JPH01135485A - Position compensator for robot on unmanned cart - Google Patents

Abstract

PURPOSE: To accurately perform transfer work without being influenced by accuracy at stopping time of an automated guided vehicle by installing a CCD camera on a robot on the automated guided vehicle, and installing position recognizing reference markers in a work station. CONSTITUTION: A CCD camera 4 is arranged on a head of a robot 2 placed on an automated guided vehicle 1. Position reading reference markers 12a and 12b are also arranged in a work station 10, and after travel of the automated guided vehicle 1 is stopped, positions of the reference markers 12a and 12b of the work station 10 are read by this CCD camera 4, and an operation is performed on the relative positional relationship between a position of the robot 2 after stopping this travel and the reference markers 12a and 12b of the work station 10. A robot operating position up to carrying material placing stands 13 and 14, that is, an operating distance of the robot 2 is changed by this operation, and a carrying material 9 is rightly set (transferred) to the carrying material placing stands 13 and 14 on the work station 10.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to position correction in a device that carries out transfer work by mounting a robot on an automatic guided vehicle.

[Summary of the invention]

The present invention is an apparatus for carrying out transfer work by mounting a robot on an automatic guided vehicle, in which a CCD camera is installed at the tip of the robot on the automatic guided vehicle, and the robot is moved to a work station after it stops traveling and before starting the transfer work. Then, the reference marker installed at the work station is read by the CCD camera on the robot, and the relative position error between the robot's position on the automatic guided vehicle and the reference marker at the work station is calculated, and the operating position of the robot is corrected. This eliminates variations in the position of the automated guided vehicle when it is stopped, making it easier to carry out highly accurate transfer operations.

[Conventional technology]

Conventionally, when carrying out accurate transfer work at a work station by placing a robot on an automated guided vehicle, a method was used to accurately stop the automated guided vehicle alone. Mechanical positioning of pins and guide holes, etc. can be performed between the automatic guided vehicle and the running floor, or a tracked vehicle can be used with rail guides, etc. to restrict the running width direction and close only in the running direction. Positioning was performed by searching only one axis using switches, photoelectric switches, etc.

[Problem that the invention seeks to solve]

The positioning method described above requires an automatic guided vehicle and a mechanical positioning device on the floor, or a track.
It is not possible to flexibly respond to the addition of work stations, layout changes, etc., resulting in a logistics system that lacks flexibility. In addition, the stopping accuracy is roughly ±Iwm,
The disadvantage was that precise transfer was difficult.

[Means for solving problems]

In order to solve the above problems, in the present invention, a CCD camera is installed on the head of the robot placed on the automatic guided vehicle, and after the automatic guided vehicle stops traveling, the position of the reference marker installed at the work station is detected. A CCD camera attached to the robot head reads position image data, calculates the relative positional relationship between the robot's position after it stops moving and the reference marker of the work station, corrects the robot operating position up to the center position of the transported object, and By transferring, it became possible to carry out highly accurate transfers.

[Effect]

According to the configuration described above, in a device that performs transfer work using a robot mounted on a trackless automatic guided vehicle, in order to compensate for variations in stopping of the automatic guided vehicle itself, Transfer work that requires precision can be easily performed using an automatic guided vehicle that has general stopping position accuracy without adding any device to improve position accuracy.

〔Example〕

Below, as an embodiment of the present invention, an example in which a robot is mounted on an electric Lil AA guide-type trackless automatic guided vehicle, travels to each work station, and then the robot performs transfer work is shown in the drawings. I will explain based on this.

FIG. 1 is a front view of a robot mounted on an automatic guided vehicle. As shown in FIG. 1, l is an automatic guided vehicle, on which a robot 2 is mounted, a gripper 3 and a CCD camera 4 as a visual camera are installed at the tip of the robot 2. Moreover, on the automatic guided vehicle l, a monitor television 5, a vision camera control 6, a robot controller 7,
and a conveyance object mounting stand 8 are installed. Further, the conveyed object 9 is set on the conveyed object mounting base 8, is corner-guided, and always leans in a constant posture.

FIG. 2 is a top plan view of the automatic guided vehicle 1 and the work station IO, in which a positioning plate 11 is attached to the work station IO, and reference markers 12a and 12b are attached to the positioning plate 11. The alignment plate 11 is coated with glossy coating and has reference markers 12a, 12, so that it can be easily identified as a black and white image using a CCD camera.
b is made of white resin. Further, conveyed object mounting bases 13 and 14 are fixed to the work station 10. Next, the operation will be explained. Using the HO3T computer, automatic guided vehicle controller, and guidance tape (not shown), the automatic guided vehicle (■) travels to the designated work station, stops, and transfers the transported object 9 according to a program input into the robot 2 in advance. I do.

First of all, robot 2 moves the CCD directly above the temporary positioning.
Camera 4 is manually operated in advance. It is moved by a robot controller and reads images. Figure 3 is 10
This is an image of the monitor TV 5 that is read when the work station 1 and the automatic guided vehicle 1 are stopped in an ideal, regular positional relationship, and are in a fixed positional relationship on the x and y axes of the CCD camera. Figure 4 shows an actual image of the monitor TV read by the CCD camera 4 when the automatic guided vehicle 1 has stopped running. Position is X
, Y axis and angle are also read out of position.

The vision controller No. 6 calculates the positional deviation scene, enters the correction value into the robot controller No. 7, changes the robot's operating distance,
．． This is to correctly load the transported items onto the No. 14 storage table.

Conversely, it is also possible to transfer the work stage from the work station onto the automatic guided vehicle.Similarly to the above, the position marker is first read, arithmetic correction is performed, and the work station is taken out and transferred.

〔Effect of the invention〕

As explained above, this invention has a simple structure in which a CCD camera is attached to the robot on the automatic guided vehicle and a reference marker for position recognition is attached to the work station. This has the effect of facilitating accurate transfer work without causing any damage.

[Brief explanation of the drawing]

Figure 1 is a front view of the robot mounted on an automatic guided vehicle, Figure 2 is a plan view of the automatic guided vehicle and work station seen from above, and Figure 3 is an image from a monitor TV when the robot is in the correct positional relationship. FIG. 4 is a diagram showing an image obtained when the vehicle is actually stopped. 1...Automated guided vehicle 2...Robot 4...CCD camera 10...Working station 11...Positioning plates 12a, 12b - Reference markers and above Applicant Seiko Electronic Industries Co., Ltd.

Claims (1)

[Claims] In this device, a robot is mounted on an unmanned guided vehicle, travels to a work station, and after stopping, the robot transfers the transported object.The robot head is equipped with a CCD camera, and the work station is equipped with a CCD camera for position reading. Before the transfer work, the robot's camera reads and calculates the marker position, corrects the deviation of the robot stop position from the reference position to the robot's coordinate system, and stops the automated guided vehicle. A position correction device for a robot on an automatic guided vehicle at a stop position of a robot on an automatic guided vehicle, which is capable of transferring an object to a correct position even if the position deviates from a predetermined position.