JPS61279480A - Method of teaching operation point of robot - 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] (Industrial Application Field) The present invention relates to a system for teaching work to a robot.
The present invention relates to a robot motion teaching method in which a target workpiece is imaged with an ftTV camera, a workpiece shape is displayed on a monitor screen, and an operating point is taught by specifying a position on the monitor screen.

(Prior art) When teaching a conventional teaching/playback type robot, the robot's arm is moved by commands from a teaching box, or the entire arm is moved directly by a human hand, and each position is memorized. It has been adopted. This method has the disadvantage that it is cumbersome to operate, requires an extremely large amount of effort and time, and is also dangerous. Various proposals have been made to overcome this problem, for example, Japanese Patent Application Laid-Open No. 59-216210
The method is to display the projection map on one screen and press the tuplet or digitizer with a light pen to specify the corresponding point on the CRT screen, but how to create the projection map to be displayed on the 081 screen is difficult. Not made clear. Furthermore, JP-A-60-16384 describes a means of inputting position information using a digitizer and a stylus pen.
First, draw the trajectory where you want the tip of the robot arm to operate.
This method uses the original drawing to trace the trajectory on a digitizer to find the coordinate values and then teaches the robot. With this method, you have to go through a two-step process of creating one hentai image and then digitizing it, which is still problematic.

(Problems to be Solved by the Present Invention) The present invention provides the robot's motion trajectory 'iC!' without using a special robot i language. By easily inputting information by interacting with the RT screen, and displaying the workpiece shape on the CRT screen by simply capturing an image of the workpiece shape with a TV camera, without requiring a special workpiece shape such as a stylus pen or digitizer, To provide a method for teaching a robot's work points by which the robot can be taught its movements and its movements can be easily confirmed.

(Means for Solving the Problem) In a teaching device comprising at least one TV camera, at least one CRT monitor, an image processing device, and a computer, an image is captured by the TV camera on the CRT monitor screen. Display the work figure, specify the point of the work to be taught on the monitor screen by pressing the light pen or operating the cursor from the keyboard, and calculate the two-dimensional space coordinate value of the specified point on the monitor screen. A method for teaching a robot's working point, characterized in that the robot's working point is taught by repeatedly calculating the two-dimensional space coordinate values of the robot using a computer and storing these as the robot's working point. This is what I did.

(Effects) With this configuration, the image input from the television camera is digitized and the coordinate position on the image display screen is fully converted, and the position of the taught point can be determined without using a measuring device. Since the position is determined, teaching can be done on a desk. Since the digitized image and the raw image are superimposed and displayed on the screen, there is no need for complicated operations such as guiding and teaching the digitized image. There is no need to input the work figure when creating a program, and programs can be created by simply displaying the work figure with a single KTV camera and teaching the position on the work figure on the monitor.

(Example) An example of the present invention will be described with reference to the drawings.
Figure 1 shows the configuration of a system that implements the present invention.
It consists of a T-monitor (4), and also has a light pen (5) or a keyboard (6) for inputting the position on the monitor screen. The image processing device (2) receives an X, Y address generator (7) that determines the entire position on the monitor screen and a signal from the address generator (7), and operates the TV camera (1) and monitor (4). The synchronization signal generator (8) can be used to display a multi-movement trajectory with a cursor mark superimposed on the work image on the monitor screen to display the position, or to display a message to proceed with the work interactively on the monitor screen. The image memory (9) used, and the addition circuit power that combines the images and displays them on the monitor screen. The light pen (5) is used in the X, Y address generation section (7).
), memorizes the X and Y addresses when there is an input signal,
It also includes a control circuit. Calculation milk is a light pen (
5) Position 'i X, Y address generation section (7
), the position f, jX, Y address specified via the keyboard (6) is written as a cursor mark on the image memory (9) using the generation valve (7).
From the two-dimensional coordinate values on the monitor screen obtained from the image processing device (2), the coordinate values of the robot C1υ are obtained by coordinate transformation calculations and stored as the working point of the robot α. The work program for the robot αυ created on the computer (3) is retrieved from a magnetic storage medium such as a tape or floppy diskette, and then transferred to the robot control device (2).
) and all communication lines are connected to the robot control device (6
), it is stored in the robot control device (2).

As shown in FIG. 2, the work α3=z is imaged by the TV camera (1). The image is displayed on the monitor screen αφ as shown in Figure 3.
Get above. When all positions of the + mark shown in FIG. 3 are pressed with the light pen (5), the image processing device (2) outputs the X and Y addresses to the computer (3). If the + mark shown in Figure 3 is specified using the keyboard (6), the image processing device (2) will display a cursor mark at the X and Y addresses specified by the computer (3). Let's do it. From the X and Y addresses obtained in this way, convert them to the two-dimensional coordinates of the robot as shown in the coordinate conversion calculation,
Store it as a work point. In this way, by repeating the above operations one after another, a complete series of work programs is created. If one camera cannot capture the entire view of the workpiece, a plurality of cameras are used and the cameras are switched one after another to locally image the workpiece, or one camera is moved one after another to perform teaching.

For one work point fC on the monitor screen where the work figure is obtained, two two-dimensional coordinate values are obtained by specifying the position on each monitor screen, and from these data, the robot's three-dimensional coordinate value is calculated by coordinate transformation calculation. It is also possible to create a work program by obtaining dimensional coordinates and storing them as all work points.

When teaching moving workpieces, etc., instead of displaying the video signal shown in Figure 1 on the monitor screen, the video signal is displayed on the monitor screen.
It is also possible to temporarily store the image in an image memory as a value-coded or multivalue-coded digital image, display the image in the image memory on a monitor, and create a work program using the method described above.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing the configuration of a system that fully implements the present invention, Fig. 2 is a schematic side view showing a state in which a workpiece is photographed using the TV camera shown in Fig. FIG. 4 is a front view showing a monitor screen photographed by , and FIG. 4 is a schematic side view showing another embodiment using two TV cameras different from FIG. 1...TV camera 2...Image processing device 3...
・Calculator 4...CRT monitor 5...Light pen 6...Keyboard 11...Robot 13...Work 14...Monitor screen Agent Patent attorney Jun Kawachi 2nd 1 Figure 2 Figure 4

Claims (2)

[Claims] (1) At least one TV camera and at least one
In a teaching device consisting of one or more CRT monitors, an image processing device, and a computer, a work figure imaged by a TV camera is displayed on the ORT monitor screen, and by pressing the light pen or operating the cursor from the keyboard. Specify the point of the workpiece to be taught on the monitor screen, and use the computer to calculate the two-dimensional space coordinate value of the robot from the two-dimensional space coordinate value of the point specified on the monitor screen, and store this as the robot's work point. A method for teaching a robot's work point, which is characterized by teaching the robot's work point by repeating the following operations. (2) When a workpiece is imaged from two directions in the method described in claim 1, and workpiece figures of the same workpiece viewed from different directions are obtained on the monitor screen, one work point is viewed from different directions. Specify the corresponding positions on the two monitor screens, and use the computer to calculate the robot's three-dimensional spatial coordinates from the two two-dimensional spatial coordinates on each monitor screen, and store this as the robot's work point. Characteristic robot work point teaching method.