Photographing system

Abstract

To reduce the burden of equipment modifications due to differences in workpiece types in workpiece appearance inspection using a multi-joint robot.SOLUTION: A photographing system has: a multi-joint robot comprising photographing means which photographs a photographing object; an autonomous travel robot including a placement surface on which the photographing object is placed; a mark located on the photographing object or the autonomous travel robot; and control means which controls the multi-joint robot so as to photograph at least one photographing object part of the photographing object in the state of being placed on the autonomous travel robot when the photographing object is transported to a photographing area where the autonomous travel robot is set within a prescribed range from the multi-joint robot. The control means is so configured as to determine a correction value concerning a position and a posture of the photographing object by photographing the mark by the photographing means, and to calculate a position and a direction of the photographing object part by using the correction value.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a photographing system and an appearance inspection system using the photographing system.

Background Art

[0002] As a method for inspecting the appearance of an article (hereinafter also referred to as a workpiece) having a plurality of inspection target locations, it is known to control a multi-joint robot arm equipped with a camera to appropriately change the position of the camera attached to the tip of the robot arm while imaging a plurality of parts of the inspection object (for example, Patent Document 1).

[0003] Conventionally, in such an appearance inspection using a multi-joint robot (at multiple locations), for the placement of the workpiece at the inspection position, dedicated mechanisms corresponding to the type of workpiece are used for the transfer of the workpiece between the inspection table and the transport device and the positioning of the workpiece with respect to the robot. Therefore, when the shape and size of the workpiece change due to a change in the variety, it is necessary to modify the dedicated mechanism part.

[0004] In addition, since the shape and size of the workpiece vary depending on the variety, it is often difficult to perform a desired operation when the variety is changed due to the limitation of the movable range of the multi-joint robot. In such a case, in order to eliminate the inspection surface (inspection location) that the camera cannot reach, it is necessary to add a turntable for changing the workpiece posture or increase the size of the multi-joint robot itself.

[0005] In recent years, the demand for multi-variety small-lot production has been increasing. From the perspective of facility construction that can easily handle variety changes, it is not desirable to provide dedicated facilities according to the differences in workpiece varieties as described above or to increase the size of the robot to cope with differences in workpiece sizes.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] The present invention has been made in view of the above circumstances, and an object thereof is to reduce the burden of equipment modification due to differences in the types of workpieces in the appearance inspection of workpieces using an articulated robot.

Means for Solving the Problems

[0008] In order to achieve the above object, the present invention adopts the following configuration. That is, An articulated robot including imaging means for imaging an object to be imaged, An autonomous mobile robot including a placement surface for placing the object to be imaged, A marker disposed on the object to be imaged or the autonomous mobile robot, Control means for controlling the articulated robot to image at least one imaging target location of the object to be imaged in a state where the object to be imaged is placed on the autonomous mobile robot when the autonomous mobile robot conveys the object to be imaged to an imaging area set within a predetermined range from the articulated robot, and the control means obtains correction values related to the position and orientation of the object to be imaged by imaging the marker with the imaging means, and calculates the position and orientation of the imaging target location using the correction values, an imaging system.

[0009] According to the system with the above configuration, even if the positional relationship between the articulated robot and the object to be photographed (hereinafter also referred to as the workpiece) is not as precise as pre-taught, by correcting the positional deviation from the taught position with the correction value obtained by imaging the marker, it becomes possible to appropriately obtain the three-dimensional coordinates of the part of the workpiece to be photographed. As a result, since it is possible to perform multi-point inspection by the articulated robot with the workpiece placed on the autonomous mobile robot for workpiece transfer, there is no need to prepare a dedicated mechanism for handover or positioning, and the cost of facility modification can be reduced.

[0010] Further, when the position of the part to be photographed satisfies a predetermined condition in relation to the movable range of the articulated robot, the autonomous mobile robot may move the part to be photographed to a position that does not satisfy the predetermined condition by performing at least one of movement or rotation.

[0011] Here, the "predetermined condition" may be a case where the part to be photographed is located outside the range where imaging by the imaging means is possible in relation to the movable range of the articulated robot, or a case where the movement amount of the joint angle of the articulated robot exceeds the threshold value when trying to photograph the part to be photographed, etc., that is, a case where the part to be photographed is in an undesirable position.

[0012] According to such a configuration, by the autonomous mobile robot reorienting itself so that the posture of the workpiece changes within the imaging area, it is possible to arrange the part to be photographed in an undesirable position (i.e., an inappropriate position) that satisfies the predetermined condition to an appropriate position, and also to appropriately obtain the three-dimensional coordinates of the part to be photographed by performing positional deviation correction using the marker. Therefore, additional mechanisms (such as a turntable) according to the size and shape of the workpiece and changes in the size of the articulated robot are not required, and it becomes possible to respond to appearance inspections of various product types without increasing costs.

[0013] Further, when the predetermined condition is such that the imaging target location is located outside the range where imaging by the imaging means is possible and there is an imaging target location located within the range where imaging by the imaging means is possible, after finishing imaging all the imaging target locations located within the range, the control means may transmit information indicating that the autonomous mobile robot should perform at least one of movement or rotation, so that the autonomous mobile robot moves the imaging target location that was located outside the imaging range into the imaging range.

[0014] When there are a plurality of imaging target locations, even if a certain imaging target location is located outside the imaging range, if there is an imaging target location within the imaging range, after finishing imaging all the imaging target locations that can be imaged, by changing the posture of the workpiece by the autonomous mobile robot, it is possible to efficiently and reliably image all the imaging target locations of the workpiece.

[0015] Further, the articulated robot is arranged within an area partitioned by a partition wall, and the partition wall is provided with a passage through which the autonomous mobile robot enters and exits, and may have intrusion detection means for detecting the intrusion of a moving body other than the autonomous mobile robot into the area.

[0016] Note that the "partition wall" referred to here is not limited to being constituted by a plate-shaped member, and may be, for example, something formed by combining a plurality of rod-shaped members or something like a so-called mesh fence. Also, the "partition wall" referred to here may include the ceiling portion. Also, as the "moving body other than the autonomous mobile robot", for example, animals such as humans, autonomous mobile robots that do not carry workpieces for imaging, etc. can be used. According to the above configuration, it becomes possible to detect the intrusion of people or objects into the imaging area where the robot arm operates and take safety measures such as stopping the operation of the robot arm. It becomes possible to take safety measures such as stopping the operation of the robot arm.

[0017] Further, the imaging system may include an inspection unit that inspects the object to be imaged based on the image of the object to be imaged captured by the imaging unit. That is, the imaging system may function as an appearance inspection system. The present imaging system is suitable for the appearance inspection of workpieces in small-lot production of multiple varieties.

[0018] Further, the present invention can also be regarded as a program for causing a computer to function as the above control means, and a computer-readable recording medium on which such a program is non-temporarily recorded.

[0019] In addition, each of the above configurations and processes can be combined with each other to constitute the present invention as long as no technical contradiction occurs.

Effects of the Invention

[0020] According to the present invention, in the appearance inspection of workpieces using an articulated robot, the burden of equipment modification due to differences in workpiece varieties can be reduced.

Brief Description of the Drawings

[0021]

Figure 1

Figure 2

Figure 3

Figure 4

Modes for Carrying Out the Invention

[0022] <Application Example> The present invention can be applied, for example, as a photographing system 1 as shown in FIG. 1. FIG. 1 is a schematic diagram showing a schematic configuration of the photographing system 1 according to this application example. As shown in FIG. 1, the photographing system 1 according to this application example includes a robot arm 10, an autonomous mobile robot (AMR), and a control device 30.

[0023] The robot arm 10 is an articulated robot arm, and a camera 11 is attached to its tip. The AMR 20 is an autonomous mobile transport robot and includes a mounting surface 21 for mounting a workpiece W and a landmark LM described later.

[0024] FIG. 2 is a schematic diagram showing the upper surface of the AMR 20 on which the workpiece W is mounted. As shown in FIG. 2, a plurality of landmarks LM are provided on the mounting surface 21 of the AMR 20. The landmark LM can be, for example, a plate forming four or more marks (in this application example, nine black circles arranged in a matrix) with known shapes, sizes, and relative positions. Note that the landmark LM in this application example corresponds to the identifier according to the present invention.

[0025] The AMR 20 can autonomously move to a preset photographing area, but it cannot stop exactly at a predetermined stop position, and an error of about several tens of millimeters occurs in the stop position. However, in the photographing system 1 according to this application example, such an error in the stop position can be corrected based on an image obtained when the landmark LM provided on the mounting surface 21 is imaged by the camera 11. Details thereof will be described later.

[0026] The control device 30 includes a processor such as a CPU (Central Processing Unit), a main storage device such as a ROM and a RAM, and an auxiliary storage device (such as a storage device ) It can be configured by a general-purpose computer system including an input device (such as a keyboard, mouse, controller, touch panel, etc.), an output device (such as a display, printer, speaker, etc.). Note that each function described later may also be realized by the processor reading and executing a program stored in the auxiliary storage device.

[0027] FIG. 3 is a block diagram showing an outline of the functional configuration of the control device 30 according to this application example. As shown in FIG. 3, the control device 30 has functional units such as a control unit 31, an input unit 32, an output unit 33, a communication unit 34, and a storage unit 35. Further, as a functional module, the control unit 31 includes an arm control unit 311, a camera control unit 312, an image acquisition unit 313, a correction value calculation unit 314, and a shooting position determination unit 315.

[0028] When the AMR 20 on which the work W to be photographed is placed stops in the photographing area, the arm control unit 311 and the camera control unit 312 of the control device 30 control the robot arm 10 and the camera 11 respectively to acquire an image of a predetermined photographing target location according to the type of the work W. Note that the work W is placed on the AMR 20, and due to the above-mentioned stop position deviation of the AMR 20, there may be a deviation between the reference position (three-dimensional coordinates and the orientation of the photographing target surface. The same applies hereinafter) of the photographing target location that has been previously taught and the position of the actual photographing target location.

[0029] Therefore, the control device 30 photographs an image including at least one of the landmarks LM on the mounting surface 21 of the AMR 20, and based on the image obtained by the image acquisition unit 313, the correction value calculation unit 314 calculates a correction value for correcting the position deviation of the photographing target location. Specifically, based on the positional relationship, size, distortion degree, etc. of each point constituting the landmark LM shown in the acquired image, the difference from the position and orientation of the landmark LM taught in advance is obtained, and using the information of the difference, a correction value for correcting the deviation from the reference position of the photographing target location of the work W is calculated.

[0030] The imaging position determination unit 315 of the control device 30 determines the position of the actual imaging target location (i.e., the position to be imaged) using the correction value calculated by the correction value calculation unit 314. Then, the arm control unit 311 and the camera control unit 312 control the robot arm 10 and the camera 11 to image the determined imaging target location.

[0031] According to the imaging system 1 according to the present application example as described above, even if the position and orientation of the work W to be imaged are not as taught in advance, the deviation from the reference position of the imaging target location can be corrected by the correction value obtained by imaging the landmark LM. Therefore, even if there is an error in the stop position of the AMR 20, it is possible to image the imaging target location with the work W placed on the AMR 20. For this reason, there is no need to prepare dedicated mechanisms for each type for the transfer and positioning between the AMR 20 and the table (on which the work W is placed for imaging) as in the prior art, and the cost of facility modification according to the type of the imaging object can be reduced.

[0032] <Embodiment> Subsequently, with reference to the drawings (including the drawings once described in the above application example) in sequence, an example of the form for implementing the present invention will be described in more detail. However, the specific configurations described in the embodiment are not intended to limit the scope of the present invention only to those, unless otherwise specified.

[0033] (System Configuration) FIG. 1 is a diagram schematically showing a configuration example of the imaging system 1 according to the present embodiment. The imaging system 1 is configured as an appearance inspection system for performing appearance inspection of an article, and includes a robot arm 10, an AMR 20, a control device 30, and an inspection cell 50 in which the robot arm 10 is installed. Note that the robot arm 10, the AMR 20, and the control device 30 are communicatively connected to each other via a communication network such as a LAN (Local Area Network), which is not shown.

[0034] The robot arm 10 is an articulated robot arm having a plurality of axes (for example, six axes), and includes a base 12 and a camera 11 attached to the hand portion at the tip of the arm. The robot arm 10 is controlled by a control device 30 described later, and photographs a plurality of imaging target locations of an imaging target object (hereinafter, workpiece) W with the camera 11 and transmits image data to the control device 30. Although not shown, the robot arm 10 may be provided with illumination means in the vicinity of the camera 11, and the illumination may be configured to irradiate light of each wavelength of RGM with an arbitrary intensity.

[0035] The AMR 20 is an autonomous mobile transport robot, and includes a placement surface 21 on which the workpiece W is placed and a landmark LM. Since the landmark LM is as described above, a description thereof will not be repeated. The AMR 20 acquires information on the surrounding situation of itself by a sensor (not shown), and autonomously moves between a predetermined workpiece W delivery location (not shown) and an imaging area set in the vicinity of the robot arm 10 in combination with the information of a pre-provided environmental map. Further, as will be described later, by receiving a command signal from the control device 30 or the like, it is possible to perform operations such as movement and rotation according to the command.

[0036] The control device 30 controls the robot arm 10 and the camera 11 so as to photograph the imaging target locations of the workpiece W, and functions as an inspection device that performs an appearance inspection of the workpiece W based on the photographed image. As described above, the control device 30 can be configured by a general-purpose computer system. Note that the control device 30 may be configured by a single computer or by a plurality of computers. Alternatively, all or part of the functions of the control device 30 can be implemented in a computer built into the robot arm 10. Further, part of the functions of the control device 30 may be realized by a server (such as a cloud server) on a wide area network.

[0037] The inspection cell 50 includes the location where the robot arm 10 is installed, and is a space partitioned into a substantially rectangular parallelepiped by the partition wall 51. The AMR 20 conveys the workpiece W to the imaging area provided inside the inspection cell 50 through the access opening 52 described later, and the workpiece W on the AMR 20 is imaged at this position. In this embodiment, the partition wall 51 is constructed of a transparent acrylic plate, but it is not limited thereto.

[0038] At least a part of the partition wall 51 surrounding the inspection cell 50 is provided with an access opening 52 which is an opening for the AMR 20 to pass through. Further, a photoelectric sensor 53 is installed near the access opening 52, and it is possible to detect a moving body (for example, a person) passing through the access opening 52 and entering the inspection cell 50. Although not shown, the AMR 20 is provided with a reflector that reflects the irradiation light of the photoelectric sensor 53 so that the AMR 20 is not detected by the photoelectric sensor 53 even when it passes through the access opening 52. The photoelectric sensor 53 according to this embodiment corresponds to the intrusion detection means according to the present invention.

[0039] (Functions of the control device) As shown in FIG. 3, the control device 30 has functional units such as a control unit 31, an input unit 32, an output unit 33, a communication unit 34, and a storage unit 35. Further, the control unit 31 includes, as functional modules, an arm control unit 311, a camera control unit 312, an image acquisition unit 313, a correction value calculation unit 314, a shooting position determination unit 315, an AMR command information generation unit 316, an inspection unit 317, and an intrusion detection response unit 318.

[0040] The input unit 32 is a means for receiving the input of various information to the control device 30, and is configured to include an input device such as a keyboard, a mouse, a controller, a touch panel, and the like.

[0041] The output unit 33 is a means for outputting various information such as a user interface screen, and is configured to include a display device such as a liquid crystal display.

[0042] The communication unit 34 is a means for performing communication and transmitting and receiving data between the robot arm 10 and the AMR 20 by a wired or wireless method, and is configured to include an integrated circuit such as a communication IC (Integrated Circuits).

[0043] The storage unit 35 includes a main storage device, an auxiliary storage device, etc., and stores specification data regarding the work W to be inspected, the imaging target locations for each work W, the basic position data of the imaging target locations (acquired by teaching), various types of information such as inspection programs (inspection contents and inspection criteria) for each work W. In addition, the image data captured by the camera 11 is also stored at least temporarily. Note that the storage unit 35 may be configured to include an external storage device such as a server.

[0044] Subsequently, each functional block included in the control unit 31 will be described. The arm control unit 311 transmits a control signal to the drive unit (such as a servo motor not shown) of each joint of the robot arm 10, and controls so that the camera 11 at the tip of the arm can capture the imaging target location of the work W. Note that the arm control unit 311 may control the robot arm 10 via a PLC (Programmable Logic Controller).

[0045] The camera control unit 312 generates and transmits a control signal for imaging by the camera 11. Also, the image acquisition unit 313 acquires the image data captured by the camera 11 via the communication unit 34 and stores it in the storage unit 35. Since the correction value calculation unit 314 and the imaging positioning unit 315 are as described in the above application examples, a new description will be omitted.

[0046] The AMR instruction information generation unit 316 generates an instruction signal for instructing the AMR 20 to perform at least one of movement or rotation. Depending on the size and shape of the workpiece W placed on the AMR 20, there may be cases where, in consideration of the limitations of the movable range of the robot arm 10, etc., the camera 11 cannot reach a position suitable for photographing the imaging target location. Even in such cases, by moving or changing the orientation of the AMR 20 while carrying the workpiece W within the imaging area, the imaging target location can be brought within the photographable range of the camera 11. Therefore, when there are unphotographed imaging target locations remaining outside the photographable range of the camera 11, the AMR instruction information generation unit 316 generates information for instructing the AMR 20 to move the imaging target location within the photographable range of the camera 11 and transmits it via the communication unit 34.

[0047] Note that the information transmitted to the AMR 20 may be information including how to move and rotate, or it may be only information indicating that all imaging target locations within the photographable range have been photographed. In the latter case, the shape of the workpiece W placed on the AMR 20 side and information on the movable range of the robot arm 10 are held, and movement and rotation are performed so that unphotographed imaging target locations are automatically brought within the photographable range of the camera 11.

[0048] The inspection unit 317 performs an appearance inspection of the workpiece W using the image data of the imaging target location photographed by the camera 11 and the inspection program stored in the storage unit 35. The content of the inspection varies depending on the workpiece W targeted, but for example, it can be configured to detect scratches, molding defects, foreign matter inclusion, printing defects of printed labels, etc. of the workpiece W.

[0049] The intrusion detection response unit 318 communicates with the photoelectric sensor 53 via the communication unit 34, and the photoelectric sensor 5 When an intruder passing through the access point 52 is detected by 3, the information is acquired and the process when there is an intruder in the inspection cell 50 is executed. Specifically, for example, in cooperation with the arm control unit 311, the movement of the robot arm 10 is stopped, or an alert indicating that there is an intruder in the inspection cell 50 is issued from the output unit 33.

[0050] (Flow of processing) Next, based on FIG. 4, the flow of processing performed by the imaging system 1 according to the present embodiment will be described. FIG. 4 is a flowchart showing an example of the processing executed by the imaging system 1.

[0051] As shown in FIG. 4, first, the AMR 20 transports the work W to the imaging area in the inspection cell 50 (S101). Subsequently, the camera 11 of the robot arm 10 captures an image including the landmark LM provided on the AMR 20 (S102). Next, the correction value calculation unit 314 of the control device 30 compares the image of the landmark LM captured in step S102 with the data at the time of teaching stored in the storage unit 35, and calculates a correction value for correcting the displacement from the reference position of each imaging location of the work W (S103). Then, the imaging position determination unit 315 calculates the position (3D coordinates and orientation) of the imaging target location using the correction value calculated in step S103 (S104).

[0052] Thereafter, the arm control unit 311 and the camera control unit 312 control the robot arm 10 and the camera 11, respectively, to capture the imaging target location of the work W (S105). Following step S105, the control device 30 determines whether all the imaging target locations within the imaging range by the camera 11 have been captured (S106). Specifically, for example, the determination may be made based on whether the image data of the location is stored in the storage unit 35, or alternatively, the determination may be made based on the presence or absence of a captured flag set separately.

[0053] If it is determined as NO (not all the imaging target locations within the imaging range have been imaged) in step S106, the process returns to step S105 and the subsequent processes are repeated. On the other hand, if it is determined as YES (all the imaging target locations within the imaging range have been imaged) in step S106, the control device 30 subsequently determines whether there is an un-imaged imaging target location outside the imaging range (S107). The determination can be made in the same manner as in step S106.

[0054] In step S107, if it is determined as YES (there is an un-imaged imaging target location outside the imaging range), the AMR command information generation unit 316 generates information for instructing the AMR 20 to perform at least one of movement or rotation so as to bring the un-imaged imaging target location within the imaging range of the camera 11, and transmits it to the AMR 20 (S108).

[0055] Then, the AMR 20 that has received the information generated in step S108 performs at least one of movement or rotation based on the command information, and arranges the un-imaged imaging target location of the workpiece W within the imaging range (S109). After step S109, the process returns to step S102 and the subsequent processes are repeated. This is because the three-dimensional coordinates of the imaging target location determined by the imaging positioning unit 315 based on the correction value calculated by the correction value calculation unit 314 due to the operation of the AMR 20 in step S109 no longer make sense.

[0056] On the other hand, if it is determined as NO (there is no un-imaged imaging target location outside the imaging range) in step S107, it is considered that the imaging of all the imaging target locations has been completed, and the process proceeds to step S110 to perform an inspection by the inspection unit 317 (S110), and a series of processes are temporarily terminated.

[0057] (Effect of this embodiment) According to the imaging system 1 in this embodiment as described above, at a position where the camera 11 cannot reach Even if there is a part to be photographed, by operating the AMR20 within the photographing area, the posture of the work W can be changed to move the part to be photographed within the range that can be photographed, and by performing position deviation correction using the landmark LM, the three-dimensional coordinates of the part to be photographed can also be appropriately obtained. Therefore, it is not necessary to add additional mechanisms (such as a turntable) according to the size and shape of the work W, or to change the size of the robot arm 10, and it becomes possible to handle various types of appearance inspections without increasing costs. Further, by installing the robot arm 10 in the inspection cell 50 and detecting the intrusion of objects other than the AMR20 into the inspection cell 50, the safety of the collaborative space between humans and robots can be enhanced.

[0058] <Others> The description of the above embodiment is merely illustrative of the present invention, and the present invention is not limited to the above specific forms. The present invention can be variously modified and combined within the scope of its technical idea. For example, in the above embodiment, the landmark LM was arranged on the mounting surface 21 of the AMR20, but the landmark LM may be arranged at a predetermined position of each work W.

[0059] Further, in the above embodiment, the landmark LM was a plate formed by arranging nine black circles in a matrix, but it is not limited to such a form. Any object that satisfies the condition of having four or more marks with known shapes, sizes, and relative positions can be used. For example, a part of the structure of the AMR20 or the work W (such as a screw or a hole) can be used as the landmark LM. Also, the number of landmarks LM does not necessarily have to be plural, and it may be configured to be provided at one location as long as it is always within the shooting field of view of the camera 11.

[0060] Further, in the above embodiment, the partition wall 51 was formed of a transparent acrylic plate, but the partition wall 51 does not necessarily have to be constituted by a plate-like member. For example, it may be a combination of rod-like members, or a so-called mesh fence or wire mesh.

[0061] In the above-described embodiment, an example was described in which when the imaging target location is outside the imaging range of the camera 11, a command signal for instructing the AMR 20 to perform at least one of movement or rotation is generated. However, the AMR command information generation unit 316 generates the command signal not only in such a case. For example, when attempting to move the camera 11 to a position where the imaging target location can be imaged, if the rotational movement amount (rotation angle) of any joint of the robot arm 10 exceeds a preset threshold value, the AMR 20 may be instructed to perform at least one of movement or rotation. By doing so, it is possible to contribute to reducing the load on the robot arm 10 and improving the safety of the system.

[0062] Also, regarding the flow of processing performed by the system, for example, in the above-described embodiment, the inspection of the workpiece W was performed after the imaging of all imaging target locations was completed (S107, S110), but this is not necessary. For example, the inspection of each imaging target location may be performed every time one imaging target location is imaged, or the imaging of the imaging target locations and the inspection of the imaged locations may be performed in parallel.

[0063] <Appendix 1> A multi-joint robot (10) including imaging means (11) for imaging an imaging target object (W); An autonomous mobile robot (22) including a placement surface (21) for placing the imaging target object; A marker (LM) disposed on the imaging target object or the autonomous mobile robot; Control means (30) for controlling the multi-joint robot so as to image at least one or more imaging target locations of the imaging target object in a state where the imaging target object is placed on the autonomous mobile robot when the autonomous mobile robot transports the imaging target object to an imaging area set within a predetermined range from the multi-joint robot; And having The control means is configured to obtain correction values related to the position and orientation of the imaging target object by imaging the marker with the imaging means, and calculate the position and orientation of the imaging target location using the correction values. Imaging system.

[0064] <Appendix 2> When the position of the imaging target location satisfies a predetermined condition in relation to the movable range of the multi-joint robot, the autonomous mobile robot moves or rotates at least one of them to move the imaging target location to a position that does not satisfy the predetermined condition. The imaging system according to Appendix 1.

[0065] <Appendix 3> The predetermined condition is that the imaging target location is located outside the range where imaging by the imaging means is possible. The imaging system according to Appendix 2.

[0066] <Appendix 4> When there is an imaging target location located within the range where imaging by the imaging means is possible, after finishing imaging all the imaging target locations located within the range, the control means transmits information indicating that the autonomous mobile robot should move or rotate at least one of them. The imaging system according to Appendix 3.

[0067] <Appendix 5> The multi-joint robot is arranged within an area (50) partitioned by a partition wall (51), The partition wall is provided with a passage opening (52) through which the autonomous mobile robot enters and exits, and has intrusion detection means (53) for detecting the intrusion of a moving body other than the autonomous mobile robot into the area. The imaging system according to Appendices 1 to 4.

[0068] <Appendix 6> It has inspection means (317) for inspecting the imaging target object based on an image of the imaging target location taken by the imaging means. The imaging system according to any one of Appendices 1 to 5.

Explanation of Signs

[0069] 1 ··· Imaging system 10 ··· Robot arm 11 ··· Camera 12 ··· Base 20 ··· AMR 21 ··· Placing surface 30 ··· Control device 50 ··· Inspection cell 51 ··· Partition wall 52 ··· Passage 53 ··· Photoelectric sensor W ··· Workpiece LM ··· Landmark

Claims

1. A multi-joint robot comprising photographing means for photographing a subject to be photographed, An autonomous mobile robot comprising a placement surface for placing the subject to be photographed, A marker disposed on the subject to be photographed or the autonomous mobile robot, Control means for controlling the multi-joint robot to photograph at least one or more photographing target portions of the subject to be photographed in a state where the subject to be photographed is placed on the autonomous mobile robot when the autonomous mobile robot transports the subject to be photographed to a photographing area set within a predetermined range from the multi-joint robot, which has, The control means is configured to obtain correction values related to the position and orientation of the subject to be photographed by photographing the marker with the photographing means, and to calculate the position and orientation of the photographing target portion using the correction values, A photographing system.

2. When the position of the photographing target portion satisfies a predetermined condition in relation to the movable range of the multi-joint robot, the autonomous mobile robot moves or rotates at least one of them to move the photographing target portion to a position that does not satisfy the predetermined condition, The photographing system according to claim 1.

3. The predetermined condition is that the photographing target portion is located outside the range in which photographing by the photographing means is possible. The photographing system according to claim 2.

4. When there is a photographing target portion located within the range in which photographing by the photographing means is possible, after photographing all the photographing target portions located within the range, the control means transmits information indicating that the autonomous mobile robot should move or rotate at least one of them. The photographing system according to claim 3.

5. The multi-joint robot is disposed within an area partitioned by a partition wall, The partition wall is provided with a passage through which the autonomous mobile robot enters and exits, and has intrusion detection means for detecting intrusion of a moving body other than the autonomous mobile robot into the area. The photographing system according to claim 1.

6. Having inspection means for inspecting the subject to be photographed based on an image of the photographing target portion photographed by the photographing means, The photographing system according to any one of claims 1 to 5.

Images