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GENERATING DEVICE OF PROCESSING ROBOT PROGRAM

  • US 20090187276A1
  • Filed: 11/19/2008
  • Published: 07/23/2009
  • Est. Priority Date: 01/23/2008
  • Status: Abandoned Application
First Claim
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1. A generating device of a processing robot program, by which three-dimensional models of a robot, a workpiece and a vision sensor are displayed on a display and the robot processes the workpiece, the generating device comprising:

  • a processing line assigning part for assigning a processing line on the three-dimensional model of the workpiece on the display;

    a processing line dividing part for dividing the processing line into a plurality of line segments;

    a detection area determining part for determining a plurality of detection areas, each including each segment obtained by the processing line dividing part, within a graphic image obtained by capturing the three-dimensional model of the workpiece by using the three-dimensional model of the vision sensor as a virtual camera;

    a teaching point generating part for generating a teaching point by which each segment of the processing line divided by the processing line dividing part is processed;

    a detection model generating part for generating an image detection model in each detection area based on the graphic image, such that the vision sensor may detect each detection area of the graphic image determined by the detection area determining part;

    a detecting part for reading an image obtained by actually capturing a workpiece to be processed by using a vision sensor, and detecting the position and the orientation of a portion of the workpiece corresponding to the image detection model;

    a change calculating part for calculating an amount of change between the position and the orientation of each image detection model and the position and the orientation of each teaching point included in the detection area corresponding to the image detection model; and

    a correcting part for correcting the position and the orientation of the teaching point included in the detection area corresponding to the image detection model, based on the amount of change.

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