JPS6037007A - Deciding system for coordinate conversion parameter of picture processor - Google Patents

Abstract

PURPOSE:To perform a control operation in an extremely short time by recording the position quantity of a robot and the mark position on a monitor screen after detecting the mark and obtaining a conversion parameter from the data obtained by repeating said recording action. CONSTITUTION:A parameter measuring tool 8 is held by the hand of a robot 7, and a measuring mark 9 is put at the position before the tool 8. Then the robot 7 is actuated. The movement of the robot is performed by pushing a moving direction indicating switch 10 of an operator console 4 attached to a picture processor 2. The position of the mark 9 is checked by a monitor TV3, and an ENT switch 12 is pushed when the mark 9 reached an appropriate position. Thus the position quantity of the robot 7 and the position of the mark 9 on a screen are recorded to the processor 2. This recording is repeated to obtain some pairs of data. Here a conversion parameter is calculated. In such a way, the control of a robot is possible in a short time.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a method for determining coordinate transformation parameters of an image processing device, for example, the visual system of an automatic machine or robot that has vision, and the coordinate transformation of the automatic machine or robot. The present invention relates to a method for determining coordinate transformation parameters for an image processing apparatus, particularly an operation method of a system for automatically determining coordinate transformation parameters.

[Background of the invention]

Conventionally, the parameters for coordinate conversion between the visual system and the automatic machine system in automatic machines that apply vision are often used exclusively for specific parts or applications, and once determined, they cannot be changed. Since this was often the case, each time it was necessary, it was determined using a manual method according to the case.

However, this method cannot be used to
Because it is necessary to examine the internal state of the visual system in detail to obtain data and perform complex calculations to determine parameters, it is necessary for a person who is familiar with the equipment configuration to work for a long time. Therefore, for general-purpose equipment such as robots that can handle various parts in various ways, there has been a need to develop an easy-to-handle alternative method.

[Purpose of the invention]

The present invention automatically establishes a parameter for coordinate transformation between the coordinate system of the visual system and the coordinate system of equipment such as robots and automatic machines in automated equipment that utilizes visual functions. The purpose of this invention is to provide a method for determining coordinate transformation parameters for an image urine processing apparatus.

[Summary of the invention]

The first invention related to the coordinate transformation of the image processing device of the present invention, the <lameta determination method, In visual application automation equipment, which consists of an image capturing device that is located in a visible position, and an image processing device that inputs and analyzes the image captured by this imaging device, the equipment operates according to the above position specification. A mark that can be recognized by the image processing device is placed at an appropriate position, and the mark is input from the image pickup device while the equipment that operates according to the specified position is operated according to the movement amount instruction from the image processing device. The position of the mark is checked, and when it reaches the appropriate position, the position of the mark in the video and the amount of movement at that point are recorded.This is repeated several times to perform multiple operations. The coordinate transformation parameters between the coordinate system possessed by the camera and the coordinate system unique to the imaging system are calculated.

A similar second invention is equipment such as a robot or automatic machine that operates by numerical position designation, and a moving part of the equipment,
Alternatively, the movement can be performed by specifying the above position in visual application automation equipment, which consists of an imaging device placed in a position where the moving part can be seen, and an image processing device that inputs and analyzes the image captured by this imaging device. Attach a mark that can be recognized by the image processing device at an appropriate location on the equipment to perform the operation, move the equipment to perform the operation by an appropriate amount according to the movement amount instruction from the image processing device, and calculate the coordinates at that time. By transmitting the values to the image processing device, coordinate transformation parameters between the equipment system that performs the operation based on the position specification and the image capturing system are calculated based on the values.

In addition, the following is added.

In order to determine the coordinate transformation parameters, the coordinate values and movement amount of the robot or automatic machine system and the position of the visual system image must be determined.
It is sufficient if the detection can be done either by the controller on the automatic machine side or by the image processing device in the visual system, or by a combination of both. For this reason, a data transfer mechanism is provided between the image processing device and the automatic machine controller, so that the automatic machine operates according to the visual instruction amount, and the image processing device also operates the automatic machine while looking at the positioning mark. It is possible to know the mutual relationship by controlling and knowing the relationship between the amount of movement and the mark position, or by transmitting the coordinate values to the automatic machine at an appropriate position of the mark. .

[Embodiments of the invention]

Each embodiment of the present invention will be described with reference to each figure.

First, FIG. 1 is a system configuration diagram of a coordinate transformation parameter determination method used in an embodiment of the present invention, and FIG. 2 is an enlarged front view of the operator console.

Therefore, in this embodiment, vision is applied to robot control, and the position of parts, etc. is detected using a television camera installed independently of the robot, and the robot is controlled based on the position data. It is in the assembly system that is carried out.

In the figure, 1 is a television camera related to an imaging device, 2 is an image processing device, 3 is a monitor television, 4 is an operator console, 5 is a data transmission interface f, 6 is a robot controller, and 7 is a robot controller. The robot operates by numerically specifying a position, 8 is a jig for measuring parameters, and 9 is a measurement mark.

10 is a movement direction indicating switch, 11 is a FIN switch, and 12 is an EN'I'' switch.

That is, in the case of this embodiment, at the tip of the robot 7,
A parameter spring measurement jig 8 is provided, a measurement mark 9 serving as a positioning target is attached to the tip of the jig 8, and the image processing device 2
According to the instructions from the robot controller 8, the instructions are sent to the robot controller (
There is something that operates -C.

1. The hyperactivity instruction is given by the operator while pressing the movement direction instruction switch 10 associated with the movement key of the operator console 4 attached to the image processing device 2, and
Check the position of the measurement mark 9 with
and the “position” of the measurement mark 9 on the video screen are recorded in the image processing device 2.

After repeating this several times and obtaining several sets of data,
It calculates conversion parameters.

FIG. 2 shows the functions necessary for the operator console 4 when using the conversion parameter determination method described in this embodiment. This determines the image position.

The movement direction instruction switch IO in the figure is related to the robot operation key, which is a key for arbitrarily moving the robot 7 in the ±X and ±Y directions in the robot coordinate system. , move in that direction.

Further, the ENT switch 12 is related to the ENT key and is a data input key, and when this key is operated manually, the image processing device 2 executes image processing to calculate the position of the measurement mark 9, and the robot 7 recorded along with movement data.

Further, the FIN switch 11 is related to the FIN key, which is a measurement end key, and is used to end the measurement and perform parameter calculation.

The installation of this operator console 4 is 1, it
Depending on whether ET and processing are performed on the robot 7 side or on the image processing device 2 side, it may be attached to either the robot controller 6 side 9 image processing device 2 side. The explanation will be given assuming that f-1 digits are taken on the processing device 2 side.

That is, FIG. 3 is an operation flowchart for determining conversion parameters using relative coordinates, which is related to the flowchart of the operation method in the method according to the present embodiment, and the double arrow in the figure indicates data transmission. It is.

However, the coordinate transformation parameters between the robot and the image processing device are basically that the image data is taught at the teaching point of the robot, and the image processing device side uses the teaching position. A relative conversion parameter that does not use the robot's absolute coordinate values, which converts only the amount of deviation from the teaching position to the amount of deviation from the teaching position on the robot side, and the absolute difference between the robot coordinate system and the visual coordinate system. absolute J on the robot side due to the
), and the above-mentioned FIG. 3 is a flowchart for calculating relative conversion parameters using the system configuration of FIG. 1.

Incidentally, the absolute conversion parameters will be described later with reference to FIG.

As described above, the robot 7 first moves to an appropriate position in the image while watching the monitor television 3 in manual operation, and sets that position as a common origin.

Then, the robot 7 shifts to an automatic operation mode in which it operates according to instructions from the image processing device 2.

That is, the image processing device 2 starts its operation when the robot 7 moves to the common origin, first performs image processing at that point, detects the measurement mark 9, and calculates the center of the image. Then, store it as the initial position.

After that, the mode shifts to switch input mode from the operator. If the ±X, ±Y movement direction instruction switch 10 is pressed, the robot 7 is instructed to move in the specified direction by a predetermined amount, and the robot 7 waits for the robot 7 to complete its movement.

However, when the robot 7 completes its operation,
The operator checks the above switch and -
, ±Y keys are pressed, a movement instruction is issued again.

As described above, the operator presses the ±X and ±Y keys while looking at the screen of the monitor television 3 so that the measurement mark 9 comes to an appropriate position on the screen. Then, a key associated with the ENT switch 12 is pressed to instruct data storage.

When the key associated with the ENT switch 12 is pressed, the both single line processing device 2 performs both edge processing, calculates the position of the measurement mark 9, and at the same time integrates the amount of movement instructed to the robot 7 up to that point. , the amount of movement of the 11 bots 7 from the common origin is calculated and stored together with the position on the image.

After repeating the above process several times and preparing, F i N
By pressing the key associated with the switch 11, coordinate transformation parameters are calculated from a set of coordinate values previously stored.

The basic elements of the coordinate transformation parameters are the fifth
As shown in the relationship diagram between the robot coordinate system and the visual coordinate system in the figure, the robot coordinate system 13 (XR.

Visual coordinate system 14 (Xv, Yv) for YR)
The inclination θ of
4 and the solution actor to the ratio of each unit, which indicates the coordinates of both coordinate systems, and by combining these,
Conversion parameters are determined. In the same figure, 15 indicates a measuring mark (moved to three locations a, b, and c), and 16
is the monitor screen, 17 is the visual origin seen from the robot coordinates, and the above a, i), and c indicate the coordinates of the moving point related to the mark creation when repeated several times.

In the case of absolute coordinate conversion parameters, the coordinate values (XIR, YIR) of the origin of the visual coordinate system in the robot coordinate system shown in FIG. 5 are added.

The fourth example shows the operation flow of the above-mentioned method of setting absolute coordinate transformation parameters according to another embodiment of the present invention.
It is a diagram. That is, FIG. 4 is an operation flowchart for determining conversion parameters in terms of absolute coordinates.

In the case of this absolute system, the basic operation method is the same as C, but the robot
The difference is that the current "coordinate values" of the robot are output.

Note that the instruction for the robot's movement may be given by specifying the amount of movement from the image processing device, but as shown in Figure 4, it is possible to instruct the movement direction and do the rest as processing on the robot side.
It is also possible to allow the robot to continue operating until a stop command is received, and then to stop the robot movement.

FIG. 6 is a configuration diagram of a robot-related portion that performs a movement based on numerical position specification in a system configuration of a coordinate transformation parameter determination method, which is provided in one embodiment.

In the figure, IA is a television camera, 7A is a robot, 9 is a measurement mark, and 10 is a fixed stand.

In other words, the TV/camera IA related to the imaging device is attached to the hand, which is the operating part of the equipment related Roboso) 7A. It is something that can be attached to someone.

Although each of the above embodiments describes a robot, the present invention broadly relates to coordinate transformation of an image processing device related to equipment that operates based on numerical position specification, including automatic machines. This is a general-purpose parameter determination method.

〔Effect of the invention〕

According to the present invention, it is possible to automate the determination of coordinate transformation parameters between the coordinate system of a robot or automatic machine and the coordinate system of the visual system. This invention can be done in just a few minutes by a single worker, and can be said to be an invention with remarkable practical effects.

[Brief explanation of the drawing]

Figure 1 is a system configuration diagram of a coordinate transformation parameter determination method used in an embodiment of the present invention, Figure 2 is an enlarged front view of the sono operator console, and Figure 3 is transformation parameter determination using relative coordinates. Nodame's operation flowchart, FIG. 4 is an operation flowchart for determining absolute coordinate transformation parameters, and FIG.
FIG. 6, a diagram of the relationship between the robot coordinate system and the visual coordinate system, is a configuration diagram of robot-related parts in the system configuration of the coordinate transformation parameter determination method, which is used in an embodiment of the system shown in FIG. 1. IA...TV camera, 2...Image processing device, 3...Monitor TV, 4...Operator console, 5...Data transmission interface, 6...
・Robot controller, 7.7A...Robot,
8...Jig for parameter measurement, 9...Measurement mark, 1
0... Movement direction instruction switch, 11... FIN switch, 12... ENT switch, 13... Robot coordinate system, 14... Visual coordinate system, 15... Image of measurement mark, 16 ...Monitor screen, 17...Visual origin seen from robot coordinates. Agent Patent attorney Kosaku Fukuda (and 1 other person) $2 Figure 1z IU

Claims (1)

[Claims] 1. Equipment such as a robot or automatic machine that operates by numerical position designation, an operating part of the equipment, or an imaging device attached at a position where the operating part can be seen, and this imaging device In visual application automation equipment that includes an image processing device that inputs and analyzes images captured by the camera, a mark that can be recognized by the image processing device is placed at an appropriate position on the equipment that operates according to the specified position, While operating the equipment that performs the movement according to the position specification described above according to the movement amount instruction from the image processing device, the position of the mark input from the image pickup device is checked, and when it reaches the appropriate position, The position of the mark in the video and the amount of movement at that point are recorded, and this is repeated multiple times to create and prepare multiple sets of combinations of the position and amount of movement of the mark in the video. , image processing is characterized in that, based on this combination, coordinate transformation parameters are calculated between the coordinate system possessed by the setting f11η that performs the operation based on the above position specification, and the coordinate system specific to the imaging system. Coordinate transformation of equipment (lameta determination method. 2. Equipment such as robots and automatic machines that operate by numerically specifying the position, and the operating parts of the equipment, or an imaging device attached at a position where the operating parts can be seen. In visual application automation equipment consisting of an image processing device that inputs and analyzes images captured by this imaging device, the image processing device can recognize an appropriate position of the equipment that performs the operation based on the above position specification. By attaching a mark and moving the equipment that performs the movement according to the specified position by an appropriate amount according to the movement amount instruction from the image processing device, and transmitting the coordinate values at that time to the image processing device, Equipment that prepares and prepares multiple sets of the position of the mark in the image and a) the above coordinate values on the equipment that operates according to the device specification, and based on this, the equipment that operates according to the position specification. A method for determining coordinate transformation parameters for an image processing apparatus, characterized in that coordinate transformation parameters between a system and an imaging system are calculated.