JPS5865576A - Working line detecting device of work surface - Google Patents

Abstract

PURPOSE:To detect a working line of a work surface, by extracting a feature from a picture image data of a polygonal line group obtained by photographing by a camera a polygonal line-like optical image generaed by irradiating the circumference of the working line by a slit light source. CONSTITUTION:An optical image generated by irradiating works 1, 2 and 3 by a slit light source 4 is photographed by a television camera 5, and is inputted to a microcomputer 10 through a binary-coding circuit 8 and a memory 9. From a picture image data, the slit light source 4 and a position data of the television camera 5, a program for operating an absolute position is executed, and a controller 7 detects a working line consisting a working line 2a of the first work surface 1 and the second work surface 2 being a working line which knows no position, and a working line 3a of the first work surface 1 and the third work surface 3. Accordingly, it is possible to move a tool and other working line detecting device combined with the tool, along the working line 2a and 3a, by the controller 7.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a processing line detection device for a workpiece surface that forms an intersection line between one workpiece surface and another workpiece surface.

Conventionally, in automatic machines such as automatic welding robots, there is a processing line detection device on the workpiece surface that uses a contactor, an optical device, an electric discharge device, etc. combined with a tool, and it is possible to perform teaching by detecting the actual processing line. Differences with the processed line are corrected and the line is processed to match the actual line. However, when machining a workpiece that is not taught, that is, the control device that controls automatic machining does not know the position of the machining line, the tool and other machining line detection device combined with the tool are used to detect the machining line. In order to move it along with the road, it was necessary to follow it. However, in this case as well, it was first necessary to detect the general pattern of the processed lines.

This invention was made with attention to the above-mentioned background, and is based on an optical device and a digital device that easily detects a machining line that is an intersection line between workpiece surfaces and is unknown to a control device. It is an object of the present invention to provide a processing line detection device for a work surface having a simple configuration.

This invention is directed to the optical axis of the additional light source on the other work surface combined with one work surface, so as to be parallel to the perpendicular line drawn to the processing line that forms the intersection line of these work surfaces. We digitally process the image data of a group of polygonal lines that break on the machining line, which is obtained by taking pictures with cameras that are combined so that Features.

Hereinafter, an example of Embodiment 1 of the present invention will be described with reference to the drawings.

FIG. 1 is an overall perspective view, FIG. 2 is a block diagram, FIG. 3 is a conceptual diagram of image data, and FIGS. 4 and 5 are flow diagrams. In FIGS. 1 and 2, l represents one workpiece, and is assumed to be the first workpiece.

2 is another work, and is a second work that is orthogonally combined with the first work 1. 2a is a machining line between the first workpiece 1 and the second workpiece 2.

3 is another work, and is an eighth work that is combined perpendicularly to the first work 1 and abutted against the second work 2 at an angle. 3a is a machining line between the first workpiece 1 and the third workpiece 8.

4 is a slit light source that can irradiate slit light radially by arranging mutually parallel SLs in a row, the irradiation range is within the shooting range of the camera, and the tip axes of each are parallel. It's so well combined.

Reference numeral 5 denotes a television camera, which is integrally combined so that the irradiation range of the slit light source 4 is at least its photographic range, and the optical axes of the cameras are parallel to each other.

Further, a light image produced by irradiation with the slit light source 4 is photographed, and an analog video signal is output.

Reference numeral 6 denotes a tool support means to which a tool (not shown) and a machining line detection device for other workpieces combined with the tool are attached, and a slit light source 4 and a television camera 5 are attached thereto.

Reference numeral 7 denotes a control device for an automatic machine equipped with a device for detecting machining lines on the work surface, and is connected to the microcomputer IO. The control device 7 controls the position of tools, etc., and also causes the slit light source 4 to illuminate the periphery of the machining lines 2a and 3a, and the slit SL to illuminate the periphery of the machining lines 2a and 3a on the second work surface.
The slit light source 4 and the television camera 5 are controlled so that they are parallel to the perpendicular line drawn at point a, and the position data of the slit light source 4 and the television camera 5 are input to the microcomputer IO. It is assumed that the positions of the processing lines 2a and 8a are not known.

8 is a digitizing circuit, which in this embodiment is a binarizing circuit. The binarization converter 8 is a circuit that inputs the output of the television camera 5 and outputs digitized image data in which the portion illuminated by the slit light source 4 is set to 1 and the portion not illuminated is set to 0. The memory stores the digitized image data output from the binarization circuit 8, and also stores the image data read out and processed by the microcomputer 10.

The lO is a computer, and is equipped with a straight line grouping means for converting image data of a group of polygonal lines into image data of a group of straight lines and a fish grouping means for converting image data of a group of straight lines into image data of a school of fish as a feature extraction means. A microcontroller with
All programs that control this device have been written. In other words, the television camera 5 detects processed lines 2a and 8.
From the image data obtained by photographing the area around a, the slit light source 4
illuminates the periphery of the processing lines 2a and 8a, and a perpendicular line drawn to the processing line 2a within the second work surface 2 is the slit SL.
The slit light source 4 is controlled by the control device 7 so that it is parallel to the slit light source 4.
It also includes a known program for controlling the television camera 5 and a known program for calculating the absolute positions of the processing lines 2a and 8a from the detected image data and the position data of the slit light source 4 and the television camera 5. Also, is the microcomputer IO a control device? and memory 9.

11 is a group of polygonal optical images formed by irradiating the periphery of the processing lines 2a and 8a with the slit light source 4, and lla is an arbitrary optical image taken out as a sample.

Now, this processing line detection device on the workpiece surface is in the operating state 9, and the slit light source 4 irradiates the workpiece 1, 2, 3, photographs the light image created by the TV camera 5, and converts it into a binarization circuit. 8. As a result of inputting information to the microcomputer 10 through the memory 9 and executing a known program, the control device 7 operates according to the commands output from the microcomputer 10, and the slit light source 4 lights up each work as shown in FIG. It is assumed that the periphery of the processing lines 2a and 3a is irradiated, and a polygonal line-shaped optical image group 11 is formed.

When this portion is photographed by the television camera 5 and the output thereof is input to the binarization means 8, an image of a group of polygonal lines as shown in FIG. 8(a) is obtained as binarized digital data. This image data is stored in the memory 9. For example, the optical image 11a in FIG. 1 is also stored in the memory 9 as a polygonal line 11a.

Next, when the execution of the program that converts the image data of the polygonal line group into the image data of the straight line group (straight line grouping) starts, the address is first set to 0 (step 1),
The address data is read out and stored in the microcomputer 10 (step 2). Next, the data at the address one line before is read out, and ANDed with the previously stored data by the linear grouping means in the microcomputer 10 (step 58).
)0 Furthermore, the data at address θ is rewritten with the resulting data (step S4). Next, the address is 1
The line is advanced (step 85). Here, it is determined whether or not the addresses have been ordered in one column (step S6), and if they are not in order, the process returns to step S2 and
8, S4, and S5 are repeated, and if the address is in negative order, the address is advanced by one column (step 87). Then, it is determined whether the addresses are in order for all columns (step S8), and if they are not in order, the process returns to step S2, steps S8, S4, S5, S6, and S7 are repeated, and If so, the execution of the program for converting the image data of the polygonal line group into the image data of the straight line group ends. As a result, image data of a straight line group as shown in FIG. 3(b) is stored in the memory 9. For example, the optical image 11a in FIG.
is converted into image data of the straight line 11a2 and stored.

Next, a program for converting the image data of the straight line group into image data of a school of fish (forming a school of fish) is executed. In this program, instead of ANDing with the data of one line before in step s3, the corresponding step 81
The only difference in B is that it performs an exclusive OR with the data in the next row, so I will not discuss it in detail, but as a result of running this program, the memory 8 contains the data shown in Figure 3(c). Image data of a school of fish as shown is stored. For example, the polygonal line 11a in FIG. 1 is stored as a point 11a3. This fish school data is obtained by detecting the machining line 2a of the first workpiece 1 side and the second workpiece 2 side and the machining line 3a of the first workpiece 1 side and the third workpiece 8 side as image data of the fish school. It has become.

Furthermore, by executing a known program that calculates the absolute position from this image data and the position data of the slit light source 4 and the television camera 5, the machining line 2a on the work surface is
and absolute position data of 8a is obtained.

As described above, according to the present invention, the control device 7 detects machining lines whose positions are not known by the workpiece surface machining line detection device using the slit light source 4, the television camera 5, the binarization circuit 8, the memory 9, and the microcomputer IO. A machining line 1 consisting of a machining line 2a between the first work surface 1 and the second work surface 2 and a machining line 8a between the first work surface l and the third work surface 8, which are Easy to detect. As a result, the control device 7 detects a tool (not shown) and another machining line detection device combined with the tool by controlling the aforementioned machining lines 2a and 8a.
It can be moved along.

Next, regarding the example of the second embodiment, the fish grouping means is missing from the feature extraction means in the above-mentioned example, and therefore the processing procedure shown in FIG. 5 is missing. Machining line 2 with a group of straight lines rising from 3a
In addition to detecting workpieces a and 3a, the operation and effect can be carried out in the above-mentioned embodiment and other embodiments, as well as in the above-mentioned embodiment except for the eighth workpiece 3. In the same manner as work 8, it is also possible to perform the process on combinations of other works. Furthermore, even in the case where the first work l is not perpendicular to the second work 2 and the third work 8 from the above-mentioned embodiment, it is possible to perform slit light irradiation and photography as described above. In addition, the tool support means for integrally attaching the slit light source 4 and the television camera 5 is
It is not limited to something like a work arm, but in a mobile work vehicle, it may be the mobile work vehicle itself,
The slit light source 4 and the television camera 5 can be integrally attached to the traveling work vehicle. Furthermore, the feature extraction means, that is, the linear grouping means and the fish grouping means in Embodiment 1, and the linear grouping means in Embodiment 2, can also use known circuits composed of gates, registers, address counters, and the like. The functions and effects in these cases are also the same as those in the above-mentioned embodiments. Furthermore, the optical image of the polygonal line has a width, and as shown in FIG. is obtained, when the linear grouping program is executed, Figure 6 (
As shown in b), there is a portion E where the image data cannot be rewritten from 1 to 0. In this case, by adding a program that performs an AND operation on the above-mentioned multiple column inputs for these image data and rewrites these image data using the resulting data, straight line image data can be created as shown in Figure 6(e). is obtained. In this case as well, the operations and effects are the same as in the previous embodiments, except for such processing.

Furthermore, steps s3 and 818 in the first embodiment
The addresses at which image data is read out are not necessarily one line earlier and one line earlier, respectively, and the operations and effects in that case are also the same as those of the previous embodiment.

Note that the implementation of the present invention is not limited to the above-mentioned embodiments, and each structure may be replaced with an equivalent one, and such a case also falls within the technical scope of the present invention.

As described in detail above, according to the present invention, the automatic machine control device used in combination with the workpiece surface machining line detection device does not know the position of another workpiece surface combined with one workpiece. A unique effect can be achieved in that a machining line that intersects with the one work surface can be easily detected as image data by a work surface machining line detection device comprising an optical device and a digital device.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; FIG. 1 is an overall perspective view of one embodiment, FIG. 2 is a block diagram thereof, FIG. 8 is a conceptual diagram thereof, and FIGS. The figure is a flow diagram thereof, and FIG. 6 is a conceptual diagram of another embodiment. In Fig. 1 and Fig. 2, l...one work (first work), 2... other work (second work),
4...Slit light source% 5...TV camera, green 9...digitization circuit (binarization circuit), pot...memory, charge...microcomputer. In FIG. 4, step S8: straight line grouping means. In FIG. 6, step 818: Fish grouping means. Applicant ShinMaywa Industries Co., Ltd. Agent Tadashi Bengami (and one other person) 101 Figure 4 Figure 5 Kaya. (C) (b)

Claims (3)

[Claims] (1) A slit light source capable of radially irradiating slit light with mutually parallel slits arranged in a line and a camera capable of outputting an image signal, with at least the irradiation range of the slit light source as the imaging range of the camera, and each light The slit light source illuminates at least the periphery of the machining line that forms the intersection line between one work surface and another combined work surface. , and a digitizing circuit that is controlled so that the slit is parallel to a line perpendicular to the machining line in the other work surface, is attached to the tool support means, and inputs the output of the camera; A memory is provided for inputting the output and force of the processing line, and the characteristics of the polygonal line group are determined from the image data of the polygonal line group obtained by photographing the polygonal line light image produced by the slit light source irradiating the periphery of the processing line with the camera. What is claimed is: 1. A machined line detection device for a workpiece surface, comprising feature extraction means for extracting the machined line. (2) The feature extraction means includes a straight line grouping means for converting the image data of the polygonal line group into image data of a straight line group, and a fish grouping means for converting the image data of the straight line group into image data of a school of fish. Claim 1 consisting of
A device for detecting machining lines on a workpiece surface as described in . (3) The apparatus for detecting machining lines on a work surface according to claim 1, wherein the feature extraction means comprises a straight line grouping means for converting the image data of the polygonal line group into image data of a straight line group.