JP2001246582A - Working robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working robot device having a means capable of compensating a work position at a high speed and with high precision in accordance with positional deviation of an object for work when works such as welding, painting and assembly are done by a tip of a robot hand. SOLUTION: A camera and a lighting system are provided on a revolute joint of a robot arm, and image processing is applied to an image photographed by the camera when light is applied on the object for work from the lighting system to compensate a position of the tip of the robot hand based on the results.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work robot apparatus for performing operations such as welding, painting, and assembly, and more particularly, to a work robot apparatus capable of easily correcting the position of the tip of a robot hand for performing the work. It relates to a robot device.

[0002]

2. Description of the Related Art Conventionally, articulated robot devices have
Widely applied to industrial work such as welding, painting and assembly. FIG. 8 is a schematic diagram for explaining an example of a conventional brazing robot device. The example shown in the figure is a case where the pipe 160 is brazed to the heat exchanger (work 140) of the room air conditioner. This brazing operation is repeatedly performed at the tip of the robot hand 102.

[0003] The brazing robot device comprises a brazing robot 100 having a robot arm 101, a robot hand 102, etc., a robot controller 110 for controlling the movement thereof, and a teaching pendant 120. Since it is necessary to repeatedly perform the same operation in the brazing operation, a teaching operation for storing what operation should be performed in the robot controller 110 is performed before the actual operation.

First, an operator 300 fixes a work 140 conveyed by a conveyor 130 to a position fixing / supply jig 1.
Fix to 50. Thereafter, the pipe 160 to be brazed is inserted into a predetermined position, and the work 140 is brazed to the robot 1.
Supply to 00. Next, the worker 300 teaches the operation of the brazing robot 100 to the supplied work 140 at the time of actual work. In the teaching, the robot arm 101 and the robot hand 102 are actually moved by the teaching pendant 120 or the hand of the operator 300, and the position of the brazing work and the operation up to the work position are registered in the robot controller 110 as teaching data.

In the actual work, when the work 140 is supplied to the brazing robot 100 in the same manner as in the teaching, the brazing robot 100 automatically moves to the work position based on the registered teaching data, and Start work. This operation is repeated every time the work 140 is transported, and the work of brazing the heat exchanger is performed.

As described above, the work 1 during actual work
By actually moving the robot arm and teaching using the 40, the operator 300 can perform teaching without being conscious of the position and angle of each joint of the brazing robot 100. Further, in the operation repeated based on the teaching, the repetition position reproducibility is considerably high, and the performance is sufficient for general use. Therefore, a robot device such as the brazing robot device described above has been effectively used for the purpose of normal work.

[0007]

However, when the positional accuracy of the supplied work object is low, there is a problem that good work cannot be performed even if the repeated position reproduction accuracy of the robot device is high. . For example, in the case of the above-mentioned brazing operation, the mounting position of the pipe 160 of the workpiece 140 to be supplied varies greatly, and the robot hand 102
In some cases, even if the tip of the robot was moved to the position at the time of teaching with high accuracy based on the teaching data, the actual working position was deviated. Therefore, if the work is performed as it is, a product defect will occur.

In order to solve such a problem, at the time of actual work, a three-dimensional relative position of an actual work location of the provided work target is measured, and the robot hand 102
It is necessary to correct the tip position. But in general, 3
Measuring the dimensional position requires complicated processing, and conventionally,
There has been no position correction device capable of accurately performing such three-dimensional position correction within a required working time.

SUMMARY OF THE INVENTION It is an object of the present invention to correct a work position at a high speed and with high accuracy according to a positional shift of a work object when performing work such as welding, painting, and assembly at the tip of a robot hand. An object of the present invention is to provide a working robot device having means capable of performing the following.

[0010]

In order to achieve the above object, one aspect of the present invention is to provide a camera and a lighting device at a joint of a robot arm, and irradiate the work object with light from the lighting device. Image processing is performed on an image taken by the camera when the camera is in the position, and the position of the tip of the robot hand is corrected based on the result. Therefore, according to the present invention, even when there is a variation in the position of the supplied work target, the robot hand tip position can be quickly corrected, and the work can be performed at an appropriate position.
Therefore, it is possible to reduce the defect occurrence rate and stabilize the product quality.

In order to achieve the above object, another aspect of the present invention is to move a tip of a robot hand to a predetermined position by operation of a robot arm, and to perform a predetermined operation on a workpiece with the tip of the robot hand. A work and robot device for performing, comprising: a camera and a lighting device provided at a joint of the robot arm; and an image photographed by the camera when the work device irradiates the work with light. And an image processing device for detecting a work position on the work, and correcting the position of the tip of the robot hand based on the detected work position.

In a preferred aspect of the present invention, the illumination device has a spot light irradiation unit and a slit light irradiation unit, and the image processing device emits light from the spot light irradiation unit. By performing the image processing on both the image taken by the camera when the image is taken and the image taken by the camera while irradiating the light from the slit light irradiating section, The operation position is detected.

Further, in the above-mentioned invention, another aspect is as follows.
The image processing apparatus may perform a pattern matching process using the same method on both of the images during the image processing.

In the above invention, another aspect is as follows.
The image processing apparatus is configured to perform image processing on an image captured by the camera while irradiating light from the slit light irradiating unit, whereby light from the slit light irradiating unit is irradiated on the work. A position is detected, and a position in the height direction of the work position on the work is detected based on the detected position.

Still another aspect of the invention is characterized in that the image processing apparatus performs preprocessing on the image before the pattern matching processing.

[0016] Further, in the above invention, another aspect is as follows.
The image processing apparatus performs the pattern matching process after performing the predetermined preprocessing on one image, and performs the pattern matching process after performing a preprocessing different from the predetermined preprocessing. Are compared, and if the results match, the pattern matching process is terminated.

In the above invention, another aspect is as follows.
Two or more target locations to be detected in the pattern matching process are provided in one image. Further objects and features of the present invention will be apparent from embodiments of the present invention described below.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. However, such embodiments do not limit the technical scope of the present invention.
In the drawings, the same or similar components are denoted by the same reference numerals or reference symbols.

FIG. 1 is a schematic diagram for explaining an embodiment of a working robot apparatus to which the present invention is applied. The embodiment shown in FIG. 1 is an example of a robot apparatus for performing a brazing operation of a heat exchanger, similarly to the example described based on FIG. The brazing robot apparatus according to the present embodiment corrects the position of the tip of the robot hand 102 at the time of actual work with respect to the workpiece 140 supplied via the conveyor 130, the operator 300, and the position fixing / supplying jig 150 as in the related art. Is performed, and the brazing operation is always performed at an appropriate position in response to the positional deviation of the work 140.

FIG. 2 is a block diagram showing the configuration of the brazing robot device 200 according to the present embodiment. Hereinafter, the brazing robot device 20 will be described with reference to FIGS.
0 will be described. Brazing robot 10 having robot arm 101 and robot hand 102
0, the robot controller 110 for controlling the operation is the same as the conventional device. In addition to these, the brazing robot device 200 according to the present embodiment includes a camera 10, a light source unit 20 and an irradiation unit 30 for illumination, and a computer as devices for correcting the position of the tip of the robot hand 102. 40.

As shown in FIG. 1, the camera 10 is installed at the joint of the robot arm 101 in a direction in which the tip of the robot hand 102 performing the work can be photographed. As illumination for the photographing, two types of illumination devices, a spot light irradiator 31 and a slit light irradiator 32, are provided on both sides of the camera 10.

Thus, the point that the device for position correction is installed at the joint of the robot arm 101 is one feature of the brazing robot device. Usually, the robot hand 102 has a welding torch, a gripper, and the like, and the weight of the tip of the robot hand 102 is limited. Therefore, when the weight for installing these position correcting devices cannot be sufficiently secured. There is. The robot hand 10
2 At the front end, there is a possibility that the brazing material scatters at the time of work and soils the device for position correction. Furthermore, in a normal robot, since the repeated positioning accuracy between the distal end of the robot hand 102 and the joint is high, there is no problem even if a device for correcting the position of the distal end of the robot hand 102 is installed at the joint.
Therefore, installing the camera 10 and the lighting device for position correction at the joint is an effective means.

The light source unit 20 includes a light source unit 2 for irradiating a spot light.
1 and a light source unit 22 for irradiating a slit light, and transmit light to a spot light irradiating unit 31 and a slit light irradiating unit 32 via an optical fiber unit 33 respectively. The light source unit 20 has a mechanical shutter, and can control light guided to the optical fiber unit 33.

The computer 40 performs image processing on the image photographed by the camera 10, measures the displacement between the brazing position of the work 140 and the tip of the robot hand 102, and sends the position correction data obtained based on the displacement to the robot controller. This is the part that conveys to 110. The inside thereof includes a camera image input unit 41, an external output unit 42, a monitor 43, a processing unit 44, a storage unit 45, and the like.

The camera image input unit 41 is a unit for receiving an image from the camera 10, and the external output unit 42 outputs the processed position correction data to the robot controller 110.
It is a part to tell. The monitor 43 is connected to the camera 10.
3 is a screen for confirming an image captured in step S1. Processing unit 44
Is a part for performing calculations such as the image processing described above, and the storage unit 45 is a part for registering an image photographed at the time of teaching, which will be described later.

Further, the processing performed by the computer 40 is performed by using both an image obtained for spot illumination and an image obtained for slit illumination for one position correction. This is one feature of the brazing robot device. Although the details of the processing will be described later, an image captured while receiving illumination from the spot light irradiation unit 31 is used for horizontal (X, Y) direction displacement measurement, and the illumination from the slit light irradiation unit 32 is used. The image taken while receiving the image is used for measuring the displacement in the height (Z) direction. By this processing, three-dimensional position measurement is possible in the brazing robot device.

As described above, in the present brazing robot device, the camera 10 and two types of lighting devices (31 and 3) are used.
2) is provided at the joint of the robot arm 101, and the computer 40 performs image processing on two types of images captured for each illumination, thereby correcting the position of the tip of the robot hand 102. Hereinafter, a description will be given of a procedure of an operation when the brazing robot device is used and a processing content of the position correction.

FIG. 3 is a flowchart showing the work and processing flow of the brazing robot apparatus according to this embodiment. Even when using this brazing robot device,
Teaching work is required in the same manner as in the related art. FIG. 12A shows a flow at the time of teaching, and FIG. 12B shows a flow at the time of actual work. At the time of teaching, first, the worker 300 moves the work 140 transferred by the conveyor 130.
Is set on the position fixing / supply jig 150 (steps S1 and S2 in FIG. 3). Subsequently, the pipe 160 to be brazed is inserted into a predetermined position, and the work 140 is brazed to the brazing robot 1.
00 (steps S3 and S4 in FIG. 3).

In this state, the operator 300 moves the robot hand 102 to the work position by using the teaching pendant 120, and stores the work position and the operation to that position in the robot controller 110 as teaching data (FIG. 3). Step S5). The contents of the work up to this point are the same as those in the conventional case, but in the case of the present brazing robot device, the camera 10 also shoots at the time of this teaching.

When teaching the operation to the work position, the operator 300 moves the camera 10 and the irradiation unit 30 so as to face the brazing part (working part) of the work 140 while watching the monitor 43, and An image when each of the irradiation unit 31 and the slit light irradiation unit 32 emits light is captured by the camera 10 (step S6 in FIG. 3).

Next, the operator 300 designates, on the monitor 43, a portion required for image processing at the time of position correction from the captured image, and registers the portion as an image pattern (FIG. 3). Step S7). For an image photographed at the time of spot light irradiation, a region including a brazing point (working portion) is specified, and for an image photographed at the time of slit light irradiation, the slit light is applied to the work object (work 140 or pipe 160). Specify the area including the hit location. The registered image pattern is stored in the storage unit 45 of the computer 40 as a registered model.

At the time of actual work, first, the work 140 into which the pipe 160 has been inserted is fixed in position as in the teaching.
It is supplied to the brazing robot 100 on the supply jig 150 (Steps S1 to S4 in FIG. 3). Next, under the control of the robot controller 110 based on the teaching data, the tip of the robot hand 102 moves to the work position at the time of teaching (step S8 in FIG. 3). The operation so far is the same as that of the conventional device.

Next, light is emitted from each of the spot light irradiating section 31 and the slit light irradiating section 32, and an image corresponding to each light is taken by the camera 10 (steps S9 and S12 in FIG. 3). The photographed image is taken into the processing unit 44 of the computer 40 via the camera image input unit 41 and subjected to image processing. In the case of spot light,
An image including a working unit (a brazing portion) is acquired, and the image processing first detects the working unit in the acquired image (step S10 in FIG. 3). The detection of the working unit is performed by a pattern matching (normalized correlation) process using the registered model (image pattern of the working unit) registered in the storage unit 45 at the time of teaching. The method of the pattern matching processing used here is a general method conventionally used.

When the work unit is detected, the amount of displacement between the position of the work unit and the position of the tip of the robot hand 102 (the position of the work unit at the time of teaching) in the acquired image is determined (step in FIG. 3). S11). This displacement amount means a displacement in the horizontal (X, Y) direction between the work position at the time of teaching and the actual work position, and is obtained as the number of pixels.

On the other hand, in the case of the slit light, an image including a place where the slit light hits the work (workpiece 140 or the pipe 160) is obtained. First, the slit light hits in the obtained image. Part detection is performed (step S13 in FIG. 3). As in the case of the spot light, the detection of the portion hit by the slit light is performed by pattern matching (normalized correlation) processing using the registered model (image pattern of the portion hit by the slit light) registered at the time of teaching. It is performed by

Next, the amount of displacement between the position of the detected portion and the position of the portion hit by the slit light during teaching in the acquired image is determined. From the displacement amount on the two-dimensional image, the displacement amount in the height (Z) direction of the actual work position can be obtained by the principle described later (step S14 in FIG. 3). As described above, even in the case of the slit light, the pattern matching processing and the calculation processing of the positional deviation amount on the image perform the same processing as in the case of the spot light. Therefore, the processing program can be simplified, and the processing can be optimized easily, so that the processing can be speeded up. This point is also a feature of the brazing robot device.

Next, the processing unit 44 creates position correction data of the tip of the robot hand 102 based on the measured amount of displacement in the horizontal (X, Y) and height (Z) directions (FIG. 3). Step S15), and outputs the result to the robot controller 110 via the external output unit 42. The conversion from the displacement amount to the position correction data, which is the actual movement amount of the robot hand 102, can be calculated by a geometric calculation. However, in advance, the work 140 and the robot hand 102 are actually moved beforehand. The accuracy can be improved by calibrating the positional deviation amount obtained by the image processing and the actual positional deviation amount.

The robot controller 110 having received the position correction data, based on the data,
To correct the position of the tip of the robot hand 102 (step S16 in FIG. 3). When the position of the tip of the robot hand 102 is corrected, the brazing operation is started (FIG. 3).
Step S17). The operations described above (steps S8 to S17 in FIG. 3) are executed each time the work 140 is supplied.

If there is no problem in the processing time, the irradiation of slit light, image acquisition, image processing, and position correction processing in the height direction (steps S12 to S16 in FIG. 3) are performed first, and then the spot Light irradiation, image acquisition, image processing,
And horizontal position correction processing (steps S9 to S in FIG. 3).
11, S15 and S16) may be performed. In this case, the position correction accuracy can be improved.

As shown in FIG. 3, when the processing using the spot light and the processing using the slit light are performed simultaneously in parallel, the colors (wavelengths) of the spot light and the slit light are changed.
This can be dealt with by separately extracting information from the camera 10 for each color and obtaining separate images.

FIG. 4 is a diagram for explaining the principle of detection of the above-described positional deviation in the horizontal (X, Y) direction. (A) in the figure
Is a diagram showing a positional relationship at the time of photographing by the camera 10, in which A represents the position of the work 140 during teaching, and B represents the position of the work 140 during actual work. The spot light irradiating section 31 is installed so as to irradiate the work 140 with light obliquely, and creates a shadow at a brazing portion which is a working section. This facilitates detection at the time of pattern matching.

FIG. 7B shows a photographed image (reference image) at the time of teaching, and as described above, part A of this is stored in the storage unit 45 as a registered model (FIG. 10C). (D) of the figure is an image (detected image) photographed at the time of actual work. As described above, the part (b) is detected by the pattern matching processing using the registered model of (c). In (d), dx and dy are the measured horizontal displacements.

Next, FIG. 5 is a diagram for explaining the principle of detecting a position shift in the height (Z) direction by slit light. (A) of the figure is a diagram showing a positional relationship at the time of shooting by the camera 10, where A represents the position of the work 140 during teaching, and B represents the position of the work 140 during actual work. ing. The imaging surface of the camera 10 is
And the pipe 160, and the slit light irradiation unit 32
The pipe 160 is installed so as to irradiate light obliquely. As is apparent from the figure, the position where the slit light hits the pipe 160 changes as the height of the work 140 changes. Although the height is different by dz between A and B in the figure, the position where the slit light hits is shifted by dx. The detection of the positional deviation in the height direction by the slit light utilizes this principle.

Further, since the reflected light has a crescent shape in the portion where the slit light hits the pipe 160, the position can be detected by detecting this shape. (B) of the figure is a captured image (reference image) at the time of teaching, and as described above, the part A (crescent shape) is stored in the storage unit 45 as a registered model ((c) of the figure). .

FIG. 5D shows an image (detected image) photographed during the actual work. As described above, the pattern matching process using the registered model shown in FIG. Then, by measuring dx in (d), the positional deviation amount dz in the height direction can be obtained by simple calculation based on the above principle. According to this method, as shown in the figure, when a horizontal object moves in parallel in the vertical direction, measurement can be performed with high accuracy.

In the brazing operation according to the present embodiment, the three-dimensional displacement of the supplied workpiece 140 is
In many cases, the movement is parallel movement without torsion, and therefore, the position can be accurately corrected by the above-described method of detecting the displacement in the horizontal direction and the height direction. Therefore, three-dimensional position correction can be realized by performing the same two-dimensional image processing twice, and the processing can be speeded up and the apparatus can be simplified and the cost can be reduced.

In the above description, the detection of the target portion by the pattern matching process (steps S10 and S13 in FIG. 3) has been described. In order to reduce erroneous detection at that time, before the pattern matching process, Preprocessing may be performed on the acquired image. As the pre-processing, a general image processing method performed for generating an image suitable for the purpose, such as a differentiation process, an averaging process, and a binarization process, can be used. Further, a process of subtracting the image before the irradiation with the spot light and the slit light from the image after the irradiation may be used. By performing such preprocessing, a target portion such as a brazing portion can be emphasized, erroneous detection by pattern matching can be reduced, and the processing time can be shortened.

Further, two different pre-processes may be performed to increase the detection accuracy. FIG. 6A is a processing flow showing an example thereof. The processing shown in the figure is processing corresponding to step S10 or S13 in FIG. Two different preprocessings are separately performed on the same acquired image (steps S1 and S1 ′), and the results are subjected to the above-described pattern matching (steps S2 and S2 ′). Then compare the two results (step
S3) If they match, it is assumed that the target portion has been detected (step S4); otherwise, the process is performed again (step S5). By doing so, erroneous detection can be further reduced.

Further, in order to reduce erroneous detection by pattern matching, a method of providing a plurality of detection locations in one image may be adopted. FIG. 6B is a processing flow showing an example thereof. The processing shown in the figure is processing corresponding to step S10 or S13 in FIG. As the plurality of detection target portions, it is necessary to select a portion that includes a brazing portion of the work target and whose relative position does not change even when the entire work 140 moves. In particular, it is effective to select a portion that has a distinctive shape and is easily detected.

First, a pattern matching process is performed on one detection target portion (step S1). Normal,
In the pattern matching process, since the detection result is obtained as a plurality of candidates in a likely order, one of them is selected (step S2). On the other hand, it is assumed that the detection has already been completed for other detection target portions existing in the same image (step S1 ′).

Here, the relative positions of the selected candidate and the other detected object to be detected are checked (step S).
3) If the result is valid, the detection is completed assuming that the candidate is a predetermined detection target location (step
S4). On the other hand, if the relative position is not appropriate, another candidate is selected and re-processing such as checking the relative position again is performed. By performing such processing, the detection accuracy by pattern matching can be improved.

As described above, by using the brazing robot device according to the present embodiment, the correction of the work position corresponding to the variation in the position of the work object supplied at the time of the actual work can be performed at high speed. It is possible to carry out with high accuracy, and it is possible to reduce the occurrence of defects and stabilize product quality. FIG. 7 is a diagram plotting experimental results of misregistration when position correction is not performed (x in the figure) and when position correction is performed by the brazing robot device (● in the figure). (A) of the figure shows the horizontal displacement,
(B) shows the displacement in the height direction. It is apparent from the figure that the position correction by the brazing robot device is effective.

Although the embodiment has been described as a robot apparatus for brazing work, the present invention can be applied to other work.

The scope of protection of the present invention is not limited to the above embodiments, but extends to the inventions described in the claims and their equivalents.

[0055]

As described above with reference to the accompanying drawings, the present invention has the following effects.

First, a camera and an illuminating device are provided at the joint of the robot arm, and the position of the tip of the robot hand is corrected based on the image processing result of the image taken by the camera, so that the supplied work object is corrected. Even when there is a variation in the position, the work can be executed at an appropriate position, and the occurrence rate of defects can be reduced and the product quality can be stabilized.

Second, by using spot light illumination and slit light illumination and performing image processing on an image obtained when each light is irradiated, the position of the tip of the robot hand can be corrected easily and accurately. It can be performed.

Third, in the pattern matching processing of an image obtained for spot light and an image obtained for slit light, the same processing method is used to simplify and speed up the processing. Can be.

Fourth, by detecting a shift in the height direction of the work object based on a shift of the position where the slit light hits the work object, three-dimensional position correction can be easily and rapidly performed. .

Fifth, by performing appropriate preprocessing before the pattern matching processing, erroneous detection in pattern matching can be reduced, and the processing time can be shortened.

Sixth, the detection accuracy can be further improved by performing detection by comparing with a pattern matching result obtained when different preprocessing is performed on one image.

Seventh, a plurality of locations to be detected by pattern matching are provided in one image, and the detection is performed in consideration of their relative positions, whereby the detection accuracy can be further improved.

[Brief description of the drawings]

FIG. 1 is a schematic diagram for explaining an embodiment of a working robot device to which the present invention is applied.

FIG. 2 is a brazing robot device 2 according to the embodiment;
FIG. 2 is a block diagram showing a configuration of a 00.

FIG. 3 is a flowchart showing a flow of work and processing of the brazing robot device according to the embodiment.

FIG. 4 is a diagram for explaining the principle of detecting a position shift in the horizontal (X, Y) direction.

FIG. 5 is a diagram for explaining the principle of detecting a position shift in the height (Z) direction.

FIG. 6 is a flowchart illustrating a processing example for improving detection accuracy of pattern matching.

FIG. 7 is a diagram plotting experimental results of positional deviation when no position correction is performed and when position correction is performed.

FIG. 8 is a schematic diagram for explaining an example of a conventional brazing robot device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Camera 20 Light source part 21 Light source part for spot light irradiation 22 Light source part for slit light irradiation 30 Irradiation part 31 Spot light irradiation part 32 Slit light irradiation part 33 Optical fiber part 40 Computer 41 Camera image input part 42 External output part 43 Monitor 44 Processing unit 45 Storage unit 100 Brazing robot 101 Robot arm 102 Robot hand 110 Robot controller 120 Teaching pendant 130 Conveyor 140 Work 150 Position fixing / supply jig 160 Piping 200 Brazing robot device 300 Worker

Continued on the front page (72) Inventor Nobuhiro Iwata 3-1-1 Asahi-cho, Nishibiwajima-cho, Nishi-Kasugai-gun, Aichi Prefecture Inside the Air Conditioning Works of Mitsubishi Heavy Industries, Ltd. Address F-term in Mitsubishi Heavy Industries, Ltd. Air Conditioning Works (reference)

Claims (7)

[Claims] 1. A working robot device for moving a tip of a robot hand to a predetermined position by an operation of a robot arm and performing a predetermined operation on an object to be worked with the tip of the robot hand. A camera and a lighting device provided, and an image for detecting a working position on the work by performing image processing on an image photographed by the camera when the work is illuminating the work with light from the lighting device. A work robot device, comprising: a processing device, wherein the position of the tip of the robot hand is corrected based on the detected work position. 2. The camera according to claim 1, wherein the illuminating device has a spot light irradiating unit and a slit light irradiating unit, and the image processing device is configured to illuminate the camera with the light when irradiating light from the spot light irradiating unit. By performing the image processing on both the captured image and the image captured by the camera while irradiating the light from the slit light irradiating unit, a work position on the workpiece is detected. A work robot device characterized by the above-mentioned. 3. The working robot device according to claim 2, wherein the image processing device executes a pattern matching process using the same method for the both images in the image processing. 4. The slit light irradiating unit according to claim 2, wherein the image processing device performs image processing on an image captured by the camera while irradiating light from the slit light irradiating unit. Detecting a position where light from the object is irradiated on the work, and detecting a position of the work position in the work in a height direction based on the detected position. Robot device. 5. The working robot device according to claim 3, wherein the image processing device performs preprocessing on the image before the pattern matching process. 6. The image processing apparatus according to claim 5, wherein a result of performing the pattern matching process after performing the predetermined pre-processing on one of the images is different from the predetermined pre-processing. A work robot apparatus, wherein the result of performing the pattern matching process after performing the preprocessing is compared, and when the result matches, the pattern matching process is terminated. 7. The working robot device according to claim 3, wherein two or more target locations to be detected in the pattern matching process are provided in one image.