JPS6016386A - Monitor device for operation - 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 Industrial Application The present invention is directed to a robot that corrects and executes a motion taught directly by a device for teaching the motion or indirectly by a teaching language. This relates to a device that monitors the presence of animals.

Conventional Structure and Problems Conventionally, in a Cartesian robot, the actual amount of movement of each of the X, Y, and Z axes is confirmed using a magnetic displacement detector attached to each axis. In joint robots, positioning control is performed by comparing and subtracting position command pulses with output pulses from a pulse encoder or the like provided for each joint.

Although these functions are inherent, there is no guarantee that they will operate correctly at the stage of developing these control devices. Abnormal operations must be monitored using a control system that is independent of the robot's original positioning control system.

Purpose of the Invention Structure of the robot body required for continuous monitoring The present invention captures the movements of a robot as instantaneous images, and distinguishes and stores images of the robot from other images. a means for synchronizing with the operation cycle of the robot and providing an image capturing signal to the means; and a means for storing the operation content taught to the robot and projecting it on the XY plane, YZ plane, Zx plane or any arbitrary plane. means for calculating the instantaneous movement of the image and storing it as a continuous projected image on the corresponding plane; means for comparing and calculating the two types of stored images to evaluate the difference and the change in the difference; and a means for generating a signal to stop the robot after carrying out a series of predetermined procedures. If the instantaneous difference or continuous change in difference exceeds a preset tolerance range, a signal is issued to immediately stop the robot, or a signal is sent when the robot resumes operation. It is configured to generate a signal to stop the robot after storing the necessary data.This is completely independent of the robot's original control system, and it constantly monitors the robot's movements and detects any influence. This system has the unique effect of being able to reliably and reliably stop the robot before it becomes significantly abnormal.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings. Figure 1 shows
FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.

Reference numeral 1 denotes a motion content storage means for storing motions taught in a teaching device or a teaching language, and stores the motions of the robot in position coordinates, velocity, and acceleration in a standard coordinate system. 2
is a projected image calculation means which calculates, for example, an xZ plane projected image when the robot moves to the position coordinates stored in 1, by adding perspective dimension correction according to the mounting position of the image capturing means shown in 4. be. Reference numeral 3 denotes a projection image storage means in which the results calculated in step 2 are stored as a series of continuous motion images together with motion timing numbers. 4 is an image photographing means which photographs the instantaneous state of the operating robot and sends the data to the image identification storage means 5.

Reference numerals 4 and 6 denote image identification storage means for identifying the robot image and the background image, and extracting and storing only the robot image. Reference numeral e denotes a comparison evaluation means, which compares the projected image stored in 3 at the specific motion timing with the robot image of the robot actually in operation at the same motion timing. The control means of No. 8 is
At the same time as controlling the operation of each of the means 1 to 6, the synchronizing means 7 is also controlled to synchronize the operation of each means. Reference numeral 9 denotes an abnormality signal generating means, which issues a stop signal for the robot and the throat according to the evaluation result in step 6. Reference numeral 10 denotes a reference condition storage means at the time of recovery, which stores predetermined data up to the stop when the robot is stopped, so that the robot operates without error when restarting the recovery. 9 and 10 are also under the control of the control means 8.

In addition to calculating the projected image from the operation details, it is also possible to manually operate the image capturing means and the image identification storage means and store it as a projected image.

FIG. 2 shows the specific configuration of this embodiment. 1
1 is a robot main body, and its operation is managed by 12 robot control devices.

16 is a microcomputer with a built-in computer.

Calculation of projection image (by program) 9 Calculation of image identification, 2
This system performs comparative calculations on two images, evaluates them, and generates an abnormality signal. Specifically, the operation content.

A storage unit 16a that stores projected images, identification images, and recovery reference conditions, an input that accepts the output from the image capturing means 4, the output of the operation contents stored in the robot control device 12, and the output of a synchronization signal. section 16b, an output section 16C2 that outputs a stop signal to the 12, an arithmetic section 16d that performs projection image calculation, identification calculation, etc., the storage section 16a, and an input section 16b.

A control unit 1 that controls the output unit '16G and the calculation unit 1ed.
66.

Note that 13 is an industrial television camera operated by the image capturing means 4, and 14 and 15 are a display device and a typewriter device attached to the microcomputer.

Next, the operation of this embodiment will be explained. FIG. 3 shows the main part of the control for calculating the projected image by the microcomputer 16. In the condition data processing in step 1, instructions such as the installation positional relationship of the image capturing means with respect to the robot's position or the projection plane designation, the operation timing to be compared and evaluated, and the conditions for comparison and evaluation are stored. It is referred to during projection image calculation processing and also serves as supplementary data when stored as a projection image. Step 18 is a process of importing the operation contents stored in the robot control device 12 into the storage section 16a of the microcomputer. Step 19 is to calculate a projected image on the designated projection plane for each operation timing stored in step 17, and stores it in the storage section 16a after the storage process in step 20. The stored contents are output to the display device 14 through the output section 16c for confirmation.

FIG. 4 shows the main part of the control of the microcomputer 16, which evaluates the robot's near-smile motion based on the contents stored by the method shown in FIG. 3 and takes necessary measures.

The robot starts operating under the robot control device 12,
When the synchronization signal is input to the microcomputer 16, it is determined in step 32 whether the timing signal is a cycle end signal or not, and if it is an end signal, preparation processing for the next cycle processing is performed.

If not, it is determined whether the timing signal is an image photographing signal or not (step 33), and image photographing and robot throat image identification processing are performed (steps 34 and 35). - In step 36, a projection image having the same movement timing as that just taken is selected from among the projection images stored in FIG.
Comparative evaluation is performed in step 37.

In step 38, it is determined whether or not the evaluation result is within a predetermined tolerance range. If it is within the range, the robot continues the next operation, but if it exceeds the tolerance range, the robot performs the next operation.

Processing of steps 39 and 40, that is, storing reference conditions at the time of recovery and generating an abnormality signal, is performed and the robot control device 12 is notified, and the operation of the robot is stopped.

In addition to the effects of the invention, the present invention provides a means for capturing the moment-by-moment movement of a robot as an image, a means for calculating and storing an image projected onto an arbitrary plane in the space in which the robot should originally move based on the taught movement content, and a means for capturing the movement of the robot as an image. Since the main means is a means that can compare and evaluate the images obtained from the two means while synchronizing the timing, it is possible to easily detect abnormal movements of the robot and prevent the risk of runaway robots. can be prevented in advance.

At the same time, since the present invention is controlled by a system separate from the control system of the robot itself, the 4M reliability as a monitoring device and a danger prevention device is high.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of the main parts of an embodiment of the present invention, FIG. 2 is a block diagram of the same, and FIGS. 3 and 4 are flow diagrams of the main parts. 1... Action content storage means, 2... Projection image calculation means, 3... Projection image storage means, 4...
... Image photographing means, 6 ... Image identification storage means, 6 ... Comparison evaluation means, 7 ... Synchronization means, 8 ... Control means, 9 . . . Abnormality signal generation means, 10 . . . Recovery reference condition storage means,
1o... Recovery reference condition storage means, 12...
...Robot control device, 13...Industrial TV camera, 14 Display, 16...Typewriter, 16...Microcomputer. Name of agent: Patent attorney Toshio Nakao and 1 other person @1
Figure 2 L/' J Figure 3 Figure 4

Claims (1)

[Claims] A means for photographing the movement of the robot as an instantaneous image, identifying and storing the robot's image and other background images, and a means for synchronizing with the operation cycle of the robot and supplying an image photographing signal to the above means. 40 Memorize the action content taught by Bots, divide it as an instantaneous movement projected on the XY plane, YZ plane, ZX plane, or any plane, and store it as a continuous projected image on the corresponding plane. means for comparing and calculating the two types of stored images to evaluate differences and changes in the differences; and means for generating a signal to stop the robot after performing a series of predetermined stored procedures. A robot motion monitoring device equipped with