Robot control device

Abstract

Provided is a robot control device that can easily switch between an external image processing device and a built-in image processing device. In this robot control device, which uses an image processing device to image a target object by means of a vision sensor mounted on a robot or to image the target object by means of the vision sensor fixed and installed at a prescribed position, the image processing device is embedded in the robot control device or externally connected to the robot control device, and a vision execution command in a vision program in the image processing device and a vision execution command in a robot program in the robot control device are substantially shared by a built-in image processing device built into the robot control device and an external image processing device externally connected to the robot control device.

Description

Technical Field

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[0001] The present invention relates to a robot control device.

Background Art

[0002] There is known a system in which a work is detected or inspected by a vision sensor attached to a robot, and the robot performs work on the work (see, for example, Patent Document 1).

[0003] In such a system, an image processing device is connected to a robot control device, the result of image processing is acquired from the image processing device, and work is performed by the robot control device using the acquired result. Further, a configuration in which the image processing device is incorporated in the robot control device is also known. In this configuration, since an external image processing device is not required, the vision function can be used at a low cost.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When the image processing device is incorporated in the robot control device, although the cost is low, the image processing ability is limited by the computing ability of the robot control device. On the other hand, when the image processing device is externally attached to the robot control device, the cost becomes high, but the image processing ability is not limited by the computing ability of the robot control device. It is necessary to properly use both depending on the image processing ability required by the application.

[0006] In other words, it is necessary to be able to easily switch from an internal image processing unit to an external image processing unit when image processing capabilities are needed, or vice versa. Therefore, there is a need for a robot control device that can easily switch between an external image processing unit and an internal image processing unit. [Means for solving the problem]

[0007] A robot control device that uses an image processing device to capture an object using a vision sensor mounted on a robot, or a vision sensor fixed and installed at a predetermined position, according to one aspect of the present disclosure, wherein the image processing device is built into the robot control device or externally connected to the robot control device, and the vision execution commands in the vision program of the image processing device and the vision execution commands in the robot program of the robot control device are substantially the same in a built-in image processing device built into the robot control device and an external image processing device externally connected to the robot control device.

[0008] A program generation device capable of generating a program for a robot according to one aspect of the present disclosure includes a receiving unit that receives a designation of an internal image processing device built into a robot control device or an external image processing device attached to the robot control device, and a generation unit that substantially makes the vision execution commands in the program common when at least one of the internal image processing device and the external image processing device is designated.

[0009] A robot control device to which an image processing device can be connected according to one aspect of the present disclosure comprises a first connection part to which the image processing device can be connected, and a second connection part different from the first connection part to which the image processing device can be connected, wherein the vision execution commands in the vision program of the image processing device and the vision execution commands in the robot program are substantially common when the image processing device is connected to at least one of the first connection part and the second connection part.

[0010] A robot control device to which an image processing device can be connected according to one aspect of the present disclosure includes a connection part to which the image processing device can be connected, wherein the vision execution commands in the vision program of the image processing device and the vision execution commands in the robot program are substantially the same regardless of whether the image processing device is connected to the connection part or not. [Effects of the Invention]

[0011] According to the present invention, a robot control device can be provided that allows for easy switching between an external image processing device and an internal image processing device. [Brief explanation of the drawing]

[0012] [Figure 1] This figure shows the configuration of the robot system according to this embodiment. [Figure 2] This diagram shows the functional configuration of a robot control device. [Figure 3] This shows an example of a robot program when using a built-in image processing device. [Figure 4] An example of a robot program when using the external image processing unit 2B is shown. [Modes for carrying out the invention]

[0013] An example of an embodiment of the present invention will be described below. Figure 1 shows the configuration of the robot system 100 according to this embodiment. As shown in Figure 1, the robot system 100 comprises a robot control device 1, an image processing device 2A, an image processing device 2B, a robot 3, an arm 4, and a vision sensor 5.

[0014] The robot control device 1 executes a robot program for the robot 3 and controls the movement of the robot 3. The robot control device 1 uses image processing devices 2A and 2B that capture images of the target object W using a vision sensor 5 mounted on the robot 3. Alternatively, the robot control device 1 may use image processing devices 2A and 2B that capture images of the target object W using a vision sensor 5 fixedly installed in a predetermined position.

[0015] Image processing device 2A is an internal image processing device built into the robot control device 1, and image processing device 2B is an external image processing device connected to the robot control device 1. Image processing devices 2A and 2B control the vision sensor 5 and process the images captured by the vision sensor 5. The vision sensor 5 is configured to be connectable to either image processing device 2A or 2B. Image processing devices 2A and 2B use the processed images to control the robot 3 by the robot control device 1. Image processing device 2B may also be configured to communicate with a cloud computer via a network.

[0016] Image processing devices 2A and 2B hold a model pattern of the object W and can perform image processing to detect the workpiece by pattern matching between the image of the object W in the captured image and the model pattern.

[0017] In Figure 1, both image processing devices 2A and 2B are connected to the robot control device 1, but either one of the image processing devices 2A or 2B may be connected to the robot control device 1. Furthermore, the robot system 100 may have two or more image processing devices 2A and 2B.

[0018] The robot 3 is, for example, an articulated robot, and a hand or a tool is attached to the tip of the arm 4 of the robot 3. The robot 3 performs operations such as handling or machining of the object W on the pedestal 6 under the control of the robot control device 1. Also, a vision sensor 5 is attached to the tip of the arm 4 of the robot 3.

[0019] Note that the type of the robot 3 described above is not particularly limited, and other types of robots may be used. Also, the vision sensor 5 may not be attached to the robot 3, and may be fixedly installed at a predetermined position, for example.

[0020] The vision sensor 5 captures an image of the object W under the control of the image processing devices 2A and 2B. The vision sensor 5 may be a camera that captures a grayscale image or a color image, or may be a stereo camera or a 3D sensor that can acquire a distance image or a 3D point cloud. In the present embodiment, it is assumed that the vision sensor 5 has been calibrated, and the image processing devices 2A and 2B may hold calibration data that defines the relative positional relationship between the vision sensor 5 and the robot 30 and the internal parameters of the vision sensor 5. Thereby, the position on the image captured by the vision sensor 5 can be converted into the position on a coordinate system (such as a robot coordinate system) fixed in the work space. The robot control device 1 processes the image captured by the vision sensor 5 by the image processing device 2A or 2B, and operates the robot 3 using the processed image.

[0021] FIG. 2 is a diagram showing the functional configuration of the robot control device 1. The robot control device 1 includes a control unit 11, a storage unit 12, and the image processing devices 2A and 2B. The control unit 11 is a processor such as a CPU (Central Processing Unit), and realizes various functions by executing a program stored in the storage unit 12. The control unit 11 includes a vision execution unit 111 and a program setting unit 112.

[0022] The vision execution unit 111 captures the target object W with the vision sensor 5 by executing vision execution instructions from a robot program. The vision execution unit 111 detects or determines the target object W from the captured image.

[0023] The program setting unit 112 sets instructions such as vision execution instructions in the robot program.

[0024] The storage unit 12 is a storage device such as a ROM (Read Only Memory) that stores an OS (Operating System), application programs, etc., a RAM (Random Access Memory), a hard disk drive that stores various other information, an SSD (Solid State Drive), etc. The storage unit 12 stores various information such as, for example, the robot program 121.

[0025] The robot program 121 is stored in the storage unit 12 and is a program that describes the operations of the robot 3 and the processing content of IO (input and output). The robot program 121 calls the vision programs 122 and 222 and obtains the results, etc.

[0026] The vision program 122 is stored in the storage unit of the image processing device 2A, and the vision program 222 is stored in the storage unit 22 of the image processing device 2B. The vision programs 122 and 222 are programs that describe the processing content related to vision. The vision programs 122 and 222 are programs created by the user.

[0027] In the robot control device 1 according to this embodiment, the vision execution commands in the vision program 122 of the image processing device 2A and the vision program 222 of the image processing device 2B, and the vision execution commands in the robot program 121 of the robot control device 1 are substantially common to the built-in image processing device 2A incorporated into the robot control device 1 and the external image processing device 2B connected to the robot control device 1. In this specification, "the vision execution commands are substantially common" means that the vision execution commands are substantially identical, even if they differ in part. The built-in image processing device 2A is not limited to being built into the robot control device 1 as hardware. It also includes cases where software that enables the function of a vision sensor is installed in the robot control device 1, and the functions of the built-in image processing device 2A are part of the functions of the robot control device 1.

[0028] With this configuration, the robot control device 1 can easily switch between the built-in image processing unit 2A and the external image processing unit 2B because the vision execution commands in the vision program are substantially the same for both the built-in image processing unit 2A and the external image processing unit 2B. Furthermore, because the vision execution commands are common, the robot control device 1 can use the vision program regardless of whether or not it has been set by the program setting unit 112.

[0029] Figure 3 shows an example of a robot program when using the built-in image processing unit 2A, and Figure 4 shows an example of a robot program when using the external image processing unit 2B. As shown in Figure 4, the robot program for the external image processing unit 2B has the identifier "EXT1" added to the vision execution command, compared to the robot program for the built-in image processing unit 2A shown in Figure 3.

[0030] Specifically, in the robot program shown in Figure 4, "VISION_FIND EXT1“VP1”" and "VISION_GETPOS EXT1“VP1”P2" each add the identifier “EXT1” to the vision execution command.

[0031] Here, the vision execution command (VISION_FIND) is a command to execute the vision program VP1, for example, by capturing an image of the object W using the vision sensor 5 and detecting or determining the object W from the captured image. The position acquisition command (VISION_GETPOS) is a command to acquire the position from the vision program VP1.

[0032] Alternatively, you can add a command like "VISION = EXT1" before the vision execution command, so that you don't have to specify identifiers individually in subsequent vision execution commands.

[0033] The robot control device 1 transmits images acquired by the built-in image processing device 2A to the external image processing device 2B, and the external image processing device 2B processes the images. With this configuration, for example, if the external image processing device 2B has higher processing power than the built-in image processing device 2A, the robot control device 1 can perform image processing that is computationally intensive on the external image processing device 2B, thereby enabling efficient image processing. In addition, the robot control device 1 can also directly connect the vision sensor 5 to the external image processing device 2B.

[0034] Furthermore, instead of storing the vision program within the external image processing unit 2B as described above, the vision program in the external image processing unit 2B may operate on the cloud. This allows the robot control unit 1 to store the vision program on the cloud, enabling, for example, updates to the vision program via the network, and allowing the user to apply the updated, latest vision program to the robot control unit 1. Alternatively, the robot control unit 1 may be configured to directly process images using an image processing unit located on the cloud and transmit the processing results to the robot control unit 1. Such a configuration allows access to the vision program from anywhere and facilitates updates to the latest image processing software.

[0035] Furthermore, the settings screen for configuring the vision program is substantially the same for both the built-in image processing unit 2A and the external image processing unit 2B. For example, the settings screen for configuring the vision program, such as the user interface (UI), is substantially the same for both the built-in image processing unit 2A and the external image processing unit 2B. As a result, the user of the robot control device 1 can use both the built-in image processing unit 2A and the external image processing unit 2B with similar operations.

[0036] Furthermore, the execution history of the vision program is substantially the same for both the built-in image processing unit 2A and the external image processing unit 2B. Specifically, the format of the vision program execution history is standardized. This allows the user of the robot control device 1 to use the execution history in both units.

[0037] Furthermore, the robot system 100 may further include a program generation device capable of generating a program for the robot 3. The program generation device may include a receiving unit that receives a designation of an internal image processing device 2A built into the robot control device 1 or an external image processing device 2B attached to the robot control device 1, and a generation unit that substantially makes the vision execution commands in the program for the robot 3 common when at least one of the internal image processing device 2A and the external image processing device 2B is designated. This enables the program generation device to suitably generate a program for the robot 3. The program generation device includes a teaching control panel connected to the robot control device, a tablet terminal equipped with a touch panel display, etc. "Receiving a designation" includes, for example, input via a user interface on the teaching control panel for the user to select whether to use the internal image processing device 2A or the external image processing device 2B.

[0038] In another embodiment, the robot system 100 may include a robot control device 1 to which an internal image processing device 2A and an external image processing device 2B can be connected, the robot control device 1 having a first connection terminal to which an internal image processing device 2A can be connected and a second connection terminal different from the first connection terminal to which an external image processing device 2B can be connected. The vision execution commands in the vision programs of the image processing devices 2A and 2B and the vision execution commands in the robot program may be substantially common when the image processing devices 2A and 2B are connected to at least one of the first connection terminal and the second connection terminal. As a result, the robot control device 1 can easily switch between the internal image processing device 2A and the external image processing device 2B because the vision execution commands are common even when an image processing device is connected to either the first connection terminal to which an internal image processing device 2A can be connected or the second connection terminal to which an external image processing device 2B can be connected.

[0039] In another embodiment, the robot system 100 may include a robot control device 1 equipped with a connection terminal to which an external image processing device 2B can be connected. The vision execution commands in the vision programs of the built-in image processing device 2A and the external image processing device 2B, and the vision execution commands in the robot program, may be substantially the same regardless of whether the external image processing device 2B is connected to the connection terminal or not. This allows the robot control device 1 to perform image processing using the built-in image processing device 2A even after the external image processing device 2B has been removed.

[0040] Although embodiments of the present invention have been described above, the robot control device 1 described above can be implemented by hardware, software, or a combination thereof. Furthermore, the control method performed by the robot control device 1 can also be implemented by hardware, software, or a combination thereof. Here, implementation by software means implementation by a computer reading and executing a program.

[0041] Programs can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memory (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (random access memory)).

[0042] Furthermore, while the embodiments described above are preferred embodiments of the present invention, the scope of the present invention is not limited to these embodiments alone. Various modifications can be made to the present invention without departing from its spirit. [Explanation of symbols]

[0043] 1. Robot control device 2A Image Processing Device 2B Image Processing Device 3 Robots 4 Arms 5 Vision Sensors 6. Stand Double job 100 Robot Systems

Claims

1. A robot control device that uses an image processing device that captures an object using a vision sensor mounted on the robot, or the vision sensor fixed and installed in a predetermined position, The image processing device is built into the robot control device or is externally connected to the robot control device. The vision execution commands in the vision program of the image processing device and the vision execution commands in the robot program of the robot control device are substantially the same in the built-in image processing device incorporated into the robot control device and the external image processing device connected to the robot control device. Robot control device.

2. The image processing device includes one or more built-in image processing devices incorporated into the robot control device, or one or more external image processing devices connected to the robot control device. The robot control device according to claim 1, wherein the vision program is substantially common to the built-in image processing device and the external image processing device.

3. The robot control device is The robot control device according to claim 2, wherein an image acquired by the built-in image processing device is transmitted to the external image processing device, and the external image processing device processes the image.

4. The robot control device according to any one of claims 1 to 3, wherein the vision program in the external image processing device operates on the cloud.

5. The robot control device according to any one of claims 1 to 4, wherein the setting screen for setting the vision program is substantially the same for the built-in image processing device and the external image processing device.

6. The robot control device according to any one of claims 1 to 5, wherein the execution history of the vision program is substantially common to the built-in image processing device and the external image processing device.

7. A program generation device capable of generating programs related to robots, A receiving unit that receives a designation for an internal image processing device built into a robot control device or an external image processing device attached to the robot control device, The system comprises a generation unit that substantially commonizes the vision execution commands within the program when at least one of the built-in image processing device and the external image processing device is specified. Program generation device.

8. A robot control device to which an image processing device can be connected, A first connection part to which the aforementioned image processing device can be connected, It comprises a second connection part, different from the first connection part, to which the image processing device can be connected, The vision execution commands in the vision program of the image processing device and the vision execution commands in the robot program are substantially common when the image processing device is connected to at least one of the first connection unit and the second connection unit. Robot control device.

9. A robot control device to which an image processing device can be connected, The image processing device is connected to a connecting part, The vision execution commands in the vision program of the image processing device and the vision execution commands in the robot program are substantially the same, regardless of whether the image processing device is connected to the connection unit or not. Robot control device.

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