WO2022224313A1 - プログラム生成装置及びロボット制御装置 - Google Patents

プログラム生成装置及びロボット制御装置 Download PDF

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Publication number
WO2022224313A1
WO2022224313A1 PCT/JP2021/015896 JP2021015896W WO2022224313A1 WO 2022224313 A1 WO2022224313 A1 WO 2022224313A1 JP 2021015896 W JP2021015896 W JP 2021015896W WO 2022224313 A1 WO2022224313 A1 WO 2022224313A1
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WIPO (PCT)
Prior art keywords
calibration
robot
program
program generation
visual sensor
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Ceased
Application number
PCT/JP2021/015896
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English (en)
French (fr)
Japanese (ja)
Inventor
万峰 傅
勇太 並木
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Fanuc Corp
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Fanuc Corp
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Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to DE112021007102.5T priority Critical patent/DE112021007102T5/de
Priority to US18/546,710 priority patent/US20240139959A1/en
Priority to PCT/JP2021/015896 priority patent/WO2022224313A1/ja
Priority to JP2023515897A priority patent/JPWO2022224313A1/ja
Priority to CN202180094130.4A priority patent/CN116917087A/zh
Priority to TW111111352A priority patent/TW202241660A/zh
Publication of WO2022224313A1 publication Critical patent/WO2022224313A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator

Definitions

  • the present invention relates to a program generation device and a robot control device.
  • a robot system that uses a visual sensor, that is, a camera, to determine the position of an object and determine the robot's movement is widely used.
  • calibration is performed to set the relationship between the visual sensor and the robot, that is, a transformation matrix for transforming the coordinate system of the visual sensor into the coordinate system of the robot.
  • Patent Literature 1 describes calibrating a visual sensor using a visual target jig provided with a dot pattern.
  • a program generation device generates a calibration program that defines a calibration procedure for setting a positional relationship between the visual sensor and the robot in a robot system that operates the robot based on detection results of the visual sensor.
  • a program generation device to generate, a calibration information acquisition unit that acquires the information of the calibration performed according to the input of the teacher, and based on the information of the calibration that the calibration information acquisition unit acquires, the next and a program generation unit that generates a calibration program that defines a procedure for subsequent calibration.
  • a robot control device is a robot control device that operates a robot based on a detection result of a visual sensor, receives input from a teacher, and operates the robot according to the input from the teacher.
  • an initial calibration control unit that performs calibration for setting the positional relationship between the visual sensor and the robot, and a calibration information acquisition unit that acquires information on the calibration performed by the initial calibration control unit.
  • a program generation unit for generating a calibration program that determines the procedure of the calibration from the next time on based on the calibration information acquired by the calibration information acquisition unit; and the calibration generated by the program generation unit.
  • a recalibration control unit that performs the calibration according to a program.
  • FIG. 1 is a schematic diagram showing the configuration of a robot system including a robot control device according to an embodiment of the present disclosure
  • FIG. 1 is a schematic diagram showing a configuration of a robot system using a program generation device according to an embodiment of the present disclosure
  • FIG. 1 is a schematic diagram showing a configuration of a robot system using a program generation device according to an embodiment of the present disclosure
  • FIG. 1 is a schematic diagram showing the configuration of a robot system 1 including a program generation device 100 according to an embodiment of the present disclosure.
  • the robot system 1 includes a robot 10, a visual sensor 20 held by the robot 10, a robot controller 30 that operates the robot 10 based on the detection result of the visual sensor 20, and a program generation device 100.
  • the robot 10 has a head 11 for performing work at its tip, and holds a visual sensor 20 immovable relative to the head 11 .
  • the head 11 is appropriately selected according to the work to be performed by the robot 10, such as a hand holding a work (not shown), a tool for processing the work, or the like.
  • the robot 10 positions the visual sensor 20 together with the head 11 .
  • the robot 10 can be a vertically articulated robot as illustrated in FIG. 1, but is not limited to this, and may be, for example, an orthogonal coordinate robot, a SCARA robot, a parallel link robot, or the like.
  • the visual sensor 20 is a device that detects visual information of an object, that is, photographs an object. Typically, it is a two-dimensional camera that photographs a two-dimensional visible light image, and further acquires distance information for each two-dimensional position. It may be a three-dimensional sensor.
  • the robot control device 30 can be realized, for example, by causing one or more computer devices having a memory, CPU, input/output interface, etc. to execute an appropriate control program.
  • the robot control device 30 specifies the position of the work based on the detection result of the visual sensor 20, and controls the operation of the robot 10 so that the head 11 is positioned with respect to the work and the work is performed.
  • the robot system 1 preliminarily determines the positional relationship between the visual sensor 20 and the robot 10, that is, the coordinate position of the detection result (captured image) of the visual sensor 20 in the coordinate system of the robot 10. It is necessary to perform calibration to set a transformation matrix that enables calculation of coordinate positions.
  • the robot control device 30 has an initial calibration control section 31 and a recalibration control section 32 .
  • the initial calibration control unit 31 and the recalibration control unit 32 are functions of the robot control device 30 that are classified, and may not be clearly distinguishable in terms of their physical configuration and program configuration. Modules may be shared.
  • the initial calibration control unit 31 performs calibration for setting the positional relationship between the visual sensor 20 and the robot 10 by receiving input from the teacher of the robot system 1 and operating the robot 10 according to the input from the teacher. Calibration by the initial calibration control section 31 can be similar to calibration by a conventional method as described in Japanese Patent Application Laid-Open No. 5670416, for example.
  • Calibration is performed by arranging a predetermined calibration jig 40 in the working space of the robot 10 .
  • the calibration jig 40 is configured to have a plurality of feature points that can be easily detected by the visual sensor 20, such as dot patterns.
  • a calibration jig 40 is fixed at a specific coordinate position in the coordinate system of the robot 10 . It is preferable that the calibration jig 40 is always fixed, for example, to a table 50 or the like on which the work is arranged.
  • the initial calibration control unit 31 first determines the posture of the robot 10 according to the instructor's input, and images the calibration jig 40 with the visual sensor 20 .
  • the initial calibration control unit 31 sets the positional relationship between the visual sensor 20 and the robot 10 based on the detection result of the visual sensor 20, that is, the captured image of the calibration jig 40.
  • the position and orientation of the calibration jig 40 in the coordinate system of the visual sensor 20 are calculated from the positions of a plurality of feature points in the image of the calibration jig 40, and are calculated based on the posture of the robot 10.
  • a conversion matrix is used so that the position and orientation of the calibration jig 40 calculated from the actual position and orientation of the calibration jig 40 or the position and orientation of the calibration jig 40 calculated from another viewpoint position when coordinate-transformed into the coordinate system of the robot 10 by to adjust.
  • the initial calibration control unit 31 displays an image captured by the visual sensor 20 on the robot control device 30 or an external display in real time, and provides a graphical interface that prompts the teacher to input necessary information. preferably configured.
  • Information necessary for calibration includes input of imaging conditions of the visual sensor 20, input of information of the calibration jig 40, input of viewpoint position for imaging, selection of calibration calculation method, and selection of calibration calculation method. Selection of feature points to be used for actual calculation from the feature points of the calibration jig 40, approval of calibration results, and the like can be included.
  • the display prompting these inputs can be configured to display check boxes, selection boxes, text boxes, buttons, and the like.
  • the viewpoint position may be input in a user coordinate system different from the robot coordinate system (for example, a coordinate system based on the table 50 on which the calibration jig 40 and the workpiece are arranged).
  • the recalibration control unit 32 performs calibration according to the calibration program generated by the program generation device 100.
  • Program generation can be made at the instruction of the instructor once the initial calibration is completed. Alternatively, it may be generated automatically when the initial calibration is completed.
  • Calibration by the recalibration control unit 32 may be performed when instructed by the instructor, and may be performed periodically, specifically after the first work after the set time has elapsed, or after the set time has elapsed. may be automatically performed when the robot system 1 is first started or stopped.
  • the calibration program can be written in the language used in general numerical controllers. Therefore, a detailed description of the operation of the recalibration control section 32 is omitted.
  • the program generation device 100 has, for example, a memory, a CPU, an input/output interface, etc., and causes one or more computer devices communicatively connected to one or more robot control devices 30 to execute an appropriate control program. realizable.
  • the program generation device 100 may be implemented as one function of a computer device provided to manage or monitor a plurality of robot systems 1 .
  • the program generation device 100 includes a calibration information acquisition unit 110, a template storage unit 120, and a program generation unit 130. These components are categorized functions of the program generation device 100 and may not be clearly distinguishable in their physical configuration and program configuration.
  • the calibration information acquisition unit 110 acquires information on the calibration performed by the initial calibration control unit 31.
  • the acquired calibration information includes the viewpoint position of the visual sensor 20 in the calibration performed by the initial calibration control unit 31, the posture of the robot that specifies the viewpoint position, the set values of the imaging conditions of the visual sensor 20, and the like. This information is sufficient to reproduce the calibration performed by the application control unit 31 .
  • the template storage unit 120 stores a plurality of templates of calibration programs that define calibration procedures.
  • the template is a program for performing the same calibration as that performed by the initial calibration control unit 31 by adding the user coordinate system, the type of the visual sensor 20, the viewpoint position, etc., without requiring input from the teacher. is configured to be
  • the template stored in the template storage unit 120 is provided to the program generation unit 130, which will be described later, for generating a calibration program. Also, the template stored in the template storage unit 120 may be provided to the initial calibration control unit 31 in order to define the control procedure by the initial calibration control unit 31 .
  • the positional relationship between the visual sensor 20 and the robot 10 is set by taking pictures with the visual sensor 20 twice.
  • "*1" is a code specifying a user coordinate system, that is, a value input to the initial calibration control unit 31 by the teacher.
  • "*2" is a code specifying the coordinate system of the head 11, and is a value input by the teacher to the initial calibration control unit 31.
  • FIG. “*3” is a number indicating the position of the memory that stores the viewpoint position at which the visual sensor 20 captures the image first in the calibration by the initial calibration control unit 31 .
  • “*4” is a code that identifies a subprogram that identifies a detailed calculation procedure for calibration determined for each type of visual sensor 20 .
  • "*5" is the distance in the Z direction between the viewpoint position for the first shooting and the viewpoint position for the second shooting.
  • the program generation unit 130 Based on the calibration information acquired by the calibration information acquisition unit, the program generation unit 130 generates a calibration program that defines the procedure for the calibration from the next time onward.
  • the program generation unit 130 preferably generates a calibration program so as to reproduce the posture of the robot 10 in the calibration performed by the initial calibration control unit 31 according to the teacher's input.
  • the program generation unit 130 automatically resets the positional relationship between the visual sensor 20 and the robot 10 by capturing an image with the visual sensor 20 at the viewpoint position in the calibration performed by the initial calibration control unit 31. It is preferable to generate an accurate calibration program. By reproducing the calibration performed by the initial calibration control unit 31 when the instructor determines it is appropriate, it is possible to perform appropriate calibration again. Therefore, for example, errors caused by aging, maintenance, etc. can be accurately corrected. can.
  • a calibration program that reproduces the calibration performed by the initial calibration control unit 31 selects a template according to the calibration information acquired by the calibration information acquisition unit 110, and uses the selected template as the initial calibration control unit 31. can be generated by inputting data specifying the posture of the robot 10 in the calibration performed according to the teacher's input. By using the template in this way, the calibration performed by the initial calibration control section 31 can be easily and reliably reproduced.
  • the program generation device 100 generates a calibration program that defines the procedure for subsequent calibrations. It can be carried out.
  • FIG. 2 is a schematic diagram showing the configuration of a robot system 1A including a robot control device 30A according to another embodiment of the present disclosure.
  • the same reference numerals may be given to the same components as in the first embodiment, and overlapping descriptions may be omitted.
  • the robot system 1A includes a robot 10A, a visual sensor 20A fixed at a position overlooking the work space of the robot 10A, and a robot control device 30A that operates the robot 10A based on the detection result of the visual sensor 20A.
  • the robot 10A has a head 11 for performing work at its tip, and a calibration jig 40A is fixed to the head 11 so as not to move relative to it.
  • the visual sensor 20A is immovably arranged in the work space and can photograph the calibration jig 40A that is moved by the robot 10A.
  • the robot control device 30A has an initial calibration control unit 31A, a recalibration control unit 32A, a calibration information acquisition unit 33, a template storage unit 34, and a program generation unit 35.
  • the initial calibration control unit 31A and the recalibration control unit 32A of the robot control device 30A of FIG. 2 differ only in the coordinate systems resulting from the arrangement of the visual sensor 20A and the calibration jig 40A.
  • the same processing as that of the initial calibration control section 31 and the recalibration control section 32 of the control device 30 is performed.
  • the program generation unit 35 of the robot control device 30A generates a calibration program that defines the procedure for subsequent calibrations. can be used.
  • the present invention is not limited to the above-described embodiments. Moreover, the effects described in the above-described embodiments are merely enumerations of the most suitable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the above-described embodiments. .
  • a robot system in which the visual sensor is fixed with respect to the workspace may be provided with a program generator independent of the robot controller, and the robot controller of the robot system in which the visual sensor is fixed with respect to the robot may be calibrated.
  • An application information acquisition unit, a template storage unit, and a program generation unit may be provided.
  • a calibration jig having a plurality of feature points was used, but a calibration jig having a single feature point may be used as described in Japanese Patent No. 6396516, for example.
  • the program generation unit is configured to change the posture of the robot and take multiple shots, and generate a calibration program that identifies the coordinate system of the visual sensor from the multiple shot images.
  • the calibration program described in the above-described embodiment is merely an example, and its language (description format) and described procedure can be appropriately selected based on common technical knowledge. Further, in the calibration of the robot system, parameters may be set for correcting positioning errors caused by bending of the arm of the robot, play of gears, etc., in addition to the transformation matrix for changing the coordinates.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2021/015896 2021-04-19 2021-04-19 プログラム生成装置及びロボット制御装置 Ceased WO2022224313A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
DE112021007102.5T DE112021007102T5 (de) 2021-04-19 2021-04-19 Programmerzeugungsvorrichtung und Robotersteuerungsvorrichtung
US18/546,710 US20240139959A1 (en) 2021-04-19 2021-04-19 Program generation device and robot control device
PCT/JP2021/015896 WO2022224313A1 (ja) 2021-04-19 2021-04-19 プログラム生成装置及びロボット制御装置
JP2023515897A JPWO2022224313A1 (https=) 2021-04-19 2021-04-19
CN202180094130.4A CN116917087A (zh) 2021-04-19 2021-04-19 程序生成装置和机器人控制装置
TW111111352A TW202241660A (zh) 2021-04-19 2022-03-25 程式生成裝置及機器人控制裝置

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Application Number Priority Date Filing Date Title
PCT/JP2021/015896 WO2022224313A1 (ja) 2021-04-19 2021-04-19 プログラム生成装置及びロボット制御装置

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CN117813182A (zh) * 2021-08-03 2024-04-02 京瓷株式会社 机器人控制设备、机器人控制系统和机器人控制方法
EP4648934A4 (en) * 2023-04-20 2026-03-11 Shanghai Flexiv Robotics Tech Co Ltd METHOD FOR CALIBRATING AN ARTICULATED ROBOT, COMPUTER DEVICE AND READABLE STORAGE MEDIA

Citations (4)

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Publication number Priority date Publication date Assignee Title
US20100262288A1 (en) * 2008-06-09 2010-10-14 Svensson Tommy Y Method and a system for facilitating calibration of an off-line programmed robot cell
JP2016120564A (ja) * 2014-12-25 2016-07-07 株式会社キーエンス 画像処理装置、画像処理システム、画像処理方法及びコンピュータプログラム
JP2018103352A (ja) * 2016-12-22 2018-07-05 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
JP2020089963A (ja) * 2018-11-27 2020-06-11 ファナック株式会社 ロボットシステムおよび座標変換方法

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Publication number Priority date Publication date Assignee Title
JP5670416B2 (ja) 2012-12-28 2015-02-18 ファナック株式会社 ロボットシステム表示装置
JP6335460B2 (ja) * 2013-09-26 2018-05-30 キヤノン株式会社 ロボットシステムの制御装置及び指令値生成方法、並びにロボットシステムの制御方法
JP2016187846A (ja) * 2015-03-30 2016-11-04 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
JP6396516B2 (ja) 2017-01-12 2018-09-26 ファナック株式会社 視覚センサのキャリブレーション装置、方法及びプログラム
JP2018122376A (ja) * 2017-01-31 2018-08-09 セイコーエプソン株式会社 画像処理装置、ロボット制御装置、及びロボット
JP6904927B2 (ja) * 2018-07-30 2021-07-21 ファナック株式会社 ロボットシステムおよびキャリブレーション方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100262288A1 (en) * 2008-06-09 2010-10-14 Svensson Tommy Y Method and a system for facilitating calibration of an off-line programmed robot cell
JP2016120564A (ja) * 2014-12-25 2016-07-07 株式会社キーエンス 画像処理装置、画像処理システム、画像処理方法及びコンピュータプログラム
JP2018103352A (ja) * 2016-12-22 2018-07-05 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
JP2020089963A (ja) * 2018-11-27 2020-06-11 ファナック株式会社 ロボットシステムおよび座標変換方法

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JPWO2022224313A1 (https=) 2022-10-27
CN116917087A (zh) 2023-10-20
US20240139959A1 (en) 2024-05-02
DE112021007102T5 (de) 2024-02-29
TW202241660A (zh) 2022-11-01

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