JPS6081681A - Picture processor for assembling robot - Google Patents

Abstract

PURPOSE:To match coordinates highly accurately by matching respectively different coordinates of a robot and an area sensor only with the coordinates of the robot on the basis of the chacking position X, Y coordinate data of the robot and picture information data. CONSTITUTION:When a fine substance is located on a position H, the coordinates of the area sensor 3 are x1, y1 and the coordinates of the robot are XH, YH. In the figure, the F point is the original point of the coordinates of the sensor 3, the C point is the current position of a robot chack, XO, YO are the original point of the sensor and the offset variable of the robot chack, and XR, YR are the moving variable of the robot at the picking of the fine substance. In addition, theta is the twisted angle of two coordinates. Thus, the formulas are formed from said relation. In these formulas, values XR, YR, x, y are obtained from the robot and the sensor 3 and five parameters XO, YO, BY, YR, are unknown quantities (SX and SY are scale ratio of the robot coordinates in the X and Y directions to the sensor 3). If the point H is moved to optional three points, XR1-XR3 and YR1-YR3 are found out.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to image processing for an assembly robot equipped with an area sensor, and in particular calculates the amount of offset between the sensor coordinates and the origin position of the robot coordinates, the scale ratio in the XY directions, and the rotation angle of the coordinates. This is related to matching the two-sided reeling threads and performing image processing using only the robot coordinate system. The purpose is to easily provide visual functions to assembly robots and improve the robot's productivity and versatility.

Conventionally, setting up a coordinate system between an area sensor and a robot requires preparing gauges and using methods such as cursor line alignment, which requires a great deal of time and effort. However, with this method, (1) the operating rate of the robot decreases;

(2) The user cannot easily switch.

(3) Correction during use is difficult.

There were elements that made workability difficult.

The present invention was made in order to eliminate the above-mentioned drawbacks of the conventional technology, and it shortens processing time, enables highly accurate coordinate alignment, and provides an image processing system that allows area sensor data to be processed as robot coordinate data. The purpose of this invention is to provide a processing device.

The present invention will be explained in detail below using examples shown in the drawings.

FIG. 1 is a block diagram of an image processing device. In the drawing, 1 is a clock oscillation circuit, and line 2 receives the clock signal and generates a drive signal to drive the area sensor.
An area sensor 3 that inputs an image signal, a digital image memory 4 that stores the information, and a memory control circuit 5 that controls this digital image memory are connected to a comparator 6.
The OFU circuit 7 is arranged through the digital image memory and performs numerical analysis of the digital image memory and controls the memory control circuit.

FIG. 2 shows a coordinate relationship in which the area sensor coordinates xy are included in the robot coordinates XY. For example, when a minute object is at position H, the coordinates of the area sensor are at;(・
! t # 3's) v In robot coordinates (Xn*Y
H). Point F is the origin of the area sensor coordinates, point C indicates the current position of the robot chuck,
XO#YO is the amount of offset between the area sensor origin and the robot chuck, and XR#YR represents the amount of movement of the robot when picking up the minute object at point H. Note that θ is the twist angle between the two coordinates.

However, based on these relationships, the following two equations hold true.

Xn=X + (x l18x ) cosθ−Cy E
ly) sinθYR=Y+(”-ax) 5
ino ten (3”BY) cos θ.

In the above equation, (XR'YR) + (xty) are the numbers obtained from the robot and the area sensor, respectively, and the unknown quantity is X. HYOH8Y + "X + θ (aX and 8Y are the robot coordinates in the XY direction and the scale ratio of the area sensor) Therefore, any 3
If H moves to the point, Xnt=Xo+(z+@5x)c
osθ−1 (yl @ 8Y sinθ XR2= XO+ (x2@BX) cosθ−(y
, -By) sin θ XR3= IO+(3c3a ax') cos θ-(
ys −By ) sin θ YB1=Y0±(, z:, −BX) sin θ+(yl・
By ) part O Y n 2 = YO+ (22”8 X )5inθ
+(y2・8y)cosθYR5=Y(1+(”s *
sx ) sin θ + (ys”By) cos θ 6
The formula holds true.

The second page is a flowchart for calculating the five unknowns by obtaining the above equation from the relational expression. Since 5 unknowns are calculated from 6 equations, one set can be applied to the verification equation, so if the verification result is not good, data input is repeated. The same applies to inconvenient cases such as three data inputs being too close together.

When the above processing is performed, the unknown quantity becomes clear, and the image information of the area sensor can be obtained in the coordinates of the robot, which greatly reduces the time required.In addition, highly accurate information is obtained, which improves the productivity and accuracy of the robot. Various advantages can be obtained in terms of, and the industrial value is very large.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of an image processing device. FIG. 2 shows the relationship between the robot coordinates and the coordinates of the area sensor, and FIG. 3 is a flowchart for solving the unknowns of the relational expression obtained from FIG. Applicant Seiko Electronic Industries Co., Ltd. Agent Patent Attorney Mogami 2nd Plan → -XR-Yo

Claims (1)

[Scope of Claims] An area sensor that uses chuck position XY coordinate data of an XY orthogonal coordinate system robot and image information data obtained from an image processing device at the same time. An image processing device composed of a drive signal generation circuit, a clock oscillation circuit, a comparator, a memory control circuit, an image memory, and an OPU circuit matches the different coordinates of the robot and the area sensor only to the robot coordinates. Features: Image processing device for assembly robots.