WO2023017818A1 - Système de mesure, procédé de mesure et programme - Google Patents

Système de mesure, procédé de mesure et programme Download PDF

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Publication number
WO2023017818A1
WO2023017818A1 PCT/JP2022/030373 JP2022030373W WO2023017818A1 WO 2023017818 A1 WO2023017818 A1 WO 2023017818A1 JP 2022030373 W JP2022030373 W JP 2022030373W WO 2023017818 A1 WO2023017818 A1 WO 2023017818A1
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WO
WIPO (PCT)
Prior art keywords
measurement
sensor
robot
data
drive signal
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PCT/JP2022/030373
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English (en)
Japanese (ja)
Inventor
昭英 加藤
ゲオルギー オストロウモフ
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リンクウィズ株式会社
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Publication of WO2023017818A1 publication Critical patent/WO2023017818A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant

Definitions

  • the present invention relates to measurement systems, measurement methods, and programs.
  • Measurement work using such robots can be used for various measurement purposes by changing the combination of sensors and robots.
  • it is required to synchronize the measurement operation of the sensor and the operation of the robot.
  • a combination of sensors and robots was selected arbitrarily, it was not easy to construct a measurement system capable of acquiring accurate measurement data by synchronizing the motions of the sensors and robots.
  • Patent Document 1 discloses incorporating a synchronization signal into the motor drive signal output to the motor of the robot, there was a problem that it was necessary to change the program on the robot side that generates the motor drive signal.
  • the present invention was made in view of this background, and aims to more easily realize the construction of a measurement system that acquires more accurate measurement data by considering the operation timing of the sensor and robot.
  • the main invention of the present invention for solving the above problems is a measurement system that performs measurement processing based on measurement data obtained by a sensor mounted on a robot, wherein position information of the sensor mounted on the robot is obtained.
  • a robot operation receiving unit for receiving robot operation data indicating a robot operation data
  • a sensor information receiving unit for receiving the measurement data obtained by the sensor
  • a measurement result generation unit that identifies the robot motion data at a time that matches or is substantially the same as the time when the measurement data was obtained, and generates a measurement result using position information indicated by the specified robot motion data as a measurement start position; measurement system.
  • the present invention it is possible to easily construct a measurement system that acquires more accurate measurement data by considering the operation timing of the sensor and the robot.
  • 5 is a graph showing measurement data and sensor position information on the XY plane when a measurement object having a round hole is measured by the method shown in FIG. 4 in this embodiment. It is a figure which shows an example of the measurement data acquired with the measurement system of this embodiment. It is a figure which shows an example of the motion data acquired with the measuring system of this embodiment.
  • the present invention has, for example, the following configuration.
  • a measurement system that performs measurement processing based on measurement data obtained by a sensor mounted on a robot, a robot motion receiving unit that receives robot motion data indicating position information of the sensor mounted on the robot; a sensor information receiving unit that receives the measurement data obtained by the sensor; Based on the time information included in the robot motion data and the measurement data, the robot motion data matching or substantially the same time as the time when the first measurement data was obtained is specified, and the specified robot motion data is determined. and a measurement result generator that generates a measurement result using the indicated position information as a measurement start position.
  • the measurement system according to item 1 The sensor is a distance sensor that measures the distance from the sensor to the surface of the measurement object, The measurement system in which the measurement result generation unit generates the three-dimensional coordinates of the surface of the object to be measured as a measurement result based on the measurement data from the distance sensor and a preset measurement position interval from the distance sensor.
  • the measurement system according to item 1 or 2 A measurement system in which the sensor starts measurement based on a measurement start command generated by a robot control unit when the position of the sensor mounted on the robot reaches a preset measurement start position.
  • the measurement system obtaining the robot drive signal transmitted to the robot from a robot control unit that controls the robot, and starting the measurement operation of the sensor when the robot drive signal includes a measurement start command for causing the sensor to start measurement.
  • a measurement system comprising a sensor drive signal generator that generates a sensor drive signal that serves as a trigger for [Item 5]
  • the measurement method according to item 5 The sensor is a distance sensor that measures the distance from the sensor to the surface of the measurement object,
  • the measurement result generating step is a step of generating the three-dimensional coordinates of the surface of the object to be measured as a measurement result based on the measurement data from the distance sensor and a preset measurement position interval from the distance sensor.
  • the measurement method according to item 5 or 6 The measurement method further comprising the step of starting measurement based on a measurement start command generated by a robot controller when the position of the sensor mounted on the robot reaches a preset measurement start position.
  • a program for causing a computer to execute a measurement method for performing measurement processing based on measurement data obtained by a sensor mounted on a robot The program, as the measurement method, a robot motion receiving step of receiving robot motion data indicating position information of the sensor mounted on the robot; a sensor information receiving step of receiving the measurement data obtained by the sensor; a step of identifying the robot motion data that matches or is substantially the same as the time when the first measurement data is obtained, based on the time information included in the robot motion data and the measurement data, respectively; a measurement result generating step of generating a measurement result using position information indicated by the specified robot motion data as a measurement start position; A program that makes a computer run
  • FIG. 1 is a diagram showing an example of a measurement system 100 according to this embodiment.
  • the measurement system 100 of this embodiment includes terminals 1 and 10, a robot control unit 102, a sensor control unit 103, a measurement processing unit 104, and a robot 2.
  • the robot 2 is composed of, for example, an articulated robot arm in which a plurality of links are formed by a plurality of motors, and the arm 21 is provided with a sensor 23 . Any measuring device can be applied as the sensor 23, but in this embodiment, as an example, an example using a distance measuring sensor for measuring the distance to an object will be described.
  • the terminal 1 and the robot control unit 102 are connected by wire or wirelessly so that they can communicate with each other.
  • the terminal 10 and the measurement processing unit 104 are communicably connected to each other by wire or wirelessly.
  • measurement result information generated by the measurement processing unit 104 is transmitted to the terminal 10 and displayed on the display unit of the terminal. be.
  • the terminal 1 and the terminal 10 are shown separately in FIG. 1, they can be mounted on the same device.
  • the measurement processing unit 104 is further communicably connected to the robot control unit 102 and the sensor control unit 103 . Information about the robot's performance is transmitted from the robot control unit 102 to the measurement processing unit 104 .
  • the robot control unit 102 is further communicably connected to the robot 2 and the sensor control unit 103 , and a robot driving signal for driving the robot is transmitted from the robot control unit 102 to the robot 2 and the sensor control unit 103 .
  • the robot control unit sends the robot driving signal together with information about the operation command of the sensor, thereby causing the sensor to start measuring operation via the sensor control unit 103 .
  • the sensor control unit 103 transmits the motion command received from the robot control unit 102 to the sensor 23 .
  • FIG. 1 is merely an example, and is not limited to the illustrated configuration.
  • FIG. 2 is a diagram showing the function of each component of the measurement system 100 of this embodiment.
  • the robot control unit 102 includes a drive signal generation unit 1021 and a signal output unit 1022.
  • the robot drive signal generation unit 1021 transmits a robot drive signal to the robot 2 and the sensor control unit 103 upon receiving an operation start command from the terminal.
  • the robot drive signal may be a pulse signal that becomes a High signal when the motor on which the robot 2 is mounted starts to operate, or a periodic pulse signal that repeats High and Low during the motor drive period. can be
  • the robot 2 operates the arm 21 on which the sensor 23 is mounted by driving the motor according to the received robot drive signal.
  • the signal output unit receives motion data related to the actual motion results of the robot 2 and transmits the motion data to the robot drive signal generation unit 1021 and the robot motion reception unit 1041 of the measurement processing unit 104 .
  • the robot drive signal generation unit 1021 adds or superimposes the measurement start signal from the sensor to the robot drive signal. Output.
  • the sensor control unit 103 includes a signal output unit 1031 and a measurement data reception unit 1032.
  • the signal output unit 1031 transmits the sensor drive signal to the sensor 23 when the received robot drive signal includes the measurement start signal.
  • the measurement data reception unit 1032 receives measurement data measured by the sensor 23 and transmits the measurement data to the sensor information reception unit 1042 of the measurement processing unit 104 .
  • the measurement processing unit 104 includes a robot motion reception unit 1041 , a sensor information reception unit 1042 and a measurement result generation unit 1043 .
  • the robot motion reception unit 1041 transmits the robot motion data received from the robot control unit 102 to the measurement result generation unit 1043 .
  • the sensor information receiving section 1042 transmits the measurement data received from the sensor control section 103 to the measurement result generating section 1043 .
  • time information (Time Stamp) is attached to each piece of motion data and measurement data transmitted to the measurement result generation unit 1043 .
  • the measurement result generation unit 1043 Based on the time information corresponding to the measurement start data of the received measurement data, the measurement result generation unit 1043 identifies the motion data at the same time or substantially the same time as the data indicating the position coordinates of the sensor at the start of measurement. By doing so, the sensor position coordinates at the start of measurement are estimated. Furthermore, the pitch interval of the scanning positions is set in advance based on the measurement scanning frequency of the sensor and the linear motion speed of the robot. Three-dimensional measurement result data is generated by arranging the measured values of the measurement data for each pitch interval on the basis of the estimated sensor position coordinates at the start of measurement. The generated measurement result data is transmitted to the terminal 10 and displayed on the display device, or stored in the storage device of the terminal 10 .
  • FIG. 3 is a diagram showing a control flowchart of the measurement system in this embodiment.
  • FIG. 3 shows a case where the start of the flowchart is defined as the case where the robot driving signal generator 1021 receives the measurement start command from the terminal 1 and transmits the robot driving signal.
  • the robot drive signal generator 1021 generates a robot drive command when receiving a measurement start command from the terminal 1 (step 301).
  • the robot driving signal generator 1021 transmits the robot driving signal to the robot 2 and the sensor controller 103 (step 302).
  • the robot 2 drives a plurality of motors mounted on the robot according to the received robot drive signal.
  • the signal output unit 1022 of the robot control unit 102 starts acquiring motion data from the robot that has started driving (step 303).
  • the robot control unit 102 determines that the robot arm position (sensor mounting position) has reached a preset measurement start point (step 304).
  • the robot driving signal generation unit generates a measurement start command and transmits it to the sensor control unit 103.
  • the measurement operation by the sensor is started (step 305).
  • the measurement data reception unit 1032 of the sensor control unit 103 starts acquiring measurement data from the sensor that has started the measurement operation (step 306).
  • the robot control unit 102 determines that the robot arm position (sensor mounting position) has reached a preset measurement end point (step 307).
  • the robot driving signal generation unit generates a measurement end command and transmits it to the sensor control unit 103.
  • the measurement operation by the sensor ends (step 308).
  • the signal output unit 1022 of the robot control unit 102 terminates acquisition of motion data from the robot (step 309).
  • the measurement result generator 1043 identifies motion data having substantially the same time stamp based on the time information of the time stamp associated with the first measurement value of the measurement data. Then, the position coordinates indicated by the specified motion data are estimated to be the position of the sensor when the measurement is started (step 310).
  • the measurement result generation unit 1043 uses the sensor measurement scan frequency and the pitch interval of the scan positions preset based on the information on the linear movement speed of the robot, and uses the estimated sensor position coordinates at the start of measurement as the reference position. , three-dimensional measurement result data is generated by arranging the measured values of the measurement data for each pitch interval (step 311).
  • FIG. 4 is a diagram showing an example of measuring the external shape of an object to be measured by the measurement system according to the present embodiment.
  • a distance measurement sensor installed on the robot arm senses the distance to an object to be measured in the vertical direction (Z-axis direction) at predetermined intervals, and the robot arm is driven to detect the distance measurement sensor. It shows an example of measuring the three-dimensional shape of a measurement target by moving along a preset movement route (arrows in the figure) on the XY plane.
  • a dot in FIG. 4 indicates each sensing position that is periodically sensed.
  • the robot control unit starts driving the robot arm, and the distance measurement sensor is set in advance from the outside of the sensing position below the sensing start position (black dot) in Fig. 4 on the XY plane. to the selected sensing start position.
  • the sensor drive signal is output from the robot drive signal generator when the distance measurement sensor reaches the sensing start position, the sensor drive signal is input to the sensor, and scanning by the sensor is started.
  • the measurement data when the position of the round hole is sensed becomes a larger value than the measurement data of the position where the round hole is not open.
  • FIG. 5 is a schematic diagram of a graph showing measurement data and sensor position (operation data) information on the XY plane when a measurement object having a round hole is measured by the method shown in FIG. 4 in this embodiment.
  • the upper graph in FIG. 5 shows the measurement data at each time
  • the middle graph shows the sensor position in the X-axis direction at each time
  • the lower graph shows the sensor position in the Y-axis direction at each time. It is a graph showing.
  • the measurement data graph the measurement data is relatively large at the time when the position of the round hole is measured.
  • the sensor position in the X-axis direction increases stepwise as shown in the central graph of FIG.
  • the sensor position in the Y-axis direction repeats increase and decrease in a sawtooth shape as shown in the lower graph of FIG.
  • Fig. 6 shows the measurement data measured by the sensor in tabular form.
  • the measurement data consists of a plurality of pieces of scan information, each of which includes a data number, a sensor measurement value (measured distance in the Z-axis direction), and a time stamp (e.g., epoch time) and the coordinate of the direction of movement of the sensor (Y coordinate) that changes at predetermined intervals.
  • the interval between the sensor Y coordinates can be determined in advance based on the sensing frequency of the sensor and the moving speed of the robot arm.
  • FIG. 7 is a tabular representation of motion data indicating the motion results of the robot arm.
  • the motion data includes a data number, X-coordinate, Y-coordinate, and Z-coordinate of the sensor position, scan start command, and time stamp (for example, epoch time).
  • the scan start command is "0" when the scan start command is not output together with the robot drive signal, and is "1" when the scan start command is output.
  • data No. 1153 since the scan start command has changed to "1", it can be seen that the scan start command was output from the robot control unit at the epoch time "****6691".
  • FIG. 1153 since the scan start command has changed to "1", it can be seen that the scan start command was output from the robot control unit at the epoch time "****6691".
  • the epoch time of the first data of the measurement data is "****6698", so the timing of outputting the measurement start command and the timing of starting acquisition of the measurement data are different. It can be seen that there is an error in In this embodiment, the measurement result generation unit uses the measurement start time obtained from the measurement data shown in FIG. Coordinate information can be acquired.
  • motion data having substantially the same time stamp is specified. It can be estimated that the position coordinates indicated in the motion data are the positions of the sensors when the measurement is started.
  • the estimated sensor position coordinates at the start of measurement are used as the reference position, and each pitch interval
  • Example 2 In the first embodiment, an example in which a measurement start command is transmitted from the robot control unit to the sensor control unit is shown. Embodiments are described that generate and send a signal to the sensor controller. In the present embodiment, functional units denoted by the same reference numerals as those in the first embodiment perform the same operations.
  • FIG. 8 is a diagram illustrating an example of the measurement system 100 according to the second embodiment.
  • the measurement processing unit 204 further includes a signal detection unit 1044 and a sensor drive signal generation unit 1045 in addition to a robot motion reception unit 1041 , a sensor information reception unit 1042 and a measurement result generation unit 1043 .
  • the signal detection unit 1044 detects that the received robot drive signal includes a signal indicating a measurement start command, and if the signal indicating a measurement start command is included, transmits a sensor operation start signal. .
  • the sensor drive signal generator 1045 Upon receiving the sensor operation start signal, the sensor drive signal generator 1045 generates a sensor drive signal and transmits it to the sensor controller 103 .
  • the sensor drive signal may be, for example, a periodic pulse signal in which a High signal and a Low signal are repeatedly generated during the sensing operation period of the sensor 23 .
  • the sensor 23 may perform sensing at the timing of receiving the High signal, and may be configured so that the sensing cycle can be changed according to the pulse signal cycle of the sensor drive signal.
  • the sensor control section 103 has a signal output section 1031 and a measurement data reception section 1032 . The signal output unit 103 transmits the received sensor drive signal to the sensor 23 .
  • FIG. 9 is a diagram showing a control flowchart of the measurement system in this embodiment.
  • FIG. 9 shows a diagram where the start of the flowchart is defined as the case where the robot control unit 102 transmits a measurement start command together with a robot operation command.
  • the robot drive signal generator 1021 generates a robot drive command when receiving a robot operation command from the terminal 1 (step 301).
  • the robot drive signal generator 1021 transmits the robot drive signal to the robot 2 and the measurement processor 104 (step 302).
  • the robot 2 drives a plurality of motors mounted on the robot according to the received robot drive signal (step 303).
  • the signal output unit 1022 of the robot control unit 102 acquires motion data including information on the motion performance from the robot 2 (step 304).
  • the signal detection unit 1041 of the measurement processing unit 104 detects whether or not the robot drive signal received from the robot drive signal generation unit 1021 in step 302 includes a measurement start command (step 305).
  • the sensor drive signal generation unit 1045 generates a sensor drive signal and transmits it to the signal output unit of the sensor control unit 103 (step 306).
  • the sensor 23 performs sensing by driving the sensor according to the sensor driving signal received through the signal output unit 1031 (step 307).
  • the measurement data reception unit 1032 of the sensor control unit 103 acquires measurement data from the sensor 23 (step 308).
  • the robot drive signal is a signal generated by the robot drive signal generator 1021 of the robot controller 102, and has a pulse signal instructing the start of driving and a pulse signal instructing the end of driving.
  • the sensor operation start signal, sensor operation stop signal, and sensor drive signal are signals generated by the sensor drive signal generator 1045 in the measurement processor 104 .
  • the sensor operation start signal is a signal containing a pulse signal that instructs the sensor to start operating.
  • the sensor operation stop signal is a signal containing a pulse signal instructing to stop the operation of the sensor.
  • a pulse signal instructing to stop the operation of the sensor is generated as a sensor operation start signal. A slight delay time may occur from the generation of the drive start pulse signal or drive end pulse signal in the robot drive signal to the generation of the pulse signal in the sensor operation start signal or sensor operation stop signal.
  • the sensor drive signal generation unit 1045 generates a pulse signal for starting operation in the sensor operation start signal, and at the same time, generates a sensor drive signal that periodically repeats High and Low. Therefore, the rise timing of the operation start pulse signal of the sensor operation start signal and the rise timing of the pulse signal of the sensor drive signal are almost the same.
  • the High side signal of the sensor drive signal is an instruction to perform sensing operation to the sensor, and the Low side signal is a signal not to instruct the sensor to perform sensing operation. Operation execution and sensing operation stop are repeated.
  • the sensor drive signal generation section can be configured so that the pulse rises at any timing and can generate a pulse signal with any period as the sensor drive signal.
  • the pulse signal for starting the drive of the robot drive signal is received.
  • the robot control unit can synchronize the robot and the sensor. It is possible to eliminate or reduce the need to change software, etc. Furthermore, even when synchronous processing is performed for a combination of an arbitrary robot and an arbitrary sensor, if the measurement processing section that generates a command to start driving the sensors is appropriately designed, the robot control section and sensor control section No software changes need to be made or the amount of changes made can be reduced.
  • FIG. 11 is a diagram showing an example of another method of generating a sensor driving signal in the measurement processing section in this embodiment, and particularly showing an example of generating a sensor driving signal based on an encoder pulse signal.
  • FIG. 10 shows an example in which the measurement processing unit acquires a signal having a pulse signal instructing the start of driving of the robot and a pulse signal instructing the end of driving. An example of acquiring a periodic pulse signal (for example, an encoder pulse signal) in which Low is repeatedly generated will be described.
  • the signal detection unit 1041 of the measurement processing unit can detect the rise of the pulse of the robot drive signal, and the sensor drive signal generation unit can generate the sensor operation start signal. Also, in the same way as when driving is started, when driving is finished, it is possible to detect that the pulse of the robot driving signal does not appear for a predetermined time or longer, and generate a sensor operation stop signal in the sensor driving signal generation section.
  • FIG. 12 is a diagram showing the function of each component when synchronizing the sensors based on the motion data of the robot in this embodiment.
  • FIG. 2 illustrates an example in which the measurement processing unit acquires the robot driving signal transmitted from the robot control unit to the robot and generates the sensor driving signal based on the robot driving signal. An example of generating a sensor drive signal based on operation data acquired from the will be described. The parts of the modification shown in FIG. 12 that are different from those in FIG. 2 will be described below.
  • the motion data output from the robot is information related to the robot's performance record, and can be information including information related to the start of the robot's motion, for example.
  • the signal detection unit 5041 in the measurement processing unit 504 acquires the motion data, and if the motion data includes information indicating that the robot has started motion, generates a sensor motion start signal, and generates a sensor drive signal. Send to the generator.
  • motion data can be information including sensor position coordinate information.
  • the signal detection unit 5041 acquires the operation data, and if the information indicating that the position coordinate of the sensor has reached a preset position, generates a sensor operation start signal to drive the sensor. Send to the signal generator.
  • information including sensor speed information can be used.
  • the sensor speed information may be motor current or voltage or a combination thereof.
  • the signal detection unit 5041 acquires the operation data, and if the sensor speed includes information indicating that the speed of the sensor has reached a preset value, the signal detection unit 5041 generates a sensor operation start signal and a sensor drive signal. Send to the generator.
  • the sensor drive signal generation unit When the signal detection unit 5041 receives the operation data described above and generates a sensor operation start signal and transmits it to the sensor drive signal generation unit, the sensor drive signal generation unit generates a sensor drive signal and sends the sensor to the sensor control unit. Send the drive signal.
  • the signal detection section detects whether or not the received operation data satisfies a predetermined condition.
  • the period of the sensor drive signal may be changed by detecting the . For example, by detecting that the sensor position has entered an area where you want to perform sensing with higher accuracy than other areas based on the sensor's positional coordinate information, and shortening the cycle of the sensor drive signal compared to other areas, measurement can be performed. High-precision measurement can be performed for any area in the target area.
  • the position of the robot arm is detected by the positional coordinate information of the sensor in the turn-around area on the sensor's position sensing scanning route, and the period of the sensor drive signal is shortened compared to other areas. It is possible to perform highly accurate measurement of a period during which a complex motion other than a linear motion is performed. As yet another example, when the moving speed of the sensor exceeds a predetermined speed, by shortening the cycle of the sensor driving signal, it is possible to reduce variations in sensing position intervals due to changes in speed. .
  • FIG. 13 is a diagram showing an example of another control flowchart of the measurement system according to this embodiment.
  • FIG. 13 shows a diagram where the start of the flowchart is defined as the case where the robot operation command unit 1011 receives the measurement start command from the terminal 1 and transmits the robot operation command.
  • the robot driving signal generator 1021 generates a robot driving command when receiving a robot operation command (step 1301).
  • the robot driving signal generator 1021 transmits a robot driving signal to the robot 2 (step 1302).
  • the robot 2 drives a plurality of motors mounted on the robot according to the received robot drive signal (step 1303).
  • the robot 2 transmits motion data including information about the motion performance of the robot 2 to the signal detection unit 5041 of the measurement processing unit and the signal output unit 1022 of the robot control unit (step 1304). , the motion data including the information on the motion results is acquired from the robot 2 (step 1305).
  • the signal detection section 5044 of the measurement processing section 504 detects whether or not the motion data transmitted from the robot 2 in step 1304 satisfies a predetermined condition.
  • the motion data includes information indicating that the robot has started to move, or includes information indicating that the position coordinates of the sensor have reached a preset position, or the speed of the sensor is a preset value. If it contains information indicating that it has reached , it is detected (step 1306).
  • the sensor drive signal generation unit 5045 generates a sensor drive signal and transmits it to the signal output unit of the sensor control unit 103 (step 1307). ).
  • the sensor 23 performs sensing by driving the sensor according to the sensor drive signal received through the signal output unit 1031 (step 1308).
  • the measurement data reception unit 1032 of the sensor control unit 103 acquires measurement data from the sensor 23 (step 1309).
  • the measurement result generation unit 1012 acquires motion data from the signal output unit 1022 of the robot control unit 102 and measurement data from the measurement data reception unit 1032, and generates measurement result data.
  • the measurement result generation unit 1012 generates measurement result data related to the measurement target by associating the measurement start time information included in the measurement data with the action start time information included in the action data.
  • the measurement data By associating the measurement data with the motion data based on the measurement start time in this way, a plurality of detection values constituting the measurement data, position coordinate information of the sensor when the detection values were acquired, speed information, Alternatively, posture information can be associated and acquired.
  • Reference Signs List 1 10 terminal 2 robot 21 arm 23 sensor 100 measurement system 102 robot control unit 103 sensor control unit 104, 204, 504 measurement processing unit 1011 robot operation command unit 1012 measurement result generation unit 1021 robot drive signal generation unit 1022 signal output unit 1031 Signal output unit 1032 Measurement data reception unit 1041 Robot operation reception unit 1042 Sensor information reception unit 1043 Measurement result generation unit

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Abstract

Le problème décrit par la présente invention est que, lors d'un travail de mesure à l'aide d'un capteur monté à une extrémité distale d'un bras de robot, la synchronisation d'une opération de mesure du capteur avec une opération du robot est nécessaire pour améliorer la précision de mesure du travail de mesure. Cependant, si une combinaison d'un capteur et d'un robot est librement sélectionnée, il n'est pas facile de construire un système de mesure pour synchroniser les opérations du capteur et du robot. La solution de l'invention porte sur un système de mesure pour effectuer un processus de mesure sur la base de données de mesure obtenues par un capteur monté sur un robot, le système de mesure comprenant : une unité de réception d'opération de robot qui reçoit des données d'opération de robot indiquant des informations d'emplacement concernant le capteur monté sur le robot ; une unité de réception d'informations de capteur qui reçoit les données de mesure obtenues par le capteur ; et une unité de génération de résultat de mesure qui, sur la base d'informations temporelles contenues dans chacune des données d'opération de robot et des données de mesure, identifie les données d'opération de robot correspondant à un temps égal ou sensiblement identique à un instant auquel des premières données de mesure ont été obtenues et génère un résultat de mesure à l'aide des informations d'emplacement indiquées par les données d'opération de robot identifiées en tant que position de début de mesure.
PCT/JP2022/030373 2021-08-10 2022-08-09 Système de mesure, procédé de mesure et programme WO2023017818A1 (fr)

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JP2019007983A (ja) * 2018-09-26 2019-01-17 キヤノン株式会社 計測装置、処理装置および物品製造方法
JP2021062978A (ja) * 2018-10-30 2021-04-22 株式会社Ｍｕｊｉｎ 自動パッケージスキャンおよび登録メカニズムを備えたロボットシステム、ならびにその動作方法

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JP2012024920A (ja) * 2003-04-28 2012-02-09 3D Scanners Ltd 外骨格を有するｃｍｍアーム
JP2019007983A (ja) * 2018-09-26 2019-01-17 キヤノン株式会社 計測装置、処理装置および物品製造方法
JP2021062978A (ja) * 2018-10-30 2021-04-22 株式会社Ｍｕｊｉｎ 自動パッケージスキャンおよび登録メカニズムを備えたロボットシステム、ならびにその動作方法

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