JPS6022766B2 - Object attitude control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for controlling the attitude of an object in a handling device or the like.

For example, when controlling the attitude of an object in a handling device, a mechanical position detector such as a potentiometer is added to the handling device.

However, this method was sufficient when the object could be handled in a fixed posture, but in cases where the object cannot be handled in a fixed posture, such as when handling a flexible object, it is difficult to control the object to a predetermined posture. was difficult. SUMMARY OF THE INVENTION An object of the present invention is to eliminate the above-mentioned drawbacks of the prior art and to provide a method for recognizing the three-dimensional posture of a target object and controlling its handling. The present invention relates to a method for controlling the posture of an object in a handling device, etc., which includes a plurality of bran imaging devices that image a target object from directions perpendicular to each other in the X-Z axis plane direction, and an image obtained from each of the imaging devices. extraction means for extracting specific parts of at least both ends in the x-axis direction and ends in the z-axis direction of the target object based on the signal; A recognition means for recognizing a three-dimensional posture of a target object from positional coordinates in the Y-axis direction and positional coordinates in the Z-axis and Y-axis directions of an end in the Z-bag direction, and a result recognized by the recognition means. This method is characterized by correcting the posture of the target object based on the following.

A specific example of the present invention will be described assuming that a component 1 shown in FIG. 1 is handled and moved to a component 2 whose position is fixed.

At this time, it is necessary to control the component 1 for generalization in the horizontal directions x and Y, and also to control the displacement Z. According to the present invention, in such a case, three imaging devices 3 are installed for the component 1 as shown in FIG. 2 or 3. 2 and 3 are views of the component 1 shown in FIG. 1 from above, and the heights of the three side image devices are the same. When the component 1 is in a normal posture, in the case of FIG. 2, images as shown in FIG. 4 are obtained on the imaging devices 3a and 3b, and images as shown in FIG. 5 are obtained on the imaging device 3C. Further, as shown in FIG. 3, when a mirror is interposed in the image extraction path of the moat imaging device 3C, the same image as that of the moat imaging devices 3a and 3b can be obtained due to the effect of the mirror 4. However, if the component 1 is not in its normal posture, an image as shown in FIG. 6 will appear.
In the case of this example, it is assumed that a portion of the attention point 5 of the component 1 shown in FIGS. 4, 5, and 6 is extracted from the images of each imaging device. Assume that the position of the extracted point of interest 5 is expressed in a coordinate system as shown in FIG. Point of interest 5 extracted from imaging position 3a
The coordinates extracted by the imaging device 3b are Xa, Ya, the coordinates extracted by the imaging device 3b are Xb, Yb, and the coordinates extracted by the imaging device 3C are Xc,
Let it be Yc. If Ya=Yb=Yc, part 1 is normal with no bending, but if not, part 1 is tilted. In such a case, the present invention provides a control command to the handling device so that Ya=Yb=Yc. In this way, the deflection of component 1 can be recognized by extracting Ya, Yb, and Yc without determining the inclination angle, and a correction signal can be generated. On the other hand, the horizontal positional deviation of the component 1 can be determined by comparing Xa, Xb, or Xc with target values (Xa, Xb, and Xc in a normal case). By extracting a specific part of the target object from the images obtained by the three imaging devices as described above,
It becomes possible to recognize the three-dimensional posture of the target object, such as distortion and horizontal positional deviation, and send control commands for posture correction to the handling device.

In a case like this example, the following methods are available for extracting the point of interest 5.

It is assumed that the image shown in FIG. 6 is binarized and an image as shown in FIG. 8 is obtained. For example, as shown in FIG.
7d and the scattering plate 8 can be easily obtained. With respect to the image in FIG. 8, the determination area 6 shown by the broken line in FIG. 8 is moved from left to right on the screen in the order of 6a, 6b, 6c, 6d, and 6e. If you look at it, it will look like Figure 9. As the determination area 6 is moved, the determination area 6 has reached the attention point 5 when the state of the binary image changes from a constant value to an uneven state. FIG. 9 shows the situation when the determination area 6c reaches the attention point 5, and the x coordinate of the area 6 is determined. Note: The Y coordinate of the point 5 can be found by finding the center of the concave portion of the binary image in the determination area 6c. A specific method for determining the coordinates of the determination area 6 will be explained with reference to FIGS. 11 and 12. 9 is a basic clock, and 10 is a coordinate generation circuit that generates scanning position coordinates based on the basic clock 9.

11 is a register for the x coordinate of the judgment area; 12,1
3 is the 0 starting point coordinate Ys and ending point coordinate Ye in the Y direction of the determination area.
This is a register for

14 is the output of the coordinate generation circuit 10, and registers 11, 12,
13 and generates an output only when the monkey image device scans the judgment area.

Reference numeral 15 is a binary signal, which is input to a J/K flip-flop 17 via a gate 16.

FIG. 12 shows a timing chart of the binary signal A, the output port of the region generation circuit 14, and the output 19 of the flip-flop 17 in the judgment region. Basic clock 9 and output 1
8 and 19 are input to the counter 21 via the gate 20. The counter 21 counts T shown in FIG. Further, the output of the gate 16 is input to the JK flip-flop 22, and the output of the flip-flop 22 is 2
3 is input to the counter. The counter 23 counts T2/2 as shown in FIG. The value of the counter 23 is compared with "0" every time the scanning of the judgment area is completed.
If it is equal to "0", the x coordinate of the determination area of register 11 is changed, and if it is not equal to "0", addition circuit 25 performs addition in counters 21, 23 and register 12. The result of this addition is the Y coordinate of the point of interest 5 mentioned above, and the output of the counter 11 at that time is the x coordinate of the point of interest 5. Moreover, if such an extraction method is adopted, the processing in the case of FIG. 3 will be easier than that of FIG. 2, in which the processing in each imaging device is completely the same. As explained above, the present invention sets a plurality of imaging devices so as to maintain a fixed positional relationship, and extracts a portion of a specific target object from the image obtained by each imaging device. Since it recognizes the three-dimensional posture, it is possible to recognize the three-dimensional posture of the target object with a simple configuration, and even if the handling device cannot handle the target object in a constant posture, the posture can be easily corrected. There are advantages that can be achieved.

[Brief explanation of the drawing]

The attached drawings are for explaining one embodiment of the present invention, and FIG. 1 shows the positional relationship of parts to be handled, and FIGS. 2 and 3 show an example of how an imaging device is installed. ,
Figures 4 to 6 are video examples of the Iso image device, Figure 7 is a coordinate diagram of the extraction position of parts, Figure 8 is a video example explaining the extraction method, and Figure 9 is the extracted waveform in Figure 8. Figure 10 is a diagram showing the arrangement of the light source and scattering plate when obtaining the image shown in Figure 8, Figure 11 is a specific circuit configuration diagram for determining the coordinates of the determination area shown in Figure 8, and Figure 12 is is an input/output waveform diagram of FIG. 11. 1, 2...Parts, 3a-3c...Imaging device, 4...Mihu, 5...Point of interest, 6, 6a-6
e….・．． Judgment area, 7a to 7d...Light source, 8...
... Diffusing plate, 10... Coordinate generation circuit, 12-13.
...Register, 14...Area generation circuit, 16
,20...Gate, 17,22...Flip-flop, 21,23...Counter, 24...
- Comparison circuit, 25...addition circuit. Ga I GO ga 2 style 3 80 O 4 evil o S prisoner sr〆 evil O 7 4 ga 8 figure

Claims (1)

[Claims] 1. In a method for controlling the attitude of an object in a handling device, etc., a plurality of imaging devices are used to image the target object from directions perpendicular to each other in the X-Z axis plane direction, and a video signal obtained from each of the imaging devices is used. Extraction means for extracting specific parts of at least both ends in the X-axis direction and ends in the Z-axis direction of a target object, and the X-axis and Y-axis of both ends in the X-axis direction extracted by the extraction means The position coordinates of the direction and Z
recognition means for recognizing the three-dimensional posture of the target object from the position coordinates of the ends in the axial direction in the Z-axis and Y-axis directions; An object attitude control method characterized by correcting the attitude of an object to be imaged.