Communications: electrical – Condition responsive indicating system – Specific condition
Patent
1992-02-21
1993-12-28
Swann, III, Glen R.
Communications: electrical
Condition responsive indicating system
Specific condition
31856816, 340540, 340679, 35428912, G08B 2100
Patent
active
052743608
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a method of detecting a positional dislocation of a camera in a robot system, and more specifically, to a method of detecting the positional dislocation of a camera by which the positional dislocation of the camera can be confirmed prior to the start of a job.
BACKGROUND ART
A robot system in which workpieces are photographed by a camera and the position thereof is recognized thereby is now in practical use for carrying out an inspection job, assembly job, palletizing job and the like. The camera is fixed, or mounted on the hand of a robot, for this purpose, and in particular, when the position of the camera is fixed, assembly jobs and the like cannot be carried out if the position of the camera is dislocated.
The normal operation of the robot can be prevented by various causes, including, for example, the dislocation of the relative position of the robot and an object, and errors in a teaching program and the like.
Therefore, when a problem occurs, the elements which may be the cause of the problem must be individually checked, to specify the cause of the problem. Of course, the dislocation of the camera is one of the causes of the problem.
In general, although the frequency of dislocation of the position and attitude of a fixed camera is not high, a slight positional dislocation of the camera would disturb a robot job in which the camera is photographing a distant object. A slight amount of positional dislocation is difficult to easily determine, but when a job is carried out by using the robot without checking the positional dislocation thereof, the operator feels uneasy before the start of the job, as if a problem arises while the robot is being operated, workpieces and the like may be damaged, and this damage is difficult to recover.
Consequently, the positional dislocation of a camera, and the attitude thereof and the like, must be confirmed prior to the start of a job.
DISCLOSURE OF THE INVENTION
Taking the above into consideration, an object of the present invention is to provide a method of detecting the positional dislocation of a camera by which the positional dislocation of the camera can be confirmed by a simple method prior to the start of a job.
To attain the above object, according to the present invention, there is provided a method of detecting a positional dislocation of a camera in a robot system, which comprises the steps of obtaining photographing data by photographing a fixed point for confirmation by the camera, obtaining a position data from the photographing data, determining an error between the position data and a reference position data, and giving a warning of the positional dislocation of the camera when the error exceeds a predetermined tolerance.
The fixed point for confirmation is photographed by the camera prior to the start of a robot job, to obtain photographing data, position data is determined from the photographing data, and then any error between the position data and a reference position data is determined. When the error exceeds the predetermined tolerance, a camera positional dislocation alarm is output, whereby the positional dislocation of the camera can be confirmed.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a flowchart of a positional dislocation confirmation program; and
FIG. 2 is a diagram showing the arrangement of a robot system as a whole, embodying a method of detecting the positional dislocation of a camera according to the present invention.
BEST MODE OF CARRYING OUT THE INVENTION
An embodiment of the present invention will be described below with reference to the drawings.
FIG. 2 is a diagram showing the arrangement of a robot system as a whole, embodying a method of detecting the positional dislocation of a camera according to the present invention, wherein a pattern plate 3 is connected to the arm 2 of a robot 1 and the pattern plate 3 is provided with a fixed point for confirming the positional dislocation of a camera 4. Although almost all positional dislocations of the camera 4 can
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patent: 5066902 (1991-11-01), Watanabe
Arimatsu Taro
Watanabe Atsushi
Fanuc Ltd.
Swann III Glen R.
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