JPS61241606A - Eyesight sensor - Google Patents

Abstract

PURPOSE:To widen a range of application by a simple operation by setting allowable value of each parameter and allowable range for teaching data of each parameter at the time of online for each objective work. CONSTITUTION:An eyesight sensor controlling device 1, a host controller 2, an objective work 3, a camera 4, a monitor TV 5, a light pen 6, a central processing unit 7, a memory circuit 8, an image inputting circuit 9, an image processing circuit 10 and an image storing circuit 11 etc. are provided. In operation mode of the device 1, the allowable values of each parameter corresponding to the internal setting and the objective work recognizing graphic to be recognized, the teaching mode that registers allowable limit for teaching data of each parameter at the time of online and the online mode that executes measuring according to command from the controller 2 and reports the result to the controller 2 are provided. These modes can be selected by indicating from the picture of the TV 5 by the pen 6.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a visual sensor for identifying and measuring workpieces in, for example, assembly work in factory automation or transport work.

[Conventional technology]

In recent years, robots and various types of equipment with advanced functions are being introduced to automate production processes in factories.
Since the shape and position of the target workpiece are not fixed, it is not possible to respond to changes in the shape and position, and there are still many fields where assembly processes, etc., still have to rely on manual labor, but in order to automate this process, Visual sensors are essential.

Conventionally, visual means (visual sensors) in such cases have been used to measure the area, circumference length, and hole area of multiple works that exist separately on the monitor screen.

Using characteristic data such as the maximum flame and minimum length from the center of gravity, you can identify which workpiece is being taught (teaching operation), or draw circles, ellipses, rectangles, etc. from the window area on the screen. A device with a function to identify a specified shape is used.

[Problem that the invention seeks to solve]

In the conventional visual sensor described above, when identifying a circle, rectangle, etc. as the figure of the target work, the tolerance value of each parameter and the tolerance range for the teaching data of each parameter during online are the same for all workpieces. Moreover, it is extremely inconvenient because it cannot be set by the operator.

The present invention has been made with attention to this point, and aims to provide a visual sensor that can set the allowable value of each parameter and the allowable range for teaching data of each parameter during online time in accordance with the target work. It is something.

[Means for Solving the Problems] A visual sensor according to the present invention includes a camera that reads an image of a target workpiece, and an image input circuit that binarizes a video signal from the camera and removes standing points. , an image processing circuit that generates a run length based on the output signal from the image input circuit, an image storage circuit that stores the binarized binary image and recognition results, and a monitor TV that displays the gi2 recognition results. , a light pen that registers at least the allowable value of each parameter corresponding to the target workpiece recognition figure to be recognized in the teaching mode and the allowable range for the teaching data of the parameter during online time, and a memory that stores the teaching data obtained in the above-mentioned teaching mode. The device includes a circuit, and a central processing unit that is connected to a higher-level controller via an interface, sends and receives measurement commands and measurement results to and from the higher-level controller, and controls each of the circuits described above.

[Effect]

In this invention, the allowable value of each parameter corresponding to the recognition figure of the target workpiece and the allowable range of each parameter for online teaching data can be set using a light pen in the teaching mode.

[Embodiments of the invention]

1 to 4 each show an embodiment of the present invention, and FIG. 1 is a block diagram of the configuration of the visual sensor of the present invention;
FIG. 2 to FIG. 4 are operation explanatory diagrams. In Figure 1 (
1) is a visual sensor control device, (2) is a host controller that gives measurement commands to this visual sensor control device (1), (
3) is the work to be measured, and (4) is the target work (
3) A camera that reads the Ω image Ili and converts it into a video signal, and (5) a monitor TV that displays the original image, binarized image, recognition results, and guidance for various operations. (6) is a light pen used to register the internal settings of the H/W, the allowable values of each parameter corresponding to the target work recognition figure to be recognized, and the allowable range of each parameter for the teaching data during online mode. It is used for machine interface. (7) is a central processing unit that decodes and executes instructions in the visual sensor control device (1);
(8) is a storage circuit for storing programs, teaching data, etc. output from the central processing unit (7);
) is an image input circuit that converts the video signal manually input from the camera (4) into a binary image, and further performs preprocessing such as removing arcuate points, and 01 is the image input circuit that converts the video signal input manually from the camera (4) into a binary image, and performs preprocessing such as removing arcuate points. The image processing circuit that generates the run length data based on the image processing circuit, the image storage circuit that stores the binary image from the image input circuit (9) and the recognition results, and the image storage circuit (6) that stores the recognition results. Interface times Wr, o1tri
5a) Interface circuit with Hen (6) α◆ is a high-level interface circuit for exchanging measurement commands and measurement results with the high-level controller (2).

The visual sensor of this invention is configured as described above,
The operation will be explained based on FIGS. 2 to 4.

That is, the operation mode of the visual sensor control device (1) includes the internal settings of the visual sensor control device (1), the allowable values of each parameter corresponding to the target workpiece recognition figure to be recognized, and the teaching of each parameter when online. It has a "teaching mode" in which the permissible range for data is registered, and an "online mode" in which measurements are performed according to commands from the host controller (2) and the measurement results are reported to the host controller (2). Each mode can be selected from the screen of the monitor TV (5) by instructing with the light pen (6) K. Next, the teaching mode and the online mode will be explained separately.

First, in the "teaching mode", an image of the target workpiece (3) is read at regular intervals by the camera (4), and then converted into a video signal and outputted to the image input circuit (9). The image input circuit (9) then binarizes the video signal according to the set binarization level, removes the vertical points, and sends the video signal to the image storage circuit Q.
Strengthen. Then, the monitor TV (5) displays the original image, binary image, etc. by image selection, but the operator can view the target work (
Corresponding to 3), the work No., the binarization level, the type of local feature such as circle or rectangle, the permissible value of the parameter for identifying the local feature 'fru', and the permissible range of the teaching data of the measurement data during online, Window settings are made from the screen of the monitor TV (5) using the light pen (6). Also, monitor T
While looking at the binary image shown on the screen Kfi of V (5), the central processing unit (7) instructs the point of interest of the local feature and instructs the start of measurement using the light pen (6). A command is given to the image input circuit (9). And this image input circuit (9) K, camera (4
) The video signal of the target workpiece (3) read in is binarized at the set binarization level, the arc points are removed, and the video signal is sent to the image processing circuit 0Q to generate run length data. In addition, if necessary, the central processing unit (7)
A region where run lengths are continuously connected is determined from the run length data, and the outer periphery of this determined region is tracked to create a line element table as shown in FIG. 2. Then, if the parameters of the workpiece corresponding to the designated point of interest on the screen of the monitor TV (5) are within the punch capacity value, the target workpiece has been recognized.

Next, Fig. 6(a) shows the case of a circle, and the center of gravity (G
) to the outer circumference of the area, and calculate the average value.

The minimum value and maximum value are Rave, Rmin, R, respectively.
max, where n is the number of pixels constituting the outer periphery.However, when it is the allowable value of the parameter specified from the α11 screen, it is recognized as a circle, and Rare is the parameter of the circle.

Next, FIG. 3(b) shows the case of a rectangle, in which four line elements forming the outer periphery L1 *Lt + Ll + L4
The length DI, D! from the intersection of diagonals with the starting point or ending point as the apex to each vertex. , Dl, D4, and their average value,
The minimum and maximum values are oare, Dmin, and D, respectively.
If maX, then ΔD Dmax-Dmin ~-ku αj+1 Dare Dare However, αj+1: When it is within the allowable value of the parameter specified on the screen, it is recognized as a rectangle, and the average value of the lengths of two opposing sides, L1+ L.

Lts:□t,,=Lt+'4, where the short side is Ls and the long side is LL, which is a rectangular parameter.

Therefore, as teaching data that defines local features, (1) Type of feature: song, song, circle, rectangle, etc.・・・・・・・・・LL (long side)...
Ls (Short side) (To) If the allowable value of the parameter is 0 yen... △R/RO If it is a rectangle... ΔD/D (Rotation) Online measurement data The permissible range (minimum value and maximum value) (V), binarization level (to), window range, etc. for the teaching data are stored in the storage circuit (8).

Next, in the "online mode", the visual sensor control device (1) connects to the host controller (2).
1 command (as shown in FIG. 4(a), the workpiece number 0 is specified) is input through the upper interface circuit α4, the central processing unit (7) receives this measurement command,
Set the window range and binarization level from the teaching data, give commands to the image input circuit (9), read the image of the target workpiece (3) from the camera (4), and calculate the run length using the image processing circuit (g). After generating
Create a line element table if necessary.

Next, use the run length or line element table for the area within the window and use the same method as when teaching.
Find local features compatible with work NOK,
If the parameters are within the allowable range for the teaching data, it is assumed that the instructed workpiece has been recognized.
As shown in FIG. 4(b), the upper controller (2)
Outputs VC measurement data and position direction.

For example, in the case of "1 yen", if the parameters at the time of teaching are R1, the tolerance range is βmin, βmax, and the measurement data is R', then Rx 7S'min <R'<Rx /rrIax
This means that Notosa ``yen'' has been recognized.

〔Effect of the invention〕

As described above, according to the present invention, when recognizing a circle, a rectangle, etc. as a figure of a target work, the tolerance value of each parameter and the tolerance range for each parameter's teaching data during online are determined for each target work. Since it is configured to be configurable, it has the excellent effect of providing a visual sensor that is extremely easy to operate and can be used in a wide range of applications.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of the visual sensor according to the present invention;
The figure is an explanatory diagram of a line element table, FIG. 6(a). (b) is an explanatory diagram for recognizing circles and rectangles, Part 4 A (a)
, (b) is an explanatory diagram showing measurement commands and measurement results from a host controller. In the figure, (1) is a visual sensor control device, (2) is a host controller, (3) is a target workpiece, (4) is a camera, (5) is a TV monitor, (6) is a light pen, and (7) is a Central processing unit, (8) is a memory circuit, (9) is an image input circuit, al is an image processing circuit, Q) is an image storage circuit, (6)
is a monitor interface circuit, α→ is a light pen interface circuit, and ri4 is a higher-level interface circuit. In addition, in the figures, the same reference numerals indicate the same or corresponding parts. Agent Patent Attorney Sanro Kimura Procedural Amendment (Voluntary) January 14, 1986

Claims (1)

[Claims] A camera that reads an image of the target workpiece, an image input circuit that binarizes the video signal from this camera and removes standing points, and an image processing circuit that generates a run length from the output signal from this image input circuit. an image storage circuit for storing the binarized binary image and recognition results; a monitor TV for displaying the recognition results; a light pen for registering a target work to be recognized at least in the teaching mode; It is equipped with a memory circuit that stores teaching data obtained during the teaching process, and a central processing unit that is connected to a higher-level controller via an interface, sends and receives measurement commands and measurement results to the higher-level controller, and controls each of the above-mentioned circuits. A visual sensor characterized in that the permissible values of each parameter for recognizing a figure and the permissible range of online measurement data for teaching data are set in a teaching mode at the same time as registering a target work.