WO2022249481A1 - 教示装置、マーカ計測方法及びプログラム - Google Patents
教示装置、マーカ計測方法及びプログラム Download PDFInfo
- Publication number
- WO2022249481A1 WO2022249481A1 PCT/JP2021/020534 JP2021020534W WO2022249481A1 WO 2022249481 A1 WO2022249481 A1 WO 2022249481A1 JP 2021020534 W JP2021020534 W JP 2021020534W WO 2022249481 A1 WO2022249481 A1 WO 2022249481A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- marker
- measurement
- user interface
- setting
- program
- Prior art date
Links
- 239000003550 marker Substances 0.000 title claims abstract description 284
- 238000000034 method Methods 0.000 title claims description 13
- 238000005259 measurement Methods 0.000 claims abstract description 178
- 230000000007 visual effect Effects 0.000 claims abstract description 32
- 238000000691 measurement method Methods 0.000 claims description 9
- 230000002194 synthesizing effect Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 description 23
- 238000010586 diagram Methods 0.000 description 13
- 238000011156 evaluation Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 6
- 230000015572 biosynthetic process Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 4
- 238000003786 synthesis reaction Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000007792 addition Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000012905 input function Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39438—Direct programming at the console
Definitions
- the present invention relates to a teaching device.
- An automated system has been proposed in which a robot is placed on a trolley or an AGV (Automated Guided Vehicle), moved, and stopped in front of a work space for machine tools, etc.
- AGV Automated Guided Vehicle
- Patent Document 1 discloses that a reference position detector (camera 4) at the end of the robot measures a reference (6) provided in the work coordinates, The robot is controlled by estimating the installation error from the difference between the reference measurement position and the reference position in the work coordinates measured in advance, and correcting this" (abstract).
- One aspect of the present disclosure is a teaching device used to create a program for measuring a marker installed in a work space with a visual sensor, the teaching device creating a user interface for inputting setting information regarding the measurement of the marker. wherein the user interface creation unit makes the first setting information input regarding the first marker available in the setting regarding the second marker in the user interface; It is a teaching device.
- Another aspect of the present disclosure is a method for measuring a marker installed in a work space with a visual sensor, wherein the first marker is measured and the accuracy of the measurement result of the first marker is evaluated. and measuring one or more additional markers when the accuracy of the measurement result of the first marker is less than a predetermined level, wherein the setting information regarding the measurement of the first marker is A method for measuring markers that can be used as setting information regarding the measurement of each of the additional one or more markers.
- Yet another aspect of the present disclosure is to accept input of first configuration information regarding the measurement of one marker, and in a manner that can utilize the first configuration information input regarding the first marker, measure the second marker.
- This is a program that causes a computer to perform an operation of providing a user interface for receiving input of second setting information related to measurement of .
- the user can easily set the measurement of the plurality of markers in the same way as when setting the measurement of one marker. be able to.
- FIG. 4 is a diagram showing one marker installed in the work space and teaching positions to be corrected;
- FIG. 4 is a diagram showing three markers installed in the work space and teaching positions to be corrected;
- FIG. 11 represents an icon of an instruction to perform measurements on one marker;
- FIG. 11 represents an icon of an instruction to perform measurements on one marker;
- FIG. 11 is a diagram showing a configuration example of a marker UI screen for performing detailed settings of a marker one-point measurement icon;
- FIG. 11 represents an icon corresponding to an instruction to perform measurements on three markers;
- FIG. 10 is a diagram showing a measurement program that evaluates the measurement result after performing measurement with the first marker, and measures the second and third markers when the evaluation value is low;
- 12 is a flow chart showing the operation of the measurement program shown in FIG. 11;
- FIG. 10 is a diagram showing a program in which a via point is added between the single-marker measurement icons when measuring with three markers; It is a figure which shows the marker setting input screen for measuring one marker provided by the setting part.
- FIG. 1 is a diagram showing the equipment configuration of a robot system 100 including a teaching device 50 according to one embodiment.
- the robot system 100 includes a machine tool 10, an industrial robot (hereinafter referred to as a robot) 20, a robot controller 30 that controls the robot 20, and a transport device 81 that transports the robot 20 and the robot controller 30. including.
- the robot 20 is mounted on a transfer device 81 and placed at a predetermined position in front of the machine tool 10 to load/unload a work object (hereinafter referred to as a work) into/from the machine tool 10 . perform a given task. That is, the robot system 100 is configured as an automation system that automates the loading/unloading of workpieces to/from the machine tool 10 by the robot 20 .
- the conveying device 81 is, for example, a cart or an AGV (Automated Guided Vehicle).
- the teaching device 50 is wirelessly or wiredly connected to the robot control device 30 and used to teach the robot 20 (to create a control program for the robot 20). During actual operation of the robot system 100, the control program created using the teaching device 50 is registered in the robot control device 30, so the teaching device 50 may be omitted from the robot system 100. .
- the robot 20 when the robot 20 performs work such as loading/unloading of a work, the position of the transfer device 81 on which the robot 20 is mounted changes. Therefore, the robot 20 needs to be configured so that it can measure the positional deviation of the robot 20 with respect to the machine tool 10 and work correctly with respect to the machine tool 10 . Therefore, a visual sensor 71 is mounted on the arm distal end portion 21 of the robot 20, and the robot 20 (robot control device 30) uses the visual sensor 71 to detect the displacement of the robot 20 with respect to the work space (machine tool 10). , is configured to perform the work by correcting the positional deviation.
- the teaching device 50 measures the three-dimensional position of the marker 4 installed at a predetermined position in the work space (machine tool 10) using the visual sensor 71 mounted on the arm tip 21 of the robot 20, and determines the work space of the robot 20. It provides a function of creating a program for measuring the positional deviation from the desired position relative to the position (hereinafter, such a program is also referred to as a measurement program).
- a control program including a measurement program created using the teaching device 50 is registered in the robot control device 30. Thereafter, the robot 20 (robot control device 30) moves from the desired position in the work space of the robot 20. It is possible to operate to detect a deviation, correct the position, and execute a predetermined work.
- the visual sensor 71 may be a two-dimensional camera or a three-dimensional position detector. In this embodiment, the visual sensor 71 is assumed to be a two-dimensional camera. The visual sensor 71 is connected to the robot controller 30 . In this embodiment, the robot control device 30 is assumed to have a function of controlling the visual sensor 71, a function of performing various image processing on the image captured by the visual sensor 71, and the like. Further, it is assumed that calibration data including data indicating the position of the visual sensor 71 with respect to the robot 20 is pre-stored in the memory 32 of the robot control device 30 .
- FIG. 2 is a diagram showing a hardware configuration example of the robot control device 30 and the teaching device 50.
- the robot control device 30 is a general device in which a memory 32 (ROM, RAM, non-volatile memory, etc.), an input/output interface 33, an operation unit 34 including various operation switches, etc. are connected to a processor 31 via a bus. It may have a configuration as a computer.
- the teaching device 50 provides a processor 51 with a memory 52 (ROM, RAM, non-volatile memory, etc.), a display unit 53, an operation unit 54 comprising an input device such as a keyboard (or software keys), an input/output interface 55 etc. are connected via a bus, and may have a configuration as a general computer.
- a teaching operation panel, a tablet terminal, a smart phone, a personal computer, and other various information processing devices can be used.
- the teaching device 50 is a device for creating a control program using commands for controlling the robot 20 .
- the teaching device 50 is a device that enables programming using icons representing commands.
- the teaching device 50 has a program creating section 151 for creating a control program and a setting section 154 for inputting various settings related to teaching of the robot 20 .
- the program creating unit 151 includes a marker UI creating unit 152 that creates a UI (user interface) for accepting input of settings related to marker measurement, and a marker setting input accepting unit 153 that accepts marker setting input operations via this UI. and Note that the UI for marker setting is implemented using the functions of the display unit 53 and the operation unit 54 .
- the setting unit 154 presents a UI screen for inputting various settings related to teaching of the robot 20 (for example, settings of the tool coordinate system), and accepts input of settings.
- the input various settings are stored in the storage unit (memory 52 ) of the teaching device 50 .
- the robot control device 30 includes a storage unit 131 that stores control programs and other various information, an operation control unit 132 that controls the operation of the robot 20 according to the control program, and a marker position measurement unit 133. , a relative position calculation unit 134 and a measurement accuracy evaluation unit 135 .
- the marker position measurement unit 133 uses the visual sensor 71 to measure the three-dimensional position of the marker 4 .
- the marker position measurement unit 133 measures the position of the marker 4 by stereo measurement using the visual sensor 71 as a two-dimensional camera. That is, the marker position measuring unit 133 changes the position of the visual sensor 71 consisting of a two-dimensional camera, images the same marker 4 from two different positions, and calculates the three-dimensional position of the marker 4 .
- This method has the advantage that a position measurement system can be realized at low cost by using a relatively inexpensive two-dimensional camera. It should be noted that other techniques known in the art for measuring the position of markers (also called target marks or visual markers) may be used.
- the storage unit 131 stores calibration data indicating the position of the two-dimensional camera (visual sensor 71) with reference to the coordinate system (mechanical interface coordinate system) set at the arm tip 21 of the robot 20.
- the robot control device 30 can grasp the position and posture of the arm tip portion 21 during operation of the robot 20. FIG. Therefore, the robot control device 30 (marker position measurement unit 133) transforms the mechanical interface coordinate system into the robot coordinate system in accordance with the motion of the robot 20, so that the two-dimensional camera (visual sensor 71) detects the sensor during imaging.
- a coordinate system and a robot coordinate system can be associated.
- the marker position measuring unit 133 can obtain the position of the target (marker 4) as a three-dimensional position in the robot coordinate system.
- the relative position calculator 134 calculates the relative position between the work space (machine tool 10) and the robot 20 (in other words, the amount of deviation from the desired position of the robot 20 with respect to the work space) based on the measured marker positions. .
- the motion control unit 132 Based on the calculated relative positional relationship between the work space and the robot (the amount of deviation of the robot 20 from the desired position with respect to the work space), the motion control unit 132 corrects the robot 20 from the prescribed position and orientation. The robot 20 is controlled so as to perform the work in the correct position and posture.
- the measurement accuracy evaluation unit 135 has a function of evaluating the accuracy of the measurement result obtained by measuring the position of one marker 4 by the marker position measurement unit 133 .
- the functions related to marker position measurement by the marker position measurement unit 133 , relative position calculation unit 134 , and measurement accuracy evaluation unit 135 are performed by storing a measurement program related to marker position measurement created using the teaching device 50 in the robot control device 30 . It can be realized by registering in the unit 131 and executing the measurement program by the processor 31 of the robot control device 30 .
- FIG. 4 shows an example of the marker 4 used in this embodiment.
- the marker 4 of this example has a dot pattern as shown in FIG.
- large dots 141-144 indicate the coordinate system (marker coordinate system) set for the marker 4.
- dots 141-142 represent the X-axis of the marker coordinate system
- dots 141, 143-144 represent the Y-axis of the marker coordinate system.
- the Z-axis is normal to the marker forming surface.
- the robot control device 30 can obtain the position and orientation of the marker coordinate system set for the marker 4 by measuring each dot of the marker 4. .
- the position and orientation of such a marker 4 can be obtained by one-time measurement using the visual sensor 71 (two-dimensional camera), or can be obtained by a stereo measurement method. As described above, in the present embodiment, the case of obtaining by the stereo measurement method will be described. Also, in this embodiment, the case where the marker 4 having the shape shown in FIG. 4 is used will be described, but any shape marker can be used as the marker to be measured.
- the shape of the marker is taught via a user interface or the like (marker UI screen 220 or the like, which will be described later) for performing detailed settings regarding marker measurement.
- FIG. 5 shows one marker 4 installed in the work space and a teaching position M1 to be corrected.
- the distance d between the marker 4 and the taught position M1 to be corrected becomes large, there is a tendency for the corrected translational position of the taught position M1 to be adversely affected.
- the teaching position M1 is translated by d ⁇ sin ⁇ to the corrected position. This is because direction deviation may occur.
- the robot control device 30 increases the number of markers 4 to be measured, and comprehends the coordinate system and correction amount by synthesizing the measurement results of the markers, thereby correcting the teaching points. improve the accuracy of As an example, as shown in FIG. 6, three markers 4 (marker 41, marker 42, and marker 43) are arranged around teaching position M1 to be corrected. Let P1, P2, and P3 be the positions measured as individual markers 41, 42, and 43, respectively.
- the marker position measurement unit 133 grasps the coordinate system with the position P1 of the marker 41 as the origin position, the position P2 of the marker 42 as the position in the X-axis direction, and the position P3 of the marker 43 as the position on the XY plane.
- the accuracy can be improved more than in the case of measurement using a single marker. Also, in this case, the greater the distance between the markers, the smaller the attitude error.
- the measurement accuracy evaluation section 135 has a function of evaluating the result of position measurement of the marker 4 by the marker position measurement section 133 .
- the measurement accuracy evaluation unit 135 evaluates the position measurement result of the marker 4 as follows. Let Pxi be the measured position of each measurement point (each dot) in the marker 4, Pyi be the position (design value) of each measurement point with respect to the origin of the marker 4, and Pm be the measured position/orientation of the marker, ⁇ (Pxi ⁇ Pm ⁇ Pyi) ⁇ 2 (1) is an index value representing the sum of squares of measurement errors at each measurement point, and the magnitude of this index value can be used to evaluate the accuracy of measurement. Note that Pxi, Pm, and Pyi in the above are simultaneous transformation matrices.
- the measurement accuracy can also be evaluated by measuring the marker 4 from a plurality of viewpoints and comprehensively evaluating the measurement results. For example, when the measurement accuracy of the marker 4 is low, the measurement results from multiple viewpoints may vary.
- the marker position measurement unit 133 and the relative position calculation unit 134 measure one marker 4 to obtain the above index value. value is greater than a predetermined threshold), the number of markers 4 to be measured may be increased (for example, three markers 4 may be used for measurement). Further, the marker position measurement unit 133 and the relative position calculation unit 134 measure one marker 4 to obtain the above index value. If the index value of the error obtained by Equation (1) is equal to or less than a predetermined threshold value, the relative positional relationship between the robot 20 and the work space may be obtained by measuring one marker 4 .
- the teaching device 50 provides a programming function for realizing the marker measurement function of the robot control device 30 as described above.
- the programming function of the teaching device 50 will be described below.
- FIG. 7 is a diagram showing a basic configuration example of the program creation screen 400 generated by the program creation unit 151.
- the program creation screen 400 includes an icon display area 200 for displaying a list of icons that can be used for program creation, and a program creation area 300 for creating a program by arranging desired icons selected from the icon display area 200. including.
- the user arranges desired icons from the icon display area 200 in the program creation area 300 by, for example, a drag-and-drop operation, and performs programming. Further, the user can select an icon arranged in the program creation area 300 and select the details tab 262 to make detailed settings (teaching) for the currently selected icon.
- FIG. 8 is a diagram showing an icon (hereinafter referred to as a single marker measurement icon 211) corresponding to an instruction to execute measurement for one marker.
- the one-point marker measurement icon 211 provides a function of measuring the three-dimensional position of the marker by a visual detection function using the visual sensor 71 and calculating the relative positional relationship between the robot 20 and the marker (that is, working space).
- the two numbers displayed above the single-point marker measurement icon 211 indicate that the single-point marker measurement icon 211 includes two teaching point settings.
- the two numbers above the one-point marker measurement icon 211 represent the teaching point numbers in the program.
- the numbers of the two teaching points of the one-point marker measurement icon 211 are shown as second and third.
- FIG. 9 is a diagram showing a configuration example of a marker UI (user interface) screen 220 for performing detailed settings of the marker one-point measurement icon 211.
- a marker UI screen 220 is generated by the marker UI generation unit 152 .
- the marker UI screen 220 may be activated and displayed by, for example, selecting the details tab 262 while the single-point marker measurement icon 211 placed in the program creation area 300 is selected.
- the marker UI screen 220 includes, as detailed setting items, (1) Two measurement positions for stereo measurement (measurement position 1, measurement position 2) It has input fields 221 to 225 for setting (2) exposure time of visual sensor, (3) selection of marker, and (4) dot interval of marker. Note that default settings may be made in advance in the setting input fields 221 to 225 .
- the teaching buttons 221a and 222a are selected to operate (jog) the robot 20 to teach the measurement positions (position of the visual sensor 71).
- FIG. 10 shows an icon (hereinafter referred to as a 3-point marker measurement icon 230) for measuring 3-point markers.
- the 3-point marker measurement icon 230 provides a function of measuring the 3-point markers 4 and determining the relative positional relationship between the robot 20 and the work space, as described above with reference to FIG.
- the 3-point marker measurement icon 230 can be easily configured by arranging three 1-point marker measurement icons 211 in the depression in the center of the 3-point marker composite icon 231 formed in a U-shape.
- the 3-marker synthesis icon 231 allows the robot (visual sensor) and the work to be performed in a manner that synthesizes the positions of the three markers respectively measured by the three marker-single-point measurement icons 211 .
- the operator should arrange three same one-point marker measurement icons 211 . That is, the operator can set the measurement settings for the three markers by operating the same marker UI screen 220 shown in FIG. That is, a common UI screen is used for setting each of the three markers 4 .
- the setting information input to the one-point-marker measurement icon 211 for one marker is the setting information for the other two single-point-marker measurement icons 211.
- the present embodiment even when performing three-point marker measurement, it is possible to perform settings via the same UI screen as when performing one-point marker measurement, and perform one-point marker measurement.
- the setting information input in the case can be reflected as the default values of the setting values when three-point marker measurement is performed. Therefore, it is possible to reduce the burden on the user when performing three-point marker measurement. That is, even when performing 3-point marker measurement, the user can set intervals similar to those for 1-point marker measurement, and is not required to have complicated knowledge for performing 3-point marker measurement.
- a three-marker synthesis icon 231 having a U-shaped extension includes a first marker-single-point measurement icon 211, a conditional branch icon 241, and a second marker-point.
- a measurement icon 211 and a third marker one-point measurement icon 211 are included.
- the conditional branch icon 241 measures the second and third markers when the error index value obtained by Equation (1) above is greater than the threshold, and measures two markers when the error index value is equal to or less than the threshold.
- FIG. 12 represents the operation of the measurement program 240 shown in FIG. 11 as a flowchart.
- the first marker is measured (step S1).
- the measurement accuracy of the first marker is evaluated (step S2).
- the index value of the system is obtained by the above-mentioned formula (1).
- S3: OK the accuracy is good
- the second marker is measured (step S4) and the third marker is measured (step S5). )I do. Then, as described with reference to FIG. 6, the coordinate system of the work space is obtained by synthesizing the measurement results of the three markers, and the relative positional relationship between the robot 20 and the work space is obtained (step S6).
- three markers 4 may be arranged in advance in the work space (machine tool 10), or if it is determined that the accuracy of measurement with one marker is not good (S3: NG), The user may increase the number of markers 4 .
- the user operates the teaching device 50 to set the arrangement information of the added markers 4 .
- step S1 corresponds to the first marker one-point measurement icon 211 of the measurement program 240
- step S4 corresponds to the second marker one-point measurement icon 211 of the measurement program 240
- step S5 corresponds to the measurement. It corresponds to the third marker one-point measurement icon 211 of the program 240
- the operation of determining the relative position in step S6 corresponds to the function of the three-marker synthesis icon 231, and the flow control in step S3 of conditional judgment corresponds to the function of the conditional branch icon 241.
- FIG. 13 shows a measurement program 250, which is an example of a program for adding a via point between the single-marker measurement icons 211 when measuring with three markers.
- three marker-single-point measurement icons 211 are arranged in the three-point marker synthesis icon 231 .
- a linear move icon 251 is inserted for adding points.
- the robot 20 moves through the teaching point designated by the linear movement icon 251 between the measurement position of the first marker and the measurement position of the second marker. Therefore, if there is an obstacle or a singular point on the path from the measurement position of the first marker to the measurement position of the second marker, it can be avoided. In this way, even when a plurality of markers are measured, the icons for each measurement are separated, so flexible programming such as addition of waypoints can be performed.
- the teaching device 50 has a setting unit 154 that provides a function of receiving various setting inputs related to robot teaching. Settings related to marker measurement may be made via such a setting input function of the teaching device 50 (that is, the function of the setting unit 154).
- FIG. 14A shows an example of a marker setting input screen 500 for marker measurement provided as a function of the setting unit 154.
- the marker setting input screen 500 includes an input field 511 for designating the number of markers to be measured, an input field 512 for designating a measurement method, and input fields 513 and 514 for inputting measurement positions.
- input fields 513 and 514 are arranged for two measurement positions (measurement position 1 and measurement position 2). The user can select teaching buttons 513a and 514a to teach measurement positions.
- the marker setting input screen 500B of FIG. 14B When the number of markers is designated as 2 on the marker setting input screen 500 shown in FIG. 14A, as shown in the marker setting input screen 500B of FIG. 14B, an input field for inputting the measurement position of the second marker 515 and 516 appear additionally.
- the user can select teaching buttons 515a and 516a to teach the measurement position of the second marker.
- the marker setting input screen 500B If the user has already entered settings for one marker via the marker setting input screen 500, the marker setting input screen 500B is displayed as the setting information for the first marker (marker 1).
- the information entered via is reflected in a usable state.
- the setting function for marker measurement by the setting unit 154 by changing the number of markers to 2 in the marker number drop-down menu on the marker setting input screen, it is possible to easily set the measurement of two markers. can move to
- Setting information related to marker measurement input via the marker setting input screen 500 or the marker setting input screen 500B is copied and stored in a global memory area that can be referenced from the program. If a marker measurement instruction is included in the control program, the marker measurement instruction can perform an operation for marker measurement using the setting information in the global memory area.
- FIG. 15 is a flow chart showing the operation of providing an interface for inputting marker measurement settings and receiving setting inputs by the marker UI creating unit 152 and the marker setting input receiving unit 153 of the teaching device 50 .
- the operation of the marker UI creation unit 152 and the marker setting input reception unit 153 in the case of a program for measuring three markers as illustrated in FIG. 10 will be described.
- the marker UI creation unit 152 presents a marker UI screen 220 for inputting settings for the first marker measurement, and the marker setting input reception unit 153 inputs the settings for the first marker measurement via the marker UI screen 220.
- a setting input for the purpose is accepted (step S101).
- the marker UI creation unit 152 presents the marker UI screen 220 for inputting settings for the second marker measurement (step S102).
- the marker UI creating unit 152 reflects, as a default value, a value that has already been input as a setting for the measurement of the first marker in the marker UI screen 220 for the measurement of the second marker.
- the marker setting input reception unit 153 receives setting input for the second marker measurement via the marker UI screen 220 for the second marker (step S102). Since the marker UI screen 220 for the second marker reflects and can be used the values that have already been entered for the first marker, the user can specifically set the measurement for the second marker. Only necessary items (for example, the measurement position of the second marker) need to be set.
- the marker UI creation unit 152 presents a marker UI screen 220 for inputting settings for the third marker measurement
- the marker setting input reception unit 153 presents the marker UI screen 220 for the third marker.
- a setting input for the second marker measurement is received via (step S103).
- the marker UI screen 220 for the third marker reflects the values that have already been entered for the first marker and the second marker. Only necessary items (for example, the measurement position of the third marker) need to be set for setting the three-marker measurement.
- the input of the first setting information regarding the measurement of the first marker is received, and the first setting information input regarding the first marker is received.
- the act of providing a user interface that accepts input of second configuration information relating to measurement of the second marker in a configuration information-enabled manner is accomplished.
- the setting unit 154 also realizes an operation equivalent to this.
- the functions provided by the teaching device 50 in the above-described embodiment can also be expressed as follows. That is, it is a teaching device used to create a program for measuring a marker placed in a work space with a visual sensor, and is a user interface creation unit ( A marker UI creation unit 152 or a setting unit 154) is provided, and the user interface creation unit makes the first setting information input regarding the first marker available in the setting regarding the second marker in the user interface. It is a teaching device.
- the marker measurement method in the above-described embodiments can be expressed as follows. That is, a method for measuring a marker installed in a work space with a visual sensor, performs measurement on a first marker, evaluates the accuracy of the measurement result of the first marker, and measures the measurement of the first marker. measuring for an additional one or more of said markers if the accuracy of the result is below a predetermined level, wherein the configuration information regarding the measurement of the first marker is for each of the additional one or more of said markers. It is a marker measurement method that can be used as setting information related to measurement.
- the user can easily set the measurement of the plurality of markers in the same way as setting the measurement of one marker. It can be carried out.
- the teaching device 50 is configured as a programming device that enables programming using icons, but the teaching device 50 is configured as a programming device that enables text-based programming. Also good.
- a text-based program corresponding to the instruction icon for measuring the three markers shown in FIG. 10 is shown below.
- FIND MARKER FIND MARKER FIND MARKER CALCULATE MARKERS In the above measurement program, the command 'FIND MARKER' is a measurement command for measuring one marker, and corresponds to the one-point marker measurement icon 211 described above.
- the command 'CALCULATE MARKERS' is a command for integrating the measurement results of the three markers to obtain the relative positional relationship between the robot and the work space, and corresponds to the 3-marker composite icon 231 described above.
- Input of detailed settings for these commands may be performed via a user interface screen for inputting marker measurement settings in the same manner as in the above-described embodiments.
- these statements may operate by referring to setting information copied to a global memory area.
- the functional blocks of the teaching device or the robot control device shown in FIG. 3 in the above-described embodiment may be realized by the CPU of the teaching device or the robot control device executing various software stored in the storage device. Alternatively, it may be realized by a configuration mainly composed of hardware such as ASIC (Application Specific Integrated Circuit).
- ASIC Application Specific Integrated Circuit
- Programs for executing the various processes shown in the above-described embodiments can be stored in various computer-readable recording media (e.g. , ROM, EEPROM, semiconductor memory such as flash memory, magnetic recording medium, optical disc such as CD-ROM, DVD-ROM, etc.).
- ROM read-only memory
- EEPROM electrically erasable programmable read-only memory
- semiconductor memory such as flash memory
- magnetic recording medium such as CD-ROM, DVD-ROM, etc.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Supply And Installment Of Electrical Components (AREA)
- User Interface Of Digital Computer (AREA)
- Measuring And Recording Apparatus For Diagnosis (AREA)
Abstract
Description
Σ(Pxi-Pm×Pyi)^2 ・・・(1)
は、各計測点の計測誤差の2乗和を表す指標値となり、この指標値の大小により計測の精度を評価し得る。なお、上記において、Pxi、Pm、Pyiは、同時変換行列である。なお、マーカ4を複数視点から計測し、それらの計測結果を総合的に評価することによっても計測精度の評価が可能である。例えば、マーカ4の計測精度が低い状態の場合には、複数視点からの計測結果にばらつきが生じ得る。
(1)ステレオ計測のための2箇所の計測位置(計測位置1、計測位置2)
(2)視覚センサの露光時間
(3)マーカの選択
(4)マーカのドット間隔
の設定入力欄221から225を有している。なお、設定入力欄221から225には、予めデフォルトの設定が成されていても良い。
(計測プログラムの例)
FIND MARKER
FIND MARKER
FIND MARKER
CALCULATE MARKERS
上記計測プログラムにおいて、命令‘FIND MARKER’は、一つのマーカの計測を行うための計測命令であり、上述のマーカ1点計測アイコン211に相当する。また、命令’CALCULATE MARKERS’は、3つのマーカについての計測結果を統合してロボットと作業空間との相対位置関係を求める命令であり、上述のマーカ3点合成アイコン231に相当する。これらの命令に対する詳細設定の入力は、上述の実施形態と同様のやり方で、マーカ計測の設定入力のためのユーザインタフェース画面を介して行うようにしても良い。或いは、これらの命令文が、グローバルなメモリ領域にコピーされた設定情報を参照して動作するようにしても良い。
10 工作機械
20 ロボット
30 ロボット制御装置
31 プロセッサ
32 メモリ
33 入出力インタフェース
34 操作部
50 教示装置
51 プロセッサ
52 メモリ
53 表示部
54 操作部
55 入出力インタフェース
71 視覚センサ
100 ロボットシステム
131 記憶部
132 動作制御部
133 マーカ位置計測部
134 相対位置計算部
135 計測精度評価部
200 アイコン表示領域
211 マーカ1点計測アイコン
220 マーカUI画面
230 マーカ3点計測アイコン
300 プログラム作成領域
400 プログラム作成画面
500、500B マーカ設定入力画面
Claims (10)
- 作業空間に設置されたマーカを視覚センサにより計測するプログラムを作成するために用いられる教示装置であって、
前記マーカの計測に関する設定情報を入力するためのユーザインタフェースを作成するユーザインタフェース作成部を備え、
前記ユーザインタフェース作成部は、前記ユーザインタフェースにおいて、第1の前記マーカに関して入力された第1の前記設定情報を、第2の前記マーカに関する設定において利用可能とする、教示装置。 - 前記ユーザインタフェースは、第1の前記マーカに関する設定のための第1のユーザインタフェース画面と、第2の前記マーカに関する設定のための第2のユーザインタフェース画面とを含み、
前記第2のユーザインタフェース画面において、第1の前記設定情報が少なくとも部分的にデフォルト値として設定されている、請求項1に記載の教示装置。 - 前記第1のユーザインタフェース画面と前記第2のユーザインタフェース画面とは共通の設定項目を含む、請求項2に記載の教示装置。
- 前記プログラムを作成するためのプログラム作成画面を生成するプログラム作成部を更に備え、
前記プログラム作成画面には第1の前記マーカを計測するための第1の計測命令と、第2の前記マーカを計測するための第2の計測命令とが同一の命令として配置されている、請求項1から3のいずれか一項に記載の教示装置。 - 前記第1の計測命令と前記第2の計測命令は同一のアイコンで表されている、請求項4に記載の教示装置。
- 作業空間に設置されたマーカを視覚センサにより計測するための方法であって、
第1の前記マーカについて計測を行い、
第1の前記マーカの計測結果の精度を評価し、
第1の前記マーカの計測結果の精度が所定のレベル未満である場合に、追加の1以上の前記マーカについて計測を行うこと、を含み、
第1の前記マーカの計測に関する設定情報が、追加の1以上の前記マーカの各々の計測に関する設定情報として利用可能となっている、マーカ計測方法。 - 第1の前記マーカ及び追加の1以上の前記マーカについての計測結果を合成して、前記作業空間と前記視覚センサとの相対位置関係を求めることを更に含む、請求項6に記載のマーカ計測方法。
- 第1のマーカの計測に関する第1の設定情報の入力を受け付け、
前記第1のマーカに関して入力された前記第1の設定情報を利用できるやり方で、第2のマーカの計測に関する第2の設定情報の入力を受け付ける、ユーザインタフェースを提供する動作を、コンピュータに実行させるプログラム。 - 前記ユーザインタフェースは、前記第1のマーカに関する設定のための第1のユーザインタフェース画面と、前記第2のマーカに関する設定のための第2のユーザインタフェース画面とを含み、
前記第2のユーザインタフェース画面において、前記第1の設定情報が少なくとも部分的にデフォルト値として設定されている、請求項8に記載のプログラム。 - 前記第1のユーザインタフェース画面と前記第2のユーザインタフェース画面とは共通の設定項目を含む、請求項9に記載のプログラム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202180098456.4A CN117355799A (zh) | 2021-05-28 | 2021-05-28 | 示教装置、标记测量方法以及程序 |
PCT/JP2021/020534 WO2022249481A1 (ja) | 2021-05-28 | 2021-05-28 | 教示装置、マーカ計測方法及びプログラム |
DE112021007324.9T DE112021007324T5 (de) | 2021-05-28 | 2021-05-28 | Lehrgerät, verfahren zur markermessung und programm |
JP2023523935A JPWO2022249481A1 (ja) | 2021-05-28 | 2021-05-28 | |
TW111116680A TW202245708A (zh) | 2021-05-28 | 2022-05-03 | 教示裝置、標記計測方法及程式 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2021/020534 WO2022249481A1 (ja) | 2021-05-28 | 2021-05-28 | 教示装置、マーカ計測方法及びプログラム |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022249481A1 true WO2022249481A1 (ja) | 2022-12-01 |
Family
ID=84229642
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2021/020534 WO2022249481A1 (ja) | 2021-05-28 | 2021-05-28 | 教示装置、マーカ計測方法及びプログラム |
Country Status (5)
Country | Link |
---|---|
JP (1) | JPWO2022249481A1 (ja) |
CN (1) | CN117355799A (ja) |
DE (1) | DE112021007324T5 (ja) |
TW (1) | TW202245708A (ja) |
WO (1) | WO2022249481A1 (ja) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04211807A (ja) * | 1990-04-20 | 1992-08-03 | Hitachi Ltd | ロボットの設置誤差の推定方法及びその装置並びにロボット駆動制御方法及び基準付き作業台及び基準 |
JPH08249026A (ja) * | 1995-03-10 | 1996-09-27 | Fanuc Ltd | ロボットを含むシステムのプログラミング方法 |
JP2001318715A (ja) * | 2000-05-12 | 2001-11-16 | Daihen Corp | 溶接用ロボットの教示方法及び装置 |
JP2007160486A (ja) * | 2005-12-16 | 2007-06-28 | Fanuc Ltd | オフラインプログラミング装置 |
-
2021
- 2021-05-28 WO PCT/JP2021/020534 patent/WO2022249481A1/ja active Application Filing
- 2021-05-28 DE DE112021007324.9T patent/DE112021007324T5/de active Pending
- 2021-05-28 JP JP2023523935A patent/JPWO2022249481A1/ja active Pending
- 2021-05-28 CN CN202180098456.4A patent/CN117355799A/zh active Pending
-
2022
- 2022-05-03 TW TW111116680A patent/TW202245708A/zh unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04211807A (ja) * | 1990-04-20 | 1992-08-03 | Hitachi Ltd | ロボットの設置誤差の推定方法及びその装置並びにロボット駆動制御方法及び基準付き作業台及び基準 |
JPH08249026A (ja) * | 1995-03-10 | 1996-09-27 | Fanuc Ltd | ロボットを含むシステムのプログラミング方法 |
JP2001318715A (ja) * | 2000-05-12 | 2001-11-16 | Daihen Corp | 溶接用ロボットの教示方法及び装置 |
JP2007160486A (ja) * | 2005-12-16 | 2007-06-28 | Fanuc Ltd | オフラインプログラミング装置 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2022249481A1 (ja) | 2022-12-01 |
CN117355799A (zh) | 2024-01-05 |
DE112021007324T5 (de) | 2024-04-04 |
TW202245708A (zh) | 2022-12-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20200139547A1 (en) | Teaching device, teaching method, and robot system | |
EP1834738B1 (en) | Teaching position correcting apparatus and teaching position correction method | |
EP1936458B1 (en) | Device, method, program and recording medium for robot offline programming | |
JP4763074B2 (ja) | ロボットのツール先端点の位置の計測装置および計測方法 | |
JP4171488B2 (ja) | オフラインプログラミング装置 | |
EP1607194B1 (en) | Robot system comprising a plurality of robots provided with means for calibrating their relative position | |
JP3733364B2 (ja) | 教示位置修正方法 | |
US7724380B2 (en) | Method and system for three-dimensional measurement | |
JP5670416B2 (ja) | ロボットシステム表示装置 | |
CN110977931A (zh) | 使用了增强现实和混合现实的机器人控制装置及显示装置 | |
JP6235664B2 (ja) | ロボットの機構パラメータを校正するために使用される計測装置 | |
JP5618066B2 (ja) | 力制御ロボットのキャリブレーション装置と方法 | |
US10675759B2 (en) | Interference region setting apparatus for mobile robot | |
US20050159842A1 (en) | Measuring system | |
US20080013825A1 (en) | Simulation device of robot system | |
JPH07311610A (ja) | 視覚センサを用いた座標系設定方法 | |
US20070242073A1 (en) | Robot simulation apparatus | |
JP2021059012A (ja) | 情報処理装置、情報処理方法及びロボットシステム | |
WO2019082394A1 (ja) | 数値制御装置 | |
JP6825026B2 (ja) | 情報処理装置、情報処理方法及びロボットシステム | |
CN111033412B (zh) | 伺服马达调整装置及伺服马达调整方法 | |
WO2022249481A1 (ja) | 教示装置、マーカ計測方法及びプログラム | |
US7877225B2 (en) | Method for determining measuring points | |
WO2024062535A1 (ja) | ロボット制御装置 | |
JP7421155B1 (ja) | ロボットの教示システム及び教示方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21943118 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2023523935 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 112021007324 Country of ref document: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202180098456.4 Country of ref document: CN |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 21943118 Country of ref document: EP Kind code of ref document: A1 |