JPH01196512A - Robot vision - Google Patents

Abstract

PURPOSE:To obtain plane image information and information on distance simultaneously with one camera, by providing a photoelectric conversion camera for 2D images, a laser light source for measuring distance by trigonometry and a rotary mirror. CONSTITUTION:A photoelectric conversion camera 101 for 2D images, a laser light source 103 and a mirror 102 are arranged. First, a laser light from the laser light source 103 is made to irradiate the surface of an object 105 while being oscillated through the mirror 102 and reflected light thereof is incident into the photoelectric conversion camera 101 for 2D images through another mirror 102 to obtain a plane image information of the object 105. Here, the mirror 102 is rotated repeatedly with a motor 104 or the like. Moreover, a distance to the surface of the object 105 is calculated using the theory of trigonometry by the reflected light of the laser beam received with the photoelectric conversion camera 101.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot vision system that is attached to a robot's arm or the like and optically measures hole positions, corner positions, etc. of objects handled by the robot.

[Conventional technology]

Conventionally, a two-dimensional camera is used for this type of robot vision, and the center of gravity of a simple shaped part is determined by arithmetic processing of a binary image.
There was one that could detect the position and inclination of corners and the position of holes.

On the other hand, it is difficult to detect irregularities and scratches on a board using a two-dimensional camera, so a distance sensor based on the triangulation principle using a laser light source and a one-dimensional sensor is used.

Recently, there has been an increasing demand for using robot vision not only for inspection and position detection of plates and small parts, but also for dimension measurement and assembly work in the assembly process. Attempts are being made to realize robot vision that can also measure dimensions by individually combining conventional elemental technologies such as a laser light source and a one-dimensional sensor.

[Problem to be solved by the invention]

In robot vision, which combines conventional elemental technologies individually, it is difficult to attach various equipment to the robot hand that grasps, moves, and inserts objects, which impairs the operability of the robot hand. There are drawbacks. However, when using processing devices for each function in this way, there is a drawback that there is no connection 9 between data and the cost performance is not good.

[Problem f: tth means of solving the problem]

The robot vision of the present invention uses optical TIK for two-dimensional images.
an i1% camera, a laser light source, a mirror that reflects a laser beam from the laser light source onto a measurement object and causes the reflected light of the laser beam from the measurement object to enter the photoelectric conversion camera; and this mirror. the surface of the measurement object based on the principle of trigonometry using the reflected light of the laser beam received by the photoelectric conversion camera. It is characterized by obtaining the distance to.

[Example based on ability] Next, the present invention will be explained with reference to the first page.

FIG. 1 is a configuration diagram of an embodiment of the present invention.

101 is a two-dimensional CCD force, IU3 is a laser beam 3
X and los are measurement objects, and 107 is an image processing device.

First, as a distance measurement operation, a laser beam from the laser light source 103 is irradiated onto the measurement object 105, and this reflected light is
The light is received by the dimensional CCD camera 101, and from this coefficient, the image processing device 1t107 outputs the distance from the front of the two-dimensional CCD camera 101 to the surface of the object 105 using the principle of trigonometry. In the embodiment shown in FIG. 1, the mirror 102'e that reflects the laser beam is rotated repeatedly by the motor 104, so that the laser beam is directed along the horizontal scanning line 105 on the measurement object 105 with the mirror 102 as the center.
Measurement object 10 on horizontal scanning f-line 109 while scanning at 09
Continuously measure the distance of the surface of 5.

Next, as a planar image detection operation to planarly measure the position of the hole in the measurement object, the measurement object 105 is irradiated with light from the light source 108, this image is captured by the two-dimensional CCD camera 101, and from this signal, The image processing device 107 outputs feature values of a two-dimensional image of the measurement object 109.

The components within the dashed-dotted line in FIG. 1 are integrally miniaturized and attached to the arm of the robot. Moreover, the rotation of the mirror 102 is
The motor drive circuit 106 and the motor 104 are driven under the control of the image processing device 107. The rotation angle of the mirror 102 is determined by the encoder 1 that measures the rotation angle of the mirror 102.
10 signals are input to the image processing device 107 for synchronization. Furthermore, during the planar image detection operation, the two-dimensional CCD camera 1
When the laser beam spot entering the laser beam 01 is eliminated, the mirror 102 is swung wide and the shutter 111 is closed. In addition, in order to adjust the distance measurement and plane measurement areas, supplementary lens 1 is used.
Use 12.

FIG. 2 is a perspective view of a measurement object 201 that is an example of a target for distance measurement and planar image detection according to this embodiment. Regarding the measurement object 201, which is a workpiece that is randomly supplied, the protrusion 20 out of the protrusions 204203 with different heights is always selected.
To move the robot in accordance with the direction of arrow 205 where 2 is located. Measure the width and height of the protrusion 202, and also measure the major axis and position of the hole 204. After this, when it is desired to grasp the workpiece 201 with the D-bot fingers in accordance with the arrow 205,
The application of this embodiment to the measurement of the width and height of the protrusion 202 and the length and position of the hole 204 will be fully explained.

In this case, in order to carry out these operations with high precision and high speed, the compound robot vision of the nine embodiments, which is attached to the l-pot hand, scans in the direction of the dotted line shown in Fig. 42, and measures distances and planes. I do.

FIG. 3 explains one-dimensional processing in the image processing device 1f107, that is, measuring the height and width of the protrusion 202, and two-dimensional processing, that is, processing that measures the diameter and position of the hole 204. .

The image of the two-dimensional CCD camera 2101 in one-dimensional processing is shown in FIG. The acceptance angle of the front surface of the two-dimensional CCD camera 101 and the surface of the measurement object 201 is determined to change depending on the distance value, and the laser reflected light point is located in the vertical direction within a certain mask 301 on the image shown in FIG. 3(1). The light is received at any position.

If you memorize this correspondence table between the actual distance value and the light receiving position in the mask 301, you can convert it using the light receiving position lft correspondence table in the mask 301.
The distance value to the 0 surface is obtained.

The actual measured values are shown in FIG. 3 (3) corresponding to FIG. The direction is the distance from the two-dimensional CCD camera).

As shown in FIG. 3(3), the height 3-03 and width 304 of the protrusion 202 are measured from the change in distance.

In the two-dimensional processing shown in FIG. 3(2), the hole diameter measurement is performed using the two-dimensional CCD
Image data from the camera 101 is converted into gold binarization, a hole 204 is cut out from this image, and its center of gravity position coordinates 306 and major axis 307 are measured.

〔Effect of the invention〕

By providing a photoelectric conversion camera for two-dimensional images, a laser light source, a mirror, etc. for distance measurement using trigonometry, one photoelectric conversion camera for two-dimensional images can obtain planar image information and distance without using a one-dimensional sensor. can be measured.

Therefore, it can be used for multiple purposes including plane image information and distance measurement with a small number of components, and even when attached to a robot hand, the operability of the robot hand is not impaired.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an embodiment of the present invention, FIG. 2 is a perspective view of a measuring object as an example of the object of the embodiment shown in FIG. 1, and FIGS. 2D CC shown in Figure 1
3 is a diagram showing an image in one-dimensional processing, an image in two-dimensional processing, and distance measurement results of the D Camenia 101. FIG. 101...Two-dimensional CCD camera, 102...
... Mirror, 103 ... Laser light source, 104
...Motor, 106...Motor drive circuit, 107...Image processing device, 108...
...Light source, 11O...Encoder. Agent Patent Attorney Uchihara Oto 1 Country I Doni Mirror μ: r-sakoshisaiu θ5 Figure 5

Claims (1)

[Claims] (1) A photoelectric conversion camera for two-dimensional images, a laser light source, a laser beam from the laser light source is reflected and directed onto a measurement object, and the reflected light of the laser beam from the measurement object is reflected by the photoelectric conversion camera. and a means for repeatedly rotating the mirror, the photoelectric conversion camera obtains planar image information of the measurement object, and the photoelectric conversion camera receives reflected light of the laser beam to perform the principle of trigonometry. A robot vision system characterized in that the distance to the surface of the measurement object is obtained based on the following.