GENERATING DEVICE OF PROCESSING ROBOT PROGRAM
First Claim
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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Accused Products
Abstract
A processing robot program generating device used in a robot system having a vision sensor, capable of accommodating an error in the shape of a workpiece and reducing man-hours required for a teaching operation. Image detection models are generated in a graphic image of a workpiece viewed from a virtual camera. A processing program including data of teaching points for processing segments of a processing line of the workpiece is generated. A detection program for actually imaging the workpiece is generated, and the position and orientation of each segment corresponding to each detection model generated are detected. A command line, for calculating an amount of change between the detection model and the actually captured image of the workpiece, is added to the processing program. Then, a correction program is inserted into the processing program, the correction program being capable of correcting the teaching point for processing each segment.
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Citations
3 Claims
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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:
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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. - View Dependent Claims (2, 3)
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Specification