Robot system and control device
By using a camera to capture feature images during robot trajectory setting, calculating trajectory errors, and adding teaching points, the problem of determining the number of teaching points is solved, thus achieving trajectory accuracy confirmation and optimization of teaching operation time.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- FANUC LTD
- Filing Date
- 2023-11-14
- Publication Date
- 2026-05-12
AI Technical Summary
In robot trajectory setting, it is difficult for operators to determine the number of teaching points, which leads to the problem that while the trajectory accuracy is improved, the teaching operation time is increased.
By using a camera to capture images of the feature area during robot movement, the trajectory error is calculated, and additional teaching points are added when the error exceeds a threshold. The appropriate number of teaching points is determined using the camera and the trajectory error calculation unit.
This enabled the confirmation of robot trajectory accuracy and the setting of appropriate teaching points, reducing teaching time and improving the efficiency of trajectory setting.
Smart Images
Figure CN122029013A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to robot systems and control devices. Background Technology
[0002] When a robot is performing a task, its motion path is set by pre-teaching multiple teaching points. In applications such as arc welding and sealing, many teaching points are set along the robot's motion path. Patent Document 1 discloses obtaining the deviation between the robot's actual movement trajectory and the robot's reference trajectory specified by the movement command in order to improve the accuracy of the robot's trajectory.
[0003] Existing technical documents
[0004] Patent documents
[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-013983 Summary of the Invention
[0006] The problem the invention aims to solve
[0007] However, the robot's trajectory between two adjacent teach points is sometimes unclear. Therefore, when setting the robot's motion path, the operator cannot determine the appropriate number of teach points. While teaching a large number of teach points improves the accuracy of the robot's trajectory, it also increases the number of teaching operations and thus time consumption.
[0008] Therefore, in order to teach an appropriate number of teaching points, a robot system and control device that can confirm the trajectory accuracy of the robot is desired.
[0009] Solution for solving the problem
[0010] According to a first aspect of this disclosure, a robot system is provided, comprising: a robot; a camera; a moving part that moves the robot; an imaging part that captures images of feature parts at least once while the robot is being moved by the moving part; and a trajectory error calculation part that calculates the trajectory error of the robot based on the captured feature parts in the images and predetermined points in the images.
[0011] Furthermore, according to other aspects of this disclosure, a control device is provided, comprising: a moving unit that moves a robot; a camera unit that captures images of a feature at least once via a camera while the robot is being moved by the moving unit; and a trajectory error calculation unit that calculates the trajectory error of the robot based on the captured feature in the image and a predetermined point in the image.
[0012] The objectives, features, and advantages of this disclosure will become more apparent from the following description of embodiments in conjunction with the accompanying drawings. Attached Figure Description
[0013] Figure 1A This is a simplified diagram of a robot system based on the first embodiment.
[0014] Figure 1B It means Figure 1A The flowchart shows the actions of the robot system.
[0015] Figure 2 It is a top view of an object with distinctive features.
[0016] Figure 3 This is a perspective view used to illustrate the actions of the robot system in the first embodiment.
[0017] Figure 4 It is a diagram representing the image from the camera.
[0018] Figure 5A This is a graph showing the relationship between the robot's travel distance and trajectory error.
[0019] Figure 5B These are other flowcharts that represent the actions of a robot system.
[0020] Figure 6A This is a perspective view used to illustrate the actions of the robot system in the second embodiment.
[0021] Figure 6B It is a diagram representing other images from the camera.
[0022] Figure 7A This is a perspective view used to illustrate the actions of the robot system in the third embodiment.
[0023] Figure 7B It is a graph showing the relationship between the distance between the camera and the feature and the trajectory error.
[0024] Figure 8 This is a simplified diagram of a robot system based on other implementation methods. Detailed Implementation
[0025] The embodiments of this disclosure will now be described with reference to the accompanying drawings. In all the drawings, corresponding components are labeled with common reference numerals.
[0026] Figure 1A This is a simplified diagram of a robot system based on the first embodiment. (As shown...) Figure 1AAs shown, the robot system 1a based on the first embodiment mainly includes a robot 10, a control device 20 for controlling the robot 10, and a teaching pendant 30 for operating the robot 10 via the control device 20. However, when an operator operates the robot 10 via the control device 20, the robot system 1a (and the robot system 1b described later) may not include the teaching pendant 30. Furthermore, the robot 10 and the control device 20, as well as the control device 20 and the teaching pendant 30, are connected via wired or wireless means.
[0027] Robot 10 can be a vertical, multi-jointed robot with multiple motors, such as a six-degree-of-freedom robot. Figure 1A In the robot 10 shown, multiple arms 12, each driven by a plurality of motors, are configured on a robot base 11 using a known method. Furthermore, the foremost arm has a wrist 13.
[0028] Although not shown in the accompanying drawings, each of the multiple motors has a detection unit, such as an encoder, for detecting the position and / or speed of its corresponding shaft. Similarly, although not shown in the accompanying drawings, each of the multiple motors may also have various sensors, such as temperature sensors.
[0029] A rod 14 is mounted on the wrist 13 of the robot 10, and a camera 15 is provided at the front end of the rod 14. In the first embodiment, the camera 15 is, for example, a 2D camera. Alternatively, the camera 15 can be mounted directly on the wrist 13 without using the rod 14.
[0030] like Figure 1A As shown, an object 45 is positioned in a fixed location below the camera 15. Figure 1A In this context, object 45 is a sheet material disposed on the workbench. However, object 45 can also be the top plate of the workbench itself. Alternatively, object 45 can be disposed directly on the floor.
[0031] The object 45 has a feature 51 that is equivalent to the target trajectory of the robot 10. Figure 2 This is a top view of an object having the feature portion. In the first embodiment, the feature portion 51 is a straight line drawn on the upper surface of the object 45. The length L0 and width of the feature portion 51 are known and stored in the storage unit 29 of the control device 20, which will be described later. Furthermore, the feature portion 51 can also be other structures that can be visually identifiable. For example, the feature portion 51 can also be a recess, notch, protrusion, or raised portion formed on the upper surface of the object 45. Additionally, as will be described later, the feature portion 51 does not need to be a straight line, as long as its shape is known.
[0032] Robot 10 is controlled by control device 20. As is well known, control device 20 uses the detection results of multiple detection units to control multiple motors. Control device 20 is a computer equipped with a CPU (Central Processing Unit), storage unit 29, etc., interconnected via a bus.
[0033] The storage unit 29 can also be any of volatile memory, non-volatile memory, hard disk drive, and solid-state drive. Furthermore, the storage unit 29 stores the motion program (described later) and various data that enables the robot 10 to move. Additionally, the control device 20 performs image capture control of the camera 15 and image processing on the images captured by the camera 15.
[0034] like Figure 1A As shown, the CPU of the control device 20 includes: a moving unit 21 that moves the robot 10; a camera unit 22 that captures at least one image 16 of the feature 51 using a camera 15 while the robot 10 is being moved by the moving unit 21; and a trajectory error calculation unit 23 that calculates the trajectory error ΔT of the robot 10 based on the captured feature 51 in the image 16 and a predetermined point P0 in the image 16.
[0035] Furthermore, the CPU of the control device 20 also includes: a chart generation unit 24, which generates a relationship between the moving distance L of the robot 10 and the trajectory error ΔT when the camera 15 captures multiple images 16 by the camera unit 22; and an additional instruction unit 25, which provides an instruction to add teaching points to the robot 10 when the trajectory error ΔT is greater than a predetermined threshold ΔT0.
[0036] The teach pendant 30 is also a computer, and similarly includes a CPU, memory, etc. The teach pendant 30 includes a display control device 20 and a display unit 31 for various processing operations of the teach pendant 30, such as a monitor. Furthermore, the teach pendant 30 includes an input unit 32 for inputting various operations of the operator, such as a touch panel.
[0037] Furthermore, instead of the CPU of the control device 20, the CPU of the teach pendant 30 may also include a movement unit 21, a camera unit 22, a trajectory error calculation unit 23, a chart generation unit 24, and an additional instruction unit 25. Alternatively, the CPU of the control device 20 may include at least one of the movement unit 21, the camera unit 22, the trajectory error calculation unit 23, the chart generation unit 24, and the additional instruction unit 25, while the CPU of the teach pendant 30 may include the remaining parts of the movement unit 21, the camera unit 22, the trajectory error calculation unit 23, the chart generation unit 24, and the additional instruction unit 25.
[0038] The movement unit 21, camera unit 22, trajectory error calculation unit 23, chart generation unit 24, and additional instruction unit 25 of the CPU of the control device 20 and / or teach pendant 30 are functional modules implemented, for example, by a computer program executed on the CPU. The computer program for performing the processing of the movement unit 21, camera unit 22, trajectory error calculation unit 23, chart generation unit 24, and additional instruction unit 25 of the CPU of the control device 20 and / or teach pendant 30 may also be provided in the form of a computer-readable recording medium such as a semiconductor memory, magnetic recording medium, or optical recording medium.
[0039] Furthermore, the control device 20 may also be connected to a display unit that displays various computer processing functions, such as a monitor or CRT. Additionally, the control device 20 may be connected to an input unit for inputting various user operations, such as a mouse or keyboard.
[0040] Figure 1B It means Figure 1A The flowchart below shows the actions of the robot system. Refer to... Figure 1B The actions related to robot system 1a will be described. Furthermore, it is assumed that two teaching points are taught in the action program of robot 10. One teaching point is one end 41 of feature 51, which serves as the start position of the robot 10's action, and the other teaching point is the other end 42 of feature 51, which serves as the end position of the robot 10's action. Therefore, these teaching points are sometimes referred to as teaching points 41 and 42, respectively.
[0041] One teaching point 41 is taught that a predetermined point P0 of the image 16 to be captured by the camera 15 coincides with one end 41 of the feature 51. Similarly, another teaching point 42 is taught that a predetermined point P0 of the image 16 to be captured by the camera 15 coincides with the other end 42 of the feature 51. Moreover, such an action program is stored in the storage unit 29. Furthermore, the camera 15 is pre-positioned in such a way that at least a portion of the feature 51 enters the field of view of the camera 15.
[0042] exist Figure 1B In step S11, the operator uses the input unit 32 to set the total number of shots N (N is a natural number). Next, in step S12, the movement unit 21 moves the robot 10 based on the created motion program. That is, the wrist 13 of the robot 10 moves linearly along the feature section 51. Furthermore, in order for the camera to finish shooting N times at certain time intervals during the period when the robot 10 moves from one end 41 to the other end 42 of the feature section 51, the movement speed of the robot 10 is set to be determined based on the overall length L0 of the feature section 51 and the total number of shots N.
[0043] Figure 3This is a perspective view used to illustrate the actions of the robot system in the first embodiment. Figure 3 The diagram shows the feature 51 corresponding to the target trajectory of robot 10 and the actual trajectory 52 of robot 10.
[0044] In step S13, the robot 10 moves, and the camera unit 22 causes the camera 15 to perform the first (i-th time, where i is the current shooting number, a natural number less than or equal to the total shooting number N) shooting of the feature unit 51. The captured image 16 is stored in the storage unit 29. Additionally, the movement unit 21 calculates the distance L1 (movement distance Li) that the robot 10 has moved from one end 41 of the feature unit 51 when the camera 15 takes the picture. The movement distance Li can be calculated based on the detection results of the multiple detection units of each of the multiple motors, or it can be calculated based on the elapsed time after the robot 10 moves and the robot 10's moving speed. The movement distance Li is stored in the storage unit 29 in association with the corresponding i-th image 16.
[0045] Next, in step S14, it is confirmed whether the current number of shots i is the same as the total number of shots N. If the current number of shots i is different from the total number of shots N, proceed to step S15, increment the current number of shots i by "1", and proceed to step S13. Then, in step S13, the second (i-th (←i+1)th) shot for feature 51 and the calculation of the moving distance Li are performed similarly, and they are stored in the storage unit 29 in association. Then, the process is repeated until the current number of shots i is the same as the total number of shots N. If the current number of shots i is the same as the total number of shots N, proceed to step S16, and the moving unit 21 stops the robot 10 at the other end 42 of feature 51.
[0046] Next, in step S17, the trajectory error calculation unit 23 calculates the trajectory error ΔT1 (trajectory error ΔTi) for the first (i-th) time. Figure 4 It is a diagram representing the image from the camera. Strictly speaking, Figure 4 Image 16 shown is the i-th image taken after the first one, therefore in Figure 4 One end 41 of feature 51 is not shown in image 16. Figure 4 In this context, point P0 is designated as the center of image 16. However, point P0 can also be set at other locations within image 16.
[0047] like Figure 4As shown, the trajectory error calculation unit 23 draws a perpendicular line from the predetermined point P0 toward the feature unit 51 in the i-th image 16, and calculates the length of this perpendicular line as the trajectory error ΔTi. The trajectory error ΔTi is stored in the storage unit 29 in association with the corresponding image 16 and the movement distance Li. Furthermore, the trajectory error ΔTi is marked with a positive or negative sign according to the positional relationship between the predetermined point P0 and the feature unit 51. In addition, since the first image 16 is taken at the beginning of the robot 10's movement or shortly after the movement has just begun, the trajectory error ΔT1 in the first image 16 is approximately zero.
[0048] Next, in step S18, it is confirmed whether the current number of shots i is the same as the total number of shots N. If the current number of shots i is different from the total number of shots N, proceed to step S19, increment the current number of shots i by "1", and proceed to step S17. Then, in step S17, based on the image 16 obtained through the second (i-th (←i+1)th) shot, the trajectory error ΔTi is calculated and stored in the storage unit 29. Then, the process is repeated until the current number of shots i is the same as the total number of shots N.
[0049] In this way, by calculating the trajectory error ΔTi by the trajectory error calculation unit 23, the operator can easily grasp the trajectory error ΔTi of the robot 10. Thus, for example, the operator can also independently determine whether each trajectory error ΔTi is large.
[0050] In this disclosure, a camera 15 captures a visually identifiable feature 51, and the trajectory error ΔTi is calculated based on the positional relationship between the feature 51 and a predetermined point P0 in the image 16. Furthermore, the feature 51 corresponds to the target trajectory of the robot 10, and the predetermined point P0 corresponds to the actual trajectory 52. That is, in this disclosure, both the target trajectory and the actual trajectory 52 exist simultaneously within an image 16, thus allowing the trajectory error ΔTi to be directly calculated. Therefore, compared to calculating the error between the target trajectory generated according to the robot 10's movement commands and the actual trajectory generated by the camera, this disclosure can calculate the trajectory error ΔTi more accurately.
[0051] Next, in step S20, the chart generation unit 24 generates a chart based on the relationship between the movement distance Li of the robot 10 and the trajectory error ΔTi stored in the storage unit 29. Figure 5A This is a graph showing the relationship between the robot's travel distance and trajectory error. In Figure 5AIn the diagram, the horizontal axis represents the movement distance Li of the robot 10, corresponding to the feature unit 51. The vertical axis represents the trajectory error ΔTi, and the dashed line 52 corresponds to the actual trajectory 52. Therefore, in other words, the chart generation unit 24 can also generate a chart of the actual trajectory 52. Furthermore, it will be apparent to those skilled in the art that the more times the total number of shots N is taken, the more precise the actual trajectory 52 can be generated.
[0052] In this way, by generating a graph of the actual trajectory 52 by the graph generation unit 24, the operator can visually judge the behavior of the trajectory error ΔTi along the feature section 51. Therefore, it is easy to discover defects in the actual operation of the robot 10, such as an increase in the trajectory error ΔTi near a specific part on the feature section 51.
[0053] As described above, one end 41 and the other end 42 of the feature portion 51 correspond to the teaching points of the robot 10. That is, in Figure 5A In this process, the behavior of robot 10 between two adjacent teaching points 41 and 42 is represented as the actual trajectory 52. Moreover, if the trajectory error ΔTi between teaching points 41 and 42 is large, it is preferable to set an additional teaching point Q between teaching points 41 and 42.
[0054] Here, Figure 5B These are other flowcharts representing the actions of the robot system. Let's set them as follows: Figure 5B The flowchart shown is in Figure 1B The process should be carried out appropriately after the flowchart shown is completed.
[0055] In step S21, the additional indication unit 25 determines whether the absolute value |ΔTi| of the trajectory error ΔTi is greater than a predetermined value ΔT0. The predetermined value ΔT0 is a value obtained through experimentation or simulation. If the absolute value |ΔTi| of the trajectory error ΔTi is greater than the predetermined value ΔT0, an indication is given to add a teaching point Q at or near the corresponding travel distance Li for teaching.
[0056] Then, in step S23, it is confirmed whether the current number of shots i is the same as the total number of shots N. If the current number of shots i is different from the total number of shots N, proceed to step S124, increment the current number of shots i by "1", and proceed to step S21. Then, in step S21, the absolute value |ΔTi| of the next trajectory error ΔTi (i←i+1) is compared with the predetermined value ΔT0. Then, the process is repeated until the current number of shots i is the same as the total number of shots N.
[0057] exist Figure 5AIn the diagram, an additional teaching point Q is shown at a travel distance Li corresponding to a trajectory error ΔTi that is larger than the specified value ΔT0. Therefore, the operator only needs to add the additional teaching point Q according to the instructions of the additional instruction unit 25. It can be seen that when the additional teaching point Q is added, the trajectory error ΔTi near the added teaching point Q can be significantly reduced. Furthermore, the additional instruction unit 25 can also instruct multiple additional teaching points to be taught near the travel distance Li.
[0058] Figure 6A This is a perspective view used to illustrate the actions of the robot system in the second embodiment. In the second embodiment, the feature portion 51' of the object 45 is a circle with a known diameter. In this case, the robot 10's motion program only teaches a point 41 located on the circumference as a teaching point 41. Strictly speaking, this teaching point 41 is taught that a predetermined point P0 in the image 16 to be captured by the camera 15 coincides with point 41 located on the circumference. Furthermore, in Figure 6A The actual trajectory 52' is also shown in the image.
[0059] Figure 6B This is a diagram representing other images from the camera. For example... Figure 6B As shown, the trajectory error calculation unit 23 draws a perpendicular line from the tangent (shown as a dashed line) of a predetermined point P0 within the image 16 captured by the camera 15 toward the feature portion 51', and obtains the length of this perpendicular line as the trajectory error ΔTi. Alternatively, the movement distance Li can be calculated based on the detection results of the multiple detection units of each of the multiple motors, or it can be calculated based on the elapsed time after the robot 10 moves, the movement speed of the robot 10, and the diameter of the circle that forms the feature portion 51'. The feature portion 51' can also be a known ellipse or a known curve. Furthermore, the feature portion 51' can at least partially contain such a known curve.
[0060] Figure 7A This is a perspective view used to illustrate the actions of the robot system in the third embodiment. Figure 7A Camera 15 in the middle is capable of measuring the distance between camera 15 and the subject (equivalent to...) Figure 7A The distance Z between images 16 in the camera, such as a 3D camera.
[0061] In this case, the three-dimensional positions of one end 41 and the other end 42 of the feature section 51, i.e., the three-dimensional positions of teaching points 41 and 42, are determined by the camera 15. Then, the movement unit 21 determines the three-dimensional function of the feature section 51 using a known method. Afterward, an action program is created and stored in the storage unit 29, in which the robot 10 moves linearly from one end 41 to the other end 42 of the feature section 51 in parallel with respect to the feature section 51. Additionally, the distance between the camera 15 and one end 41 of the feature section 51, detected by the shooting, is stored in the storage unit 29 as distance Z0.
[0062] With reference Figure 1A Similarly, the moving unit 21 moves the robot 10 according to the action program, and the camera unit 22 takes N pictures at certain time intervals during the movement of the robot 10. Then, in step S13, in addition to the calculation of the i-th picture and the moving distance Li, the distance Zi between the camera 15 and the feature unit 51 at the time of the i-th picture is also obtained.
[0063] In step S17, the additional trajectory error ΔTi' is calculated as |Zi-Z0|. In the third embodiment, the additional trajectory error ΔTi' is not calculated directly from image 16. Therefore, in the third embodiment, it is not necessary to use camera 15 as a 3D camera; a distance sensor can be used instead of camera 15. Alternatively, in the third embodiment, camera 15 as a 2D camera and a distance sensor can be used together.
[0064] Furthermore, in step S20, in addition to displaying the relationship between the moving distance Li of the robot 10 stored in the storage unit 29 and the trajectory error ΔTi, the chart generation unit 24 also displays the relationship between the distance Zi and the additional trajectory error ΔTi'. Figure 7B This is a graph showing the relationship between the distance between the camera and the feature and the trajectory error. For example... Figure 7B As shown, a graph can be created with the travel distance Li as the horizontal axis and the additional trajectory error ΔTi' as the vertical axis. In this case, since the trajectory error ΔTi and the additional trajectory error ΔTi' are calculated, the difference between the target trajectory and the actual trajectory can be understood in three dimensions.
[0065] Furthermore, in the third embodiment, as referred to Figure 5B As explained, when the absolute value of the additional trajectory error ΔTi', |ΔTi'|, is greater than the predetermined value ΔT0', the additional indicator unit 25 instructs the addition of a teaching point Q' at or near the corresponding travel distance Li. In this case, the same effect as described above can be obtained.
[0066] Figure 8This is a simplified diagram of a robot system based on other implementation methods. In Figure 8 In the robot system 1b shown, the wrist 13 has a hand 14' that can be opened and closed. Moreover, the hand 14' holds the same object 45 as described above. The hand 14' can also be opened and closed by one of the multiple motors of the robot 10.
[0067] Furthermore, the camera 15 is not mounted on the robot 10, but is fixed independently of the robot 10. Moreover, the object 45 is pre-positioned such that the image 16 to be captured by the camera 15 includes one end 41 of the feature portion 51. In this configuration, it is clear that the same effect as the aforementioned configuration can be achieved.
[0068] As an effect of at least one of the embodiments described above, the trajectory accuracy of the robot can be easily verified. Moreover, by teaching additional teaching points at locations with low trajectory accuracy, an appropriate number of teaching points can be taught.
[0069] The embodiments of this disclosure have been described in detail, but this disclosure is not limited to the various embodiments described above. These embodiments can be modified, supplemented, altered, or partially deleted in various ways without departing from the spirit and essence of the invention derived from the claims and their equivalents. For example, in the embodiments described above, the order of actions and processes is shown as an example and is not limited to these orders. Similarly, the use of numerical values or formulas in the description of the embodiments is also true. Furthermore, appropriate combinations of several embodiments described above are included within the scope of this disclosure.
[0070] The following notes further disclose the above-described embodiments and variations.
[0071] (Postscript 1)
[0072] A robot system having:
[0073] robot;
[0074] Camera;
[0075] A moving part that enables the robot to move;
[0076] The camera unit, while the robot is being moved by the moving part, captures an image of the feature at least once using the camera; and
[0077] The trajectory error calculation unit calculates the trajectory error of the robot based on the feature portion captured in the image and the specified points in the image.
[0078] (Postscript 2)
[0079] According to the robot system described in Appendix 1, wherein,
[0080] The camera is mounted on the robot, and the object including the feature portion is positioned in a fixed location, or
[0081] The camera is positioned in a fixed location, and the object is placed on the robot.
[0082] (Note 3)
[0083] According to the robot system described in Appendix 1 or 2, wherein,
[0084] The moving part moves the robot in such a way that the feature in the image aligns with the designated point.
[0085] (Postscript 4)
[0086] According to any one of the appendices 1 to 3, the robot system wherein,
[0087] The feature includes at least one of a straight line of a defined shape and a curve of a defined shape.
[0088] (Note 5)
[0089] According to the robot system described in Appendix 4, wherein,
[0090] When the feature includes the straight line, the trajectory error calculation unit calculates the length of the perpendicular line extending from the specified point to the straight line as the trajectory error.
[0091] (Note 6)
[0092] According to the robot system described in Appendix 4, wherein,
[0093] When the feature includes the curve, the trajectory error calculation unit calculates the length of the line segment extending from the specified point to the tangent of the curve as the trajectory error.
[0094] (Note 7)
[0095] The robot system according to any one of notes 1 to 6, wherein,
[0096] The camera unit also includes a charting unit, which, when multiple images are captured, generates a charting unit that generates a relationship between the robot's movement distance and the trajectory error.
[0097] (Note 8)
[0098] The robot system according to any one of notes 1 to 7, wherein,
[0099] It also includes an additional instruction unit, which, when the trajectory error exceeds a predetermined threshold, instructs the robot to add a teaching point.
[0100] (Note 9)
[0101] The robot system according to any one of notes 1 to 8, wherein,
[0102] The camera is a 3D camera that measures the distance between itself and the object.
[0103] The trajectory error calculation unit calculates the additional trajectory error based on the distance and the predetermined distance between the 3D camera and the feature unit.
[0104] (Postscript 10)
[0105] A control device comprising:
[0106] The movement unit, which enables the robot to move;
[0107] The camera unit, while the robot is being moved by the moving part, captures images of the feature portion at least once using a camera; and
[0108] The trajectory error calculation unit calculates the trajectory error of the robot based on the feature portion captured in the image and the specified points in the image.
[0109] (Postscript 11)
[0110] According to the control device described in Appendix 10, wherein,
[0111] The camera is mounted on the robot, and the object including the feature portion is positioned in a fixed location, or
[0112] The camera is positioned in a fixed location, and the object is placed on the robot.
[0113] (Postscript 12)
[0114] According to the control device described in Appendix 10 or 11, wherein,
[0115] The moving part moves the robot in such a way that the feature in the image aligns with the designated point.
[0116] (Postscript 13)
[0117] The control device according to any one of Appendices 10 to 12, wherein,
[0118] The feature includes at least one of a straight line of a defined shape and a curve of a defined shape.
[0119] (Postscript 14)
[0120] According to the control device described in Appendix 13, wherein...
[0121] When the feature includes the straight line, the trajectory error calculation unit calculates the length of the perpendicular line extending from the specified point to the straight line as the trajectory error.
[0122] (Postscript 15)
[0123] According to the control device described in Appendix 13, wherein...
[0124] When the feature includes the curve, the trajectory error calculation unit calculates the length of the line segment extending from the specified point to the tangent of the curve as the trajectory error.
[0125] (Postscript 16)
[0126] The control device according to any one of Appendices 10 to 15, wherein,
[0127] The camera unit also includes a charting unit, which, when multiple images are captured, generates a charting unit that generates a relationship between the robot's movement distance and the trajectory error.
[0128] (Postscript 17)
[0129] The control device according to any one of Appendices 10 to 16, wherein,
[0130] It also includes an additional instruction unit, which, when the trajectory error exceeds a predetermined threshold, instructs the robot to add a teaching point.
[0131] (Postscript 18)
[0132] The control device according to any one of Appendices 10 to 17, wherein,
[0133] The camera is a 3D camera that measures the distance between itself and the object.
[0134] The trajectory error calculation unit calculates the additional trajectory error based on the distance and the predetermined distance between the 3D camera and the feature unit.
[0135] Explanation of reference numerals in the attached figures
[0136] 1a, 1b: Robotic System
[0137] 10: Robot
[0138] 11: Robot Base
[0139] 12: Arm
[0140] 13: Wrist
[0141] 14: Bar stock
[0142] 14': Hand
[0143] 15: Camera
[0144] 16: Image
[0145] 20: Control device
[0146] 21: Mobile Department
[0147] 22: Camera Department
[0148] 23: Trajectory Error Calculation Department
[0149] 24: Chart Production Department
[0150] 25: Additional Instructions
[0151] 29: Storage Department
[0152] 30: Teaching control panel
[0153] 31: Display Section
[0154] 32: Input Section
[0155] 41: One end
[0156] 42: The other end
[0157] 45: Object
[0158] 51, 51': Feature section
[0159] 52, 52': Actual trajectory
Claims
1. A robot system comprising: robot; Camera; A moving part that enables the robot to move; The camera unit, while the robot is being moved by the moving part, captures an image of the feature at least once using the camera; and The trajectory error calculation unit calculates the trajectory error of the robot based on the feature portion captured in the image and the specified points in the image.
2. The robot system according to claim 1, wherein, The camera is mounted on the robot, and the object including the feature portion is positioned in a fixed location, or The camera is positioned in a fixed location, and the object is placed on the robot.
3. The robot system according to claim 1, wherein, The moving part moves the robot in such a way that the feature in the image aligns with the designated point.
4. The robot system according to claim 1, wherein, The feature includes at least one of a straight line of a defined shape and a curve of a defined shape.
5. The robot system according to claim 4, wherein, When the feature includes the straight line, the trajectory error calculation unit calculates the length of the perpendicular line extending from the specified point to the straight line as the trajectory error.
6. The robot system according to claim 4, wherein, When the feature includes the curve, the trajectory error calculation unit calculates the length of the line segment extending from the specified point to the tangent of the curve as the trajectory error.
7. The robot system according to claim 1, wherein, The camera unit also includes a charting unit, which, when multiple images are captured, generates a charting unit that generates a relationship between the robot's movement distance and the trajectory error.
8. The robot system according to claim 1, wherein, It also includes an additional instruction unit, which, when the trajectory error exceeds a predetermined threshold, instructs the robot to add a teaching point.
9. The robot system according to claim 1, wherein, The camera is a 3D camera that measures the distance between itself and the object. The trajectory error calculation unit calculates the additional trajectory error based on the distance and the predetermined distance between the 3D camera and the feature unit.
10. A control device comprising: The movement unit, which enables the robot to move; The camera unit, while the robot is being moved by the moving part, captures images of the feature portion at least once using a camera; and The trajectory error calculation unit calculates the trajectory error of the robot based on the feature portion captured in the image and the specified points in the image.
11. The control device according to claim 10, wherein, The camera is mounted on the robot, and the object including the feature portion is positioned in a fixed location, or The camera is positioned in a fixed location, and the object is placed on the robot.
12. The control device according to claim 10, wherein, The moving part moves the robot in such a way that the feature in the image aligns with the designated point.
13. The control device according to claim 10, wherein, The feature includes at least one of a straight line of a defined shape and a curve of a defined shape.
14. The control device according to claim 13, wherein, When the feature includes the straight line, the trajectory error calculation unit calculates the length of the perpendicular line extending from the specified point to the straight line as the trajectory error.
15. The control device according to claim 13, wherein, When the feature includes the curve, the trajectory error calculation unit calculates the length of the line segment extending from the specified point to the tangent of the curve as the trajectory error.
16. The control device according to claim 10, wherein, The camera unit also includes a charting unit, which, when multiple images are captured, generates a charting unit that generates a relationship between the robot's movement distance and the trajectory error.
17. The control device according to claim 10, wherein, It also includes an additional instruction unit, which, when the trajectory error exceeds a predetermined threshold, instructs the robot to add a teaching point.
18. The control device according to claim 10, wherein, The camera is a 3D camera that measures the distance between itself and the object. The trajectory error calculation unit calculates the additional trajectory error based on the distance and the predetermined distance between the 3D camera and the feature unit.