JPS5933577A - Device for identifying shape of object - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an object shape identification device! A device for identifying the shape of an object conveyed by means of conveyance to a person
Pertains to.

For example, when a painting robot paints an object shaped like a bucket, the shape of the object to be painted is determined in advance using an if
There is a distinction between k and ζ.

However, in conventional object shape identification devices, the television camera serving as the imaging means is fixed at a predetermined position.
Objects having a shape of 4't+t that are transported by a transporting means are absorbed (images are absorbed). Problems such as identification occur.Ki's FilJ was developed in view of the above points, and its purpose is to handle objects with different depths.
After taking a good image with the imaging means, identifying the shape of the object including its depth, It is.

The following is an example in which the object shape identification device according to a preferred embodiment is applied to a self-jlrQ painting apparatus including a painting lower lid in 4Mis.
The main body L is hung with a hanging string 2 via a hanging tool 3.
The workpieces 2 and 13 are objects to be coated that are conveyed at a constant speed in the direction of arrow A by the conveyor 4.
3, B4, ... (tJ: f: when generic)
Paint is applied to the conveyor 4, the hanging cord 2 and the hanging A3 ('1η). -J:
``Nbaa 4 Nyod Soak 1 (is) Multir2i Swordsman 1 General Dangerous Poison, e) Resin nFT emitted [2, f
IxRin detection switch 6 Sakuya work Bl.

When this occurs, it is activated by contact with the hanging p string 2.

Rlj for painting, Jit Kikyu 1 is a hand body! : f7 + Arp・8° Consisting of support 9 and base 10, wrist 7 and arm 8 are connected via tie t J and 12. It is possible to turn n■b freely within the range of angle C within, and
The angle F[ilJ is freely variable within the range of the angle I in the square 1 that intersects the angle F[ilJ]. Arp 8 and pillar 9 are connected via joint 13, and pillar 9 and base lO are connected via ←1, connection y6"i14 and work 5, and Arp 9 is connected to pillar 9 by Angle falling in the vertical plane ``C range 1
11 (which is rotatable within the pillar 9) and (7 which is rotatable within the enclosure at an angle F in a plane perpendicular to the stand 10) are located in a plane 1α in the vertical plane. In order to rotate the wrist 7 with respect to the arm 8 within the range of angle C and ], the arm 81 and the arm 7 are provided with hydraulic drive devices 16 and 17. In order to rotate the arm 8 within the range of angle E with respect to the arm 8 and the arm 9, a hydraulic section #j + equipment r is installed between the arm 8 and the arm 9.
Rl 8 is provided! ], support column 9 against base lo
In order to rotate within the range of angles F and G, the support column 9 and the base i o [): hydraulic drive devices 19 and 20 are interposed.

At the joints 11 and 12, potentiometers 21 and 22 are inserted as detectors for detecting the rotational position IN of the wrist 7 relative to the arc 8 within the range of angles C and D.
A potentiometer 23 is provided as a detector for detecting the rotational position within 1111χ of the angle 1 of Arp\8 with respect to the support 9. and 15t, which serves as a detector for detecting the rotational position of the support 9 with respect to the base 10 within the range of angles F and G. Densimeters 24 and 25 are provided. A paint spray nozzle 26 is provided at the tip of the child piece 7.

A shape identification device 27 for the workpiece B is disposed upstream of the painting robot main body l with respect to the transport direction (direction of arrow A) of the workpiece B transported by the conveyor 4.

The shape identification device 27 includes a distance n1 measuring device 28 and a measured distance processing device H29 as distance measuring means for measuring the distance to the workpiece B conveyed by the conveyor 4.
Planar light illuminating the back of work B at the imaging position of work B? Iη30, an industrial television camera 31 as an imaging means for photographing the front surface of the workpiece B, an adjustment means 32 for adjusting the focal length of the television camera 31, and Q.
This is because it has a turn identification device B33. Distance ^ IL measuring device 28, camera 31 and fJ pot body 1 are con 4
The workpieces B are arranged in the direction of the arrow along A4, and placed a predetermined distance apart from the conveyor 4. A detection switch 34 is located at a position corresponding to the IJ position, and a detection switch 35 is located at a position corresponding to the imaging position of the work B.
The detection switches 34 and 35 are arranged in the same manner as the detection switch 6, and when the workpiece B reaches in front of the measuring instrument 28 and the television camera 31, the workpiece I3 is suspended from the 9th string. (connected with 2) Germany] - is operated.

The detection switches 6.34 and 35 are located on the back wall 3.
C was picked up by workpiece B, and C came into contact with hanging cord 2; (It is formed in such a way that it is not affected by the effects of

When the detection switch 34 is activated, a drawing signal is output to the distance meter Itl! located at the reference position. The distance R1° is input to the measuring device 28, and the distance R1° measuring distance 28 calculates the distance between the distance between the tracks of work B and the semi-position, and h (sends the measuring signal to the measuring distance processing device [light 29]. The processing device 14"29 processes the open side signal and sends the signal to the adjustment means 32, which adjusts the focal length of the television camera 31. When the detection switch 35 is actuated, a nine-turn identification device 33 receives an actuated bow, and the identification device 33 receives a video signal as an imaging signal from the television camera 31 at this time.

The identification device 33 includes a processing device 29 along with this video signal.
The identification device 33 identifies the shape of the workpiece B based on the bidet No. 1 and the processed signal.

The adjustment means 32 is attached to the base 3 on the main body 37 of the television camera 3J.
A motor 39 that can be rotated in forward and reverse directions via The motor 39 is connected to the processing device (Fi, 2).
It rotates υ according to the processing signal from 9, and when the gears 41 and 44 are engaged, the end i'i %! ``The part 43 rotates so that the focal length of the lens 42 changes to each workpiece Bl, B2.B3.B4.
The lifting tool 3 is arranged at the center 46 of the soil surface 45 of the workpiece B, and the processing device 29
The processed signal sent to the nine-turn identification device 33 is processed by the identification device 33 as a signal corresponding to the thickness or depth of the workpiece B.

/(Each workpiece 81°1 identified by the turn identification device 33
The shapes of 42, 83, 134... are the shape data Ml
,H2,M,3.

H4 . . . (generally referred to as M) are sequentially stored in the storage device bar 47 in response to the teaching operation of the 7-pot main body J.

Workpiece B as an object to be painted, in which Nagisa grips the vicinity of the nozzle 26 with his hand and injects it into various shapes.
For l, 132, 113, 114...
Child piece of robot body 7. 'Arno\8 and pillar 9
II+, while performing the pseudo-painting work, the position detection values Jul of a group of podensiometers 21 to 25 at a series of appropriate points during the pseudo-painting work, upper 12, H3.
.

1-I 4 , H5 (not shown) are sequentially stored in the storage device 47 as digital data corresponding to the shape data M of each work B, that is, as a program.

Also, during the play pack operation, the shape recognition device 27
According to the shape data M)) that is generated when playing each work 13 divided into R1', data is stored from the storage device 47 1'i (1, tf2, H3, H4).
, H5 to the 1111th order h)゛, d? Detection of tension meters 21 to 25 directs Ii, ll' primary mt stored data/il'lIJ.

111 device for controlling Ii2, Ii3, Ii4, ■■5 to match Ii2, Ii3, Ii4, and , Paint the workpiece BK that has reached the depth of the painting target and pass it over 9 degrees! 'lThe object shape identification device 27 applied to the IJ coating apparatus configured as above 1 indicates that the workpiece B conveyed by the conveyor 4 is detected by the distance measuring device 28.
When the IT positioning is performed, the detection switch 34 is activated,
Base IV! The pressure measurement device 28 placed at the position measures the distance 1t between the front surface of the workpiece 13 and the reference position, and sends a measurement signal corresponding to this distance to the measured distance processing device 29. The processing device 29 processes this measurement signal and sends the processed signal to the adjustment means 32 and turn identification device 33.

In the adjustment means 32, 1. Motor 3 by signal Ul
9 is rotated, the adjustment unit 43 is rotated via gears 41 and 44, and the focal length of the lens 42 is adjusted according to each workpiece B. Then, soak B is taken by conveyor 4.
When the workpiece is transported to the target position, the detection switch 35 is activated, and the identification device ffIt33 receives a video signal from the television camera 31 whose focal length has been adjusted in accordance with the workpiece (3). The job-specific device 33 identifies the depth of the work B based on the processed signal from the processing device 29, and identifies the shape of the front surface of the work B based on the video signal from the television camera 31, and responds to the work B. Find the three-dimensional shape data M2).

This shape data M is stored from the identification device 33 into the storage device 47 during teaching of the painting robot body 1, and is outputted from the identification device 33 to the control circuit 50 as shape data MP during play and F-pick. Shape data MP constitutes a work program designation signal.

When the workpiece 13 is conveyed by the conveyor 4 and reaches the position to be painted by the robot body 1, the detection switch 6 is activated and the robot wooden body 1 starts painting. At this time, the control circuit 50 selects the shape data MI of the workpiece B from the shape data M stored in advance in the storage device 47.
The shape data corresponding to the shape data selected by the control device 48 is selected, and the predetermined dieting data III, 1 (2, H3, H4, H5) corresponding to the shape data selected by the control device 48 are sequentially read out from the storage device 33. Then, the detected values of the potentiometers 21 to 25 correspond to the read data H.
1 to) 15, the control device 48 controls the painting work by the painting robot body 1.

Therefore, the focal length of the TV camera 31 with respect to the workpiece B can be reliably adjusted by the distance measuring means, and each workpiece 13
The exact shape of the front surface of each workpiece B can be identified by the Noreen identification device 33 via the television camera 731, and a signal corresponding to the depth of each workpiece B is supplied to the identification device 33 by the distance measuring means, and the As a result of the depth being accurately identified by the identification device 33, the workpieces B having various shapes can be
However, three-dimensional shape data corresponding to each workpiece B can be obtained, problems such as misidentification of each workpiece B can be reliably solved, and good painting work can be performed on each workpiece B. .

In the above specific example, the distance measuring means, the imaging means, and the focal length F='J adjustment means were provided separately, but instead,
It is also possible to use an auto-focus type camera that integrates the three means described above, or a pico camera with a finder. The configuration is such that a signal corresponding to the depth of each workpiece B can be supplied from the finder to the q-turn identification device, and the three-dimensional shape data of each workpiece B is detected by the pattern identification device. All you have to do is ask for it. Further, the detection switches 6, 34, and 35 may be optical switches.

As described above, in the present invention, the focal length of the imaging means is adjusted according to each object, and the distance measurement signal corresponding to the distance between one surface of each object and the reference position is Since the shape of the object is classified according to the imaging signal from the means, problems such as erroneous identification can be reliably eliminated.

[Brief explanation of drawings]

Figure 1 is an explanatory diagram of an automatic painting apparatus using a preferred embodiment of the object shape recognition device according to the present invention, Figure 2 V is an explanatory diagram of the shape recognition device shown in Figure 1, and Figure 3 is, l, j
f point do big 11i1G M! , 'J Seiken Means Expenses 1 Ming Diagram. 32...... Always 1 adjustment means, 33...
...No.9 turn identification device, B......Work.

Claims (1)

[Claims] (11) Measuring means provided at a reference position for measuring the distance between one surface of an object to be conveyed and the reference position; an imaging means for
Based on the distance measurement signal from the previous self-measuring means, the previous Ml'
It consists of a focal length adjusting means for adjusting the distance of the seven points of the mJ photographing stop means with respect to the r object, and the shape of the υ previous NO object is determined by the imaging signal from the previous n1 month I^converting means and the previous Me distance measurement signal. A device for identifying the shape of an object, characterized in that the device is configured to identify the shape of an object. (2) Based on the shape classification result of the previous fi12 object, the work on the object is '97>i,! The apparatus according to claim 1, characterized in that it is configured to send out a newsletter. 11+i'l' that is formed by the automatic focus second confectionery camera.
Iii'4 request flfi) Enclosed! Device ts according to paragraph 1 or paragraph 21, +1