KR970033630A

KR970033630A - How to set up the coordinate system

Info

Publication number: KR970033630A
Application number: KR1019950068716A
Authority: KR
Inventors: 문점생
Original assignee: 석진철; 대우중공업 주식회사
Priority date: 1995-12-30
Filing date: 1995-12-30
Publication date: 1997-07-22

Abstract

본 발명은 로보트를 이용한 자동차 조립 라인에서 로보트가 작업대상물(예를 들어 자동차의 윈드실드 그래스)를 설치할 때 사용되는 비젼(VISION)장비를 이용한 좌표계 설정 방법에 관한 것으로, 종래의 사용자 좌표(비젼좌표) 원점을 로보트 좌표 원점 근처에 지정하지 않고, 차량에 윈드실드 그래스를 설치하는 근처에 사용자 좌표 원점을 설정하므로서, 각 카메라를 통한 비젼장비로 측정한 좌표계에 약간의 측정 오차가 발생하게 되더라도 이의 오차한계를 충분히 극복할 수 있고, 더욱 정확한 위치에서 로보트가 작업할 수 있는 좌표환경을 설정할 수 있는 특징이 있다.The present invention relates to a method of setting a coordinate system using vision equipment used when a robot installs a workpiece (for example, a windshield grass of a car) in a vehicle assembly line using a robot, and includes conventional user coordinates (vision coordinates). By setting the user coordinate origin near the installation of windshield grass in the vehicle without specifying the origin near the robot coordinate origin, even if a slight measurement error occurs in the coordinate system measured by vision equipment through each camera It is a feature that can overcome the limitations and set the coordinate environment in which the robot can work in a more accurate position.

Description

How to set up the coordinate system

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 종래의 좌표계를 설명하기 위한 시스템 구성도,1 is a system configuration diagram for explaining a conventional coordinate system,

제2도는 종래의 비젼좌표계를 도시한 예시도,2 is an exemplary diagram showing a conventional vision coordinate system;

제3도는 종래의 비젼좌표계가 회전(ROTATING)할 때, 위치에 따른 오차의 발생 정도를 예시한 그래프,3 is a graph illustrating the degree of occurrence of an error according to a position when a conventional vision coordinate system rotates;

제4도는 본 발명의 좌표계를 설명하기 위한 시스템 구성도,4 is a system configuration diagram for explaining a coordinate system of the present invention;

제5도는 본 발명에 의한 비젼좌표계의 원점을 차량 위치로 이동시킨 것을 도시한 예시도,5 is an exemplary view showing that the origin of the vision coordinate system according to the present invention is moved to the vehicle position,

제6도는 본 발명의 좌표계 설정방법을 설명하기 위한 플로우챠트,6 is a flowchart for explaining a coordinate system setting method of the present invention;

제7도는 본 발명에 의한 데이타 전송 및 좌표계 전환을 설명하기 위한 그래프,7 is a graph for explaining data transmission and coordinate system conversion according to the present invention;

제8도는 본 발명에 의한 비젼좌표계의 오차를 최소한으로 줄이도록 한 위치에 따른 오차의 발생정도를 예시한 그래프.8 is a graph illustrating the degree of occurrence of the error according to the position to minimize the error of the vision coordinate system according to the present invention.

Claims

When calibrating the position of the robot by using the vision equipment, the robot should move using the location information of the windshield grass of the vehicle 5 measured by the vision equipment 3, in which the distance between the coordinate system measured by each camera and the robot coordinate system A first step of calibration for determining relative positional relationships; A second step of setting and teaching a moving path for the robot to install the windshield grass on the vehicle 5; When the robot controller 2 gives the vision equipment 3 a signal for position detection, the vision equipment 3 includes a third step of detecting the position of the windshield grass; A fourth step of transmitting the position data through the vision equipment 3 to the robot controller 2; A fifth step of measuring a reference coordinate system at an installation position of the windshield grass; A sixth step of correcting the position of the vision coordinate system by the vision coordinate system in the reference coordinate system for moving the position of the windshield grass to the installation position of the windshield grass; A seventh step of switching from the corrected vision coordinate system to a user (USER) coordinate system; An initialization process (100) comprising an eighth step of converting from a user coordinate standard job (JOB) to a relative job (JOB); A ninth step of replacing the vehicle model to install the windshield grass; When the robot controller 2 gives a signal to the vision device 3 to detect a position, the vision device 3 includes a tenth step of detecting a position of the windshield grass of the vehicle 5; An eleventh step of transmitting the position data through the vision equipment 3 to the robot controller 2; A twelfth step of correcting the position of the vision coordinate system by the vision coordinate system in the reference coordinate system for moving the position of the windshield grass of the vehicle 5; A thirteenth step of switching from the corrected vision coordinate system to a user (USER) coordinate system; Method of setting a coordinate system, characterized in that the robot consists of a windshield grass installation process (200) of the vehicle consisting of a fourteenth step of installing the windshield grass to the vehicle (5).

※ Note: The disclosure is based on the initial application.