JP6964917B1 - Measurement system, measurement method, program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the measurement accuracy of a measurement work in a measurement work using a sensor mounted on a tip of a robot arm, it is required to synchronize the measurement operation of the sensor with the operation of the robot. However, when the combination of the sensor and the robot is arbitrarily selected, it is not easy to construct a measurement system for synchronizing the movements of the sensor and the robot. SOLUTION: This is a measurement system that performs measurement processing based on measurement data obtained by a sensor mounted on a robot, and receives robot motion data indicating the position information of the sensor mounted on the robot. It coincides with the time when the first measurement data was obtained based on the unit, the sensor information receiving unit that receives the measurement data obtained by the sensor, and the time information included in the robot operation data and the measurement data, respectively. Alternatively, it is a measurement system including a measurement result generation unit that specifies the robot operation data at substantially the same time and generates a measurement result using the position information indicated by the specified robot operation data as the measurement start position. [Selection diagram] Fig. 1

Description

The present invention relates to a measurement system, a measurement method, and a program.

Conventionally, measurement work using a sensor mounted on a robot has been performed (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-202373

Such measurement work using a robot can be used for various measurement purposes by changing the combination of the sensor and the robot. On the other hand, in order to improve the measurement accuracy of the measurement work, it is required to synchronize the measurement operation of the sensor with the operation of the robot. However, when the combination of the sensor and the robot is arbitrarily selected, it is not easy to construct a measurement system capable of acquiring accurate measurement data by synchronizing the movements of the sensor and the robot.

Although Patent Document 1 discloses that a synchronization signal is incorporated into a motor drive signal output to a robot motor, there is a problem that a program on the robot side that generates a motor drive signal needs to be changed.

The present invention has been made in view of such a background, and an object of the present invention is to more easily construct a measurement system for acquiring more accurate measurement data in consideration of the operation timings of the sensor and the robot.

The main invention of the present invention for solving the above problems is a measurement system that performs measurement processing based on measurement data obtained by a sensor mounted on the robot, and obtains position information of the sensor mounted on the robot. The first is based on the robot motion receiving unit that receives the indicated robot motion data, the sensor information receiving unit that receives the measurement data obtained by the sensor, and the robot motion data and the time information included in the measurement data, respectively. A measurement result generation unit that specifies the robot operation data at the same time or substantially the same time as the time when the measurement data was obtained, and generates the measurement result using the position information indicated by the specified robot operation data as the measurement start position. It is a measurement system equipped.

Other problems disclosed in the present application and solutions thereof will be clarified in the columns and drawings of the embodiments of the invention.

According to the present invention, it is possible to easily construct a measurement system that acquires more accurate measurement data in consideration of the operation timings of the sensor and the robot.

It is a figure which shows an example of the measurement system 100 of this embodiment. It is a figure which shows the function of each component of the measurement system 100 of this embodiment. It is a figure which shows the control flowchart of the measurement system of this embodiment. It is a figure which shows an example of the case where the appearance shape of the measurement target is measured by the measurement system in this embodiment. It is a graph which shows the measurement data and the information of the sensor position on the XY plane when the measurement object having a round hole is measured by the method shown in FIG. 4 in this embodiment. It is a figure which shows an example of the measurement data acquired by the measurement system of this embodiment. It is a figure which shows an example of the operation data acquired by the measurement system of this embodiment. It is a figure which shows an example of the measurement system 100 in Example 2 of this Embodiment. It is a figure which shows the function of each component of the measurement system 100 in Example 2 of this Embodiment. It is a figure which shows an example of the method of generating a sensor drive signal in the measurement processing unit in this embodiment. It is a figure which shows an example of another method which generates a sensor drive signal in the measurement processing part in this embodiment. It is a figure which shows an example of the measurement system 100 in Example 3 of this Embodiment. It is a figure which shows the function of each component of the measurement system 100 in Example 3 of this Embodiment.

The contents of the embodiments of the present invention will be described in a list. The present invention includes, for example, the following configuration.

[Item 1]
It is a measurement system that performs measurement processing based on the measurement data obtained by the sensors mounted on the robot.
A robot motion receiving unit that receives robot motion data indicating the position information of the sensor mounted on the robot, and a robot motion receiving unit.
A sensor information receiving unit that receives the measurement data obtained by the sensor, and
Based on the robot motion data and the time information included in the measurement data, the robot motion data that coincides with or substantially the same time as the time when the first measurement data was obtained is specified, and the specified robot motion data A measurement system including a measurement result generator that generates measurement results using the indicated position information as the measurement start position.
[Item 2]
The measurement system according to item 1.
The sensor is a distance sensor that measures the distance from the sensor to the surface of the object to be measured.
The measurement result generation unit is a measurement system that generates three-dimensional coordinates of the surface of a measurement object as a measurement result based on the measurement data by the distance sensor and the measurement position interval by the distance sensor set in advance.
[Item 3]
The measurement system according to item 1 or 2.
The sensor is a measurement system that starts measurement based on a measurement start command generated by a robot control unit when the position of the sensor mounted on the robot reaches a preset measurement start position.
[Item 4]
The measurement system according to item 1.
When the robot drive signal transmitted to the robot from the robot control unit that controls the robot is acquired and the robot drive signal includes a measurement start command for causing the sensor to start measurement, the measurement operation of the sensor is started. A measurement system equipped with a sensor drive signal generator that generates a sensor drive signal that triggers the robot.
[Item 5]
It is a measurement method that performs measurement processing based on the measurement data obtained by the sensor mounted on the robot.
A robot motion receiving step for receiving robot motion data indicating the position information of the sensor mounted on the robot, and a robot motion receiving step.
A sensor information receiving step for receiving the measurement data obtained by the sensor, and
Based on the robot motion data and the time information included in the measurement data, a step of identifying the robot motion data that coincides with or substantially the same time as the time when the first measurement data was obtained.
A measurement method including a measurement result generation step of generating a measurement result using the position information indicated by the specified robot motion data as a measurement start position.
[Item 6]
The measurement method according to item 5.
The sensor is a distance sensor that measures the distance from the sensor to the surface of the object to be measured.
The measurement result generation step is a measurement method that generates three-dimensional coordinates of the surface of a measurement object as a measurement result based on the measurement data by the distance sensor and the measurement position interval by the distance sensor set in advance.
[Item 7]
The measurement method according to item 5 or 6.
A measurement method further comprising a step of starting measurement based on a measurement start command generated by a robot control unit when the position of the sensor mounted on the robot reaches a preset measurement start position.
[Item 8]
The measurement method according to item 5.
A step of acquiring the robot drive signal transmitted from the robot control unit that controls the robot to the robot, and
A measurement method including a step of generating a sensor drive signal as a trigger for starting a measurement operation of the sensor when the robot drive signal includes a measurement start command for causing the sensor to start measurement.
[Item 9]
It is a program for causing a computer to execute a measurement method that performs measurement processing based on measurement data obtained by a sensor mounted on a robot.
The program, as the measurement method,
A robot motion receiving step for receiving robot motion data indicating the position information of the sensor mounted on the robot, and a robot motion receiving step.
A sensor information receiving step for receiving the measurement data obtained by the sensor, and
Based on the robot motion data and the time information included in the measurement data, a step of identifying the robot motion data that coincides with or substantially the same time as the time when the first measurement data was obtained.
A measurement result generation step that generates a measurement result using the position information indicated by the specified robot motion data as a measurement start position, and a measurement result generation step.
A program that causes a computer to run.

<Details of the embodiment>
A specific example of the information processing system 100 according to the embodiment of the present invention will be described below with reference to the drawings. It should be noted that the present invention is not limited to these examples, and is indicated by the scope of claims, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims. In the following description, the same or similar elements are given the same or similar reference numerals and names in the accompanying drawings, and duplicate description of the same or similar elements may be omitted in the description of each embodiment. In addition, the features shown in each embodiment can be applied to other embodiments as long as they do not contradict each other.

<Example 1>
<Overall configuration of measurement system>
FIG. 1 is a diagram showing an example of the measurement system 100 of the present embodiment. As shown in FIG. 1, the measurement system 100 of the present embodiment includes terminals 1 and 10, a robot control device 102, a sensor control 103, a measurement processing unit 104, and a robot 2. The robot 2 is composed of, for example, an articulated robot arm in which a plurality of links are formed by a plurality of motors, and the arm 21 is provided with a sensor 23. Any measuring device can be applied as the sensor 23, but in the present embodiment, an example using a distance measuring sensor for measuring the distance to the object will be described as an example.

The terminal 1 and the robot control unit 102 are connected to each other so as to be able to communicate with each other by wire or wirelessly, and for example, a measurement start command input by the user via the input unit of the terminal 1 is transmitted to the robot control unit 102. Further, the terminal 10 and the measurement processing unit 104 are connected to each other so as to be able to communicate with each other by wire or wirelessly. For example, the measurement result information generated by the measurement processing unit 104 is transmitted to the terminal 10 and displayed on the display unit of the terminal. NS. Here, although the terminal 1 and the terminal 10 are described separately in FIG. 1, they can be mounted on the same device. The measurement processing unit 104 is further communicably connected to the robot control unit 102 and the sensor control unit 103, respectively. Information regarding the operation results of the robot is transmitted from the robot control unit 102 to the measurement processing unit 104. Further, information about the measurement data detected by the sensor 23 is transmitted from the sensor control unit 103 to the measurement processing unit 104. The robot control unit 102 is further communicably connected to the robot 2 and the sensor control unit 103, and a robot drive signal for driving the robot is transmitted from the robot control unit 102 to the robot 2 and the sensor control unit 103. The robot control unit starts the measurement operation by the sensor via the sensor control unit 103 by transmitting the information related to the operation command of the sensor together with the robot drive signal. The sensor control unit 103 transmits an operation command received from the robot control unit 102 to the sensor 23. Note that FIG. 1 is merely an example and is not limited to the illustrated configuration.

The terminals 1 and 10, the robot control device 102, the sensor control unit 103, and the measurement processing unit 104 shown in FIG. 1 may be composed of, for example, a general-purpose computer having hardware such as a processor, a memory, and a transmission / reception unit. Alternatively, it may be logically realized by cloud computing.

<Measurement system function>
FIG. 2 is a diagram showing the functions of each component of the measurement system 100 of the present embodiment.

The robot control unit 102 includes a drive signal generation unit 1021 and a signal output unit 1022. When the robot drive signal generation unit 1021 receives the operation start command from the terminal, the robot drive signal generation unit 1021 transmits the robot drive signal to the robot 2 and the sensor control unit 103. Here, the robot drive signal may be a pulse signal that becomes a High signal at the start of operation of the motor on which the robot 2 is mounted, or a periodic pulse signal in which High and Low are repeatedly generated during the drive period of the motor. It may be. The robot 2 operates the arm 21 on which the sensor 23 is mounted by driving the motor according to the received robot drive signal.

The signal output unit receives the operation data related to the actual operation of the robot 2 and transmits the operation data to the robot operation signal generation unit 1021 and the robot operation reception unit 1041 of the measurement processing unit 104. Further, when the robot drive signal generation unit 1021 indicates that the operation data received from the signal output unit 1022 has reached the preset measurement start position, the robot drive signal is added or superimposed with the measurement start signal by the sensor. Output.

The sensor control unit 103 includes a signal output unit 1031 and a measurement data receiving unit 1032. The signal output unit 1031 transmits the sensor drive signal to the sensor 23 when the received robot drive signal includes the measurement start signal. The measurement data receiving unit 1032 receives the measurement data measured by the sensor 23 and transmits it to the sensor information receiving unit 1042 of the measurement processing unit 104.

The measurement processing unit 104 includes a robot motion receiving unit 1041, a sensor information receiving unit 1042, and a measurement result generating unit 1043. The robot motion receiving unit 1041 transmits the robot motion data received from the robot control unit 102 to the measurement result generation unit 1043. The sensor information receiving unit 1042 transmits the measurement data received from the sensor control unit 103 to the measurement result generation unit 1043. Here, time information (Time Stamp) is attached to each data in the operation data and the measurement data transmitted to the measurement result generation unit 1043.

Based on the time information corresponding to the measurement start data of the received measurement data, the measurement result generation unit 1043 specifies the operation data at the same time or substantially the same time as the time as data indicating the position coordinates of the sensor at the start of measurement. By doing so, the sensor position coordinates when the measurement is started are estimated. Further, the pitch interval of the scan position is preset based on the information of the measured scan frequency of the sensor and the linear operation speed of the robot. Three-dimensional measurement result data is generated by arranging the measured values of the measurement data for each pitch interval with reference to the estimated sensor position coordinates when the measurement is started. The generated measurement result data is transmitted to the terminal 10 and displayed on the display device, or stored in the storage device of the terminal 10.

<Measurement system control flowchart>
FIG. 3 is a diagram showing a control flowchart of the measurement system according to the present embodiment. FIG. 3 shows a diagram in which the case where the robot drive signal generation unit 1021 that has received the measurement start command from the terminal 1 transmits the robot drive signal is defined as the start of the flowchart. When the robot drive signal generation unit 1021 receives the measurement start command from the terminal 1, the robot drive signal generation unit 1021 generates the robot drive command (step 301). Next, the robot drive signal generation unit 1021 transmits the robot drive signal to the robot 2 and the sensor control unit 103 (step 302). The robot 2 drives a plurality of motors mounted on the robot according to the received robot drive signal. The signal output unit 1022 of the robot control unit 102 starts acquiring operation data from the robot that has started driving (step 303). After the robot is started to be driven in step 302, the robot control unit 102 determines that the arm position (sensor mounting position) of the robot has reached a preset measurement start point (step 304). When it is determined that the robot arm position (sensor mounting position) has reached the preset measurement start point, the robot drive signal generation unit generates a measurement start command and sends it to the sensor control unit 103. , The measurement operation by the sensor is started (step 305). The measurement data receiving unit 1032 of the sensor control unit 103 starts acquiring measurement data from the sensor that has started the measurement operation (step 306).

After the measurement operation by the sensor is started in step 305, the robot control unit 102 determines that the arm position (sensor mounting position) of the robot has reached the preset measurement end point (step 307). When it is determined that the robot arm position (sensor mounting position) has reached the preset measurement end point, the robot drive signal generation unit generates a measurement end command and sends it to the sensor control unit 103. , End the measurement operation by the sensor (step 308). The signal output unit 1022 of the robot control unit 102 ends the acquisition of operation data from the robot (step 309).

Next, the measurement result generation unit 1043 identifies the operation data having a time stamp of substantially the same time based on the time information of the time stamp associated with the first measurement value of the measurement data. Then, the position coordinates shown in the specified operation data are estimated to be the positions of the sensors when the measurement is started (step 310). The measurement result generation unit 1043 uses the estimated sensor position coordinates at the start of measurement as a reference position using the pitch interval of the scan position preset based on the information of the measurement scan frequency of the sensor and the linear operation speed of the robot. , Three-dimensional measurement result data is generated by arranging the measured values of the measurement data for each pitch interval (step 311). By associating the measurement data with the operation data based on the measurement start time in this way, the plurality of detection values constituting the measurement data and the position coordinate information and speed information of the sensor when the detection values are acquired, Alternatively, it is possible to acquire the posture information in association with each other, and it is possible to measure a more accurate three-dimensional shape of the measurement target.

<Measurement method>
FIG. 4 is a diagram showing an example of a case where the external shape of the measurement target is measured by the measurement system according to the present embodiment. In the example shown in FIG. 4, the distance measurement sensor installed on the robot arm drives the robot arm while sensing the distance to the object to be measured downward in the vertical direction (Z-axis direction) at a predetermined cycle. An example of measuring the three-dimensional shape of the measurement target by moving along a preset movement route (arrow in the figure) on the XY plane is shown. The points in FIG. 4 indicate each sensing position that is periodically sensed.

When starting the measurement, the robot control unit starts driving the robot arm, and the distance measurement sensor is preset on the XY plane from the outside of the sensing position below the sensing start position (black dot) in FIG. Move to the sensing start position. When the distance measurement sensor reaches the sensing start position, when the sensor drive signal is output from the robot drive signal generation unit, the sensor drive signal is input to the sensor and scanning by the sensor is started. In the example shown in FIG. 4, since the measurement object having a round hole in the center is measured, the measurement data when the position of the round hole is sensed (distance between the sensor in the Z-axis direction and the measurement object). Is a larger value than the measurement data at the position where there is no round hole. By executing the sensing operation to the end point of the sensing scanning route, the measurement data at each sensing position can be acquired. Therefore, as shown in FIG. 4, the area where the round hole is open and the area where the round hole is not open are specified. Furthermore, based on this information, it is possible to obtain the center coordinate value of the round hole by calculation.

<Measurement data and operation data>
FIG. 5 is a schematic diagram of a graph showing information on measurement data and sensor position (operation data) on the XY plane when a measurement object having a round hole is measured by the method shown in FIG. 4 in the present embodiment. .. The upper graph of FIG. 5 shows the measurement data at each time, the center graph shows the sensor position in the X-axis direction at each time, and the lower graph shows the sensor position in the Y-axis direction at each time. It is a graph which shows. In the graph of the measurement data, the measurement data is relatively large at the time when the position of the round hole is measured. Further, when the sensor moves along the sensing scanning route as shown in FIG. 4, the sensor position in the X-axis direction increases stepwise as shown in the graph in the center of FIG. Further, the sensor position in the Y-axis direction repeats increasing and decreasing in a sawtooth shape as shown in the graph at the bottom of FIG.

FIG. 6 shows the measurement data measured by the sensor in a table format. As shown in FIG. 6, the measurement data is composed of a plurality of scan information, and each scan information includes a data number, a sensor measurement value (measurement distance in the Z-axis direction), and a time stamp (for example, epoch) which is time information. Includes time) and coordinates in the direction of movement of the sensor (Y coordinates) that change at predetermined intervals. Here, the interval of the sensor Y coordinates can be predetermined based on the sensing frequency of the sensor and the moving speed of the robot arm.

FIG. 7 shows the operation data showing the operation results of the robot arm in a table format. The operation data includes a data number, an X coordinate of a sensor position, a Y coordinate, a Z coordinate, a scan start command, and a time stamp (for example, epoch time) which is time information. Here, the scan start command is "0" when the scan start command is not output together with the robot drive signal, and is "1" when the scan start command is output. Since the scan start command is changed to "1" in the data No. 1153, it can be seen that the scan start command is output from the robot control unit at the epoch time "**** 6691". On the other hand, as shown in FIG. 6, since the epoch time of the first data of the measurement data is "**** 6698", the timing of outputting the measurement start command and the timing of starting the acquisition of the measurement data are set. It can be seen that there is an error. In the present embodiment, in the measurement result generation unit, the measurement start time obtained from the measurement data shown in FIG. 6 is used to obtain the three-dimensional XYZ of the sensor position at the same time (or substantially the same time) from the operation data shown in FIG. Coordinate information can be acquired.

As described above, in the present embodiment, the specified operation data is specified by specifying the operation data having a time stamp of substantially the same time based on the time information of the time stamp associated with the first measured value of the measurement data. It can be estimated that the position coordinates shown in the operation data are the positions of the sensors when the measurement is started. In addition, using the pitch interval of the scan position preset based on the information of the measured scan frequency of the sensor and the linear operation speed of the robot, the estimated sensor position coordinates at the start of measurement are used as the reference position for each pitch interval. By arranging the measured values of the measured data, it is possible to generate accurate three-dimensional measurement result data without incurring a calculation cost.

<Example 2>
In the first embodiment, an example of transmitting a measurement start command from the robot control unit to the sensor control unit is shown, but in the present embodiment, when the measurement processing unit 204 receives the measurement start command from the robot control unit, the sensor is driven. An embodiment of generating a signal and transmitting it to the sensor control unit will be described. In this embodiment, the functional units represented by the same reference numerals as those in the first embodiment shall perform the same operation.

<Overall configuration of measurement system>
FIG. 8 is a diagram showing an example of the measurement system 100 of the second embodiment. As shown in FIG. 8, the measurement processing unit 204 further includes a signal detection unit 1044 and a sensor drive signal generation unit 1045 in addition to the robot motion reception unit 1041, the sensor information reception unit 1042, and the measurement result generation unit 1043.

The signal detection unit 1044 detects that the received robot drive signal includes a signal indicating a measurement start command, and transmits a sensor operation start signal when the signal indicating the measurement start command is included. .. When the sensor drive signal generation unit 1045 receives the sensor operation start signal, the sensor drive signal generation unit 1045 generates a sensor drive signal and transmits the sensor drive signal to the sensor control unit 103. Here, the sensor drive signal may be, for example, a periodic pulse signal in which a high signal and a low signal are repeatedly generated during the sensing operation period of the sensor 23. In this case, the sensor 23 may be configured to perform sensing at the timing of receiving the High signal so that the sensing cycle can be changed according to the pulse signal cycle of the sensor drive signal. The sensor control unit 103 includes a signal output unit 1031 and a measurement data receiving unit 1032. The signal output unit 103 transmits the received sensor drive signal to the sensor 23.

<Measurement system control flowchart>
FIG. 9 is a diagram showing a control flowchart of the measurement system according to the present embodiment. FIG. 9 shows a diagram in which the case where the robot control unit 102 transmits the measurement start command together with the robot operation command is defined as the start of the flowchart. The robot drive signal generation unit 1021 generates a robot drive command when the robot operation command is received from the terminal 1 (step 301). Next, the robot drive signal generation unit 1021 transmits the robot drive signal to the robot 2 and the measurement processing unit 104 (step 302). The robot 2 drives a plurality of motors mounted on the robot according to the received robot drive signal (step 303). The signal output unit 1022 of the robot control unit 102 acquires operation data including information on the operation results from the robot 2 (step 304).

The signal detection unit 1041 of the measurement processing unit 104 detects whether or not the robot drive signal received from the robot drive signal generation unit 1021 in step 302 includes a measurement start command (step 305). When the signal detection unit 1044 determines that the command is included in the robot drive signal, the sensor drive signal generation unit 1045 generates a sensor drive signal and transmits it to the signal output unit of the sensor control unit 103 (step). 306). The sensor 23 drives the sensor according to the sensor drive signal received via the signal output unit 1031 to perform sensing (step 307). The measurement data receiving unit 1032 of the sensor control unit 103 acquires the measurement data from the sensor 23 (step 308).
<Method of generating sensor drive signal>
FIG. 10 is a diagram showing an example of a sensor drive signal generated by the measurement processing unit in the present embodiment. From the upper part of FIG. 10, the robot drive signal, the sensor operation start signal, the sensor operation stop signal, the sensor drive signal, and the actual operation of the sensor are shown. The robot drive signal is a signal generated by the robot drive signal generation unit 1021 of the robot control unit 102, and is a signal having a pulse signal instructing the start of driving and a pulse signal instructing the end of driving.

The sensor operation start signal, the sensor operation stop signal, and the sensor drive signal are signals generated by the sensor drive signal generation unit 1045 in the measurement processing unit 104. The sensor operation start signal is a signal including a pulse signal instructing the start of sensor operation, and when the signal detection unit in the measurement processing unit detects a drive start pulse signal in the robot drive signal acquired, the sensor operation starts immediately. As a signal, a pulse signal instructing the start of operation of the sensor is generated. Similarly, the sensor operation stop signal is a signal including a pulse signal instructing the sensor operation stop, and when the signal detection unit in the measurement processing unit detects a drive end pulse signal in the robot drive signal acquired, it immediately occurs. As a sensor operation start signal, a pulse signal instructing the sensor operation stop is generated. There may be a slight delay between the generation of the drive start pulse signal and the drive end pulse signal in the robot drive signal and the generation of the pulse signal in the sensor operation start signal and the sensor operation stop signal.

The sensor drive signal generation unit 1045 generates a pulse signal for starting operation as a sensor operation start signal, and at the same time, generates a sensor drive signal that periodically repeats High and Low. Therefore, the rising timing of the operation start pulse signal of the sensor operation start signal and the rising timing of the pulse signal of the sensor drive signal are substantially the same. Since the high side signal of the sensor drive signal is an instruction to perform the sensing operation to the sensor and the low side signal is a signal that does not instruct the sensor to perform the sensing operation, the actual operation of the sensor is sensed at the high and low timings of the sensor drive signal. The operation execution and the sensing operation stop will be repeatedly executed.

The sensor drive signal generation unit can be configured so that a pulse rises at an arbitrary timing and a pulse signal having an arbitrary period can be generated as a sensor drive signal. That is, instead of preparing a reference pulse signal synchronized with the internal clock in advance and raising the pulse of the sensor drive signal at the timing of the pulse rise of the reference pulse signal, the pulse signal of the start of driving of the robot drive signal is received. By generating a pulse signal that rises immediately when the signal is generated, it is possible to reduce the variation in the delay time from the rise of the drive start signal of the robot drive signal to the rise of the sensor drive signal, and the hardware has sufficiently high computing power. When wear is used, it is possible to reduce the delay time due to the processing time of pulse generation to a negligible level to make it substantially zero.

As described above, the robot control unit is provided to synchronize the robot and the sensor by providing a measurement processing unit that acquires a signal for driving the robot and generates a signal that triggers the sensor to start driving. It is possible to eliminate or reduce changes in the software, etc. Furthermore, even when synchronous processing is performed for any combination of a robot and an arbitrary sensor, if the measurement processing unit that generates a command regarding the start of driving the sensor is appropriately designed, the robot control unit or the sensor control unit can be used. It is possible to eliminate the need to make software changes or reduce the amount of changes to be made.

FIG. 11 is a diagram showing an example of another method of generating a sensor drive signal in the measurement processing unit in the present embodiment, and in particular, is a diagram showing an example of generating a sensor drive signal based on an encoder pulse signal. FIG. 10 shows an example in which the measurement processing unit acquires a signal having a pulse signal instructing the start of driving the robot and a pulse signal instructing the end of driving, but in FIG. 7, it is set to High during the driving period of the motor. An example of acquiring a periodic pulse signal (for example, an encoder pulse signal) in which Low is repeatedly generated will be described. In this case, the signal detection unit 1041 of the measurement processing unit can detect the rising edge of the pulse of the robot drive signal, and the sensor drive signal generation unit can generate the sensor operation start signal. Further, it is possible to detect that the pulse of the robot drive signal does not appear for a predetermined time or more at the end of the drive as well as at the start of the drive, and the sensor drive signal generation unit can generate a sensor operation stop signal.

<Example 3>
FIG. 12 is a diagram showing the functions of each component when the sensors are synchronized based on the robot motion data in the present embodiment. FIG. 2 has described an example in which the measurement processing unit acquires a robot drive signal transmitted from the robot control unit to the robot and generates a sensor drive signal based on the robot drive signal. However, FIG. 12 shows a robot. An example of generating a sensor drive signal based on the operation data obtained from the above will be described. Hereinafter, a portion different from FIG. 2 of the modified example shown in FIG. 12 will be described.

The motion data output from the robot is information on the robot's motion record, and can be, for example, information including information on the robot's motion start. In this case, when the signal detection unit 5041 in the measurement processing unit 504 acquires the operation data and includes information indicating that the robot has started the operation, the signal detection unit 5041 generates a sensor operation start signal and generates a sensor drive signal. Send to the generator.

As another example of the operation data, it can be information including the position coordinate information of the sensor. In this case, the signal detection unit 5041 acquires operation data and generates a sensor operation start signal to drive the sensor when it includes information indicating that the position coordinates of the sensor have reached a preset position. It is transmitted to the signal generator.

As yet another example of the operation data, it can be information including the speed information of the sensor. The speed information of the sensor may be information on the current or voltage of the motor or a combination thereof. In this case, the signal detection unit 5041 acquires operation data and generates a sensor operation start signal when the sensor includes information indicating that the speed of the sensor has reached a preset value, and generates a sensor drive signal. Send to the generator.

Upon receiving the above operation data, the signal detection unit 5041 generates a sensor operation start signal and transmits it to the sensor drive signal generation unit, the sensor drive signal generation unit generates a sensor drive signal, and the sensor control unit detects the sensor. Send a drive signal.

Further, when the sensor drive signal generation unit is configured so that the cycle of the sensor drive signal can be changed to an arbitrary value, the signal detection unit determines whether or not the received operation data satisfies a predetermined condition. The cycle of the sensor drive signal may be changed by detecting with. For example, it is measured by detecting that the position of the sensor has entered the area where sensing is desired with higher accuracy than other areas by the position coordinate information of the sensor and shortening the cycle of the sensor drive signal compared to other areas. It is possible to perform high-precision measurement for any area in the target area. In addition, as another example, the robot arm can be made by detecting that the sensor is located in the folded area on the position sensing scanning route of the sensor from the position coordinate information of the sensor and shortening the cycle of the sensor drive signal as compared with other areas. It is possible to perform highly accurate measurement for a period during which a complicated operation other than a linear operation is performed. As yet another example, when the moving speed of the sensor becomes higher than a predetermined speed, by shortening the cycle of the sensor drive signal, it is possible to reduce the variation in the sensing position interval due to the speed change. ..

FIG. 13 is a diagram showing an example of another control flowchart of the measurement system according to the present embodiment. FIG. 13 shows a diagram in which the case where the robot operation command unit 1011 that has received the measurement start command from the terminal 1 transmits the robot operation command is defined as the start of the flowchart. When the robot drive signal generation unit 1021 receives the robot operation command, the robot drive signal generation unit 1021 generates the robot drive command (step 1301). Next, the robot drive signal generation unit 1021 transmits the robot drive signal to the robot 2 (step 1302). The robot 2 drives a plurality of motors mounted on the robot according to the received robot drive signal (step 1303). The robot 2 transmits operation data including information on the operation results of the robot 2 to the signal detection unit 5041 of the measurement processing unit and the signal output unit 1022 of the robot control unit (step 1304). , Acquire operation data including information on operation results from the robot 2 (step 1305).

The signal detection unit 5044 of the measurement processing unit 504 detects whether or not the operation data transmitted from the robot 2 in step 1304 satisfies a predetermined condition. For example, the motion data contains information indicating that the robot's motion has started, or the sensor's position coordinates have reached a preset position, or the sensor's speed is a preset value. If it contains information indicating that it has reached, it is detected (step 1306). When the signal detection unit 5044 determines that the operation data satisfies a predetermined condition, the sensor drive signal generation unit 5045 generates a sensor drive signal and transmits it to the signal output unit of the sensor control unit 103 (step 1307). ). The sensor 23 drives the sensor according to the sensor drive signal received via the signal output unit 1031 to perform sensing (step 1308). The measurement data receiving unit 1032 of the sensor control unit 103 acquires the measurement data from the sensor 23 (step 1309).

The measurement result generation unit 1012 acquires operation data from the signal output unit 1022 of the robot control unit 102 and measurement data from the measurement data reception unit 1032, and generates measurement result data. Here, the measurement result generation unit 1012 generates measurement result data related to the measurement target by associating the information of the measurement start time included in the measurement data with the information of the operation start time included in the operation data. By associating the measurement data with the operation data based on the measurement start time in this way, the plurality of detection values constituting the measurement data and the position coordinate information and speed information of the sensor when the detection values are acquired, Alternatively, the posture information can be obtained in association with each other.

Although the present embodiment has been described above, the above embodiment is for facilitating the understanding of the present invention, and is not for limiting and interpreting the present invention. The present invention can be modified and improved without departing from the spirit thereof, and the present invention also includes an equivalent thereof.

1, 10 Terminal 2 Robot 21 Arm 23 Sensor 100 Measurement system 102 Robot control unit 103 Sensor control unit 104, 204, 504 Measurement processing unit 1011 Robot operation command unit 1012 Measurement result generation unit 1021 Robot drive signal generation unit 1022 Signal output unit 1031 Signal output unit 1032 Measurement data reception unit 1041 Robot motion reception unit 1042 Sensor information reception unit 1043 Measurement result generation unit

Claims (7)

It is a measurement system that performs measurement processing based on the measurement data obtained by the sensors mounted on the robot.
A robot motion receiving unit that receives robot motion data indicating the position information of the sensor mounted on the robot, and a robot motion receiving unit.
A sensor information receiving unit that receives the measurement data obtained by the sensor, and
Based on the robot motion data and the time information included in the measurement data, the robot motion data that coincides with or substantially the same time as the time when the first measurement data was obtained is specified, and the specified robot motion data It is equipped with a measurement result generation unit that generates measurement results using the indicated position information as the sensor position at the start of measurement.
The sensor is a distance sensor that measures the distance from the sensor to the surface of the object to be measured.
The measurement result generation unit comprises: a measurement data by said distance sensor, and the sensor position at the start of measurement of generated, three-dimensional pre-set the distance and the measurement position interval by the sensor, the surface of the measurement object on the basis of A measurement system that generates coordinates as measurement results. The measurement system according to claim 1.
The robot is a robot arm
The robot control unit that controls the robot starts the operation of the robot arm before the sensor starts measurement, and moves the sensor mounted on the robot to a preset sensing start position.
The sensor measurement system starts measuring when the position of the sensor mounted on the robot has reached the sensing start position. The measurement system according to claim 1 or 2.
The Get the robot drive signal from the robot control unit that are sent to the robot, when the contained robot the sensor measurement start instruction to start measurement to the drive signal, as a trigger for starting the measuring operation of the sensor includes a measurement processing portion that generates a sensor drive signal,
A measurement system in which the robot drive signal is input to both the robot and the measurement processing unit. It is a measurement method that performs measurement processing based on the measurement data obtained by the sensor mounted on the robot.
A robot motion receiving step for receiving robot motion data indicating the position information of the sensor mounted on the robot, and a robot motion receiving step.
A sensor information receiving step for receiving the measurement data obtained by the sensor, and
Based on the robot motion data and the time information included in the measurement data, a step of identifying the robot motion data that coincides with or substantially the same time as the time when the first measurement data was obtained.
It is provided with a measurement result generation step of generating a measurement result by using the position information indicated by the specified robot operation data as a sensor position at the start of measurement.
The sensor is a distance sensor that measures the distance from the sensor to the surface of the object to be measured.
The measurement result generation step, the three-dimensional of the distance sensor and by the measurement data, generated the measurement start and the sensor position at the time, preset the distance and the measurement position interval by the sensor, the surface of the measurement object on the basis of A measurement method that is a step of generating coordinates as a measurement result. The measurement method according to claim 4.
The robot is a robot arm
A step of starting the operation of the robot arm before the sensor starts measurement and moving the sensor mounted on the robot to a preset sensing start position.
A measurement method further comprising a step of starting measurement when the position of the sensor mounted on the robot reaches a preset sensing start position. The measurement method according to claim 4 or 5.
Obtaining a robot drive signal that will be transmitted to the robot from the robot controller,
When the robot drive signal includes a measurement start command for causing the sensor to start measurement, the robot drive signal includes a step of generating a sensor drive signal that triggers the start of the measurement operation of the sensor .
The robot drive signal is a measurement method that is input to both the robot and the measurement processing unit that generates the sensor drive signal. A distance sensor that measures the distance from the sensor to the surface of the object to be measured is mounted on the robot, and the computer is made to execute a measurement method that performs measurement processing based on the measurement data obtained by the distance sensor mounted on the robot. It ’s a program
The program, as the measurement method,
A robot motion receiving step for receiving robot motion data indicating the position information of the distance sensor mounted on the robot, and a robot motion receiving step.
A sensor information receiving step for receiving the measurement data obtained by the distance sensor, and
Based on the robot motion data and the time information included in the measurement data, a step of identifying the robot motion data that coincides with or substantially the same time as the time when the first measurement data was obtained.
A computer is made to execute a measurement result generation step of generating a measurement result by using the position information indicated by the specified robot motion data as the distance sensor position at the start of measurement.
The measurement result generation step is three-dimensional on the surface of the object to be measured based on the measurement data by the distance sensor, the generated sensor position at the start of measurement, and the preset measurement position interval by the distance sensor. A program that is a step to generate coordinates as a measurement result.

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