JPH05197416A - Teaching device for robot operation point - Google Patents

Abstract

(57) [Summary] [Object] The present invention uses a work work image captured by a camera attached to the tip of a robot and a virtual tool created by a processing device and displayed in superimposition on a camera image. An object of the present invention is to provide a method for safely and easily teaching the trajectory (movement position / posture) of a robot and the posture of a tool mounted on the robot, which is suitable for a work. [Structure] A robot, a proximity sensor attached to the hand of the robot, a camera, a three-dimensional pointing device used by an operator, a processing device, a display device, and a robot control device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot operating point teaching device capable of easily teaching the position and orientation of a robot.

[0002]

2. Description of the Related Art In order to make a robot perform surface polishing work, a method of controlling the position of a tool attached to the robot and a method of controlling a force applied to the tool are adopted.
Regarding the method of controlling force, it is necessary to teach the starting point and the ending point of force control. As a method of moving the robot, (i) a direct teaching method in which the position of the robot is recorded using a teaching box and the robot is moved in the recorded order, and (ii) position coordinate data in the work space There are two types of methods: a method of moving a robot according to a procedure programmed by using a robot control language.

[0003]

The direct teaching has the following problems. Since it is necessary to teach in the actual work world, it will be taught in a dangerous place depending on the work content.

It is necessary to become familiar with the operation method of the teaching box and the like. It is difficult to teach work requiring accuracy by operating a teaching box or the like.

The teaching by the program has the following problems. It is necessary to generate control commands for robot movement from part data defined as program data and part position data in the actual work world.

It is difficult to perform programming such as deburring in which the shape and the robot work route are different for each individual part. The present invention is directed to a conventional robot teaching method using a work work imaged by a camera attached to the tip of a robot for machining work and a virtual tool created by a processing device and displayed in superimposition on a camera image. Safer and easier than the robot trajectory (motion position / posture) suitable for work
Another object of the present invention is to provide a method for teaching the posture of a tool attached to a robot.

[0007]

A robot operating point teaching device according to the present invention is a robot, a proximity sensor attached to the hand of the robot, a camera, and a three-dimensional pointing device (reference coordinate axes x, y, z axes) used by an operator. Direction device and a device capable of measuring a total of 6 degrees of freedom of posture information corresponding to Euler angles with respect to a reference posture), a processing device for processing and displaying data from a proximity sensor and a pointing device, an image from a camera and a processing device. It is composed of a display device for displaying the display results in an overlapping manner and a robot control device.

[0008]

[Operation] Even if the operator does not teach the operating point sequence using the teaching box or learns and programs the robot programming language, the operator can observe the actual machining work conditions photographed by the camera and use the virtual tool 3 This is different from the conventional robot teaching method in that the robot control information such as the position and orientation information necessary for the machining work is automatically created by operating the dimensional pointing device.

A. (Operation of Position / Posture Measuring Device) In the displayed state, the operator teaches the hand position of the robot and the posture of the tool with respect to the work by using the three-dimensional pointing device for the work.

The position / orientation of the operator can be measured by using a commercially available device. ("Commercial artificial reality system RB2" Journal of Precision Engineering Vol.57 No.8 pp39-43 (1991.8)
) B. (Operation of Data Processing Device) The position of the hand of the robot is controlled according to an instruction from the operator using the three-dimensional pointing device.

Based on the attitude data of the tool taught by the operator with the three-dimensional pointing device, the image of the temporary tool is superimposed on the camera image. In the vicinity of the work, the position coordinates measured by the proximity sensor are displayed according to the camera image as needed.

A method other than the three-dimensional pointing device such as voice is used to instruct the operation parameters of the tool and the superposition mode. The taught information is displayed and editing is performed.

At the time of executing work, the stored position
Create control data for the robot and tool according to the posture data and the operation parameters of the tool. C. (Operation of display device) The superimposed information is displayed to the operator.

It can be realized by a TV monitor equivalent product. In order to match the line of sight with the movement of the operator, it can be realized with a display device mounted on the head. ("Commercial artificial reality system RB
2 ”Japan Society for Precision Engineering Vol.57 No.8 pp39-43 (1991.8)) D. (Operation of Robot Controller) Teaching controls a robot equipped with a camera and a proximity sensor according to the movement of the operator.

At the time of processing work, the robot equipped with the tool is PTP-controlled or CP-controlled. ("Robot Engineering Handbook" pp.526-527, The Robotics Society of Japan (1990))

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an explanatory view of the entire robot operating point teaching device. FIG. 1 shows a state at the time of teaching, and 1a and 1b are three-dimensional pointing devices (1a and 1b can be used by switching one three-dimensional pointing device).
2 is a microphone, 3 is a display, 4 is a position / orientation measuring device, 5 is a data processing device, 6 is a display device, 7 is a robot control device, 8 is a robot, 9 is a camera, 10 is a proximity sensor, and 11 is work work. Indicates.

FIG. 2 shows a configuration when a working operation is performed. In FIG. 2, reference numeral 12 denotes a tool attached instead of the camera and the proximity sensor in FIG. I. Explanation of each device during teaching A. (Explanation of the position / orientation measuring device) The coordinate axis (x y z system)
Position (x, y, z) at x and x y Three-dimensional pointing device coordinate system (device x Device y Euler angles (ψ, θ, φ) formed by the device z system ) and
It is sent to the data processing device 5 periodically.

FIG. 3 shows the coordinate system of the operator and the coordinate system of the robot.
(X Y Z system) and the coordinate system of the robot tip (robot
X Robot Y Robot Z system). X Y Z
Robot X for coordinate system Robot Y Robot Z seat
The gradient of the standard system is (Ψ_a, Θ_a, Φ_a), X Y Z coordinate system
Tool X against Tool Y The tilt of the tool Z coordinate system
(Ψ _b, Θ_b, Φ_b).

B. (Explanation of Data Processing Device) Based on information from the position / orientation measuring device 4, the robot 8 is set to a coordinate system (X Y
Z system) to move. The three-dimensional pointing devices 1a and 1b possessed by the operator are regarded as virtual tools, and an image of the virtual tools is created.

X y Amount of change in 6 degrees of freedom in the z coordinate system (Δa _i = a _{i + 1} −a _i , where a = x, y, z,
ψ, θ, a _i is the measured value at time t _i) based on the position control of the robot with _{φ (A i + 1 = A} i + f * Δa i, where A = X, Y, Z, Ψ a, Θ _a , Φ _a ).

FIG. 4 shows the flow of control. (1) S1: Set the conversion rate f. (2) S2: Data a _i and variable Δa _i are obtained.

(3) S3: The position / orientation (A _i ) of the robot is determined. (4) S4: The operator determines whether or not the position / orientation of the robot is possible while looking at the display device. If NO, the process returns to S2.

(5) S5: If YES, the data Ψ
Obtain _bi , Θ _bi , and Φ _bi . Three-dimensional pointing device 1
It is considered that the resolution and accuracy of a and 1b do not satisfy the accuracy required for the movement of the robot. The operator can increase the resolution and accuracy of the three-dimensional pointing device required for controlling the robot by changing the conversion rate f.

C. (Description of Display Device) The image from the camera and the virtual tool created by the data processing device are displayed in an overlapping manner. FIG. 5 shows a state where a virtual tool represented by diagonal lines is in contact with the image. The operator looks at the display reflecting the movement of the three-dimensional pointing device to be operated, and moves the robot (X, Y, Z, Ψ _a ,
Teach Θ _a , Φ _a ). On the other hand, the posture of the virtual tool with respect to the work is taught by (Ψ _b , Θ _b , Φ _b ). Figure 6
Shows an example of a superimposed image when the posture of the tool is changed from the state of FIG.

In work such as surface polishing, it is necessary to apply a tool to a predetermined position from the surface of the work. The image from the camera alone does not allow the operator to control the position required for work. Proximity sensors are used to precisely control the position.

D. (Example of Using Visible Light Laser as Proximity Sensor) FIG. 7 shows a diagram in which a proximity sensor is attached. In FIG. 7, 13 indicates a laser displacement meter. The optical axis of the camera and the optical axis of the laser displacement meter used as the proximity sensor cannot be attached so as to coincide with each other. When it is necessary to operate the robot with a distance of 1 from the processing surface and an accuracy of Δl, a circle corresponding to the radius (Δl * tan θ) is drawn on the display device as shown in FIG. The operator can control the trajectory of the robot with a predetermined accuracy by operating the laser so that the laser spot remains inside the circle.

E. (Example Using Fixed Focus Camera as Proximity Sensor) FIG. 9 shows a diagram in which a fixed focus camera is attached. In FIG. 9, 14 is a fixed focus camera, 15 is a half mirror, and 16 is a mirror.

It is not possible to mount the two cameras with their axes aligned. Using the half mirror 15 and the mirror 16, the optical axis of the camera is artificially aligned. The images from the two cameras are superimposed and displayed as shown in FIG. 10 with the image from the fixed-focus camera 14 at the center. Fixed focus camera 14
If the image from is focused and formed, it is possible to maintain a distance near the set focal length (l ₁ + l ₂ + l ₃ ).

F. (Explanation of Robot Controller) Position and Attitude Information (X _i , Y _i , Z) from Data Processing Device
_The robot 8 is moved based on _i , Ψ _ai , Θ _ai , Φ _ai ).

II. Description of each device during execution A. (Data Processing Device) The operator teaches the position / orientation information (X _i , Y _i ,
Z _i , Ψ _ai , Θ _ai , Φ _ai ), (Ψ _bi , Θ _bi , Φ _bi ) are collectively displayed, and editing work is performed. FIG. 11 shows the system configuration when editing data. FIG. 12 shows the flow of editing work.

(1) S6: _Ai is displayed. (2) S7: The posture of the virtual tool is displayed. (3) S8: The operator confirms whether or not the posture is possible while looking at the display device.

(4) S9: If YES in S8, it is checked whether or not all the confirmations have been completed. If this is YES, the process proceeds to the end, and if it is NO, the process returns to S7. (5) S10: If NO in S8, the data Ψ _bi , Θ
Enter _bi and Φ _bi .

After the editing work, the robot controller is
(X _i , Y _i , Z _i , Ψ _ai , Θ _ai , Φ _ai ), (Ψ _bi , Θ
_bi , Φ _bi ) and position and posture information (X _i ', Y _i ', Z _i ', Ψ _i ', Θ _i ', at the time of work execution calculated based on
Φ _i ') and send.

B. (Explanation of Robot Controller) Position and orientation information (X _i ', from data processor 5
Y _i ′, Z _i ′, Ψ _i ′, Θ _i ′, Φ _i ′), and the robot 8 is moved.

[0035]

According to the present invention, the operating point can be easily taught by using the work work and the robot, and the teaching work is performed at a place distant from the robot, so that there is no danger to the operator. In addition, precise movement can be taught without being proficient in box operation, and teaching of additional information other than position can also be taught.

[Brief description of drawings]

FIG. 1 shows an example of a system configuration at the time of teaching.

FIG. 2 shows an example of a system configuration during work.

FIG. 3 shows a setting state of a coordinate system.

FIG. 4 shows a flow of the data processing device.

FIG. 5 shows an explanatory view (1) of a superimposed image.

FIG. 6 shows an explanatory view (2) of a superimposed image.

FIG. 7 shows a mounting diagram of a proximity sensor.

FIG. 8 shows an example of a display in which proximity sensor information is overlaid.

FIG. 9 shows a fixed focus camera mounting diagram.

FIG. 10 shows an example of a display in which fixed-focus camera images are superimposed.

FIG. 11 shows an example of a system configuration when editing data.

FIG. 12 shows a flow of editing work.

[Explanation of symbols]

 1 3D Pointing Device 2 Microphone 3 Display 4 Position / Posture Measuring Device 5 Data Processing Device 6 Display Device 7 Robot Control Device 8 Robot 9 Camera 10 Proximity Sensor 11 Work Work 12 Tool 13 Laser Displacement Meter 14 Fixed Focus Camera 15 Half Mirror 16 mirror

Claims (1)

[Claims] 1. A robot is placed at a work position by using a camera image attached to the tip of the robot and showing a work work, and a proximity sensor attached to the tip of the robot to sense a proximity state of the work work. In a robot operating point teaching device for guiding, a virtual tool is displayed so as to be superimposed on a camera image of a work, and a robot is taught the trajectory of the virtual tool from a three-dimensional pointing device, so that the robot can work on the work. A robot operating point teaching device characterized in that a trajectory including a position / orientation data string when a machining operation is performed is taught to the robot.