WO2023089981A1 - ロボットアーム用のツールチェック装置、ツールチェックプログラム、及びツールチェック方法 - Google Patents
ロボットアーム用のツールチェック装置、ツールチェックプログラム、及びツールチェック方法 Download PDFInfo
- Publication number
- WO2023089981A1 WO2023089981A1 PCT/JP2022/037477 JP2022037477W WO2023089981A1 WO 2023089981 A1 WO2023089981 A1 WO 2023089981A1 JP 2022037477 W JP2022037477 W JP 2022037477W WO 2023089981 A1 WO2023089981 A1 WO 2023089981A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tool
- distribution data
- robot arm
- satisfied
- distribution
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 56
- 238000009826 distribution Methods 0.000 claims abstract description 191
- 238000007689 inspection Methods 0.000 claims abstract description 58
- 230000000875 corresponding effect Effects 0.000 claims description 30
- 238000001914 filtration Methods 0.000 claims description 12
- 238000003384 imaging method Methods 0.000 claims description 10
- 230000001276 controlling effect Effects 0.000 claims description 8
- 230000002596 correlated effect Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 10
- 238000003754 machining Methods 0.000 description 10
- 230000005856 abnormality Effects 0.000 description 6
- 238000005520 cutting process Methods 0.000 description 5
- 230000014509 gene expression Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 235000013305 food Nutrition 0.000 description 3
- 235000013372 meat Nutrition 0.000 description 3
- 240000006829 Ficus sundaica Species 0.000 description 2
- 230000004323 axial length Effects 0.000 description 2
- 244000144972 livestock Species 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 235000021067 refined food Nutrition 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Images
Classifications
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- 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
- G05B2219/39468—Changeable hand, tool, code carrier, detector
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40589—Recognize shape, contour of tool
Definitions
- the present disclosure relates to a tool check device, tool check program, and tool check method for a robot arm.
- Patent Literature 1 does not disclose a specific configuration for accurately determining whether the tool conditions are satisfied.
- the present disclosure is to provide a tool check device, tool check program, and tool check method for a robot arm that can accurately determine whether tool conditions are satisfied.
- a tool checking device for a robot arm comprises: In an inspection space defined as a three-dimensional coordinate system, the tool is arranged at a first axis coordinate of the three-dimensional coordinate system according to a tool condition relating to at least one of the type and state of the tool to be mounted on the robot arm.
- a movement controller configured to control the robot arm to
- a distribution data acquisition configured to acquire distribution data indicated by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system of an object in the inspection space after being controlled by the movement control unit.
- Department and a determination unit configured to determine whether the tool condition is satisfied based on the distribution data.
- a tool check program for a robot arm comprises: to the computer, In an inspection space defined as a three-dimensional coordinate system, the tool is arranged at a first axis coordinate of the three-dimensional coordinate system according to a tool condition relating to at least one of the type and state of the tool to be mounted on the robot arm.
- a movement control step for controlling the robot arm to After the movement control step, a distribution data acquisition step for acquiring distribution data of an object in the inspection space indicated by a combination of the second axis coordinate and the third axis coordinate of the three-dimensional coordinate system; and a determining step of determining whether the tool condition is satisfied based on the distribution data.
- a tool checking method for a robot arm comprises: In an inspection space defined as a three-dimensional coordinate system, the tool is arranged at a first axis coordinate of the three-dimensional coordinate system according to a tool condition relating to at least one of the type and state of the tool to be mounted on the robot arm. a movement control step for controlling the robot arm to After the movement control step, a distribution data acquisition step for acquiring distribution data indicated by a combination of the second axis coordinates and the third axis coordinates of the three-dimensional coordinate system of the objects in the inspection space; and a determining step for determining whether the tool condition is satisfied based on the distribution data.
- FIG. 1 is a conceptual diagram showing a work machining system according to one embodiment
- FIG. FIG. 4 is a conceptual illustration of an examination space according to one embodiment
- FIG. 4 is a conceptual diagram showing a process of acquiring corresponding distribution data according to one embodiment
- FIG. 4 is a conceptual diagram showing a determination method regarding tool conditions according to one embodiment
- FIG. 11 is another conceptual diagram showing a determination method regarding tool conditions according to one embodiment
- FIG. 4 is a conceptual diagram showing an imaging range according to the posture of a 3D camera according to one embodiment
- 1 is a conceptual diagram showing an electrical configuration of a tool checking device according to one embodiment
- expressions that express shapes such as squares and cylinders do not only represent shapes such as squares and cylinders in a geometrically strict sense, but also include irregularities and chamfers to the extent that the same effect can be obtained.
- the shape including the part etc. shall also be represented.
- the expressions “comprising”, “comprising”, “having”, “including”, or “having” one component are not exclusive expressions excluding the presence of other components.
- FIG. 1 is a conceptual diagram showing a work machining system 1 according to one embodiment of the present disclosure.
- the work processing system 1 is configured to process a work 5 using a tool 40 attached to a robot arm 30.
- Work 5 of this embodiment is food such as agricultural products, livestock products, or marine products. Food may be either fresh food or processed food.
- the processing of the workpiece 5 is, for example, cutting, clamping, chucking, or a combination thereof.
- the processing of the workpiece 5 according to another embodiment may be pressing, hitting, ejecting fluid, or irradiating the workpiece 5 with light.
- a work processing system 1 includes a transport device 7 for transporting a work 5, a robot arm 30 for processing the work 5, and a work 5 transported by the transport device 7.
- a 3D camera 8 configured and a tool check device 50 for a robot arm (hereinafter sometimes simply referred to as "tool check device 50") are provided.
- the conveying device 7 is a belt conveyor that conveys the work 5 in the horizontal direction.
- the robot arm 30 is an industrial robot realized by a vertical articulated robot, a horizontal articulated robot, or a combination thereof.
- a tool 40 for processing the workpiece 5 is attached to the robot arm 30 .
- the robotic arm 30 of the present example includes robotic arms 30A, 30B, 30C configured to operate in conjunction with each other.
- the device to which the tool 40 for processing the workpiece 5 is attached may not be the robot arm 30, and may be, for example, a simpler configuration of a cutting machine or a clamping device.
- the tool 40 of this embodiment includes a clamper 41 for gripping the work 5 , a chuck 42 for chucking the work 5 , and a knife 43 for cutting the work 5 .
- chuck 42 includes mutually symmetrical chucks 42L, 42R. Both the clamper 41 and the chuck 42 are connected to an actuator (not shown), which may be an air cylinder, a hydraulic cylinder, a motor, or the like, and are configured to open and close by driving the actuator.
- the tool 40 of this example is selectively attached to the robot arm 30 .
- the clamper 41, the chuck 42, and the knife 43 are each selectively attached to one of the robot arms 30A, 30B, 30C.
- the work 5 is livestock leg meat
- which tool 40 is attached to the robot arm 30 depends on whether the work 5 is left leg meat or right leg meat.
- the robot arm 30 processes the workpiece 5 based on the image of the workpiece 5 captured by the 3D camera 8. More specifically, the processing position for the workpiece 5 is specified based on the image captured by the 3D camera 8, and the robot arm 30 is controlled based on the specified result.
- a controller (not shown) for controlling the robot arm 30 during machining of the workpiece 5 may be the same control device as the tool check device 50, or may be a different control device.
- the 3D camera 8 of this embodiment is configured to photograph the robot arm 30 on which the tool 40 is attached, in addition to the workpiece 5 .
- the photographing of the tool 40 and the robot arm 30 may be performed while the workpiece 5 is placed on the transfer device 7, or may be performed at another timing. Also, the robot arm 30 may not be photographed.
- a tool checking device 50 is configured to check whether tool conditions are satisfied.
- Tool conditions are conditions regarding at least one of the type and state of the tool 40 to be attached to the robot arm 30 .
- the tool conditions of this embodiment are set corresponding to each of the robot arms 30A, 30B, and 30C.
- the tool type and tool state corresponding to the robot arm 30A are "clamper 41" and "open state,” respectively.
- the tool type and tool state corresponding to the robot arm 30B are "chuck 42L” and “open state” respectively.
- the tool conditions are not satisfied, for example, when the operator makes an error in mounting the tool 40 .
- the tool type is not satisfied.
- an error may occur in the work of connecting the air cylinder as an actuator and the clamper 41 using an air pipe. In this case, when the air cylinder is operated, the clamper 41 is closed when it should be open, and the tool state is not satisfied.
- the tool 40 is mounted in the reverse mounting posture in the vertical direction, the tool state is not satisfied.
- mounting of tool 40 may be performed by a robot instead of an operator.
- only one of the clamper 41, the chuck 42, and the knife 43 may be prepared as the tool 40.
- FIG. Therefore, only one robot arm 30 may be installed.
- FIG. 2 is a conceptual illustration of an examination space 99 according to one embodiment of the present disclosure.
- FIG. 3 is a conceptual diagram showing the process of acquiring corresponding distribution data 120A according to an embodiment of the present disclosure.
- FIG. 4A is a conceptual diagram illustrating a determination technique regarding tool conditions according to an embodiment of the present disclosure.
- FIG. 4B is another conceptual diagram illustrating a determination technique regarding tool conditions according to one embodiment of the present disclosure.
- FIG. 5 is a conceptual diagram showing an imaging range 8A according to the attitude of the 3D camera 8 according to one embodiment of the present disclosure.
- an inspection space 99 defined as a three-dimensional coordinate system including mutually orthogonal X, Y, and Z axes, is used to determine whether the tool conditions are met. used.
- the inspection space 99 is the photographing range 8A of the 3D camera 8 as an example.
- the Z-axis is parallel to the optical axis direction of the 3D camera 8 and extends along the vertical direction.
- the X and Y axes extend along the horizontal direction.
- the Z axis may be referred to as "first axis”
- the X axis and Y axis may be referred to as "second axis" and "third axis", respectively.
- the tool check device 50 includes a condition acquisition unit 51 for acquiring tool conditions, a movement control unit 53 for controlling the robot arm 30, and a It includes an imaging control unit 54, a distribution data acquisition unit 55 for acquiring distribution data 120 (see FIG. 3) described later, and a determination unit 56 for determining whether tool conditions are satisfied. Details of these components are exemplified below.
- the condition acquisition unit 51 is configured to acquire tool conditions based on an input operation by an operator of the work machining system 1, for example. In other embodiments, tool conditions may be obtained based on instructions contained in tool check program 95 (see FIG. 6) read by tool check device 50 .
- the movement control unit 53 is configured to control the robot arm 30 so that the tool 40 is arranged in the inspection space 99 at the first axis coordinates according to the tool conditions acquired by the condition acquisition unit 51 .
- An inspection space 99 illustrated in FIG. 2 includes three inspection spaces 99A, 99B, and 99C that are divided in order from the 3D camera 8 side along the first axis direction (vertical direction).
- the movement control unit 53 controls the robot arm 30 so that the chucks 42L, 42R (42), the clamper 41, and the knife 43 are arranged in the inspection spaces 99A, 99B, 99C, respectively. That is, the inspection spaces 99A, 99B, and 99C are prepared according to the type of the tool 40.
- FIG. In this embodiment, the tool 40 attached to the robot arm 30 changes according to the machining conditions of the workpiece 5 , so the moving path of the robot arm 30 also changes according to the machining conditions of the workpiece 5 .
- the movement control unit 53 may control the robot arm 30 so that different types of tools 40 are arranged in the inspection space 99A, for example.
- inspection space 99 may be prepared according to the tool state of tool 40 .
- the tool 40 attached to the robot arm 30A first moves into the inspection space 99, and it is determined whether the tool conditions are satisfied. Thereafter, after the robot arm 30A is controlled so that this tool 40 leaves the inspection space 99, it is determined whether the tool conditions are satisfied in order for the tools 40 attached to the remaining robot arms 30B and 30C.
- the inspection space 99 of this embodiment in addition to the inspection spaces 99A to 99C described above, other objects including at least part of the robot arm 30 and at least part of the workpiece 5 are arranged in the inspection space 99.
- Spaces in which the robot arm 30 is arranged are inspection spaces 99A to 99C.
- the space in which the workpiece 5 is arranged is located below the inspection space 99C in the inspection space 99 .
- Other objects may also be placed in the inspection space 99 .
- the object 98 when collectively referring to the objects arranged inside the inspection space 99, they may simply be referred to as "the object 98". That is, the object 98 of this embodiment is a concept including the tool 40 , the robot arm 30 and the workpiece 5 .
- the photographing control unit 54 is configured to control the 3D camera 8 and acquire photographed image data after the movement control unit 53 controls.
- the imaging range 8A of the 3D camera 8 matches the inspection space 99.
- the 3D camera 8 has a function of photographing an object 98 to be photographed and a function of measuring a photographing distance, which is the distance from the object 98 to the 3D camera 8 .
- the 3D camera 8 is a stereo camera including two lenses.
- the object 98 appears in each of the first captured image generated based on the light collected by one lens and the second captured image generated based on the light collected by the other lens.
- the image areas in which the object 98 is captured are different in each captured image, and the photographing distance can be calculated based on the relative positional relationship between these image areas.
- a search process is performed to search for the same object in the second captured image as the object 98 captured in the first captured image.
- PatchMatch is adopted as this search processing, and the efficiency of the search processing is improved.
- a so-called exhaustive search type algorithm is employed, which compares each of the plurality of pixels forming the first captured image with each of the plurality of pixels forming the second captured image. good too.
- the 3D camera 8 that measures the shooting distance may be a three-dimensional shape measuring camera that employs a light cutting method instead of a stereo camera, or a ToF camera (Time-of-Flight Camera). good too.
- Captured image data representing a captured image 70 which is an image generated by the 3D camera 8, will be described with reference to FIG.
- a photographed image 70A of the clamper 41, a photographed image 70B of the chuck 42, and a photographed image 70C of the knife 43 are illustrated as photographed images 70 photographed when the tool conditions are satisfied.
- the photographed images 70A to 70C (70) are generated by executing crop processing for cutting out a part of the original original photographed image generated by the 3D camera 8 (details will be described later).
- the area to be cropped differs according to the type of tool 40 to be photographed. However, the image sizes of the captured images 70A to 70C are the same.
- Each of the two or more pixels forming the photographed image 70 indicated by the photographed image data is indicated by (Xi, Yj), which is a combination of the second axis coordinates and the third axis coordinates (i is the vertical direction of the photographed image 70).
- j is an arbitrary natural number equal to or less than the number of pixels in the photographed image 70). Therefore, the photographed image data representing the photographed image 70 showing the object 98 is the distribution data 120 indicated by the combination of the second axis coordinates (Xi) and the third axis coordinates (Yi) of the object 98 in the inspection space 99. It is understood that there are Distribution data 120 indicates the distribution of objects 98 in captured image 70 .
- a luminance value (L) correlated with the shooting distance is assigned to each of a plurality of pixels forming the captured image 70 indicated by the captured image data as the distribution data 120 . Therefore, the captured image 70 indicated by the captured image data as the distribution data 120 can also be understood as a depth map in the capturing range 8A with the 3D camera 8 as the viewpoint.
- the luminance value assigned to each pixel becomes lower as the shooting distance becomes shorter. That is, the object 98 appears black in the captured image 70 . Therefore, as shown on the left side of FIG.
- the luminance value of the chuck 42 reflected in the captured image 70A is the lowest, and the luminance value of the knife 43 reflected in the captured image 70C is the lowest. Highest luminance value.
- tools 40 with lower luminance values are hatched more finely. It should be noted that pixels in the captured image 70 in which the object 98 does not appear are assigned the maximum luminance value.
- the distribution data acquisition unit 55 is configured to acquire the distribution data 120 included in the captured image data acquired by the imaging control unit 54 .
- the distribution data acquisition unit 55 may acquire corresponding distribution data 120A (described later) generated by performing filtering on the distribution data 120, or acquire distribution data 120 that has not undergone filtering. may be obtained.
- the determination unit 56 is configured to determine whether the tool conditions are satisfied based on the distribution data 120 acquired by the distribution data acquisition unit 55.
- the difference between the assumed distribution data assumed when the tool condition is satisfied and the distribution data 120 obtained by the distribution data obtaining unit 55 changes depending on whether the tool condition is satisfied. For example, when the chuck 42 should be mounted at a specified position on the robot arm 30 but the clamper 41 is mounted at a position deviated from the specified position, the distribution data acquired by the distribution data acquiring unit 55 120 deviates more than the assumed distribution data. Therefore, the data difference exceeds the threshold, and the determination unit 56 determines that the tool type is not satisfied.
- the distribution data 120 are determined according to the position and shape of the object 98 in the inspection space 99. Since the movement control unit 53 controls the robot arm 30 so that the tool 40 moves to the first axis coordinates according to the tool condition to be satisfied, the tool 40 satisfying the tool condition is arranged as the object 98 in the inspection space 99.
- the acquired distribution data 120 varies greatly depending on whether the distribution data 120 is used. Therefore, the determination unit 56 can accurately determine whether the tool conditions are satisfied. As described above, the tool check device 50 that can accurately determine whether the tool conditions are satisfied is realized.
- the distribution data acquisition unit 55 obtains It is configured to perform filtering to extract distribution data 120 .
- the distribution data 120 is extracted by filtering.
- the distribution data 120 that becomes noise is removed.
- the distribution data 120 as noise that can affect the determination result as to whether the tool conditions are satisfied is removed by executing the filtering process. Therefore, the tool check device 50 can more accurately determine whether the tool conditions are satisfied.
- the distribution data 120 is data included in the photographed image data of the object 98 generated by the 3D camera 8 having the photographing range 8A as the inspection space 99. Furthermore, the distribution data 120 assigns luminance values to each of a plurality of pixels forming the captured image 70 indicated by a combination of the second axis coordinate (Xi in this example) and the third axis coordinate (Yj in this example). Associate. According to the above configuration, the movement control section 53 controls the robot arm 30 so that the tool 40 is arranged at the first axis coordinates according to the tool conditions.
- the luminance value of the distribution data 120 changes depending on whether the tool type is satisfied. More specifically, when the chuck 42 is attached to the robot arm 30 even though the tool type is the clamper 41, the chuck 42 is displaced from the inspection space 99B in the first axis direction when the 3D camera 8 captures the image. placed in position. Therefore, the deviation of the chuck 42 in the first axial direction is reflected in the brightness values associated with the distribution data 120 . Therefore, based on the distribution data 120, the determination unit 56 can accurately determine whether the tool type is satisfied.
- the photographed image 70 can The luminance value of the object 98 reflected in the image changes.
- the distribution data acquisition unit 55 illustrated in FIG. 3 applies binarization processing, which is an example of filtering processing, to the distribution data 120 as captured image data. More specifically, the distribution data acquisition unit 55 performs binarization processing on the photographed image data using a large luminance threshold value L and a small luminance threshold value S according to the tool conditions, and obtains the above-described corresponding distribution data 120A. is configured to obtain The high luminance threshold value L and the low luminance threshold value S of this embodiment are prepared according to the tool type of the tool conditions.
- the high luminance threshold value L and the low luminance threshold value S are prepared corresponding to the inspection spaces 99A to 99C having a one-to-one relationship with the tool type.
- a large luminance threshold L1 and a small luminance threshold S1 are prepared so that a binarization process for extracting a luminance value image of an object 98 placed in the inspection space 99A is executed. If the binarization process using the high luminance threshold value L1 and the low luminance threshold value S1 is executed, the photographed image data showing only the object 98 placed in the inspection space 99A (see FIG. 2) is extracted and extracted. The photographed image data in which the object 98 located at a position deviated from the first axis coordinate is removed.
- a high luminance threshold L2 and a low luminance threshold S2 are prepared for the inspection space 99B, and a high luminance threshold L3 and a low luminance threshold S3 are prepared for the inspection space 99C.
- the magnitude relationship between these large luminance thresholds L1 to L3(L) and small luminance thresholds S1 to S3(S) is as shown in FIG.
- the photographed image data of the workpiece 5 which is an example of another object 98 located at a position shifted in the first axis direction from the inspection space 99A, is removed.
- the distribution data 120 of the work 5 that can induce an erroneous determination by the determination unit 56 is removed.
- the captured image data (distribution data 120) that has undergone the binarization process is acquired by the distribution data acquisition unit 55 as corresponding distribution data 120A. After that, the determination unit 56 determines whether the tool conditions are satisfied based on the correspondence distribution data 120A.
- luminance within the range defined by the high luminance threshold value L and the low luminance threshold value S is assigned to the pixels of the captured image 70 indicated by the combination of the second axis coordinates and the third axis coordinates.
- Captured image data containing only pixels is acquired as corresponding distribution data 120A.
- the distribution data 120 as noise of the object 98 other than the tool 40 included in the photographed image data is removed.
- the determination unit 56 determines whether the tool conditions are satisfied based on the correspondence distribution data 120A. Therefore, the tool check device 50 can accurately determine whether the tool conditions are satisfied.
- a first specific example of the determination process will be described with reference to FIG. 4A.
- the determination unit 56 identifies the distribution area of the object 98 appearing in the captured image 70B based on the corresponding distribution data 120A, which is the captured image data of the binarized captured image 70B (70).
- the distribution area correlates with the shape of the object 98 in the first axial view. Therefore, if the object 98 is the chuck 42, the distribution area satisfies the specified condition (for example, the distribution area has a value equal to or greater than the specified value). Thereby, the determination unit 56 can determine that the tool type is satisfied.
- the tool 40 when a tool 40 other than the clamper 41 is attached to the robot arm 30, the tool 40 is arranged at a position deviated from the inspection space 99B (see FIG. 2). It does not appear in the image 70B. That is, the distribution area does not satisfy the specified condition (for example, the distribution area has a value less than the specified value), so the determination unit 56 can determine that the tool type is not satisfied.
- the specified condition for example, the distribution area has a value less than the specified value
- the distribution area does not satisfy the prescribed conditions. Also, when the tool 40 is not attached to the robot arm 30, the distribution area does not satisfy the specified condition. That is, the determination method described in the first specific example can also be applied to determine whether the tool state is satisfied. In other situations, the same determination result can be obtained even if the determination method described as the first specific example is applied to the photographed image data (distribution data 120) before being binarized. In addition, the tool 40 may cause halation in the photographed image 70 due to the upside down mounting posture of the tool 40 .
- the knife 43 should be mounted so that the blade is positioned on the lower side, but the mounted position is upside down, halation is likely to occur (not shown) because the blade is positioned on the upper side. In this case, it is difficult for the knife 43 to appear in the photographed image 70 before the filtering process is performed, and the distribution area described above becomes extremely small. That is, the distribution area does not satisfy the specified condition. Therefore, if the mounting posture of the knife 43 is upside down, it is determined that the tool state is not satisfied.
- the determination unit 56 determines whether the tool conditions are satisfied based on the distribution area of the object 98 indicated by the distribution data 120. Since the distribution area of the objects 98 changes greatly depending on whether the tool conditions are satisfied, the tool check device 50 can simplify the process of determining whether the tool conditions are satisfied.
- a second specific example of determination processing will be described with reference to FIG. 4A.
- the determination unit 56 identifies the limited area 88 based on the position of the center of gravity of the distribution area indicated by the corresponding distribution data 120A. After that, the determination unit 56 determines whether the tool state is satisfied based on the distribution area in the limited area 88 .
- a limited area 88 is a part of the binarized photographed image 70B (70), and is an area whose distribution area changes depending on whether the tool state is satisfied.
- the determination unit 56 regards, as the limited area 88, an area having a specified positional relationship with the center of gravity of the distribution area indicated by the corresponding distribution data 120A.
- the limited area 88 illustrated in FIG. 4A no chuck 42 in the open state is arranged, and at least part of the chuck 42 in the closed state is arranged (the chuck 42 in the closed state is virtually shown).
- the determination unit 56 determines whether the tool state is satisfied.
- the determination method described as the second specific example can also be applied to determine whether the tool type is satisfied. For example, if an area whose distribution area changes depending on whether the tool type is satisfied is set in advance as the limited area 88, the determination unit 56 can determine whether the tool type is satisfied by a similar method. .
- the determination unit 56 if the barycentric position of the distribution area satisfying the tool condition and the limited area 88 whose distribution area changes depending on whether the tool condition is satisfied are set in association with each other, the determination unit 56 , it can be determined whether the tool condition is satisfied based on the distribution area in the confined area 88 . Accordingly, the determination unit 56 can make an appropriate determination according to the tool conditions to be determined.
- a third specific example of determination processing by the determination unit 56 will be described with reference to FIG. 4B.
- the chuck 42L has an asymmetrical shape.
- the third axial length (dimension M1) of the chuck 42L on one side in the second axial direction is the third axial length (dimension M2) of the chuck 42L on the other side in the second axial direction. ).
- the determination unit 56 is configured to determine whether the tool condition is satisfied based on the relationship between the length in the second axis direction of the distribution area indicated by the corresponding distribution data 120A and the coordinates of the third axis. More specifically, the determination unit 56 estimates the distribution area of the chuck 42L from the distribution area indicated by the corresponding distribution data 120A (the distribution area of the robot arm 30 and the chuck 42L in the example of FIG. 4B). This estimation process may be set in advance based on the shapes of the robot arm 30 and the chuck 42L. After that, the determination unit 56 specifies the maximum dimension of each of the one side and the other side in the second axial direction in the distribution area of the chuck 42L.
- the determination unit 56 does not satisfy the tool type. can be determined.
- the determination method described as the third specific example can also be applied to determine whether the tool state is satisfied. For example, if a tool 40 is used in which the magnitude relationship of the maximum dimension described above is switched according to the tool state, this determination method may be applied.
- the determination unit 56 determines whether the tool condition is satisfied. It can be determined based on the relationship. Accordingly, the determination unit 56 can make an appropriate determination according to the tool conditions to be determined.
- the tool check device 50 includes an orientation acquisition unit 52 configured to acquire orientation data indicating the orientation of the 3D camera 8 .
- the posture acquisition unit 52 acquires posture data to specify the amount of deviation.
- a plate (not shown) having a prescribed positional relationship with respect to the origin position of the position and orientation of the robot arm 30 is prepared. This plate may be installed according to the timing at which the position and orientation data is acquired, or may be installed all the time.
- a 3D camera 8 photographs a plurality of marks shown on the surface of the plate to generate an original photographed image of the plurality of marks.
- Posture data is acquired by applying a prescribed calculation formula to the positional relationship of the plurality of marks appearing in the original captured image. Note that the original captured image is an image generated by the 3D camera 8 that has not been cropped.
- the distribution data acquisition unit 55 obtains the portion of the original captured image (see the two-dot chain line 71 in FIG. 5) captured by the 3D camera 8 based on the posture data acquired by the posture acquisition unit 52. It is configured to specify a captured image 70 that is an area and acquire distribution data 120 in the captured image 70 . That is, the area of the original captured image that is cropped changes according to the orientation data. As a result, it is possible to suppress variation in the image area in which the tool 40 is displayed based on the photographed image 70 .
- the photographing range 8A of the 3D camera 8 also changes. Therefore, when the distribution data 120 of a fixed partial area in the original captured image is acquired, the following problems may occur. That is, although the tool condition is actually satisfied, at least part of the tool 40 does not appear in the captured image 70, so the determination unit 56 erroneously determines that the tool condition is not satisfied. On the contrary, since the inappropriate tool 40 appears in the photographed image 70 even though the tool conditions are not actually satisfied, the determination unit 56 erroneously determines that the tool conditions are satisfied.
- the photographed image 70 is acquired reflecting the deviation of the attitude of the 3D camera 8, and the distribution data 120 of the photographed image 70 is acquired. Therefore, when the tool conditions are satisfied, the tool 40 appears at the prescribed position of the photographed image 70 . Also, the tool 40 that should not appear in the captured image 70 is not shown. Therefore, the tool check device 50 can more accurately determine whether the tool conditions are satisfied.
- FIG. 6 is a conceptual diagram showing the electrical configuration of the tool check device 50 according to one embodiment of the present disclosure.
- the work machining system 1 includes a processor 91 .
- Processor 91 is configured to read tool check program 95 stored in ROM 92 , load it into RAM 93 , and execute instructions contained in loaded tool check program 95 .
- the processor 91 is a CPU, GPU, MPU, DSP, various arithmetic devices other than these, or a combination thereof.
- Processor 91 may be implemented by an integrated circuit such as PLD, ASIC, FPGA, and MCU.
- the ROM 92 and RAM 93 are examples of storage devices.
- a memory 94 stores various parameters necessary to determine whether the tool conditions are satisfied.
- Various parameters include a large luminance threshold L and a small luminance threshold S.
- FIG. The large luminance threshold L is a threshold larger than the small luminance threshold S.
- the processor 91 of this embodiment is connected to the input unit 6, the transport device 7, the robot arm 30, the 3D camera 8, and the reporting device 9 via interfaces.
- Tool conditions are input by the operator through the input unit 6, which may be, for example, a touch panel.
- the processor 91 acquires tool conditions by acquiring data output from the input unit 6 .
- the transport device 7 , robot arm 30 , 3D camera 8 , and alarm device 9 of one embodiment each operate according to control signals received from the processor 91 .
- the 3D camera 8 performs photography in accordance with the received control signal and outputs the generated photographed image data to the processor 91 .
- the notification device 9 is configured to notify the operator when it is determined that the tool conditions are not satisfied.
- the alarm device 9 of this embodiment is an image display device, a speaker, a light emitting device, or a combination thereof.
- Tool check processing is processing for determining whether tool conditions are satisfied.
- the processor 91 performs the following steps by loading the RAM 93 with a tool check program 95 stored in the ROM 92 . Data processed by the processor 91 as the process is executed is stored in the RAM 93 or the memory 94 as appropriate.
- step may be abbreviated as "S”.
- the processor 91 acquires the attitude data of the 3D camera 8 by the method described above (S10).
- the processor 91 that executes S10 functions as the attitude acquisition unit 52 described above.
- the processor 91 acquires tool conditions (S11).
- the operator inputs tool conditions corresponding to each of the robot arms 30A, 30B, and 30C to the input section 6 .
- the processor 91 that executes S11 functions as the condition acquisition unit 51 described above.
- the processor 91 controls the movement of the robot arm 30 so that the tool 40 is arranged at the first axis coordinates according to the tool conditions acquired in S11 (S13). For example, the processor 91 controls movement of the robot arm 30A based on tool conditions associated with the robot arm 30A. As a result, if the tool 40 is properly attached to the robot arm 30A, the tool 40 is placed in one of the inspection spaces 99A-99C.
- the processor 91 that executes S13 functions as the movement control unit 53 described above.
- the processor 91 controls the 3D camera 8 to acquire the above-described captured image data (S15).
- the image indicated by the actual captured image data is the original captured image.
- the processor 91 that executes S15 functions as the photographing control section 54 described above.
- the processor 91 acquires the distribution data 120 included in the photographed image data acquired in S15 (S17).
- the processor 91 performs cropping processing on the captured image data indicating the original captured image acquired in S15 based on the posture data acquired in S10. Thereby, the processor 91 acquires the captured image data representing the captured image 70 .
- the photographed image data is subjected to binarization processing according to the tool conditions acquired in S11, and the processor 91 acquires corresponding distribution data 120A.
- the processor 91 that executes S17 functions as the distribution data acquisition unit 55 described above.
- the processor 91 determines whether the tool conditions are satisfied based on the corresponding distribution data 120A acquired in S17 (S19).
- the processor 91 that executes S19 functions as the determination unit 56 described above. Details of the determination process will be described later.
- the processor 91 determines whether there is an abnormality in the tool 40 (S21) based on the determination result of the determination process (S19). If it is determined that there is no abnormality (S21: NO), the processor 91 determines whether to end the tool check process (S23). In this example, if the determination of all tool conditions corresponding to each of the robot arms 30A to 30C has not been completed (S23: NO), the processor 91 returns the process to S13. By repeating S13 to S23, it is determined whether the tool conditions for each of the robot arms 30A, 30B, and 30C are satisfied. If the determination is completed for all tool conditions (S23: YES), the processor 91 terminates the determination process.
- the processor 91 controls the alarm device 9 to issue a specific abnormality (S25).
- S25 a specific abnormality
- the operator can take measures in the workpiece machining system 1 in accordance with the content of the notification (a specific method of specifying an abnormality will be described later).
- the processor 91 ends the tool check process.
- Processor 91 determines whether the tool type is satisfied using any of the methods described above (S31). When it is determined that the tool type is not satisfied (S31: NO), the processor 91 stores a specific abnormality (S35). For example, processor 91 stores error data in memory 94 indicating that the correct type of tool 40 is not attached to robot arm 30 . The error data stored in the memory 94 is used in the above-described notification process of S25. After executing S25, the processor 91 ends the determination process and returns to the tool check process (see FIG. 7).
- the processor 91 uses any of the methods described above to determine whether the tool state is satisfied (S33). When it is determined that the tool state is not satisfied (S33: NO), the processor 91 shifts the process to S35. At this time, the processor 91 stores error data indicating that the state of the tool 40 is not proper in the memory 94 (S35). If it is determined that the tool state is satisfied (S33: YES), the processor 91 terminates the determination process.
- the work processing system 1 of the present disclosure is not limited to including the 3D camera 8 and the imaging control section 54 .
- an ultrasonic device may be provided instead of the 3D camera 8.
- Distribution data 120 can be obtained if the distance between the object 98 in the examination space 99 and the ultrasound system is measured using ultrasound.
- a CT scan, MRI, or the like may be employed instead of the ultrasonic device.
- a tool checking device (50) for a robot arm In an inspection space (99) defined as a three-dimensional coordinate system, a first coordinate system of the three-dimensional coordinate system according to tool conditions relating to at least one of the type and state of the tool (40) to be mounted on the robot arm (30).
- a movement controller (53) configured to control said robot arm (30) to position said tool (40) in axial coordinates;
- the distribution data (120 ) After control by the movement control unit (53), the distribution data (120 ), a distribution data acquisition unit (55) configured to acquire a determination unit (56) configured to determine whether the tool condition is satisfied based on the distribution data (120).
- the distribution data (120) is determined according to the position and shape of the object (98) in the inspection space (99). Since the movement control unit (53) controls the robot arm (30) to move the tool (40) to the first axis coordinate according to the tool condition to be satisfied, the tool (40) satisfying the tool condition is inspected.
- the acquired distribution data (120) varies greatly depending on how the object (98) is placed in the space (99). Therefore, the determination unit (56) can accurately determine whether the tool conditions are satisfied.
- a tool check device (5) for a robot arm that can accurately determine whether the tool conditions are satisfied is realized.
- a tool checking device (50) for a robotic arm comprising: The distribution data acquisition unit (55) extracts corresponding distribution data (120A), which is the distribution data (120) in the first axis coordinates according to the tool conditions, for the distribution data (120). configured to perform filtering on The determination unit (56) is configured to determine whether the tool condition is satisfied based on the corresponding distribution data (120A).
- Distribution data (120) as noise of another object (98) at a position shifted from the tool (40) in the first axis direction is the original distribution data (120) obtained by the distribution data obtaining unit (55) may be included in In this respect, according to the configuration of 2)) above, the distribution data (120) as noise is removed by executing the filtering process. Satisfaction can be determined more accurately.
- a tool checking device (50) for a robotic arm comprising:
- the distribution data (120) is data included in the captured image data of the object (98) generated by the 3D camera (8) whose imaging range is the inspection space (99), and the second axis coordinates Data in which each of a plurality of pixels constituting a photographed image indicated by a combination of and the third axis coordinate is associated with a luminance value correlated with the distance from the object (98) to the 3D camera (8) is.
- the movement control unit (53) controls the robot arm (30) so that the tool (40) is arranged at the first axis coordinate according to the tool condition, so the photographed image (70) and the luminance values correlated with the distance from the object (98) to the 3D camera (8) vary greatly depending on whether the tool conditions are satisfied. do. Therefore, the tool checking device (50) for the robot arm can more accurately determine whether the tool conditions are satisfied.
- a tool checking device (50) for a robotic arm comprising:
- the distribution data acquisition unit (55) uses a large luminance threshold (L) and a small luminance threshold (S) according to the tool conditions for the photographed image data generated by the 3D camera (8). is configured to perform binarization processing on the tool condition to obtain corresponding distribution data (120A), which is the distribution data (120) at the first axis coordinates according to the tool condition.
- Image data including only pixels to which luminance within the range is assigned is acquired as corresponding distribution data (120A). This removes the distribution data (120) as noise of an object (98) other than the tool (40) included in the captured image data.
- a determination unit (56) determines whether the tool conditions are satisfied based on the corresponding distribution data (120A). Therefore, the tool checking device (50) for the robot arm can accurately determine whether the tool conditions are satisfied.
- a tool checking device (50) for a robotic arm comprising: a pose acquisition unit (52) configured to acquire pose data indicative of a pose of the 3D camera (8) in the examination space (99);
- the distribution data acquisition unit (55) acquires the distribution data (120) in the photographed image, which is a partial area determined based on the posture data in the original photographed image photographed by the 3D camera (8). configured to
- the photographed image (70) reflecting the deviation of the posture of the 3D camera (8) is obtained, and the distribution data (120) of this photographed image (70) is obtained. Therefore, when the tool conditions are satisfied, the tool (40) appears at the specified position of the captured image (70). Therefore, the determination unit (56) can more accurately determine whether the tool conditions are satisfied.
- a tool checking device (50) for a robotic arm according to any one of 1) to 5) above, comprising: The determination unit (56) is configured to determine whether the tool condition is satisfied based on the distribution area of the objects (98) indicated by the distribution data (120).
- the distribution area of the object (98) indicated by the distribution data (120) changes depending on whether the tool conditions are satisfied. For example, when a tool (40) of an inappropriate type is attached to the robot arm (30), or a tool (40) in an inappropriate state such as being damaged is attached to the robot arm (30). , the distribution area of the distribution data (120) deviates from the proper value or proper range. Since the distribution area of the objects (98) varies greatly depending on whether the tool conditions are satisfied, the tool check device (50) can simplify the process of determining whether the tool conditions are satisfied.
- a tool checking device (50) for a robotic arm comprising: The determination unit (56) specifies a limited area (88) based on the position of the center of gravity of the distribution area indicated by the distribution data (120), and based on the distribution area in the limited area (88), the tool condition is It is configured to determine if it is satisfied.
- the determination unit (56) can determine whether the tool condition is satisfied based on the distribution area in the limited area (88). This allows the determination section (56) to make an appropriate determination according to the tool conditions to be determined.
- a tool checking device (50) for a robotic arm according to any one of 1) to 7) above, comprising: The determination unit (56) satisfies the tool condition based on the relationship between the length of the distribution area indicated by the distribution data (120) in the third axis direction of the three-dimensional coordinate system and the second axis coordinates. is configured to determine whether the
- the determination unit (56) determines that the tool condition is satisfied. can be determined based on this relationship. This allows the determination section (56) to make an appropriate determination according to the tool conditions to be determined.
- a tool check program (95) for a robotic arm comprising: to the computer, In an inspection space (99) defined as a three-dimensional coordinate system, a first coordinate system of the three-dimensional coordinate system according to tool conditions relating to at least one of the type and state of the tool (40) to be mounted on the robot arm (30).
- a movement control step (S13) for controlling the robot arm (30) so that the tool (40) is positioned at axis coordinates;
- the distribution data (120) indicated by the combination of the second axis coordinates and the third axis coordinates of the three-dimensional coordinate system of the object (98) in the inspection space (99) a distribution data acquisition step (S17) for acquiring A judgment step (S19) for judging whether the tool condition is satisfied based on the distribution data (120) is executed.
- a tool checking method for a robotic arm comprising: In an inspection space (99) defined as a three-dimensional coordinate system, a first coordinate system of the three-dimensional coordinate system according to tool conditions relating to at least one of the type and state of the tool (40) to be mounted on the robot arm (30).
- a movement control step (S13) for controlling the robot arm (30) so that the tool (40) is positioned at the axis coordinates; After the movement control step (S13), distribution data (120) of an object (98) in the inspection space (99) indicated by a combination of second and third axis coordinates of the three-dimensional coordinate system
Landscapes
- Engineering & Computer Science (AREA)
- Quality & Reliability (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Image Analysis (AREA)
Abstract
Description
3次元座標系として定義される検査空間において、ロボットアームに装着されるべきツールの種別または状態の少なくとも一方に関するツール条件に応じた前記3次元座標系の第1軸座標に、前記ツールが配置されるよう前記ロボットアームを制御するように構成される移動制御部と、
前記移動制御部による制御後、前記検査空間にある物体の、前記3次元座標系の第2軸座標と第3軸座標との組み合わせによって示される分布データを取得するように構成される分布データ取得部と、
前記ツール条件が充足されるか前記分布データに基づき判定するように構成される判定部と
を備える。
コンピュータに、
3次元座標系として定義される検査空間において、ロボットアームに装着されるべきツールの種別または状態の少なくとも一方に関するツール条件に応じた前記3次元座標系の第1軸座標に、前記ツールが配置されるよう前記ロボットアームを制御するための移動制御ステップと、
前記移動制御ステップ後、前記検査空間にある物体の、前記3次元座標系の第2軸座標と第3軸座標との組み合わせによって示される分布データを取得するための分布データ取得ステップと、
前記ツール条件が充足されるか前記分布データに基づき判定する判定ステップと
を実行させる。
3次元座標系として定義される検査空間において、ロボットアームに装着されるべきツールの種別または状態の少なくとも一方に関するツール条件に応じた前記3次元座標系の第1軸座標に、前記ツールが配置されるよう前記ロボットアームを制御するための移動制御工程と、
前記移動制御工程の後、前記検査空間にある物体の、前記3次元座標系の第2軸座標と第3軸座標との組み合わせによって示される分布データを取得するための分布データ取得工程と、
前記ツール条件が充足されるか前記分布データに基づき判定するための判定工程と
を備える。
例えば、「ある方向に」、「ある方向に沿って」、「平行」、「直交」、「中心」、「同心」或いは「同軸」等の相対的或いは絶対的な配置を表す表現は、厳密にそのような配置を表すのみならず、公差、若しくは、同じ機能が得られる程度の角度や距離をもって相対的に変位している状態も表すものとする。
例えば、「同一」、「等しい」及び「均質」等の物事が等しい状態であることを表す表現は、厳密に等しい状態を表すのみならず、公差、若しくは、同じ機能が得られる程度の差が存在している状態も表すものとする。
例えば、四角形状や円筒形状等の形状を表す表現は、幾何学的に厳密な意味での四角形状や円筒形状等の形状を表すのみならず、同じ効果が得られる範囲で、凹凸部や面取り部等を含む形状も表すものとする。
一方、一つの構成要素を「備える」、「具える」、「具備する」、「含む」、又は「有する」という表現は、他の構成要素の存在を除外する排他的な表現ではない。
図1を参照し、本開示の一実施形態に係るワーク加工システム1の概要を例示する。図1は、本開示の一実施形態に係るワーク加工システム1を示す概念図である。
図1~図5を参照し、本開示の一実施形態に係るツールチェック装置50の詳細を例示する。図2は、本開示の一実施形態に係る検査空間99の概念的な説明図である。図3は、本開示の一実施形態に係る対応分布データ120Aが取得される過程を示す概念図である。
図4Aは、本開示の一実施形態に係るツール条件に関する判定手法を示す概念図である。図4Bは、本開示の一実施形態に係るツール条件に関する判定手法を示す別の概念図である。図5は、本開示の一実施形態に係る3Dカメラ8の姿勢に応じた撮影範囲8Aを示す概念図である。
図1で例示されるように、ツールチェック装置50は、ツール条件を取得するための条件取得部51と、ロボットアーム30を制御するための移動制御部53と、3Dカメラ8を制御するための撮影制御部54と、後述の分布データ120(図3参照)を取得するための分布データ取得部55と、ツール条件が充足されるか判定するための判定部56とを備える。以下、これらの構成要素の詳細を例示する。
図3を参照し、本開示の一実施形態に係る分布データ取得部55によって実行される分布データ120の取得処理の詳細を例示する。検査空間99である撮影範囲8Aには、チェック対象となるツール40の他に、ワーク5などの他の物体98が配置されることがある。この場合、撮影画像70には、ツール40とは別の他の物体98が映るので、撮影画像データである分布データ120には、他の物体98の分布データ120がノイズとして含まれる。本実施形態では、チェック対象となるツール40と他の物体98が互いに異なる第1軸座標に配置される原理を利用して、分布データ取得部55は、ツール条件に応じた第1軸座標における分布データ120を抽出するためのフィルタ処理を実行するように構成される。撮影画像70を示す撮影画像データとしての分布データ120から、ツール条件に対応する第1軸座標の分布データ120(以下、対応分布データ120Aという)が、フィルタ処理によって抽出される。つまり、ノイズとなる分布データ120は除去される。なお、フィルタ処理のさらなる詳細な説明は後述する。
図4A、図4Bを参照して、本開示の一実施形態に係る判定部56によって実行される判定処理の第1、第2、および第3の具体例を説明する。
図4Aを参照して、判定処理の第1の具体例を説明する。第1の具体例では、ツール種別(チャック42)が充足されるか判定される。判定部56は、2値化処理された撮影画像70B(70)の撮影画像データである対応分布データ120Aに基づき、撮影画像70Bに映る物体98の分布面積を特定する。分布面積は、第1軸方向視における物体98の形状と相関する。従って、物体98がチャック42であれば、分布面積は規定条件を充足する(例えば、分布面積は規定値以上の値となる)。これにより、判定部56は、ツール種別が満たされると判定できる。他方で、ロボットアーム30にクランパ41以外のツール40が装着される場合、該ツール40は、検査空間99B(図2参照)からずれた位置に配置されているので、2値化処理された撮影画像70Bには映らない。つまり、分布面積が規定条件を充足しない(例えば、分布面積は規定値未満の値となる)ので、判定部56は、ツール種別が満たされないと判定できる。
引き続き、図4Aを参照し、判定処理の第2の具体例を説明する。第2の具体例では、チャック42のツール状態(開状態)が充足されるか判定される。判定部56は、対応分布データ120Aによって示される分布領域の重心位置に基づき限定領域88を特定する。その後、判定部56は、限定領域88での分布面積に基づきツール状態が充足されるか判定する。限定領域88は、2値化処理された撮影画像70B(70)の一部であり、ツール状態が充足されるかに応じて分布面積が変化する領域である。例えば、判定部56は、対応分布データ120Aによって示される分布領域の重心位置と規定の位置関係にある領域を限定領域88とみなす。図4Aで例示される限定領域88には、開状態のチャック42が配置されず、閉状態のチャック42の少なくとも一部が配置される(閉状態のチャック42は、二点鎖線によって仮想的に図示されている)。この限定領域88の分布面積が規定条件を充足するかに応じて、判定部56は、ツール状態が充足されるかを判定する。
図4Bを参照し、判定部56による判定処理の第3の具体例を説明する。第3の具体例では、ツール種別(チャック42L)が充足されるか判定される。なお、チャック42Lは非対称な形状を呈する。図4Bの例では、第2軸方向の一方側におけるチャック42Lの第3軸方向長さ(寸法M1)は、第2軸方向の他方側におけるチャック42Lの第3軸方向の長さ(寸法M2)よりも長い。
図1、図5を参照し、ツールチェック装置50の追加的な構成要素を説明する。ツールチェック装置50は、3Dカメラ8の姿勢を示す姿勢データを取得するように構成される姿勢取得部52を備える。3Dカメラ8がワーク加工システム1に取り付けられるとき、取付用の部品の寸法公差または取付作業のばらつきなどに起因して、3Dカメラ8の姿勢が理想的な姿勢からずれる場合がある。姿勢取得部52はこのずれ量を特定するために姿勢データを取得する。
図6は、本開示の一実施形態に係るツールチェック装置50の電気的構成を示す概念図である。ワーク加工システム1は、プロセッサ91を含む。プロセッサ91は、ROM92に記憶されるツールチェックプログラム95を読み出してRAM93にロードし、ロードしたツールチェックプログラム95に含まれる命令を実行するように構成される。プロセッサ91は、CPU、GPU、MPU、DSP、これら以外の各種演算装置、又はこれらの組み合わせである。プロセッサ91は、PLD、ASIC、FPGA、及びMCU等の集積回路により実現されてもよい。ROM92およびRAM93は記憶装置の一例である。メモリ94は、ツール条件が充足されるかを判定するために必要な各種パラメータを記憶する。各種パラメータは、大輝度閾値Lおよび小輝度閾値Sを含む。大輝度閾値Lは小輝度閾値Sよりも大きな閾値である。
図7、図8を参照して、本開示の一実施形態に係るツールチェック処理の詳細を例示する。ツールチェック処理は、ツール条件が充足されるかを判定するための処理である。本実施形態では、プロセッサ91が、ROM92に記憶されるツールチェックプログラム95をRAM93にロードすることによって、以下のステップを実行する。処理の実行に伴いプロセッサ91が処理するデータは、RAM93又はメモリ94に適宜記憶される。以下の説明では、「ステップ」を「S」と略記する場合がある。
なお、本開示のワーク加工システム1は、3Dカメラ8と撮影制御部54を備えることに限定されない。例えば、3Dカメラ8に代えて超音波装置が設けられてもよい。超音波を用いて検査空間99における物体98と、超音波装置との距離が測定されれば、分布データ120を取得することは可能である。さらに超音波装置によって生成される分布データ120に対して、規定値以上の距離がある物体の距離データを除去するフィルタ処理を施すことも可能である。また、超音波装置に代えてCTスキャンまたはMRIなどが採用されてもよい。
上述した幾つかの実施形態に記載の内容は、例えば以下のように把握される。
3次元座標系として定義される検査空間(99)において、ロボットアーム(30)に装着されるべきツール(40)の種別または状態の少なくとも一方に関するツール条件に応じた前記3次元座標系の第1軸座標に、前記ツール(40)が配置されるよう前記ロボットアーム(30)を制御するように構成される移動制御部(53)と、
前記移動制御部(53)による制御後、前記検査空間(99)にある物体(98)の、前記3次元座標系の第2軸座標と第3軸座標との組み合わせによって示される分布データ(120)を取得するように構成される分布データ取得部(55)と、
前記ツール条件が充足されるか前記分布データ(120)に基づき判定するように構成される判定部(56)とを備える。
前記分布データ取得部(55)は、前記分布データ(120)に対して、前記ツール条件に応じた前記第1軸座標における前記分布データ(120)である対応分布データ(120A)を抽出するためのフィルタ処理を実行するように構成され、
前記判定部(56)は、前記ツール条件が充足されるかを前記対応分布データ(120A)に基づき判定するように構成される。
前記分布データ(120)は、撮影範囲を前記検査空間(99)とする3Dカメラ(8)によって生成される前記物体(98)の撮影画像データに含まれるデータであって、前記第2軸座標と前記第3軸座標との組み合わせによって示される撮影画像を構成する複数の画素のそれぞれと、前記物体(98)から前記3Dカメラ(8)までの距離に相関する輝度値とを対応付けたデータである。
前記分布データ取得部(55)は、前記3Dカメラ(8)によって生成される前記撮影画像データに対して、前記ツール条件に応じた大輝度閾値(L)と小輝度閾値(S)とを用いて2値化処理を施し、前記ツール条件に応じた前記第1軸座標における前記分布データ(120)である対応分布データ(120A)を取得するように構成される。
前記検査空間(99)における前記3Dカメラ(8)の姿勢を示す姿勢データを取得するように構成される姿勢取得部(52)と、
前記分布データ取得部(55)は、前記3Dカメラ(8)によって撮影されるオリジナル撮影画像のうちで前記姿勢データに基づき定まる部分領域である前記撮影画像における前記分布データ(120)を取得するように構成される。
前記判定部(56)は、前記ツール条件が充足されるかを前記分布データ(120)によって示される前記物体(98)の分布面積に基づき判定するように構成される。
前記判定部(56)は、前記分布データ(120)が示す分布領域の重心位置に基づき限定領域(88)を特定し、前記限定領域(88)での前記分布面積に基づき、前記ツール条件が充足されるかを判定するように構成される。
前記判定部(56)は、前記分布データ(120)が示す分布領域の、前記3次元座標系の第3軸方向における長さと、前記第2軸座標との関係に基づき、前記ツール条件が充足されるかを判定するように構成される。
コンピュータに、
3次元座標系として定義される検査空間(99)において、ロボットアーム(30)に装着されるべきツール(40)の種別または状態の少なくとも一方に関するツール条件に応じた前記3次元座標系の第1軸座標に、前記ツール(40)が配置されるよう前記ロボットアーム(30)を制御するための移動制御ステップ(S13)と、
前記移動制御ステップ(S13)後、前記検査空間(99)にある物体(98)の、前記3次元座標系の第2軸座標と第3軸座標との組み合わせによって示される分布データ(120)を取得するための分布データ取得ステップ(S17)と、
前記ツール条件が充足されるか前記分布データ(120)に基づき判定する判定ステップ(S19)とを実行させる。
3次元座標系として定義される検査空間(99)において、ロボットアーム(30)に装着されるべきツール(40)の種別または状態の少なくとも一方に関するツール条件に応じた前記3次元座標系の第1軸座標に、前記ツール(40)が配置されるよう前記ロボットアーム(30)を制御するための移動制御工程(S13)と、
前記移動制御工程(S13)の後、前記検査空間(99)にある物体(98)の、前記3次元座標系の第2軸座標と第3軸座標との組み合わせによって示される分布データ(120)を取得するための分布データ取得工程(S17)と、
前記ツール条件が充足されるか前記分布データ(120)に基づき判定するための判定工程(S19)とを備える。
8A :撮影範囲
30 :ロボットアーム
40 :ツール
50 :ツールチェック装置
52 :姿勢取得部
53 :移動制御部
55 :分布データ取得部
56 :判定部
70 :撮影画像
88 :限定領域
95 :ツールチェックプログラム
98 :物体
99 :検査空間
120 :分布データ
120A :対応分布データ
S :小輝度閾値
L :大輝度閾値
Claims (10)
- 3次元座標系として定義される検査空間において、ロボットアームに装着されるべきツールの種別または状態の少なくとも一方に関するツール条件に応じた前記3次元座標系の第1軸座標に、前記ツールが配置されるよう前記ロボットアームを制御するように構成される移動制御部と、
前記移動制御部による制御後、前記検査空間にある物体の、前記3次元座標系の第2軸座標と第3軸座標との組み合わせによって示される分布データを取得するように構成される分布データ取得部と、
前記ツール条件が充足されるか前記分布データに基づき判定するように構成される判定部と
を備えるロボットアーム用のツールチェック装置。 - 前記分布データ取得部は、前記分布データに対して、前記ツール条件に応じた前記第1軸座標における前記分布データである対応分布データを抽出するためのフィルタ処理を実行するように構成され、
前記判定部は、前記ツール条件が充足されるかを前記対応分布データに基づき判定するように構成される
請求項1に記載のロボットアーム用のツールチェック装置。 - 前記分布データは、撮影範囲を前記検査空間とする3Dカメラによって生成される前記物体の撮影画像データに含まれるデータであって、前記第2軸座標と前記第3軸座標との組み合わせによって示される撮影画像を構成する複数の画素のそれぞれと、前記物体から前記3Dカメラまでの距離に相関する輝度値とを対応付けたデータである
請求項1または2に記載のロボットアーム用のツールチェック装置。 - 前記分布データ取得部は、前記3Dカメラによって生成される前記撮影画像データに対して、前記ツール条件に応じた大輝度閾値と小輝度閾値とを用いて2値化処理を施し、前記ツール条件に応じた前記第1軸座標における前記分布データである対応分布データを取得するように構成される
請求項3に記載のロボットアーム用のツールチェック装置。 - 前記検査空間における前記3Dカメラの姿勢を示す姿勢データを取得するように構成される姿勢取得部と、
前記分布データ取得部は、前記3Dカメラによって撮影されるオリジナル撮影画像のうちで前記姿勢データに基づき定まる部分領域である前記撮影画像における前記分布データを取得するように構成される
請求項3または4に記載のロボットアーム用のツールチェック装置。 - 前記判定部は、前記ツール条件が充足されるかを前記分布データによって示される前記物体の分布面積に基づき判定するように構成される
請求項1乃至5の何れか1項に記載のロボットアーム用のツールチェック装置。 - 前記判定部は、前記分布データが示す分布領域の重心位置に基づき限定領域を特定し、前記限定領域での前記分布面積に基づき、前記ツール条件が充足されるかを判定するように構成される
請求項6に記載のロボットアーム用のツールチェック装置。 - 前記判定部は、前記分布データが示す分布領域の、前記3次元座標系の第3軸方向における長さと、前記第2軸座標との関係に基づき、前記ツール条件が充足されるかを判定するように構成される
請求項1乃至7の何れか1項に記載のロボットアーム用のツールチェック装置。 - コンピュータに、
3次元座標系として定義される検査空間において、ロボットアームに装着されるべきツールの種別または状態の少なくとも一方に関するツール条件に応じた前記3次元座標系の第1軸座標に、前記ツールが配置されるよう前記ロボットアームを制御するための移動制御ステップと、
前記移動制御ステップ後、前記検査空間にある物体の、前記3次元座標系の第2軸座標と第3軸座標との組み合わせによって示される分布データを取得するための分布データ取得ステップと、
前記ツール条件が充足されるか前記分布データに基づき判定する判定ステップと
を実行させるためのロボットアーム用のツールチェックプログラム。 - 3次元座標系として定義される検査空間において、ロボットアームに装着されるべきツールの種別または状態の少なくとも一方に関するツール条件に応じた前記3次元座標系の第1軸座標に、前記ツールが配置されるよう前記ロボットアームを制御するための移動制御工程と、
前記移動制御工程の後、前記検査空間にある物体の、前記3次元座標系の第2軸座標と第3軸座標との組み合わせによって示される分布データを取得するための分布データ取得工程と、
前記ツール条件が充足されるか前記分布データに基づき判定するための判定工程と
を備えるロボットアーム用のツールチェック方法。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP22895267.7A EP4327988A1 (en) | 2021-11-18 | 2022-10-06 | Tool checking device for robot arm, tool checking program, and tool checking method |
CA3238662A CA3238662A1 (en) | 2021-11-18 | 2022-10-06 | Tool check device, tool check program, and tool check method for robot arm |
CN202280075362.XA CN118234603A (zh) | 2021-11-18 | 2022-10-06 | 机器人臂用的工具检查装置、工具检查程序以及工具检查方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021-187595 | 2021-11-18 | ||
JP2021187595A JP2023074599A (ja) | 2021-11-18 | 2021-11-18 | ロボットアーム用のツールチェック装置、ツールチェックプログラム、及びツールチェック方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023089981A1 true WO2023089981A1 (ja) | 2023-05-25 |
Family
ID=86396734
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2022/037477 WO2023089981A1 (ja) | 2021-11-18 | 2022-10-06 | ロボットアーム用のツールチェック装置、ツールチェックプログラム、及びツールチェック方法 |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP4327988A1 (ja) |
JP (1) | JP2023074599A (ja) |
CN (1) | CN118234603A (ja) |
CA (1) | CA3238662A1 (ja) |
WO (1) | WO2023089981A1 (ja) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010234451A (ja) * | 2009-03-30 | 2010-10-21 | J-Net:Kk | ワーク加工方法、マシニングセンタ |
JP2018058153A (ja) * | 2016-10-05 | 2018-04-12 | リンテック株式会社 | 切断装置および切断手段の装着方法 |
JP2018158405A (ja) | 2017-03-22 | 2018-10-11 | キヤノン株式会社 | ロボットハンド、ツール交換ユニット、およびロボットハンドの制御方法 |
-
2021
- 2021-11-18 JP JP2021187595A patent/JP2023074599A/ja active Pending
-
2022
- 2022-10-06 CN CN202280075362.XA patent/CN118234603A/zh active Pending
- 2022-10-06 EP EP22895267.7A patent/EP4327988A1/en active Pending
- 2022-10-06 WO PCT/JP2022/037477 patent/WO2023089981A1/ja active Application Filing
- 2022-10-06 CA CA3238662A patent/CA3238662A1/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010234451A (ja) * | 2009-03-30 | 2010-10-21 | J-Net:Kk | ワーク加工方法、マシニングセンタ |
JP2018058153A (ja) * | 2016-10-05 | 2018-04-12 | リンテック株式会社 | 切断装置および切断手段の装着方法 |
JP2018158405A (ja) | 2017-03-22 | 2018-10-11 | キヤノン株式会社 | ロボットハンド、ツール交換ユニット、およびロボットハンドの制御方法 |
Also Published As
Publication number | Publication date |
---|---|
CA3238662A1 (en) | 2023-05-25 |
CN118234603A (zh) | 2024-06-21 |
JP2023074599A (ja) | 2023-05-30 |
EP4327988A1 (en) | 2024-02-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7352260B2 (ja) | 自動物体検出機構を備えたロボットシステム、および、その動作方法 | |
CN113196337B (zh) | 图像处理装置、作业机器人、基板检查装置及检体检查装置 | |
JP6725587B2 (ja) | バラ積みされたワークを取り出すロボットシステムおよびロボットシステムの制御方法 | |
JP2004090183A (ja) | 物品の位置姿勢検出装置及び物品取出し装置 | |
JP5156601B2 (ja) | 形状測定装置およびプログラム | |
CN113146172A (zh) | 一种基于多视觉的检测与装配系统及方法 | |
JP5858773B2 (ja) | 3次元計測方法、3次元計測プログラム及びロボット装置 | |
JP6621351B2 (ja) | レーザー加工用の画像処理装置及び画像処理方法 | |
CN110980276A (zh) | 一种三维视觉配合机器人实施铸件自动下料的方法 | |
US10712288B2 (en) | Surface damage inspection system for workpiece | |
WO2023089981A1 (ja) | ロボットアーム用のツールチェック装置、ツールチェックプログラム、及びツールチェック方法 | |
CN116818668A (zh) | Pcb缺陷检测设备、方法、装置、计算机设备及存储介质 | |
US20210318251A1 (en) | Auto focus function for vision inspection system | |
CN116175542B (zh) | 确定夹具抓取顺序的方法、装置、电子设备和存储介质 | |
US20240033933A1 (en) | Tool checking device, storage device storing tool checking program, and tool checking method for robot arm | |
Luo et al. | Vision-based 3-D object pick-and-place tasks of industrial manipulator | |
CN116188559A (zh) | 图像数据处理方法、装置、电子设备和存储介质 | |
US20240033934A1 (en) | Tool checking device, storage device storing tool checking program, and tool checking method for robot arm | |
JP2021074799A (ja) | 制御装置、その制御方法、及び制御システム | |
Chiu | Dual laser 3D scanner for Random Bin Picking system | |
CN116197885B (zh) | 基于压叠检测的图像数据过滤方法、装置、设备和介质 | |
WO2021059438A1 (ja) | 高さ測定装置 | |
Sypniewski et al. | Probabilistic approach to seam tracking of butt welding | |
JP2023069348A (ja) | 外観検査装置及び外観検査方法 | |
TW202212810A (zh) | 自動物件取像方法及裝置 |
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: 22895267 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18559815 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 22 895 267.7 Country of ref document: EP Ref document number: 2022895267 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 2022895267 Country of ref document: EP Effective date: 20231122 |
|
ENP | Entry into the national phase |
Ref document number: 3238662 Country of ref document: CA |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112024009419 Country of ref document: BR |