CN-122029016-A - Object operation system and reference position calculation method

Abstract

The object working system 100 includes a working device 6, a carrying unit 4, a position detecting unit 7 that obtains position detection information Im for detecting the position of an object Ch0 (Ch 1, er) on the carrying unit 4 and is fixedly disposed, and a control device 8 that performs control for calculating a reference position ARC for the working device 6 to work the object Ch0 (Ch 1, er) based on the position detection information Im obtained by the position detecting unit 7.

Inventors

• Hirohito Ueno
• Hoshina University
• Xitongmupu

Assignees

• 雅马哈发动机株式会社

Dates

Publication Date

20260512

Application Date

20231013

Claims (12)

1. 1. An object operation system includes: A working device for working an object; a conveying unit configured to convey the object to a work area where the work device works on the object; A position detection unit that obtains position detection information for detecting a position of the object on the carrying unit and is fixedly disposed on an upstream side of the work area in a carrying direction in which the object is carried, and And a control device configured to perform control for calculating a reference position for the working device to work the object based on the position detection information acquired by the position detection unit.
2. 2. The object working system according to 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. 3. The object working system according to claim 1, wherein, The carrying part comprises a circumferential carrying part which carries the object in an arc shape or a circle shape along the circumferential direction around the rotation central axis, The control device is configured to perform control to calculate a work machine coordinate conveying section rotation center position of the circumferential conveying section as the reference position based on the position detection information.
4. 4. The object working system according to claim 3, wherein, The position detecting section includes a camera that acquires a captured image of the object on the circumferential conveying section as the position detecting information, The control device is configured to perform control such that an object camera image coordinate position in the captured image is calculated based on the captured image, and the work implement coordinate transport unit rotation center position is calculated based on the calculated object camera image coordinate position.
5. 5. The object working system according to claim 4, wherein, The camera is configured to capture an imaging area on the upstream side of the work area in the conveying direction on the circumferential conveying section, The control device obtains an object camera coordinate position obtained by converting the object camera image coordinate position based on the captured image of the same object that is carried by the circumferential carrying section in the imaging region and a camera scale ratio that converts a pixel value of the captured image into a value of a length, The control device is configured to calculate the work machine coordinate transport unit rotation center position by correcting a camera offset amount obtained based on the work machine coordinate position of the object obtained by using the work machine, with respect to the camera coordinate transport unit rotation center position obtained based on the object camera coordinate position.
6. 6. The object working system according to claim 5, wherein, The control device is configured to perform control to calculate the camera offset amount based on a difference between the object working device coordinate position in the working area obtained after the object is moved from the imaging area to the working area and a moved object camera coordinate position obtained after the object is rotated and moved to the object working device coordinate position around the rotation center position of the camera coordinate conveying part in the imaging area.
7. 7. The object working system according to claim 6, wherein, The object working system further includes a rotation angle sensor for acquiring a rotation angle position of the circumferential conveying portion, The control device is configured to perform control to calculate a first rotation angle, which is a deviation angle between a work machine coordinate system and a camera coordinate system, based on a circumferential conveyance unit scale ratio that converts an output value of the rotation angle sensor into an angle.
8. 8. The object working system according to claim 7, wherein, The control device is configured to perform control such that, after the object is moved in the imaging region, the circumferential conveying section scale ratio, which is a ratio of 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 section rotation center position, to a difference between output values of the rotation angle sensors before and after the movement of the object obtained based on the rotation angle sensors, is calculated.
9. 9. The object working system according to claim 6, wherein, The control device is configured to perform control such that the camera scale ratio is a ratio of a 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 to a pixel distance representing a distance between pixel values of the two objects on the circumferential conveying section in the imaging area.
10. 10. The object working system according to 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 same captured image of the object that is captured by the circumferential conveying section in the imaging area, The control device is configured to control the camera coordinate conveying unit to calculate a rotation center position based on a first object camera coordinate position, a second object camera coordinate position, and a third object camera coordinate position obtained by converting the first object camera image coordinate position, the second object camera image coordinate position, and the third object camera image coordinate position by the camera scale ratio.
11. 11. A reference position calculation method comprising the steps of: a position detection unit fixedly disposed on an upstream side in a conveying direction of a working area of a working device for working an object conveyed by a conveying unit, for obtaining position detection information for detecting a position of the object on the conveying unit, and Based on the acquired position detection information, a reference position for the working device to work on the object is calculated.
12. 12. The reference position calculating method according to claim 11, wherein, The carrying part comprises a circumferential carrying part which carries the object in an arc shape or a circle shape along the circumferential direction around the rotation central axis, The step of calculating the reference position includes the step of calculating a work machine coordinate conveying section rotation center position of the circumferential conveying section as the reference position based on the position detection information.

Description

Object operation system and reference position calculation method Technical Field The present invention relates to an object working system and a reference position calculating method, and more particularly to an object working system and a reference position calculating method each including a working device for working an object. Background Conventionally, an object working system including a working device for working an object is known. Such an object working system is disclosed in, for example, japanese patent application laid-open No. 2017-47511. The above-mentioned japanese patent application laid-open No. 2017-47511 discloses a robot system (object working system) including a robot (working device) for transferring (working) an object (object). The robot system includes a conveyor (conveying unit) and a coordinate system setting device (control device). The conveying mechanism is configured to convey the article. The robot is configured to hold an article conveyed to the conveyor and convey the held article to another location. The coordinate system setting device is configured to associate a carrier coordinate system for indicating position information of an article on the carrier with a robot coordinate system for indicating position information of an article held by the robot. Thus, the robot can hold the article based on the position information of the article on the conveyor. In the above-mentioned japanese patent application laid-open No. 2017-47511, in order to correlate the carrier coordinate system with the robot coordinate system, the jig placed at the initial position on the carrier is moved to a predetermined position by the carrier. Then, the user moves the robot, and the camera attached to the front end of the moved robot shoots the jigs placed on the carrier. At this time, the coordinates of the center point of the jig in the robot coordinate system are correlated with the coordinates of the carrier coordinate system at the predetermined position with reference to the initial position, whereby the carrier coordinate system and the robot coordinate system are correlated. Here, the coordinates of the center point of the jig in the robot coordinate system are obtained from the reference position of the robot coordinate system based on the pre-registered length of the arm of the robot. Prior art literature Patent literature Patent document 1 Japanese patent application laid-open No. 2017-47511 Disclosure of Invention Problems to be solved by the invention However, in the above-mentioned japanese patent application laid-open No. 2017-47511, as described above, the coordinates of the center point of the jig in the robot coordinate system are obtained from the reference position of the robot coordinate system based on the pre-registered length of the arm of the robot. In this case, between the actual length of the arm of the robot and the previously registered length of the arm of the robot, errors occur due to individual differences in the size of the robot, individual differences at the time of assembly of the robot, shake of the arm of the robot, errors in the movement amount of the robot caused by the user, and the like. Therefore, in the robot system of japanese patent application laid-open No. 2017-47511, it is considered that the holding position for holding the article cannot be accurately obtained by the robot. Therefore, it is desirable to accurately obtain a holding position (work position) where an article (object) is held (worked) by a robot (working device) by accurately setting the relative positions of the robot and the article on the carrier. The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an object working system and a reference position calculating method that can accurately acquire a working position at which an object is worked by a working device. Means for solving the technical problems The object working system according to the first aspect of the present invention includes a working device that works on an object, a carrying unit that carries the object to a working area where the object is worked on by the working device, a position detecting unit that obtains position detection information for detecting a position of the object on the carrying unit at a position upstream of the working area in a carrying direction of the object and is fixedly disposed, and a control device that performs control for calculating a reference position for the working device to work on the object based on the position detection information obtained by the position detecting unit. In the object working system according to the first aspect of the present invention, as described above, a control device is provided that performs control of calculating a reference position for the working device to work on the object based on the position detection information acquired by the position detection unit. Thus, compar