JPS6048315B2 - Visual manipulator control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (1) Field of Application of the Invention The present invention relates to a manipulator system consisting of a plurality of arms having vision, such as a television camera.

(2) Conventional technology One of the constraints when automating a production line by introducing an industrial mouth hot is that it is necessary to supply and fix parts with high precision.

One way to alleviate this problem is to install a visual device such as a television camera on the hand of the manipulator, and position the manipulator based on this visual information.
It is thought that the work will be done. This made it possible to perform relatively simple tasks such as grasping a single part. However, in the actual production process,
It is necessary to perform more complex tasks such as relative positioning of multiple objects. For example, consider an operation in which a conventional visual manipulator is used to make a hole in a predetermined position of a workpiece that is supplied to an arbitrary position. but,
In this case, the workpiece moves for some reason, making it impossible to accurately drill a hole at a predetermined position. (3
) Purpose of the Invention The purpose of the present invention is to
It is possible to provide a device at a predetermined location that can accurately perform a predetermined task.

(4) Summary of the Invention The present invention includes a manipulator 13 for fixing a workpiece 10 in FIG. 1, and a visual device is provided on this manipulator.

Then, after grasping the work object 10 and determining the conditions for performing the work using this manipulator, the imaging device on the manipulator recognizes the predetermined position 20 at which the work should be performed. Thereafter, another manipulator 12 for performing work is controlled to perform a predetermined work.

In addition, in FIG. 1, the workpiece 10 has two cylindrical parts A.
, B are rotatably connected by a shaft, but in the present invention, the cylindrical portion A is gripped.

(5) Examples Hereinafter, the present invention will be explained in detail with reference to Examples.

FIG. 2 is an explanatory diagram of the visual manipulator system of the present invention. In this embodiment, as an example of a work, a work of drilling a hole in the aforementioned cylindrical object 10 with a drill 12 will be explained. This work consists of (1) using the manipulator 14 to move the work object IOA section; Grasp and secure.

(2) Using the manipulator 28, drill a hole at the mark 20 placed on the upper surface of the part A of the workpiece 10.

First, in order to execute (1), use the manipulator 1:4
By the television camera 18 mounted on the hand portion 16 of
As shown in FIG. 3a, capture the image of the work object 10,
The recognition processing device 27 makes a correlation with a pre-stored standard pattern image 1 of the workpiece at the correct grasping position, as shown in FIG. 3b.

In this case, characteristic partial patterns such as 200, 202, and 204 in FIG. 3b are actually used as standard patterns. Details of this can be found in Japanese Unexamined Patent Publication No. 49-11
The technology of the position detection device method disclosed in Japanese Patent Application No. 1665 (Japanese Patent Application No. 48-21636) is applied. By this, the position of the work object 10 within the TV screen is determined,
Find the deviation from the standard pattern, that is, the horizontal deviation and vertical deviation on the TV screen. This information 100 includes
Since information on the depth direction of the television camera is not included, the control device 29 adds predetermined data on the depth direction and converts it into a coordinate system unique to the manipulator. Since this conversion is a well-known technique, it will be omitted. The converted information 102 is sent to the drive device 24 to move the manipulator 14 in the direction of the workpiece 10. Then, he approaches the workpiece 10 while repeating visual recognition, and confirms that he has touched the workpiece 10 based on information from an i-tactile sense (not shown) attached to the tip of the hand portion 16, for example. Grab this and secure it. The means for knowing that the work object 10 has been approached is not limited to the sense of touch, but may be replaced by any possible means. 1 By this (
1) has been executed.

Next, in order to execute (2), the manipulator 28
The cutting edge of the drill 12 is pressed lightly against the upper surface of the object 10 to be worked on. This operation is performed by feedback information 106 from a pressure sense 30 attached to the manipulator 28. When the drill blade comes into contact with the upper surface of the workpiece 10, the television camera 18 captures an image of the mark 20 made on the workpiece 10 and the drill blade 22, as shown in FIG. 4a. Incorporate. Next, the recognition processing device 27 compares this image with a pre-stored image immediately before drilling starts, as shown in FIG. demand. This information 100 is recognized by projecting the recognition target on a two-dimensional plane, and is output as horizontal deviation and vertical deviation on the television screen. Now, as described above, since the tip of the drill blade 22 is in contact with the upper surface of the workpiece 10, it can be seen that there is actually no deviation in the vertical direction, but a deviation in the depth direction. This positional deviation information 100, that is, the horizontal deviation and vertical deviation on the television screen, is converted by the control device 29 into positional deviations Dx, dy in a horizontal plane, and further drives each axis of the manipulator 28. It is converted into information 104 for Based on this information 104, the drive device 26 moves the manipulator 28 to position the drill 12. Switching between the recognition in (1) and the recognition in (2) is performed by a command 108 from the control device 29 as the work progresses.

(6) Summary As explained above, according to the present invention, a conventional industrial robot that grasps and fixes an arbitrarily supplied workpiece and positions other workpieces is not possible. Manipulators can be constructed to perform tasks that were previously possible.

Further, according to the present invention, the television camera used for detecting the position for grasping and fixing the workpiece and the television camera for detecting a predetermined position on the workpiece can be used as the same thing.

In particular, since a TV camera is installed on the manipulator on the side that grips the workpiece, the TV camera is used to detect the position of the mark when the workpiece is gripped, and when detecting the position of the mark after gripping the workpiece. Because the location is close to the TV camera, clear signals can be obtained from the TV camera, making accurate location recognition possible. Note that although a rectangular coordinate type manipulator is used in the embodiment of the present invention, the structural form of such a manipulator itself is not a limitation of the present invention.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of work that is difficult to perform with conventional industrial robots, Fig. 2 is an explanatory diagram of an embodiment of the present invention, and Figs. 3 and 4 are illustrations of a visual manipulator of the present invention. FIG. 2 is a diagram of a television image for explaining the operation of the system.

Claims (1)

[Claims] 1. A first manipulator having a visual device, a grasping mechanism, and a tactile mechanism for capturing an image of a work object in the hand portion, a second manipulator that performs a predetermined work on the work target, and the work. a first means for detecting a position of an object based on an imaging signal from the visual device provided on the first manipulator; and a positioning instruction to the first manipulator based on the detected position of the work object. a second means for transmitting a signal; and a third means for transmitting a signal instructing the gripping mechanism to grasp the workpiece when the tactile mechanism detects that the workpiece has been touched. and a fourth means for detecting a predetermined position on the workpiece gripped and fixed by the gripping mechanism and the position of the second manipulator based on an imaging signal from the visual device; a fifth device that sends a positioning instruction signal to the second manipulator so as to eliminate a positional deviation between the predetermined position of the workpiece and the position of the second manipulator;
A control device for a visual manipulator, characterized in that it has means.