KR20190079326A - System and method for robot position calibration - Google Patents

Abstract

According to an embodiment of the present invention, a robot position correction system for correcting a position of a robot comprises: a correction plate having a plurality of correction grooves and an inclined surface formed at an edge of an inlet of the correction grooves; an optical unit including a laser beam generator attached to the robot movable with respect to the correction plate along one plane of the correction plate and for emitting laser beams toward the correction groove of the correction plate, and a light receiver for receiving reflected light of the laser beam reflected from the correction plate to measure the amount of light; a photographing unit for photographing the light receiver to generate an image; and a control unit including a signal processor which determines whether a position error has occurred based on the signal generated by the light receiver and calculates the position error amount by measuring the position of the reflected light received by the light receiver from the image generated by the photographing unit when the position error has occurred, and a robot position corrector which corrects the position of the robot based on the position error amount.

Description

[0001] SYSTEM AND METHOD FOR ROBOT POSITION CALIBRATION [0002]

Embodiments of the present invention relate to a robot position correction system and method.

Due to the rapid development of technology, industrial robots have played an important role as tools for performing various tasks on behalf of people. Robots are mainly used for manufacturing, automating various types of work including logistics, assembling, welding, painting in the manufacturing line instead of the human arm, thereby contributing to productivity improvement.

Such a robot performs an operation of grasping and releasing an object repeatedly for a long time, so that the accuracy of grasping an object inevitably deteriorates over time. In order to solve this problem, it is checked whether the robot operates at a normal position periodically or after a problem occurs, and if the robot is found to be out of the normal position, the position of the robot is corrected to maintain the accuracy of the robot do.

In this regard, a technique for correcting the position of the robot using a camera is disclosed in Japanese Laid-Open Patent Application No. 2015-182144 entitled " Robot system and robot system calibration method ".

The background art described above is technical information acquired by the inventor for the derivation of the embodiments of the present invention or obtained in the derivation process and can not necessarily be known technology disclosed to the general public before the application of the embodiments of the present invention none.

Japanese Laid-Open Patent Application No. 2015-182144 (published on October 22, 2015)

Embodiments of the present invention provide a robot position correction system and method which can remarkably reduce the cost and time required to measure and correct the positional accuracy of the robot with a simple configuration.

According to an embodiment of the present invention, there is provided a robot position correction system for correcting a position of a robot, comprising: a correction plate having a plurality of correction grooves and inclined surfaces formed at edges of the grooves of the correction grooves; And a light receiver for receiving the reflected light of the laser light reflected from the correction plate and measuring the light amount, and a light receiving unit for receiving light reflected from the correction plate, An image pickup unit for picking up an image of a photon and generating an image based on the position of the reflected light received by the photoreceptor from the image generated by the image pickup unit when a position error occurs, A signal processor for calculating a position error by measuring a position of the robot, It discloses a robot system including a position correction control unit including a corrector for correcting the robot position.

In this embodiment, the area of the correction groove is larger than the cross-sectional area of the laser light.

In this embodiment, the light receiver may be provided at a position different from that of the laser light generator.

In this embodiment, the light receiver stores the critical range set by the user, and when the laser light is irradiated inside the correction groove except for the inclined plane, the reflected light reflected from the correction plate is reflected inside the critical range of the light receiver And when at least a part of the laser light is irradiated on the inclined surface, the reflected light reflected by the correction plate may be reflected to fill a part of the inside of the critical range of the light receiver.

In this embodiment, it may further comprise an optical element that passes the laser light emitted from the laser light generator and refracts the reflected light reflected from the correction plate toward the light receiver.

According to another embodiment of the present invention, there is provided a method for manufacturing a semiconductor device, including: a first step of moving a robot to a correction plate; a second step of irradiating a laser beam with a correction groove formed in a correction plate; A fourth step of calculating a position error by confirming the position of the reflected light from the image pickup unit for generating an image by photographing the light receiver when the light amount of the reflected light measured by the light receiver is smaller than the reference light amount; A fifth step of correcting the position of the robot based on the position error, and a fifth step of repeating the second step to the fourth step. When the light amount of the reflected light measured by the light receiver corresponds to the reference light amount, And a sixth step of completing the robot position correction method.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

According to the robot position correcting system and method according to the embodiments of the present invention as described above, it is possible to quickly and easily detect the position error of the robot with a simple configuration, and based on the position error, A position correction system and method can be provided.

Of course, the scope of the present invention is not limited by these effects.

1 is a conceptual diagram schematically showing a robot position correction system according to an embodiment of the present invention.
Fig. 2 is a side view showing a case where the robot operates in a normal position. Fig.
3 is a side view showing a case where the position error of the robot is out of the critical range.
FIG. 4 is a side view showing a state where the position of the robot shown in FIG. 4 is corrected.
FIG. 5 is a flowchart illustrating a method of correcting a position of a robot using the robot position correction system of FIG. 1;

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described in detail below with reference to the drawings. However, the present invention is not limited to the embodiments described below, but may be implemented in various forms.

In the following embodiments, the terms first, second, and the like are used for the purpose of distinguishing one element from another element, not the limitative meaning. Also, the singular < RTI ID = 0.0 > expression < / RTI > includes plural representations unless the context clearly dictates otherwise. Also, the terms include, including, etc. mean that there is a feature, or element, recited in the specification and does not preclude the possibility that one or more other features or components may be added.

Also, in the drawings, for convenience of explanation, the components may be exaggerated or reduced in size. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of explanation, and thus the present invention is not necessarily limited to those shown in the drawings.

Also, if an embodiment is otherwise feasible, the particular process sequence may be performed differently than the sequence described. For example, two processes that are described in succession may be performed substantially concurrently, and may be performed in the reverse order of the order described.

Furthermore, embodiments of the present invention may be represented by functional block configurations and various processing steps. These functional blocks may be implemented in a wide variety of hardware and / or software configurations that perform particular functions. For example, embodiments of the invention may be embodied directly in hardware, such as memory, processing, logic, look-up tables, etc., that can perform various functions by control of one or more microprocessors or by other control devices Circuit configurations can be employed.

Similar to the components of embodiments of the present invention may be implemented with software programming or software components, embodiments of the present invention include various algorithms implemented with a combination of data structures, processes, routines, or other programming constructs And can be implemented in a programming or scripting, model based graphics language such as Fortran, C, C ++, Java, assembler, MATLAB (SIMULINK), UML, Functional aspects may be implemented with algorithms running on one or more processors.

Embodiments of the present invention may also employ conventional techniques for electronic configuration, signal processing, and / or data processing. Terms such as mechanisms, elements, means, and configurations are widely used and are not limited to mechanical and physical configurations. The term may include the meaning of a series of routines of software in conjunction with a processor or the like.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or corresponding components throughout the drawings, and a duplicate description thereof will be omitted .

FIG. 1 is a conceptual diagram schematically showing a robot position correction system according to an embodiment of the present invention, FIG. 2 is a side view showing a case where the robot operates at a normal position, FIG. 3 is a view And FIG. 4 is a side view showing a state where the position of the robot shown in FIG. 3 is corrected.

1 to 4, the robot position correction system 100 includes a correction plate 110 to which a laser beam emitted from a robot MAR is irradiated, and a correction plate 110 for irradiating a laser to the correction plate 110, An imaging unit 130 for photographing the position of the reflected light, and a controller 140 for calculating a position error of the robot and controlling the position of the robot based on the position error of the robot, .

Hereinafter, the robot (MAR) may preferably mean a multi-articulated robot, but the embodiments of the present invention are not limited thereto. That is, the robot MAR may be a device that grasps an object by approaching a predetermined object, or performs a function of dropping the object held at a specific position. For example, a case such as a component mounting apparatus may be included in the category of the robot MAR. Hereinafter, the case where the robot (MAR) refers to a multi-joint robot will be described.

Specifically, the correction plate 110 may include a plurality of correction grooves 111 and an inclined surface 112 formed at an edge of the entrance of the correction grooves 111.

1 shows a state in which the correction plate 110 is formed in a rectangular shape and four correction grooves 111 are formed in the horizontal direction and two correction grooves 111 are formed in the vertical direction so that a total of eight correction grooves 111 are formed. It is not limited. That is, the shape of the correction plate 110 and the number of the correction grooves 111 formed on the correction plate 110 can be appropriately selected by the designer depending on the size of the robot and the driving radius. In addition, although the shape of the correction groove 111 is also depicted as a circular shape in FIG. 1, it is not limited to the embodiments of the present invention, and various shapes such as ellipse, polygon, and the like can be freely selected by the designer. The correction groove 111 is an area in which the laser light LB can be irradiated and will be described concretely with the description of the optical part 120 and the image pickup part 130 .

On the other hand, an inclined surface 112 may be formed at the edge of the entrance of the correction groove 111. The inclined surface 112 of the correction plate 110 is a region irradiated with the laser beam LB to be irradiated to the correction plate 110 so as to be out of the correction groove 111, The optical unit 120 and the image pickup unit 130 will be described in detail with reference to FIGS.

The optical unit 120 includes a laser light generator 121 that emits a laser light LB and a light receiver 122 that receives reflected light RB of the laser light LB reflected from the correction plate 110 can do.

In detail, the laser light generator 121 may be installed in the robot MAR, and preferably the head of the robot MAR holding the object (see H in FIGS. 2 to 4). At this time, the robot MAR can be installed at a specific position so as to be movable up, down, left, and right with respect to one plane of the correction plate 110, that is, one face of the correction plate 110 facing the robot MAR.

The light receiver 122 receives the reflected light RB of the laser light LB reflected from the correction plate 110 and can measure the light amount. The photodetector 122 can receive the reflected light RB reflected by at least one of the correction groove 111 and the inclined surface 112 of the correction plate 110. [ When the robot MAR is operated at the normal position, the light receiver 122 can receive the reflected light RB reflected by the correction groove 111. On the other hand, when the robot MAR is operated at a non-normal position, that is, when a position error of the robot MAR occurs, reflected light RB reflected from the correction groove 111, (RB) can also be received.

Hereinafter, the 'position error occurrence' refers to a case where the robot (MAR) is out of a normal position for accurately and safely gripping an object to be gripped. If a positional error occurs in the robot MAR, the robot MAR may fail to grasp the object while grasping the object, or in the worst case, the object may be damaged by applying an unnecessary force to the object during grasping.

Specifically, in order to detect the position error of the robot MAR, the user can set and store the threshold range (R in FIG. 2 to FIG. 4) in the receiver 122. 2, the reflected light RB reflected by the correction plate 110 is reflected by the light receiver 122 and reflected by the light receiving surface of the light receiving unit 122. In this case, when the laser light LB is irradiated inside the correction groove 111 except for the inclined surface 112, To fill the inside of the critical range R of the light emitting diode.

3, when at least a part of the laser light LB is irradiated to the sloped surface 112, the reflected light RB reflected from the correction plate 110 is reflected by the critical range R (R) of the light receiver 122, May be reflected to fill a part of the inner side. When at least a part of the laser beam LB is irradiated on the inclined surface 112 of the correction plate 110 out of the correction groove 111, Means that the reflected light RB reflected does not fill the critical range R at all.

The amount of light measured by the light receiver 122 may mean the amount of the reflected light RB irradiated inside the critical range R. [ 2, when the laser light LB is irradiated inside the correction groove 111 except for the inclined surface 112, the light amount of the reflected light RB measured by the light receiver 122 is maximized 3, when at least a part of the laser light LB is irradiated on the sloped surface 112, the light amount of the reflected light RB measured by the light receiver 122 may be smaller than that of FIG. 2 have.

The amount of light measured by the light receiver 122 is converted into an electrical signal to determine whether or not a positional error of the robot MAR has occurred, as will be described in more detail below with reference to the control unit 140 .

The photodetector 122 may be disposed at a predetermined position that can receive the reflected light RB reflected from the correction plate 110. The photodetector 122 may be disposed at a position different from that of the laser beam generator 121 Can be installed. That is, the light receiver 122 may be installed in the robot MAR or may be installed separately from the robot MAR, but may be installed in a different place from the laser light generator 121.

Next, the image pickup unit 130 can take an image of the light receiver 122 and generate an image. More specifically, the image sensing unit 130 can photograph the area IA of the photoreceptor 122 where the reflected light RB is received.

Here, the area of interest IA means a part of the area of the photoreceptor 122 which is photographed by the image pickup unit 130, and may mean an area displayed on the image generated by the image pickup unit 130 . That is, the image generated by the image pickup unit 130 may be an image displayed on a display screen that can be visually confirmed by the user through digital conversion. In this case, a part of the light receiver 122 The region may refer to the region of interest (IA).

In detail, within the region of interest IA, the above-described critical range R set by the user can be formed. Here, the threshold range R may be formed not only mechanically as in a manner directly displayed on the photodetector 122, but also may be arbitrarily set by a user to be displayed on the screen of the display using a program.

In any case, the area of the critical range R may be smaller than the area of the reflected light RB as shown in Fig. Here, a part of the reflected light RB that is larger than the critical range R, that is, a partial area of the ring-shaped reflected light RB surrounding the critical range R is a part of the laser light LB in the correction groove 111 Quot; means a predetermined space that allows movement.

The area of the correction groove 111 may be formed to be wider than the cross sectional area of the laser light LB irradiated to the correction plate 110. In this case, This is to allow the robot MAR to assume a certain range of position allowances.

Generally, a robot (MAR) is a device that performs repetitive operations over a long period of time, and a minute position error is inevitably generated and accumulated in the robot (MAR) while being exposed for a long time. Therefore, rather than correcting the position of the robot MAR, the position of the robot MAR is corrected when the position of the robot MAR is out of the positional tolerance range, .

2, this position tolerance range may mean a part of the reflected light RB that is larger than the critical range R, that is, a partial area of the ring-shaped reflected light RB that surrounds the critical range R have. That is, the position of the reflected light RB can also move on the region of interest IA as the robot MAR moves out of the normal position, but the outer peripheral surface of the reflected light RB and the inner peripheral surface of the critical range R are in contact with each other, 3, when the reflected light RB does not completely fill the inside of the critical range R and deviates from the critical range R, the moment is regarded as a position error of the robot MAR, MAR) as a basis for correcting the position of the vehicle.

In the case where the robot MAR operates at a normal position, it may mean that the center of the critical range R and the center of the reflected light RB are exactly coincident with each other. However, It does not. That is, even if the center of the critical range R does not exactly coincide with the center of the reflected light RB, when the reflected light RB completely fills the inside of the critical range R as shown in FIG. 2, Can be considered to be operating in the normal position.

Next, the control unit 140 includes a signal processor 141 for processing information obtained from the light receiver 122 and the image pickup unit 130, and a controller 140 for controlling the position of the robot MAR based on the signal generated by the signal processor 141 And a robot position corrector 142 for correcting the robot position.

Specifically, the signal processor 141 can determine whether or not a position error has occurred based on the signal generated by the light receiver 122. Here, the generated signal may mean the amount of the reflected light RB measured by the light receiver 122. Therefore, assuming that the generated signal generated by the photodetector 122 in FIG. 2 is 1, the generated signal generated in the photodetector 122 in FIG. 3 may be less than 1. Accordingly, the signal processor 141 can receive a maximum of 1 generated signal from the receiver 122, and when receiving a generated signal of less than 1, it can determine that a position error has occurred in the robot MAR have.

The signal processor 141 measures the position of the reflected light RB received by the light receiver 122 from the image generated by the image sensing unit 130 from the image sensing unit 130 The position error can be calculated. For example, when comparing FIG. 2 and FIG. 3, the position error of the reflected light RB shown in FIG. 3 may be L.

The robot position corrector 142 is electrically connected to the robot MAR and can correct the position of the robot MAR based on the position error calculated by the signal processor 141. [ For example, the robot position corrector 142 may be a component for changing the position of the robot MAR, for example, a driving unit (not shown) installed at each joint and capable of changing the position of the joint. FIG. 4 illustrates a state in which the position of the robot MAR is corrected by the robot position corrector 142. FIG.

1, the robot position correcting system 100 passes the laser light LB emitted from the laser light generator 121 and transmits the reflected light RB reflected from the correction plate 110 to the receiver 100. [ And an optical element 150 that refracts light toward the light source 122. Here, the optical element 150 may be a polarized-beam splitter, and the optical element 150 may be installed between the correction plate 110 and the robot MAR.

According to the robot position correction system of the embodiment of the present invention as described above, the position error of the robot can be detected quickly and easily with a simple configuration, and the position of the robot can be accurately corrected based on the position error.

Hereinafter, a method of correcting the position of the robot using the robot position correction system 100 described above with reference to FIG. 5 will be described in detail.

FIG. 5 is a flowchart illustrating a method of correcting a position of a robot using the robot position correction system of FIG. 1;

1 to 5, first, the robot MAR is moved toward the correction plate 110 (S501).

Next, the laser light LB is emitted from the laser light generator 121 provided on the head H of the robot MAR to irradiate the laser light LB into the correction groove 111 of the correction plate 110 S502).

Next, the light amount of the reflected light RB reflected by at least one of the correction groove 111 and the inclined surface 112 of the correction plate 110 is measured by the light receiver 122 (S503). 2, the light amount of the reflected light RB measured by the light receiver 122 is a maximum value when the reflected light RB is reflected so that the reflected light RB fills all the inside of the critical range R Quot; reference light amount "), indicating that the robot MAR is operating at the normal position.

Therefore, when the reflected light RB is reflected so as to fill all the inside of the critical range R and the light amount of the reflected light RB satisfies the reference light amount, the position error of the robot MAR is not sensed (S504) The positional accuracy correction of the robot MAR is completed (S507) without the need to correct the position of the robot arm MAR, and the robot position correction is completed.

3, when the reflected light RB does not fill the inside of the critical range R, that is, when a part of the laser light LB is reflected on the inclined surface 112 of the correction plate 110 , The light amount of the reflected light RB measured by the light receiver 122 becomes smaller than the reference light amount (S503).

If the light amount of the reflected light RB measured by the light receiver 122 is lower than the reference light amount, it is regarded that the position error of the robot MAR is sensed (S504).

If the position error of the robot MAR is sensed at step S504, the signal processor 141 of the controller 140 receives the image signal generated from the image sensing unit 130 and outputs the reflected light RB based on the image signal. The position error L is calculated (S505).

Next, the robot position corrector 142 corrects the position of the robot MAR based on the position error L calculated in the signal processor 141 (S506).

Thereafter, the step S503 of measuring the light amount of the reflected light RB to the light receiver 122 from the step S502 of irradiating the laser light LB to the correction groove 111 of the correction plate 110, If the light amount of the reflected light RB measured by the light receiver 122 satisfies the reference light amount through the step S504 of determining whether or not the position error is detected, the position accuracy correction of the robot can be completed (S507) .

According to the robot position correction method according to another embodiment of the present invention as described above, the position error of the robot can be detected quickly and easily with a simple configuration, and the position of the robot can be accurately corrected based on the position error.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, You will understand the point. Accordingly, the true scope of protection of the present invention should be determined only by the appended claims.

100: Robot position correction system 122: Receiver
110: correction plate 130:
111: correction groove 140:
112: slope surface 141: signal processor
120: optical part 142: robot position compensator
121: laser light generator 150: optical element

Claims (6)

1. A robot position correction system for correcting a position of a robot,
A correction plate having a plurality of correction grooves and an inclined surface formed at an edge of the entrance of the correction grooves;
A laser light generator attached to the robot movable with respect to the correction plate along one plane of the correction plate to emit laser light toward the correction groove of the correction plate; An optical unit including a light receiver for measuring the light amount by receiving light;
An imaging unit for imaging the photodetector and generating an image; And
A position error is generated based on a signal generated by the light receiver, and the position of the reflected light received by the light receiver is measured from the image generated by the imaging unit when a position error occurs to calculate a position error And a robot position correcting unit for correcting the position of the robot based on the position error data. The method according to claim 1,
And the area of the correction groove is larger than the cross-sectional area of the laser light. The method according to claim 1,
Wherein the light receiver is installed at a position different from the laser light generator. The method according to claim 1,
The receiver stores a threshold range set by the user,
When the laser beam is irradiated inside the correction groove except the inclined plane, the reflected light reflected by the correction plate is reflected so as to fill the inside of the critical range of the light receiver,
And when the at least part of the laser light is irradiated on the inclined surface, the reflected light reflected by the correction plate is reflected to fill a part of the inside of the critical range of the light receiver. The method according to claim 1,
Further comprising an optical element that passes the laser light emitted from the laser light generator and refracts the reflected light reflected by the correction plate toward the light receiver. A first step of moving the robot to a correction plate;
A second step of irradiating laser light onto the correction groove formed on the correction plate;
A third step of measuring a light amount of the reflected light of the laser light reflected by the correction groove by a light receiver;
A fourth step of calculating a position error by confirming a position of the reflected light from an image sensing unit for photographing the photoreceptor and generating an image when the light amount of the reflected light measured by the light receiver is smaller than a reference light amount;
A fifth step of correcting the position of the robot based on the position error; And
And a sixth step of repeating the second step to the fourth step to complete the position accuracy correction of the robot when the light amount of the reflected light measured by the light receiver corresponds to the reference light amount. Correction method.

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