Position inspection system, part assembly system, position inspection device, position inspection method, and part assembly method

Abstract

To provide a position inspection system, a part assembly system, a position inspection device, a position inspection method, and a part assembly method capable of appropriately detecting the amount of positional deviation of an object.SOLUTION: A position inspection system according to an embodiment of the present disclosure includes: a gripping unit 1 that grips an object, an imaging unit 2 that captures an inspection image of the object gripped by the gripping unit; an image comparison unit 33 that compares the inspection image captured by the imaging unit 2 with a comparison image of the object held in a normal position, and specifies the amount of rotation of the object from the normal position in the inspection image plane as a first amount of rotation; an angle specifying unit 32 that specifies, as a correction angle, an angle between a direction in which a specific part of the object is facing and a direction in which the inspection image is taken based on control information of the gripping unit 1; and a rotation amount specifying unit 34 that specifies, as a second rotation amount, a rotation amount of the object from the normal position around the direction in which the specific part of the object is facing, based on the first rotation amount and the correction angle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a position inspection system, a part assembly system, a position inspection device, a position inspection method, and a part assembly method. [Background technology]

[0002] Patent Document 1 describes an object detection device for detecting a target object depicted in an image. The object detection device described in Patent Document 1 extracts a plurality of predetermined features from an image depicting the target object, and determines whether or not the target object is depicted in an area on the image based on the extracted predetermined features. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-33555 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, with the development of artificial intelligence (AI) technology, there has been an increase in reports of technology for recognizing specific objects from images, such as that described in Patent Document 1. A technology related to Patent Document 1 is a technology that takes an inspection image of an object from a fixed point and determines whether the object is positioned in the correct position based on the position and shape of the object shown in the inspection image.

[0005] This technology can detect the amount of positional deviation of an object in the vertical and horizontal directions based on the position of the object within the plane of the inspection image. Furthermore, this technology can detect the amount of positional deviation of the object in the depth direction based on the size of the object in the plane of the inspection image. Furthermore, this technology can detect the amount of positional deviation caused by the rotation of the object about a rotation axis parallel to the photographing direction of the inspection image, i.e., the amount of rotation, based on the amount of rotation of the object within the plane of the inspection image.

[0006] However, this technique has the problem that it cannot detect the amount of rotation of the object around a rotation axis that is not parallel to the imaging direction of the inspection image, i.e., it cannot adequately detect the positional deviation of the object.

[0007] The present disclosure has been made to solve such problems, and aims to provide a position inspection system, a component assembly system, a position inspection device, a position inspection method, and a component assembly method that are capable of appropriately detecting the amount of positional deviation of an object. [Means for solving the problem]

[0008] A position inspection system according to one aspect of the present disclosure includes: a gripping unit that grips an object; an imaging unit that captures an inspection image of the object grasped by the grasping unit; an image comparison unit that compares the inspection image captured by the imaging unit with a comparison image of the object being held in a normal position, and identifies the amount of rotation of the object from the normal position within the inspection image plane as a first amount of rotation; an angle specifying unit that specifies, as a correction angle, an angle formed between a direction in which a specific portion of the object is facing and a photographing direction of the inspection image based on control information of the gripping unit; a rotation amount specifying unit that specifies, as a second rotation amount, an amount of rotation from a normal position of the object around a direction in which a specific part of the object is facing, based on the first rotation amount and the correction angle; It is a position inspection system.

[0009] With this configuration, the position inspection system according to one aspect of the present disclosure can identify the amount of rotation of the object from its normal position around a rotation axis that is not parallel to the direction in which the inspection image is captured. As a result, a position inspection system according to one aspect of the present disclosure can appropriately detect the amount of misalignment of an object.

[0010] In the position detection system according to the embodiment of the present disclosure, the object may have a flat surface, and the direction in which the specific portion of the object faces may point in the normal direction of the flat surface.

[0011] In a position inspection system according to one aspect of the present disclosure, the gripping unit may include an adsorption unit that adsorbs onto the flat portion, and a rotation axis that is connected perpendicular to the adsorption surface of the adsorption unit.

[0012] In the position inspection system according to the embodiment of the present disclosure, the gripping unit may correct the position of the object based on the second amount of rotation.

[0013] In the position inspection system according to one embodiment of the present disclosure, the correction angle may not be 90 degrees.

[0014] In the position detection system according to an aspect of the present disclosure, the second rotation amount may be calculated based on the following formula (1). θ2=θ1 / cosθ3 Equation (1) Here, θ1 is the first rotation amount, θ2 is the second rotation amount, and θ3 is the correction angle.

[0015] A part assembly system according to one aspect of the present disclosure includes: a gripping unit that grips the part; an imaging unit that captures an inspection image of the part gripped by the gripping unit; an image comparison unit that compares the inspection image captured by the imaging unit with a comparison image of the part held in a normal position, and identifies the amount of rotation of the part from the normal position within the inspection image plane as a first amount of rotation; an angle specifying unit that specifies, as a correction angle, an angle formed between a direction in which a specific portion of the component is facing and a photographing direction of the inspection image based on control information of the gripping unit; a rotation amount specifying unit that specifies, as a second rotation amount, an amount of rotation of the component from a normal position around a direction in which a specific portion of the component is facing, based on the first rotation amount and the correction angle; the gripping unit corrects the position of the part based on the second amount of rotation and assembles the part relative to the other part; It is a parts assembly system.

[0016] A position inspection device according to one aspect of the present disclosure includes: an image comparison unit that compares an inspection image of the object with a comparison image of the object held in a normal position, and identifies the amount of rotation of the object from the normal position within the inspection image plane as a first amount of rotation; an angle specifying unit that specifies, as a correction angle, an angle formed between a direction in which a specific portion of the object is facing and a photographing direction of the inspection image; a rotation amount specifying unit that specifies, as a second rotation amount, an amount of rotation from a normal position of the object around a direction in which a specific part of the object is facing, based on the first rotation amount and the correction angle; It is a position inspection device.

[0017] A position inspection method according to one aspect of the present disclosure includes: comparing the inspection image of the object with a comparison image of the object held in a normal position; Identifying a rotation amount from a normal position of the object in the inspection image plane as a first rotation amount; Identifying an angle between a direction in which a specific portion of the object is facing and a photographing direction of the inspection image as a correction angle; specifying, as a second rotation amount, an amount of rotation from a normal position of the object around a direction in which a specific portion of the object is facing, based on the first rotation amount and the correction angle; This is a position inspection method.

[0018] A component assembling method according to one aspect of the present disclosure includes: Grip the part, Taking an inspection image of the gripped part; comparing the captured inspection image with a comparison image of the part held in a normal position; Identifying a rotation amount of the component from a normal position within the inspection image plane as a first rotation amount; Identifying an angle between a direction in which a specific portion of the object is facing and a photographing direction of the inspection image as a correction angle; specifying, as a second rotation amount, a rotation amount from a normal position of the object around a direction in which a specific portion of the object is facing, based on the first rotation amount and the correction angle; correcting the position of the component based on the second amount of rotation and assembling the component relative to another component; This is a method of assembling parts. [Effects of the Invention]

[0019] The present disclosure can provide a position inspection system, a component assembly system, a position inspection device, a position inspection method, and a component assembly method that can appropriately detect the amount of positional deviation of an object. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a block diagram showing a configuration of a part assembly system according to a first embodiment. [Figure 2] FIG. 2 is a schematic perspective view showing the shape of a component according to the first embodiment. [Figure 3] 1 is a schematic diagram showing a device configuration of a component assembly system according to a first embodiment. [Figure 4] 2 is a schematic diagram showing the configuration of a gripping portion according to the first embodiment. FIG. [Figure 5] FIG. 2 is a block diagram showing the configuration of a control unit 3 according to the first embodiment. [Figure 6] 4 is a flowchart illustrating the operation of the component assembly system according to the first embodiment. [Figure 7] 10 is a flowchart illustrating the operation of a component assembly system according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0021] (First embodiment) <Component assembly system configuration> A first embodiment of the present disclosure will be described in detail below with reference to the drawings. First, the configuration of a component assembly system according to this embodiment will be described in detail. Fig. 1 is a block diagram illustrating the configuration of the component assembly system according to the first embodiment.

[0022] The component assembly system 100 according to this embodiment manufactures a product by assembling a component to another component. The component assembly system 100 according to this embodiment includes a gripping unit 1, a photographing unit 2, and a control unit 3.

[0023] More specifically, the component assembly system 100 according to this embodiment grips a component, inspects the positional deviation of the gripped component, corrects the position of the gripped component based on the detected positional deviation of the component, and assembles the component relative to another component.

[0024] Fig. 2 is a schematic perspective view showing an example of the shape of a part according to the first embodiment. More specifically, Fig. 2 is a schematic perspective view showing an example of the shape of a part that the part assembly system 100 grips. The part W according to this embodiment is an object for which the part assembly system 100 according to this embodiment performs position inspection. In particular, the part assembly system 100 according to this embodiment identifies the amount of rotation of the part W from the normal position around the normal direction L.

[0025] The part W according to this embodiment is a part having a rectangular parallelepiped shape as shown in Fig. 2. The part W has a plane portion H surrounded by points P1, P2, P3, and P4, and a normal direction L is defined with respect to the plane portion H.

[0026] However, the shape of the part W according to this embodiment is not limited to the shape shown in Fig. 2. The shape of the part W according to this embodiment may be any shape as long as it is a shape that allows definition of a specific part and the direction in which the part faces. For example, the part W may have a protrusion as a specific portion, and may have a shape in which the length direction of the protrusion is defined as the direction in which the protrusion is facing.

[0027] 3 is a schematic diagram showing the device configuration of the component assembly system according to the first embodiment. The component assembly system 100 according to this embodiment may be configured with a robot arm 10, a camera 20, and a computer 30, for example, as shown in FIG.

[0028] The robot arm 10, the camera 20, and the computer 30 correspond to the above-mentioned gripping unit 1, the photographing unit 2, and the control unit 3, respectively. The robot arm 10, the camera 20, and the computer 30 are connected by wire, wirelessly, or both.

[0029] In the device configuration shown in Figure 2, a robot arm 10 grasps a part W, and a camera 20 and a computer 30 inspect the positional deviation of the grasped part, in particular the amount of rotation of the part W from its normal position around the normal direction L. Then, the robot arm 10 corrects the position of the gripped part W based on the detected positional deviation, and assembles the part W with respect to other parts.

[0030] However, the device configuration of the component installation system 100 according to this embodiment is not limited to that shown in Fig. 2. For example, the component installation system 100 according to this embodiment may be realized as a single device.

[0031] Returning to the explanation of Figure 1. The gripping unit 1 grips the part W. More specifically, the gripping unit 1 according to this embodiment grips the part W based on control from the control unit 3. Then, the gripping unit 1 corrects the position of the gripped part W to the correct position based on control from the control unit 3, and assembles the part W with respect to other parts.

[0032] Fig. 4 is a schematic diagram showing the configuration of the gripping unit according to the first embodiment. The gripping unit 1 according to this embodiment is composed of, for example, an adsorption unit 11, a rotation axis 12, and a robot arm unit 13, as shown in Fig. 4. Note that only a portion of the robot arm unit 13 is shown in the figure.

[0033] The suction unit 11 is an end effector that suctions and holds the component W. The suction unit 11 is attached to the flat surface H of the component W. The suction unit 11 is, for example, a suction cup that vacuum-sucks the component W or an electromagnet that magnetically attracts the component W. The suction unit 11 can switch between suction-holding and release of suction in response to a control signal from the control unit 3. The suction unit 11 is connected to the rotation shaft 12 so that the rotation shaft 12 is perpendicular to the suction surface of the suction unit 11. When the suction unit 11 is suctioning the flat portion H of the component W, the suction surface of the suction unit 11 and the flat portion H are parallel to each other.

[0034] The suction unit 11 is configured to rotate in accordance with the rotation of the rotating shaft 12. When the suction unit 11 rotates in accordance with the rotation of the rotating shaft 12, the part W that is sucked by the suction unit 11 also rotates accordingly.

[0035] The rotation axis 12 is an axis connected perpendicularly to the suction surface of the suction unit 11 , and connects the suction unit 11 and the robot arm unit 13 . The rotation axis 12 is connected to a rotation mechanism of the robot arm unit 13 and is configured to rotate together with the suction unit 11.

[0036] When the suction unit 11 is suctioning the flat surface H of the component W, the rotation axis 12 is perpendicular to the flat surface H. In other words, when the suction unit 11 is suctioning the flat surface H of the component W, the length direction (axial direction) of the rotation axis 12 and the normal direction L of the flat surface H coincide with each other.

[0037] The robot arm unit 13 is a robot arm that bends and straightens its joints based on control from the control unit 3, and adjusts the positions of the adhesive unit 11 and the rotation axis 12. The robot arm unit 13 is, for example, an arm mechanism with seven degrees of freedom. The adhesive unit 11 is connected to the tip of the robot arm unit 13 via the rotation axis 12. More specifically, the robot arm unit 13 according to this embodiment adjusts the positions of the adhesive unit 11 and the rotation axis 12 in the up-down direction, left-right direction, and depth direction, and adjusts the orientation of the length direction of the rotation axis 12. The robot arm unit 13 has a rotation mechanism and is configured to be able to rotate the suction unit 11 and the rotation shaft 12 around the length direction of the rotation shaft 12 .

[0038] As described above, when the suction unit 11 is suctioning the flat portion H of the component W, the suction surface of the suction unit 11 and the flat portion H are parallel, and the length direction of the rotation shaft 12 coincides with the normal direction L of the flat portion H. Therefore, the robot arm unit 13 can adjust the position and orientation of the component W by adjusting the positions of the suction unit 11 and the rotation shaft 12.

[0039] That is, the gripping unit 1 according to this embodiment is configured to be able to adjust the direction in which the flat surface H, i.e., a specific portion of the part W, faces. In other words, the control information for the gripping unit 1 includes information corresponding to two of the three rotational degrees of freedom that determine the orientation of the part W.

[0040] Returning to the explanation of Figure 1. The photographing unit 2 photographs an inspection image of the part W held by the holding unit 1. The photographing unit 2 outputs the photographed inspection image to the control unit 3. The photographing direction of the photographing unit 2 is set so as not to be perpendicular to the direction in which a specific portion of the part W faces. With this configuration, the amount of rotation of the part W from its normal position around the normal direction L can be appropriately identified. The photographing direction of the photographing unit 2 can be defined as a direction that coincides with the optical axis of the lens of the camera 20. Therefore, the camera 20 photographs the flat portion H, which is the surface to be attached of the part W, from an oblique direction.

[0041] The control unit 3 controls the operation of the part installation system 100 . In particular, the control unit 3 determines the amount of rotation of the part W from its normal position around the normal direction L based on the control information of the gripping unit 1 and the inspection image captured by the imaging unit 2. Then, the control unit 3 corrects the position of the part W based on the determined amount of rotation. The control unit 3 includes a grip control unit 31, an angle specifying unit 32, an image comparison unit 33, and a rotation amount specifying unit .

[0042] FIG. 5 is a block diagram showing the configuration of the control unit 3 according to the first embodiment. 4, and a storage unit 36 ​​such as a RAM (Random Access Memory) or a ROM (Read Only Memory) that stores programs and data for controlling the component assembly system 100. In other words, the control unit 3 has the functions of a computer, and controls the component assembly system 100 based on the programs.

[0043] 1 can be realized in hardware terms by the CPU, storage unit, other circuits, etc., and in software terms by a program stored in the storage unit for controlling the part assembly system 100. In other words, the control unit 3 can be realized in various forms by hardware, software, or a combination of both.

[0044] The program includes a set of instructions (or software code) that, when loaded into a computer, causes the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0045] Returning to the explanation of Figure 1. The gripping control unit 31 controls the operation of the gripping unit 1. More specifically, the gripping control unit 31 controls the gripping unit 1 to grip the part W. Then, the gripping control unit 31 controls the gripping unit 1 to move the part W to a predetermined position, that is, the photographing position for the inspection image. The grip control unit 31 outputs control information for the grip unit 1 to the angle identification unit 32 .

[0046] The control information of the gripper 1 here refers to information such as the degree of bending of the joints of the robot arm 13, and is control information used to adjust the positions of the part W, the suction unit 11, and the rotation shaft 12. As described above, the control information of the gripper 1 essentially includes position information of the suction unit 11 and the rotation shaft 12.

[0047] The grip control unit 31 acquires from the rotation amount specifying unit 34 a second rotation amount, which will be described later, that is, the rotation amount of the part W from the normal position around the direction in which the specific portion of the part W is facing. The gripping control unit 31 controls the gripping unit 1 based on the acquired second rotation amount to correct the position of the gripped part W.

[0048] The angle identification unit 32 acquires control information of the grip unit 1 from the grip control unit 31. The angle specifying unit 32 specifies, as the correction angle, the angle formed between the direction in which a specific portion of the part W faces and the photographing direction of the inspection image, based on the control information of the gripping unit 1. In other words, the angle specifying unit 32 specifies, as the correction angle, the angle formed between the normal direction L and the photographing direction of the inspection image.

[0049] More specifically, the angle identifying unit 32 according to this embodiment identifies the normal direction of the suction surface of the suction unit 11, in other words, the length direction of the rotation axis 12, based on the control information of the grip unit 1. As described above, the suction surface of the suction unit 11 is perpendicular to the normal direction L, and the rotation axis 12 is parallel to the normal direction L. Therefore, the direction identified based on the control information of the gripping unit 1 coincides with the normal direction L.

[0050] That is, the angle specifying unit 32 according to this embodiment specifies the orientation of the normal direction L by specifying the length direction of the rotation shaft 12 based on the control information of the gripping unit 1. Then, the angle formed between the specified normal direction L and the imaging direction of the inspection image is specified as the correction angle. The angle specifying unit 32 outputs the specified correction angle to the rotation amount specifying unit 34.

[0051] The image comparison unit 33 acquires an inspection image of the part W from the photographing unit 2. The image comparison unit 33 compares the inspection image captured by the photographing unit 2 with a comparison image captured of the part W held in the correct position, and identifies the amount of rotation of the part W from the correct position within the inspection image plane as the first amount of rotation. The image comparison unit 33 outputs the identified first rotation amount to the rotation amount identification unit .

[0052] The image comparison unit 33 may use, for example, artificial intelligence (AI) to recognize the component W appearing in the inspection image and the comparison image. The image comparison unit 33 may also use, for example, artificial intelligence (AI) to recognize a specific portion of the component W appearing in the inspection image and the comparison image.

[0053] In addition, the image comparison unit 33 may compare the inspection image captured by the photographing unit 2 with a comparison image captured of the part W held in the correct position, and identify the amount of positional deviation of the part W in the vertical, horizontal, and depth directions.

[0054] The image comparison unit 33 may, for example, identify the amount of positional deviation of the component W in the vertical and horizontal directions by comparing the position of the component W in the inspection image with the position of the component W in the comparison image.

[0055] Furthermore, the image comparison unit 33 may identify the amount of positional deviation of the component W in the depth direction by, for example, comparing the size of the component W in the inspection image with the size of the component W in the comparison image.

[0056] The rotation amount specifying unit 34 obtains the correction angle from the angle specifying unit 32 and obtains the first rotation amount from the image comparing unit 33. Based on the acquired first rotation amount and correction angle, the rotation amount specifying unit 34 specifies, as the second rotation amount, the amount of rotation of the part W from the normal position around the direction in which the specific portion of the part W is facing. In other words, based on the acquired first rotation amount and correction angle, the rotation amount specifying unit 34 specifies the amount of rotation of the part W from the normal position around the normal direction L. The rotation amount specifying unit 34 outputs the specified second rotation amount to the grip control unit 31.

[0057] The rotation amount specifying unit 34 calculates the second rotation amount based on, for example, the following formula (1). θ2=θ1 / cosθ3 Equation (1) however, θ1 is the first rotation amount, θ2 is the second rotation amount, θ3 is the correction angle.

[0058] <Parts assembly system operation> Next, a detailed description will be given of the operation of the part installation system, that is, the part installation method according to the first embodiment. Fig. 6 is a flowchart for explaining the operation of the part installation system according to the first embodiment.

[0059] First, the gripping unit 1 grips the part W (step ST101). Next, the photographing unit 2 photographs an inspection image of the part W (step ST102). The inspection image photographed by the photographing unit 2 is output to the control unit 3.

[0060] Next, the image comparison unit 33 compares the inspection image with the comparison image to identify the first rotation amount (step ST103). Next, the angle identifying unit 32 identifies the correction angle based on the control information of the gripping unit 1 (step ST104). More specifically, the angle identifying unit 32 identifies the correction angle based on the control information of the gripping unit 1 at the timing when the inspection image was captured. Note that steps ST103 and ST104 may be executed in the reverse order or may be executed in parallel.

[0061] Next, the rotation amount specifying unit 34 specifies the second rotation amount based on the first rotation amount and the correction angle (step ST105).

[0062] Next, the gripping unit 1 corrects the position of the part based on the second rotation amount (step ST106). Finally, the gripping unit 1 assembles the part to another part (step ST107), and the part assembly system 100 ends the series of operations.

[0063] As described above, the part assembly system 100 according to this embodiment identifies the direction in which a specific portion of the part W faces from the control information of the gripping unit 1. The component assembly system 100 according to this embodiment determines the amount of rotation of the component W from its normal position around the direction in which the specific portion of the component W is facing, based on the direction in which the component W is facing, the direction in which the inspection image was taken, and the amount of rotation of the component W from its normal position within the inspection image plane.

[0064] With this configuration, it is possible to identify the amount of rotation of the part W from its normal position around a rotation axis that is not parallel to the direction in which the inspection image is captured. As a result, the part assembly system 100 according to this embodiment can appropriately detect the deviation of the position of the gripped part W, and can correct the position of the part to the correct position.

[0065] (Other embodiments) The component assembly system 100 according to the first embodiment corrects the position of the component (step ST106) and assembles the component W to other components without inspecting the corrected position of the component (step ST107). However, the component assembly system 100 according to the present disclosure may assemble the component W to other components after inspecting the corrected position of the component.

[0066] Fig. 7 is a flowchart showing the operation of the component installation system 100 according to another embodiment. More specifically, Fig. 7 is a flowchart showing the operation of the component installation system 100 when inspecting the position of the component W after correction.

[0067] 7, first, the gripping unit 1 grips the part W (step ST201). Next, the photographing unit 2 and the control unit 3 inspect the position of the part W (step ST202).

[0068] However, the position inspection of the component W here refers to a series of operations from step ST102 to step ST105 among the operations described in the flowchart shown in Fig. 6. In other words, in step ST202, a series of operations from step ST102 to step ST105 is executed.

[0069] Next, the gripping unit 1 corrects the position of the part W based on the second rotation amount (step ST203).Then, the photographing unit 2 and the control unit 3 inspect the position of the part W (step ST204). That is, in the operation shown in the flowchart of FIG. 7, after the gripping unit 1 corrects the position of the part, the operation performed in step ST202 is performed again.

[0070] Next, the grip control unit 31 determines whether or not the second rotation amount is equal to or less than a predetermined value (step ST205). More specifically, the grip control unit 31 determines whether or not the second rotation amount identified in step ST204 is equal to or less than a predetermined value.

[0071] If the second rotation amount is equal to or less than the predetermined value (Yes in step ST205), the gripping unit 1 assembles the part to another part (step ST206), and the part assembly system 100 ends the series of operations.

[0072] If the second rotation amount is not equal to or less than the predetermined value (No in step ST205), the series of operations from step ST203 to step ST205 are executed again. That is, in the operation shown in the flowchart of Fig. 7, the series of operations from step ST203 to step ST205 are repeated until the second rotation amount becomes equal to or less than the predetermined value. With this configuration, the part assembly system 100 can assemble the part W to other parts after more appropriately correcting the position of the part W.

[0073] Although the operation of the gripping unit 1 according to the first embodiment is controlled by the control unit 3, the configuration of the gripping unit according to the present disclosure is not limited to this. For example, the grip portion 1 according to the present disclosure may have a control mechanism for controlling its own operation, and may operate based on the control of the control mechanism.

[0074] In this case, the gripping unit 1 outputs control information to the control unit 3. Then, the gripping unit 1 acquires the second rotation amount from the control unit 3, and corrects the position of the part W based on the acquired second rotation amount. In this case, the control unit 3 does not need to include the grip control unit 31, but only needs to include at least the angle identification unit 32, the image comparison unit 33, and the rotation amount identification unit 34. In this case, the control unit 3 may be called, for example, a position inspection device.

[0075] The component assembly system 100 according to the first embodiment inspects the position of the gripped component and then assembles it to another component, but the system according to the present disclosure is not limited to such a configuration. For example, the system according to the present disclosure may only identify the second rotation amount of the grasped object, i.e., the system according to the present disclosure may not execute the steps of correcting the position of the object based on the second rotation amount and assembling the object to another component. In this case, the system according to the present disclosure may be called, for example, a position inspection system.

[0076] The present invention has been described above in accordance with the above-described embodiments, but the present invention is not limited to the configurations of the above-described embodiments, and naturally includes various modifications, alterations, and combinations that can be made by a person skilled in the art within the scope of the invention claimed in the claims of this application. [Explanation of symbols]

[0077] 1 Gripping part 10 Robotic Arm 11 Adsorption part 12 Rotation axis 13 Robot arm 2. Filming Department 20 Camera 3. Control Unit 30 Computer 31 Grip control unit 32 Angle identification part 33 Image Comparison Section 34 Rotation amount determination unit 100 Parts Assembly System W Parts

Claims

1. a gripping unit that grips an object; an imaging unit that captures an inspection image of the object grasped by the grasping unit; an image comparison unit that compares the inspection image captured by the imaging unit with a comparison image of the object being held in a normal position, and identifies the amount of rotation of the object from the normal position within the inspection image plane as a first amount of rotation; an angle specifying unit that specifies, as a correction angle, an angle formed between a direction in which a specific portion of the object is facing and a photographing direction of the inspection image based on control information of the gripping unit; a rotation amount specifying unit that specifies, as a second rotation amount, a rotation amount from a normal position of the object around a direction in which a specific portion of the object is facing, based on the first rotation amount and the correction angle. Position inspection system.

2. The object has a flat surface, and the direction in which the specific portion of the object faces is the normal direction of the flat surface. The position inspection system of claim 1 .

3. The gripping portion includes an adsorption portion that adsorbs onto the flat portion, and a rotation shaft that is connected perpendicularly to the adsorption surface of the adsorption portion. The position inspection system of claim 2 .

4. the gripping unit corrects the position of the object based on the second rotation amount.

4. A position inspection system according to claim 1.

5. The correction angle is not 90 degrees.

4. A position inspection system according to claim 1.

6. 4. The position detection system according to claim 1, wherein the second rotation amount is calculated based on the following formula (1): i ２ =θ １ / cosθ ３ ・・・formula (1) however, θ １ is the first rotation amount, θ ２ is the second rotation amount, θ ３ is the correction angle.

7. a gripping unit that grips an object; an imaging unit that captures an inspection image of the object grasped by the grasping unit; an image comparison unit that compares the inspection image captured by the imaging unit with a comparison image of the object being held in a normal position, and identifies the amount of rotation of the object from the normal position within the inspection image plane as a first amount of rotation; an angle specifying unit that specifies, as a correction angle, an angle formed between a direction in which a specific portion of the object is facing and a photographing direction of the inspection image based on control information of the gripping unit; a rotation amount specifying unit that specifies, as a second rotation amount, a rotation amount from a normal position of the object around a direction in which a specific portion of the object is facing, based on the first rotation amount and the correction angle, the gripping unit corrects the position of the component based on the second rotation amount, and assembles the component with respect to another component. Parts assembly system.

8. an image comparison unit that compares an inspection image of the object with a comparison image of the object held in a normal position, and identifies an amount of rotation of the object from the normal position within the inspection image plane as a first amount of rotation; an angle specifying unit that specifies, as a correction angle, an angle formed between a direction in which a specific portion of the object is facing and a photographing direction of the inspection image; a rotation amount specifying unit that specifies, as a second rotation amount, a rotation amount from a normal position of the object around a direction in which a specific portion of the object is facing, based on the first rotation amount and the correction angle; Position inspection device.

9. comparing the inspection image of the object with a comparison image of the object held in a normal position; Identifying a rotation amount from a normal position of the object in the inspection image plane as a first rotation amount; Identifying an angle between a direction in which a specific portion of the object is facing and a photographing direction of the inspection image as a correction angle; specifying, as a second rotation amount, an amount of rotation from a normal position of the object around a direction in which a specific portion of the object is facing, based on the first rotation amount and the correction angle; Position inspection method.

10. Grip the part, Taking an inspection image of the gripped part; comparing the captured inspection image with a comparison image of the part held in a normal position; Identifying a rotation amount of the component from a normal position within the inspection image plane as a first rotation amount; Identifying an angle between a direction in which a specific portion of the component is facing and a photographing direction of the inspection image as a correction angle; specifying, as a second rotation amount, a rotation amount from a normal position of the object around a direction in which a specific portion of the object is facing, based on the first rotation amount and the correction angle; correcting the position of the component based on the second amount of rotation and assembling the component with respect to another component; How to assemble parts.

Images