Robot Hand System

Abstract

To provide a light projecting device capable of presenting information related to a distance from a robot hand to a gripping object, and information related to a posture of the gripping object viewed from the robot hand.SOLUTION: A light projecting device comprises: first light projecting means which is fixed at a first position relative to a robot hand attached to a robot arm; and second light projecting means fixed at a second position different from the first position, relative to the robot hand. The first light projecting means emits a first ray of light which forms an image of a first prescribed figure on a surface of a gripping object of the robot hand, whereas the second light projecting means emits a second ray of light which forms an image of a second prescribed figure on the surface of the gripping object of the robot hand, in a direction different from the first ray of light.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a light-projecting device, a light-projecting method, and a robot hand system. [Background technology]

[0002] At industrial production sites, industrial robots with robotic hands are widely used to grasp objects. In order for a robotic hand to grasp or pick up an object, information about the distance between the robotic hand and the object, and information about the orientation (tilt) of the object are required.

[0003] A technology for obtaining information regarding the distance between a robot hand and an object to be grasped is disclosed in, for example, Patent Document 1. In this technology, a robot hand has multiple fingers for grasping an object to be grasped, and two different fingers irradiate collimated light of different colors so that they intersect near the object to be grasped. Based on the color of the spot formed by the collimated light, it is possible to identify which light source formed the spot, and based on the positional relationship and the distance between the spots, information regarding the distance from the robot hand to the object to be grasped can be obtained.

[0004] Furthermore, a technique for grasping the posture of a grasped object is disclosed, for example, in Patent Document 2. In this technique, a three-dimensional image of the grasped object is captured using a three-dimensional image capturing device, a three-dimensional point cloud corresponding to the grasped object is obtained based on the three-dimensional image, and the posture of the grasped object is calculated based on the three-dimensional point cloud. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2005-297100 A [Patent Document 2] Patent Publication No. 2021-016910 Summary of the Invention [Problem to be solved by the invention]

[0006] The technique of Patent Document 1 has a problem in that although information regarding distance can be obtained, information regarding the posture of the object to be grasped cannot be obtained.

[0007] Furthermore, the technique of Patent Document 2 uses a three-dimensional image capturing device for capturing a three-dimensional image, which has the problem of making the device expensive.

[0008] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a light-projecting device that has an inexpensive configuration and can present information regarding the distance from a robot hand to an object to be grasped, and information regarding the posture of the object to be grasped as seen by the robot hand. [Means for solving the problem]

[0009] In order to solve the above problems, the light-projecting device of the present invention has a first light-projecting means fixed at a first position relative to a robot hand attached to a robot arm, and a second light-projecting means fixed at a second position different from the first position relative to the robot hand, wherein the first light-projecting means emits a first light beam that forms an image of a first predetermined figure on the surface of an object to be grasped by the robot hand, and the second light-projecting means emits a second light beam in a direction different from the direction of the first light beam that forms an image of a second predetermined figure on the surface of the object to be grasped by the robot hand.

[0010] In addition, the light projection method of the present invention emits a first light beam from a first light projection means fixed to a first position with respect to a robot hand attached to a robot arm, which forms an image of a first predetermined figure on the surface of an object to be grasped by the robot hand, and emits a second light beam from a second light projection means fixed to a second position different from the first position with respect to the robot hand, in a direction different from the first light beam, which forms an image of a second predetermined figure on the surface of the object to be grasped by the robot hand.

[0011] A robot hand system of the present invention includes the above-mentioned light projecting device, a camera that captures an image including an image of the first predetermined figure and an image of the second predetermined figure, a display that displays the image captured by the camera, and a robot that drives the robot hand. The robot includes a robot driving unit that drives the robot, and a robot operating unit that operates the robot driving unit. Effect of the Invention

[0012] The effect of the present invention is to provide a light-projecting device that is inexpensively configured and can present information regarding the distance from a robot hand to an object to be grasped and information regarding the posture of the object to be grasped as viewed from the robot hand. [Brief description of the drawings]

[0013] [Figure 1] 1 is a schematic side view showing a configuration of a floodlight device according to a first embodiment. [Diagram 2] 2 is a schematic side view showing a first operating state of the floodlight device of the first embodiment. FIG. [Diagram 3] 4 is a schematic side view showing a second operating state of the floodlight device of the first embodiment. FIG. [Figure 4] 4 is a schematic side view showing a third operating state of the floodlight device of the first embodiment. FIG. [Diagram 5] FIG. 11 is a schematic side view showing the configuration of a floodlight device according to a second embodiment. [Figure 6] 11 is a schematic side view showing a first operating state of the floodlight device of the second embodiment. FIG. [Figure 7] 13 is a schematic side view showing a second operating state of the floodlight device of the second embodiment. FIG. [Figure 8] FIG. 11 is a block diagram showing a robot hand system according to a third embodiment. [Figure 9] FIG. 13 is a block diagram showing a robot hand system according to a fourth embodiment. [Figure 10] 13 is a flowchart showing the operation of the robot hand system according to the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, the embodiments of the present invention will be described in detail with reference to the drawings. However, the embodiments described below are limited in a technically preferable manner for carrying out the present invention, but the scope of the invention is not limited to the following. Note that the same components in each drawing are given the same numbers, and the description may be omitted.

[0015] (First embodiment) 1 is a schematic side view showing the configuration of a light-projecting device 10 of this embodiment. The light-projecting device 10 has a robot hand 1, a first light-projecting means 2, and a second light-projecting means 3.

[0016] The robot hand 1 is attached to a robot arm and grasps an object 20 to be grasped.

[0017] The first light projecting means 2 is fixed at a first position relative to the robot hand 1. The first light projecting means 2 emits a first light beam 2a that forms an image of a first predetermined figure on the surface of the object 20 to be grasped.

[0018] The second light projecting means 3 emits a second light beam 3a in a direction different from that of the first light beam 2a, which forms an image of a second predetermined figure on the surface of the object to be grasped 20.

[0019] Fig. 2(a) is a schematic side view showing the first operating state of the light projecting device 10. Fig. 2(b) is a plan view showing the image 2b of the first predetermined figure and the image 3b of the second predetermined figure on the surface of the object to be grasped 20 in this state. In the example of Fig. 2, the direction of the second light ray 3a is set to a direction that has an intersection with the first light ray 2a. However, this direction is only an example, and the second light ray 3a may be in any direction as long as it can form the image 3b of the second predetermined figure on the object to be grasped 20 and is different from the direction of the first light ray 2a. It is also not necessary to have an intersection.

[0020] In the example of FIG. 2, the first light projecting means 2 emits a first light beam 2a that forms an image of a substantially circular first predetermined figure, and the second light projecting means 3 emits a second light beam 3a that forms an image of a substantially circular second predetermined figure. Here, the state in FIG. 2 in which the robot hand 1 and the object to be grasped 20 face each other is assumed to be created in advance by a method different from that of this embodiment. In this embodiment, the state of FIG. 2 is used as a reference state that serves as a reference for comparison with other states. Although not shown, the first light beam 2a and the second light beam 3a are made to have different colors, so that the image of the first predetermined figure 2b and the image of the second predetermined figure 3b can be distinguished. In addition, as will be described later, the image formed by which light beam can also be distinguished by making the image of the first predetermined figure 2b and the image of the second predetermined figure 3b have different shapes. In this embodiment, the emission directions of the first light beam 2a and the second light beam 3a are determined, and the emission directions are made to intersect. Therefore, it is possible to present information for inferring the distance between the robot hand 1 and the object to be grasped 20 from the positional relationship between the image 2b of the first specified figure and the image 3b of the second specified figure, and the distance between them.

[0021] 2, if the shapes of the image 2b of the first predetermined figure and the image 3b of the second predetermined figure when the robot hand 1 and the surface of the grasped object 20 are facing each other are taken as their respective reference shapes, the figures will be distorted when the grasped object 20 is tilted. From the changes in these images, information that contributes to inferring the tilt of the grasped object 20 can be presented.

[0022] Fig. 3(a) is a schematic side view showing a second operating state of the light projecting device 10. Fig. 3(b) is a plan view showing an image 2b of a first predetermined figure and an image 3b of a second predetermined figure on the surface of the grasped object 20 in this state.

[0023] In the example of FIG. 3, the surface of the object to be grasped 20 is inclined with respect to the line segment connecting the robot hand 1 and the surface of the object to be grasped 20. In this case, the image 2b of the first predetermined figure and the image 3b of the second predetermined figure are distorted from their shapes in the reference state. This distortion of shape indicates information that the object to be grasped 20 is in an inclined attitude with respect to the robot hand 1. In other words, as shown in FIG. 3, the light projecting device 10 of this embodiment can present information regarding the attitude of the surface of the object to be grasped 20 with respect to the robot hand 1.

[0024] Fig. 4(a) is a schematic side view showing a third operating state of the light projecting device 10. Fig. 4(b) is a plan view showing an image 2b of a first predetermined figure and an image 3b of a second predetermined figure on the surface of the grasped object 20 in this state.

[0025] The image 2b of the first predetermined figure and the image 3b of the second predetermined figure in Fig. 4 are similar to those in Fig. 2. From this, it can be understood that the surface of the grasped object 20 faces the robot hand 1. Furthermore, the image 2b of the first predetermined figure and the image 3b of the second predetermined figure are overlapped. When the state of Fig. 4(b) is observed, the robot hand 1 faces the surface of the grasped object 20, and the robot hand 1 and the surface of the grasped object 20 are at a special distance determined by the arrangement of the first light-projecting means 2 and the second light-projecting means 3. Therefore, for example, this state can be set as the reference state.

[0026] As described above, according to this embodiment, it is possible to provide a floodlight device that has an inexpensive configuration and is capable of presenting information regarding the distance from the robot hand to the object to be grasped and information regarding the posture of the object to be grasped as seen by the robot hand.

[0027] Second embodiment FIG. 5 is a side schematic diagram showing the configuration of a light projecting device 1000 of the second embodiment. The light projecting device 1000 has a robot hand 110, a first light projecting means 120, and a second light projecting means 130. The robot hand 110 is an example of the robot hand 1 of the first embodiment, the first light projecting means 120 is an example of the first light projecting means 2, and the second light projecting means 130 is an example of the second light projecting means 3. The first light projecting means 120 of this embodiment emits a first light beam 121 that forms an image 122 of a first predetermined figure that is substantially circular. The second light projecting means 130 emits a second light beam 131 that forms an image 132 of a second predetermined figure that is cross-shaped. The first light projecting means 120 and the second light projecting means 130 can emit the first light beam 121 and the second light beam 131, for example, by a combination of a light source that emits light radially and a slit. Alternatively, a laser scanning method may be used.

[0028] 5, the surface of the grasp target 200 faces directly toward the robot hand 1. The image 122 of the first predetermined figure and the image 132 of the second predetermined figure are separated by a certain distance.

[0029] Fig. 6(a) is a schematic side view showing a first operating state of the light projecting device 1000. Fig. 6(b) is a plan view showing a first predetermined figure image 122 and a second predetermined figure image 132 on the surface of the grasped object 200 in this state.

[0030] In the example of Fig. 6, the surface of the object to be grasped 200 is inclined with respect to the line segment connecting the robot hand 110 and the surface of the object to be grasped 200. In this case, the image 122 of the first predetermined figure and the image 132 of the second predetermined figure are distorted from their shapes in the reference state, as shown in Fig. 6(b). In other words, similar to the first embodiment, information that the surface of the object to be grasped 200 is inclined with respect to the robot hand 110 can be presented.

[0031] Fig. 7(a) is a schematic side view showing a second operating state of the light projecting device 1000. Fig. 7(b) is a plan view showing the first predetermined figure image 122 and the second predetermined figure image 132 on the surface of the grasped object 200 in this state.

[0032] In the example of Fig. 7, the surface of the object to be grasped 200 faces the robot hand 110. Furthermore, the image 122 of the first predetermined figure and the image 132 of the second predetermined figure are overlapped. When the state of Fig. 7(b) is observed, the robot hand 110 faces the surface of the object to be grasped 200, and the robot hand 110 and the surface of the object to be grasped 200 are at a special distance determined by the arrangement of the first light-projecting means 120 and the second light-projecting means 130. Therefore, for example, this state can be set as the reference state.

[0033] In the above explanation, an example was used in which the image of the first specified figure and the image of the second specified figure are a circle and a crosshair, but these images are not limited to the above example and any specified shape can be used.

[0034] As described above, according to this embodiment, similar to the first embodiment, it is possible to provide a light-projecting device that has an inexpensive configuration and can present information regarding the distance from the robot hand to the object to be grasped and information regarding the posture of the object to be grasped as seen by the robot hand.

[0035] In the above description, the number of light projecting means is two, but the number may be three or more.

[0036] (Third embodiment) In this embodiment, a robot hand system using the first or second light projecting device will be described. Fig. 8 is a block diagram showing an example of this robot hand system.

[0037] The robot hand system 10000 includes the robot hand 1000 of the second embodiment, a display 2000, a robot 3000, a robot driving unit 4000, and a robot operation unit 5000. The robot hand 1000 is provided with a camera 1400 for capturing an image including an image of a first predetermined figure and an image of a second predetermined figure. The display 2000 displays the image captured by the camera 1400. The robot 3000 includes a multi-joint arm 3100, and the robot hand 1000 is fixed to the tip of the arm 3100. The robot driving unit 4000 drives the robot 3000, the arm 3100, and the robot hand 1000 according to a control signal output from the robot operation unit 5000. The robot operation unit 5000 includes a human interface and receives robot operation input from an operator.

[0038] The robot hand system 10000 of this embodiment is controlled by the operation of an operator. The display 2000 and the robot operation unit 5000 are arranged, for example, at a location away from the robot 3000. The operator can obtain information on the inclination and distance between the robot hand 1000 and the object to be grasped 200 from the image on the display 2000. Then, based on the image, the operator operates the robot operation unit 5000 to adjust the angle of the robot hand 1000 to make it easy to grasp the object to be grasped 2000. Furthermore, by making the robot hand 1000 perform a grasping operation at that angle, the object to be grasped 200 can be easily grasped.

[0039] As described above, according to the robot hand system of this embodiment, the angle of the robot hand relative to an object to be grasped can be remotely controlled to allow the robot hand to perform a smooth grasping operation.

[0040] (Fourth embodiment) In the third embodiment, a robot hand system in which the robot hand 1000 and the robot 3000 are operated by an operator has been described, but it is also possible to construct a robot hand system that performs this operation automatically.

[0041] 9 is a block diagram showing a robot hand system 11000 that automatically operates a robot. The robot hand system 11000 includes a robot automatic control unit 6000 instead of the robot operation unit 5000 of the robot hand system 10000 of the third embodiment. Although not shown, the robot operation unit 5000 similar to that of the third embodiment may also be included. The other configurations are similar to those of the third embodiment.

[0042] In the robot hand system 11000 of this embodiment, the angle of the robot hand 1000 relative to the object to be grasped 200 is automatically adjusted.

[0043] FIG. 10 is a flowchart showing an example of the operation of the robot hand system 11000. First, a reference state of the angle of the robot hand 1000 with respect to the object to be grasped 200 is created in advance by a method different from that of this embodiment. The method of determining the reference state is arbitrary, but for example, as in the first embodiment, the robot hand 1000 and the object to be grasped 200 can be set to a state in which they face each other and the distance between them is a predetermined reference value. Then, the image of the first predetermined figure and the image of the second predetermined figure at that time are stored as templates (S1). Next, the image of the first predetermined figure and the image of the second predetermined figure on the surface of the object to be grasped 200 to be grasped are monitored (S2). Next, the image on the monitor is compared with the template, and the angle of the robot hand is adjusted so that the monitor image approaches the template (S3). This adjustment can be performed using any known technique, but for example, it can be performed by repeating fine adjustment of the angle so that the difference between the shape of the monitor image and the template becomes small.

[0044] As described above, according to this embodiment, the angle of the robot hand can be automatically adjusted to an angle at which the object to be grasped can be easily grasped.

[0045] The present invention has been described above by taking the above-mentioned embodiment as an exemplary example. However, the present invention is not limited to the above-mentioned embodiment. That is, the present invention can be applied in various aspects that can be understood by a person skilled in the art within the scope of the present invention. [Explanation of symbols]

[0046] 1, 110 Robot Hand 2, 120 First light projecting means 3, 130 second light projecting means 10, 1000 Floodlight 20, 200 Grasped object 1400 Camera 2000 Display 3000 Robots 3100 Arm 4000 Robot Drive Unit 5000 Robot Operation Department 6000 Robot automatic control unit 10000, 11000 Robot Hand System

Claims

1. a first light-projecting means fixed to a first position relative to a robot hand attached to a robot arm, and a second light-projecting means fixed to a second position different from the first position relative to the robot hand, the first light projecting means emits a first light beam that forms an image of a first predetermined figure on a surface of an object to be grasped by the robot hand; the second light projecting means emits a second light beam in a direction different from that of the first light beam, the second light beam forming an image of a second predetermined figure on a surface of an object to be grasped by the robot hand; A floodlight device; a camera that captures an image including an image of the first predetermined figure and an image of the second predetermined figure; a display for displaying the image captured by the camera; A robot that drives the robot hand; a robot driving unit that drives the robot; a robot automatic control unit that automatically controls the robot driving unit based on the image; having the robot automatic control unit, in the automatic control, compares the image with a template including an image of the first predetermined figure and an image of the second predetermined figure in a reference state, and repeatedly adjusts the angle of the robot hand so that a difference between a shape of the image and the template becomes small. Robotic hand system.

2. The first light beam and the second light beam are different colors from each other. The robot hand system according to claim 1 .

3. The first predetermined figure and the second predetermined figure have different shapes. The robot hand system according to claim 1 or 2.

4. At least one of the first light-projecting means and the second light-projecting means, A combination of a light source that emits light radially and a slit is included. The robot hand system according to any one of claims 1 to 3.

5. At least one of the first light-projecting means and the second light-projecting means, A combination of a laser and a laser scanning means for scanning the laser. The robot hand system according to any one of claims 1 to 4.

6. A robot operation unit that operates the robot drive unit. The robot hand system according to claim 1 , further comprising:

Images