CN-122029013-A - Robot system and control device

Abstract

The robot system includes a robot, a camera, a moving unit that moves the robot, an imaging unit that captures an image of a feature at least once by the camera when the robot is moving, and a trajectory error calculating unit that calculates a trajectory error of the robot based on the captured feature in the image and a predetermined point in the image.

Inventors

• YOSHIDA KEIICHIRO

Assignees

• 发那科株式会社

Dates

Publication Date

20260512

Application Date

20231114

Claims (18)

1. 1. A robot system is provided with: A robot; A camera; A moving unit that moves the robot; An imaging unit that captures an image of the feature at least once by the camera when the robot is being moved by the moving unit, and And a trajectory error calculation unit that calculates a trajectory error of the robot based on the feature captured in the image and a predetermined point in the image.
2. 2. The robotic system of claim 1, wherein, The camera is arranged on the robot, and the object including the characteristic part is arranged at a fixed position, or The camera is disposed at a fixed position, and the object is disposed on the robot.
3. 3. The robotic system of claim 1, wherein, The moving unit moves the robot so that the feature in the image coincides with the predetermined point.
4. 4. The robotic system of claim 1, wherein, The feature includes at least one of a straight line of a predetermined shape and a curved line of a predetermined shape.
5. 5. The robotic system of claim 4, wherein, When the feature portion includes the straight line, the trajectory error calculation unit calculates a length of a perpendicular line extending from the predetermined point to the straight line as the trajectory error.
6. 6. The robotic system of claim 4, wherein, When the feature portion includes the curve, the trajectory error calculation unit calculates, as the trajectory error, a length of a line segment extending from the predetermined point to a tangent of the curve.
7. 7. The robotic system of claim 1, wherein, The image pickup unit further includes a graph creation unit that creates a relationship between the movement distance of the robot and the trajectory error when the image is picked up a plurality of times.
8. 8. The robotic system of claim 1, wherein, The robot further includes an additional instruction unit that instructs to add the teaching point of the robot when the trajectory error is greater than a predetermined threshold.
9. 9. The robotic system of claim 1, wherein, The camera is a 3D camera measuring a distance between the camera and the object, The trajectory error calculation unit calculates an additional trajectory error based on the distance and a predetermined distance between the 3D camera and the feature unit.
10. 10. A control device is provided with: a moving unit that moves the robot; an imaging unit that captures an image of the feature at least once by a camera when the robot is being moved by the moving unit, and And a trajectory error calculation unit that calculates a trajectory error of the robot based on the feature captured in the image and a predetermined point in the image.
11. 11. The control device according to claim 10, wherein, The camera is arranged on the robot, and the object including the characteristic part is arranged at a fixed position, or The camera is disposed at a fixed position, and the object is disposed on the robot.
12. 12. The control device according to claim 10, wherein, The moving unit moves the robot so that the feature in the image coincides with the predetermined point.
13. 13. The control device according to claim 10, wherein, The feature includes at least one of a straight line of a predetermined shape and a curved line of a predetermined shape.
14. 14. The control device according to claim 13, wherein, When the feature portion includes the straight line, the trajectory error calculation unit calculates a length of a perpendicular line extending from the predetermined point to the straight line as the trajectory error.
15. 15. The control device according to claim 13, wherein, When the feature portion includes the curve, the trajectory error calculation unit calculates, as the trajectory error, a length of a line segment extending from the predetermined point to a tangent of the curve.
16. 16. The control device according to claim 10, wherein, The image pickup unit further includes a graph creation unit that creates a relationship between the movement distance of the robot and the trajectory error when the image is picked up a plurality of times.
17. 17. The control device according to claim 10, wherein, The robot further includes an additional instruction unit that instructs to add the teaching point of the robot when the trajectory error is greater than a predetermined threshold.
18. 18. The control device according to claim 10, wherein, The camera is a 3D camera measuring a distance between the camera and the object, The trajectory error calculation unit calculates an additional trajectory error based on the distance and a predetermined distance between the 3D camera and the feature unit.

Description

Robot system and control device Technical Field The present disclosure relates to a robot system and a control device. Background When the robot is to be operated, a plurality of teaching points are taught in advance to set the operation path of the robot. In arc welding, sealing, and other applications, a number of teaching points are set on the path of motion of a robot. Patent document 1 discloses that the amount of deviation between the actual movement trajectory of the robot and the reference trajectory of the robot specified by the movement command is obtained in order to improve the accuracy of the trajectory of the robot. Prior art literature Patent literature Patent document 1 Japanese patent laid-open No. 2021-013983 Disclosure of Invention Problems to be solved by the invention However, the trajectory of the robot between two adjacent teaching points may not be clear. Therefore, when setting the motion path of the robot, the operator cannot determine how many teaching points should be set. In the case of teaching a large number of teaching points, although the accuracy of the trajectory of the robot is improved, there is a problem in that the number of teaching tasks is increased and it takes time. Therefore, in order to teach an appropriate number of teaching points, a robot system and a control device capable of confirming the trajectory accuracy of a robot are desired. Solution for solving the problem According to a first aspect of the present disclosure, there is provided a robot system including a robot, a camera, a moving unit that moves the robot, an imaging unit that captures an image of a feature at least once by the camera when the robot is being moved by the moving unit, and a trajectory error calculating unit that calculates a trajectory error of the robot based on the captured feature in the image and a predetermined point in the image. Further, according to another aspect of the present disclosure, there is provided a control device including a moving unit that moves a robot, an imaging unit that captures an image of a feature at least once by a camera when the robot is being moved by the moving unit, and a trajectory error calculating unit that calculates a trajectory error of the robot based on the captured feature in the image and a predetermined point in the image. The objects, features and advantages of the present disclosure will become more apparent from the following description of the embodiments in connection with the accompanying drawings. Drawings Fig. 1A is a schematic view of a robot system according to a first embodiment. Fig. 1B is a flowchart showing the operation of the robot system shown in fig. 1A. Fig. 2 is a plan view of an object having features. Fig. 3 is a perspective view for explaining the operation of the robot system in the first embodiment. Fig. 4 is a diagram showing an image of a camera. Fig. 5A is a diagram showing a relationship between a movement distance of the robot and a trajectory error. Fig. 5B is another flowchart showing the operation of the robot system. Fig. 6A is a perspective view for explaining an operation of the robot system in the second embodiment. Fig. 6B is a diagram showing other images of the camera. Fig. 7A is a perspective view for explaining an operation of the robot system in the third embodiment. Fig. 7B is a diagram showing a relationship between the distance between the camera and the feature and the trajectory error. Fig. 8 is a schematic diagram of a robotic system based on other embodiments. Detailed Description Embodiments of the present disclosure will be described below with reference to the accompanying drawings. In all the drawings, common reference numerals are given to the corresponding components. Fig. 1A is a schematic view of a robot system according to a first embodiment. As shown in fig. 1A, the robot system 1A according to the first embodiment mainly includes a robot 10, a control device 20 that controls the robot 10, and a teaching control panel 30 that operates the robot 10 by the control device 20. However, when the operator operates the robot 10 by the control device 20, the robot system 1a (and the robot system 1b described later) may not include the teaching control panel 30. The robot 10 and the control device 20, and the control device 20 and the teaching control panel 30 are connected by wires or wirelessly. The robot 10 may be a vertical multi-joint robot having a plurality of motors, for example, six degrees of freedom. In the robot 10 shown in fig. 1A, a plurality of arms 12 each driven by a plurality of motors are arranged on a robot base 11 by a known method. The foremost arm is provided with a wrist portion 13. Although not shown in the drawings, each of the plurality of motors includes a detection unit, such as an encoder, for detecting the position and/or speed of the corresponding shaft. Also, although not shown in the drawings, the plurality of motors may be provided with various sensors