System for performing work on object and method for calculating reference position

Abstract

This system 100 for performing work an object comprises: a work device 6; a conveyance part 4; a position detection part 7 which is fixed in place and acquires position detection information Im for detecting the position of an object Ch0 (Ch1, Er) on the conveyance part 4; and a control device 8 which, on the basis of the position detection information Im acquired by the position detection part 7, performs a control for calculating a reference position ARC for the work device 6 to perform work on the object Ch0 (Ch1, Er).

Description

Object operation system and reference position calculation method

[0001] The present invention relates to an object working system and a reference position calculation method, and more particularly to an object working system equipped with a working device that performs work on an object, and a reference position calculation method.

[0002] BACKGROUND ART Object work systems that include a work device for performing work on an object are known. Such object work systems are disclosed, for example, in Japanese Patent Application Laid-Open No. 2017-47511.

[0003] JP 2017-47511 A discloses a robot system (object working system) equipped with a robot (working device) that transfers (works on) an object (object). This robot system includes a conveyor (transport unit) and a coordinate system setting device (control device). The conveyor is configured to transport the object. The robot is configured to grasp the object transported on the conveyor and transport the grasped object to another location. The coordinate system setting device is configured to associate a conveyor coordinate system that indicates position information of the object on the conveyor with a robot coordinate system that indicates position information of the object to be grasped by the robot. This allows the robot to grasp the object based on the position information of the object on the conveyor.

[0004] In the above-mentioned Japanese Patent Application Laid-Open Publication No. 2017-47511, in order to associate the conveyor coordinate system with the robot coordinate system, a jig placed at an initial position on the conveyor is moved to a predetermined position by the conveyor. Then, as the user moves the robot, an image of the jig placed on the conveyor is taken by a camera attached to the tip of the moved robot. At this time, the conveyor coordinate system and the robot coordinate system are associated by associating the coordinates in the robot coordinate system of the center point of the imaged jig with the coordinates in the conveyor coordinate system of the predetermined position based on the initial position. Here, the coordinates in the robot coordinate system of the center point of the imaged jig are obtained based on a pre-registered length of the robot's arm from a reference position in the robot coordinate system.

[0005] JP 2017-47511 A

[0006] However, as described above, in the above-mentioned Japanese Patent Application Publication No. 2017-47511, the coordinates in the robot coordinate system of the center point of the imaged jig are obtained based on the pre-registered length of the robot's arm from the reference position of the robot coordinate system. In this case, errors occur between the actual length of the robot's arm and the pre-registered length of the robot's arm due to individual differences in the robot's dimensions, individual differences in the robot's assembly, play in the robot's arm, and errors in the amount of robot movement by the user. For this reason, it is believed that the robot system of the above-mentioned Japanese Patent Application Publication No. 2017-47511 cannot accurately obtain the holding position where the robot holds an item. Therefore, it is desirable to accurately obtain the holding position (working position) where the robot (working device) holds (works on) an item (target object) by accurately setting the relative position between the robot and the item on the conveyor.

[0007] This invention has been made to solve the above-mentioned problems, and one object of this invention is to provide an object work system and a reference position calculation method that can accurately obtain the work position where work is performed on an object using a work device.

[0008] An object work system according to a first aspect of the present invention comprises a work device that performs work on an object, a transport unit that transports the object to a work area where the work device will perform work on the object, a fixedly arranged position detection unit that acquires position detection information for detecting the position of the object on the transport unit upstream of the work area in the transport direction in which the object is transported, and a control device that controls the work device to calculate a reference position for performing work on the object based on the position detection information acquired by the position detection unit.

[0009] In the object work system according to the first aspect of the present invention, a control device is provided that calculates a reference position for the work device to perform work on the object based on the position detection information acquired by the position detection unit, as described above. This reduces the influence of wobble and other factors on the work device compared to when the reference position is acquired based on the object's position acquired by the work device, making it possible to accurately acquire the reference position. As a result, the position of the object transported to the work area by the transport unit can be calculated based on the accurately acquired reference position, making it possible to accurately acquire the work position for the work device to perform work on the object.

[0010] In the object working system according to the first aspect, the control device is preferably configured to perform control to calculate the working position of the object in the working area based on the calculated reference position. With this configuration, the working position of the object can be accurately calculated by using the reference position, so that the work device can reliably work on the object.

[0011] In the object working system according to the first aspect, the transport unit preferably includes a circumferential transport unit that transports the object in an arc or circle along the circumferential direction around the rotation center axis, and the control device is configured to control the circumferential transport unit to calculate the working device coordinates transport unit rotation center position as a reference position based on the position detection information. This configuration reduces the influence of wobble of the working device compared to when the rotation center position of the circumferential transport unit is acquired based on the object position acquired by the working device, thereby making it possible to accurately acquire the working device coordinates transport unit rotation center position. As a result, the position of the object transported to the working area by the circumferential transport unit can be calculated around the accurately acquired working device coordinates transport unit rotation center position, thereby making it possible to accurately acquire the working position where the working device performs work on the object when transporting the object in the circumferential direction.

[0012] In this case, preferably, the position detection unit includes a camera that acquires an image of the object on the circumferential conveying unit as position detection information, and the control device is configured to calculate the object camera image coordinate position in the image based on the image, and to perform control to calculate the task device coordinate conveying unit rotation center position based on the calculated object camera image coordinate position. With this configuration, by calculating the task device coordinate conveying unit rotation center position using the object camera image coordinate position in the image captured by the fixedly arranged camera, it is possible to calculate the task device coordinate conveying unit rotation center position while suppressing the effects of backlash and the like of the task device, and therefore it is possible to accurately calculate the task device coordinate conveying unit rotation center position when the object is conveyed in the circumferential direction.

[0013] In the object working system having a position detection unit including the camera, preferably, the camera is configured to capture an imaging area on the circumferential conveying unit that is upstream of the working area in the conveying direction, and the control device acquires an object camera coordinate position by converting the object camera image coordinate position based on an image of the same object transported by the circumferential conveying unit in the imaging area and a camera scale ratio that converts pixel values ​​of the image to length values, and the control device is configured to control calculation of the working device coordinate conveying unit rotation center position by correcting the camera coordinate conveying unit rotation center position acquired based on the object camera coordinate position by an amount of camera offset acquired based on the object working device coordinate position acquired using the working device. With this configuration, the camera coordinate conveying unit rotation center position can be calculated as a coordinate position indicated by length, and the camera offset amount can be used to correct any deviation in the coordinate position indicated by length, so that the camera coordinate conveying unit rotation center position can be accurately acquired as a coordinate position indicated by length.

[0014] In the object working system, the control device is configured to control the calculation of the working device coordinate transfer unit rotation center position by correcting the camera coordinate transfer unit rotation center position by the camera offset amount, and the control device is preferably configured to control the calculation of the camera offset amount based on the difference between the object working device coordinate position in the working area acquired after moving the object from the imaging area to the working area, and the object camera coordinate position after rotationally moving the object camera coordinate position in the imaging area to the object working device coordinate position around the camera coordinate transfer unit rotation center position. With this configuration, the camera offset amount is calculated based on the object camera coordinate position based on the image captured by a fixedly placed camera, which reduces the effects of rattles and the like of the working device, and allows the camera offset amount to be accurately obtained.

[0015] In the object working system, the control device is configured to control calculation of a camera offset amount based on the difference between the object working device coordinate position and the object camera coordinate position after movement, preferably further comprising a rotation angle sensor for acquiring the rotation angle position of the circumferential conveying unit, and the control device is configured to control calculation of a first rotation angle, which is an offset angle between the working device coordinate system and the camera coordinate system, based on a circumferential conveying unit scale ratio that converts the output value of the rotation angle sensor into an angle. With this configuration, the first rotation angle indicated by the angle acquired using the circumferential conveying unit scale ratio can be calculated using the camera coordinate conveying unit rotation center position, so that the first rotation angle can be accurately acquired.

[0016] In the object working system, the control device is preferably configured to control the calculation of the first rotation angle based on the circumferential conveying unit scale ratio. After the object is moved within the imaging area, the control device is preferably configured to control the calculation of the circumferential conveying unit scale ratio, which is the ratio between the second rotation angle acquired based on the object camera coordinate position before and after the object moves around the camera coordinate conveying unit rotation center position, and the difference in output values ​​of the rotation angle sensor acquired based on the rotation angle sensor before and after the object moves. This configuration allows the second rotation angle to be calculated using the object camera coordinate position acquired using an image captured by a fixedly placed camera and the camera coordinate conveying unit rotation center position, thereby reducing the influence of backlash and other factors on the working device. As a result, the accuracy of the circumferential conveying unit scale ratio can be reduced.

[0017] In the object working system, the control device is configured to control the calculation of a camera offset amount based on the difference between the object working device coordinate position and the object camera coordinate position after movement. Preferably, the control device is configured to control the calculation of a camera scale ratio, which is the ratio of the distance between the two objects on the circumferential conveying unit after the two objects have been moved from the imaging area to the working area, to the pixel distance indicating the distance in pixel values ​​between the two objects on the circumferential conveying unit in the imaging area. With this configuration, the distance between the two objects on the circumferential conveying unit is the distance between two objects positioned relatively close to each other, so the distance can be obtained with reduced influence from the wobble of the working device, etc. As a result, the camera scale ratio can be obtained with high accuracy.

[0018] In the object working system, the control device is configured to control calculation of a camera offset amount based on the difference between the object working device coordinate position and the object camera coordinate position after movement, preferably the object camera image coordinate positions include a first object camera image coordinate position, a second object camera image coordinate position, and a third object camera image coordinate position based on captured images of the same object transported by the circumferential transport unit in the imaging area, and the control device is configured to control calculation of the camera coordinate transport unit rotation center position based on the first object camera coordinate position, the second object camera coordinate position, and the third object camera image coordinate position converted by a camera scale ratio. With this configuration, the camera coordinate transport unit rotation center position can be easily calculated by using the three coordinate positions of the first object camera coordinate position, the second object camera coordinate position, and the third object camera coordinate position.

[0019] A reference position calculation method according to a second aspect of the present invention includes a step of acquiring position detection information for detecting the position of an object on a conveying section by a fixedly arranged position detection section upstream in the conveying direction from the working area of ​​a work device that performs work on the object conveyed to the conveying section, and a step of calculating a reference position for the work device to perform work on the object based on the acquired position detection information.

[0020] A reference position calculation method according to a second aspect of the present invention includes a step of calculating a reference position for a task performed by a task device on an object based on the acquired position detection information. This reduces the influence of wobble of the task device compared to when the reference position is acquired based on the object's position acquired by the task device, thereby enabling the reference position to be acquired accurately. As a result, the position of the object transported to the task area by the transport unit can be calculated based on the accurately acquired reference position, providing a reference position calculation method that can accurately acquire the task position for the task device to perform work on the object.

[0021] In the reference position calculation method according to the second aspect, the transport unit preferably includes a circumferential transport unit that transports the object in an arc or circle along the circumferential direction around the rotation center axis, and the step of calculating the reference position includes a step of calculating a task tool coordinates transport unit rotation center position of the circumferential transport unit as the reference position based on the position detection information. This configuration reduces the influence of wobble of the task tool compared to when the rotation center position of the circumferential transport unit is acquired based on the object position acquired by the task tool, thereby making it possible to accurately acquire the task tool coordinates transport unit rotation center position. As a result, the position of the object transported to the working area by the circumferential transport unit can be calculated around the accurately acquired task tool coordinates transport unit rotation center position, thereby making it possible to accurately acquire the task position at which the task tool performs work on the object when transporting the object in the circumferential direction.

[0022] According to the present invention, as described above, it is possible to accurately obtain the work position where work is performed on an object by a work device.

[0023] 1 is a schematic diagram showing a transfer system of the present embodiment; FIG. 2 is a plan view showing a state in which a part is held by a holding unit of a transfer device of the transfer system of the present embodiment; FIG. 3 is a schematic diagram showing a state in which coordinates are set in a control device of a transfer system of a comparative example; FIG. 4 is a schematic diagram showing a state in which coordinates are set in a control device of the transfer system of the present embodiment; FIG. 5 is a schematic diagram showing a distance between setting tips in a captured image of point (B) of the transfer system of the present embodiment; FIG. 6 is a schematic diagram showing a distance between setting tips in a captured image of the transfer system of the present embodiment; FIG. 7 is a schematic diagram showing a camera coordinate conveyor center position of a circumferential conveyor in a captured image of the transfer system of the present embodiment; FIG. 8 is a schematic diagram showing a radius of the camera coordinate conveyor center position of the circumferential conveyor and the setting tip in a captured image of the transfer system of the present embodiment; FIG. 9 is a schematic diagram showing a rotation angle difference from the setting tip at point (A) to the setting tip at point (C) in a captured image of the transfer system of the present embodiment; FIG. 10 is a schematic diagram showing an angle from the setting tip at point (B) to the setting tip at point (D) of the transfer system of the present embodiment; 1 is a schematic diagram showing the angle of the other setting tip at point (B) of the transfer system of this embodiment. FIG. 2 is a schematic diagram showing the inclination of one and the other setting tip at point (B) of the transfer system of this embodiment. FIG. 3 is a schematic diagram showing the inclination of one and the other setting tip at point (D) of the transfer system of this embodiment. FIG. 4 is a schematic diagram showing a state in which one setting tip has been rotationally moved from point (B) to point (D) of the transfer system of this embodiment. FIG. 5 is a schematic diagram showing a state in which the other setting tip has been rotationally moved from point (B) to point (D) of the transfer system of this embodiment. FIG. 6 is a schematic diagram showing the angle of one setting tip at point (D) of the transfer system of this embodiment. FIG. 7 is a schematic diagram showing the angle of the other setting tip at point (D) of the transfer system of this embodiment. FIG. 8 is a schematic diagram showing a state in which one setting tip has been rotationally moved from point (D) to point (B) of the transfer system of this embodiment. FIG. 9 is a schematic diagram showing a state in which the other setting tip has been rotationally moved from point (D) to point (B) of the transfer system of this embodiment.1 is a schematic diagram showing a state in which a transfer device of the transfer system of this embodiment holds a part using a holding unit based on the robot coordinate conveyor center position. FIG. 2 is a flowchart showing a reference position calculation method for the transfer system of this embodiment. FIG. 3 is a schematic diagram showing a method for calculating a camera coordinate conveyor center position of a circumferential conveyor in a transfer system of a modified example of this embodiment.

[0024] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings.

[0025] The configuration of a transfer system 100 according to an embodiment of the present invention will be described with reference to Figures 1 to 22. The transfer system 100 is an example of the "object working system" in the claims.

[0026] 1, the transfer system 100 is a system for transferring a supplied part Er to a predetermined position. The part Er is an example of an "object" in the claims.

[0027] Specifically, the transfer system 100 includes an equipment cover 1, a base 2, a holding device 3, a circumferential conveyor 4, a component supply device 5, a transfer device 6, a camera 7, and a control device 8. The circumferential conveyor 4 is an example of a "transport unit" and a "circumferential conveying unit" in the claims. The transfer device 6 is an example of a "work device" in the claims. The camera 7 is an example of a "position detection unit" in the claims.

[0028] Here, the vertical direction is the Z direction, the upward direction is the Z1 direction, and the downward direction is the Z2 direction. Of the horizontal directions, the direction in which the circumferential conveyor 4 and the transfer device 6 are aligned is the X direction, the transfer device 6 side in the X direction is the X1 direction, and the circumferential conveyor 4 side in the X direction is the X2 direction. The horizontal direction perpendicular to the X direction is the Y direction, one side of the Y direction is the Y1 direction, and the other side of the Y direction is the Y2 direction.

[0029] The equipment cover 1 is a cover having a space for accommodating a base 2, a holding device 3, a circumferential conveyor 4, a component supply device 5, a transfer device 6, a camera 7, and a control device 8 inside. The equipment cover 1 is fixed to the floor surface Fr. The base 2 is fixed to the bottom surface of the equipment cover 1. The holding device 3, the circumferential conveyor 4, the component supply device 5, and the transfer device 6 are fixed to the base 2. The holding device 3 is configured to hold a pallet Pa on which components Er are placed. Note that the holding device 3 may also be configured to hold a board or the like on which components Er are mounted.

[0030] The circumferential conveyor 4 is configured to transport the parts Er to a holding area Arh (see FIG. 2 ) where the parts Er are held (operated) by a holding unit 61 (described later) of the transfer device 6. That is, the circumferential conveyor 4 is configured to transport the parts Er along the circumferential direction Cv by rotating around a rotation center axis Cr extending in the Z direction. Note that the circumferential conveyor 4 is a circular conveyor when viewed from the Z1 direction side, but it may also be an arc-shaped conveyor. Note that the holding area Arh is an example of a "working area" in the claims.

[0031] The circumferential conveyor 4 includes a conveyor unit 41, a motor 42, and a rotation angle sensor 43. The conveyor unit 41 has a placement surface on which parts Er are placed. The conveyor unit 41 is configured to rotate in one and the other circumferential directions around the rotation center axis Cr by a driving force transmitted from the motor 42. The rotation angle sensor 43 is configured to output a signal for acquiring the rotation angle position of the circumferential conveyor 4. The rotation angle sensor 43 is, for example, an encoder that outputs a pulse signal as a signal, but may have another configuration.

[0032] Here, the circumferential direction around the rotation center axis Cr of the circumferential conveyor 4 is referred to as the Cv direction, one side of the Cv direction is referred to as the Cv1 direction, and the other side of the Cv direction is referred to as the Cv2 direction. Each of the Cv direction, Cv1 direction, and Cv2 direction is an example of the "conveying direction" in the claims.

[0033] The component supply device 5 is configured to supply components Er onto the mounting surface of the conveyor section 41 of the circumferential conveyor 4. The component supply device 5 is disposed inside the circumferential conveyor 4. That is, the component supply device 5 is configured to move components Er remaining on the Z2 direction side toward the Z1 direction side and supply the components Er onto the mounting surface of the conveyor section 41. Note that the above-described configuration of the component supply device 5 is merely an example, and the component supply device 5 may be disposed outside the circumferential conveyor 4, for example.

[0034] 1, the transfer device 6 is configured by a SCARA robot. The transfer device 6 is a robot whose arm moves in the X and Y directions (horizontal directions). The transfer device 6 is a device that performs tasks such as transferring a part Er to a pallet Pa or a substrate.

[0035] The transfer device 6 includes a holder 61 , a base 62 , a first arm 63 , a second arm 64 , a motor 65 , and a motor 66 .

[0036] The holding unit 61 is configured to hold the component Er in the holding area Arh (see FIG. 2). The holding unit 61 may, for example, hold the component Er by suction using negative pressure, or may be a grip that clamps the component Er. The holding unit 61 is configured to transfer the held component Er to a pallet Pa, a substrate, or the like. As described above, the operation performed by the holding unit 61 is not limited to holding, but in the following description, holding will be described as an example of the operation of the holding unit 61. The base 62 is a member for fixing the transfer device 6 to the installation surface of the base 2.

[0037] The first arm 63 is attached to the base 62 so as to rotate relatively about a rotational axis Ca1 extending in a direction parallel to the Z direction. The first arm 63 has a first motor 63a, a first reducer 63b, and an arm cover 63c. The second arm 64 is attached to the first arm 63 so as to rotate relatively about a rotational axis Ca2 extending in a direction parallel to the Z direction. The second arm 64 has a second motor 64a, a second reducer 64b, and an arm cover 64c.

[0038] The motor 65 is a drive source for driving an elevator (not shown) that raises and lowers the holding portion 61. The motor 66 is a drive source for driving a rotation drive device (not shown) that rotates the holding portion 61.

[0039] In this way, the transfer device 6 is configured to transfer the part Er by the holder 61 that moves in response to the rotation of the first arm 63 and the rotation of the second arm 64 .

[0040] (Camera) The camera 7 is configured to capture images of objects on the circumferential conveyor 4, including the component Er, setting chip Ch0, and setting chip Ch1, in an imaging area Ari (see FIG. 2). The camera 7 is configured to acquire an image Im (see FIG. 5) including objects on the circumferential conveyor 4, such as the component Er. The camera 7 is fixedly disposed in a position where it can capture an image of the imaging area Ari. The camera 7 is fixed to a fixed position in the Z1 direction of the imaging area Ari on the inner surface (ceiling surface) on the Z1 direction side of the device cover 1. The imaging area Ari is set upstream in the Cv1 direction (or Cv2 direction) in which the component Er is transported from a holding area Arh (see FIG. 2) in which the component Er is held by the holding unit 61 of the transfer device 6. The camera 7 is configured to capture an image Im for detecting the position of the component Er on the circumferential conveyor 4, upstream in the transport direction Cv, from the holding area Arh. The captured image Im is an example of "position detection information" in the claims. Furthermore, each of the setting chip Ch0 and the setting chip Ch1 is an example of an "object" in the claims.

[0041] 2, the control device 8 performs control to calculate a holding position Ph at which the part Er in the holding area Arh is held by the holding unit 61, based on the object camera image coordinate position of the part Er in the captured image Im captured by the camera 7 and the rotation angle θ0 of the part Er transported by the circumferential conveyor 4. The holding position Ph is an example of the "work position" in the claims.

[0042] The control device 8 includes a main control unit 8a, a counting unit 8b, and an image processing unit 8c. Each of the main control unit 8a, the counting unit 8b, and the image processing unit 8c includes a central processing unit (CPU), a memory including a random access memory (RAM), and a storage unit including a solid state drive (SSD) and a hard disk drive (HDD). Note that the above configuration of the control device 8 is an example, and other configurations may be used.

[0043] The memory of the main control unit 8a stores a component transfer program for transferring the component Er. The memory of the main control unit 8a also stores a camera scale ratio CSR, a holding position camera offset CO, a robot coordinate conveyor rotation center position ARC, and a conveyor scale ratio CBD, which are acquired for transferring the component Er. The memory of the main control unit 8a also stores the outlines (solid line portions in FIG. 5) of the setting chip Ch0 and the setting chip Ch1, which are described below, in order to recognize the setting chip Ch0 and the setting chip Ch1 (see FIG. 5) in the captured image Im captured by the camera 7. The robot coordinate conveyor rotation center position ARC is an example of the "reference position" and "working device coordinate conveyor rotation center position" in the claims.

[0044] The storage unit of the counting unit 8b stores a program for counting pulse signals output from the rotation angle sensor 43. The storage unit of the counting unit 8b stores count values ​​of the counted pulse signals. The storage unit of the image processing unit 8c stores a program for performing image processing on captured images Im of the imaging area Ari captured by the camera 7. The captured images Im after image processing are stored in the storage unit of the image processing unit 8c. The main control unit 8a controls the transfer of the parts Er based on the count values ​​transmitted from the counting unit 8b and the captured images Im transmitted from the image processing unit 8c.

[0045] The control device 8 is electrically connected to each of the holding device 3, the circumferential conveyor 4, the component supply device 5, the transfer device 6 and the camera 7.

[0046] The above-mentioned camera scale ratio CSR, camera offset amount CO for holding position, robot coordinate conveyor rotation center position ARC, and conveyor scale ratio CBD are each calculated and set (calibrated) at a predetermined timing before starting to transfer the part Er.

[0047] 3, at each of points (D), (E), and (F), the user moves the holding portion 261 of the transfer device 206 to the respective positions of the setting chip Ch0 and the setting chip Ch1, and the coordinate positions of the setting chip Ch0 and the setting chip Ch1 in the transfer device coordinate system Ro are calculated by the control device. The coordinate positions of the setting chip Ch0 and the setting chip Ch1 in the transfer device coordinate system Ro are calculated by the control device based on the pre-registered lengths of the first arm, the second arm, and the holding portion 261 of the transfer device 206.

[0048] However, the actual lengths of the first arm, the second arm, and the holding portion 261 of the transfer device 206 differ from the pre-registered lengths due to individual dimensional differences between the transfer devices 206, individual differences when assembling the transfer devices 206, looseness between the first arm and the second arm, and errors in the amount of movement of the holding portion 261 of the transfer device 206 by the user. Therefore, an error occurs between the central coordinate position Cca of the rotation center of the circumferential conveyor 204 calculated based on the coordinate position of the setting chip Ch0 in the transfer device coordinate system Ro at each of points (D), (E), and (F), and the actual central coordinate position Cc of the rotation center of the circumferential conveyor 204. Therefore, since the trajectory along which the part Er is transported around the center coordinate position Cca of the circumferential conveyor 204 is different from the trajectory along which the part Er is transported around the center coordinate position Cc of the circumferential conveyor 204, the part Er cannot be held by the holding portion 261 in the holding area Arh.

[0049] Therefore, the control device 8 of this embodiment is configured to accurately calculate the rotation center position of the circumferential conveyor 4 by accurately performing calibration. Specifically, as shown in FIGS. 4 to 20 , the control device 8 controls the calculation of the object camera image coordinate position in the captured image Im based on the captured image Im captured by the camera 7. The control device 8 controls the calculation of the robot coordinate conveyor rotation center position ARC based on the calculated object camera image coordinate position. In this way, the control device 8 controls the calculation of the robot coordinate conveyor rotation center position ARC based on the captured image Im, which is used to calculate the holding position Ph when the transfer device 6 performs work on a part Er, etc. In this case, the control device 8 controls the calculation and setting in advance not only the robot coordinate conveyor rotation center position ARC, but also the camera scale ratio CSR, the holding position camera offset amount CO, and the conveyor scale ratio CBD. Such advance settings (calibration) are included in the processing of the part transfer program. The configuration of the control device 8 will be described below with reference to FIGS. 4 to 20 .

[0050] (Camera Scale Ratio) First, the camera scale ratio CSR is calculated.

[0051] 4, the setting chip Ch0 and the setting chip Ch1 are conveyed in order along the Cv1 direction by the circumferential conveyor 4, stopping at points (A), (B), (C), (D), (E), and (F). At points (A), (B), and (C), the setting chip Ch0 and the setting chip Ch1 are photographed by the camera 7.

[0052] The control device 8 performs control to identify the setting chips Ch0 and Ch1 in the captured images Im of points (A), (B), and (C) based on the respective outer shapes of the setting chips Ch0 and Ch1 stored in the memory unit. The control device 8 performs control to determine the intersection point Pin of the X-shaped straight lines of the outer shapes of the setting chips Ch0 and Ch1 identified in the captured image Im (only the setting chip Ch1 at point (A) is shown in FIG. 4). The control device 8 then performs control to calculate the positions of the intersection point Pin at point (A), the intersection point Pin at point (B), and the intersection point Pin at point (C) as the object camera image coordinate positions on the camera image coordinate system Pi shown in FIG. 5 for each of the setting chips Ch0 and Ch1. Here, the origin of the camera image coordinate system Pi is, for example, the lower right corner of the captured image Im as shown in FIG. 5. The camera image coordinate system Pi is shown based on the pixel values ​​(picture elements: pix) of the camera 7 .

[0053] Furthermore, at each of points (D), (E), and (F), the user moves the holding unit 61 of the transfer device 6 to the respective positions of the setting tip Ch0 and the setting tip Ch1, and the coordinate positions of each of the setting tip Ch0 and the setting tip Ch1 in the transfer device coordinate system Ro are calculated by the control device 8. The coordinate positions in the transfer device coordinate system Ro of each of points (D), (E), and (F) are the object robot coordinate position RoD, the object robot coordinate position RoE, and the object robot coordinate position RoF. Furthermore, the pulse signal of the rotation angle sensor 43 at each of points (A), (B), (C), (D), (E), and (F) is calculated by the control device 8. Note that each of the object robot coordinate position RoD, the object robot coordinate position RoE, and the object robot coordinate position RoF is an example of an "object-working device coordinate position" in the claims. The transfer device coordinate system Ro is an example of the "working device coordinate system" in the claims.

[0054] 5, the control device 8 performs control to calculate the distance CM in the camera image coordinate system Pi between the two setting chips Ch0 and Ch1 on the circumferential conveyor 4 based on the captured image Im of the setting chips Ch0 and Ch1 captured by the camera 7 at point (B). Specifically, the control device 8 performs control to calculate the distance CM based on the processing result of Equation 1.

[0055] Here, PiB0x and PiB0y are the X and Y coordinate positions of the setting chip Ch0 at point (B) in the camera image coordinate system Pi, respectively, and PiB1x and PiB1y are the X and Y coordinate positions of the setting chip Ch1 at point (B) in the camera image coordinate system Pi, respectively.

[0056] 6, the control device 8 performs control to calculate, at point (D), a distance TM1 in the transfer device coordinate system Ro between the two setting chips Ch0 and Ch1 on the circumferential conveyor 4. Specifically, the control device 8 performs control to calculate the distance TM1 based on the processing result of Equation 2.

[0057] Here, RoD0x and RoD0y are, respectively, the X- and Y-coordinate positions of the target robot coordinate position RoD0 of the setting chip Ch0 at point (D) in the transfer device coordinate system Ro. Furthermore, RoD1x and RoD1y are, respectively, the X- and Y-coordinate positions of the target robot coordinate position RoD1 of the setting chip Ch1 at point (D) in the transfer device coordinate system Ro. Here, the origin of the transfer device coordinate system Ro is, for example, the intersection of the plane of the boundary between the first arm 63 and the base 62 and the rotation center axis Ca1. The transfer device coordinate system Ro is expressed based on the distance (mm) in the X direction and the distance (mm) in the Y direction from the origin.

[0058] Then, the control device 8 performs control to calculate a camera scale ratio CSR, which is the ratio of the distance CM to the distance TM1. That is, the control device 8 rotationally moves the two setting chips Ch0 and Ch1 from the imaging area Ari to the holding area Arh, and then performs control to calculate the camera scale ratio CSR by dividing the distance CM (pixel distance) indicating the distance in pixel values ​​between the two setting chips Ch0 and Ch1 on the circumferential conveyor 4 by the distance TM1 between the two setting chips Ch0 and Ch1 on the circumferential conveyor 4. The calculated camera scale ratio CSR is a ratio that converts the unit (pix) of the camera image coordinate system Pi to the unit (mm) of the camera coordinate system Ca.

[0059] Specifically, the control device 8 performs control to calculate the camera scale ratio CSR based on the processing result of Equation 3.

[0060] (Center Coordinates of Circumferential Conveyor) Next, as shown in Fig. 7, the camera coordinate conveyor rotation center position CCC of the circumferential conveyor 4 is calculated. The camera coordinate conveyor rotation center position CCC is an example of the "camera coordinate transfer unit rotation center position" in the claims.

[0061] The control device 8 performs control to calculate the coordinate positions of the camera coordinate system Ca of the two setting chips Ch0 and Ch1 on the circumferential conveyor 4 based on the captured images Im of the setting chips Ch0 and Ch1 captured by the camera 7 at points (A), (B), and (C). The camera coordinate system Ca is indicated based on the distance (mm) in the X direction and the distance (mm) in the Y direction from the origin of the camera coordinate system Ca.

[0062] Here, the control device 8 performs control to calculate the first object camera coordinate position AC0, the second object camera coordinate position BC0, the third object camera coordinate position CC0, and the fourth object camera coordinate position BC1 as coordinate positions in the camera coordinate system Ca based on the captured images Im of each of points (A), (B), and (C).

[0063] The first object camera coordinate position AC0 has the X-coordinate position and Y-coordinate position of the setting chip Ch0 of point (A) in the camera coordinate system Ca. The X-coordinate position and Y-coordinate position of the setting chip Ch0 of point (A) are AC0x and AC0y, respectively. The second object camera coordinate position BC0 has the X-coordinate position and Y-coordinate position of the setting chip Ch0 of point (B) in the camera coordinate system Ca. The X-coordinate position and Y-coordinate position of the setting chip Ch0 of point (B) are BC0x and BC0y, respectively. The third object camera coordinate position CC0 has the X-coordinate position and Y-coordinate position of the setting chip Ch0 of point (C) in the camera coordinate system Ca. The X-coordinate position and Y-coordinate position of the setting chip Ch0 of point (C) are CC0x and CC0y, respectively.

[0064] The fourth object camera coordinate position BC1 has the X-coordinate position and the Y-coordinate position of the setting chip Ch1 of the point (B) in the camera coordinate system Ca. The X-coordinate position and the Y-coordinate position of the setting chip Ch1 of the point (B) are BC1x and BC1y, respectively.

[0065] Here, the control device 8 performs control to calculate the first object camera image coordinate position PiA0, the second object camera image coordinate position PiB0, and the third object camera image coordinate position PiC0 based on (A) the X-coordinate position and the Y-coordinate position of the setting chip Ch0 of the point, (B) the X-coordinate position and the Y-coordinate position of the setting chip Ch0 of the point, and (C) the X-coordinate position and the Y-coordinate position of the setting chip Ch0 of the point. The control device 8 performs control to calculate the camera coordinate conveyor rotation center position CCC based on the first object camera coordinate position AC0, the second object camera coordinate position BC0, and the third object camera coordinate position CC0 obtained by converting the first object camera image coordinate position PiA0, the second object camera image coordinate position PiB0, and the third object camera image coordinate position PiC0 using the camera scale ratio CSR.

[0066] Specifically, the control device 8 performs control to calculate the X-coordinate AC0x of the first object camera coordinate position AC0 of the setting chip Ch0 at point (A) based on the processing result of Equation 4. Here, CPH in Equation 4 is the maximum value of the X-coordinate of the camera image coordinate system Pi.

[0067] Furthermore, the control device 8 performs control to calculate the Y coordinate AC0y of the first object camera coordinate position AC0 of the setting chip Ch0 at point (A) based on the processing result of Equation 5. Here, CPV in Equation 5 is the maximum value of the Y coordinate of the camera image coordinate system Pi.

[0068] Furthermore, the control device 8 performs control to calculate the X coordinate BC0x of the second object camera coordinate position BC0 of the setting chip Ch0 at point (B) based on the processing result of Equation 6.

[0069] Furthermore, the control device 8 performs control to calculate the Y coordinate BC0y of the second object camera coordinate position BC0 of the setting chip Ch0 at point (B) based on the processing result of Equation 7.

[0070] Furthermore, the control device 8 performs control to calculate the X coordinate BC1x of the fourth object camera coordinate position BC1 of the setting chip Ch1 at point (B) based on the processing result of Equation 8.

[0071] Furthermore, the control device 8 performs control to calculate the Y coordinate BC1y of the fourth object camera coordinate position BC1 of the setting chip Ch1 at point (B) based on the processing result of Equation 9.

[0072] Furthermore, the control device 8 performs control to calculate the X coordinate CC0x of the third object camera coordinate position CC0 of the setting chip Ch0 at point (C) based on the processing result of Equation 10.

[0073] Furthermore, the control device 8 performs control to calculate the Y coordinate CC0y of the third object camera coordinate position CC0 of the setting chip Ch0 at point (C) based on the processing result of Equation 11.

[0074] The control device 8 performs control to calculate the X coordinate position of the camera coordinate conveyor rotation center position CCC based on the processing result of Equation 12.

[0075] Furthermore, the control device 8 performs control to calculate the Y coordinate position of the camera coordinate conveyor rotation center position CCC based on the processing result of Equation 13.

[0076] (Conveyor Scale Ratio) Next, calculation of the conveyor scale ratio CBD will be described with reference to FIGS. 8 and 9. FIG.

[0077] 8, the control device 8 performs control to calculate the radius R0 based on the camera coordinate conveyor rotation center position CCC and the second object camera coordinate position BC0. Specifically, the control device 8 performs control to calculate the radius R0 based on the processing result of Equation 14.

[0078] The control device 8 also performs control to calculate the radius R1 based on the camera coordinate conveyor rotation center position CCC and the fourth object camera coordinate position BC1. Specifically, the control device 8 performs control to calculate the radius R1 based on the processing result of Equation 15.

[0079] 9, the control device 8 performs control to calculate the conveyor central angle CK (rad) based on the camera coordinate conveyor rotation center position CCC, the first object camera coordinate position AC0, and the third object camera coordinate position CC0. The conveyor central angle CK is an example of the "second rotation angle" in the claims.

[0080] Specifically, the control device 8 performs control to calculate the chord length L (mm) based on the processing result of Equation 16.

[0081] Furthermore, the control device 8 performs control to calculate the conveyor central angle CK based on the processing results of Equations 17 to 19.

[0082] The control device 8 performs control to calculate a conveyor pulse difference PD based on the difference between the pulse signal A2 of the rotation angle sensor 43 at point (A) and the pulse signal C2 of the rotation angle sensor 43 at point (C). Specifically, the control device 8 performs control to calculate the conveyor pulse difference PD based on the processing result of PD=C2-A2.

[0083] Then, after moving the setting chip Ch0 within the imaging area Ari, the control device 8 performs control to calculate the conveyor central angle CK based on the object camera coordinate positions ACO and CCO of the setting chip Ch0 before and after the movement around the camera coordinate conveyor rotation center position CCC. The control device 8 performs control to calculate the conveyor pulse difference PD, which is the difference between the output values ​​of the rotation angle sensor 43 before and after the movement, based on the rotation angle sensor 43. The control device 8 performs control to calculate the conveyor scale ratio CBR by dividing the conveyor central angle CK by the conveyor pulse difference PD. Specifically, the control device 8 performs control to calculate the conveyor scale ratio CBR (rad / pulse) based on the processing result of CBR = CK / PD. The conveyor scale ratio CBR is an example of the "circumferential conveying unit scale ratio" in the claims.

[0084] Furthermore, the control device 8 performs control to calculate the conveyor scale ratio CBD (deg / pulse) based on the processing result of Equation 20. The calculated conveyor scale ratio CBD is a ratio that converts the signal (pulse) output by the rotation angle sensor 43 into a rotation angle (deg).

[0085] (Camera Offset Amount for Center Position) Next, calculation of the camera offset amount D for center position will be described with reference to Fig. 10 to Fig. 16. The camera offset amount D for center position is an example of the "camera offset amount" in the claims.

[0086] 10, the control device 8 performs control to calculate the rotation angle DK (rad) from point (B) to point (D) around the camera coordinate conveyor rotation center position CCC. That is, the control device 8 performs control to calculate the rotation angle DK between the second object camera coordinate position BC0 and the object robot coordinate position RoD around the camera coordinate conveyor rotation center position CCC based on the conveyor scale ratio CBR.

[0087] Here, the control device 8 performs control to calculate the rotation angle DK (rad) by multiplying the conveyor pulse difference, which is the difference between the pulse signal B2 of the rotation angle sensor 43 at point (B) and the pulse signal D2 of the rotation angle sensor 43 at point (D), by the conveyor scale ratio CBR. Specifically, the control device 8 performs control to calculate the rotation angle DK based on the processing result of DK = (|D2 - B2| × CBR) × DIR. Here, DIR indicates the rotation direction of the circumferential conveyor 4. For example, DIR is -1 if it is in the Cv1 direction, or +1 if it is in the Cv2 direction.

[0088] 11, the control device 8 controls the calculation of the angle BD0 (rad) of the setting chip Ch0 at point (B) with the camera coordinate conveyor rotation center position CCC as the origin. That is, the control device 8 controls the calculation of the angle BD0 based on the camera coordinate conveyor rotation center position CCC and the second object camera coordinate position BC0. Specifically, the control device 8 controls the calculation of the angle BD0 based on the processing result of Equation 21.

[0089] 12, the control device 8 controls the calculation of the angle BD1 (rad) of the setting chip Ch1 at point (B) with the camera coordinate conveyor rotation center position CCC as the origin. That is, the control device 8 controls the calculation of the angle BD1 based on the camera coordinate conveyor rotation center position CCC and the fourth object camera coordinate position BC1. Specifically, the control device 8 controls the calculation of the angle BD1 based on the processing result of Equation 22.

[0090] 13, the control device 8 performs control to calculate the gradient BCI (rad) of the vector from the setting chip Ch0 at point (B) to the setting chip Ch1. That is, the control device 8 performs control to calculate the gradient BCI based on the second object camera coordinate position BC0 and the fourth object camera coordinate position BC1. Specifically, the control device 8 performs control to calculate the gradient BCI based on the processing result of Equation 23.

[0091] 14, the control device 8 performs control to calculate the gradient DCI (rad) of the vector from the setting chip Ch0 at point (D) to the setting chip Ch1. That is, the control device 8 performs control to calculate the gradient DCI based on the target robot coordinate position RoD in the transfer device coordinate system Ro at point (D). Specifically, the control device 8 performs control to calculate the gradient DCI based on the processing result of Equation 24.

[0092] 15, the control device 8 performs control to calculate the rotation angle BDD (rad), which is the offset angle between the transfer device coordinate system Ro and the camera coordinate system Ca, based on the rotation angle DK, the tilt BCI at point (B), and the tilt DCI at point (D). Specifically, the control device 8 performs control to calculate the rotation angle BDD based on the processing result of BDD = DCI - (BCI + DK). The rotation angle BDD is an example of the "first rotation angle" in the claims.

[0093] The control device 8 performs control to calculate the center position camera offset amount D based on the difference between the object robot coordinate position RoD0 (RoD1) in the holding area Arh calculated after rotationally moving the setting chip Ch0 (and setting chip Ch1) from the imaging area Ari to the holding area Arh, and the post-movement object camera coordinate position DC0 (and post-movement object camera coordinate position DC1) obtained by rotationally moving the second object camera coordinate position BC0 (and fourth object camera coordinate position BC1) in the imaging area Ari to the object robot coordinate position RoD around the camera coordinate conveyor rotation center position CCC. Note that in Figure 15, the setting chip Ch0 at the post-movement object camera coordinate position DC0 is shown by a two-dot chain line.

[0094] That is, the control device 8 performs control to calculate the X-coordinate position DC0x of the post-movement object camera coordinate position DC0 obtained by rotating the setting chip Ch0 at point (B) around the camera coordinate conveyor rotation center position CCC of the circumferential conveyor 4. Specifically, the control device 8 performs control to calculate the X-coordinate position DC0x of the post-movement object camera coordinate position DC0 based on the processing result of DC0x = R0 × cos((BD0 + DK) + BDD). The control device 8 also performs control to calculate the Y-coordinate position DC0y of the post-movement object camera coordinate position DC0 obtained by rotating the setting chip Ch0 at point (B) around the camera coordinate conveyor rotation center position CCC of the circumferential conveyor 4. Specifically, the control device 8 performs control to calculate the Y-coordinate position DC0y of the post-movement object camera coordinate position DC0 based on the processing result of DC0y = R0 × sin((BD0 + DK) + BDD).

[0095] 16, the control device 8 performs control to calculate the X-coordinate position DC1x of the post-movement object camera coordinate position DC1 obtained by rotating the setting chip Ch1 at point (B) around the camera coordinate conveyor rotation center position CCC of the circumferential conveyor 4. Specifically, the control device 8 performs control to calculate the X-coordinate position DC1x of the post-movement object camera coordinate position DC1 based on the processing result of DC1x = R1 × cos((BD1 + DK) + BDD). The control device 8 also performs control to calculate the Y-coordinate position DC1y of the post-movement object camera coordinate position DC1 obtained by rotating the setting chip Ch1 at point (B) around the camera coordinate conveyor rotation center position CCC of the circumferential conveyor 4. Specifically, the control device 8 performs control to calculate the Y-coordinate position DC1y of the post-movement object camera coordinate position DC1 based on the processing result of DC1y = R1 × sin((BD1 + DK) + BDD).

[0096] The control device 8 performs control to calculate the X component DO00x of the center position camera offset amount D for correcting the camera coordinate conveyor rotation center position CCC based on the difference between the X coordinate position RoD0x of the object robot coordinate position RoD and the X coordinate position DC0x of the post-movement object camera coordinate position DC0. Specifically, the control device 8 performs control to calculate the X component DO0x of the center position camera offset amount D based on the processing result of DO0x = RoD0x - DC0x. The control device 8 also performs control to calculate the Y component DO0y of the center position camera offset amount D for correcting the camera coordinate conveyor rotation center position CCC based on the difference between the Y coordinate position RoD0y of the object robot coordinate position RoD and the Y coordinate position DC0y of the post-movement object camera coordinate position DC0. Specifically, the control device 8 performs control to calculate the Y component DO0y of the center position camera offset amount D for correcting the camera coordinate conveyor rotation center position CCC based on the processing result of DO0y = RoD0y - DC0y.

[0097] The control device 8 also controls the calculation of an X component DO1x of a center position camera offset amount D for correcting the camera coordinate conveyor rotation center position CCC based on the difference between the X coordinate position RoD1x of the object robot coordinate position RoD and the X coordinate position DC1x of the post-movement object camera coordinate position DC1. Specifically, the control device 8 controls the calculation of an X component DO1x of the center position camera offset amount D based on the processing result of DO1x = RoD1x - DC1x. The control device 8 also controls the calculation of a Y component DO1y of a center position camera offset amount D for correcting the camera coordinate conveyor rotation center position CCC based on the difference between the Y coordinate position RoD1y of the object robot coordinate position RoD and the Y coordinate position DC1y of the post-movement object camera coordinate position DC1. Specifically, the control device 8 controls the calculation of a Y component DO1y of the center position camera offset amount D for correcting the camera coordinate conveyor rotation center position CCC based on the processing result of DO1y = RoD1y - DC1y.

[0098] (Robot Coordinate Conveyor Rotation Center Position) Based on these, the control device 8 performs control to calculate the robot coordinate conveyor rotation center position ARC by correcting the camera coordinate conveyor rotation center position CCC using the set of the X component DO0x and the Y component DO0y of the center position camera offset amount D, or the set of the X component DO1x and the Y component DO1y of the center position camera offset amount D. In other words, the control device 8 performs control to calculate the robot coordinate conveyor rotation center position ARC by correcting the camera coordinate conveyor rotation center position CCC by the center position camera offset amount D, which is the difference between the post-movement object camera coordinate position DC0 (or the post-movement object camera coordinate position DC1) and the object robot coordinate position RoD calculated by the transfer device 6.

[0099] (Camera Offset Amount for Holding Position) Next, calculation of the camera offset amount for holding position CO will be described with reference to FIGS.

[0100] As shown in Figure 17, the control device 8 controls the calculation of the angle ADD0 (rad) of the setting chip Ch0 at point (D) using the robot coordinate conveyor rotation center position ARC as the origin. That is, the control device 8 controls the calculation of the angle ADD0 based on the robot coordinate conveyor rotation center position ARC and the target robot coordinate position RoD0. Specifically, the control device 8 controls the calculation of the angle ADD0 based on the processing result of Equation 25. Here, ARCx is the X coordinate position of the robot coordinate conveyor rotation center position ARC. Furthermore, ARCy is the Y coordinate position of the robot coordinate conveyor rotation center position ARC.

[0101] 18, the control device 8 controls the calculation of the angle ADD1 (rad) of the setting chip Ch1 at point (D) with the robot coordinate conveyor rotation center position ARC as the origin. That is, the control device 8 controls the calculation of the angle ADD1 based on the robot coordinate conveyor rotation center position ARC and the target robot coordinate position RoD1. Specifically, the control device 8 controls the calculation of the angle ADD1 based on the processing result of Equation 26.

[0102] 19 , the control device 8 performs control to calculate the X-coordinate position BF0x of the post-movement coordinate position BF0 obtained by rotating the setting chip Ch0 at point (D) to point (B) around the robot coordinate conveyor rotation center position ARC of the circumferential conveyor 4. Specifically, the control device 8 performs control to calculate the X-coordinate position BF0x of the post-movement coordinate position BF0 based on the processing result of BF0x = R0 × cos(ADD0 + DK) + ARCx. The control device 8 also performs control to calculate the Y-coordinate position BF0y of the post-movement coordinate position BF0 obtained by rotating the setting chip Ch0 at point (D) to point (B) around the robot coordinate conveyor rotation center position ARC of the circumferential conveyor 4. Specifically, the control device 8 performs control to calculate the Y-coordinate position BF0y of the post-movement coordinate position BF0 based on the processing result of BF0y = R0 × sin(ADD0 + DK) + ARCy.

[0103] As shown in FIG. 20 , the control device 8 performs control to calculate the X coordinate BF1x of the post-movement coordinate position BF1 obtained by rotating the setting chip Ch1 at point (D) to point (B) around the robot coordinate conveyor rotation center position ARC of the circumferential conveyor 4. Specifically, the control device 8 performs control to calculate the X coordinate BF1x of the post-movement coordinate position BF1 based on the processing result of BF1x = R1 × cos(ADD1 + DK) + ARCx. The control device 8 also performs control to calculate the Y coordinate BF1y of the post-movement coordinate position BF1 obtained by rotating the setting chip Ch1 at point (D) to point (B) around the robot coordinate conveyor rotation center position ARC of the circumferential conveyor 4. Specifically, the control device 8 performs control to calculate the Y coordinate BF1y of the post-movement coordinate position BF1 based on the processing result of BF1y = R1 × sin(ADD1 + DK) + ARCy.

[0104] Based on these, the control device 8 performs control to calculate the midpoint BFC between the post-movement coordinate positions BF0 and BF1. Specifically, the control device 8 performs control to calculate the X coordinate BFCx of the midpoint BFC based on the processing result of BFCx = (BF0x + BF1x) / 2. The control device 8 also performs control to calculate the Y coordinate BFCy of the midpoint BFC based on the processing result of BFCy = (BF0y + BF1y) / 2.

[0105] The control device 8 also controls the calculation of the midpoint BM between the second object camera coordinate position BC0 of the setting chip Ch0 at point (B) and the fourth object camera coordinate position BC1 of the setting chip Ch1 at point (B). Specifically, the control device 8 controls the calculation of the X coordinate BMx of the midpoint BM based on the processing result of BMx = (B0x + B1x) / 2. The control device 8 also controls the calculation of the Y coordinate BMy of the midpoint BM based on the processing result of BMy = (B0y + B1y) / 2.

[0106] Furthermore, the control device 8 performs control to calculate a rotation angle DBD, which is an offset angle between the transfer device coordinate system Ro and the camera coordinate system Ca, based on the tilt DCI, tilt BCI, and rotation angle DK. Specifically, the control device 8 performs control to calculate the rotation angle DBD based on the processing result of DBD = (DCI + DK) - BCI.

[0107] The control device 8 then performs control to calculate the midpoint BHC based on the rotation angle DBD and the midpoint BM. Specifically, the control device 8 performs control to calculate the X-component BHCx of the midpoint BHC based on the processing result of BHCx = cos(DBD) × BMx - sin(DBD) × BMy. The control device 8 also performs control to calculate the Y-component BHCy of the midpoint BHC based on the processing result of BHCy = sin(DBD) × BMx + cos(DBD) × BMy.

[0108] As a result, the control device 8 performs control to calculate the holding position camera offset amount CO based on the difference between the midpoint BFC and the midpoint BHC. Specifically, the control device 8 performs control to calculate the X component COx of the holding position camera offset amount CO based on the processing result of COx = BFCx - BHCx. Furthermore, the control device 8 performs control to calculate the Y component COy of the holding position camera offset amount CO based on the processing result of COy = BFCy - BHCy.

[0109] The control device 8 performs control to calculate the camera rotation angle offset amount COr, which is the rotation component of the holding position camera offset amount CO, based on the rotation angle DBD. Specifically, the control device 8 performs control to calculate the camera rotation angle offset amount COr based on the processing results of Equations 27 and 28.

[0110] The above-described processing calculates the camera scale ratio CSR, the conveyor scale ratio CBD, the robot coordinate conveyor rotation center position ARC corrected by the center position camera offset amount D, and the holding position camera offset amount CO. Table 1 shows the calculated configurations used when holding part Er. That is, the camera scale ratio CSR, the conveyor scale ratio CBD, the robot coordinate conveyor rotation center position ARC, and the holding position camera offset amount CO are stored in the memory of the control device 8 for use when holding part Er.

[0111] 21 , the control device 8 performs control to calculate the holding position Ph of the part Er in the holding area Arh based on the calculated robot coordinate conveyor rotation center position ARC. Specifically, the control device 8 performs control to calculate the holding position Ph based on a coordinate position obtained by converting the camera image coordinate position in the captured image Im of the part Er in the imaging area Ari captured by the camera 7 using the camera scale ratio CSR and correcting the camera coordinate position using the holding position camera offset amount CO, and on the rotation angle θh of the part Er transported by the circumferential conveyor 4 around the robot coordinate conveyor rotation center position ARC using the conveyor scale ratio CBD.

[0112] (Reference Position Calculation Method) Here, a reference position calculation method for calculating the robot coordinate conveyor rotation center position ARC will be described with reference to FIG.

[0113] 22, in step S1, an object camera image coordinate position is calculated based on the captured image Im captured by the camera 7. That is, in step S1, the setting chip Ch0 and the setting chip Ch1 in the image capturing area Ari are captured by the camera 7 upstream of the holding area Arh in the conveying direction Cv. In this way, step S1 is a step in which the fixedly disposed camera 7 calculates the captured image Im as position detection information for detecting the positions of the setting chip Ch0 (and the setting chip Ch1) on the circumferential conveyor 4. Then, in step S1, the object camera image coordinate positions (first object camera image coordinate position PiA0, second object camera image coordinate position PiB0, and third object camera image coordinate position PiC0) in the captured images Im of the setting chip Ch0 and the setting chip Ch1 are calculated.

[0114] Specifically, the coordinate positions of the intersection point Pin at point (A), the intersection point Pin at point (B), and the intersection point Pin at point (C) within the imaging area Ari are calculated as the coordinate positions of the setting chip Ch0 and the setting chip Ch1, respectively (see Figure 4).

[0115] In step S2, the transfer device 6 calculates the object robot coordinate position RoD (object robot coordinate position RoE and object robot coordinate position RoF) (see FIG. 4). Also, pulse signals from the rotation angle sensor 43 are acquired at points (A), (B), (C), (D), (E), and (F) (see FIG. 4).

[0116] In step S3, the camera scale ratio CSR is calculated by dividing the distance CM by the distance TM1. Here, the distance CM is the distance indicated by the pixel value between the two setting chips Ch0 and Ch1 on the circumferential conveyor 4 (see FIG. 5). The distance TM1 is the distance indicated by the length between the two setting chips Ch0 and Ch1 on the circumferential conveyor 4 (see FIG. 6).

[0117] In step S4, the camera coordinate conveyor rotation center position CCC of the circumferential conveyor 4 is calculated (see FIG. 7). In step S4, the camera coordinate conveyor rotation center position CCC is calculated based on the first object camera coordinate position AC0, the second object camera coordinate position BC0, and the third object camera coordinate position CC0, which are obtained by converting the first object camera image coordinate position PiA0, the second object camera image coordinate position PiB0, and the third object camera image coordinate position PiC0 using the camera scale ratio CSR. In step S5, the conveyor scale ratio CBD is calculated (see FIG. 9). That is, the conveyor scale ratio CBD is calculated by dividing the conveyor central angle CK by the conveyor pulse difference PD.

[0118] In step S6, a center position camera offset amount D is calculated (see FIGS. 15 and 16). In step S7, a robot coordinate conveyor rotation center position ARC is calculated by correcting the camera coordinate conveyor rotation center position CCC by the center position camera offset amount D. In this way, steps S1 to S7 calculate a robot coordinate conveyor rotation center position ARC for calculating the position when the transfer device 6 performs work on a part Er, etc., based on the first object camera image coordinate position PiA0, the second object camera image coordinate position PiB0, and the third object camera image coordinate position PiC0 in the acquired captured image Im. Then, in step S8, a holding position camera offset amount CO is calculated, and the reference position calculation method ends.

[0119] (Effects of this embodiment) In this embodiment, the following effects can be obtained.

[0120] In this embodiment, as described above, the transfer system 100 includes a control device 8 that controls the calculation of the robot coordinate conveyor rotation center position ARC (reference position) for the transfer device 6 to perform work on the setting chip Ch0 (Ch1) based on the captured image Im acquired by the camera 7. This reduces the influence of backlash and the like of the transfer device 6 compared to when the robot coordinate conveyor rotation center position ARC (reference position) is calculated based on the position of the setting chip Ch0 (Ch1) calculated by the transfer device 6, making it possible to accurately calculate the robot coordinate conveyor rotation center position ARC (reference position). As a result, the position of the setting chip Ch0 (Ch1) transported to the holding area Arh (working area) by the circumferential conveyor 4 can be calculated based on the accurately calculated robot coordinate conveyor rotation center position ARC (reference position), making it possible to accurately calculate the holding position Ph (working position) where the transfer device 6 performs work on the setting chip Ch0 (Ch1).

[0121] Furthermore, in this embodiment, as described above, the control device 8 performs control to calculate the holding position Ph of the setting chip Ch0 (Ch1) in the holding area Arh based on the calculated robot coordinate conveyor rotation center position ARC. As a result, by using the robot coordinate conveyor rotation center position ARC, the holding position Ph of the setting chip Ch0 (Ch1) in the holding area Arh can be accurately calculated, so that the transfer device 6 can reliably transfer the setting chip Ch0 (Ch1).

[0122] Furthermore, in this embodiment, as described above, the circumferential conveyor 4 transports the setting chip Ch0 (Ch1) in a circular manner along the circumferential direction around the rotation center axis Cr. The control device 8 performs control to calculate the robot coordinate conveyor rotation center position ARC of the circumferential conveyor 4 as the robot coordinate conveyor rotation center position ARC (reference position) based on the captured image Im. This reduces the influence of backlash of the transfer device 6 compared to when the rotation center position of the circumferential conveyor 4 is calculated based on the position of the setting chip Ch0 (Ch1) calculated by the transfer device 6, and therefore makes it possible to accurately calculate the robot coordinate conveyor rotation center position ARC. As a result, the position of the setting chip Ch0 (Ch1) transported to the holding area Arh (working area) by the circumferential conveyor 4 can be calculated around the accurately calculated robot coordinate conveyor rotation center position ARC, so that when transporting an object such as a part Er in the Cv direction, the holding position Ph (working position) where work is performed on the setting chip Ch0 (Ch1) by the transfer device 6 can be accurately calculated.

[0123] Furthermore, in this embodiment, as described above, the camera 7 is configured to acquire, as the captured image Im, a captured image Im of the setting chip Ch0 (Ch1) on the circumferential conveyor 4. The control device 8 calculates the object camera image coordinate position PiA0 (PiB0, PiC0) in the captured image Im based on the captured image Im, and performs control to calculate the robot coordinate conveyor rotation center position ARC based on the calculated object camera image coordinate position PiA0 (PiB0, PiC0). As a result, by calculating the robot coordinate conveyor rotation center position ARC using the object camera image coordinate position PiA0 (PiB0, PiC0) in the image Im captured by the transfer device 6 and the fixedly arranged camera 7, it is possible to calculate the robot coordinate conveyor rotation center position ARC while suppressing the influence of, for example, backlash of the transfer device 6. Therefore, it is possible to accurately calculate the robot coordinate conveyor rotation center position ARC when transporting an object such as a part Er in the Cv direction.

[0124] Furthermore, in this embodiment, as described above, the camera 7 is configured to capture an imaging area Ari on the circumferential conveyor 4, which is upstream of the holding area Arh in the conveying direction Cv. The control device 8 controls to calculate an object camera coordinate position AC0 (BC0, CC0) obtained by converting the object camera image coordinate position PiA0 (PiB0, PiC0) based on an image Im of the same object transported by the circumferential conveyor 4 and captured in the imaging area Ari, and a camera scale ratio CSR that converts pixel values ​​of the image Im into length values. The control device 8 controls to calculate the robot coordinate conveyor rotation center position ARC by correcting the camera coordinate conveyor rotation center position CCC acquired based on the object camera coordinate position AC0 (BC0, CC0) by the center position camera offset amount DO0 (DO1) calculated based on the object robot coordinate position RoD (RoE, RoF) calculated using the transfer device 6. This allows the camera coordinate conveyor rotation center position CCC to be calculated using the coordinate position indicated by the length, and the camera offset amount DO0 (DO1) for the center position can correct the deviation of the coordinate position indicated by the length, so the camera coordinate conveyor rotation center position CCC can be accurately calculated using the coordinate position indicated by the length.

[0125] Furthermore, in this embodiment, as described above, the control device 8 controls the calculation of the center position camera offset amount DO0 (DO1) based on the difference between the object robot coordinate position RoD in the holding area Arh calculated after moving the setting chip Ch0 (Ch1) from the imaging area Ari to the holding area Arh, and the object camera coordinate position DC0 (DC1) after rotationally moving the object camera coordinate position BC0 (BC1) in the imaging area Ari to the object robot coordinate position RoD around the camera coordinate conveyor rotation center position CCC. As a result, the center position camera offset amount DO0 (DO1) is calculated based on the object camera coordinate position BC0 (BC1) based on the captured image Im captured by the fixedly arranged camera 7, which reduces the effects of rattles and the like of the transfer device 6, and therefore the center position camera offset amount DO0 (DO1) can be accurately calculated.

[0126] Furthermore, in this embodiment, as described above, the transfer system 100 includes a rotation angle sensor 43 for calculating the rotation angle position of the circumferential conveyor 4. The control device 8 performs control to calculate the rotation angle BDD, which is the offset angle between the transfer device coordinate system Ro and the camera coordinate system Ca, based on the conveyor scale ratio CBD, which converts the output value of the rotation angle sensor 43 into an angle. This allows the rotation angle BDD, indicated by the angle calculated using the conveyor scale ratio CBD, to be calculated using the camera coordinate conveyor rotation center position CCC, thereby enabling accurate calculation of the rotation angle BDD. Furthermore, based on the rotation angle BDD, the camera rotation angle offset amount COr, which is the rotation component of the holding position camera offset amount CO, can be calculated.

[0127] Furthermore, in this embodiment, as described above, the control device 8 controls the calculation of the conveyor scale ratio CBD, which is the ratio of the conveyor central angle CK calculated based on the object camera coordinate position AC0 (CC0) before and after the movement of the setting chip Ch0 (Ch1) around the camera coordinate conveyor rotation center position CCC to the conveyor pulse difference PD of the output value of the rotation angle sensor 43 before and after the movement of the setting chip Ch0 (Ch1), calculated based on the rotation angle sensor 43. As a result, by calculating the conveyor central angle CK using the object camera coordinate position AC0 (CC0) calculated using the image Im captured by the fixedly placed camera 7 and the camera coordinate conveyor rotation center position CCC, the conveyor central angle CK can be calculated while reducing the influence of backlash of the transfer device 6, etc. As a result, the accuracy of the conveyor scale ratio CBD can be suppressed.

[0128] Furthermore, in this embodiment, as described above, the control device 8 performs control to calculate the camera scale ratio CSR, which is the ratio of the distance TM1 between the two setting chips Ch0 (Ch1) on the circumferential conveyor 4 after the two setting chips Ch0 (Ch1) have been moved from the imaging area Ari to the holding area Arh, to the pixel distance CM indicating the distance in pixel values ​​between the two setting chips Ch0 (Ch1) on the circumferential conveyor 4 in the imaging area Ari. As a result, since the distance between the two setting chips Ch0 (Ch1) on the circumferential conveyor 4 is the distance between two setting chips Ch0 (Ch1) arranged in relatively close positions, the distance can be calculated with reduced influence of, for example, backlash of the transfer device 6. As a result, the camera scale ratio CSR can be calculated with high accuracy.

[0129] Furthermore, in this embodiment, as described above, the object camera image coordinate positions include the first object camera image coordinate position PiA0, the second object camera image coordinate position PiB0, and the third object camera image coordinate position PiC0, which are based on the captured image Im of the same setting chip Ch0 (Ch1) captured while being transported in the imaging area Ari by the circumferential conveyor 4. The control device 8 performs control to calculate the camera coordinate conveyor rotation center position CCC based on the first object camera coordinate position AC0, the second object camera coordinate position BC0, and the third object camera coordinate position CC0, which are obtained by converting the first object camera image coordinate position PiA0, the second object camera image coordinate position PiB0, and the third object camera image coordinate position PiC0 using the camera scale ratio CSR. This makes it possible to easily calculate the camera coordinate conveyor rotation center position CCC by using three coordinate positions: the first object camera coordinate position AC0, the second object camera coordinate position BC0, and the third object camera coordinate position CC0.

[0130] Furthermore, in this embodiment, as described above, the reference position calculation method includes step S7 of calculating, based on the calculated captured image Im, the robot coordinate conveyor rotation center position ARC (reference position) at which the transfer device 6 performs work on the setting chip Ch0 (Ch1). This reduces the influence of backlash and the like of the transfer device 6 compared to when the robot coordinate conveyor rotation center position ARC (reference position) is calculated based on the position of the setting chip Ch0 (Ch1) calculated by the transfer device 6, and therefore the robot coordinate conveyor rotation center position ARC (reference position) can be accurately calculated. As a result, the position of the setting chip Ch0 (Ch1) transported to the holding area Arh (working area) by the circumferential conveyor 4 can be calculated based on the accurately calculated robot coordinate conveyor rotation center position ARC (reference position), and therefore a reference position calculation method can be provided that can accurately calculate the holding position Ph (working position) at which the transfer device 6 performs work on the setting chip Ch0 (Ch1).

[0131] Furthermore, in the present embodiment, as described above, in the reference position calculation method, step S7 of calculating the robot coordinate conveyor rotation center position ARC (reference position) includes a step of calculating the robot coordinate conveyor rotation center position ARC of the circumferential conveyor 4 as the robot coordinate conveyor rotation center position ARC (reference position) based on the captured image Im. This reduces the influence of backlash of the transfer device 6 compared to when calculating the rotation center position of the circumferential conveyor 4 based on the position of the setting chip Ch0 (Ch1) calculated by the transfer device 6, and therefore makes it possible to accurately calculate the robot coordinate conveyor rotation center position ARC. As a result, the position of the setting chip Ch0 (Ch1) transported to the holding area Arh (working area) by the circumferential conveyor 4 can be calculated centered on the accurately calculated robot coordinate conveyor rotation center position ARC. This makes it possible to accurately calculate the holding position Ph (working position) where the transfer device 6 performs work on the setting chip Ch0 (Ch1) when transporting an object such as a part Er in the Cv direction.

[0132] [Modifications] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the description of the above-mentioned embodiments, and further includes all modifications (modifications) within the meaning and scope of the claims.

[0133] For example, in the above embodiment, the transfer system 100 (object working system) includes a circumferential conveyor 4, but the present invention is not limited to this. In the present invention, the object working system may include an arc-shaped conveyor (curved conveyor), a linear conveyor, a suction conveyor, etc. Furthermore, the present invention is applicable not only to a circumferential direction around a rotation center axis along the vertical direction, but also to a horizontal linear conveyance direction or a vertical linear conveyance direction.

[0134] In the above embodiment, the transfer system 100 (object operation system) is provided with the camera 7 (position detection unit), but the present invention is not limited to this. In the present invention, the object operation system may be provided with a position detection unit that uses a sensor including a laser and a light receiving element (for example, LiDAR (Light Detection And Ranging)), a visual sensor, or another sensor.

[0135] Furthermore, in the above embodiment, an example was shown in which the transfer device 6 (working device) was configured as a SCARA robot, but the present invention is not limited to this. In the present invention, the working device may be a vertical articulated robot, a parallel link robot, an Cartesian robot, a robot that performs a task of placing an object on an object on a transport unit, or a robot that performs a task such as stamping or printing on an object on a transport unit. Furthermore, the working device may be a robot that performs a predetermined task other than holding, transferring, placing, stamping, and printing. Furthermore, the working device may be a device other than a robot as long as it performs the predetermined task.

[0136] In the above embodiment, the camera scale ratio CSR is calculated as the ratio of a pair of distances, namely, the pixel distance CM at point (B) and the distance TM1 at point (D), but the present invention is not limited to this. In the present invention, the camera scale ratio may be calculated by averaging multiple camera scale ratios calculated for each of two or more pairs of distance ratios.

[0137] Furthermore, in the above embodiment, the camera offset amount D for the center position (camera offset amount) was calculated using a set of the coordinate position of the setting chip Ch0 (setting chip Ch1) at point (B) and the coordinate position of the setting chip Ch0 (setting chip Ch1) at point (D), but the present invention is not limited to this. In the present invention, the camera offset amount may be calculated by averaging multiple camera offset values ​​calculated for each set of two or more sets of coordinate positions. In this case, the center coordinate position of the transfer side transport unit may be calculated by averaging multiple center coordinate positions of the transfer side transport unit calculated using the offset values ​​for each set of two or more sets of coordinate positions.

[0138] In the above embodiment, the conveyor scale ratio CBD (circumferential transfer section scale ratio) is calculated using a set of the coordinate position of the setting chip Ch0 at point (A) and the coordinate position of the setting chip Ch0 at point (C), but the present invention is not limited to this. In the present invention, the circumferential transfer section scale ratio may be calculated by averaging multiple circumferential transfer section scale ratios calculated for each of two or more sets of coordinate positions.

[0139] In the above embodiment, the control device 8 calculates the camera coordinate conveyor rotation center position CCC of the circumferential conveyor 4 based on the first object camera coordinate position AC0, the second object camera coordinate position BC0, and the third object camera coordinate position CC0 converted by the camera scale ratio CSR. However, the present invention is not limited to this. In the present invention, as in a modified example shown in Figure 23, the camera coordinate conveyor rotation center position CCC may be calculated as the intersection of a line L1 that is perpendicular to the line connecting the first object transfer device coordinates and the second object transfer device coordinates and passes through the midpoint between the first object transfer device coordinates and the second object transfer device coordinates, and a line L2 that is perpendicular to the line connecting the second object transfer device coordinates and the third object transfer device coordinates and passes through the midpoint between the second object transfer device coordinates and the third object transfer device coordinates.

[0140] In the above embodiment, the camera 7 is fixed to a fixed position in the Z1 direction of the imaging area Ari on the inner surface (ceiling surface) of the device cover 1 on the Z1 direction side, but the present invention is not limited to this. In the present invention, the camera may be fixedly disposed at another position as long as it can capture an image of the imaging area.

[0141] In the above embodiment, the control device 8 performs control to calculate the distance CM based on the object camera coordinate positions between the two setting chips Ch0 and Ch1 on the circumferential conveyor 4 based on the captured image Im of the setting chips Ch0 and Ch1 captured by the camera 7 at point (B), but the present invention is not limited to this. In the present invention, the distance between the two setting chips may be a measurement value measured in advance by the user.

[0142] In the above embodiment, the camera 7 is fixed to a fixed position in the Z1 direction of the imaging area Ari on the inner surface (ceiling surface) of the device cover 1 on the Z1 direction side, but the present invention is not limited to this. In the present invention, the camera may be fixed to a fixed position above the imaging area Ari on the ceiling surface of the factory.

[0143] In the above embodiment, the control device 8 calculates the center position camera offset amount D by rotating the second object camera coordinate position BC0 at point (B) (or the fourth object camera coordinate position BC1 at point (B)) by the rotation angle BDD around the camera coordinate conveyor rotation center position CCC to match the object robot coordinate position RoD0 at point (D) (or the object robot coordinate position RoD1 at point (D)), resulting in a post-movement object camera coordinate position DC0 (DC1). However, the present invention is not limited to this. In the present invention, the object camera coordinate position at point (A) or (C) instead of point (B), and the object robot coordinate position at point (E) or (F) instead of point (D) may also be used to calculate the center position camera offset amount D.

[0144] In the above embodiment, the control device 8 controls the calculation of the camera rotation angle offset amount COr, which is the rotation component of the holding position camera offset amount CO, based on the rotation angle DBD, which is the offset angle between the transfer device coordinate system Ro and the camera coordinate system Ca. However, the present invention is not limited to this. In the present invention, the object camera coordinate position of point (A) or (C) instead of point (B) and the object robot coordinate position of point (E) or (F) instead of point (D) may be used to calculate the camera rotation angle offset amount COr, which is the rotation component of the holding position camera offset amount CO. Similarly, the X component COx of the holding position camera offset amount CO and the Y component COy of the holding position camera offset amount CO may be calculated using the object camera coordinate position of point (A) or (C) instead of point (B) and the object robot coordinate position of point (E) or (F) instead of point (D).

[0145] In the above embodiment, the control device 8 controls the calculation of the camera coordinate conveyor rotation center position CCC based on the first object camera coordinate position AC0, the second object camera coordinate position BC0, and the third object camera coordinate position CC0. However, the present invention is not limited to this. In the present invention, the control device 8 may control the calculation of the camera coordinate conveyor rotation center position CCC based on the object camera coordinate position AC1, the object camera coordinate position BC1 (the fourth object camera coordinate position BC1), and the object camera coordinate position CC1 obtained by converting the object camera image coordinate position PiA1 of the setting chip Ch1 of the (A) point, the object camera image coordinate position PiB1 of the setting chip Ch1 of the (B) point, and the object camera image coordinate position PiC1 of the setting chip Ch1 of the (C) point using the camera scale ratio CSR.

[0146] In addition, in the above embodiment, an example was shown in which the control device 8 performs control to calculate the positions of the intersection Pin at point (A), the intersection Pin at point (B), and the intersection Pin at point (C) as the object camera image coordinate positions on the camera image coordinate system Pi of each of the setting chip Ch0 and the setting chip Ch1, but the present invention is not limited to this. In the present invention, the control device may perform control to calculate the same locations of each of the setting chip Ch0 and the setting chip Ch1 other than the intersection Pin at point (A), the intersection Pin at point (B), and the intersection Pin at point (C) as the object camera image coordinate positions of each of the points (A), (B), and (C) on the camera image coordinate system Pi.

[0147] In the above embodiment, the control device 8 is electrically connected to each of the holding device 3, the circumferential conveyor 4 (circumferential transport unit), the component supply device 5, the transfer device 6, and the camera 7. However, the present invention is not limited to this. In the present invention, the control device and the circumferential transport unit do not have to be electrically connected. In this case, the circumferential transport unit is configured to be driven independently of the control of the control device, and an external rotation angle sensor for acquiring the rotation angle of the circumferential transport unit is electrically connected to the control device. In addition, the control device and the component supply device do not have to be electrically connected. In this case, the component supply device is configured to supply components independently of the control of the control device. In addition, the control device and the holding device are not directly connected, but are indirectly connected via another higher-level control device (for example, a PLC (Programmable Logic Controller)). In this case, the holding device does not receive power from the control device, and is controlled based on signals from the other higher-level control device.

[0148] In the above embodiment, for convenience of explanation, the control process of the control device 8 is described using a flow-driven flowchart in which processing is performed sequentially according to a processing flow, but the present invention is not limited to this. In the present invention, the control process of the control device 8 may be performed by event-driven processing in which processing is performed on an event-by-event basis. In this case, the control process may be performed completely event-driven, or may be performed in a combination of event-driven and flow-driven processing.

[0149] 4 Circumferential conveyor (transport section, circumferential conveyance section) 6 Transfer device (working device) 7 Camera (position detection section) 8 Control device 43 Rotation angle sensor 100 Transfer system (object working system) AC0 First object camera coordinate position (object camera coordinate position) ARC Robot coordinate conveyor rotation center position (reference position, work device coordinate conveyance section rotation center position) Arh Holding area (working area) Ari Imaging area BC0 Second object camera coordinate position (object camera coordinate position) BC1 Fourth object camera coordinate position (object camera coordinate position) BDD Rotation angle (first rotation angle) Ca Camera coordinate system CBR Conveyor scale ratio (circumferential conveyance section scale ratio) CC0 Third object camera coordinate position (object camera coordinate position) CCC Camera coordinate conveyor center position (camera coordinate conveyance section rotation center position) CK Conveyor center angle (second rotation angle) CM Distance (pixel distance) CSR Camera scale ratio Ch0, Ch1 Setting tip (object) Cr Rotation center axis Cv Transfer direction D Camera coordinate offset amount for center position (camera offset amount) DC0, DC1 Object camera coordinate position after movement Er Part (object) Ph Holding position (work position) PiA0 First object camera image coordinate position (object camera image coordinate position) PiB0 Second object camera image coordinate position (object camera image coordinate position) PiC0 Third object camera image coordinate position (object camera image coordinate position) Ro Transfer device coordinate system (work device coordinate system) RoD, RoD0, RoD1, RoE, RoF Object robot coordinate position (object work device coordinate position) TM1 Distance

Claims

1. An object working system comprising: a working device that performs work on an object; a transport unit that transports the object to a working area where the working device performs work on the object; a fixed position detection unit that acquires position detection information for detecting the position of the object on the transport unit and is arranged upstream of the working area in the transport direction in which the object is transported; and a control device that controls calculation of a reference position for the working device to perform work on the object based on the position detection information acquired by the position detection unit.

2. An object work system as described in claim 1, wherein the control device is configured to perform control to calculate a work position of the object in the work area based on the calculated reference position.

3. The object working system of claim 1, wherein the conveying unit includes a circumferential conveying unit that conveys the object in an arc or circle along the circumferential direction around the central axis of rotation, and the control device is configured to control the calculation of the work device coordinate conveying unit rotation center position of the circumferential conveying unit as the reference position based on the position detection information.

4. The object work system of claim 3, wherein the position detection unit includes a camera that acquires an image of the object on the circumferential conveying unit as the position detection information, and the control device is configured to calculate an object camera image coordinate position in the captured image based on the captured image, and to perform control to calculate the work device coordinate conveying unit rotation center position based on the calculated object camera image coordinate position.

5. The object working system of claim 4, wherein the camera is configured to capture an imaging area on the circumferential conveying unit that is upstream of the work area in the conveying direction, and the control device acquires an object camera coordinate position by converting the object camera image coordinate position based on the captured image of the same object transported by the circumferential conveying unit in the imaging area and captured, and a camera scale ratio that converts the pixel value of the captured image into a length value, and the control device is configured to control the calculation of the work device coordinate conveying unit rotation center position by correcting the camera coordinate conveying unit rotation center position acquired based on the object camera coordinate position by a camera offset amount acquired based on the object work device coordinate position acquired using the work device.

6. The control device is configured to control the calculation of the camera offset amount based on the difference between the object working device coordinate position in the working area obtained after moving the object from the imaging area to the working area, and the object camera coordinate position after movement obtained by rotating the object camera coordinate position in the imaging area to the object working device coordinate position around the rotation center position of the camera coordinate transport unit.The object working system described in claim 5.

7. An object working system as described in claim 6, further comprising a rotation angle sensor for acquiring the rotation angle position of the circumferential conveying section, and the control device is configured to control the calculation of a first rotation angle, which is an offset angle between the working device coordinate system and the camera coordinate system, based on a circumferential conveying section scale ratio that converts the output value of the rotation angle sensor into an angle.

8. The object working system of claim 7, wherein the control device is configured to control the calculation of the circumferential conveying unit scale ratio, which is the ratio between a second rotation angle obtained based on the object camera coordinate positions before and after the movement of the object around the camera coordinate conveying unit rotation center position, and the difference in output values ​​of the rotation angle sensor before and after the movement of the object, obtained based on the rotation angle sensor, after the object is moved within the imaging area.

9. The object working system of claim 6, wherein the control device is configured to control the calculation of the camera scale ratio, which is the ratio between the distance between the two objects on the circumferential conveying section after the two objects have been moved from the imaging area to the working area, and the pixel distance indicating the distance in pixel values ​​between the two objects on the circumferential conveying section in the imaging area.

10. The object work system of claim 6, wherein the object camera image coordinate positions include a first object camera image coordinate position, a second object camera image coordinate position and a third object camera image coordinate position based on the captured image of the same object transported by the circumferential transport unit in the imaging area and captured, and the control device is configured to control the calculation of the camera coordinate transport unit rotation center position based on the first object camera coordinate position, the second object camera image coordinate position and the third object camera image coordinate position converted by the camera scale ratio from the first object camera image coordinate position, the second object camera image coordinate position and the third object camera image coordinate position.

11. A reference position calculation method comprising the steps of: acquiring position detection information for detecting the position of an object on a transport section by a fixedly arranged position detection section, upstream in the transport direction from the working area of ​​a work device that performs work on an object transported to a transport section; and calculating a reference position for the work device to perform work on the object based on the acquired position detection information.

12. A reference position calculation method as described in claim 11, wherein the conveying unit includes a circumferential conveying unit that conveys the object in an arc or circle along a circumferential direction about a rotation center axis, and the step of calculating the reference position includes a step of calculating a work device coordinate conveying unit rotation center position of the circumferential conveying unit as the reference position based on the position detection information.