality of alternatives in the work order up to the work instruction instructed by the operator 55 by the work order determination unit 67 (step s33 in FIG. 9). .
[0078]
Next, the plurality of alternatives rearranged in the work order are presented to the operator 55 via the information presenting means 54 (step s22 in FIG. 9). Then, the operator 55 confirms the work instruction, sets a plurality of alternatives rearranged in the work order as work instructions, and inputs the work instructions to the work instruction input means 56 (step s23 in FIG. 9). 62 (step s29 in FIG. 9).
[0079]
Here, an actual use example of the fourth embodiment as described above will be described. During normal operation, an automatic machine such as a robot using an image processing signal performs an operation without an operator giving an instruction. However, the object of the present invention is to assist the operator when the automatic operation of the automatic machine is difficult due to the occurrence of a fall of the work target due to a holding error of the robot.
[0080]
Therefore, if the work support is performed only for the work target in which the work error has occurred, the automatic operation can be performed again. However, in a situation where a plurality of work objects exist in the work area, even if the operator gives an instruction to the work object in which the work has been mistaken, the work can be performed directly due to interference of other work objects. May not be. In such a case, it is effective to work on another work target.
[0081]
Therefore, since it is not possible to return to the automatic operation while the work object having the work error is present in the work area, the operator has to remove the work object until the work on the work object having the work error becomes possible. You need to give instructions one by one. However, as described in the fourth embodiment, the work order determination means 67 automatically determines the work procedure for a plurality of work objects until the work for the work object having a work error is completed. In addition, such troublesome operation can be eliminated.
[0082]
According to the work assisting apparatus for an automatic machine of the fourth embodiment configured as described above, the same effect as in each of the above-described embodiments can be obtained, and a plurality of work objects exist in the work area. In order to automatically set a work procedure for a plurality of work objects until the work on the work object first specified by the operator 55 becomes possible, the operator 55 The troublesome operation of repeating the work instruction is eliminated, and the work is performed efficiently.
[0083]
Embodiment 5 FIG.
FIG. 10 is a block diagram showing a configuration of a work support device for an automatic machine according to a fifth embodiment of the present invention, and FIG. 11 is a diagram showing a flowchart for explaining the operation of the work support device for an automatic machine shown in FIG. It is. In the figure, the same parts as those in the above embodiments are denoted by the same reference numerals, and description thereof will be omitted. The work target will be described using the same cases as those described in the above embodiments.
[0084]
Reference numeral 68 denotes a modification alternative plan creating means for creating a modification alternative plan as a modification work instruction including a modification instruction of the alternative plan when the operator modifies the alternative plan and gives an instruction as a modification work instruction. Then, as a method of making a modified alternative including an instruction for modifying the alternative of the operator 55, for example, when a part of the work route of the alternative is to be modified, the start point and the end point of the modification range are selected and instructed, When a plurality of intermediate via points between the start point and the end point are designated, a method of interpolating between the points and designating a correction route to be a correction alternative is possible. Here, as an interpolation method between each point, for example, there is a method of performing interpolation using a spline curve.
[0085]
In the three-dimensional information verification means 61, a function as a correction alternative plan verification means for verifying the consistency of the correction work plan based on the correction work three-dimensional information and the three-dimensional object occupation state is added. You.
[0086]
Next, the operation of the work supporting apparatus for an automatic machine according to the fifth embodiment configured as described above will be described with reference to FIG. In the fifth embodiment, since the operator 55 presents a work instruction, it is determined that the work instruction is inconsistent, and the operation of creating a plurality of alternatives is the same as in each of the above-described embodiments, and a description thereof will be omitted. I do.
[0087]
Then, the plurality of alternatives generated by the alternative generating unit 64 are input to the information presenting unit 54, and the operator 55 receives the information provision from the information presenting unit 54 again (step s22 in FIG. 11). Then, the operator 55 checks the information again and selects one alternative from the plurality of alternatives. When the operator 55 corrects a part of the selected alternative, the operator 55 inputs a correction instruction to the corrected alternative creating means 68, and the corrected alternative creating means 68 creates the corrected alternative. (Step s34 in FIG. 11).
[0088]
Next, the three-dimensional information obtaining means 59 obtains the correction work three-dimensional information corresponding to the correction alternative from all the three-dimensional information of the three-dimensional measuring means 58 (step s25 in FIG. 11). Next, the three-dimensional information verification means 61 uses the three-dimensional information acquired by the three-dimensional information acquisition means 59 and the three-dimensional object occupation state already interpreted by the three-dimensional information processing means 60. Then, the consistency between the two is verified (step s27 in FIG. 11).
[0089]
Then, the consistency is determined by the three-dimensional information verification means 61 (step s28 in FIG. 11). As a result of the verification, when it is verified that there is consistency, a work instruction is given to the automatic machine 62, and the work is performed (step s29 in FIG. 11). Further, when it is verified that there is inconsistency, warning information is issued to the operator 55 via, for example, the correction alternative creation means 68, and the correction instruction of the operator 55 is again output to the three-dimensional information verification means. At step 61, it is ensured that there is no nonconformity. Then, the operator 55 again examines the correction instruction, and repeats the above operation again.
[0090]
According to the work supporting apparatus for an automatic machine of the fifth embodiment configured as described above, it is possible to obtain the same effects as those of the above-described embodiments, as well as the consistency with the correction instruction given by the operator 55. By performing the verification by the three-dimensional verification means in advance, the execution of the work utilizing the knowledge of the operator 55 can be performed extremely efficiently without repeating the generation of the alternative.
[0091]
Embodiment 6 FIG.
FIG. 12 is a block diagram showing a configuration of a work support device for an automatic machine according to Embodiment 6 of the present invention, and FIG. 13 is a diagram showing a flow chart for explaining the operation of the work support device for an automatic machine shown in FIG. It is. In the figure, the same parts as those in the above embodiments are denoted by the same reference numerals, and description thereof will be omitted. The work target will be described using the same cases as those described in the above embodiments. Reference numeral 69 denotes a measurement range limiting unit that limits the measurement range of the three-dimensional measurement unit 58 based on a correction work instruction as a work instruction instructed by the operator 55.
[0092]
Next, an operation of the work supporting apparatus for an automatic machine according to the sixth embodiment configured as described above will be described with reference to FIG. In the sixth embodiment, the operation is almost the same as that of the first embodiment, except that the measurement range of the three-dimensional information is limited. The following description focuses on this. First, through the same operation as in the first embodiment, the work instruction of the operator 55 is corrected, and a corrected work instruction is created (step s24 in FIG. 13).
[0093]
Next, the correction work instruction is input to the measurement range limiting means 69. Then, the measuring range limiting unit 69 limits the measuring range of the three-dimensional measuring unit 58 based on the correction work instruction (step s35 in FIG. 13). As a method of limiting the measurement range, the measurement range is a three-dimensional measurement of only the two-dimensional position of the work target and its vicinity. As a specific example, the vicinity of the work target is limited to a region in which each side is a square having a length twice as long as the long side of the work target itself, and each side is parallel to the coordinate axis. There is a way. Next, the three-dimensional measurement means 58 performs three-dimensional measurement within the measurement range limited by the measurement range limitation means 69, and the subsequent operations are performed in the same manner as in the first embodiment.
[0094]
According to the work assisting apparatus for an automatic machine of the sixth embodiment configured as described above, the same effect as that of the first embodiment can be obtained, as well as the work instruction corresponding to the work instruction given by the operator 55. The processing time can be reduced by acquiring only the dimensional information by the three-dimensional measuring means 58 and acquiring only the information necessary for executing the work instruction. Although the sixth embodiment has been described based on the first embodiment, the present invention is not limited to this, and it goes without saying that the present invention can be similarly applied to the other embodiments described above. Therefore, a similar effect can be obtained.
[0095]
Embodiment 7 FIG.
In each of the above embodiments, it is assumed that a plurality of corrugated cardboard boxes having a polyhedral shape are stacked as work objects, and each of the objects has the same shape and the same size. Although the case where the work object is to be sucked and gripped by the suction hand and the work is to be performed has been described, the work object is not limited to this.For example, the work object is a stack of a single object, When individual objects cannot be recognized one by one, for example, it is assumed that raw materials and the like are placed in piles. Hereinafter, an embodiment corresponding to such a work target will be described.
[0096]
FIG. 14 is a block diagram showing a configuration of a work assisting device for an automatic machine according to Embodiment 7 of the present invention, and FIG. 15 is a flowchart showing an operation of the work assisting device for an automatic machine shown in FIG. It is. In the figure, reference numeral 70 denotes an image input unit which captures an image of a work area including a work target, converts the image by signal processing, and 71 denotes an image processing unit for obtaining two-dimensional information from the image input unit 70. As an image improvement method at this time, for example, a histogram equalization processing method of equalizing the appearance frequency distribution of density values in an input grayscale image is used.
[0097]
72 is an information presenting means for providing the image signal processed by the image processing means 71 to the operator 73; 74 is a work instruction input for the operator 73 to input a work instruction for a work target based on the information presenting means 72; Means 75 is a three-dimensional measuring means for obtaining three-dimensional information from the image signal. The three-dimensional information referred to here is a method in which the slit light is projected on the work object while moving in a certain direction, and the slit light is projected on the object. It can be configured by a method called a light section method in which three-dimensional measurement is performed by applying the principle of triangulation to the result of observing the state projected on the surface with a camera.
[0098]
Reference numeral 76 denotes three-dimensional information obtaining means for obtaining, from the three-dimensional measuring means 75, three-dimensional information obtained from the three-dimensional measuring means 75, based on three-dimensional information obtained from the three-dimensional measuring means 75. The three-dimensional information processing means 78 for interpreting the three-dimensional object occupation state in the area includes a three-dimensional object occupation state obtained from the three-dimensional information processing means 77 and work three-dimensional information obtained from the three-dimensional information acquisition means 76. The three-dimensional information verification means 79 for verifying the consistency between the two is based on the above, and is an automatic machine such as a robot.
[0099]
Next, an operation of the work supporting apparatus for an automatic machine according to the seventh embodiment configured as described above will be described with reference to FIG. First, as in the first embodiment, the image input unit 52 is arranged so that the work target falls within the field of view of the image input unit 52. Then, the work support device of the automatic machine is activated and started (step s36 in FIG. 15). Then, the image of the work area is captured and input by the image input means 70 (step s37 in FIG. 15).
[0100]
Next, the image quality of the input image is improved by the image processing means 71, and the two-dimensional information is presented to the operator 73 using the information presenting means 72 (step s38 in FIG. 15). In this way, by displaying the image with the improved image quality to the operator 73, the burden on the operator 73 is reduced. Next, the operator 73 inputs the work instruction presented by the two-dimensional information to the work instruction input means 74 (step s39 in FIG. 15).
[0101]
As the contents of the work instruction performed at this time, a work target location and a movement direction are specified by the automatic machine. As an actual designation method, the designation of the work target portion is performed by designating the work target portion from the image displayed by the information presenting means 72. The designation of the movement direction is performed by designating a line segment or a curve extending in the movement direction from the work target location of the work target to the work end location.
[0102]
Next, the three-dimensional information acquisition means 75 acquires the work three-dimensional information corresponding to the correction work instruction from all the three-dimensional information of the three-dimensional measurement means 75 (step s40 in FIG. 15). Next, the three-dimensional information processing means 77 interprets the three-dimensional occupation state of the object existing in the work area in the three-dimensional space (step s41 in FIG. 15). In the seventh embodiment, as the interpretation of the three-dimensional occupation state, a method is used in which the three-dimensional space is divided into two regions: a region having a height higher than the work target and a region having a height lower than the work target.
[0103]
Next, the three-dimensional information verification unit 78 uses the work three-dimensional information acquired by the three-dimensional information acquisition unit 77 and the three-dimensional object occupation state interpreted by the three-dimensional information processing unit 77, based on the three-dimensional information occupation state. The consistency between the two is verified (step s42 in FIG. 15). In the seventh embodiment, as the verification method of the three-dimensional information verification unit 78, the information on the height in the moving direction from the work target location of the work instruction is compared with the information on the height of another work target. If the height of the other work object is lower than the height in the moving direction from the work target position of the work instruction, it is verified that there is consistency, and if the work object has a high position, it is inconsistent. (Step s43 in FIG. 15).
[0104]
As a result of the verification, when it is verified that there is consistency, a work instruction is given to the automatic machine 79, and the work is performed (step s44 in FIG. 15). When it is verified that the information is inconsistent, for example, warning information is issued to the operator 73 via the information presenting means 72. Receiving the information from 72, the work instruction is presented again.
[0105]
According to the work supporting apparatus for an automatic machine of the seventh embodiment configured as described above, the work three-dimensional information corresponding to the work content instructed by the operator 73 and the three-dimensional object interpreted based on the three-dimensional information By verifying the consistency with the occupation state, the operator 73 can automatically detect an error in the work instruction of the operator 73 and issue a warning in advance, thereby preventing a situation in which the work is delayed.
[0106]
In the above-described seventh embodiment, the case where the work object of the first embodiment is different has been described. However, the present invention is not limited to this, and the work object may be different in other embodiments. Needless to say, the same effects as those of the above embodiments can be obtained.
[0107]
Further, when the work object of the seventh embodiment is used as the alternative generation rule described in each of the above embodiments, the work object region which is the uppermost region of the work object, and An example is considered in which the rule is set such that the work is performed from the work object area having a short distance to the work end position in the work object area.
[0108]
Note that the flow of the operation flow described in each of the above embodiments is an example, and another operation flow may be used as long as the input / output relationship of each unit illustrated in each drawing is appropriate. Alternatively, an operation may be performed so that three-dimensional measurement and image processing are performed simultaneously.
[0109]
【The invention's effect】
As described above, according to the first aspect of the present invention, an automatic machine for recognizing the situation of a work target and instructing the automatic machine to perform a work by performing signal processing of an image of a work area including the work target. Work support equipmentAndWork three-dimensional measurement means for obtaining three-dimensional information of a work object existing in the work area, and work three-dimensional information corresponding to a work instruction presented by an operator depending on the state of the work object from the three-dimensional measurement means Three-dimensional information acquiring means, three-dimensional information processing means for interpreting a three-dimensional object occupation state in a work instruction area from three-dimensional information obtained from three-dimensional measuring means, and three-dimensional information obtained from three-dimensional information processing means A three-dimensional information verification unit that verifies the consistency between the two based on the object occupation state and the work three-dimensional information obtained from the three-dimensional information acquisition unit;In the work support device of the automatic machine, a three-dimensional data is stored based on an alternative generation rule for storing the alternatives, and the three-dimensional information is generated based on the three-dimensional information and the alternative generation rules from the three-dimensional measuring means. An alternative generation unit that generates alternatives to a plurality of work instructions having consistency in the information verification unit, and presents the plurality of alternatives generated by the alternative generation unit to an operator, and the operator identifies the alternatives. An automatic machine operation support device that can select and present to the automatic machine so that the operator can verify whether or not the work instruction has three-dimensional consistency before the automatic machine performs the work. It is possible to provide an operation support device for an automatic machine that has an effect of being able to provide, and that can create a consistent alternative without an operator creating an alternative. There is a cormorant effect.
[0110]
According to claim 2 of the present invention,1In the case where the work object is composed of a plurality of objects, the alternative generation rule is set to the work object at the uppermost position of the plurality of work objects, and any of the plurality of work objects. Since the rule is to perform work from the work object at the end position, there is an effect that it is possible to provide a work support device for an automatic machine that can reliably create an alternative with consistency.
[0111]
According to claim 3 of the present invention, claim1In the case where the work object is composed of a plurality of objects, the alternative generation rule is set so that the work object at the uppermost position of the plurality of work objects and the posture of the plurality of work objects To provide a work support device for an automatic machine that can create an alternative with certain consistency because the rule is to work from a work object with a small rotation angle to reach the posture of the work end position. There is an effect that is possible.
[0112]
According to claim 4 of the present invention, claim1In the case where the work object is a stack of single objects, the alternative generation rule is set to the work object region that is the uppermost region of the work object and the work object region to the work end position. Since the rule is to perform work from a work object region with a short distance, there is an effect that it is possible to provide a work support device for an automatic machine that can reliably create an alternative with consistency.
[0113]
According to claim 5 of the present invention, claim1Or claim4The selection frequency recording means for recording the selection frequency of the alternative generation rule used to create the alternative selected by the operator; Priority determining means for determining the priority of the plan generation rules and prioritizing a plurality of alternatives, and prioritizing the plurality of alternatives and presenting them to the operator; Thus, there is an effect that it is possible to provide a work support device for an automatic machine, which makes it easier to select an alternative solution and can shorten the work time.
[0114]
Also, according to claim 6 of the present invention, claim1Or claim4In any one of the above, there is provided a work order determining means for determining a work order of a plurality of alternatives up to a work instruction instructed by the operator and presenting the work order to the operator. Can provide an operation support device for an automatic machine which can be performed without repeatedly giving a work instruction.
[0115]
Further, according to claim 7 of the present invention, claim1Or claim6In any one of the above, when the operator corrects the alternative and gives an instruction as a correction work instruction, the correction work three-dimensional information of the correction work instruction and the three-dimensional object occupation state obtained from the three-dimensional information processing means are used. Therefore, it is possible to provide a work support device for an automatic machine which can execute a work instruction utilizing an operator's knowledge without repeating a correction process, since a correction alternative verification means for verifying the consistency between the two is provided. The effect is possible.
[0116]
Also, according to claim 8 of the present invention, claim1Or claim7In any one of the above, the measurement range limiting means for limiting the measurement range of the three-dimensional measuring means is provided based on the work instruction given by the operator, so that only the information necessary for the work instruction can be obtained, and the processing time can be reduced. There is an effect that it is possible to provide a work support device for an automatic machine that can be shortened.
[0117]
Also, according to claim 9 of the present invention, claims 1 to claim8Wherein the three-dimensional measuring means obtains three-dimensional information from the image signal, and the operator gives a work instruction to the work object in the form of an image signal. The image processing means obtains two-dimensional information from the two-dimensional information. The information presenting means presents the image processing result of the image processing means to the operator, and the operator issues a work instruction based on the information presented from the information presenting means. With the provision of the work instruction input means for inputting, it is possible to provide a work support device of an automatic machine which can give a work instruction using two-dimensional information which is generally used by an operator. There is.
[0118]
Also, according to claim 10 of the present invention, claim9A work instruction correction means for correcting a work instruction input by the work instruction input means based on an image processing result of the image processing means, wherein an operator presents a corrected work instruction corrected by the work instruction correction means. Since there is an instruction, there is an effect that it is possible to provide an automatic machine operation support device capable of verifying consistency based on a corrected operation instruction obtained by appropriately correcting an operator's operation instruction.
[0119]
Also, according to claim 11 of the present invention, claims 1 to claim10In any one of the above, since the three-dimensional information is constituted by a distance from an arbitrary point existing in the work area to the work target, an operation support device for an automatic machine capable of reliably obtaining the three-dimensional information is provided. There is an effect that it is possible to do.
[0120]
Also, according to claim 12 of the present invention, claims 1 to claim11In any one of the above, if the three-dimensional information verifying means determines that there is an inconsistency, a warning sound generating means for generating a warning sound to the operator is provided. There is an effect that it is possible to provide an operation support device for an automatic machine, which can surely confirm the matching.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a work support device for an automatic machine according to a first embodiment of the present invention.
FIG. 2 is a view showing a flowchart for explaining the operation of the work support device of the automatic machine shown in FIG. 1;
FIG. 3 is a block diagram showing an example of an image processing screen presented to an operator of the automatic machine work support device according to the first embodiment of the present invention;
FIG. 4 is a block diagram showing a configuration of an operation support device for an automatic machine according to a second embodiment of the present invention.
FIG. 5 is a view showing a flowchart for explaining the operation of the work support device for the automatic machine shown in FIG. 4;
FIG. 6 is a block diagram showing a configuration of a work support device for an automatic machine according to Embodiment 3 of the present invention.
7 is a diagram showing a flowchart for explaining the operation of the work support device of the automatic machine shown in FIG. 6;
FIG. 8 is a block diagram showing a configuration of a work support device for an automatic machine according to Embodiment 4 of the present invention.
9 is a view showing a flowchart for explaining the operation of the work support device for the automatic machine shown in FIG. 8;
FIG. 10 is a block diagram showing a configuration of a work support device for an automatic machine according to Embodiment 5 of the present invention.
11 is a view showing a flowchart for explaining the operation of the work support device for the automatic machine shown in FIG. 10;
FIG. 12 is a block diagram showing a configuration of an automatic machine work support device according to a sixth embodiment of the present invention.
13 is a view showing a flowchart for explaining the operation of the work support device for the automatic machine shown in FIG. 12;
FIG. 14 is a block diagram showing a configuration of a work support device for an automatic machine according to a seventh embodiment of the present invention.
FIG. 15 is a view showing a flowchart for explaining the operation of the work support device of the automatic machine shown in FIG. 14;
FIG. 16 is a diagram showing a configuration of a conventional work support device for an automatic machine.
FIG. 17 is a diagram showing image processing of a conventional work support device for an automatic machine.
18 is a diagram showing a flowchart for explaining the operation of the work support device for the automatic machine shown in FIG.
FIG. 19 is a diagram showing a configuration of a conventional work support device for an automatic machine.
20 is a diagram showing a flowchart for explaining the operation of the work support device for the automatic machine shown in FIG. 19;
FIG. 21 is a diagram showing image processing of a conventional work support device for an automatic machine.
FIG. 22 is a diagram showing a configuration of a conventional work support device for an automatic machine.
FIG. 23 is a view showing a flowchart for explaining the operation of the work support device for the automatic machine shown in FIG. 22;
[Explanation of symbols]
52, 70 image input means, 53, 71 image processing means, 54, 72 information presentation means,
55, 73 operator, 56, 74 work instruction input means, 57 work instruction correction means,
58, 75 three-dimensional measuring means, 59, 76 three-dimensional information obtaining means,
60, 77 three-dimensional information processing means, 61, 78 three-dimensional information verification means,
62,79 automatic machine, 63 alternative generation rule database, 64 alternative generation means,
65 selection frequency recording means, 66 priority determining means, 67 work order determining means,
68 Modified alternative creation means, 69 Measurement range limiting means.

Claims (12)

By a signal processing of an image of an image of a work area including the work object, by recognizing the situation of the work object, an automatic machine work support device that instructs the automatic machine to work ,
Work three-dimensional measurement means for obtaining three-dimensional information of the work object existing in the work area;
Three-dimensional information acquisition means for acquiring, from the three-dimensional measurement means, work three-dimensional information corresponding to a work instruction presented by an operator according to the state of the work object;
Three-dimensional information processing means for interpreting a three-dimensional object occupation state in the work instruction area from the three-dimensional information obtained from the three-dimensional measuring means;
Three-dimensional information verification means for verifying the consistency between the three-dimensional object occupation state obtained from the three-dimensional information processing means and the work three-dimensional information obtained from the three-dimensional information acquisition means; In an automatic machine work support device equipped with
Based on the three-dimensional information from the three-dimensional measuring means and the three-dimensional information verifying means based on the three-dimensional information from the three-dimensional measuring means, the consistency in the three-dimensional information verifying means is stored. An alternative generating means for generating the alternatives of the plurality of work instructions having the plurality of work instructions, presenting the plurality of alternatives generated by the alternative generating means to an operator, the operator selecting the alternatives and automatically selecting the alternatives. A work support device for an automatic machine, which is provided to the machine. When the work object is composed of a plurality of objects, the alternative generation rule is set to the work object at the uppermost position of the plurality of work objects, and any of the plurality of work objects. 2. The operation support device for an automatic machine according to claim 1 , wherein the operation is performed from a work object located at an end position. When the work object is composed of a plurality of objects, the alternative generation rule is set to the work object at the uppermost position of the plurality of work objects, and the posture of the plurality of work objects is changed. 2. The work support device for an automatic machine according to claim 1 , wherein the work is performed from a work object having a small rotation angle to reach the posture of the work end position. When the work object is formed by stacking a single object, the alternative generation rule is set to the work object region that is the uppermost region of the work object and the work object region to the work end position. The work support device for an automatic machine according to claim 1 , wherein the work is performed from a work target area having a short distance. Selection frequency recording means for recording a selection frequency of an alternative generation rule used to create an alternative selected by an operator, and the alternative generation rule having a high selection frequency based on information of the selection frequency recording means determining the priority order of, and a priority determining means for prioritizing the plurality of alternatives, claims 1, characterized in that prioritize multiple alternatives presented to the operator An operation support device for an automatic machine according to claim 4 . Determining the work order of alternatives up to the operator of the indicated work instructions, according to one of claims 1 to 4, characterized in that it comprises a work order determining means for presenting to the operator Automatic machine work support equipment. When the operator corrects the alternative and gives an instruction as a correction work instruction, the matching of the two is performed based on the correction work 3D information of the correction work instruction and the 3D object occupation state obtained from the 3D information processing means. work support device for an automatic machine according to any of claims 1 to 6, characterized in that it comprises a modified alternative verification means for verifying sex. Based on the work instruction by the operator to instruct, work support device for an automatic machine according to any of claims 1 to 7, characterized in that with a measurement range limitation means for limiting the measurement range of the three-dimensional measurement means . An operation support device for an automatic machine according to any one of claims 1 to 8 ,
An image input means for capturing the work area and converting the work area into an image signal is provided. The three-dimensional measurement means obtains three-dimensional information from the image signal. An information presenting means for performing the image processing result of the image processing means to the operator based on the two-dimensional information of the image processing means for obtaining the two-dimensional information, and the operator based on the information presented from the information presenting means. And a work instruction input means for inputting the work instruction. A work instruction input means for correcting a work instruction input by the work instruction input means based on an image processing result of the image processing means; and an operator presenting a corrected work instruction corrected by the work instruction correction means by an operator. The operation support device for an automatic machine according to claim 9 , wherein: Three-dimensional information, work support device for an automatic machine according to any of claims 1 to 10, characterized in that configuration at a distance to the work object from an arbitrary point present in the workspace. The automatic machine according to any one of claims 1 to 11 , further comprising a warning sound generating means for generating a warning sound to an operator when the three-dimensional information verification means determines that there is a mismatch. Work support equipment.

Images