JPS59227382A - Precise positioning system - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an automated production system using a robot.
A dense positioning system (14) in which parts of arbitrary shape are assembled to any position in a three-dimensional space and palletized using a device or the like.

[Back spring of invention]

Conventionally, an imaging device was used for the odor control system, but an imaging device was used. Cry 1 vinegar is fixed Uo, Ei, -1e 1
)・72). Therefore, although it is possible to determine the position in a plane, there is a problem in that it is impossible to determine the position in a three-dimensional space, especially inside the casing.

1) Masanori Ejiri: Industrial application of intelligent robot technology.

Robot, edited by Yoshiaki Shirai (Kyoritsu Publishing), pp.

67-75 (1976) US 2) Masahiko Yauchida: Trends in automatic inspection and automatic assembly systems using visual sense 1 Nikkei Electronics, pp, 1
69-202 (1982, 6°7) [Object of the invention]
An object of the present invention is to provide a positioning system for a palletizing system that enables positioning of an arbitrary work point within a three-dimensional space.

[Summary of the invention]

A robot hand can perform highly accurate positioning within a three-dimensional space. Using this, the robot hand grasps the imaging device and moves to obtain images from any viewpoint or line of sight. The problem in this case is the calibration of the position between the imaging device held by the robot and the robot hand. In the present invention, attention is paid to the fact that the workbench (station where a workpiece is attached) is precisely positioned with respect to the robot, and calibration is performed using the workbench.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 to 6.

FIG. 1 is a system configuration diagram showing an embodiment of the present invention. 1 is a working robot, 2 is an imaging device, 3 is a control device,
4 is a workbench, 5 is a sole magazine, 6 is a workpiece, and 7 is a pallet. The imaging device 2 is connected to a control device 3 and transmits image information to the control device 3. The work opening (bottom) 1 is connected to the control device 3, and operates according to signals from the control device 3. 1t 9, attached to 6L pallet 7, pallet 7
is attached to the workbench 4. The control device lt3 controls the operation of the working robot 1 and processes image information transmitted from the imaging device 2.

In this embodiment, a case will be described in which the position of a point P on the workpiece 6 is detected with high accuracy when the pallet 7 is placed on the work table 4 with rough accuracy.

FIG. 2(a) shows the internal configuration of the control device 3.

21 is a normal robot control program, 25 is a robot endurance program during imaging, 22 is a teaching image storage unit, 2
3 is an imaging image storage unit, 26 is a displacement registration unit, 24 is
A work instruction data storage section, 27 is a calibration position data storage section, and 2B is a calibration result storage section.

The work teaching data storage unit 24 stores teaching data (14. decision points, operation details,
etc.) are memorized. In order to perform position detection by imaging, the "field image" is entered as the operation content, the position where the imaging device should be set as the positioning point, the coordinates of the robot hand according to the direction, 9 rotation angles, etc. .

The teaching image storage unit 22 has a structure shown in FIG. 2(b), and stores an image obtained by capturing the image at the above-mentioned coordinates 9 rotation angles etc. when the workpiece is in the correct position relative to the robot at the time of teaching. Two images, a wide-angle image and a close-up image, are stored. However, the storage section Ω image data number 00 portion is used as a work area, and the image data number 1 portion is used as a storage section for calibration data. The imaging image storage unit 23 is a part that stores image information from the imaging device 2.

The displacement registration unit 23 is used by the imaging robot recognition program 25 to calculate a deviation based on the teaching image and the imaging image, and to register the result.

The calibration position data storage section 27 stores position data for performing calibration. The calibration 41 storage unit 2B is for storing the relative positions of the robot hand and the imaging device obtained as a result of calibration. In normal operation, the robot control program 21 is equivalent to the conventional robot control program, and controls the operation of the mouth pot according to the data written in the work instruction data storage section 24. When the work instruction data is "imaging", the robot control program 25 is called by the normal robot control program and executes the process described below.

FIG. 3 shows a processing flow of the imaging robot control program 25.

1) The ox31 sends a signal to the robot to grasp the imaging device. The robot grasps the imaging device in the tool magazine according to this signal.

In box 32, calibration circumferential position data record 1
The position coordinate Xc, rotation angle θc, etc. are read from the control section 27.

1) The ox33 transmits the position coordinates Xc, rotation angle θC, etc. to the robot. The robot moves to the calibration position based on Xc, θC, etc.

In box 34, 1 is set in the image data number field.

In box 35, image processing subroutine-1'7'rcAL
I.

do.

The image processing subroutine follows the processing flow shown in FIG.

1) OX55 company! The image of the layer imaging device is read and stored in the imaging image storage section.

In box 56, by comparing the image data written in the image data number field in the teaching image storage section 22 and the image data written in the imaging image storage section 23,
A "shift" is detected and entered in the displacement registration section 26.

After this, the image processing subroutine RETURN.

In box 36, the value entered in the displacement registration section 2'''6 is the allowable value (preset by the robot operator).
Determine whether it is within the range. If it is within the allowable value, 1) ox38
If the value exceeds the allowable value, proceed to box 37.

In box 37, one word is sent to the robot so that it moves by the value entered in the displacement registration section 36. Then proceed to 1) ox35.

As a result, the robot moves in a direction that eliminates the "misalignment." By repeating the processing of 1) ox35 to 1) ox37, positioning using image data number I is completed.

In box 38, the current position Xp of the robot hand is detected, and it is determined whether the proximity distance XN has been reached. If close distance is reached (Xp≦XN), bQX42
Proceed to , and if the melee distance has not been reached (XP>XN),
Proceed to box 39.

t) The ox39 sends a signal to the robot to move to the position XQ. X ci = max (XN
.

Xp+Y). (Y is set in advance by the robot operator.) In box 40, if the workpiece is placed correctly,
An image to be obtained at position XQ is created using a wide-angle image and a close-up image. The principle is based on a simple proportional calculation, as shown in FIG. In the figure, XF is position data from which a wide-angle image was obtained. The image thus obtained is stored in the work area of the teaching image storage section 22.

box41 sets the image data number I to 0 (work area)
shall be.

By repeating boxes 35 to 41, the imaging device 2
is brought closer to the caliper position in stages to perform highly accurate positioning.

In the box 42, the calibration data is stored in the storage section 28.

In box 43, the image data number of the point to be positioned is set to I.

1) On ox44, input the data of the point P you want to position now,
Read from the work number indication data storage section.

Boxes 45 to 51 perform precise positioning of point P in the same way as boxes 35 to 41.

The situation is shown in FIG.

f3) is wide-angle image data at the time of teaching. Assume that the captured image at the taught position is (0). Then, in order to eliminate the deviation rl, t) ox45 to box47 are repeated. As a result, the conveyed image shown in (C) is obtained, and the rough positioning is completed. Next, move the imaging device slightly closer. At that time, the image data created according to box 50 will be as shown in b. Assuming that the image from the imaging device is as shown in (f), box
45 to box 47 are repeated. As a result, the captured image (g) is obtained. When the above-described approach is repeated and a captured image (i) that matches the close-up image data (c) is finally obtained, the position detection ends.

t)ox 52 subtracts the calibration result from the final robot hand position data to obtain precise position data el! of the desired point! put out

Through the above operations, precise positioning of point P is executed.

〔Effect of the invention〕

According to the present invention, it is possible to position a workpiece of any direction and any shape with high precision in a three-dimensional space.
This makes it possible for robots to perform assembly and palletizing work that requires three-dimensionally and accurately attaching workpieces of various shapes that arrive in arbitrary directions to specific positions.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is a system configuration diagram of the present invention, FIG. 2 is a diagram showing the internal configuration of a control device, and FIG. 3 is a diagram showing a processing flow of a robot control program during imaging. FIG. 4 is a diagram showing the processing flow of the subroutine, FIG. 5 is a diagram showing the principle of creating workpiece data from teaching image data, and FIG. 6 is a diagram showing the process until the precise position is determined. It is. 3... Control device, 2... Imaging device, 1... Work robot, 25... Robot control program at the time of imaging, 2
2... Lesson 1 Figure'f3z times (0-) <1) Kuzu 3 Figure'\34 Figure 5 Figure vib figure (f) -1ge (θ-n (C)

Claims (1)

[Claims] 1. In a precision positioning system, an imaging device, a working robot that grasps the imaging device It and carries the imaging device so as to be able to obtain an image of an arbitrary point on a work target, and a part image. a storage unit for storing, in the storage unit, a characteristic pattern image of a work point to be positioned is stored in advance, and an image pickup device is conveyed by a work robot to obtain an image of the work point to be positioned; By moving the working robot based on the discrepancy between the memorized characteristic pattern image and the image captured by the imaging device 4,
To make a decision'e A unique decision system for Kyosei Rui. 2. A precision positioning system according to claim 1, characterized in that an imaging device is incorporated into a hand portion of a working robot. 3. In the precision positioning/delay determination system of Claim 1, the image storage unit stores in advance a wide-angle image when the work point is imaged from a distance, and a close-up image 1 when the work point is imaged from a nearby location. 1. A precision positioning system that memorizes an image, performs rough positioning using a wide-angle image, approaches a work point with an imaging device, and performs high-precision positioning using a close-up image.