Robot parameter setting device

Abstract

A device for setting parameters of a robot is provided with: a first setting element that is either an object (60) or a sensor (50) and that is attached to an arm (10a); a second setting element that is the other of the object (60) and the sensor (50); and a control unit that causes the arm (10a) to perform a parameter setting operation in which the first setting element is disposed at the plurality of positions. The control unit causes the sensor (50) to acquire first inspection data (23e) relating to the object in a state in which the first setting element is disposed at the setting inspection position in the first half of the setting operation or before the setting operation, and causes the sensor (50) to acquire second inspection data (23e) relating to the object in the second half of the setting operation or after the setting operation. The first setting element is disposed at the setting inspection position, the sensor (50) acquires second inspection data (23f) relating to the object, and the presence or absence of a change in position is determined on the basis of the two data.

Description

Technical Field

[0001] The present invention relates to a device for setting parameters of a robot. Background Art

[0002] A device for measuring the position of the front end point of a tool relative to the front end of the robot's arm is known. In addition, a device for associating position information in an image obtained by a visual sensor with position information of a robot is known. In addition, a device for making a camera coordinate system correspond to a robot coordinate system using a master workpiece is known. In addition, a robot system is known that operates on an object device to which a robot placed on a trolley is fixed. In this robot system, a plurality of marks are provided on the object device, and the position of the object device relative to the robot on the trolley is grasped using the plurality of marks as markers. For example, please refer to patent documents 1 to 4.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 4191080

[0006] Patent Document 2: Japanese Patent Application Publication No. 2015-174191

[0007] Patent Document 3: Japanese Patent Application Publication No. 2018-034271

[0008] Patent Document 4: Japanese Patent Application Publication No. 2020-163518 Summary of the invention

[0009] Problem that the invention aims to solve

[0010] In order for the robot to work on the work object, it is necessary to associate the coordinate system of the robot with the coordinate system of the tool at the front end of the robot, and to associate the coordinate system of the robot with the coordinate system of the work object, etc. For example, it is necessary to associate the coordinate system of the tool at the front end of the robot with the coordinate system of the work object transported by the conveyor.

[0011] When such a coordinate system is associated, one of the object such as a mark photographed by the visual sensor and the visual sensor is held by the robot arm, and the other is supported by a predetermined support portion. Furthermore, based on the coordinate system setting program, the front end of the arm moves to various positions. In addition, based on the coordinate system setting program, the visual sensor photographs the object at various positions, and the coordinate system is associated based on the obtained image data.

[0012] This setting is performed under the premise that the positions of the object and the visual sensor do not change. However, there are also cases where unexpected tension, inertial force, etc. act on the cable of the visual sensor, in which case the position of the visual sensor may shift when performing the above setting. Therefore, a setting device for the parameters of the robot that can ensure that no unexpected situation occurs is desired.

[0013] Solutions for solving problems

[0014] A parameter setting device for a robot according to one embodiment of the present invention comprises: a first setting element, which is one of an object and a sensor and is installed on an arm of the robot; a second setting element, which is the other of the object and the sensor; and a control unit, which causes the arm to perform a parameter setting action of configuring the first setting element at multiple positions, wherein in the first half of the setting action or before the setting action, the control unit causes the sensor to obtain first inspection data about the object when the first setting element is configured at a setting inspection position, and in the second half of the setting action or after the setting action, the control unit causes the arm to perform an action of configuring the first setting element at the setting inspection position and causes the sensor to obtain second inspection data about the object, and the control unit determines whether there is any position change of the first setting element or the second setting element based on the first inspection data and the second inspection data. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic perspective view of a robot parameter setting device according to a first embodiment and a robot system using the setting device.

[0016] Figure 2 It is a schematic side view of the robot system according to the first embodiment.

[0017] Figure 3 This is a block diagram of a control device of the robot parameter setting device according to the first embodiment.

[0018] Figure 4 This is a block diagram of an image processing device of the robot parameter setting device according to the first embodiment.

[0019] Figure 5 This is a flowchart of an example of processing performed by the control unit of the robot parameter setting device according to the first embodiment.

[0020] Figure 6 This is a flowchart of an example of processing performed by the control unit of the robot parameter setting device according to the first embodiment.

[0021] Figure 7This is a display example of the display device of the robot parameter setting device according to the first embodiment.

[0022] Figure 8 It is a schematic perspective view of a robot parameter setting device according to a second embodiment and a robot system using the setting device.

[0023] Fig. 9 This is a flowchart of an example of processing performed by the control unit of the robot parameter setting device according to the second embodiment.

[0024] Fig.10 This is a flowchart of an example of processing performed by the control unit of the robot parameter setting device according to the second embodiment. DETAILED DESCRIPTION

[0025] In the first embodiment, a device for setting parameters of a robot will be described with reference to the accompanying drawings. Figure 1 As shown, for example, the setting device includes: a control device 20 of the robot 10; and a visual sensor (sensor) 50 and an image processing device 40 connected to the control device 20. The function of the image processing device 40 may be assumed by the control device 20, and in this case, the image processing device 40 can be omitted. In addition, sometimes another computer assumes part of the processing described later. In this case, the other computer is included in the setting device.

[0026] The robot 10 is not limited to a specific type, and the robot 10 of the first embodiment is a multi-joint robot having six axes. The robot 10 may also be a horizontal multi-joint robot, a multi-link robot, etc. The arm 10a has a plurality of servo motors 11 (see Figure 1 as well as Figure 3 Each servo motor 11 has a working position detection device 11a for detecting its working position. The working position detection device 11a is, for example, an encoder. The control device 20 receives the detection value of the working position detection device 11a.

[0027] like Figure 2 As shown, for example, a tool 30 is mounted on the front end of an arm 10a, and the arm 10a is a part of a robot system that operates on a work object W on the transport device 2. Figure 2 In the example of FIG. 1 , a camera 3 different from the visual sensor 50 is provided on the upstream side of the transport device 2 in order to confirm the position and posture of the work object W. In addition, an encoder (operating position detection device) 2b for detecting the transport amount of the transport device 2 is provided in the motor (driving device) 2a that drives the transport device 2. In addition, using the position of the work object W and the transport amount of the transport device 2 detected based on the output of the camera 3, the control device 20 causes the front end of the arm 10a to follow the work object W during operation.

[0028] The operations are known operations such as taking out the work object W, processing the work object W, and installing parts on the work object W. The processing of the work object W is known processing such as processing, painting, and cleaning. The transport device 2 can move the work object W such as a conveyor, AGV (Automatic Guided Vehicle), or a vehicle under manufacture. In the case of a vehicle under manufacture, the chassis, tires, motor, etc. function as the transport device 2, and transports the work object W such as the vehicle body on the chassis.

[0029] In one example, the tool 30 is a hand, and the tool 30 has a servo motor 31 ( Figure 3 The servomotor 31 has a working position detection device for detecting its working position, and the working position detection device is an encoder as an example. The detection value of the working position detection device is sent to the control device 20. As each servomotor 11, 31, various servomotors such as a rotary motor and a linear motor can be used.

[0030] In one example, the visual sensor 50 is supported on the upper surface of the conveying device 2. In the first embodiment, the visual sensor 50 is supported by a predetermined support portion 70 ( Figure 1 ). The visual sensor 50 is, for example, a camera such as a two-dimensional camera. As the visual sensor 50, other types of sensors capable of acquiring photographic data or detection data of the object 60 can also be used.

[0031] like Figure 3 As shown, the control device 20 has: a processor 21 such as a CPU or a microcomputer having one or more processor elements; and a display device 22. The control device 20 has a storage unit 23, and the storage unit 23 has a non-volatile memory, a ROM, a RAM, etc. The control device 20 has: a servo controller 24, which corresponds to the servo motor 11 of the robot 10; and a servo controller 25, which corresponds to the servo motor 31 of the tool 30. The control device 20 also has an input unit 26 connected to the control device 20 by wire or wireless. In one example, the input unit 26 is an input device such as an operating panel that can be carried by a user. In other examples, the input unit 26 is a tablet computer. In the case of a tablet computer, the input is performed using a touch screen function. Sometimes the operating panel or tablet computer has a display device 22.

[0032] The storage unit 23 stores a system program 23a, which assumes the basic functions of the control device 20. In addition, the storage unit 23 stores an action program 23b. The storage unit 23 also stores a parameter setting program 23c and a setting verification program 23d. The control device 20 controls the arm 10a to perform a predetermined operation on the work object W based on the action program 23b.

[0033] like Figure 4 As shown, the image processing device 40 has a processor 41 having one or more processor elements such as a CPU, a microcomputer, and an image processing processor. The image processing device 40 is connected to the control device 20 and the visual sensor 50, and includes: an input unit 42; and a storage unit 43, which has a non-volatile memory, ROM, RAM, etc. The storage unit 43 stores a well-known image processing program 43a.

[0034] The image processing device 40 performs known image processing on the image data obtained by the visual sensor 50 based on the image processing program 43a. For example, the image processing device 40 performs known image processing such as binarization processing, blob analysis processing, edge detection processing, etc. on the image data of the object 60. The image processing device 40 can also obtain position detection data such as the feature position and center of gravity position of the object 60. The image processing device 40 can also obtain posture detection data of the object 60. The image processing device 40 sends the image data, position detection data, posture detection data, etc. that have undergone image processing to the control device 20 in sequence.

[0035] The control device 20 may assume part or all of the functions of the image processing device 40, or the image processing device 40 may assume part or all of the functions of the control device 20. In addition, other computers may assume part or all of the functions of the image processing device 40 and the control device 20. In the following description, the image processing device 40, the control device 20, and other computers are referred to as control units, and the following computer processing is performed by one or more processors of the control unit. The one or more processors are processor 21, processor 41, etc.

[0036] The control unit performs the following processing for parameter setting based on the parameter setting program 23c and the setting verification program 23d. Figure 5 as well as Figure 6 An example of parameter setting is described with reference to the flowchart of FIG.

[0037] Here, if Figure 1As shown, the reference coordinate system 101 of the arm 10a of the robot 10 is pre-set, for example, with the base 13 supporting the arm 10a as a reference. In addition, the control unit can calculate the position and posture of the front end portion coordinate system 102 of the front end portion of the arm 10a, such as the flange 10b, based on the detection result of the working position detection device 11a.

[0038] In the first embodiment, for the parameter setting, a calibration jig or the like (first setting element 60) is mounted on the front end of the arm 10a. Figure 1 As shown, the object 60 is held by the tool 30. The object 60 may be mounted on the wrist flange 10b by a mounting means such as an electromagnet or a bolt. In the first embodiment, the center position of the mark 61 of the object 60 is arranged at a position corresponding to the tool center point (TCP) of the tool 30.

[0039] In addition, in the first embodiment, for the parameter setting, the visual sensor (second setting element) 50 is supported by the support portion 70. The support portion 70 can be either the upper surface of the conveying device 2 or a supporting device such as a tripod. For example, the position and posture of the visual sensor 50 on the support portion 70 correspond to the work reference coordinate system for the work object W. The work reference coordinate system corresponds to the position and posture of the work object W, the position and posture of the placement portion of the work object W, and the like. In the first embodiment, the work reference coordinate system is consistent with the sensor coordinate system 103 of the visual sensor 50. Thus, according to the parameter setting described later, the arm 10a can accurately operate the work object W. In the first embodiment, the optical axis of the visual sensor 50 corresponds to one of the axes such as the Z axis of the sensor coordinate system 103 and extends vertically upward, but the optical axis of the visual sensor 50 can also be oriented in other directions.

[0040] The object 60 of the first embodiment has a marker 61, and the control unit recognizes the size, shape, configuration of each element, etc. of the marker 61 in advance. Thus, the control unit can calculate the position and posture of the marker 61 and the object 60 relative to the visual sensor 50 based on the shooting data of the marker 61. For example, as the position of the marker 61, the center position of the marker 61 is calculated, and the posture of the marker 61 is calculated based on the relative positions of three or more characteristic shapes or characteristic points in the marker 61. The marker 61 may also be a dot pattern, a single or multiple three-dimensional shapes, etc. In the case where the object 60 is a working object W, a single or multiple characteristic shapes of the working object W, etc., act as the marker 61. A thinner front end portion may also be provided on the object 60, and the front end portion is used instead of the marker 61.

[0041] First, when the control unit receives a start input for parameter setting (step S1 - 1 ), the following processing is performed based on the setting verification program 23 d . In one example, the start input is based on an input to the input unit 26 by the user.

[0042] Here, the user moves the front end of the arm 10a so that the object 60 enters the field of view of the visual sensor 50. Figure 7 The parameter setting screen 23g shown is displayed on the display device 22. Preferably, the control unit displays a preparation image or text 23h prompting the front end of the arm 10a to be arranged at the set inspection position on the display device 22 (step S1-2). The control unit may also display a preparation image or text 23h prompting the object 60 to be arranged at the set inspection position on the display device 22.

[0043] The term "setting the inspection position" means the position and posture of the front end of the arm 10a, and setting the inspection position is the position and posture of the front end of the object 60 configured within the field of view of the visual sensor 50. The preparation image or text 23h of step S1-2 can also be a screen that conveys the setting of the inspection position to the user for the judgment of step S1-17 described later. In this case, the user can appropriately set the position and posture of the front end of step S1-1 while considering various conditions. The various conditions include the structure of the wiring of the robot 10, the structure of the wiring of the visual sensor 50, the size of the robot 10, the type of the tool 30, and the size of the tool 30. In addition, in the case where the content of step S1-2 is recorded in the instruction manual, etc., the control unit can be configured not to perform step S1-2.

[0044] When the control unit receives the parameter setting process start input (step S1-3), the visual sensor 50 acquires the first inspection data 23e at the set inspection position ( Figure 3 )(Step S1-4). In addition, the control unit stores the shooting data or detection data obtained by the visual sensor 50, that is, the first inspection data 23e, in the storage unit 23, etc. (Step S1-5). Before step S1-4, the control unit may also cause the arm 10a to perform an action to eliminate the influence of the gap of the arm 10a. In one example, in order to perform this action, the control unit returns each servo motor 11 to its original position after slightly rotating it.

[0045] Then, the control unit performs the following processing based on the parameter setting program 23c. In order to arrange the object 60 at multiple positions, for example, three or more calibration positions, the control unit controls the arm 10a and causes the visual sensor 50 to take pictures at each calibration position. The postures of the object 60 at each calibration position may also be different from each other.

[0046] For example, the control unit arranges the object 60 at the first calibration position (step S1-6), and causes the visual sensor 50 to acquire data at the first calibration position (step S1-7). In addition, the control unit arranges the object 60 at the second calibration position (step S1-8), and causes the visual sensor 50 to acquire data at the second calibration position (step S1-9). In addition, the control unit arranges the object 60 at the third calibration position (step S1-10), and causes the visual sensor 50 to acquire data at the third calibration position (step S1-11).

[0047] The control unit calculates the position and posture of the object 60 at each calibration position relative to the visual sensor 50 based on the shooting data of steps S1-7, S1-9, and S1-11 (step S1-12). These positions and postures are positions and postures on the sensor coordinate system 103 of the visual sensor 50. In addition, the control unit recognizes the position and posture of at least one of the tip of the arm 10a, the tool 30, and the tip coordinate system 102 at each calibration position. The control unit sets parameters using the position and posture on the sensor coordinate system 103 and the position and posture of each calibration position, such as the tip coordinate system 102 (step S1-13).

[0048] This parameter is used, for example, to associate the sensor coordinate system 103 with the front end coordinate system 102 and the reference coordinate system 101. This parameter is used, for example, to associate the work reference coordinate system with the front end of the arm 10a, the tool 30, and the position and posture of the front end coordinate system 102. If the sensor coordinate system 103 corresponds to the coordinate system of the transport device 2, the work by the arm 10a is accurately performed. In addition, this parameter is used to associate the front end coordinate system 102 with the front end (TCP) of the tool 30.

[0049] This parameter may also be used for other purposes, and other operations may be used to set this parameter. In addition, in the first embodiment, the position and posture of the visual sensor 50 correspond to the work reference coordinate system for the work object W. Alternatively, sometimes the control device 20 recognizes the position and direction of the TCP in the absence of this correspondence.

[0050] Next, the control unit performs the following processing based on the set inspection program 23d. The control unit controls the arm 10a so that the front end of the arm 10a is configured at the set inspection position (step S1-14). In addition, the control unit causes the visual sensor 50 to obtain the second inspection data 23f ( Figure 3 ) (Step S1-15). Then, the control unit stores the second inspection data 23f, which is the imaging data or detection data obtained by the visual sensor 50, in the storage unit 23 or the like (Step S1-16).

[0051] Next, the control unit determines whether there is a position change of the visual sensor 50 or the object 60 by comparing the two inspection data 23e and 23f (step S1-17). For example, when the position change amount of the object 60 of the second inspection data 23f relative to the first inspection data 23e is less than the threshold value, it is determined that there is no such position change. At this time, the control unit displays the end of parameter setting on the display device 22 (step S1-21), and the parameter setting process ends normally. In addition, when the position change amount is greater than the threshold value, it is determined that there is a position change. The threshold value is, for example, 3 pixels of the shooting data of the visual sensor 50, but if it is determined that there is a position change when the threshold value is greater than 2 pixels, the parameter setting is more accurate.

[0052] As the threshold value, 0.5 mm can also be set to determine whether there is a position change. For example, the position change amount is the position change amount of the part where the largest position shift occurs in the mark 61 of the object 60. If the position change amount is not greater than 0.5 mm but greater than 0.3 mm or 0.2 mm, it is determined that there is a position change, and the parameter setting is more accurate. For example, sometimes tension acts on the cable of the visual sensor 50, and the position of the visual sensor 50 is slightly offset during the parameter setting. Since this event occurs in a relatively short period of parameter setting, it is possible to accurately determine a slight position change of the visual sensor 50 or the object 60. In addition, thresholds above the above values ​​can be used depending on the situation or conditions.

[0053] Next, when it is determined in step S1-17 that the position has changed, the control unit displays the position change amount on the display device 22 (step S1-18). As the position change amount, the number of pixels, a numerical value in millimeters, etc. are used. In step S1-18, the control unit can also display the judgment that the position has changed on the display device 22. As a display of this judgment, an error display and a display indicating that a parameter cannot be set can also be performed. In this way, the user can know the position change in a timely manner.

[0054] In addition, when it is determined in step S1-17 that there is no position change, the control unit may display on the display device 22 that there is no position change. Based on this display, the user promptly knows that the set parameters are accurate. The position change amount may also be displayed on the display device 22 as a display indicating that there is no position change. In addition, if the color of the words and the screen when displaying the position change amount is different from that in step S1-18, the user can easily recognize that there is no position change.

[0055] In addition, the user can estimate the accuracy of parameter setting by displaying the position change amount. For example, sometimes the tool 30 is a slender welding gun, a hand with a long claw, etc., and the object 60 is installed at the front end of these. For example, sometimes the operation based on the tool 30 does not require so much position accuracy. In addition, there are various conditions mentioned above. When there are these conditions, the user can judge whether the four-pixel number is appropriate based on the conditions, experience, etc. Moreover, sometimes the user can estimate the accuracy of parameter setting based on the appropriateness.

[0056] The control unit may also display the direction of the position change on the display device 22. In this case, the direction of the position change of the visual sensor 50, the direction of the position change of the object 60, etc. are displayed on the display device 22. The direction may also be an approximate direction. Based on this display, the user can easily infer the cause of the position change, which helps to improve the efficiency of the setting operation.

[0057] Assuming this situation, when it is determined in step S1-17 that the position has changed, the control unit may also display a selection screen on the display device 22 to allow the user to select whether to use the parameter (step S1-19). Thus, the user can determine whether to use or not use the parameter based on the conditions, experience, etc. In addition, when the selection is not necessary, the control unit is configured not to perform step S1-19.

[0058] Furthermore, in the control unit, when the user selects to use in step S1 - 19 , the control unit may store data in association with the selected content, the position change amount, and the parameter in the storage unit 23 .

[0059] Alternatively, when it is determined in step S1 - 17 that the position change occurs, the control unit may store data associating the position change amount with the parameter in the storage unit 23 .

[0060] In addition, the control unit may also send the data to an external computer. The external computer is a server for production management and quality management, etc. The data can be used for subsequent quality management business, the design or improvement of the robot system, the design or improvement of the work object W, etc.

[0061] If the control unit accepts input using the parameter using the input unit 26 or the like (step S1-20), the parameter is set and a display indicating that the parameter setting is completed is performed (step S1-21). If the control unit does not accept input using the parameter (step S1-20), the parameter is completed without being set (step S1-22).

[0062] In addition, instead of the step S1-2, the control unit may automatically dispose the front end of the arm 10a at the set inspection position. In this case, the control unit may display a plurality of set inspection positions as options on the display device 22 through a diagram or the like. In this case, the control unit displays a screen for selecting any one of the plurality of set inspection positions on the display device 22. The control unit receives a selection input from the user via the input unit 26, and automatically disposes the front end of the arm 10a at the set inspection position corresponding to the selection input.

[0063] In addition, the control unit may display a screen for setting the setting inspection position on the display device 22. For example, a screen that can show at least the position of the visual sensor 50 is displayed. The screen is a screen that can specify at least the position of the front end of the arm 10a, the tool 30, or the object 60. The control unit receives the setting input from the user via the input unit 26, and automatically arranges the front end of the arm 10a at the setting inspection position corresponding to the setting input.

[0064] In the second embodiment, a setting device for the parameters of the robot is described with reference to the accompanying drawings. In the first embodiment, an object (first setting element) 60 is installed at the front end of the arm 10a, and a visual sensor (second setting element) 50 is supported by a support portion 70. In the second embodiment, a visual sensor (first setting element) 50 is installed at the front end of the arm 10a, and an object (second setting element) 60 ( Figure 8 In the second embodiment, the same reference numerals are used for the same structures as those in the first embodiment, and descriptions of the structures and the same effects obtained by the structures are omitted. In addition, in the second embodiment, the modified examples described in the first embodiment can also be appropriately applied.

[0065] In the second embodiment, the visual sensor 50 is detachably mounted on the front end of the arm 10a. In one example, the visual sensor 50 is mounted on the wrist flange 10b of the arm 10a in the same manner as the tool 30. In one example, the object 60 is supported on the upper surface of the transport device 2. In the second embodiment, the object 60 is supported by a support portion 70 placed on the upper surface of the transport device 2. The object 60 may be a work object W, or may be another object other than the work object W, a part of a structure, etc. As a part of a structure, a part of a transport device, etc. may be used.

[0066] In the second embodiment, the following processing for parameter setting is also performed based on the parameter setting program 23c and the setting verification program 23d. Fig. 9 as well as Fig.10 An example of parameter setting is described with reference to the flowchart of FIG.

[0067] In the second embodiment, a visual sensor 50 is installed at the front end of the arm 10a for the parameter setting. In one example, the visual sensor 50 is installed on the wrist flange 10b using a magnet such as an electromagnet, a bolt or other mounting means. Alternatively, the visual sensor 50 may be mounted on the front end of the arm 10a by holding the visual sensor 50 with a tool 30.

[0068] In addition, in the second embodiment, for the parameter setting, the object 60 is supported by the support portion 70. The support portion 70 may be the upper surface of the transport device 2 or a support device such as a tripod. For example, the position and posture of the object 60 on the support portion 70 correspond to the work reference coordinate system for the work object W. In this sense, if a plurality of or a single work object W is used as the object 60, the parameter setting can be adapted to the work. Through the parameter setting described later, for example, the camera coordinate system 103 is associated with the reference coordinate system 101 and the front end portion coordinate system 102. In addition, through the parameter setting described later, for example, the arm 10a can accurately work on the work object W.

[0069] First, the control unit performs the following processing based on the setting check program 23d.

[0070] In the second embodiment, the user moves the front end of the arm 10a according to the instructions of the instruction manual so that the object 60 enters the field of view of the visual sensor 50. In the second embodiment, the control unit does not display the preparation image or text 23h prompting the front end of the arm 10a to be arranged at the set inspection position on the display device 22. The first embodiment can also be configured in this way.

[0071] When the control unit receives the parameter setting processing start input (step S2-1), the visual sensor 50 is caused to acquire the first inspection data 23e at the set inspection position (step S2-2). In addition, the control unit stores the first inspection data 23e, which is the shooting data or detection data obtained by the visual sensor 50, in the storage unit 23, etc. (step S2-3). Before step S2-2, the control unit may cause the arm 10a to perform an action for eliminating the influence of the gap of the arm 10a.

[0072] Then, the control unit performs the following processing based on the parameter setting program 23c, similarly to the first embodiment.

[0073] For example, the control unit configures the visual sensor 50 at the first calibration position (step S2-4), and causes the visual sensor 50 to acquire data at the first calibration position (step S2-5). In addition, the control unit configures the visual sensor 50 at the second calibration position (step S2-6), and causes the visual sensor 50 to acquire data at the second calibration position (step S2-7). In addition, the control unit configures the visual sensor 50 at the third calibration position (step S2-8), and causes the visual sensor 50 to acquire data at the third calibration position (step S2-9).

[0074] The control unit calculates the position and posture of the object 60 at each calibration position relative to the visual sensor 50 based on the shooting data of steps S2-5, S2-7, and S2-9 (step S2-10). These positions and postures are positions and postures on the sensor coordinate system 103 of the visual sensor 50. In addition, the control unit recognizes the position and posture of at least one of the tip of the arm 10a, the tool 30, and the tip coordinate system 102 at each calibration position. The control unit sets parameters using the position and posture on the sensor coordinate system 103 and the position and posture of each calibration position, such as the tip coordinate system 102 (step S2-11).

[0075] This parameter is used, for example, to associate the sensor coordinate system 103 with the distal end coordinate system 102 and the reference coordinate system 101 .

[0076] This parameter may also be used for other purposes, and other operations may be used for setting this parameter.

[0077] Next, the control unit performs the following processing based on the set inspection program 23d. The control unit controls the arm 10a so that the front end of the arm 10a is arranged at the set inspection position (step S2-12). In addition, the control unit causes the visual sensor 50 to obtain the second inspection data 23f at the set inspection position (step S2-13). Moreover, the control unit stores the second inspection data 23f, which is the shooting data or detection data obtained by the visual sensor 50, in the storage unit 23, etc. (step S2-14).

[0078] Next, the control unit determines whether the position of the visual sensor 50 or the object 60 has changed (step S2-15), similar to step S1-17 of the first embodiment. If there is no such position change, the control unit displays the end of parameter setting on the display device 22 (step S2-19), and the parameter setting process ends normally.

[0079] In addition, the control unit displays the position change amount on the display device 22 (step S2-16), similarly to step S1-18 of the first embodiment. The display of the position change amount enables the user to estimate the accuracy of parameter setting, similarly to the first embodiment.

[0080] In addition, the control unit may display the selection screen on the display device 22 (step S2-17), similarly to step S1-19 of the first embodiment. Thus, similarly to the first embodiment, the user can determine whether to use or not use the parameter based on the conditions, experience, etc.

[0081] In addition, if the control unit accepts input using the parameter using the input unit 26 or the like (step S2-18), the parameter is set and a display indicating the completion of parameter setting is performed (step S2-19). If the control unit does not accept input using the parameter (step S2-18), the parameter is completed without setting (step S2-20).

[0082] Here, in the parameter setting process, for example, as in steps S1-6 to S1-11 of the first embodiment, the front end of the robot 10 moves to a plurality of types of positions and postures in sequence. In addition, there are various objects such as other equipment and work objects W around the robot. In addition, there are cables for the robot 10 around the robot 10, and the cables also move according to the movement of the robot. Therefore, when the parameter setting process is being performed, the user needs to be careful to prevent the robot 10 and the cables from interfering with the surrounding objects. Therefore, there are many cases where the user does not pay attention to the status of the visual sensor 50 and its cables.

[0083] In addition, for parameter setting, the visual sensor 50 is installed on the robot 10 or the support part by the user, and its cable is also temporarily configured by the user. Therefore, depending on the temporary configuration position of the cable, a slight tension is sometimes applied to the cable of the visual sensor 50 during the parameter setting operation of the robot 10. Due to this slight tension, the visual sensor 50 sometimes moves and sometimes does not move. In addition, when the visual sensor 50 is slightly offset due to this slight tension, the user often does not notice the offset. The object 60 is sometimes slightly offset due to vibration, etc., but similarly, the user often does not notice the offset.

[0084] In one example, even if there is such a slight deviation, the calculation of parameter setting itself is performed, so in the past, the parameter processing is normally completed and the user does not notice the deviation. Depending on the accuracy required for the robot 10 to work on the work object W, there are also operations in which the user does not notice the slight deviation at all. However, in such operations, if some errors occur, the cause may be related to the slight deviation.

[0085] In the first and second embodiments, the first and second inspection data 23e and 23f are measured and the position change is judged in a series of controls for parameter setting of the robot 10. In this structure, the first and second inspection data 23e and 23f are measured in a relatively short time of parameter setting, so that a slight position shift of the visual sensor 50 or the object 60 that occurs during the parameter setting can be accurately judged.

[0086] For example, if in step S1-17, the position shift between the first inspection data 23e and the second inspection data 23f is more than 3 pixels, it is determined that there is a position change. In one example, the visual sensor 50 has millions of pixels, and one side of the field of view of the visual sensor 50 at the position of the object 60 is about 10cm to 20cm. In this case, a position change of 3 pixels is equivalent to a position change of 0.2mm, 0.3mm, etc. Therefore, in the above structure, a slight position shift of the visual sensor 50 or the object 60 can be accurately determined.

[0087] Assuming that, during the second shooting of the set inspection position, the visual sensor 50 is slightly offset in the direction of its optical axis, the offset hardly occurs only in the direction of the optical axis of the visual sensor 50. That is, when the visual sensor 50 is offset in the direction of the optical axis due to some unexpected reasons, it is difficult for the visual sensor 50 to not be offset in the direction intersecting the optical axis. The same is true for the object 60. Therefore, in the above structure, a slight positional offset of the visual sensor 50 or the object 60 can be accurately determined.

[0088] In addition, in the first and second embodiments, before steps S1-4 and S2-2, the user moves the front end of the arm 10a, and this position is used as the setting inspection position. Therefore, the user can easily and reliably determine the setting inspection position, and there is no need to set the setting inspection position separately. This helps to improve user convenience. In addition, the user can reliably configure the visual sensor 50 at the focus position as the setting inspection position. Considering that the visual sensor 50 used in many robots does not have an automatic focusing function, and the focus range is known from the instruction manual, etc., this structure is very useful.

[0089] In the first and second embodiments, a screen for selecting and setting a test position is displayed. Therefore, the user can easily set a test position suitable for conditions such as the wiring and position of the cable of the visual sensor 50.

[0090] In the first and second embodiments, a screen for setting a setting check position is displayed, which is useful for the user to arbitrarily set a setting check position without much trouble.

[0091] In addition, in the first and second embodiments, at least any one of the correction positions can also be used as a setting check position. For example, when the first correction position is used as the setting check position, in steps S1-14 and S2-12, the front end of the arm 10a is arranged at the first correction position. Even in this case, the same effect as described above can be achieved. In addition, preferably, the setting check position is the first half of the setting action of steps S1-6 to S1-11 of the first embodiment, for example. That is, the first correction position or the second correction position is preferred. In addition, preferably, for example, in the first embodiment, steps S1-12 and S1-13 are performed in the second half of the setting action of steps S1-6 to S1-11 or after the setting action.

[0092] In addition, in the first and second embodiments, other setting check positions can be further set. Other setting check positions can be set, for example, to positions where there is a high possibility of applying tension to the cable of the visual sensor 50. Other setting check positions can also be any of the correction positions. There may also be a situation where the setting check position is automatically set by the control unit, or the setting check position is pre-set in the control unit. In these cases, the control unit may also be configured to display the setting check position on the display device 22. For example, the control unit displays the position where the arm 10a stops in front of the first correction position, the position between the first correction position and the second correction position, etc. as the setting check position. In this case, the user can understand where the setting check position is, which helps to easily determine the cause of the error during the setting operation.

[0093] In addition, in the first and second embodiments, the visual sensor 50 may be a three-dimensional camera, a three-dimensional distance sensor, LiDAR (Light Detection and Ranging), PSD (Position Sensing Detector), etc. In these cases, the structure of the image processing device 40 is appropriately changed. In addition, as the visual sensor 50, a visual sensor mounted on the front end of the arm 10a may be used during the above-mentioned operation on the work object W.

[0094] The embodiments of the present invention have been described in detail, but the present invention is not limited to the above-mentioned embodiments. In these embodiments, various additions, substitutions, changes, and partial deletions can be made without departing from the scope of the main purpose of the invention, or without departing from the scope of the idea and purpose of the present invention derived from the contents recorded in the claims and their equivalents. For example, in the above-mentioned embodiments, the change of the order of each action, the change of the order of each process, the omission or addition of a part of the action corresponding to the condition, and the omission or addition of a part of the process corresponding to the condition can be carried out without being restricted to the above-mentioned examples. In addition, the same applies to the case where numerical values ​​or formulas are used for the description of the above-mentioned embodiments.

[0095] Description of reference numerals:

[0096] 2: Transport device

[0097] 10: Robots

[0098] 10a: Arm

[0099] 11: Servo motor

[0100] 20: Control device

[0101] 21: Processor

[0102] 22: Display device

[0103] 23: Storage

[0104] 23a: System Programs

[0105] 23b: Action Program

[0106] 23c: Parameter setting procedure

[0107] 23d: Setting up inspection procedures

[0108] 23e: First test data

[0109] 23f: Second test data

[0110] 26: Input

[0111] 30: Tools

[0112] 31: Servo motor

[0113] 40: Image processing device

[0114] 41: Processor

[0115] 43: Storage

[0116] 43a: Image Processing Programs

[0117] 50: Visual sensor (sensor)

[0118] 60: Object

[0119] 61: Mark

[0120] 70: Support

[0121] 101: Reference coordinate system

[0122] 102: Front end coordinate system

[0123] 103: Sensor coordinate system

[0124] W: Job object

Claims

1. A device for setting parameters of a robot, characterized in that: have: A first setting element, which is one of the object and the sensor and is mounted on the arm of the robot; a second setting element, which is the other of the object and the sensor; as well as a control unit configured to cause the arm to perform a parameter setting operation for arranging the first setting element at a plurality of positions, In the first half of the setting action or before the setting action, the control unit causes the sensor to acquire first inspection data about the object in a state where the first setting element is arranged at a setting inspection position, The control unit causes the arm to perform an action of placing the first setting element at the setting inspection position in the latter half of the setting action or after the setting action, and causes the sensor to acquire second inspection data related to the object. The control unit determines whether or not there is a positional change in the first setting element or the second setting element based on the first inspection data and the second inspection data.

2. The robot parameter setting device according to claim 1, characterized in that: Before arranging the first setting element at a plurality of positions for setting the parameter, the control unit uses the position where the first setting element is arranged by the user moving the arm as the setting check position.

3. The robot parameter setting device according to claim 1 or 2, characterized in that: The robot parameter setting device includes a display device, and the display device displays the judgment of the position change.

4. The robot parameter setting device according to claim 1 or 2, characterized in that: The robot parameter setting device includes a display device configured to display an amount of the position change when the position change occurs.

5. The robot parameter setting device according to claim 1 or 2, characterized in that: The robot parameter setting device includes a display device configured to display a direction of the position change when the position change occurs.

6. The robot parameter setting device according to claim 1 or 2, characterized in that: The robot parameter setting device includes a display device that displays a screen for allowing a user to set the setting check position or a screen for selecting the setting check position.

7. The robot parameter setting device according to claim 1 or 2, characterized in that: After the control unit determines that the position has changed, a screen for allowing a user to select whether to use the set parameter is displayed on the display device.

8. The robot parameter setting device according to claim 1 or 2, characterized in that: The second setting element is supported by a predetermined supporting portion.

9. A robot, characterized in that: A device for setting parameters of a robot according to any one of claims 1 to 8.

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