WO2016056087A1 - Dispositif d'acquisition d'image et dispositif de robot - Google Patents

Dispositif d'acquisition d'image et dispositif de robot Download PDF

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Publication number
WO2016056087A1
WO2016056087A1 PCT/JP2014/076970 JP2014076970W WO2016056087A1 WO 2016056087 A1 WO2016056087 A1 WO 2016056087A1 JP 2014076970 W JP2014076970 W JP 2014076970W WO 2016056087 A1 WO2016056087 A1 WO 2016056087A1
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WO
WIPO (PCT)
Prior art keywords
image
robot
tip
image acquisition
lens
Prior art date
Application number
PCT/JP2014/076970
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English (en)
Japanese (ja)
Inventor
政利 藤田
Original Assignee
富士機械製造株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to JP2016552754A priority Critical patent/JP6401286B2/ja
Priority to PCT/JP2014/076970 priority patent/WO2016056087A1/fr
Publication of WO2016056087A1 publication Critical patent/WO2016056087A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices

Definitions

  • the present invention relates to an image acquisition apparatus that acquires an image of an object and a robot apparatus that performs a predetermined operation on the object using a robot that can move a tip portion.
  • Patent Document 1 a fiber scope including a lens and a fiber bundle is known (see, for example, Patent Document 1).
  • the fiberscope described in Patent Document 1 includes a fluid lens as a lens, and adjusts the focal length by adjusting the fluid lens so that the object is focused.
  • An object image obtained by the fiberscope is picked up by a CCD camera.
  • Patent Document 1 describes that an endoscope image is obtained when a fiberscope is passed through an organ during a surgical operation, a predetermined operation is performed on an object using a robot. There is no mention of obtaining an image of the object.
  • an imaging device is mounted on the tip of a robot to capture an object, the weight of the tip of the robot increases depending on the imaging device, and the robot becomes larger or the position accuracy of the tip deteriorates.
  • the main object of the present invention is to reduce the size or weight of an image acquisition device mounted on a robot.
  • the present invention adopts the following means in order to achieve the main object described above.
  • the image acquisition device of the present invention is An image acquisition device for acquiring an image of an object, A robot that can move the tip, A lens provided at the tip of the robot; An image sensor provided at a position different from the tip of the robot; An image fiber that arranges one end of the lens and the other end of the imaging device, and sends an image incident from the one end to the other end; It is a summary to provide.
  • the lens is provided at the tip of the robot, the imaging device is provided at a position different from the tip of the robot, one end of the image fiber is disposed on the lens, and the other end of the image fiber is provided. Arranged on the image sensor.
  • the lens is a liquid lens capable of adjusting a focal length by applying a voltage, and is provided with the image fiber, and a power line for applying a voltage to the liquid lens is provided. It can also be provided. In this way, it is possible to adjust the focal length with the object while reducing the size and weight of the tip of the robot.
  • the object position information acquisition means for acquiring the position information of the object in advance
  • the tip position detection means for detecting the position of the tip of the robot
  • the acquired A focal length adjusting unit that controls a voltage applied to the liquid lens so that a focal length is adjusted based on the position information of the object and the detected position of the tip portion
  • a light guide provided in the image fiber and a light source capable of irradiating light to the light guide may be provided. If it carries out like this, the light required for the imaging of a target object can be irradiated, aiming at size reduction and weight reduction of the front-end
  • the robot includes an articulated arm, the liquid lens is provided at a distal end portion of the arm, and the imaging element is located at a position different from the distal end portion of the arm.
  • the image fiber may be provided along the arm. Since the articulated arm is required to have high working accuracy at the tip, it is more meaningful to reduce the size and weight of the tip.
  • the “position different from the distal end portion of the arm” can exemplify the proximal end portion of the arm.
  • the robot apparatus of the present invention A robot apparatus that performs a predetermined operation on an object using a robot capable of moving a tip part, A lens provided at the tip of the robot, an image sensor provided at a position different from the tip of the robot, and one end disposed on the lens and the other end disposed on the image sensor and incident from the one end An image fiber that sends the processed image to the other end, and Prior to the predetermined work, an imaging control unit that controls the robot so that the object is included in an imaging range of the image acquisition apparatus and controls the image acquisition apparatus so that an image of the object is acquired.
  • Position information acquisition means for acquiring in advance target position information of the object or the tip;
  • Work control means for correcting the acquired target position information based on the image of the object acquired by the image acquisition device and controlling the robot so that the predetermined work is performed based on the corrected target position information.
  • the tip portion of the robot can be reduced in size and weight. Further, the target position information of the object or the robot tip is corrected based on the image acquired by the image acquisition device of the present invention, and the robot is controlled so that a predetermined operation is performed based on the corrected target position information.
  • the work accuracy can be further improved in combination with the improvement in controllability due to the reduction in size and weight of the robot.
  • FIG. 2 is a configuration diagram showing an outline of the configuration of a lens unit 30 and a fiber cable 50.
  • FIG. 3 is a block diagram of a control device 60 of the robot apparatus 10.
  • FIG. 4 is a flowchart illustrating an example of work processing executed by a control device 60.
  • 5 is a flowchart illustrating an example of an imaging process executed by a control device 60. It is explanatory drawing which shows a mode that the liquid lens 32 is moved to an imaging position and a focal distance is adjusted.
  • FIG. 1 is a block diagram showing the schematic configuration of a robot apparatus 10 as an embodiment of the present invention
  • FIG. 2 is a block diagram showing the schematic configuration of a lens unit 30 and a fiber cable 50. These are block diagrams which show the electrical connection relationship of the control apparatus 60 of the robot apparatus 10.
  • FIG. 1 is a block diagram showing the schematic configuration of a robot apparatus 10 as an embodiment of the present invention
  • FIG. 2 is a block diagram showing the schematic configuration of a lens unit 30 and a fiber cable 50.
  • the robot apparatus 10 of the embodiment is configured as a vertical articulated robot, and includes a base 11 installed on a floor surface, first to fifth links 20a to 20e, a base 11 and a first joint.
  • First to fifth joints 22a to 22e that connect the first to fifth links 20a to 20e in series, and first to fifth drive motors 24a to 24e that drive the first to fifth joints 22a to 22e, respectively (FIG. 3).
  • a control device 60 for controlling the entire apparatus.
  • the first to fifth links 20a to 20e and the first to fifth joints 22a to 22e constitute a 5-axis multi-joint arm.
  • the first joint 22a and the fifth joint 22e are rotary joints
  • the second to fourth joints 22b to 22d are turning joints.
  • a tool 12 such as a chuck capable of gripping a workpiece is attached to the fifth link 20e forming the tip of the articulated arm.
  • the lens unit 30 is attached to the fifth link 20e so that the optical axis is substantially parallel to the axis of the fifth link 20e.
  • the lens unit 30 includes a mount portion 31 and a liquid lens 32 mounted on the mount portion 31 as an objective lens.
  • the liquid lens 32 can adjust the focal length by changing the boundary surface between the liquids by filling the cylinder with a conductive aqueous solution and a non-conductive oil and applying a voltage to the aqueous solution.
  • an image sensor 40 such as a CCD or a CMOS is attached to the first link 20a that forms the base end of the articulated arm.
  • the lens unit 30 and the image sensor 40 are connected by a fiber cable 50.
  • the fiber cable 50 is obtained by inserting the image fiber 52 into a communication hole formed in the longitudinal direction of the light guide 54 and bonding the lens unit 30 (liquid lens 32) to one end of the image fiber 52. It is.
  • the image fiber 52 is branched in the middle of the light guide 54 in the fiber cable 50, the image sensor 40 is in contact with the other end of the image fiber 52, and the other end of the light guide 54. Is provided with a light source 44.
  • a power line 56 is provided in the communication hole of the light guide 54 along with the image fiber 52.
  • the liquid lens is supplied from the liquid lens driving circuit 34 (see FIG. 3) via the power line 56. A voltage can be applied to 32.
  • the control device 60 is configured as a microprocessor centered on a CPU 61, and includes a ROM 62, an HDD 63, a RAM 64, and an input / output interface 65 in addition to the CPU 61. These are electrically connected via a bus 66.
  • the control device 60 drives the rotation angle signals from the encoders 28a to 28e that detect the rotation angles of the first to fifth drive motors 24a to 24e (first to fifth joints 22a to 22e) and the tool 12 (chuck).
  • the rotation angle signal from the encoder 18 for detecting the rotation angle of the tool motor 14 that opens and closes the input / output (not shown) is input via the input / output interface 65.
  • control device 60 supplies control signals to motor drive circuits 26a to 26e that drive the first to fifth drive motors 24a to 24e, control signals to the motor drive circuit 16 that drives the tool motor 14, and liquids.
  • FIG. 4 is a flowchart illustrating an example of work processing executed by the CPU 61 of the control device 60.
  • the CPU 61 of the control device 60 first reads out the target position of the tool 12 previously input by the operator, for example (S100). Note that the process of S100 may read the position of the work object instead of the target position of the tool 12. Subsequently, the CPU 61 performs an imaging process of imaging the work object using the liquid lens 32 and the image sensor 40 (S110), and sets the target based on the position of the work object specified by the image obtained by the imaging. The position is corrected (S120). Then, the CPU 61 controls the first to fifth drive motors 24a to 24e (motor drive circuits 26a to 26e) so that the tool 12 moves to the corrected target position (S130), and drives the tool 12 to operate the work object.
  • S100 target position of the tool 12 previously input by the operator
  • S100 the process of S100 may read the position of the work object instead of the target position of the tool 12.
  • the CPU 61 performs an imaging process of imaging the work object using the liquid lens 32 and the image sensor 40 (S110), and sets the target based
  • the tool motor 14 is controlled so that a predetermined work is executed (S140), and the work process is terminated.
  • An example of the work performed by the tool 12 is an assembly work in which a chuck is used as the tool 12 and a part is held by the chuck and assembled at a predetermined position.
  • the image sensor 40 is provided in the first link 20a that is the base end portion of the articulated arm, and the liquid lens 32 and the fiber cable 50 that are provided in the fifth link 20e that is the distal end portion of the articulated arm. It is connected through.
  • the robot apparatus 10 of an Example can make the front-end
  • the vibration of the tool 12 can be suppressed. Therefore, it is possible to improve the position accuracy when moving the tool 12 to the target position, and to improve the work accuracy.
  • FIG. 5 is a flowchart illustrating an example of an imaging process executed by the CPU 61 of the control device 60.
  • the CPU 61 identifies the position of the work object (imaging object) based on the target position of the tool 12 read in S100 of the work process, and based on the identified position of the imaging object.
  • the first to fifth drive motors 24a to 24e are controlled so that the liquid lens 32 moves to the imaging position (S200).
  • the position of the imaging object is specified from the target position of the tool 12, but the position of the imaging object may be directly acquired.
  • the CPU 61 calculates the current position of the liquid lens 32 by forward kinematics based on the rotation angles from the encoders 28a to 28e (S210), and the focal point from the liquid lens 32 to the work object (imaging object).
  • the distance X is calculated (S220), and the liquid lens driving circuit 34 is controlled so as to apply a voltage at the calculated focal length X to the liquid lens 32 (S230).
  • FIG. 6 is an explanatory diagram showing how the focal length is adjusted by moving the liquid lens 32 to the imaging position.
  • the focal length is adjusted by moving the liquid lens 32 so that the liquid lens 32 faces the object to be imaged by an articulated arm, and then the distance X (focal distance) between the liquid lens 32 and the object to be imaged. This is performed by applying a voltage according to the above to the liquid lens 32. Then, the CPU 61 controls the light source drive circuit 46 so that light is emitted from the light source 44 and also controls the image sensor drive circuit 42 so that the image sensor 40 is driven, thereby imaging the imaging target (S240). ), The imaging process is terminated.
  • an objective lens (liquid lens 32) is provided on the fifth link 20e that is the distal end portion of the articulated arm, and imaging is performed on the first link 20a that is the proximal end portion of the articulated arm.
  • An element 40 is provided, and the liquid lens 32 and the imaging element 40 are connected via an image fiber 52 (fiber cable 50).
  • the liquid lens 32 is used as the objective lens, and the power supply line 56 is provided in parallel with the image fiber 52 and a voltage is applied to the liquid lens 32 via the power supply line 56, the tip of the articulated arm is reduced in weight.
  • the focal length of the liquid lens 32 can be adjusted.
  • the light guide 54 is provided in parallel to the image fiber 52 and the light source 44 is disposed at the other end of the light guide 54, it is possible to irradiate with an amount of light necessary for imaging the imaging object.
  • the image sensor 40 and the light source 44 are provided at the base end portion (first link 20a) of the articulated arm, but the present invention is not limited to this, and the image sensor 40 and the light source 44 are not limited thereto.
  • the image sensor 40 and the light source 44 may be provided at any position as long as interference with the fiber cable 50 does not occur.
  • the liquid lens 32 is used as the objective lens, but the present invention is not limited to this, and another zoom lens whose focal length can be adjusted by an actuator such as a motor may be used. Good. Further, a single focal lens having a fixed focal length may be used as the objective lens.
  • the light guide 54 is provided along with the image fiber 52 to irradiate the imaging object with the light of the light source 44.
  • the present invention is not limited to this, and a separate illumination apparatus is provided. It is good.
  • the image fiber 52 and the power supply line 56 are combined into one fiber cable 50, but the present invention is not limited to this, and separate cables may be used.
  • the multi-joint arm composed of the links 20a to 20e and the joints 22a to 22e corresponds to the “robot”
  • the liquid lens 32 corresponds to the “lens”
  • the image pickup device 40 such as a CCD or a CMOS becomes the “image pickup device”.
  • the image fiber 52 corresponds to an “image fiber”.
  • the power supply line 56 corresponds to a “power supply line”.
  • the CPU 61 of the control device 60 that executes the process of S100 of the work process of FIG. 4 corresponds to the “position information acquisition unit”.
  • the encoders 28a to 28e and the CPU 61 of the control device 60 that executes the processing of S210 of the imaging process of FIG. 5 correspond to the “tip position detecting means”, and the CPU 61 of the control device 60 that executes the processing of S230 of the imaging process.
  • the lens driving circuit 34 corresponds to “focal length adjusting means”.
  • the light guide 54 corresponds to a “light guide”, and the light source 44 corresponds to a “light source”.
  • the CPU 61 of the control device 60 that executes the processing of S110 (imaging processing) of the work processing corresponds to “imaging control means”, and the CPU 61 of the control device 60 that executes the processing of S120 to S140 becomes “work control means”. Equivalent to.
  • the present invention can be used in the robot device manufacturing industry.
  • 10 robot device 11 base, 12 tool, 14 tool motor, 16 motor drive circuit, 18 encoder, 20a to 20e first to fifth links, 22a to 22e first to fifth joints, 24a to 24e first to fifth Drive motor, 26a to 26e motor drive circuit, 28a to 28e encoder, 30 lens unit, 31 mount unit, 32 liquid lens, 34 liquid lens drive circuit, 40 image sensor, 42 image sensor drive circuit, 44 light source, 46 light source drive circuit , 50 fiber cable, 52 image fiber, 54 light guide, 56 power line, 60 control device, 61 CPU, 62 ROM, 63 HDD, 64 RAM, 65 I / O interface, 66 bus.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Studio Devices (AREA)

Abstract

L'invention porte sur un élément de capture d'image (40) disposé sur une première pièce de liaison (20a), c'est-à-dire une partie d'extrémité de base d'un bras à articulations multiples, et une unité de lentille (30) et l'élément de capture d'image (40) sont reliés l'un à l'autre par l'intermédiaire d'un câble (50) à fibres dans lequel des fibres d'image sont groupées. Par conséquent, il n'est pas nécessaire de disposer l'élément de capture d'image au niveau d'une partie d'extrémité avant du bras à articulations multiples, et une réduction de poids de la partie d'extrémité avant peut être obtenue. En outre, il est préférable d'utiliser une lentille liquide comme unité de lentille (30), et de fournir, en parallèle aux fibres d'image, une ligne d'alimentation électrique pour ajuster la distance de point focal de la lentille liquide. Dans ce cas, la distance de point focal de la lentille liquide peut être réglée par application d'une tension à la lentille liquide par l'intermédiaire de la ligne d'alimentation électrique.
PCT/JP2014/076970 2014-10-08 2014-10-08 Dispositif d'acquisition d'image et dispositif de robot WO2016056087A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2016552754A JP6401286B2 (ja) 2014-10-08 2014-10-08 画像取得装置およびロボット装置
PCT/JP2014/076970 WO2016056087A1 (fr) 2014-10-08 2014-10-08 Dispositif d'acquisition d'image et dispositif de robot

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PCT/JP2014/076970 WO2016056087A1 (fr) 2014-10-08 2014-10-08 Dispositif d'acquisition d'image et dispositif de robot

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018008102A1 (fr) * 2016-07-06 2018-01-11 富士機械製造株式会社 Dispositif d'imagerie et système d'imagerie
WO2019026735A1 (fr) * 2017-07-31 2019-02-07 Ntn株式会社 Dispositif de travail de type à actionnement de liaison

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JPS60131387U (ja) * 1984-02-14 1985-09-03 住友電気工業株式会社 ロボツトの指先機構
JPS61279491A (ja) * 1985-05-31 1986-12-10 株式会社安川電機 視覚機器付産業用ロボット
JPS6224994A (ja) * 1985-07-26 1987-02-02 日立建機株式会社 ロボツトハンド
JPS6295606A (ja) * 1985-10-22 1987-05-02 Toshiba Corp 三次元位置設定装置
JPS6335108U (fr) * 1986-08-20 1988-03-07
JPS6367093U (fr) * 1986-09-24 1988-05-06
JPS6391395U (fr) * 1986-12-04 1988-06-13
JPS6397485U (fr) * 1986-12-17 1988-06-23
JPH03142186A (ja) * 1989-10-25 1991-06-17 Hitachi Ltd ロボツト用視覚装置
JPH05138349A (ja) * 1991-11-22 1993-06-01 Hitachi Ltd 多層盛自動溶接装置
JP2010226014A (ja) * 2009-03-25 2010-10-07 Panasonic Corp 基板搬送装置
JP2011255473A (ja) * 2010-06-10 2011-12-22 Kobe Steel Ltd 溶接マニピュレータ教示装置
JP2012135432A (ja) * 2010-12-27 2012-07-19 Fujifilm Corp 内視鏡
JP2013545558A (ja) * 2010-12-01 2013-12-26 アドレンズ ビーコン インコーポレイテッド 液体レンズ技術に基づく可変屈折力の内視鏡
JP2014159989A (ja) * 2013-02-19 2014-09-04 Yaskawa Electric Corp 物体検出装置及びロボットシステム

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JPS6473866A (en) * 1987-09-16 1989-03-20 Agency Ind Science Techn Automatic focusing device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60131387U (ja) * 1984-02-14 1985-09-03 住友電気工業株式会社 ロボツトの指先機構
JPS61279491A (ja) * 1985-05-31 1986-12-10 株式会社安川電機 視覚機器付産業用ロボット
JPS6224994A (ja) * 1985-07-26 1987-02-02 日立建機株式会社 ロボツトハンド
JPS6295606A (ja) * 1985-10-22 1987-05-02 Toshiba Corp 三次元位置設定装置
JPS6335108U (fr) * 1986-08-20 1988-03-07
JPS6367093U (fr) * 1986-09-24 1988-05-06
JPS6391395U (fr) * 1986-12-04 1988-06-13
JPS6397485U (fr) * 1986-12-17 1988-06-23
JPH03142186A (ja) * 1989-10-25 1991-06-17 Hitachi Ltd ロボツト用視覚装置
JPH05138349A (ja) * 1991-11-22 1993-06-01 Hitachi Ltd 多層盛自動溶接装置
JP2010226014A (ja) * 2009-03-25 2010-10-07 Panasonic Corp 基板搬送装置
JP2011255473A (ja) * 2010-06-10 2011-12-22 Kobe Steel Ltd 溶接マニピュレータ教示装置
JP2013545558A (ja) * 2010-12-01 2013-12-26 アドレンズ ビーコン インコーポレイテッド 液体レンズ技術に基づく可変屈折力の内視鏡
JP2012135432A (ja) * 2010-12-27 2012-07-19 Fujifilm Corp 内視鏡
JP2014159989A (ja) * 2013-02-19 2014-09-04 Yaskawa Electric Corp 物体検出装置及びロボットシステム

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018008102A1 (fr) * 2016-07-06 2018-01-11 富士機械製造株式会社 Dispositif d'imagerie et système d'imagerie
JPWO2018008102A1 (ja) * 2016-07-06 2019-07-11 株式会社Ｆｕｊｉ 撮像装置及び撮像システム
WO2019026735A1 (fr) * 2017-07-31 2019-02-07 Ntn株式会社 Dispositif de travail de type à actionnement de liaison

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JPWO2016056087A1 (ja) 2017-08-24

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