Interference region setting apparatus for mobile robot
A mobile robot and interference area technology, applied in the field of interference area setting devices, can solve the problems of expensive 3D cameras, unfavorable cost, lack of convenience of mobile robots, etc.
Active Publication Date: 2018-06-19
FANUC LTD
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Problems solved by technology
[0006] As a means for finding the interference area between the mobile robot and the obstacle, there is an operation of setting / recording the shape model of the obstacle in association with the position on the robot coordinate system, but when the mobile robot When moving, it is necessary to reset the position of the shape model of the obstacle for the moving robot
When setting this manually, it takes a considerable amount of time to move the robot each time, and lacks the convenience of moving the robot
On the other hand, although the above-mentioned setting can be automatically performed using a 3D camera, the 3D camera (especially a 3D color camera that can also detect the color information of the object) is expensive and disadvantageous in terms of cost.
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[0012] figure 1 It is a figure which shows the schematic structure of the processing system 10 which is an example of the system which can set the interference area by the interference area setting apparatus which concerns on preferred embodiment of this invention. The processing system 10 includes a mobile robot 12, a machine tool 14, and a workpiece supply table 16. The mobile robot 12 has a traveling part 20 movable relative to an installation surface 18, a robot mechanism part (robot arm) 22 mounted on the traveling part 20, and a robot for obtaining The imaging device 24 is configured to capture images of the surroundings of the mechanism part 22.
[0013] The running unit 22 is, for example, a flatbed, and may be a self-propelled flatbed provided with a drive source, or may be a flatbed driven by a person (operator). The robot mechanism part 22 is, for example, an articulated robot with multiple axes, and the imaging device 24 in the illustrated example is a camera moun...
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The present invention relates to an interference region setting apparatus for a mobile robot. An interference region of the mobile robot between a coordinate system and an obstacle is set with an inexpensive configuration and a little effort. The interference region setting apparatus has: a shape model storage section configured to store the shape, the position, and the orientation of an obstruction present in a work region of the mobile robot as an obstruction shape model, in a reference coordinate system; a position and orientation calculation section configured to analyze an image, capturedby the image capturing apparatus, of a shape feature in a fixed position within the work region, and calculate the position and orientation of the reference coordinate system represented in a robot coordinate system; and an interference region setting section configured to set an interference region in the robot coordinate system based on the position and orientation of the reference coordinate system converted into the robot coordinate system and the stored obstruction shape model.
Description
technical field [0001] The invention relates to an interference area setting device for setting an interference area for a mobile robot. Background technique [0002] A known technique is to detect the position of the work environment of the robot and perform work when using a robot mounted on a movable flatbed or a robot equipped with a self-propelled mechanism (so-called mobile robot). As a prior art related to this, Japanese Patent Application Laid-Open No. 2010-162635 describes a method for correcting the position and posture of a self-propelled robot having a self-propelled traveling unit and a vehicle mounted on the traveling unit. The robot arm on the part, the correction method has the following steps: control the movement of the above-mentioned traveling part at a predetermined position on the traveling path, so that the error from the set position and posture of the above-mentioned traveling part is detected as the first error, and corrected The first error; and c...
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IPC IPC(8): B25J19/00B25J9/16
CPCB25J9/16B25J9/1676B25J19/00B25J5/007B25J19/023G06T7/50B25J9/1666H04N7/185Y10S901/47G05B2219/40298G06T7/70B25J5/00G06T7/60
Inventor 内藤康广
Owner FANUC LTD