JPH08387B2 - Robot controller - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a robot control device capable of image-recognizing a line drawing in an operation area and automatically moving a tool along the line drawing. It is a thing.

[Prior Art] Conventionally, robots have been actively used in place of people for simple work and dangerous work. Although its structure and function differ depending on the required purpose and work content, it is desired to provide a robot that can perform more advanced operations and complicated operations, and a robot that can perform AI functions such as learning.

For example, one of the former is JP-A-61-74399, the other is
For example, there is JP-A-62-72004.

[Problems to be Solved by the Invention] However, in the conventional robot, the movement locus of the tool is stored in a memory in the robot control unit in advance, and the pattern is read at the time of execution. .
Therefore, for example, when the robot wants to recognize the moving object and move the tool (for example, a demonstration) without holding the line drawing shown in the operation range as data, the line drawing in the operation range is set in advance. There was a problem that the tool could not be moved to those that were not registered.

An object of the present invention is to provide a robot control device capable of automatically moving a tool along a illustrated line drawing within an operation range without performing a line drawing registration process in advance.

[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention provides an image pickup means for picking up a line drawing shown in an operation range of a tool as an original image, and a binary value based on image information by the image pickup means. Binarization processing means for creating a digitized image, trajectory contour tracking computing means for removing singular points from the original image, and trajectory end point computing means for computing the starting point and the ending point of the trajectory based on the computation result of the computing unit. And image recognition means for recognizing the curve by obtaining the coordinates of the curved contour based on the calculation result of the trajectory contour tracking calculation means,
A control means for moving the tool along the line drawing in the operation range based on the recognition by the means is provided.

[Operation] According to the means described above, after binarizing the image captured by the image capturing means within the operation range of the tool, the features of the binarized image are extracted and the start and end points of the curve are extracted. Is extracted. Further, the line from the start point to the end point is divided into straight lines, circles, elliptic curves, and the like, and the rearrangement from the start point to the end point is performed, and this is the curve recognition result. Therefore, instead of setting and registering the movement trajectory in advance, the given image is read and the image recognition is performed on the given image to perform the tracing trace work. Therefore, no matter what line drawing is given, the tool is moved to follow. It will be possible.

Embodiments Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing an embodiment of the present invention. Here, the case where a joint type is used as the robot body is illustrated.

The embodiment shown here is a command control unit 1, which creates a program for operating the robot body 3 and inputs data.
Corresponding to the robot controller 2 and arms, hands, and fingers that are built in the robot body 3 and that perform control for driving the robot body 3 according to the instructions of the command controller 1 while exchanging data with the command controller 1. And a plurality of motors (not shown) as driving sources for the respective movable parts, which are configured by a robot main body 3 controlled by the robot controller 2.

The command control unit 1 is an operation panel 101 for inputting various data, set values, programs, etc., a television (TV) camera 102 having an operation range of the movable tip of the robot body 3, and an output signal of the operation panel 101. Input interface 103 that captures the data at a predetermined timing
U) 104, read-only memory (ROM) 105 that stores programs, random access memory (RAM) 106 that temporarily stores processing results and data, specific processing algorithms necessary for robot control, constants, etc. A table memory 107 to be stored, an image processing control section 108 for performing image processing and control for displaying an image on a monitor 109 and an image processing described later for moving the robot, display processing contents by the CPU 104 or a robot operating state. Monitor 109,
Output interface 1 for controlling the printer 111 described later
10, the printer control unit 2 sends data to the printer 111, which prints out processing results under the control of the output interface 110, and the robot control unit 2.
And a transmission input / output unit 112 that receives the operation state information of the robot body 3.

Further, each member to which data signals, control signals, address signals, etc. are connected to the CPU 104 and the CPU 104 are mutually connected by a bus 113. Furthermore, between the TV camera 102 and the bus 113, the TV camera 102
A binarization processing unit 114 for binarizing, ie, digitizing, the image output of is connected.

Although the television camera 102 is described as being included in the command control unit 1 for convenience of description, it is actually installed near the robot body 3 so that its field of view is within the operation range of the movable portion of the robot body 3. Is set.

Further, the robot control unit 2 receives a signal from the transmission input / output unit 112, and transmits the information regarding the operation state of the robot body 3 and the like, the transmission input / output unit 201, the transmission input / output unit
A control unit 202 that outputs control information for driving a motor based on a signal from 201 and manages information sent to the command control unit 1 side, and each motor of the robot main body 3 according to a command from the control unit 202 And a motor drive unit 203 that drives a drive source such as.

The control unit 202 is configured to include a CPU and its peripheral circuits,
It operates as a slave to the CPU 104 of the command control unit 1 which is a master.

Next, regarding the operation of the embodiment having the above configuration,
This will be described with reference to the flowchart in the figure. In addition, in the following, the step of the flow is described as S.

First, an execution start command is keyed in on the operation panel 101, the apparatus is started and initialized, and the condition for operating the robot is specified. The input setting conditions are stored in the table memory 107. Also, the operation range is photographed by the TV camera 102 and the image output is captured. The CPU 104 displays on the monitor 109 the contents that can be operated by the robot and waits. In addition, necessary information is transmitted to the robot controller 2 via the transmission input / output unit 112.

In the robot control unit 2, the control unit 202 executes processing according to the flow shown in FIG. 2 and exchanges information with the command control unit 1.

First, when the power is turned on, the robot body 3 is initialized (S21), and data regarding an object within the operation range is initialized (S22). Then, the command control unit 1 is requested via the transmission input / output unit 201 to request a robot motion selection of what motion should be performed (S23).

In response to the robot operation selection request from the robot controller 2, the command controller 1 prompts the operator to select from the menu (S32) displayed on the monitor 109, and the operation selection result selected by the operation panel 101. Is returned to the robot controller 2. Receiving this, the control unit 202 issues an image processing request to the command control unit 1, and in the command control unit 1 receiving this, the image processing control unit 108 processes the image information captured from the television camera 102, and The image processing content (S33) is returned to the robot controller 2. To the command control unit 1 that received this,
The command control unit 1 that has issued the image processing request and received the request
The image processing controller 108 processes the image information captured from the camera 102.
When the image processing is completed, the image processing completion report (S33) is transmitted to the robot controller 2.

Further, the control unit 202 subsequently issues an image processing result request (S25). In response to this image processing result request, data transmission is performed a plurality of times between the command control unit 1 and the robot control unit 2, and the command control unit 1 performs image processing result information (S3
It is repeated until 4) is completely sent.

When the image processing result is obtained, the control unit 202 plans the action to be taken by the robot (that is, how to move between the start point and the end point) from the given action selection request and the image processing result. Yes (S26). Based on the contents of this plan, the control unit 202 sends a control command to the motor drive unit 203 to start driving the arm of the robot body 3.

When one operation ends, the command control unit 1 is inquired whether or not there is a next process to be executed (S28). In response to this inquiry, the operator selects the same operation as the previous operation or another different operation while looking at the menu screen (S35) on the monitor 109. This selection content is transmitted to the transmission input / output unit 201 of the robot control unit 2 via the transmission input / output unit 112 and the transmission path, and is taken in by the control unit 202. Control unit 20
2 judges the received contents (S29), and if it is the re-execution of the same operation, the operation after step 27 is repeatedly executed again.

In addition, in response to a request to execute a different operation, it is determined whether or not it corresponds to the same type of operation (S30),
If they are the same, the processing after step 24 is repeatedly executed. On the other hand, if it is not the same type of operation, it is determined whether or not the operation request made in step 23 is requested again to the command control unit 1 (S31), and if an operation reselection instruction is determined, step 23 The subsequent processing is executed again. If no operation reselection instruction is given, all processing is terminated.

In the robot controller 2, the controller 202 executes processing according to the flow shown in FIG. 3 and exchanges information with the command controller 1.

First, the operation range is imaged by the television camera 102, the image information is binarized, and then stored in the memory (RAM 106). On the other hand, a tool to be used is specified from the operation panel 101 (S41), the home position standby state is entered, the work tool is gripped, and the hand posture is calculated (S42).

Then, curve approximation calculation is performed according to the following settings and calculation contents (S43).

Definition of coordinate system (definition of tool coordinate system of robot) Designation of posture control (arm posture, tool posture, etc.) Designation of trajectory control (moving speed, etc.) Set specifications of gripping object (height, etc.) For example, if the start point is When the end point is represented by (x _n , Y _n ) in (x _i , y _i ), the coordinates are expressed in a format such as SET = TRANS (x _n , y _n , Z, θ, 90,0).

Next, in order to confirm whether or not the work operation from now on is correct, the operation is performed at a position α (mm) above the coordinates obtained by this calculation. As a result, the tool is actually moved to the target position that is the movement start point, that is, to the start point of the curve (S44).
Then, the curve tracing work is started from this start point (S4
Five). After that, the coordinate position of the curve used in the confirmation operation is corrected to the actual coordinate position, and the start point and the curve are moved (S46).

Next, based on the above processing result, a trace (line drawing trace) is executed according to the curve actually obtained by the tool (S47). When the tool reaches the end point of the curve, the movable part such as the tool is moved to the home position, the work tool is removed, and it stands by (S48).

Next, details of the image processing will be described with reference to FIGS. 4 (A), (B), and (C). First, an image captured by the television camera 102 within the operation range of the tool is input as an original image. In this operation range (= field of view of the camera), a line drawing to be moved by the tool is drawn. This original image is input to the window installed in the curved area (S51).

Then, with intermediate brightness level conversion (S52),
Basic image processing is performed based on a predetermined code and the set value of the image analysis constant table (S53). Further, according to the processing result of step 53, a binary image is generated from the grayscale image (binarization processing means) (S54). Feature extraction processing is performed on the binarized image thus obtained (S55). In the feature extraction processing as the trajectory contour tracing means, first, it is determined whether or not it is a dotted line of a work target with respect to the input binarized image by the number of intersections of the objects and the number of objects. This is to obtain the coordinates for a certain work.

Next, as shown in FIG. 4 (B), the image obtained in step 55 is degenerated from the end points of the curve (S56).
In addition, the exclusive OR (Excu
lusive OR) and combine two images. As a result, the end points (start point and end point) by projecting the X axis and the Y axis are detected (trajectory end point calculation means).

Next, image recognition processing is executed by the following image recognition means. First, the first sorting process (the process of extracting the coordinates of the contour of the curve) is executed (S5
7). In this processing, for the object in the image obtained in step 55, the inside and outside of the curve are sampled to obtain contour coordinates, and further thinning processing is performed to perform coordinate conversion from contour coordinates to curve coordinates. Achieved by

Next, as shown in FIG. 4C, the second sorting process is executed (S58).

Here, first, the distance D from the start point, Find the point (x _i , y _i ) that minimizes (where x ₀ and y ₀ are the starting points). Further, the next point from which the distance D becomes the minimum is obtained. This work is executed until the end point for the number of contour points.

Next, the third sorting process is executed (S59).
In this process, the curved coordinate groups are rearranged in ascending order of the sorting check table. Then, after the number of points determined by the image analysis constants (for example, 40 points) is thinned out and converted to the world coordinate system, re-sorting is performed in ascending order. At this time, data sorting is performed from the start point to the end point, and the result is stored in the curve recognition result table.

The image recognition result obtained in this way is transmitted to the robot control unit 2 via the transmission input / output unit 112, and using the environment database prepared on the robot control unit 2 side, the hand posture is calculated and the movement path is calculated. After the selection, the curve tracing operation is executed through the processing shown in FIG.

[Effects of the Invention] As described above, the present invention includes an image capturing unit that captures a line drawing shown in the operation range of a tool as an original image,
Create a binarized image from image information obtained by the image pickup means 2
Quantization processing means, trajectory contour tracking computing means for removing singular points from the original image, trajectory end point computing means for computing start and end points of the trajectory based on the computation result of the computing unit, and the trajectory contour tracking Image recognition means for recognizing the curved line contour based on the calculation result of the calculation means and recognizing the curve, and control means for moving the tool in the operation range along the line drawing based on the recognition by the means are provided. By doing so, the given image is read, recognition is performed for this, and tracing work is performed, so it is possible to move the tool following any line drawing, and it is excellent in versatility. Robots can be provided. Further, unlike the conventional case, it is not necessary to set the movement trajectory in advance, so that the data input work becomes unnecessary and the operability can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, FIG. 2 is a flow chart for explaining the outline of the processing of the command control unit 1 and the robot control unit 2, and FIG. 3 is a flow chart showing the curve trace processing of the present invention. , FIG. 4 (A), (B),
(C) is a flow chart showing details of image processing in the present invention. In the figure. 1: Command control unit, 2: Robot control unit 3: Robot main body, 4: External storage device 101: Control panel, 102: TV camera 104: CPU, 107: Table memory 108: Image processing control unit 109: Monitor, 112 : Transmission input / output unit 114: Binarization processing unit, 201: Transmission input / output unit 202: Control unit, 203: Motor drive unit

Claims (1)

[Claims] 1. An image pickup means for picking up a line drawing shown in the operating range of a tool as an original image, a binarization processing means for making a binarized image from image information by the image pickup means, and the original image Trajectory contour calculation means for removing singular points from the contour, trajectory end point calculation means for calculating a start point and an end point of the trajectory based on the calculation result of the calculation section, and a curve contour based on the calculation result of the trace contour tracking calculation means. A robot control device comprising: an image recognition means for obtaining the coordinates of the above and performing curve recognition; and a control means for moving the tool within the operation range along the line drawing based on the recognition by the means.