JPS60501451A - Robotic system using light detection - 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] Robot system using light detection Background of the invention The present invention relates to a robot system having a light detection function.

Light detection of objects handled by robotic mechanisms is already known. however , the current optical system system is R, P, Kruger (R, P, Kruger). )　　Processing of the Eye　by others roceedings of the IEEFE) Volume 69, Page 1524 (1981), a fixed orifice installed above the robot work area. Most of them use a bar-head camera. This definition method is based on the position of the object. It has the advantage of being able to separate the calculation of position and direction from the movement of the robot. ing. In this type of robot, the visual system operates independently, so The robot's speed is not slowed down by the sensory system. however Fixed methods have major drawbacks. This visual system is activated when it is most needed. In other words, when the robot tries to handle a certain part, the robot arm It blocks the view of the camera installed above the work area, rendering it powerless. . To solve this problem, a camera-in-hand system has been proposed and has already been used. It is used. In this method, the part to be captured is facing the camera, in this case The robot must be able to process images and calculate the position and orientation of objects. must stop moving.

Recently, low-resolution cameras have been fixed to robot grippers and used. Since then, this problem has been alleviated, but this is discussed in Si Rougrin ( Loughlin), Sensor Review (5ens, orReview) See Vol. 3, p. 23' (1983). However, when handling objects directly If you are going to use a camera for close observation, you will need to know the dimensions of the camera, how to install it, and Ensure that the surrounding lighting and background of the camera are set strictly against the background so that the camera can detect objects correctly. New conditions can be added.

Summary of the invention Optical device arrays are installed on each of the two opposing fingers of the robot hand. are attached, and these are optically linked through the gap between the two fingers. are in contact with each other. One finger has a light emitter array attached to it and the other An optical receptor array is attached to the finger. something between both fingers. A body allows light to be transmitted from some emitters to their corresponding receptors. Therefore, as the robot hand moves, the receptor The signals from will give information about the shape of the object.

On the other hand, if this optical device array is installed on a desk, for example, and an object is placed between the arrays, The robot can also be used to move objects.

FIG. 1 is an isometric view of the robot gripper.

FIG. 2 shows a T-shaped optical device array mounted on a gripper, and FIG. 2 is a side view of the sensor array of FIG. 1; FIG.

detailed description FIG. 1 shows a commonly known type of robot gripper 22. . The gripper 22 has a pair of fingers 30 and 32 on the palm element 28. It is slidably mounted so that the opposing surfaces 34 and 36 are kept almost parallel when the fin car is opened and closed. Guri The means for operating the upper and the means for opening and closing the fingers are already known.

In an embodiment of the invention, finger 30 is provided with a light emitter array 40. The finger 32 is also provided with an optical receptor array 42 . workman The emitter can be an active device (e.g. an LED or a junction laser) or a passive device (e.g. an optical guide) is also acceptable. Similarly, receptors can also be active devices (e.g. photodiodes). It may also be a passive element (eg a light guide or lens group). In any case The array 4o emits a constant pattern of light beams 41 depending on the geometrical arrangement of the emitters. shoot The receptor array emitters in such a way that there is a one-to-one correspondence between emitters and receptors. The array is compatible with the data array.

Furthermore, to ensure that each beam can be detected regardless of the position and movement of the fingers. , the emitters are adapted to emit parallel parallel beams. This sensor array operates by detecting the presence and shape of an object 29 between the fingers. . In the figure, the object is a picture as a header for a semiconductor device. the object is a fin When placed between the fingers, it blocks one or more parallel beams passing between the fingers. the camera 50 (or other suitable display). A change occurs in the image that is projected and detected.

When even faster processing is required, each array can include two or more linear device sets. Consisting of non-parallel arrays.

Typically, the linear sets are arranged at right angles to each other or at multiples thereof. , U-shaped or 7-shaped pattern.

The embodiment of the invention shown in the figures will now be described in more detail.

Arrays 40 and 42 each have three linear lens sets; By 5chroeder, Bel Sis Be1l System Technical Journal Journal) Vol. 57, p. 91 (1978) This is a progressively increasing refractive index (GRIN) rod, which is well known in science and technology.

This U-shaped array (Figure 1) consists of one linear set for each finger on one side. and the other linear set on the side parallel to this, and the third linear set The set should be placed on the bottom side so that it touches the above two sets, and the fins should be It is attached around the gar. Each set consists of, for example, 12 elements.

- Crab-shaped arrays (FIG. 2) are also used for fingers.

To prevent vertical sets from coming into contact with objects, vertical sets are It is installed in a groove 51 carved into the surface of the finger.

GRIN rod emitter array 40 via fiber optic cable 60 is connected to a light source 60, ie, a laser, and is connected to a GRIN rod resetter assembly. Ray 42 is connected to camera 50 via fiber optic cable 64.

The optical signal on cable 64 is analyzed by camera 50 and the output of the camera is used by a computer to control a robot. Regarding this , see the above-mentioned Loughlin reference.

As shown in FIG. 2, the optical fiber 33e is bonded to the back surface of each lens 31e. has been done. (Only three lenses are shown for each array for simplicity.) Lens The beam causes the light 41 that traverses the gap between the fingers to become a parallel beam. corresponds to this An array 42 of GRIN rod lenses 31r is attached to the other finger 32. It is attached. Lens 31r of array 42 is connected to fiber 33r. This becomes the output cable 64.

The GRIN rod lens has a parabolic refractive index distribution, and the optical path 43 As shown, a parallel light beam 41 is formed over a distance of about 5 crn. .

The fibers of the output cable 64 are terminated in the same plane and are attached according to existing methods. It is fixed in a lay shape, but because of this, it is possible to use a light source that uses the end face of each fiber as a small light source. Form a lean or visual field. This field of view or screen is located at the sensor section mentioned above. A video camera is used to obtain the detected signal. To speed up processing , ccD' or photodetector arrays can be used to perform this monitoring. . In fact, the GRIN rod receptor lens array is an active receptor instead of the 420. A linear C'CD array can be used as the data. This method This eliminates the need for an optical fiber connection between scanning and image detection. As mentioned above , the detected image shows the movement of the contour or the edge of the object that has passed between the sensor elements. , this image is computer-processed using existing methods, and the gripper fingers and object are The relative position is determined.

The sensor described above has the lowest resolution. When there are relatively few sensor elements (e.g. 36), but the resolution is equivalent to or higher than that of a commercial camera system. Ru.

5 Lastly, as mentioned above, this sensor can be installed on a desk, for example, and Used by bots (or other mechanical devices) to move objects in the gaps between arrays can do. Therefore, the sensor is fixed but dependent on the robot's movement. Thus, the array is scanned. In this type of application, the robot's computer position, which can be associated with sensor data and thereby The position of the robot hand is constantly adjusted so that the position of the object during the par can be determined. It must be programmed to know exactly. However, this person This method is preferred when the robot gripper is between the arrays because it partially blocks the beam. It's not a good method.

FIG.3 Continuation of page 1' 0 shots bright person Hoanak, Lawrence Anne 0-t.

Group

Claims (1)

[Claims] 1 In a robot system having movable fin cars (30, 32), an array (40) of a plurality of light emitters on one fin car of said fingers; an array (36) of a plurality of optical receptors on the other finker of the finkers; characterized in that each of the emitters is in optical communication with the receptor in a one-to-one relationship. the recess for positioning an object between the fingers; A robotic system characterized by means for detecting a light pattern detected by an array of Tem. 2. The system according to claim 1, wherein each of the arrays is a non-parallel linear array. A robotic system having at least two device sets. 3. The system according to claim 2, wherein the linear device set is A system disposed along the periphery of said finger. 4. In the system according to claim 3, each of the fins has - in contact with the object. a surface used to touch the surface, such that the array is still recessed within this surface; system. 5a Aogu's range In the system of item 4, the above-mentioned surface is the movement of the fin car. Inside, the system remains almost parallel. 6. The system of claim 5, wherein the emitter device is in contact with a light source. and the receptor device comprises a series of QRIN Rondo lenses; A system consisting of a group of GRIN rods and lenses connected to a photodetector. 7. In the robot according to claim 4, the linear set has a 1'-shaped pattern. Robots arranged to form a shape. 8. In the robot according to claim 3, the linear set has a U-shaped pattern. Robots arranged like an eggplant.