Coordinate information conversion device and computer readable medium

• US 10,614,149 B2
• Filed: 01/31/2018
• Issued: 04/07/2020
• Est. Priority Date: 02/07/2017
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Satake, Yoshikazu
• Primary Examiner(s): Zhai, Kyle
• Application Number:
  US15/885,014
• Publication Number:
  US 20180225257A1
• Time in Patent Office: 797 Days
• Field of Search: None
• CPC Class Codes: G05B 19/402 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence
• CPC Class Codes: G05B 19/4086 Coordinate conversions; Other special calculations
• CPC Class Codes: G05B 2219/32014 Augmented reality assists operator in maintenance, repair, programming, assembly, use of head mounted display with 2-D 3-D display and voice feedback, voice and gesture command
• CPC Class Codes: G05B 2219/36167 Use camera of handheld device, pda, pendant, head mounted display
• CPC Class Codes: G05B 2219/39449 Pendant, pda displaying camera images overlayed with graphics, augmented reality
• CPC Class Codes: G06F 17/16 Matrix or vector computation , e.g. matrix-matrix or matrix-vector multiplication, matrix factorization matrix transposition G06F7/78
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 30/00 Computer-aided design [CAD]
• CPC Class Codes: G06F 30/20 Design optimisation, verification or simulation optimisation, verification or simulation of circuit designs G06F30/30
• CPC Class Codes: G06T 19/006 Mixed reality object pose determination, tracking or camera calibration for mixed reality G06T7/00

Abstract

A coordinate information conversion device includes: calculation means for acquiring a plurality of pieces of image data obtained by capturing a set of positions including a position of a fixed object and a position of a movable part of a machine tool and calculating values of undefined numbers included in a predetermined conversion equation on the basis of the acquired plurality of pieces of image data; and first conversion means for converting a coordinate value in a first coordinate system which is a coordinate system for controlling driving of the movable part to a coordinate value in a second coordinate system which is a coordinate system for representing virtual information and is a coordinate system based on the position of the fixed object on the basis of the predetermined conversion equation of which the values of the undefined numbers are calculated by the calculation means.

Claims

1. A coordinate information conversion device comprising:

calculation means for specifying a conversion equation to be used from among a plurality of conversion equations on the basis of a number of linear axes and a number of rotation axes of a machine tool, acquiring a plurality of pieces of image data obtained by capturing a set of positions including a position of a fixed object and a position of a movable part of the machine tool and calculating values of undefined numbers included in the specified conversion equation on the basis of the acquired plurality of pieces of image data; and

first conversion means for converting a coordinate value in a first coordinate system to a coordinate value in a second coordinate system on the basis of the specified conversion equation of which the values of the undefined numbers are calculated by the calculation means,

the first coordinate system being a coordinate system for controlling driving of the movable part of the machine tool,

the second coordinate system being a coordinate system for representing virtual information,

the second coordinate system being a coordinate system that is based on the position of the fixed object, and

wherein the fixed object is a marker that is fixedly placed at a predetermined position on the movable part of the machine tool to indicate where a superimposed virtual image of a virtual three-dimensional object is to be positioned for display as an overlay on the machine tool so that machine simulation can be performed, the machine tool being in a non-virtual form.

2. The coordinate information conversion device according to claim 1, further comprising:

second conversion means for representing the virtual information on the basis of the coordinate value in the second coordinate system converted by the first conversion means and converting the coordinate value in the second coordinate system converted by the first conversion means to a coordinate value in a third coordinate system which is a coordinate system for displaying the virtual information to thereby generate display data for displaying the virtual information in the third coordinate system; and

display means for displaying the configuration information on the basis of the display data generated by the second conversion means.

3. The coordinate information conversion device according to claim 2, wherein

when the movable part of the machine tool is driven by transmitting the coordinate value in the first coordinate system to the machine tool,

the first conversion means converts a coordinate value that is the same as the coordinate value in the first coordinate system transmitted to the machine tool to a coordinate value in the second coordinate system, and

the display means displays the virtual information on the basis of the display data converted to the third coordinate system so as to be interlocked with the driving of the movable part of the machine tool.

4. The coordinate information conversion device according to claim 1, wherein

when the position of the fixed object is a first characteristic point and the position of the movable part is a second characteristic point,

the calculation means calculates the values of the undefined numbers included in the specified conversion equation by substituting a coordinate value in the second coordinate system and the coordinate value in the first coordinate system into the specified conversion equation,

the coordinate value in the second coordinate system being calculated on the basis of a difference between the first characteristic point and the second characteristic point, and

the coordinate value in the first coordinate system being the coordinate value that is transmitted to the machine tool.

5. The coordinate information conversion device according to claim 1, wherein

the movable part performs rotational movement on the basis of the coordinate value in the first coordinate system,

the specified conversion equation further includes an undefined number value corresponding to the rotational movement of the movable part, and

the first conversion means converts the coordinate value in the first coordinate system to the coordinate value in the second coordinate system on the basis of the specified conversion equation in which the values of all undefined numbers are calculated by the calculation means, wherein the values of all undefined numbers include the value of the undefined number corresponding to the rotational movement of the movable part.

6. The coordinate information conversion device according to claim 1, wherein

the fixed object can be placed in an arbitrary place within a capturing range of a capturing device that performs the capturing.

7. A non-transitory computer readable medium having recorded thereon a coordinate information conversion program for causing a computer to function as a coordinate information conversion device,

the coordinate information conversion program causing the computer to function as the coordinate information conversion device comprising:

calculation means for specifying a conversion equation to be used from among a plurality of conversion equations on the basis of a number of linear axes and a number of rotation axes of a machine tool, acquiring a plurality of pieces of image data obtained by capturing a set of positions including a position of a fixed object and a position of a movable part of the machine tool, and calculating values of undefined numbers included in the specified conversion equation on the basis of the acquired plurality of pieces of image data; and

first conversion means for converting a coordinate value in a first coordinate system to a coordinate value in a second coordinate system on the basis of the specified conversion equation of which the values of the undefined numbers are calculated by the calculation means,

the first coordinate system being a coordinate system for controlling driving of the movable part of the machine tool,

the second coordinate system being a coordinate system for representing virtual information,

the second coordinate system being a coordinate system that is based on the position of the fixed object, and

wherein the fixed object is a marker that is fixedly placed at a predetermined position on the movable part of the machine tool to indicate where a superimposed virtual image of a virtual three-dimensional object is to be positioned for display as an overlay on the machine tool so that machine simulation can be performed, the machine tool being in a non-virtual form.