JPS60216202A - Three-dimensionally guiding apparatus - Google Patents
Three-dimensionally guiding apparatusInfo
- Publication number
- JPS60216202A JPS60216202A JP7170384A JP7170384A JPS60216202A JP S60216202 A JPS60216202 A JP S60216202A JP 7170384 A JP7170384 A JP 7170384A JP 7170384 A JP7170384 A JP 7170384A JP S60216202 A JPS60216202 A JP S60216202A
- Authority
- JP
- Japan
- Prior art keywords
- distance
- arm
- robot
- moving body
- output signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Measurement Of Optical Distance (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
この発明は、三次元空間内でロボットアーム等を目標点
まで誘導する、三次元誘導装置に関するものでおる。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a three-dimensional guidance device that guides a robot arm or the like to a target point in a three-dimensional space.
従来、この種の装置としては第１図に示すものがめった
。図において、（１）はロボットアームを操作する対象
物、（２）はりピットスイッチ、（３）はＩＴＶカメラ
、（４）はロボットアーム、（４ａ）はロボットの指を
示し、リミットスイッチ（２）とＩＴＶ カメラ（３）
はロボットアーム（４）にねじ等で固定されている。Conventionally, this type of device has rarely been the one shown in FIG. In the figure, (1) is the object to operate the robot arm, (2) the beam pit switch, (3) is the ITV camera, (4) is the robot arm, (4a) is the robot's finger, and the limit switch (2) is the ITV camera. ) and ITV camera (3)
is fixed to the robot arm (4) with screws or the like.
また、（５）は二値化回路、（６）は図心演算回路、（
７）は方向決め回路、（８）はロボットコントローラで
ある。In addition, (5) is a binarization circuit, (6) is a centroid calculation circuit, (
7) is a direction determining circuit, and (8) is a robot controller.
次に動作について説明する。先ず、対象物（１）を１Ｔ
Ｖ カメラ（３）で撮像し、このＩＴＶカメラ（３）の
出力信号を二値化回路（５）で適轟なしきい値で二値化
する。この二値化回路（５）の出力信号を受けて、図心
演算回路（６）と方向決め回路（７）は撮像された対象
物（すの図心と向きとを各々演算し、ロボットコントロ
ーラ（８）に信号を送る。ロボットコントローラ（８）
は前記の図心と向きの情報を基にしてロボットアーム（
４）を移動させ、第２図に示すようにリミットスイッチ
（２）によって対象物（１）が指（４ａ）内に入ったこ
とを検出してから、対象物（１）を掴む。Next, the operation will be explained. First, the object (1) is 1T
An image is taken by a V camera (3), and the output signal of this ITV camera (3) is binarized by a binarization circuit (5) using an appropriate threshold value. In response to the output signal of the binarization circuit (5), the centroid calculation circuit (6) and the direction determining circuit (7) calculate the centroid and direction of the imaged object, respectively, and control the robot controller. Send a signal to (8). Robot controller (8)
is the robot arm (
4), and as shown in FIG. 2, the limit switch (2) detects that the object (1) has entered the finger (4a), and then the object (1) is grasped.
従来の三次元誘導装置は以上のように構成されているの
で、ＸＹｚの三次元空間内で、例えばＩＴＶカメラ（３
）によシ、ＸＹ二次元空間内での位置は認識できるが、
２方向の距離については不明であり、対象物（１）に接
触するまでわからないなどの欠点がおった。Since the conventional three-dimensional guidance device is configured as described above, for example, an ITV camera (three-dimensional
), the position in the XY two-dimensional space can be recognized, but
Distances in two directions are unknown and cannot be known until the object (1) is contacted.
この発明は、上記のような欠点を除去するためになされ
たもので、定距離検出器を付加することにより、対象物
の三次元位置を検出できる三次元誘導装置を提供するも
のである。The present invention was made to eliminate the above-mentioned drawbacks, and provides a three-dimensional guidance device that can detect the three-dimensional position of an object by adding a constant distance detector.
〔発明の実施例〕
以下、この発明の一実施例を図について説明する。第３
図において４１］）は光源、に）は位置検出器、岐定位
置検出回路、◇０はハーフミラ−である。なお（９）は
光源ＩＩ）、位置検出器（イ）、Ｉ ＴＶカメラ（３）
、ハーフミラ−（ト）を含む光学ヘッドでおる。[Embodiment of the Invention] An embodiment of the invention will be described below with reference to the drawings. Third
In the figure, 41]) is a light source, 2) is a position detector, a branch position detection circuit, and ◇0 is a half mirror. Note that (9) is the light source II), position detector (A), and I TV camera (3).
, an optical head including a half mirror.
次に動作について説明する。まず対象物（１）をＩＴＶ
カメラ（３）で撮偉する。ＩＴＶカメラ（３）の出力信
号を適当なしきφ値で二値化し、図心演算回路（６）と
方向決め回路（７）でＸＹ千平面の位置を検出し、その
情報をロボット・コントローラ（８）に送る。Next, the operation will be explained. First, the object (1) is
Take a picture with camera (3). The output signal of the ITV camera (3) is binarized with an appropriate φ value, the centroid calculation circuit (6) and the direction determining circuit (7) detect the position of the XY thousand plane, and the information is sent to the robot controller ( 8).
ロボット・コントローラ（８）は、前記の情報を基にア
ーム（４）を対象物（１）に−近させる。・・−７ミラ
ーα４は、対象物（１）からの光の一部をＩＴＶカメラ
（３）の万へ透過させるとともに、光源４Ｊ］）から出
た光の一部を反射して対象物（１）に照射する。光源４
１１）、ハーフミラ−（１０及び位置検出器に）はロボ
ットアーム（４）に取力付けられている。ここで、例え
ば光源やめはスポット光を対象物（１）に照射する光源
とし、そのスポット光を位置検出器（イ）でとらえ、三
角測量の原理に基づいて距離を測定する。ロボットアー
ム（４）が移動している間、位置検出器に）はロボット
アーム（４）と対象物（１）との距離をたえずモニタし
ているが、対象物（１）が距離測定範囲一に入ってくる
まテハ、対象物（１）とロボットアーム（４）間は無限
遠と認識されている。ロボットアーム（４）が測定範囲
一に入り１〈ると実距離の測定が開始される。定距離検
出回路−は、対象物（１）とロボットアーム（４）との
距離があらかじめ設定された距離になった事を検出する
と同時に、ロボット・コントローラ（８）に制御信号を
出力する。この制御信号を受けたロボット・コントロー
ラ（８）は、この時点で対象物までの高場を認識し、と
の位置から一定距離だけロボット・アーム（４）を対象
物（りに接近させるアプローチ動作を行う。The robot controller (8) moves the arm (4) closer to the object (1) based on the above information. ...-7 mirror α4 transmits a part of the light from the object (1) to the ITV camera (3), and also reflects a part of the light emitted from the light source 4J) to the object ( 1) Irradiate. light source 4
11) The half mirror (10 and position detector) is attached to the robot arm (4). Here, for example, the light source is a light source that irradiates a spot light onto the object (1), the spot light is captured by a position detector (a), and the distance is measured based on the principle of triangulation. While the robot arm (4) is moving, the position detector) constantly monitors the distance between the robot arm (4) and the object (1). At this point, it is recognized that the distance between the object (1) and the robot arm (4) is infinite. When the robot arm (4) enters the measurement range 1, measurement of the actual distance starts. The constant distance detection circuit detects that the distance between the object (1) and the robot arm (4) has reached a preset distance, and at the same time outputs a control signal to the robot controller (8). Upon receiving this control signal, the robot controller (8) recognizes the high field to the target at this point, and performs an approach operation to bring the robot arm (4) closer to the target by a certain distance from the position. I do.
上記実施では、対象物（１）からの距離を測定する方法
として、光学ヘッド（９）の位置検出器に）によって距
離を測定する方法を示したが、第４図のように光学ヘッ
ド（９）に、対象物（１）へスポット光を照射する２つ
の光源（９１ａ） 、（９ｌ ｂ）を設け、それぞレノ
スポット光の反射光をＩＴＶカメラ（３）でたえずモニ
タし、２つのスポット光が一致した事を検出した時点で
、あらかじめ定められた距離（至）を知るという方法を
用いてもよい。また、上記実施例では、この発明をロボ
ット・アームに実施した場合について説明したが、二つ
の物体が互いに近づくように移動し、その時の距離の情
報が知りたいという場合なら何でもよく、上記実施例と
同様の効果を奏する。In the above implementation, as a method of measuring the distance from the object (1), a method was shown in which the distance was measured using the position detector of the optical head (9), but as shown in FIG. ), two light sources (91a) and (9lb) are installed to irradiate spot light onto the object (1), and the reflected light of each spot light is constantly monitored by an ITV camera (3), and the two spots are A method may be used in which a predetermined distance (toward distance) is determined at the time when it is detected that the lights match. Further, in the above embodiment, the case where the present invention is implemented on a robot arm has been explained, but any case where two objects move closer to each other and you want to know the distance information at that time may be used. It has the same effect as.
以上のように、この発明によれば、移動体に取シ付けた
距離測定器の動作範囲をあらかじめ短かく設定している
と共に、対象物までの距離が一定になった時にのみ制御
信号を出力するようにしたので、距離測定の精度を向上
°させるために光源と光軸の角度を太きくとっても両者
間の距離は小δくてすみ、ＩＴＶカメラも含めた光学ヘ
ッドをコンパクトにする事が可能であり、また移動体の
制御系からみた負荷も小さくなるという効果が得られる
。As described above, according to the present invention, the operating range of the distance measuring device attached to the moving object is set short in advance, and the control signal is output only when the distance to the object becomes constant. Therefore, even if the angle between the light source and the optical axis is widened in order to improve the accuracy of distance measurement, the distance between the two only needs to be small δ, making it possible to make the optical head including the ITV camera more compact. This is possible, and the effect of reducing the load seen from the control system of the moving body can be obtained.
第１図は従来の三次元誘導装置の構成図、第２図は従来
装置の動作図、第６図はこの発明の一実施例による三次
元誘導装置の構成図、第４図はこの発明の他の実施例を
示す構成図である。
図において、（１）は対象物、（３）はＩＴＶカメラ、
（４）はロボットアーム、（５）は二値化回路、（６）
は図心演算回路、（７）は方向決め回路、（８）はロボ
ットコントローラ、（９）は光学ヘッド、（９１） 、
（９１ａ） 。
（９ｌ ｂ）は光源、（９２）は位置検出回路、（９３
）は定位置検出回路である。
なお、図中同一符号は同−又は相当部分を示すものとす
る。
代理人 弁理士 木 村 三 朗
第３図
第４図FIG. 1 is a block diagram of a conventional three-dimensional guidance device, FIG. 2 is an operational diagram of the conventional device, FIG. 6 is a block diagram of a three-dimensional guidance device according to an embodiment of the present invention, and FIG. 4 is a block diagram of a three-dimensional guidance device of the present invention. It is a block diagram which shows another Example. In the figure, (1) is the object, (3) is the ITV camera,
(4) is a robot arm, (5) is a binarization circuit, (6)
is a centroid calculation circuit, (7) is a direction determining circuit, (8) is a robot controller, (9) is an optical head, (91),
(91a). (9l b) is a light source, (92) is a position detection circuit, (93
) is a fixed position detection circuit. Note that the same reference numerals in the figures indicate the same or equivalent parts. Agent: Patent Attorney Sanro KimuraFigure 3Figure 4
Claims (1)
対象物からの反射光を受光する第一光電変換器、この第
一光電変換器の出力信号を受けて対象物までの距離があ
らかじめ設定式れた距離になったことを検出する定距離
検出手段、前記対象物を撮像する第二光電変換器、この
第二光電変換器の出力信号を受けて前記対象物の二次方
位置及び向きを検出する物体検出手段、少なくとも前記
光源と前記第一光電変換器とを搭載した移動体、前記移
動体の動作を制御する制御手段とを有し、前記物体検出
手段からの出力信号により移動体を前記対象物に接近さ
せて行き、前記定距離検出手段より信号を受けた後、一
定距離だけ移動体を移動させ石ように構成された三次元
誘導装置。A light source that emits point light onto a target object, a first photoelectric converter that receives reflected light from the target object by this light source, and a distance to the target object that is determined in advance by receiving an output signal from the first photoelectric converter. fixed distance detection means for detecting when a preset distance has been reached; a second photoelectric converter for capturing an image of the object; an object detecting means for detecting a direction; a moving body equipped with at least the light source and the first photoelectric converter; and a control means for controlling the operation of the moving body, the moving body being moved by an output signal from the object detecting means. The three-dimensional guidance device has a structure in which the body is brought close to the object, and after receiving a signal from the fixed distance detection means, the moving body is moved by a certain distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7170384A JPS60216202A (en) | 1984-04-12 | 1984-04-12 | Three-dimensionally guiding apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7170384A JPS60216202A (en) | 1984-04-12 | 1984-04-12 | Three-dimensionally guiding apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60216202A true JPS60216202A (en) | 1985-10-29 |
Family
ID=13468160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7170384A Pending JPS60216202A (en) | 1984-04-12 | 1984-04-12 | Three-dimensionally guiding apparatus |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60216202A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02300611A (en) * | 1989-05-15 | 1990-12-12 | Nissan Motor Co Ltd | Measuring instrument |
| KR100425695B1 (en) * | 2002-02-22 | 2004-04-01 | 엘지전자 주식회사 | Working robot for prevention crash and his control method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5624503A (en) * | 1979-08-04 | 1981-03-09 | Mitsubishi Heavy Ind Ltd | Position detecting device |
-
1984
- 1984-04-12 JP JP7170384A patent/JPS60216202A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5624503A (en) * | 1979-08-04 | 1981-03-09 | Mitsubishi Heavy Ind Ltd | Position detecting device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02300611A (en) * | 1989-05-15 | 1990-12-12 | Nissan Motor Co Ltd | Measuring instrument |
| KR100425695B1 (en) * | 2002-02-22 | 2004-04-01 | 엘지전자 주식회사 | Working robot for prevention crash and his control method |
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