JPS60120405A - Position correcting device - Google Patents

Abstract

PURPOSE:To enhance percentage of automation of work by storing the position order of a part to be worked which enters a photographic visual field of an image pickup means and recognizing required parts to be worked on a basis of this stored position order. CONSTITUTION:A robot used for assembling process is provided with a mode setting means A which set an operation mode to the position correcting device of this robot, the first and the second detecting means B and C, a storage means D, and a means E which recognizes parts to be worked. The first detecting means B detects the part to be worked, which enters the visual field, by a picture signal from the image pickup means such as an image sensor or the like, and the second detecting means C detects the position order of the part to be worked on a basis of the detection result of the first detecting means at the time when the part to be worked is placed at the working start point in a prescribed working part, and this position order is stored in the storage means D in the teaching mode in accordance with the part to be worked. In the playback mode, the recognizing means E recognizes the part to be worked, which is detected by the first detecting means B, on a basis of said stored contents when the working part is placed at a working start target point of the part to be worked.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a position correction device for a playback type moving device that moves along a predetermined work trajectory corresponding to a workpiece, such as a robot.

■Skin 4 Recently, there have been many attempts to use robots as playback-type moving devices to perform the sealing work that is done, for example, in the assembly process of automobiles.

By the way, when a robot performs relatively precise work such as sealing work, it is necessary to take into account work errors based on the repeatability and teaching accuracy of the robot itself, as well as errors based on workpiece positioning accuracy and errors between workpieces. Therefore, attempts have been made to install a device at the tip of the robot arm to correct the position of the sealing nozzle.

By the way, as such a position correction device, the following can be considered.

That is, a uniaxial position correction means equipped with, for example, an imaging means using a -dimensional image sensor is provided at the tip of the arm of the robot, and a sea link tsule as a working part is attached to this position correction means.

However, the moving direction of the imaging means and the sealing nozzle that are moved relative to the arm tip by this position correction means is, for example, perpendicular to the ceiling direction, which is the moving direction of the arm, and the linear direction of the imaging means is set in this direction. It is assumed that the imaging field of view is facing.

Then, for example, a line-shaped shadow of a constant width created by shining light on the ceiling line of the seam of the iron plates is imaged by the photographing means attached to the position correcting means.

Then, during playback of the robot, the image signal output from the imaging means is processed by the image processing device, and images are taken to determine the distance between the shadow imaging position and the predetermined reference pixel position on the one-dimensional image sensor. Deviation (value indicating the positional deviation between the sealing nozzle and the sealing line)
is successively determined, and by moving the above-mentioned position correction means so that the deviation becomes zero according to the obtained deviation, the positional deviation between the sealink twill and the sealink line attached to the position correction means can be corrected. This is a correction.

By the way, regarding such a position correction device.

However, since the shadow that enters the imaging field of the imaging means is unconditionally recognized as the target ceiling line, there is another ceiling line near the work start point of one ceiling line, and the imaging means When these two lines are imaged at the same time, it is not possible to recognize which of the lines is to be the target line to be worked on, and there is a problem in that the sealing work cannot be automated in such a case.

■-I This invention was made with attention to such problems, and an object of the present invention is to make it possible to recognize a desired line from among a plurality of sealing lines.

Therefore, the position correcting device according to the present invention first includes the following means A to H, as shown in the figure.

A: Mode setting means for setting the operation mode to either teach mode or play bank mode B: Detecting the workpiece (ceiling line) that has entered the imaging field of the imaging means based on the image signal from the imaging means First detection means C: first detection when the working part (ceiling nozzle) is positioned at the work start point of a predetermined work part among the plurality of work parts that can enter the imaging field of the imaging means Second detection means D for detecting the location order of the workpiece in which the working part is located among the plurality of workpieces based on the detection result of means B = mode setting means Storage means E for storing the location ranking data detected by the detection means C of No. 2 in correspondence with the workpiece concerned: a moving device (robot) stored in the storage means when the play bank mode is set by the mode setting means A; Based on the location ranking data corresponding to the workpiece to be played back on the side, the plurality of times detected by the first detection means B when the work part is actually located at the work start target point in the workpiece to be playpacked. The recognition means recognizes the workpiece to be played packed from among the workpieces of the workpiece E. Furthermore, the position correction device corrects the position of the workpiece relative to the workpiece based on the recognition result of the recognition means E.

EXAMPLE 1 Hereinafter, an embodiment of the present invention will be described with reference to FIG. 2 and subsequent drawings.

FIG. 2 is a configuration diagram showing an embodiment of the mechanism section of the position correction device according to the present invention.

In the same figure, an arm 1a of a robot 1 as a playpack-type moving device that moves along a work trajectory determined in advance by teaching in correspondence with a ceiling line SL in workpieces (plate materials) Wl and W2 that are stacked together by welding or the like. A position correction device 2 excluding a control system constituted by various parts described below is attached to the tip.

The arm 1a is designed to rotate in the direction of the arrow O, but since any known robot including the other parts of the robot 1 can be used as is, the details will be omitted.

In the position correction device 2, a pulse motor 5, a speed reducer 6, etc. for swinging and rotating the mounting plate 4 around the axis R are attached to a bracket B attached to the tip of the arm 1a, and this bracket 3 is not shown in the figure. When the pulse motor 5 is rotated in the posture shown in FIG.
(referred to as "position correction direction").

That is, these brackets 3. Mounting board 4゜Pulse motor 5. The reduction gear 6 and the like constitute a uniaxial position correction means that moves in a position correction direction δ that intersects (perpendicularly intersects with) the ceiling direction Y.

The mounting board 4 of this position correction means is equipped with an N-bit (for example, 512-bit) -dimensional image sensor camera (hereinafter abbreviated as "camera") 7 as an imaging means, and a high-pressure spray system as a working part. The sealing nozzle 8 was installed under the following conditions.

That is, the camera 7 is arranged such that the arrangement direction of the one-dimensional image sensors therein is parallel to the rocking rotation direction of the mounting board 4, that is, the plane including the position correction direction δ, and the bracket 3 is in the illustrated posture. The linear imaging field of view EY of the camera 7 shown by a broken line is oriented in a direction perpendicular to the ceiling direction Y, and the optical axis of the camera 7 and the swing rotation axis R of the mounting board 4 are aligned with the one-dimensional image sensor. The center position of (
Ceiling nozzle 8
is installed so that its tip 8a is located in a plane including the optical axis and the axis R, and at a position slightly offset to the rear of the optical axis with respect to the sealing direction Y, and is filled at this position. 8- The agent is sprayed onto the sealing line SL.

The sealing nozzle 8 is attached by a holder 9, and the sealing nozzle 8 is attached by this holder 9.
and a flexible hose 10 for pumping the filler.

Next, the spot lamp 11 has a fixed deceleration l! It is provided at the tip of the stay 12 attached to
A predetermined area including the imaging field of view EY is irradiated to create a shadow S of a constant width along the ceiling line SL on the workpiece W2 side.
I'm trying to add an H.

The spot lamp 13 is also provided at the tip of the stay 14 attached to the deceleration fi6, and is located at a position symmetrical to the spot lamp 11 with respect to the optical axis of the camera 7. Used when the situation is reversed from Figure 2.

Next, an embodiment of the control system of the position correction device 2 will be described with reference to FIG.

First, to explain the signal output from camera 7,
The camera 7 receives an image (video) signal Sv shown in FIG. 4 (A) or (E) according to the brightness of the imaged part that has entered the imaging field of view EY, and a clock pulse for scanning shown in FIG. 4 (B). The signal Sc and the video clear signal S shown in FIG.
Outputs o.

The image signal Sv is an analog signal, and the brighter the imaged part, the higher the signal level, and conversely, the darker the imaged part, the lower the signal level.The image signal Sv shown in FIG. The image signal Sv obtained when Y is in the state shown in FIG. 2 and shown in FIG. ) is obtained when

Further, the clock pulse signal Sc is a pulse signal that becomes I" N times (for example, 512 times) for one frame of the image signal Sv, and the video clear signal So is a signal that becomes 1" only for a time corresponding to one frame. be.

11- Next, the mode setting switch 15 is a switch that sets the operation mode of the position correction device to either teaching mode or playback mode.

The data input switch 16 is connected to the imaging field of view EY (
Data on the number of shadows of the ceiling lines included in the figures (see Figure 2) and data on the location order of the ceiling lines in which the tip 8a of the sealing nozzle 8 is positioned among the plurality of ceiling lines (both data will be described later). This is a switch that is operated when calculating and storing data.

The manual operation switch 17 is a switch used when driving the pulse motor 5 of the position correction device 2 by manual operation.

Next, in the control unit 18, the binarization circuit 1 inputs the image signal Sv from the camera 7 and generates a shadow SH1 of the ceiling line S1 in the imaging field of view EY in FIG.
Or the ceiling lines SL of the works W3 to W6 in the imaging field of view EY in FIG. 5, the shadows SH of ~SL3, ~SH3
Detects the notch part (see Fig. 4 (a) and (e)) of the image signal Sv corresponding to , and generates a binarized signal that becomes "o" in one frame by a width corresponding to the width of the detected notch part. It is output as time-series image data Dv (see FIG. 4 (d) and (f)).

The controller 20 drives the pulse motor 5 in the position correction device 2 based on the drive pulse DP output from the microcomputer 21.

Central processing unit (CPU) 22. Program memory (R
OM) 2, data memory (RAM) 24, non-volatile memory (NVM) 25. The microcomputer 21 is composed of an input port 26°, an output port 27, etc.
It operates independently of the control system (not shown) of the robot 1 in FIG. 2, and receives program number data PN (described later) sent from the control section of the robot 1 and image data from the binarization circuit 1st Dv, the clock pulse signal Sc and video clear signal So from the camera 7, and the mode setting switch 15. Data input switch 16. and various switch inputs by manual operation switches, etc., are processed by the plow 12 = Durham based on the flowcharts shown in FIGS. 6 and 7, thereby obtaining the 1.
It performs various functions of the second detection means, storage means, and recognition means, as well as a positional deviation detection function and a drive pulse output function during sealing work by the robot 1.

Hereinafter, while also referring to the flow diagrams in FIGS. 6 and 7,
The operation of the microcomputer 21 will be explained.

First, I will explain the operation in teaching mode.
It is assumed that the teaching of the robot 1 has been completed and the program number indicating the line number of the sealing line has been determined on the robot control section side.

Further, the robot 1 moves from the robot origin to the work start position of the ceiling line to be played back, and after the position correction device 2 in the playback mode recognizes and captures the ceiling line, starts the sealing work. Furthermore, regardless of the set operation mode, the microcomputer 21 in the control unit 18 in FIG. 3, for example, when the robot 1 reaches the work start position,
It is assumed that the process is executed from 5TEP 1 in FIG.

Further, when the position correction device 2 is in the teaching mode, the robot 1 is moved to the work start position of a sealing line and stopped, and from that stop position, the work of another sealing line is started without performing the sealing work of that line. It shall be possible to perform actions such as moving the robot to a certain position.

Now, from now on, for example, the ceiling line SL in Figure 5
2, and before the start of playback of the robot 1, the mote setting switch 15 in FIG. 3 is operated to set the operating mote to the teaching mode.

First, in FIG. 6, 5TEPI: Clears the contents of all addresses in the RAM 24, various registers, flags, etc., and initializes input/output ports 26, 27, etc.

5TEP2: Write the start address Mx of the image data storage area of the RAM 24 to the counter CN.

5TEP3: Video clear signal S from camera 7.

(See FIG. 4(c)) waits until it rises from 0'' to 1''.

5TEP4: Clock pulse signal Sc from camera 7
Check the fall from 1'' to "o" (see Figure 4 (b)), and when it falls, proceed to 5TEP 5.

5TEP5: Image data Dv from binarization circuit 1st day
Incorporate.

5TEP6: The image data Dv captured in 5TEP 5 is stored in the address of the RAM 24 indicated by the value of the counter CN.

5TEP7: Increment (+1) the value (address) of counter CN.

5TEP8: Video clear signal SO is from 1″ o
” and check whether the capture of image data Dv for one frame has been completed. If it has not been completed, return to 5TEP 4 and repeat the processing from 5TEP 4 to 8 until it has been completed. If so, proceed to 5TER'9.

In this way, one frame worth of image data Dv (fourth
RAM 24 image data storage 1b
- Store in storage area (image memory).

However, when acquiring data for each pixel of a one-dimensional image sensor as described above, if the period of the tarokku pulse signal Sc is, for example, about 1.36 μsec, the normal C
Since it cannot be processed completely by PtJ, the clock pulse signal S
It is preferable to divide the frequency of c by m, convert the serial image data into a parallel signal for m-pitch 1, and take in the bit parallel signal at once in synchronization with the m-divided signal.

5TEP9: Set the window lower limit value MXO to the counter CN, and set the pointer K from "1" of the image data Dv.
", respectively, write the start address MY of the storage area of the falling change point address data.

Note that the window lower limit value MXo and the window upper limit value M x 1, which will be described later, are based on the friction field of view E of the camera 7 in the image data corresponding to the number of bits (pixels) of the one-dimensional image sensor written sequentially from the address Mx of the RAM 24.
This shows the address for defining the data check range for detecting the shadow of the ceiling line that enters Y, and by defining this range, the check time is shortened.

However, in this embodiment, the above range is set regardless of the operation mode, but in the teaching mode, high speed processing is not required, but for example, as shown in FIG. Sealing line s r,,
, ~SL3 are entered in a dispersed manner, so it is desirable not to narrow the above range too much or not to set it at all during the teaching mode.

5TEPIO: Load image data at the address (initially M x O) indicated by the value of counter CN into register T.

Note that this register T is used to load the image data of the address checked before the address indicated by the value of counter CN, but the RAM data of the address indicated by the value of counter CN is loaded only at the beginning. Ru.

5TEPI1. : Load the image data at the address indicated by the value of the counter CN into the register ■.

5TEP12: Check whether the contents of registers V and T match, and if they match, it is assumed that the image data has not changed (5TEP)], jump to 7, and if they do not match, it is assumed that there has been a change (5TEP)] Proceed to 3.

5TEP13: Load the contents of register ■ into register T.

5TEP] 4: Check whether the contents of register V are 0'' or not. If it is "o", it is assumed that there has been a falling change from 1" to 0" and proceed to 5TEP15; if it is "1", it is 5
Jump to TEP17.

5TEP15: Load the falling change point address data (hereinafter referred to as "address data ■") of the image data indicated by the value of the counter CN into the pointer K and store it at a certain address (initially My).

However, if the camera 7 is 51.2 bits, this address data I will be at least 10 bit specification data, so if 8 bits is used as the RAM 24,
Address [K] in RAM 24 with the above address data as 2-byte specification.

[,K]+1 is loaded.

5TEP16: Increment the value of pointer l-(
+2) 10-.

5TEP17: Increment f value of counter CN (
+1).

5TEP18: Check whether the address indicated by the value of counter CN matches the above-mentioned window 2 limit value Mxl. If they do not match, return to 5TEPLI and repeat the processes from 5TEPII to 5TEP18, and if they match. If so, proceed to 5TEP19.

Then, by repeating the processing of ST'1EP11 to ST'1EP18 described above, the shadows S H of the ceiling lines SL1 to sr=, in the image data Dv shown in FIG.
Notch portions W1 to Il corresponding to s to SH3 (Fig. 5)
Address data I indicating the positions of 3 are sequentially stored in a 6-byte area of address M y −M y +5 of the RAM 24.

In addition, the position correction device 2 when the robot 1 moves to the work start position of the ceiling line SL2 shown in FIG. 5 and stops
Since the posture of the mechanism part is arbitrary, three ceiling lines S are placed in the imaging field of view EY of the camera 7 as shown in FIG.
LI to SL3 are not necessarily included in 90-, but the microcomputer 21 is 5TEP 1
When the processing from 5TEP 18 to 5TEP 18 is first completed, the address of the notch portion u)I-ω3 shown in FIG.

5TEP19: Check whether the flag described later is 0" or not, and if it is "o", proceed to 5TEP20 in Figure 7,
l'', jump to 5TEP43 in FIG.

Next, in FIG. 7, 5TEP20: Checks whether the setting mode is the teaching mode based on the switch input of the mode setting switch 15 in FIG.
Proceed to P21, and if in playback mode, jump to 5TEP34.

Now that the teaching mode is set, 5 TEP
Proceed to step 21.

5TEP21: Based on the switch input of the manual operation switch 17 in FIG. 3, check whether the switch is turned on or not, and wait until the switch 17 is turned on.

5TEP22.23: Since the manual operation switch 17 is on, the drive pulse D is applied until the switch 17 is turned off.
P is output to the controller 20, thereby rotating the pulse motor 5 and varying the imaging direction of the camera 7 and the position of the sealing nozzle 8.

Therefore, the robot 1 is at the sealing line S in FIG.
If the tip 8a of the sealing nozzle 8 is not located above the sealing line S 2 when the work start position of L2 is reached, the nozzle tip 8a is moved above the sealing line S by operating the manual operation switch 17. It can be located on 2.

Note that the manual operation switch 17 is actually composed of two switches for rotating the pulse motor 5 in the forward and reverse directions, and by operating either of them, the above positioning can be performed.

Furthermore, if the nozzle tip 8a is located on the line to be taught when the work start position is reached,
Since it is not necessary to perform the above alignment, a switch may be provided to be operated in such a case, and the 5TEPs 21 to 23 may be disabled by inputting the switch.

5TEP24: Based on the switch input of the data input switch 16 in FIG. 3, check whether the switch 16 is on or not. If it is off, 5TEP2 in FIG.
Return to 5TEP and repeat the process from 2 to 24.

If it is on, proceed to 5TEP25.

Therefore, unless the manual operation switch 17 is turned off and the data input switch 16 is turned on at the same time, the sealing nozzles SL, ~SL
It is possible to update the addresses indicating the imaging positions on the one-dimensional image sensor of the shadows SH and SH3 of No. 3.

5TEP25: Write OOH into counter

5TEP26, RA of the address indicated by the value of pointer P
The aforementioned address data (2) is read out from M24, and reference address data I corresponding to the center pixel in the one-dimensional image sensor of the camera 7 is read out from the ROM2B. (F
FH=255) and calculate 1TIol.

5TEP27: Check whether l I - T o I < [S], and if II Iol < [S, then 5TEP
Proceed to 28 and jump to 5TEl'30 if 1IIol≧[Sko.

5TEP28: Load IIrol calculated in 5TEP26 into register S.

5TEP29: Increment the value of counter X (+
1) Do.

5TEP30: Increment the value of pointer P (+
2) Do.

5TEP31: Check whether the values of pointers P and K match. If they do not match, return to 5TEP26 and repeat the processes of 5TEP26 to 31; if they match, proceed to 5TEP32.

If you repeat the process of 5TEP26-31 like this, R
In AM24, for example, the address M V + M'
The address data f stored in 1+1 is r180.
+Address My+2. The address data ■ stored in My+3 is r 255 J (this value or a value close to this is determined by the nozzle alignment in STEP 22.23), and the address data MY+4. If address data I stored in My+5 is r360J, the value of counter X is incremented twice (+1) and becomes "2".

This numerical data "2" is the ceiling line SL that entered the imaging field of view EY after alignment in FIG.
It shows the position order of the sealing line SL2 in which the tip 8a of the sealing nozzle 8 is located at SL3.

5TEP32: Take in the program number data PN output from the robot control section.

5TEP33: Add the program number data PN indicating the line number of the ceiling line SL2 imported in 5TEP32 to the first address of the addresses assigned to the non-volatile memory (NVM) 25, and set the pointer to the address Z1 obtained. The ceiling line SLI~S that entered the imaging field of view EY after positioning as shown in Figure 5
Address Z2 is stored as the number data of L3.
The value of the counter X, which is the predetermined ranking data described above, is stored in (Z2=71+1)24-, and the process ends.

Note that the value of the pointer (My+s) is not the number "3" indicating the number of ceiling lines SLI to SL3, but the value My+5 corresponds one-to-one to the number "3". Therefore, the number data can be set to "3" using My+5.

When teaching the position correction bag @2 regarding the other sealing lines SLI and SL3 than the sealing line SL2 in FIG. If the operations described above are performed after moving the ceiling line SLI to
Number data M y + 5 is stored at address 1, and location order data [1] is stored at address z2.

Note that since the address Z1+22 in this case is based on the program number data PN of the ceiling line SL1, it is of course different from the value for the ceiling line SL2 described above.

Next, the operation of the position correction device 2 in the playback mode will be explained.

If the operation mode is set to the playback mode by operating the mode setting switch 15 before the robot 1 plays back, when the robot 1 reaches the work start position of the ceiling line SL2 in FIG. 5T in the diagram
Processing of EPs 1 to 19 is immediately performed and 5TE in FIG.
The process proceeds to P20, and the above-described mode check is performed at this 5TEI"20, and the process proceeds to 5TEP34.

5TEP34: Similar to 5TEP32, the program number data PN output from the robot control section is taken in.

5TIEP35: Based on the program number data PN taken in in 5TEP34, a value indicating the number of ceiling lines and location order data are read from address ZI+'Z2 of NVM25.

In this case, since the playback target of the robot 1 is the ceiling line SL2, the number data is 27- "3" and the location ranking data is "2".

5TEP36: Check whether the value in the pointer when exiting the loop of 5TEP 11 to 18 in Fig. 6 matches the value indicating the number data of address z1 of NVM25 read in 5TEP35. , if they match, proceed to 5TEP37; if they do not match, proceed to 5TEP37.
Jump to P42.

In addition, in 5TEP42, if the number data of the ceiling lines that entered the imaging field of view EY of camera 7 does not match the stored data, the robot 1 selects the ceiling lines that entered the imaging field of view EY of camera 7 as the playback target. Since a certain ceiling line SL2 cannot be found, a warning message representing this fact is displayed on a display (not shown).

5TEP37: NVM2 read by 5TEP35
Based on the location ranking data “2” of address Z2 of No. 5,
My+(2-1)X2=My+2 is calculated, and the calculated value My+2 is loaded into the pointer P.

5TEP38: Read the address data (2) regarding the ceiling line SL2 from the addresses in the RAM 24 of My+28-2 and <My+3 loaded into the pointer P, and read the reference address 1o mentioned above from the ROM23.

Note that the address data (2) read out at 5TEP indicates the imaging position of the shadow SH2 of the ceiling line SL2 on the one-dimensional image sensor when the robot 1 is stopped at the work start position.

5TEP39: Position correction device 2 is on ceiling line S
Only the address data ■ regarding L2 is read out from the RAM 24, and the ceiling line S, which is the playback target of the robot 1, is selected from among the ceiling lines SL and ~SL3.
A flag indicating that L2 has been recognized is set to 1''.

5TEP40: ■, IO read by 5TEP38
Based on , the shade 5t(2
The deviation ΔI=IIo between the imaging position and the center pixel position in the one-dimensional image sensor (which may be positive or negative depending on the direction of deviation with respect to the center pixel position) is calculated.

5TEf”41: The deviation ΔI obtained at 5TEP40 is 1
Drive pulse DP with the number of pulses multiplied by 7α (α is the change in the imaging address when the pulse motor 5 is moved by one pulse)
is output to the controller 20, whereby the pulse motor 5 rotates and the nozzle tip 8a moves above the ceiling line S2, and the shadow ST of the ceiling line SL2 (the imaging position of 2 is a one-dimensional image It comes to the center pixel position of the sensor.

It should be noted that, as a matter of course, the rotation direction of the pulse motor 5 is different depending on whether the deviation ΔI is positive or negative.

Then, after completing the process at 5TEP 41, the position correction device 2 correctly recognizes and captures the ceiling line SL2, which is the playback target of the robot 1, and completes the process at 5TEP 41 in FIG.
Returning to step 2, the robot control section causes the robot 1 to playback based on the teach data regarding the sealing line SL2 to start the sealing work.

The microcomputer 21 of the control unit 18 has 5
After returning to TEP 2, proceed sequentially to 5TEP19, and check the flag at 5TEP19, then move to 5TE
Jump to P43.

5TEP43: Read the reference address ■o from the ROM 23, and search for the one closest to IO from among the address data ■ stored in the RAM 24 in the loop from 5TEPII to 18 in FIG. 6, and then jump to 5TEP40.

Note that this search process can be performed in substantially the same manner as in 5TEPs 26 to 31 described above.

Therefore, during the playback operation of the robot 1, the microcomputer 21 is
41 loop processing is repeated.

Therefore, even if the playback motion of the robot 1 does not completely follow the sealing line SL2, the position correction device 2 always positions the tip 8a of the sealing nozzle 8 on the sealing line SL2. Accurate sealing work along S L 2 can be performed.

Note that the microcomputer 21 ends all processing when the playback operation of the robot 1 is completed.

Further, in the above embodiments, a one-dimensional image sensor camera was used as the photographing means, but the present invention is not limited to this, and a two-dimensional image sensor camera may also be used.

However, in that case, it is necessary to use a slit light beam that emits a slit light source so as to intersect the ceiling line in place of the spot lamps 11 and 13, and the processing program also needs to be changed as appropriate.

Further, in the above embodiment, the position correction device according to the present invention is applied to a ceiling robot, but it can be applied to any type of moving device, including playback type moving devices that require position correction.

As described above, according to the position correction device according to the present invention, the location order of a required workpiece among a plurality of workpieces within the field of view of the imaging means is stored, and the location order of the required workpiece is stored. Since the desired workpiece can be recognized from among multiple workpieces based on the location order, the automation rate of work using playback-type moving devices can be further increased by using this position correction device. can be increased.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of the present invention, FIG. 2 is a perspective configuration diagram of a mechanism section showing an embodiment of the invention, FIG. 3 is a block diagram of the control system, and FIG. 3 is a signal waveform diagram of each part to explain the operation of the position correction device according to the present invention. FIG. FIG. 7 is a flow diagram for explaining the operation of the CPU shown in FIG. 3, respectively. 1...Robot (mobile device) 2...Position correction device 5...Pulse motor...
Camera 8... Sealing nozzle (working part) 15... Mode setting switch 16... Data input switch -; 51- 17... Manual operation switch 18... Control unit 19.
... Binarization circuit 20 ... Controller 21 ... Microcomputer SL, SLI to SL3 ... Ceiling line (worked part)

Claims (1)

[Scope of Claims] 1. Positional deviation between a working part attached to a playback type moving device via a uniaxial position correcting means and a worked part to be worked by the working part The position of the working unit is detected based on an image signal from an image pickup means attached to the position correction means for taking an image, and the position of the working part is corrected by driving the position correction means according to the detection result. In the correction device, a mode setting means for setting an operation mode to either teaching mode or playback mode, and detecting a workpiece that has entered the imaging field of the imaging means based on an image signal from the imaging means. a first detection means; and a detection result of the first detection means when the working part is located at a work start point in a predetermined workpiece of a plurality of workpieces that can enter the imaging field of view. a second detection means for detecting the location order of the workpiece in which the workpiece is located among the plurality of workpieces that have entered the imaging field of view, and when setting the teaching mode by the mode setting means; storage means for storing the location order data detected by the second detection means in correspondence with the workpiece; and when the mode setting means sets a playback mode;
Based on the location ranking data corresponding to the workpiece to be played back on the side of the pongee transfer device stored in the storage means, the work unit actually determines the work start target point on the workpiece to be played back. and recognition means for recognizing the workpiece to be played back from among the plurality of workpieces detected by the first detection means when the workpiece is located at the first detection means.