Tool check device, tool check program, and tool check method for robot arm

Abstract

To provide a tool checking device for a robot arm, a tool checking program, and a tool checking method capable of highly-accurately determining whether a tool condition is satisfied.SOLUTION: A tool checking device 50 for a robot arm comprises, in an inspection space defined as a three-dimensional coordinate system: a movement control unit 53 that is configured so as to control a robot arm 30 such that a tool is disposed at a first axis coordinate in the three-dimensional coordinate system according to a tool condition pertaining to at least one of a type and a state of a tool 40 to be attached to the robot arm 30; a distribution data acquisition unit 55 that is configured so as to acquire, after control by the movement control unit 53, distribution data indicated as a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system of an object 98 in an inspection space 99; and a determination unit 56 that is configured so as to determine whether the tool condition is satisfied on the basis of the distribution data.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a tool check device, a tool check program, and a tool check method for a robot arm. [Background technology]

[0002] Conventionally, robot arms have been known to have exchangeable tools attached thereto for performing processing or operations on objects. For example, in the robot arm disclosed in Patent Document 1, any of a plurality of types of tools is attached to the robot arm depending on the processing to be performed on the object. The robot arm can grasp an object by opening and closing the tools. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-158405 Summary of the Invention [Problem to be solved by the invention]

[0004] In order for the robot arm to perform work such as machining appropriately, it is necessary to satisfy tool conditions, such as that the attached tool is of the appropriate type and that the attached tool is in the appropriate state (for example, open or closed) according to the machining to be performed. In this regard, Patent Document 1 does not disclose a specific configuration for accurately determining whether the tool conditions are satisfied.

[0005] The present disclosure provides a tool check device, a tool check program, and a tool check method for a robot arm that can accurately determine whether a tool condition is satisfied. [Means for solving the problem]

[0006] According to at least one embodiment of the present disclosure, a tool checking device for a robot arm includes: a movement control unit configured to control the robot arm so that, in an inspection space defined as a three-dimensional coordinate system, the tool is placed at a first axis coordinate of the three-dimensional coordinate system according to a tool condition related to at least one of a type and a state of a tool to be attached to the robot arm; a distribution data acquisition unit configured to acquire distribution data of the object in the inspection space, which is represented by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after control by the movement control unit; a determination unit configured to determine whether the tool condition is satisfied based on the distribution data; and Equipped with.

[0007] A tool check program for a robotic arm according to at least one embodiment of the present disclosure includes: On the computer, a movement control step for controlling the robot arm so that, in an inspection space defined as a three-dimensional coordinate system, the tool is positioned at a first axis coordinate of the three-dimensional coordinate system according to a tool condition relating to at least one of a type and a state of a tool to be attached to the robot arm; a distribution data acquisition step for acquiring distribution data of the object in the inspection space, the distribution data being represented by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after the movement control step; a determining step of determining whether the tool condition is satisfied based on the distribution data; Execute the following.

[0008] In accordance with at least one embodiment of the present disclosure, a method for checking a tool for a robotic arm includes: a movement control step for controlling the robot arm so that, in an inspection space defined as a three-dimensional coordinate system, the tool is positioned at a first axis coordinate of the three-dimensional coordinate system according to a tool condition relating to at least one of the type and state of a tool to be attached to the robot arm; a distribution data acquisition step for acquiring distribution data of the object in the inspection space, the distribution data being represented by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after the movement control step; a determining step for determining whether the tool condition is satisfied based on the distribution data; Equipped with. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to provide a tool check device, a tool check program, and a tool check method for a robot arm that can accurately determine whether a tool condition is satisfied. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a conceptual diagram illustrating a workpiece machining system according to an embodiment. [Figure 2] FIG. 1 is a conceptual explanatory diagram of an inspection space according to an embodiment. [Figure 3] FIG. 10 is a conceptual diagram illustrating a process of acquiring corresponding distribution data according to an embodiment. [Figure 4A] FIG. 10 is a conceptual diagram illustrating a determination method for a tool condition according to an embodiment. [Figure 4B] FIG. 10 is another conceptual diagram illustrating a determination method related to a tool condition according to an embodiment. [Figure 5] FIG. 2 is a conceptual diagram showing a shooting range according to the orientation of a 3D camera according to an embodiment. [Figure 6] FIG. 2 is a conceptual diagram illustrating an electrical configuration of a tool check device according to an embodiment. [Figure 7] 10 is a flowchart of a tool check process according to an embodiment. [Figure 8] 10 is a flowchart of a determination process according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, several embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of components described as embodiments or shown in the drawings are merely illustrative examples and are not intended to limit the scope of the present invention. For example, expressions expressing relative or absolute arrangement such as "in a certain direction," "along a certain direction," "parallel," "orthogonal," "center," "concentric," or "coaxial" not only express such an arrangement exactly, but also express a state in which there is a relative displacement with a tolerance or an angle or distance to the extent that the same function is obtained. For example, expressions such as "identical," "equal," and "homogeneous" that indicate that something is in an equal state not only indicate a state of strict equality, but also indicate a state in which there is a tolerance or a difference to the extent that the same function is obtained. For example, expressions representing shapes such as a square shape or a cylindrical shape not only represent shapes such as a square shape or a cylindrical shape in the strict geometric sense, but also represent shapes including uneven portions, chamfered portions, etc., to the extent that the same effect can be obtained. On the other hand, the expressions "comprises," "includes," "has," "includes," or "has" one element are not exclusive expressions that exclude the presence of other elements.

[0012] <1. Overview of Workpiece Processing System 1> An overview of a workpiece machining system 1 according to an embodiment of the present disclosure will be illustrated with reference to Fig. 1. Fig. 1 is a conceptual diagram showing a workpiece machining system 1 according to an embodiment of the present disclosure.

[0013] The workpiece processing system 1 is configured to process a workpiece 5 using a tool 40 attached to a robot arm 30. In this embodiment, the workpiece 5 is a food product such as an agricultural product, livestock product, or marine product. The food product may be either a fresh food product or a processed food product. The processing of the workpiece 5 is, for example, cutting, clamping, chucking, or a combination thereof. In other embodiments, the processing of the workpiece 5 may be pressing, striking, discharging a fluid, or irradiating the workpiece 5 with light, etc.

[0014] A workpiece machining system 1 according to an embodiment of the present disclosure includes a conveyance device 7 for conveying a workpiece 5, a robot arm 30 for machining the workpiece 5, a 3D camera 8 configured to capture images of the workpiece 5 conveyed by the conveyance device 7, and a tool check device 50 for the robot arm (hereinafter, sometimes simply referred to as the "tool check device 50"). The conveyance device 7 is a belt conveyor that conveys the workpiece 5 horizontally. The robot arm 30 is an industrial robot realized by a vertical articulated robot, a horizontal articulated robot, or a combination thereof. A tool 40 for machining the workpiece 5 is attached to the robot arm 30. The robot arm 30 in this example includes robot arms 30A, 30B, and 30C configured to operate in conjunction with each other. In other embodiments, the device to which the tool 40 for machining the workpiece 5 is attached does not have to be the robot arm 30, and may be, for example, a cutting machine or a clamping device with a simpler configuration.

[0015] The tool 40 of this embodiment includes a clamper 41 for gripping the workpiece 5, a chuck 42 for chucking the workpiece 5, and a knife 43 for cutting the workpiece 5. The chuck 42 further includes symmetrical chucks 42L and 42R. The clamper 41 and the chuck 42 are both connected to an actuator (not shown), which may be an air cylinder, a hydraulic cylinder, or a motor, and are configured to open and close when driven by the actuator. The tool 40 of this embodiment is selectively attached to the robot arm 30. Specifically, the clamper 41, the chuck 42, and the knife 43 are each selectively attached to one of the robot arms 30A, 30B, and 30C. For example, in an embodiment in which the workpiece 5 is livestock leg meat, which tool 40 is attached to the robot arm 30 depends on whether the workpiece 5 is left leg meat or right leg meat.

[0016] In this embodiment, the robot arm 30 machines the workpiece 5 based on an image of the workpiece 5 captured by the 3D camera 8. More specifically, a machining position for the workpiece 5 is identified based on the image captured by the 3D camera 8, and the robot arm 30 is controlled based on the identification result. A controller (not shown) for controlling the robot arm 30 when machining the workpiece 5 may be the same control device as the tool check device 50, or may be a different control device.

[0017] The 3D camera 8 of this embodiment is configured to capture images of the robot arm 30 equipped with the tool 40 in addition to the workpiece 5. The images of the tool 40 and the robot arm 30 may be captured when the workpiece 5 is placed on the transport device 7, or may be captured at a different time. Furthermore, the robot arm 30 does not necessarily need to be captured.

[0018] A tool checking device 50 according to an embodiment of the present disclosure is configured to check whether tool conditions are satisfied. The tool conditions are conditions related to at least one of the type and state of the tool 40 to be attached to the robot arm 30. In this embodiment, the tool conditions are set for each of the robot arms 30A, 30B, and 30C. For example, if an open clamper 41 is to be attached to the robot arm 30A, the tool type and tool state corresponding to the robot arm 30A are "clamper 41" and "open state," respectively. As another example, if an open chuck 42L is to be attached to the robot arm 30B, the tool type and tool state corresponding to the robot arm 30B are "chuck 42L" and "open state," respectively.

[0019] The tool condition is not satisfied, for example, if an operator makes an error in mounting the tool 40. As a more specific example, if a tool 40 of a different type than the tool 40 that should be mounted is mistakenly mounted on the robot arm 30, the tool type is not satisfied. As another example, an error may occur in the work of connecting the air cylinder serving as an actuator to the clamper 41 using an air pipe. In this case, when the air cylinder is actuated, the clamper 41 is in a closed state instead of an open state, and the tool state is not satisfied. As yet another example, if the mounting orientation of the tool 40 is reversed in the up-down direction, the tool state is not satisfied.

[0020] In another embodiment, the attachment of the tool 40 may be performed by a robot instead of an operator. Also, only one type of tool 40, namely, the clamper 41, the chuck 42, or the knife 43, may be provided. Therefore, only one robot arm 30 may be installed.

[0021] <2. Details of Tool Check Device 50> 1 to 5, details of a tool check device 50 according to an embodiment of the present disclosure are illustrated. Fig. 2 is a conceptual explanatory diagram of an inspection space 99 according to an embodiment of the present disclosure. Fig. 3 is a conceptual diagram showing a process of acquiring corresponding distribution data 120A according to an embodiment of the present disclosure. Fig. 4A is a conceptual diagram illustrating a determination method for a tool condition according to an embodiment of the present disclosure. Fig. 4B is another conceptual diagram illustrating a determination method for a tool condition according to an embodiment of the present disclosure. Fig. 5 is a conceptual diagram illustrating an imaging range 8A according to the attitude of a 3D camera 8 according to an embodiment of the present disclosure.

[0022] In the embodiment illustrated in FIGS. 1 and 2, an inspection space 99 defined as a three-dimensional coordinate system including mutually orthogonal X-, Y-, and Z-axes is used to determine whether the tool conditions are satisfied. One example of the inspection space 99 is the imaging range 8A of the 3D camera 8. The Z-axis is parallel to the optical axis direction of the 3D camera 8 and extends along the vertical direction. The X- and Y-axes extend along the horizontal direction. In the following description, the Z-axis may be referred to as the "first axis," and the X- and Y-axes may be referred to as the "second axis" and "third axis," respectively.

[0023] <2-1. Basic components of the tool check device 50> 1, the tool check device 50 includes a condition acquisition unit 51 for acquiring tool conditions, a movement control unit 53 for controlling the robot arm 30, an imaging control unit 54 for controlling the 3D camera 8, a distribution data acquisition unit 55 for acquiring distribution data 120 (see FIG. 3) described below, and a determination unit 56 for determining whether the tool conditions are satisfied. Details of these components will be exemplified below.

[0024] The condition acquisition unit 51 is configured to acquire the tool conditions based on, for example, an input operation by an operator of the workpiece machining system 1. In another embodiment, the tool conditions may be acquired based on instructions included in a tool check program 95 (see FIG. 6) read by the tool check device 50.

[0025] The movement control unit 53 is configured to control the robot arm 30 so that the tool 40 is placed in the inspection space 99 at first axis coordinates according to the tool conditions acquired by the condition acquisition unit 51. The inspection space 99 illustrated in FIG. 2 includes three inspection spaces 99A, 99B, and 99C that are divided into three in order from the 3D camera 8 side along the first axis direction (vertical direction). The movement control unit 53 controls the robot arm 30 so that the chucks 42L, 42R (42), the clamper 41, and the knife 43 are placed in the inspection spaces 99A, 99B, and 99C, respectively. In other words, the inspection spaces 99A, 99B, and 99C are prepared according to the type of tool 40. In this embodiment, the tool 40 attached to the robot arm 30 changes depending on the machining conditions of the workpiece 5, and therefore the movement path of the robot arm 30 also changes depending on the machining conditions of the workpiece 5.

[0026] In another embodiment, the movement control unit 53 may control the robot arm 30 so that different types of tools 40 are arranged in the inspection space 99A, for example. Alternatively, the inspection space 99 may be prepared depending on the tool state of the tool 40.

[0027] In this embodiment, it is determined whether the tool conditions are satisfied for the tools 40 attached to each of the robot arms 30A, 30B, and 30C in turn. More specifically, the tool 40 attached to the robot arm 30A moves to the inspection space 99 first, and the tool conditions are satisfied. difference Thereafter, the robot arm 30A is controlled so that this tool 40 exits the inspection space 99, and then it is determined in turn whether the tool conditions are met for the tools 40 attached to the remaining robot arms 30B and 30C.

[0028] In the inspection space 99 of this embodiment, in addition to the above-described inspection spaces 99A to 99C, other objects including at least a part of the robot arm 30 and at least a part of the workpiece 5 are placed in the inspection space 99. The spaces in which the robot arm 30 is placed are the inspection spaces 99A to 99C. The space in which the workpiece 5 is placed is below the inspection space 99C within the inspection space 99. Other objects may also be placed in the inspection space 99. In the following description, objects placed inside the inspection space 99 may be collectively referred to simply as "object 98." In other words, the object 98 in this embodiment is a concept that includes the tool 40, the robot arm 30, and the workpiece 5.

[0029] Returning to FIG. 1 , the imaging control unit 54 is configured to control the 3D camera 8 to acquire captured image data after being controlled by the movement control unit 53. In this embodiment, the imaging range 8A of the 3D camera 8 coincides with the inspection space 99. The 3D camera 8 has a function of measuring an imaging distance, which is the distance from the object 98 to the 3D camera 8, in addition to a function of capturing an image of the object 98 to be captured. As an example, the 3D camera 8 is a stereo camera including two lenses. The object 98 is captured in both a first captured image generated based on light collected by one lens and a second captured image generated based on light collected by the other lens. The image areas in which the object 98 is captured differ in each captured image, and the imaging distance can be calculated based on the relative positional relationship between these image areas.

[0030] In this embodiment, in order to identify the relative positional relationship of the image area in which the object 98 appears, a search process is executed to search for an object identical to the object 98 appearing in the first captured image in the second captured image. In this example, PatchMatch is employed as this search process, which improves the efficiency of the search process. As the search process according to other embodiments, a so-called full search algorithm may be employed, which compares each of the multiple pixels constituting the first captured image with each of the multiple pixels constituting the second captured image. Furthermore, the 3D camera 8 that measures the shooting distance may be a three-dimensional shape measurement camera that employs a light sectioning method, or may be a ToF camera (Time-of-Flight Camera), instead of a stereo camera.

[0031] 3, the captured image data showing the captured image 70, which is an image generated by the 3D camera 8, will be described. In the same figure, the captured image 70 captured when the tool conditions are satisfied is Chuck 42 Image 70A, Clamper 41 Illustratively, a photographed image 70B of the tool 40 and a photographed image 70C of the knife 43 are shown. The photographed images 70A to 70C (70) are generated by performing a cropping process to cut out a portion of the original photographed image generated by the 3D camera 8 (details will be described later). The cropped area differs depending on the type of tool 40 to be photographed. However, the image sizes of the photographed images 70A to 70C are the same.

[0032] Each of two or more pixels constituting the photographed image 70 indicated by the photographed image data is represented by a combination of the second axis coordinate and the third axis coordinate (Xi, Yj) (i is the coordinate of the photographed image 70). beside j is an arbitrary natural number equal to or less than the number of pixels in the direction, and j is the number of pixels in the captured image 70. vertical Therefore, the captured image data showing the captured image 70 in which the object 98 is captured is the second axis coordinate (Xi) and the third axis coordinate (Y j ) is the distribution data 120. The distribution data 120 indicates the distribution of the objects 98 in the captured image 70.

[0033] In this embodiment, a luminance value (L) correlated with the shooting distance is assigned to each of the pixels constituting the captured image 70 indicated by the captured image data as distribution data 120. Therefore, the captured image 70 indicated by the captured image data as distribution data 120 can also be understood as a depth map in the shooting range 8A from the viewpoint of the 3D camera 8. The luminance value assigned to each pixel decreases as the shooting distance decreases. In other words, the object 98 appears black in the captured image 70. Therefore, as shown on the left side of FIG. 3, the tool 40 appearing in each of the captured images 70A, 70B, and 70C of Among these, the zipper 42 shown in the photographed image 70A has the lowest brightness value, and the knife 43 shown in the photographed image 70C has the highest brightness value. In FIG. 3, the tool 40 with the lower brightness value is hatched with finer hatching. Note that the maximum brightness value is assigned to pixels in the photographed image 70 that do not show the object 98.

[0034] The distribution data acquisition unit 55 is configured to acquire distribution data 120 included in the captured image data acquired by the imaging control unit 54. The distribution data acquisition unit 55 may acquire corresponding distribution data 120A (described later) generated by performing a filter process on the distribution data 120, or may acquire corresponding distribution data 120A (described later) generated by performing a filter process on the distribution data 120. but execution difference Alternatively, the distribution data 120 may be obtained without being analyzed.

[0035] Returning to FIG. 1 , the determination unit 56 is configured to determine whether the tool conditions are satisfied based on the distribution data 120 acquired by the distribution data acquisition unit 55. The difference between the expected distribution data expected when the tool conditions are satisfied and the distribution data 120 acquired by the distribution data acquisition unit 55 changes depending on whether the tool conditions are satisfied. For example, if the chuck 42 should be attached to the robot arm 30 at a specified position, but the clamper 41 is attached at a position displaced from the specified position, the distribution data 120 acquired by the distribution data acquisition unit 55 will significantly deviate from the expected distribution data. Therefore, the difference in data exceeds the threshold, and the determination unit 56 determines that the tool type is not satisfied. As another example, suppose that the clamper 41 should be attached to the robot arm 30A in an open state, but the clamper 41 is attached to the robot arm 30A in a closed state. In this case, the actual shape of the clamper 41 differs significantly from the expected shape. different In other words, the distribution data 120 acquired by the distribution data acquisition unit 55 deviates significantly from the expected distribution data. In this case, the determination unit 56 determines that the tool state is not satisfied. The determination process executed by the determination unit 56 will be described in more detail later.

[0036] According to the above configuration, the distribution data 120 is determined according to the position and shape of the object 98 in the inspection space 99. The movement control unit 53 controls the robot arm 30 so that the tool 40 moves to the first axis coordinate according to the tool condition to be satisfied, so the acquired distribution data 120 changes significantly depending on whether a tool 40 that satisfies the tool condition is placed as the object 98 in the inspection space 99. Therefore, the determination unit 56 can accurately determine whether the tool condition is satisfied. As described above, a tool check device 50 that can accurately determine whether the tool condition is satisfied is realized.

[0037] <2-3. Acquisition process executed by distribution data acquisition unit 55> Referring to FIG. 3 , details of the process for acquiring distribution data 120 executed by the distribution data acquiring unit 55 according to an embodiment of the present disclosure are illustrated. In addition to the tool 40 to be checked, other objects 98, such as a workpiece 5, may be placed in the imaging range 8A, which is the inspection space 99. In this case, the other objects 98 other than the tool 40 are captured in the captured image 70, and the distribution data 120, which is the captured image data, includes the distribution data 120 of the other objects 98 as noise. In this embodiment, utilizing the principle that the tool 40 to be checked and the other objects 98 are located at different first axis coordinates, the distribution data acquiring unit 55 is configured to perform filtering to extract distribution data 120 at the first axis coordinate corresponding to the tool conditions. From the distribution data 120 as captured image data representing the captured image 70, distribution data 120 at the first axis coordinate corresponding to the tool conditions (hereinafter referred to as corresponding distribution data 120A) is extracted by filtering. In other words, the distribution data 120 that constitutes noise is removed. A more detailed description of the filtering process will be given later.

[0038] According to the above configuration, the filtering process is performed to remove noise from the distribution data 120 that may affect the determination result of whether the tool conditions are satisfied, thereby enabling the tool checking device 50 to more accurately determine whether the tool conditions are satisfied.

[0039] The distribution data 120 is data included in the captured image data of the object 98 generated by the 3D camera 8, which has the imaging range 8A as the inspection space 99. Furthermore, the distribution data 120 associates brightness values ​​with each of the pixels constituting the captured image 70, which is represented by a combination of the second axis coordinate (Xi in this example) and the third axis coordinate (Yj in this example). According to the above configuration, the movement control unit 53 controls the robot arm 30 so that the tool 40 is positioned at the first axis coordinate according to the tool conditions. Therefore, the distribution data 120, which associates the pixels of the captured image 70 with brightness values ​​correlating with the imaging distance, which is the distance from the object 98 to the 3D camera 8, varies significantly depending on whether the tool conditions are satisfied. Therefore, the tool check device 50 can more accurately determine whether the tool conditions are satisfied.

[0040] For example, in an embodiment in which the tool mounting position on the robot arm 30 varies in the first axis direction depending on the type of tool 40, the brightness value of the distribution data 120 changes depending on whether the tool type is satisfied. More specifically, if the chuck 42 is mounted on the robot arm 30 even though the tool type is a clamper 41, the chuck 42 will be positioned at a position displaced in the first axis direction from the inspection space 99B when capturing an image with the 3D camera 8. Therefore, the displacement of the chuck 42 in the first axis direction is reflected in the brightness value associated with the distribution data 120. Therefore, the determination unit 56 can accurately determine whether the tool type is satisfied based on the distribution data 120.

[0041] In this embodiment, since the inspection spaces 99A, 99B, and 99C are aligned in the first axis direction (see FIG. 2), the luminance value of the object 98 reflected in the captured image 70 changes depending on whether the object 98 is placed in the inspection space 99A, 99B, or 99C. Using this principle, the distribution data acquisition unit 55 illustrated in FIG. 3 performs binarization, an example of filtering, on the distribution data 120 as the captured image data. More specifically, the distribution data acquisition unit 55 is configured to perform binarization on the captured image data using a high luminance threshold L and a low luminance threshold S according to the tool conditions, thereby acquiring the corresponding distribution data 120A. In this embodiment, the high luminance threshold L and the low luminance threshold S are prepared according to the tool type of the tool conditions. More specifically, the high luminance threshold L and the low luminance threshold S are prepared corresponding to the inspection spaces 99A to 99C, which have a one-to-one relationship with the tool types. In this example, a high luminance threshold L1 and a low luminance threshold S1 are prepared so that a binarization process can be performed to extract an image of the luminance values ​​of an object 98 placed in the inspection space 99A. When the binarization process is performed using the high luminance threshold L1 and the low luminance threshold S1, captured image data that shows only the object 98 placed in the inspection space 99A (see FIG. 2) is extracted, and captured image data that shows an object 98 that is shifted from the inspection space 99A along the first axis coordinate is removed. Similarly, a high luminance threshold L2 and a low luminance threshold S2 are prepared corresponding to the inspection space 99B, and a high luminance threshold L3 and a low luminance threshold S3 are prepared corresponding to the inspection space 99C. The magnitude relationship between these high luminance thresholds L1 to L3(L) and the low luminance thresholds S1 to S3(S) is as shown in FIG. 3.

[0042] An example of binarization processing using a high brightness threshold L1 and a low brightness threshold S1 will be described. By performing this binarization processing, photographed image data of the workpiece 5, which is an example of another object 98 located at a position displaced from the inspection space 99A in the first axis direction, is removed. In other words, distribution data 120 of the workpiece 5 that may induce an erroneous determination by the determination unit 56 is removed. The photographed image data (distribution data 120) that has been subjected to the binarization processing is acquired by the distribution data acquisition unit 55 as corresponding distribution data 120A. Thereafter, the determination unit 56 determines whether the tool conditions are satisfied based on the corresponding distribution data 120A.

[0043] According to the above configuration, captured image data including only pixels assigned brightness within the range defined by the high brightness threshold L and the low brightness threshold S among the pixels of the captured image 70 represented by the combination of the second axis coordinate and the third axis coordinate is acquired as the corresponding distribution data 120A. This removes the distribution data 120 as noise of objects 98 other than the tool 40 included in the captured image data. The determination unit 56 determines whether the tool conditions are satisfied based on the corresponding distribution data 120A. Therefore, the tool check device 50 can accurately determine whether the tool conditions are satisfied.

[0044] <2-4. Details of the Determination Process Executed by the Determination Unit 56> First, second, and third specific examples of the determination process executed by the determination unit 56 according to an embodiment of the present disclosure will be described with reference to FIGS. 4A and 4B.

[0045] <2-4-1. First concrete example of determination processing> A first specific example of the determination process will be described with reference to FIG. 4A. In the first specific example, the tool type ( Clamper 41 ) is satisfied. The determining unit 56 specifies the distribution area of ​​the object 98 appearing in the photographed image 70B based on the corresponding distribution data 120A, which is the photographed image data of the photographed image 70B (70) that has been binarized. The distribution area correlates with the shape of the object 98 in the first axial view. Therefore, if the object 98 Clamper 41 If so, the distribution area satisfies the specified condition (for example, the distribution area is equal to or greater than a specified value). This allows the determination unit 56 to determine that the tool type is satisfied. On the other hand, if a tool 40 other than the clamper 41 is attached to the robot arm 30, the tool 40 is positioned away from the inspection space 99B (see FIG. 2), and therefore does not appear in the binarized captured image 70B. In other words, the distribution area does not satisfy the specified condition (for example, the distribution area is less than the specified value), and the determination unit 56 can determine that the tool type is not satisfied.

[0046] The tool 40 attached to the robot arm 30 Clamper 41Even if Clamper 41 If the tool 40 is damaged, the distribution area does not satisfy the specified condition. Furthermore, if the tool 40 is not attached to the robot arm 30, the distribution area also does not satisfy the specified condition. In other words, the determination method described in the first specific example can also be applied to determining whether the tool state is satisfied. In other situations, the determination method described in the first specific example can be applied to the captured image data (distribution data 120) before binarization processing, and similar determination results can be obtained. Furthermore, if the attachment position of the tool 40 is upside down, the tool 40 may cause halation in the captured image 70. For example, if the knife 43 is attached upside down even though it should be attached so that the blade is located on the bottom, halation is likely to occur because the blade is located on the top (not shown). In this case, the knife 43 is difficult to see in the captured image 70 before filtering is performed, and the above-mentioned distribution area becomes extremely small. In other words, the distribution area does not satisfy the specified condition. Therefore, if the attachment position of the knife 43 is upside down, it is determined that the tool state is not satisfied.

[0047] According to the above configuration, the determination unit 56 determines whether the tool conditions are satisfied based on the distribution area of ​​the objects 98 indicated by the distribution data 120. Since the distribution area of ​​the objects 98 varies greatly depending on whether the tool conditions are satisfied, the tool check device 50 can simplify the process of determining whether the tool conditions are satisfied.

[0048] <2-4-2. Second specific example of determination processing> Continuing with reference to FIG. 4A, a second specific example of the determination process will be described. In the second specific example, Clamper 41The determination unit 56 determines whether the tool state (open state) is satisfied. The determination unit 56 specifies a limited area 88 based on the center of gravity of the distribution area indicated by the corresponding distribution data 120A. Then, the determination unit 56 determines whether the tool state is satisfied based on the distribution area in the limited area 88. The limited area 88 is a part of the binarized captured image 70B (70), and is an area whose distribution area changes depending on whether the tool state is satisfied. For example, the determination unit 56 considers an area that has a specified positional relationship with the center of gravity of the distribution area indicated by the corresponding distribution data 120A to be the limited area 88. The limited area 88 illustrated in FIG. 4A includes a limited area 88 having a distribution area of ​​the open state. Clamper 41 is not placed and the Clamper 41 At least a part of the Clamper 41 (The area is virtually shown by a two-dot chain line.) Depending on whether the distribution area of ​​this limited region 88 satisfies the specified condition, the determining unit 56 determines whether the tool state is satisfied.

[0049] The determination method described as the second specific example can also be applied to determining whether the tool type is satisfied. For example, if an area whose distribution area changes depending on whether the tool type is satisfied is set in advance as the limited area 88, the determination unit 56 can determine whether the tool type is satisfied using a similar method.

[0050] According to the above configuration, by setting the position of the center of gravity of the distribution region where the tool condition is satisfied in association with the limited region 88 whose distribution area changes depending on whether the tool condition is satisfied, the determination unit 56 can determine whether the tool condition is satisfied based on the distribution area in the limited region 88. This allows the determination unit 56 to make an appropriate determination according to the tool condition to be determined.

[0051] <2-4-3. Third specific example of judgment processing> A third specific example of the determination process by the determination unit 56 will be described with reference to FIG. 4B. In the third specific example, it is determined whether the tool type (chuck 42L) is satisfied. The chuck 42L has an asymmetric shape. In the example of FIG. 4B, the length (dimension M1) of the chuck 42L in the third axis direction on one side of the second axis direction is longer than the length (dimension M2) of the chuck 42L in the third axis direction on the other side of the second axis direction.

[0052] The determination unit 56 determines the first distribution area indicated by the corresponding distribution data 120A. 3 The length in the axial direction and the 2 The determination unit 56 is configured to determine whether the tool condition is satisfied based on the relationship with the axis coordinates. More specifically, the determination unit 56 estimates the distribution area of ​​the chuck 42L from the distribution area indicated by the corresponding distribution data 120A (in the example of FIG. 4B, the distribution area of ​​the robot arm 30 and the chuck 42L). This estimation process may be set in advance based on the shapes of the robot arm 30 and the chuck 42L. Thereafter, the determination unit 56 identifies the maximum dimensions on one side and the other side in the second axis direction in the distribution area of ​​the chuck 42L. If the magnitude relationship between the respective maximum dimensions satisfies the specified condition, it is determined that the tool type (chuck 42L) is satisfied. On the other hand, if the chuck 42R, which has a shape symmetrical to the chuck 42L, is mistakenly attached, the magnitude relationship of the above maximum dimensions will be reversed, and the specified condition will not be satisfied. but Since it is not satisfied, the determining unit 56 can determine that the tool type is not satisfied.

[0053] The determination method described as the third specific example can also be applied to determining whether the tool state is satisfied. For example, if a tool 40 is used in which the magnitude relationship of the maximum dimension described above changes depending on the tool state, this determination method can be applied.

[0054] According to the above configuration, if the relationship between the length in the third axis direction of the distribution region where the tool condition is satisfied and the second axis coordinate is set in advance, the determination unit 56 can determine whether the tool condition is satisfied based on this relationship. This allows the determination unit 56 to make an appropriate determination according to the tool condition to be determined.

[0055] <2-5. Additional Components of the Tool Check Device 50> 1 and 5, additional components of the tool check device 50 will be described. The tool check device 50 includes a posture acquisition unit 52 configured to acquire posture data indicating the posture of the 3D camera 8. When the 3D camera 8 is attached to the workpiece machining system 1, the posture of the 3D camera 8 may deviate from the ideal posture due to dimensional tolerances of the attachment parts or variations in the attachment work. The posture acquisition unit 52 acquires the posture data to identify the amount of this deviation.

[0056] An example of a method for acquiring the posture data is as follows. A plate (not shown) is prepared that is in a specified positional relationship with respect to the origin position of the position and posture of the robot arm 30. This plate may be installed depending on the timing when the position and posture data is acquired, or may be installed all the time. The 3D camera 8 captures an image of multiple marks shown on the surface of the plate, and an original captured image of the multiple marks is generated. A specified calculation formula is applied to the positional relationship of the multiple marks shown in this original captured image, thereby acquiring the posture data. The original captured image is an image generated by the 3D camera 8 that has not been subjected to cropping.

[0057] The distribution data acquisition unit 55 according to one embodiment is configured to identify a captured image 70, which is a partial region determined based on the orientation data acquired by the orientation acquisition unit 52, from an original captured image (see the two-dot chain line 71 in FIG. 5 ) captured by the 3D camera 8, and acquire distribution data 120 for the captured image 70. In other words, the region of the original captured image that is subjected to crop processing changes depending on the orientation data. This makes it possible to suppress variations in the image region in which the tool 40 appears, based on the captured image 70.

[0058] When the attitude of the 3D camera 8 changes, the imaging range 8A of the 3D camera 8 also changes. Therefore, when distribution data 120 of a specific partial area in the original captured image is acquired, the following problems may occur. That is, even if the tool condition is actually satisfied, the determination unit 56 may erroneously determine that the tool condition is not satisfied because at least a portion of the tool 40 is not captured in the captured image 70. Conversely, even if the tool condition is not actually satisfied, the determination unit 56 may erroneously determine that the tool condition is satisfied because an inappropriate tool 40 is captured in the captured image 70. In this regard, with the above configuration, the captured image 70 is acquired while reflecting a deviation in the attitude of the 3D camera 8, and the distribution data 120 of this captured image 70 is acquired. Therefore, when the tool condition is satisfied, the tool 40 is captured in a specified position in the captured image 70. Furthermore, the tool 40 that should not be captured in the captured image 70 is not captured. Therefore, the tool check device 50 can more accurately determine whether the tool condition is satisfied.

[0059] 3. Electrical Configuration of Tool Check Device 50 FIG. 6 is a conceptual diagram showing the electrical configuration of a tool check device 50 according to an embodiment of the present disclosure. The workpiece machining system 1 includes a processor 91. The processor 91 is configured to read a tool check program 95 stored in a ROM 92, load it into a RAM 93, and execute instructions included in the loaded tool check program 95. The processor 91 is a CPU, a GPU, an MPU, a DSP, or any other type of computing device, or a combination thereof. The processor 91 may be implemented by an integrated circuit such as a PLD, an ASIC, an FPGA, or an MCU. The ROM 92 and the RAM 93 are examples of storage devices. The memory 94 stores various parameters necessary to determine whether the tool conditions are satisfied. The various parameters include a high brightness threshold L and a low brightness threshold S. The high brightness threshold L is a threshold greater than the low brightness threshold S.

[0060] The processor 91 of this embodiment is connected to the input unit 6, the transport device 7, the robot arm 30, the 3D camera 8, and the alarm device 9 via interfaces. An operator inputs tool conditions into the input unit 6, which may be, for example, a touch panel. The processor 91 acquires the tool conditions by obtaining data output from the input unit 6.

[0061] In one embodiment, the transport device 7, the robot arm 30, the 3D camera 8, and the alarm device 9 each operate in response to a control signal received from the processor 91. The 3D camera 8 performs photography in response to the received control signal and outputs the generated photographed image data to the processor 91. . The notification device 9 is configured to issue a notification to an operator when it is determined that the tool conditions are not satisfied. The notification device 9 in this embodiment is an image display device, a speaker, a light emitting device, or a combination thereof.

[0062] <4. Tool check processing> 7 and 8, details of the tool check process according to an embodiment of the present disclosure will be illustrated. The tool check process is a process for determining whether a tool condition is satisfied. In this embodiment, the processor 91 executes the following steps by loading a tool check program 95 stored in the ROM 92 into the RAM 93. Data processed by the processor 91 as the process is executed is stored in the RAM 93 or the memory 94 as appropriate. In the following description, "step" may be abbreviated as "S."

[0063] First, the processor 91 acquires the posture data of the 3D camera 8 by the above-described method (S10). The processor 91 that executes S10 functions as the posture acquisition unit 52 described above. Next, the processor 91 acquires the tool conditions (S11). In this example, the operator inputs the tool conditions corresponding to each of the robot arms 30A, 30B, and 30C into the input unit 6. The processor 91 that executes S11 functions as the condition acquisition unit 51 described above.

[0064] The processor 91 controls the movement of the robot arm 30 so that the tool 40 is placed at the first axis coordinate according to the tool conditions acquired in S11 (S13). For example, the processor 91 controls the movement of the robot arm 30A based on the tool conditions associated with the robot arm 30A. As a result, if the tool 40 is properly attached to the robot arm 30A, the tool 40 is placed in one of the inspection spaces 99A to 99C. The processor 91 that executes S13 functions as the movement control unit 53 described above.

[0065] The processor 91 controls the 3D camera 8 to acquire the captured image data (S15). The image represented by the captured image data is the original captured image. The processor 91 that executes S15 functions as the imaging control unit 54.

[0066] The processor 91 acquires distribution data 120 included in the captured image data acquired in S15 (S17). In this example, the processor 91 performs crop processing on the captured image data representing the original captured image acquired in S15 based on the orientation data acquired in S10. As a result, the processor 91 acquires captured image data representing the captured image 70. Furthermore, this captured image data is subjected to binarization processing in accordance with the tool conditions acquired in S11, and the processor 91 acquires corresponding distribution data 120A. The processor 91 executing S17 functions as the distribution data acquisition unit 55 described above.

[0067] The processor 91 determines whether the tool conditions are satisfied based on the corresponding distribution data 120A acquired in S17 (S19). The processor 91 that executes S19 functions as the above-mentioned determination unit 56. The determination process will be described in detail later.

[0068] The processor 91 determines whether or not there is an abnormality related to the tool 40 based on the determination result of the determination process (S19) (S21). If it is determined that there is no abnormality (S21: NO), the processor 91 determines whether or not to end the tool check process (S23). In this example, if determination has not been completed for all of the tool conditions corresponding to each of the robot arms 30A to 30C (S23: NO), the processor 91 returns the process to S13. By repeating S13 to S23, it is determined whether or not the tool conditions for each of the robot arms 30A, 30B, and 30C are satisfied. If determination has been completed for all of the tool conditions (S23: YES), the processor 91 ends the determination process.

[0069] If it is determined that there is an abnormality related to the tool 40 (S21: YES), the processor 91 controls the alarm device 9 to issue a specific abnormality (S25). This allows the operator to take measures in accordance with the content of the alarm in the workpiece machining system 1 (a method for identifying a specific abnormality will be described later). After executing S25, the processor 91 ends the tool check process.

[0070] The details of the determination process will be explained with reference to Fig. 8. The processor 91 determines whether the tool type is satisfied using one of the methods already described (S31). If it is determined that the tool type is not satisfied (S31: NO), the processor 91 stores a specific abnormality (S35). For example, the processor 91 stores error data indicating that the appropriate type of tool 40 is not attached to the robot arm 30 in the memory 94. The error data stored in the memory 94 is used in the alarm processing of S25 described above. S 3 After executing step 5, the processor 91 ends the determination process and returns to the tool check process (see FIG. 7).

[0071] If it is determined that the tool type is satisfied (S31: YES), the processor 91 determines whether the tool state is satisfied using one of the methods described above (S33). If it is determined that the tool state is not satisfied (S33: NO), the processor 91 shifts the process to S35. At this time, the processor 91 stores error data indicating that the state of the tool 40 is not appropriate in the memory 94 (S35). If it is determined that the tool state is satisfied (S33: YES), the processor 91 ends the determination process.

[0072] <5. Examples of other embodiments> It should be noted that the workpiece machining system 1 of the present disclosure is not limited to being equipped with a 3D camera 8 and an imaging control unit 54. For example, an ultrasonic device may be provided instead of the 3D camera 8. If the distance between the object 98 in the inspection space 99 and the ultrasonic device is measured using ultrasonic waves, it is possible to acquire the distribution data 120. Furthermore, it is also possible to perform a filtering process on the distribution data 120 generated by the ultrasonic device to remove distance data of objects whose distance is equal to or greater than a specified value. Furthermore, a CT scan, an MRI, or the like may be adopted instead of the ultrasonic device.

[0073] <6. Summary> The contents of the above-described embodiments can be understood, for example, as follows.

[0074] (1) A tool check device (50) for a robot arm according to one embodiment of the present disclosure includes: a movement control unit (53) configured to control the robot arm (30) so that, in an inspection space (99) defined as a three-dimensional coordinate system, the tool (40) is positioned at a first axis coordinate of the three-dimensional coordinate system according to a tool condition related to at least one of the type and state of the tool (40) to be attached to the robot arm (30); a distribution data acquisition unit (55) configured to acquire distribution data (120) of an object (98) in the inspection space (99) that is indicated by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system after control by the movement control unit (53); and a determining unit (56) configured to determine whether the tool condition is satisfied based on the distribution data (120).

[0075] According to the configuration 1), the distribution data 120 is determined according to the position and shape of the object 98 in the inspection space 99. The movement control unit 53 controls the robot arm 30 so that the tool 40 moves to the first axis coordinate corresponding to the tool condition to be satisfied. Therefore, the acquired distribution data 120 varies significantly depending on whether a tool 40 that satisfies the tool condition is placed as the object 98 in the inspection space 99. Therefore, the determination unit 56 can accurately determine whether the tool condition is satisfied. As described above, a tool check device 5 for a robot arm that can accurately determine whether the tool condition is satisfied is realized.

[0076] 2) In some embodiments, a tool check device (50) for a robot arm as described in 1) above, comprising: the distribution data acquisition unit (55) is configured to perform a filter process on the distribution data (120) to extract corresponding distribution data (120A), which is the distribution data (120) at the first axis coordinate according to the tool condition; The determining unit (56) is configured to determine whether the tool condition is satisfied based on the corresponding distribution data (120A).

[0077] There is a case where the distribution data 120 as noise of another object 98 positioned at a position displaced from the tool 40 in the first axis direction is included in the initial distribution data 120 acquired by the distribution data acquiring unit 55. In this regard, according to the configuration of 2) above, the distribution data 120 as noise is removed by performing the filtering process, so that the tool check device 50 for a robot arm can more accurately determine whether the tool conditions are satisfied.

[0078] 3) In some embodiments, a tool check device (50) for a robot arm according to 1) or 2) above, comprising: The distribution data (120) is data included in the captured image data of the object (98) generated by a 3D camera (8) whose capturing range is the inspection space (99), and is data that associates each of a plurality of pixels that constitute the captured image represented by a combination of the second axis coordinate and the third axis coordinate with a brightness value that correlates with the distance from the object (98) to the 3D camera (8).

[0079] According to the configuration 3), the movement control unit 53 controls the robot arm 30 so that the tool 40 is positioned at the first axis coordinate according to the tool conditions, so that the distribution data 120, which associates the plurality of pixels constituting the captured image 70 with brightness values ​​correlating with the distance from the object 98 to the 3D camera 8, changes significantly depending on whether the tool conditions are met. Therefore, the tool check device 50 for the robot arm can more accurately determine whether the tool conditions are met.

[0080] 4) In some embodiments, a tool check device (50) for a robot arm as described in 3) above, comprising: The distribution data acquisition unit (55) is configured to perform binarization processing on the captured image data generated by the 3D camera (8) using a high brightness threshold (L) and a low brightness threshold (S) according to the tool conditions, and acquire corresponding distribution data (120A), which is the distribution data (120) at the first axis coordinate according to the tool conditions.

[0081] According to the configuration 4) above, image data including only pixels assigned with brightness within a range defined by the high brightness threshold (L) and the low brightness threshold (S) among pixels of the captured image (70) represented by a combination of the second axis coordinate and the third axis coordinate is acquired as the corresponding distribution data (120A). This eliminates noise in the distribution data (120) of an object (98) other than the tool (40) included in the captured image data. The determination unit (56) determines whether the tool conditions are satisfied based on the corresponding distribution data (120A). Therefore, the tool check device (50) for a robot arm can accurately determine whether the tool conditions are satisfied.

[0082] 5) In some embodiments, a tool check device (50) for a robot arm according to 3) or 4) above, comprising: a posture acquisition unit (52) configured to acquire posture data indicating a posture of the 3D camera (8) in the inspection space (99); The distribution data acquisition unit (55) is configured to acquire the distribution data (120) in the captured image, which is a partial region of the original captured image captured by the 3D camera (8) and is determined based on the posture data.

[0083] According to the configuration 5) above, a captured image 70 that reflects the deviation in the orientation of the 3D camera 8 is acquired, and distribution data 120 of the captured image 70 is acquired. Therefore, when the tool condition is satisfied, the tool 40 appears in a specified position in the captured image 70. This allows the determination unit 56 to more accurately determine whether the tool condition is satisfied.

[0084] 6) In some embodiments, a tool check device (50) for a robot arm according to any one of 1) to 5) above, The determination unit (56) is configured to determine whether the tool condition is satisfied based on the distribution area of ​​the object (98) indicated by the distribution data (120).

[0085] The distribution area of ​​the objects 98 indicated by the distribution data 120 changes depending on whether the tool conditions are satisfied. For example, if an inappropriate type of tool 40 is attached to the robot arm 30, or if a damaged or other inappropriate tool 40 is attached to the robot arm 30, the distribution area of ​​the distribution data 120 will deviate from the appropriate value or appropriate range. Because the distribution area of ​​the objects 98 changes significantly depending on whether the tool conditions are satisfied, the tool check device 50 can simplify the process of determining whether the tool conditions are satisfied.

[0086] 7) In some embodiments, a tool check device (50) for a robot arm as described in 6) above, comprising: The determination unit (56) is configured to identify a limited area (88) based on the center of gravity of the distribution area indicated by the distribution data (120), and determine whether the tool condition is satisfied based on the distribution area in the limited area (88).

[0087] According to the configuration of 7) above, by setting the position of the center of gravity of the distribution region where the tool condition is satisfied in association with the limited region (88) whose distribution area changes depending on whether the tool condition is satisfied, the determination unit (56) can determine whether the tool condition is satisfied based on the distribution area in the limited region (88). This allows the determination unit (56) to make an appropriate determination according to the tool condition to be determined.

[0088] 8) In some embodiments, a tool check device (50) for a robot arm according to any one of 1) to 7) above, The determination unit (56) is configured to determine whether the tool condition is satisfied based on the relationship between the length of the distribution area indicated by the distribution data (120) in the third axis direction of the three-dimensional coordinate system and the second axis coordinate.

[0089] According to the configuration of 8) above, if the relationship between the length in the third axis direction of the distribution region where the tool condition is satisfied and the second axis coordinate is set in advance, the determination unit (56) can determine whether the tool condition is satisfied based on this relationship. This allows the determination unit (56) to make an appropriate determination according to the tool condition to be determined.

[0090] 9) A tool check program (95) for a robotic arm according to at least one embodiment of the present disclosure includes: On the computer, a movement control step (S13) for controlling the robot arm (30) so that the tool (40) is positioned at a first axis coordinate of the three-dimensional coordinate system in accordance with a tool condition relating to at least one of the type and state of the tool (40) to be attached to the robot arm (30) in an inspection space (99) defined as a three-dimensional coordinate system; After the movement control step (S13), a distribution data acquisition step (S17) is performed to acquire distribution data (120) of the object (98) in the inspection space (99), the distribution data being represented by a combination of the second axis coordinate and the third axis coordinate of the three-dimensional coordinate system; and a determining step (S19) of determining whether the tool conditions are satisfied based on the distribution data (120).

[0091] According to the configuration 9) above, for the same reason as in 1), a tool check program (95) for a robot arm that can accurately determine whether the tool conditions are satisfied is realized.

[0092] 10) A tool check method for a robotic arm according to at least one embodiment of the present disclosure, comprising: a movement control step (S13) for controlling the robot arm (30) so that the tool (40) is positioned at a first axis coordinate of the three-dimensional coordinate system in accordance with a tool condition relating to at least one of the type and state of the tool (40) to be attached to the robot arm (30) in an inspection space (99) defined as a three-dimensional coordinate system; After the movement control step (S13), a distribution data acquisition step (S17) is performed to acquire distribution data (120) of the object (98) in the inspection space (99), the distribution data being represented by a combination of the second axis coordinate and the third axis coordinate of the three-dimensional coordinate system; and a determining step (S19) for determining whether the tool conditions are satisfied based on the distribution data (120).

[0093] According to the configuration 10) above, for the same reason as in 1), a tool check method for a robot arm that can accurately determine whether the tool conditions are satisfied can be realized. [Explanation of symbols]

[0094] 8: 3D camera 8A: Shooting range 30: Robot arm 40: Tools 50: Tool check device 52: Posture acquisition part 53: Movement control unit 55: Distribution data acquisition unit 56: Judgment section 70: Photographed image 88 :Limited area 95: Tool check program 98 :object 99: Inspection space 120: Distribution data 120A: Corresponding distribution data S: Low brightness threshold L: High brightness threshold

Claims

1. a movement control unit configured to control the robot arm so that, in an inspection space defined as a three-dimensional coordinate system, the tool is placed at a first axis coordinate of the three-dimensional coordinate system according to a tool condition related to at least one of a type and a state of a tool to be attached to the robot arm; a distribution data acquisition unit configured to acquire distribution data of the object in the inspection space, which is represented by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after control by the movement control unit; a determination unit configured to determine whether the tool condition is satisfied based on the distribution data; and Equipped with the distribution data acquisition unit is configured to perform a filter process on the distribution data to extract corresponding distribution data, which is the distribution data at the first axis coordinate according to the tool condition; The determining unit is configured to determine whether the tool condition is satisfied based on the corresponding distribution data. Tool checking device for robot arms.

2. A movement control unit configured to control the robot arm so that, in an inspection space defined as a three-dimensional coordinate system, the tool is positioned at a first axis coordinate of the three-dimensional coordinate system according to tool conditions relating to at least one of the type and state of the tool to be attached to the robot arm; a distribution data acquisition unit configured to acquire distribution data of the object in the inspection space, which is represented by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after control by the movement control unit; a determination unit configured to determine whether the tool condition is satisfied based on the distribution data; and Equipped with The distribution data is data included in photographed image data of the object generated by a 3D camera whose photographing range is the inspection space, and is data in which each of a plurality of pixels constituting a photographed image represented by a combination of the second axis coordinate and the third axis coordinate is associated with a luminance value correlating with the distance from the object to the 3D camera. Tool checking device for robot arms.

3. the distribution data acquisition unit is configured to perform a filter process on the distribution data to extract corresponding distribution data, which is the distribution data at the first axis coordinate according to the tool condition; The determining unit is configured to determine whether the tool condition is satisfied based on the corresponding distribution data.

3. The tool check device for a robot arm according to claim 2.

4. The distribution data acquisition unit is configured to perform binarization processing on the photographed image data generated by the 3D camera using a high luminance threshold and a low luminance threshold according to the tool condition, and acquire corresponding distribution data, which is the distribution data in the first axis coordinate according to the tool condition.

4. A tool check device for a robot arm according to claim 2 or 3.

5. a posture acquisition unit configured to acquire posture data indicating a posture of the 3D camera in the inspection space; The distribution data acquisition unit is configured to acquire the distribution data in the captured image, which is a partial region of the original captured image captured by the 3D camera and is determined based on the posture data.

5. A tool check device for a robot arm according to any one of claims 2 to 4.

6. The determination unit is configured to determine whether the tool condition is satisfied based on a distribution area of ​​the object indicated by the distribution data.

6. A tool check device for a robot arm according to any one of claims 1 to 5.

7. A movement control unit configured to control the robot arm so that, in an inspection space defined as a three-dimensional coordinate system, the tool is positioned at a first axis coordinate of the three-dimensional coordinate system according to tool conditions relating to at least one of the type or state of the tool to be attached to the robot arm; a distribution data acquisition unit configured to acquire distribution data of the object in the inspection space, which is represented by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after control by the movement control unit; a determination unit configured to determine whether the tool condition is satisfied based on the distribution data; and Equipped with the determination unit is configured to determine whether the tool condition is satisfied based on a distribution area of ​​the object indicated by the distribution data, The determination unit is configured to identify a limited area based on a center of gravity position of a distribution area indicated by the distribution data, and determine whether the tool condition is satisfied based on the distribution area in the limited area. Tool checking device for robot arms.

8. A movement control unit configured to control the robot arm so that, in an inspection space defined as a three-dimensional coordinate system, the tool is positioned at a first axis coordinate of the three-dimensional coordinate system according to tool conditions relating to at least one of the type or state of the tool to be attached to the robot arm; a distribution data acquisition unit configured to acquire distribution data of the object in the inspection space, which is represented by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after control by the movement control unit; a determination unit configured to determine whether the tool condition is satisfied based on the distribution data; and Equipped with The determination unit is configured to determine whether the tool condition is satisfied based on a relationship between a length of a distribution region indicated by the distribution data in a third axis direction of the three-dimensional coordinate system and the second axis coordinate. Tool checking device for robot arms.

9. On the computer, a movement control step for controlling the robot arm so that, in an inspection space defined as a three-dimensional coordinate system, the tool is positioned at a first axis coordinate of the three-dimensional coordinate system according to a tool condition relating to at least one of a type and a state of a tool to be attached to the robot arm; a distribution data acquisition step for acquiring distribution data of the object in the inspection space, the distribution data being represented by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after the movement control step; a determining step of determining whether the tool condition is satisfied based on the distribution data; A tool check program for a robot arm for executing The distribution data is data included in photographed image data of the object generated by a 3D camera whose photographing range is the inspection space, and is data in which each of a plurality of pixels constituting a photographed image represented by a combination of the second axis coordinate and the third axis coordinate is associated with a luminance value correlating with the distance from the object to the 3D camera. Tool checking program for robotic arms.

10. a movement control step of controlling the robot arm so that, in an inspection space defined as a three-dimensional coordinate system, the tool is positioned at a first axis coordinate of the three-dimensional coordinate system according to a tool condition relating to at least one of a type and a state of a tool to be attached to the robot arm; a distribution data acquisition step for acquiring distribution data of the object in the inspection space, the distribution data being represented by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after the movement control step; a determining step for determining whether the tool condition is satisfied based on the distribution data; A tool check method for a robot arm comprising: The distribution data is data included in photographed image data of the object generated by a 3D camera whose photographing range is the inspection space, and is data in which each of a plurality of pixels constituting a photographed image represented by a combination of the second axis coordinate and the third axis coordinate is associated with a luminance value correlating with the distance from the object to the 3D camera. Tool checking method for robotic arms.

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