JPS59211806A - Position detector - Google Patents

Abstract

PURPOSE:To detect the two-dimensional position to match the difference in the size of an object to be detected by moving an image formed on a plurality of photoelectric converters arranged in two dimensions slantly in the array direction of the respective photoelectric converters to perform an arithmetic processing selecting detection signals thereof. CONSTITUTION:A plurality of photoelectric converters arranged two-dimensionally in a detector 18 are arranged on the surface where an object 16 to be detected illuminated with an illuminator 15 is formed with an image formation device 17 to detect the brightness of the image. A scanner 19 moves the relative position between the image and the photoelectric converter one-dimensionally with the image formation surface and a selector 21 selects a plurality of detection signals of the device 18. Then, the two dimensional position of the object 16 is determined from a detection signal of the device 18, a selection signal of a device 21 and a scan signal of the device 19. Thus, the detection of the two-dimensional position can be done to match the difference in the size of the object being detected by twice scannings with a one-dimensional scanner in a simplified processing system

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a position detection device for an industrial robot.

Conventional configuration and its problems When working with an industrial robot, if it is difficult to accurately position the target object, a position detection device is used to obtain position information of the target object. It will be done.

Generally, industrial cameras are used as position detection devices, but they require a processing system with advanced calculation functions, which poses many problems in terms of cost. In addition, as a method of position detection using a simplified processing system, the first
When illumination is performed with reference to FIGS.
The image is formed on the photoelectric converters 4a, 4b, 4c, and 4d arranged in an array. the imaging lens 3 and the photoelectric converter 4a.

A galvanometer 5 is disposed as a scanning device between 4b, 4c, and 4d, and a scanning signal outputted from a control device 6 is used to scan diagonally in the arrangement direction of each of the photoelectric converters 4'a, 4b and 4a, 4C. The image is driven to move. First, the drive circuit 7 outputs a scanning signal to drive the galvanometer 5 and the photoelectric converters 4a, 4b, 4c.
, 4d moves diagonally in the arrangement direction of the photoelectric converters +a, 4b and 4a, 4C, the detection signals P1 of the photoelectric converters 4a, 4b, 4c, 4d
, P2. P3. P4 is input to the arithmetic circuit &, and l (
Pl+P3)-(P2+P4)l is input to the switching circuit 9. When a switching signal is input from the direction specifying circuit 10 to the switching circuit 9, l (P1+P3)-(P
2+P4)l is output. When the image of the object to be detected 2 comes on the photoelectric converters 4a, 4c, 5a) O
Compared with Sa set to a certain value such that 1(P
1+P3)-(P2+P4)l)Sa
Then, the gate circuit 11 outputs a signal. Next, the image of the detected object 2 is transferred to the photoelectric converter 4a,
When it comes to the middle between 4c, 4b, and 4d, it is compared with Ta, which was previously set to a certain value such that Ta=o, and 1(P1+
P3) - (P 2 + P 4 ) l (Ta, and a signal is output from the comparison circuit 12. By the signal outputs of the gate circuit 11 and the comparison circuit 12, the AND
The circuit 13 outputs a sampling signal to a sampling circuit 14, and the sampling circuit 14 reads the scanning signal of the drive circuit 7 at that time and outputs the sampling signal to the photoelectric converter 4a.
, 4b in the arrangement direction. , Then, when the image of the object to be detected 2 appears on the photoelectric converters 4b and 4d, 1(P1+P3)-(P2+P4)'l)
Sa and the signal from the gate circuit 9a disappears. The input to the arithmetic circuit 8b is I(Pl +P2
)-(P3+'P4)1 and is input to the switching circuit 9. If no switching signal is input from the direction specifying circuit 1o to the switching circuit 9, the switching signal from the switching circuit 9 is I(Pl +P2)-(P3+
P4)1 is outputted and processed as described above, and the sampling circuit 14 outputs a position signal in the arrangement direction of the photoelectric converters 4a, 4c. In this way, the image formed on the four photoelectric converters arranged two-dimensionally is moved diagonally in the arrangement direction of each of the four photoelectric converters by the scanning device,
It is necessary to perform arithmetic processing on the detection signals of the four photoelectric converters, and in the case of position detection, it is necessary to optically change the image magnification when the size of the detected object is different.
There was a problem in terms of responsiveness.

OBJECT OF THE INVENTION The present invention solves the above-mentioned problems of the conventional art, and without sacrificing the feature of using a simplified processing system, it is possible to detect differences in the size of a target object by scanning twice with a one-dimensional scanning device. It is an object of the present invention to provide a two-dimensional position detection device that detects the two-dimensional position of an object in response to the above.

Structure of the Invention The present invention includes an illumination device that illuminates an object to be detected, an imaging device that forms an image of the object to be detected, and a plurality of two-dimensional devices arranged on an imaging plane to detect the brightness of the image. a detection device comprising an array of photoelectric converters; a scanning device that moves the relative position of the image and the photoelectric converter one-dimensionally within an imaging plane; and a selection device that selects a plurality of detection signals of the detection device; It is comprised of a determining means that determines the two-dimensional position of the detected object based on the detection signal of the detection device, the selection signal of the selection device, and the scanning signal of the scanning device, and performs position detection processing of the detected object. Description of an Embodiment Below, an embodiment of the present invention is shown in the figure. Let me explain based on this.

In FIG. 4, the object to be detected 16 illuminated by the illumination device 16 is imaged by the imaging lens 17 onto the photoelectric converters 18 arranged in a two-dimensional array of 4×4. In FIG. 5, 18a.

18b, . . . 18p. A galvanometer 19 is disposed as a scanning device between the imaging lens 17 and the photoelectric converter 18, and a scanning signal output from the control device 2o is used to scan the photoelectric converters 18a and 18.
d, 18a, and 18m so that the image is moved obliquely in the arrangement direction of each, and the angle between the plane perpendicular to the optical axis of the imaging lens 170 and the swing axis of the galvanometer 19 is as shown in FIG. The galvanometer 19 is arranged so that the angle is θ in the direction around the meter.

Next, referring to FIG. 6.7.8, the principle of determining the position of the detected object 16 will be explained. If the shape of the photoelectric converter is 1Xlls, and the 71st method of the detected object is LXL, then the If the size of the detection object is L (2d), the photoelectric converter 18b.

18c, 18e, 18f, 18g, 18h, 18i.

By selecting 18j, 181c, 181.18n, and 18o, even if the image moves diagonally in the array direction, each
The image of the object to be detected 16 located at the middle white of l sin θ, 41 coS θ is necessarily the photoelectric converter 1sb,
1sf, 1sj, 1sn and 18C918g, 18, 18o, also 1se, 1sf.

18g, 18h and 18i, 18i, 18, 181
The photoelectric converters 18b,
18c, 18e, 18f, 18g, 18i.

18j, 18, 181.18n, 18o image brightness detection signals Q2, Q3, Q5, Qe, Q7
,Qa.

Q9, Qlo, Qll, Ql2, Ql4,
From Ql 5, l (Q2+06+010+014)
-(Q3+Q7+Q11+Q15)l,I('Q
5+Q6+07+Q8)-(Q9+010+011+0
12) To find l, the image of the object to be detected 16 is the photoelectric converter 18b, 18f, 18j.

When located between 18n, 18c, 18g, 18, and 18o, l (Q2 +06 +Q 10 + Q14)
-(Q3 +Q7 +Q11 +Q15) 1.1:
0,18e.

18f, 18g, 18h and 18i, 18j, 1
8k.

When it is located in the middle of 181, it is l (Q5+06+07+
Qa )-(Q9+010+011 +012) 1
zO2 is 1 in its vicinity (Q2+06+010+Q14)
(Q3+Qy+Q11+Q15)l > O+ 1(
Q5+Q6+Q7+QB)-(Q9+010+011
+012 ) 1))Ol Otherwise 1(Q2+Qe
+010+014 ) -(Q3+07+011+01
5) 1:l:0,l (Q5+Q6+Q7+Q8)-(
Q9 +Q10+Q11 +Q12) l::O. Further, the dimensions of the detected object 16 are A<L<3.
1, the photoelectric converters 18a, 18b.

18c, 18d, 18e, 18g, 18i, 18j.

18, select 181.18m, 18o, 21<L<
41, the photoelectric converter 18a.

18b 18c 18d 18e 18h
The focus is on the fact that by selecting 18i1B1.18m, 18n, 18o, and 18p, the same result as in the case of L<21 described above can be obtained.

An example of the configuration of the selection device 21 is shown in FIG.
Dimension designation circuit 22, signal selection circuit 23, direction designation circuit 2
4. Switching circuit 25a.

25 b, -...25 h, arithmetic circuit 26a
, 2eb.

...26d1 switching circuits 127a, 27b
It is composed of arithmetic circuits 28a and 28b. Said-
When the dimension designation circuit 22 outputs a dimension designation signal and the direction designation circuit 24 outputs a direction designation signal, the signal selection circuit 23 sends a switching signal to the switching circuits 25a, 2sb, . . . 25h. Output. The switching circuits 25a, 25 receive detection signals Q1. Q2゜Q6. One signal of Q6 is outputted to each of the arithmetic circuits 2.6a. The arithmetic circuit 26a performs addition of input signals, and according to the input signals, 01+02, Q5+06, . Q1+05. Q2+06 is outputted to the switching circuit 27a and the arithmetic circuit 28a. The switching circuit 25C
925d is a detection signal Qs according to the switching signal.

Q4, 07, and one signal of Os is sent to the arithmetic circuit 26, respectively.
Output to b. The arithmetic circuit 26b performs addition of input signals and adds 03 +04 according to the input signals.

07+Qs and Os+07.04+Qs are output to the switching circuits 27a and 27b.

The switching circuits 25e and 25f.

25CI, 2sh, and the arithmetic circuits 26C and 26d are as described above, so their explanation will be omitted.

Next, the switching circuit 27a outputs any one of the three input signals to the arithmetic circuit 28a according to the switching signal from the direction specifying circuit 24. The arithmetic circuit 2
8a is the arithmetic circuit 26a and the switching circuit 2.
Addition is performed according to the input signal from 7a, and the control device 2
0, Q2+06+01. o +014. Qz ten Qs
+Q9 +0M3.

Q1+02 +03 +04, Q5 +Qe +Qy
+Qa is output. Similarly, the arithmetic circuit 28b calculates 0.3 +07 +011 +Q1
5.

Q4+Q8+Q12+Q16. Q9+Q1o10Q11+
012 , Ql 3 + Q14 + Q1 s + Q1e is output to the control device 20 .

An example of the configuration of the control device 2o is shown in FIG.
Arithmetic circuit 29. Gate circuit 30. Comparison circuit 31, AND
It is composed of a circuit 32, a sampling circuit 33, and a drive circuit 34. The output signals R1 and R2 of the selection device 21 are operated on by the arithmetic circuit 2, and R2-R1 is outputted. The arithmetic circuit 29 includes the gate circuit 30. The comparison circuit 31 is connected, and the gate circuit 3o outputs an output signal from when the input value R2-R1 becomes above a certain value until it becomes below a certain value. An output signal is output when the value R2-R1zo is reached. The outputs of the gate circuit 3o and the comparison circuit 31 are the AND
A sampling signal is provided to the sampling circuit 33 which is connected to the circuit 32 and connected to the galvano drive circuit 34 which outputs a scanning signal. The sampling circuit 33
is the galvano drive circuit 34 according to the sampling signal.
It reads the scanning signal and outputs a position signal.

Next, the operation of the position detection device of this embodiment configured as described above will be explained below.

When detecting the detected object of L<21, first, a dimension designation signal is sent from the dimension designation circuit 22, and a dimension designation signal is sent from the direction designation circuit 24.
A direction designation signal and a scanning signal are output from the drive circuit 34, the galvanometer 19 is driven, and an image of the object to be detected 16 is formed on the photoelectric converter 18.
The photoelectric converters 18a, 18d and 18a, 18m are moved at an angle of θ with respect to the direction in which they are arranged. The photoelectric converters 18b, 18c, 18f, 18g, 18j.

18, detection signal Q2.03 of 18n and 18o.

Q6. Q7. Q10. Qll, Ql4. Ql5 is selected by the switching circuits 25a, 25b, .

Input to 26c and 26d. The arithmetic circuit 26a.

26b, 26C, 2ed add their inputs, and Q2+
06゜Q3+Q7. Q10+Q14. Q11+Q15 is output to the switching circuits 27a, 27b and the arithmetic circuits 28a, 28b. The arithmetic circuit 28a adds the output Q2 +Qe of the arithmetic circuit 26a and the signal Q10+014 selected by the switching circuit 27a according to the switching signal, and calculates Q2+06+010.
Outputs +014.

The arithmetic circuit 28b outputs the output Q1 of the arithmetic circuit 26d.
1 +Q15 and the signal Q3+Q7 selected by the switching circuit 27b according to the switching signal, and output Q3+Q7+Q11+Q16. Output signals Q2+06+010+ of the arithmetic circuits 28a and 28b
014. Q3+07+011+015 is input to the arithmetic circuit 29, and (Q3 +07 +011 +015
) −(Q2 +Qe+010 +014 ) is output. The image of the detected object 16 is transmitted to the photoelectric converter 1s.
b, 1sf.

When reaching 18j and 18n, compared with Sa which was previously set to a certain value such that Sa )) O, (Q3+
07+01 1 +Q1 s )-(Q2+06
+010+Q14))Sa, and the gate circuit 30 outputs a signal. Next, the image of the detected object 16 is transmitted to the photoelectric converters 1sb, 1sf, 1sj.
.

At 18n, 18c, 18g, and 18, T is set in advance to a certain value such that Ta″: 0 when it comes to the middle of 18o.
Compared to a, (Q3+07+011 +015)
-(Q2+06+010+014)=Ta, and the comparison circuit 31 outputs a signal.

Based on the signal outputs of the gate circuit 3o and the comparison circuit 31, the AND circuit 32 outputs a sampling signal to the sampling circuit 33.
reads the scanning signal of the drive circuit 34 at that time,
The photoelectric converter 18a.

A position signal in the arrangement direction of 18d is output. Thereafter, the image of the detected object 16 is transmitted to the photoelectric converter 18C118g.
, 18k, 18o, compared with sb which was previously set to a certain value such as 5b(0), (Q3+
07+011 +Q1 s )-(Q2+Q6+01
0+CN 4 )(Sb and the signal from the gate circuit 30 disappears.0 Next, when one cycle of the scanning signal of the drive circuit ends, the direction designation signal and switching signal of the direction designation circuit 24 change, and the signal selection circuit 23
switching signal changes. Due to a change in the switching signal, the switching circuits 2sa, 2sb.
...2sh is the detection signal Q6, Qe, Q7 . Q
8, Os, Qlo.

Qll and Q12 are selectively output. Thereafter, in the same manner as described above, from the arithmetic circuits 28a and 28b, Q5+06+07
+08, Q9+010+011 and +012 are outputted to the arithmetic circuit 29. The gate circuit 30 is processed by the comparison circuit 31 and the AND circuit 32, and the sampling circuit 33 reads the scanning signal of the drive circuit 34 at that time and obtains a position signal in the arrangement direction of the photoelectric converters 18a and 18m. Output.

Further, since the case of detecting the object to be detected where l<41 and 21<41 is the same as described above, the explanation will be omitted.

As described above, according to this embodiment, by selecting and arithmetic processing the detection signals of the two-dimensionally arranged 4x4 photoelectric converters, it is possible to immediately respond to differences in the size of the target object.
The two-dimensional position of an object can be detected by scanning twice with a one-dimensional scanning device without sacrificing the feature of a simplified processing system.

Note that although a 4×4 array of photoelectric converters was used in the example, it goes without saying that similar results can be obtained even if the array of photoelectric converters is replaced with a different number of arrays. Moreover, in the case of FIG. 8, the photoelectric converter 18f.

18g, 18j, and 18k are not used, but an inner photoelectric converter may be used as shown in FIG.

Effects of the Invention In the present invention, an image formed on a plurality of photoelectric converters arranged two-dimensionally is moved diagonally in the arrangement direction of each photoelectric converter by a scanning device, and each photoelectric converter is selected by a selection device. By selecting the detection signal of the converter and performing arithmetic processing, a simplified processing system enables two scans of the one-dimensional scanning device to instantly respond to the difference in the size of the detected object. It is possible to realize an excellent position detection device that can obtain the effect of detecting a dimensional position.

[Brief explanation of drawings]

Figure 1 is a configuration diagram of a position detection device as a conventional example;
3 is a configuration diagram of a control device as a conventional example, FIG. 4 is a configuration diagram of a position detection device as an embodiment of the present invention, and FIG. 6.7 and 8.9 are block diagrams of photoelectric converters as embodiments of the present invention.
The figure is a principle diagram showing the determination principle of an embodiment of the present invention, FIG. 10 is a configuration diagram of a selection device as an embodiment of the present invention, and FIG.
The figure is a configuration diagram of a control device as an embodiment of the present invention. 1.15...Lighting device, 2.16...
Detected object, 3, 17... Imaging lens, 4a
, 4b, 4c. 4d, 18... photoelectric converter, 5, 19...
... Galvanometer, 6.20 ... Control device,
21... Selection device. Name of agent: Patent attorney Toshio Nakao and 1 other person @1
Figure 2,, L Kuraya ♂ '@3 Figure 5 (jlQ+1l15+40+ff?5) (co

Claims (1)

[Claims] An illumination device that illuminates the object to be detected, an imaging device that forms an image of the object to be detected, and a plurality of two-dimensionally arranged photoelectric converters that are arranged on the imaging plane and detect the brightness of the image. a scanning device that moves the relative position of an image and the photoelectric converter one-dimensionally within an imaging plane; a selection device that selects a plurality of detection signals of the detection device; and a detection signal of the detection device. A position detection device comprising determining means for determining a two-dimensional position of the object to be detected based on a selection signal of the selection device and a test signal of the scanning device.