DE2430058A1

DE2430058A1 - Monitoring system for robot arm - has TV cameras connected to computer to analyse position of symbols on arm joints

Info

Publication number: DE2430058A1
Application number: DE2430058A
Authority: DE
Inventors: Christoph Dipl Phys Schlobies
Original assignee: KYBORG GES
Current assignee: KYBORG GES
Priority date: 1974-06-22
Filing date: 1974-06-22
Publication date: 1976-01-08

Abstract

The remote control system with a multiple joined robot arm has a set of symbols located on the joints and head which are monitored by a set of television cameras so that their relative positions can be determined by connecting the cameras to a computer and analysing the received signals. These symbols may be binary code signals with interrelated dark and light areas. Further geometric patterns may be located near the symbols to enable a quick analysis to be made in response to various alignments of the joints. The symbols and patterns may generate wavelengths which can be filtered by filters in the camera objectives.

Description

Positions-Meß-System für Roboter-Glieder Gegenstand der Erfindung ist die Messung der räumlichen Stellung von Robotergliedern im Raum durch Verwendung von Fernsehkameras.Position measuring system for robot limbs is the subject of the invention is the measurement of the spatial position of robot limbs in space through use from television cameras.

Stand der Technik Bekannt sind vor allem Meßgeber wie Potentiometer und Drehmelder, die direkt an den Robotergliedern angebracht werden. Nachteile sind hierbei die notwendige Verkabelung über die Gelenke hinweg, der hohe Aufwand an Meßgebern und vor allem die Tatsache, daß sich die Meßfehler der einzelnen Meßgeber addieren, wenn die Position beispielsweise der Arbeitszange im Raum aus den Positionen der einzelnen Roboter-Glieder errechnet werden soll.State of the art Above all, encoders such as potentiometers are known and resolvers attached directly to the robot limbs. Disadvantages are here the necessary cabling across the joints, the high effort Encoders and, above all, the fact that the measurement errors of the individual encoders add up if the position of, for example, the working tongs in space is out of the positions of the individual robot limbs should be calculated.

Beschreibung Die Erfindung umgeht diese Nachteile folgendermaßen: (FIG. I) Neben dem Roboter (1) werden im Raum an verschiedenen Positionen Fernsehkameras (2) installiert und justiert. Im Blickwinkel dieser Kameras befinden sich die Teile des Roboters, deren Position für Steuerung und/oder Sicherheit des Roboters von Bedeutung sind, wie z. H. die Arbeitszange (3). Auf der Arbeitszange ist ein Symbol (4) angebracht.Description The invention avoids these disadvantages as follows: (FIG. I) In addition to the robot (1), television cameras are installed at various positions in the room (2) installed and adjusted. The parts are in the viewing angle of these cameras of the robot, their position for control and / or safety of the robot of Meaning are such as H. the pliers (3). There is a symbol on the pliers (4) attached.

Das Symbol wird von der Kamera aufgenommen und in dem Computer (5), der die Signale der Fernsehkameras auf an sich bekannte Weise analysiert, erkannt.The symbol is recorded by the camera and stored in the computer (5), who analyzes the signals from the television cameras in a manner known per se, recognized.

Das Kennzeichen kann daher zweckmäßigerueise im Binar-Code dargestellt sein.The identifier can therefore expediently be represented in binary code be.

Der Computer erkennt also an dem Symbol, um welches Glied des Roboters es sich handelt. Gleichzeitig erkennt er an der Position des Zeichens im Kamerahlickfeld, der Große und der Art der geometrischen Verkürzung die Position des Zeichens und damit des Raboterliedes im Raum.The computer recognizes which link of the robot is from the symbol it is about. At the same time, he recognizes from the position of the symbol in the camera field of vision, the size and type of geometric foreshortening the position of the character and thus the raboter song in the room.

Zur leichteren Errechnung etwa des Winkels, in dem das Zeichen zur Kamera steht, läßt es sich zusätzlich durch eine geometrisch genau definierte Figur ergänzen.To make it easier to calculate, for example, the angle at which the symbol is to When the camera is standing, it can also be identified by a geometrically precisely defined figure add to.

Um das Kennzeichen und die Figur für die Kamera deutlich von der Umgebung abzuheben, können diese Zeichen als Leuchtzeichen in bekannter Weise ausgeführt sein. Durch Filter im Kameraohjektiv, die bevorzugt das Licht der Leuchtzeichen durchlassen, kann der Kn1Urast zur Umgebung weiter erhöht werden.To make the license plate and the figure for the camera clearly different from the environment stand out, these signs can be implemented as illuminated signs in a known manner be. Through filters in the camera lens, which prefer the light of the illuminated signs let through, the kn1Urast to the environment can be further increased.

Claims

P a t e n t a n s p r ü c h e

1. Arrangement and procedure for measuring the spatial position of Robot components, characterized in that by including identifiers the components by remote cameras by analyzing the television picture is calculated in the computer.

2. Arrangement and method according to claim 1, characterized in that that the markings attached to the components in the Bindr code as a result of bright and dark bars are realized.

3. Arrangement and method according to claims 1 and 2, characterized in that geometric figures are attached next to the identifier, the one enable particularly easy analysis of their spatial position by the computer, for example a square.

4. Arrangement and method according to claims 1, 2, 3, characterized in that the symbols and figures on the robot structure share a certain light Emit wavelengths, and ate these wavelengths through filters in the television camera lens be filtered out.

L e r s e i t e