JPH08388B2 - Robot controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention recognizes a blockage image (for example, a closed loop line drawing) in a motion area and automatically fills the blockage image. The present invention relates to a control device.

[Prior Art] Conventionally, robots have been actively used in place of people for simple work and dangerous work. Although its structure and function differ depending on the required purpose and work content, it is desired to provide a robot that can perform more advanced operations and complicated operations, and a robot that can perform AI functions such as learning.

For example, one of the former is JP-A-61-74399 and the other is
For example, there is JP-A-62-72004.

[Problems to be Solved by the Invention] However, in the conventional robot, the tool is moved by storing the pattern in a memory in the robot control unit in advance and reading the pattern at the time of execution. . For this reason, the tool cannot be moved with respect to an image for which an operation target image is not registered in advance. For example, it has been difficult to automatically perform a complicated task such as painting the closed image shown in the operation range. For this reason, it has been impossible for a robot used for a demonstration or the like to perform a motion that the observer pays attention to.

An object of the present invention is to provide a robot control device capable of automatically moving a tool so as to fill an illustrated closed image within an operation range without performing image registration processing in advance.

[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention is based on an image pickup means for picking up a closed region image shown in the operation range of a tool as an original image, and image information by the image pickup means. Binarization processing means for creating a binarized image, closed area loop operation means for removing singular points from the original image, and boundary points for trace processing of the closed area image based on the operation result of the operation means are defined. A closed area boundary point calculating means for calculating and a control means for tracing the tool in a predetermined pattern in the closed area based on the respective calculation results of the means and the closed area loop calculating means are provided. is there.

[Operation] According to the means described above, after binarizing the image within the operation range of the tool imaged by the imaging means, the features of the binarized image are extracted and the start point and the increase / decrease of the contour are performed. The value is calculated. Furthermore, closed region recognition is performed by converting the contour coordinates into X and Y coordinates and performing sorting on the contour coordinates. Therefore, without performing the work such as setting and registering the movement trajectory in advance, the given image can be read,
Since contour recognition is performed for this and tracing work such as drawing into the region is performed, the tool can be trace-moved regardless of the image of any closed region.

Embodiments Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing an embodiment of the present invention. Here, the case where a joint type is used as the robot body is illustrated.

The embodiment shown here is a command control unit 1, which creates a program for operating the robot body 3 and inputs data.
Corresponding to the robot controller 2 and arms, hands, and fingers that are built in the robot body 3 and that perform control for driving the robot body 3 according to the instructions of the command controller 1 while exchanging data with the command controller 1. And a plurality of motors (not shown) as driving sources for the respective movable parts, which are configured by a robot main body 3 controlled by the robot controller 2.

The command control unit 1 is an operation panel 101 for inputting various data, set values, programs, etc., a television (TV) camera 102 having an operation range of the movable tip of the robot body 3, and an output signal of the operation panel 101. Input interface 103 that captures the data at a predetermined timing
U) 104, read-only memory (ROM) 105 that stores programs, random access memory (RAM) 106 that temporarily stores processing results and data, specific processing algorithms necessary for robot control, constants, etc. A table memory 107 to be stored, an image processing control section 108 for performing image processing and control for displaying an image on a monitor 109 and an image processing described later for moving the robot, display processing contents by the CPU 104 or a robot operating state. Monitor 109,
Output interface 1 for controlling the printer 111 described later
10, the printer control unit 2 sends data to the printer 111, which prints out processing results under the control of the output interface 110, and the robot control unit 2.
And a transmission input / output unit 112 that receives the operation state information of the robot body 3.

Further, each member to which data signals, control signals, address signals, etc. are connected to the CPU 104 and the CPU 104 are mutually connected by a bus 113. Furthermore, between the TV camera 102 and the bus 113, the TV camera 102
A binarization processing unit 114 for binarizing, ie, digitizing, the image output of is connected.

Although the television camera 102 is described as being included in the command control unit 1 for convenience of description, it is actually installed near the robot body 3 so that its field of view is within the operation range of the movable portion of the robot body 3. Is set.

Further, the robot control unit 2 receives a signal from the transmission input / output unit 112, and transmits the information regarding the operation state of the robot body 3 and the like, the transmission input / output unit 201, the transmission input / output unit
A control unit 202 that outputs control information for driving a motor based on a signal from 201 and manages information sent to the command control unit 1 side, and each motor of the robot main body 3 according to a command from the control unit 202 And a motor drive unit 203 that drives a drive source such as.

The control unit 202 is configured to include a CPU and its peripheral circuits,
It operates as a slave to the CPU 104 of the command control unit 1 which is a master.

Next, regarding the operation of the embodiment having the above configuration,
This will be described with reference to the flowchart in the figure. In addition, in the following, the step of the flow is described as S.

First, an execution start command is keyed in on the operation panel 101, the apparatus is started and initialized, and the condition for operating the robot is specified. The input setting conditions are stored in the table memory 107. Also, the operation range is photographed by the TV camera 102 and the image output is captured. The CPU 104 displays on the monitor 109 the contents that can be operated by the robot and waits. In addition, necessary information is transmitted to the robot controller 2 via the transmission input / output unit 112.

In the robot control unit 2, the control unit 202 executes processing according to the flow shown in FIG. 2 and exchanges information with the command control unit 1.

First, when the power is turned on, the robot body 3 is initialized (S21), and data regarding an object within the operation range is initialized (S22). Then, the command control unit 1 is requested via the transmission input / output unit 201 to request a robot motion selection of what motion should be performed (S23).

In response to the robot operation selection request from the robot controller 2, the command controller 1 prompts the operator to select from the menu (S32) displayed on the monitor 109, and the operation selection result selected by the operation panel 101. Is returned to the robot controller 2. Receiving this, the control unit 202 issues an image processing request to the command control unit 1, and in the command control unit 1 receiving this, the image processing control unit 108 processes the image information acquired from the television camera 102, When the processing is completed, the image processing completion report (S33) is returned to the robot controller 2.

Further, the control unit 202 subsequently issues an image processing result request (S25). In response to this image processing result request, data transmission is performed a plurality of times between the command control unit 1 and the robot control unit 2, and the command control unit 1 performs image processing result information (S3
It is repeated until 4) is completely sent.

When the image processing result is obtained, the control unit 202 plans the action to be taken by the robot (that is, how to move between the start point and the end point) from the given action selection request and the image processing result. Yes (S26). Based on the contents of this plan, the control unit 202 sends a control command to the motor drive unit 203 to start driving the arm of the robot body 3.

When one operation ends, the command control unit 1 is inquired whether or not there is a next process to be executed (S28). In response to this inquiry, the operator selects the same operation as the previous operation or another different operation while looking at the menu screen (S35) on the monitor 109. This selection content is transmitted to the transmission input / output unit 201 of the robot control unit 2 via the transmission input / output unit 112 and the transmission path, and is taken in by the control unit 202. Control unit 20
2 judges the received contents (S29), and if it is the re-execution of the same operation, the operation after step 27 is repeatedly executed again.

In addition, in response to a request to execute a different operation, it is determined whether or not it corresponds to the same type of operation (S30),
If they are the same, the processing after step 24 is repeatedly executed. On the other hand, if it is not the same type of operation, it is determined whether or not the operation request made in step 23 is requested again to the command control unit 1 (S31), and if an operation reselection instruction is determined, step 23 The subsequent processing is executed again. If no operation reselection instruction is given, all processing is terminated.

In the robot controller 2, the controller 202 executes processing according to the flow shown in FIG. 3 and exchanges information with the command controller 1.

First, the operation range is imaged by the television camera 102, the image information is binarized, and then stored in the memory (RAM 106). On the other hand, a tool to be used is specified from the operation panel 101 (S41), the home position standby state is entered, the work tool is gripped, and the hand posture is calculated (S42).

Then, the following definitions and designations are performed to perform movement calculation to the target position (start point of the closed area) (S43).

Definition of coordinate system (definition of tool coordinate system of robot) Designation of posture control (arm posture, tool posture, etc.) Designation of trajectory control (moving speed, etc.) Set specifications of gripping object (eg, height) Based on the above processing, the trace work for the closed region is executed (S44). That is, the drawing in the X direction is performed in the Y direction at regular intervals. Then, it is checked whether or not the line drawing trace has been executed for the entire closed region (S45). When the tracing is completed, the home position standby mode is set so that the tool can immediately start the trace tracing (S46). Then remove the work tool,
Wait as it is. On the other hand, if the tracing work is not completed yet, it is moved to the start point of the nth drawing trace (S4
7), the process of step 44 is continued.

Next, with reference to FIGS. 4 (A), (B), and (C), the details of the closed area trace processing will be described. Here, as the trace, a case where parallel lines are drawn at regular intervals in the closed region is illustrated.

First, an image captured by the television camera 102 within the operation range of the tool is input as an original image. In this operation range (= field of view of the camera), a line drawing to be moved by the tool is drawn. This original image is input to the window installed in the curved area (S51).

Then, the conversion processing of the intermediate luminance level is performed (S52), and the basic image processing is performed based on the predetermined code and the set value of the image analysis constant table (S53). Furthermore,
In step 53, a binary image is generated from the grayscale image (binarization processing means) (S54). Feature extraction processing as a closed region loop calculation means is performed on the binarized image obtained in this way (S55). In this feature extraction process, first, it is determined whether or not the closed image is a work target for the input binarized image based on the number of intersections of the objects and the number of objects. A binary output image) is obtained.

Next, as shown in FIG. 4B, the closed region contour coordinates are extracted from the contour tracking table for the image obtained in step 55 (S56). This processing is to extract the contour of the enclosed area per pixel, and whether or not it is a true closed area is determined by calculating whether or not there is an intersection of the objects. That is, when there is an intersection, it is not regarded as a closed region. Then the starting point in the contour tracking table
X ₀ , Y ₀ and the increase / decrease values ΔX, ΔY are converted into X, Y coordinates and stored in the contour tracking table (S57).

Then, the following sorting process (closed region boundary point calculating means) is executed in three stages. First, the first sorting process is executed (S58). In this processing, for example, with respect to 100 contour points, the contour coordinates are sorted in ascending order of the Y coordinate, and the contour coordinates are sorted in ascending order of the number. That is, if the contour coordinates are in the ascending order as follows, (contour coordinates) XY 10 10 9 10 8 11 7 12 5 12 :::: 15 13 14 12 13 11 12 11 11 10 (100 contour points) ) After sorting is as follows.

(Outline coordinates after sorting) XY 10 10 9 10 11 10 8 11 13 11 12 11 7 12 5 12 14 12 :: ：: Next, in step 59 of FIG. 4 (C), within the same coordinate group The following sorting is performed in the ascending order of the X coordinate.

(Outline coordinates after sorting) XY 9 10 (start point) 10 ↓ (end point) 11 ↓ 8 11 12 ↓ 13 ↓ 5 12 7 ↓ 14 ↓ ::::: And the lowest and highest data in the same group Store in a table. For example, 20 groups are extracted with this combination as one group, and the start point and end point coordinates are stored in the closed region recognition result table. At this time, after converting to the world coordinate system, the sorting is performed again in ascending order.

The closed region recognition result obtained in this way is transmitted to the robot control unit 2 via the transmission input / output unit 112, and the hand posture calculation and operation are performed using the environment database prepared on the robot control unit 2 side. After the route selection process, the line drawing trace operation is executed according to the process shown in FIG.

In the above description, parallel lines are drawn and traced at regular intervals in the closed loop, but in addition to straight lines, dotted lines, halftone dots, halftone dots, solid paint, and the like can be used.

Further, in the above-described embodiment, the trace processing is performed within the closed area, but the outside of the area can be processed.

[Effects of the Invention] As described above, according to the present invention, an image pickup unit that picks up a closed region image shown in the operation range of a tool as an original image, and a binary image is created from image information of the image pickup unit. Binarization processing means, closed area loop calculation means for removing singular points from the original image, and closed area boundary point calculation for calculating a boundary line for tracing the closed area image based on the calculation result of the calculation means. Since the means and the control means for tracing the tool in the closed area with a predetermined pattern based on the respective calculation results of the means and the closed area loop calculation means are provided, contour recognition for a given image is performed. Since the tracing work such as drawing is performed in the area, the tool can be trace-moved regardless of the image of the closed area. Moreover,
As in the conventional case, the work such as setting and registering the movement trajectory in advance is unnecessary, and it becomes possible to provide a robot having excellent versatility.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, FIG. 2 is a flow chart for explaining the outline of the processing of the command control unit 1 and the robot control unit 2, and FIG. 3 is a flow chart for showing the operation of the robot control unit 2. , Fig. 4 (A), (B), (C)
3 is a flowchart showing details of closed region recognition processing in the present invention. In the figure. 1: Command control unit, 2: Robot control unit 3: Robot main body, 4: External storage device 101: Control panel, 102: TV camera 104: CPU, 107: Table memory 108: Image processing control unit 109: Monitor, 112 : Transmission input / output unit 114: Binarization processing unit, 201: Transmission input / output unit 202: Control unit, 203: Motor drive unit

Claims (1)

[Claims] 1. An image pickup means for picking up a closed region image shown in an operating range of a tool as an original image, a binarization processing means for making a binarized image from image information by the image pickup means, and the original. Closed area loop calculating means for removing singular points from an image, closed area boundary point calculating means for calculating a boundary point for tracing processing of a closed area image based on a calculation result of the calculating means, the means and the closed area A robot control device comprising: a control means for tracing the tool in a predetermined pattern in the closed region based on each calculation result of the loop calculation means.