Simulator for visual inspection apparatus

• US 20090281662A1
• Filed: 05/07/2009
• Published: 11/12/2009
• Est. Priority Date: 05/08/2008
• Status: Abandoned Application

• Current Assignee: Denso Wave Inc (DENSO Corporation)
• Original Assignee: Denso Wave Inc (DENSO Corporation)
• Inventors: Ueyama, Tsuyoshi
• Application Number:
  US12/453,341
• Publication Number:
  US 20090281662A1
• Time in Patent Office: Days
• US Class Current: 700/259
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G05B 17/02 electric
• CPC Class Codes: G05B 2219/35346 VMMC: virtual machining measuring cell simulate machining process with modeled errors, error prediction
• CPC Class Codes: G05B 2219/37208 Vision, visual inspection of workpiece

Abstract

A simulator for a visual inspection apparatus is provided. The apparatus is equipped with a robot having an arm and a camera attached to a tip end of the arm, the camera inspecting a point being inspected of a workpiece. Using 3D profile data of a workpiece, information of lenses of cameras, operational data of a robot, simulation for imaging is made for a plurality of points being inspected of the workpiece. For allowing the camera to image the points being inspected of the workpiece, a position and an attitude of the tip end of the arm of the robot are obtained. Based on the obtained position and attitude, it is determined whether or not the imaging is possible. When the imaging is possible, installation-allowed positions of the robot are decided and outputted as candidates of positions for actually installing the robot.

Claims

1. A simulator dedicated to a visual inspection apparatus equipped with a robot having an arm and a camera attached to a tip end of the arm, the camera inspecting a point being inspected of a workpiece, comprising:

display means that makes a display device three-dimensionally display the workpiece;

direction setting means that sets a direction of imaging the point being inspected of the workplace by displaying the workpiece on the display device from different view points, the direction of imaging being a light axis of the camera;

imaging point setting means that sets an imaging point to image the point being inspected of the workpiece using a lens of the camera, which lens is selected as being proper for imaging the point being inspected;

position/attitude obtaining means that obtains a position and an attitude of the tip end of the arm of the robot based on the direction of the imaging and the imaging- point;

representation means that represents the robot in a displayed image so that the robot is installed at an installation-allowed position which is set in the displayed image;

determination means that determines whether or not it is possible to move the tip end of the arm to the obtained position so that the camera is located at the imaging point and it is possible to provide the tip end of the arm with the obtained attitude so that, at a moved position of the tip end of the arm, the camera is allowed to image the point being inspected, when the robot is installed at the installation-allowed position which is set in the displayed image; and

output means that outputs the installation-allowed position for the robot as candidates of positions for actually installing the robot when it is determined by the determination means that it is possible to move the tip end of the arm and it is possible to provide the tip end of the arm with the obtained attitude.

2. The simulator of claim 1, wherein the point being inspected of the workpiece is composed of a plurality of points being inspected,

the position/attitude obtaining means includes means for obtaining a plurality of positions of the tip end of the arm for allowing the camera to image the plurality of points being inspected of the workpiece, and

the determination means includes means for determining, at first, whether or not it is possible to move the tip end of the arm to a farthest position among the plurality of positions and deciding that it is possible to move the tip end of the arm to all of the plurality of positions when it is determined that it is possible to move the tip end of the arm to the farthest position.

3. The simulator of claim 1, wherein the installation-allowed position is composed of a plurality of installation-allowed positions, and

the determination means includes

means for calculating an average coordinate of the plurality of installation-allowed positions,

means for setting an initial robot position which is an installation-allowed position which is the nearest to the average coordinate,

means for determining whether or not it is possible to move the tip end of the arm to the position when it is assumed that the robot is installed at the initial robot position,

means for selecting the plurality of installation-allowed positions when it is determined that it is not possible to move the tip end of the arm to the obtained position, such that a position among the installation-allowed positions, of which distance to the obtained position is shorter than a distance to the average coordinate, is selected for the determination and a remaining position among the instillation-allowed positions, of which distance to the obtained position is longer than the position of the average coordinate, is removed from the determination.

4. The simulator of claim 1, wherein the installation-allowed position is composed of a plurality of installation-allowed positions, and

the determination means includes

means for determining whether or not it is possible to move the tip end of the arm to the obtained position when it is assumed that the robot is installed at any of the installation-allowed positions, and

means for selecting the plurality of installation-allowed positions when it is determined that it is not possible to move the tip end of the arm to the obtained position, such that a position among the installation-allowed positions, which is nearer than the installation-allowed position at which it is assumed that the robot is installed, is selected for the determination and a remaining position among the instillation-allowed positions, which is farther than the installation-allowed position at which it is assumed that the robot is installed, is removed from the determination.

5. A simulator dedicated to a visual inspection apparatus equipped with a robot having an arm and a camera fixed located, the camera inspecting a point being inspected of a workpiece attached to a tip end of the arm, comprising:

display means that makes a display device three-dimensionally display the workpiece;

direction setting means that sets a direction of imaging the point being inspected of the workpiece by displaying the workpiece on the display device from different view points, the direction of imaging being a light axis of the camera;

direction matching means that matches the point being inspected of the workpiece with the light axis of the camera fixedly located;

imaging point setting means that sets an imaging point to image the point being inspected of the workpiece using a lens of the camera, which lens is selected as being proper for imaging the point being inspected;

position/attitude obtaining means that obtains a position and an attitude of the tip end of the arm of the robot based on the direction of the camera and the imaging point;

representation means that represents the robot in a displayed image so that the robot is installed at an installation-allowed position which is set in the displayed image;

determination means that determines whether or not it is possible to move the tip end of the arm to the obtained position and it is possible to provide the tip end of the arm with the obtained attitude so that, at a moved position of the tip end of the arm, the camera is allowed to image the point being inspected, when the robot is installed at the installation-allowed position which is set in the displayed image; and

output means that outputs the installation-allowed position of the robot as candidates of positions for actually installing the robot when it is determined by the determination means that it is possible to move the tip end of the arm and it is possible to provide the tip end of the arm with the obtained attitude.

6. The simulator of claim 5, wherein the point being inspected of the workpiece is composed of a plurality of points being inspected,

the position/attitude obtaining means includes means for obtaining a plurality of positions of the tip end of the arm for allowing the camera to image the plurality of points being inspected of the workpiece, and

the determination means includes means for determining, at first, whether or not it is possible to move the tip end of the arm to a farthest position among the plurality of positions and deciding that it is possible to move the tip end of the arm to all of the plurality of positions when it is determined that it is possible to m

7. The simulator of claim 5, wherein the installation-allowed position is composed of a plurality of installation-allowed positions, and

the determination means includes

means for calculating an average coordinate of the plurality of installation-allowed positions,

means for setting an initial robot position which is an installation-allowed position which is the nearest to the average coordinate,

means for determining whether or not it is possible to move the tip end of the arm to the position when it is assumed that the robot is installed at the initial robot position,

means for selecting the plurality of installation-allowed positions when it is determined that it is not possible to move the tip end of the arm to the obtained position, such that a position among the installation-allowed positions, of which distance to the obtained position is shorter than a distance to the average coordinate, is selected for the determination and a remaining position among the instillation-allowed positions, of which distance to the obtained position is longer than the position of the average coordinate, is removed from the determination.

8. The simulator of claim 5, wherein the installation-allowed position is composed of a plurality of installation-allowed positions, and

the determination means includes

means for determining whether or not it is possible to move the tip end of the arm to the obtained position when it is assumed that the robot is installed at any of the installation-allowed positions, and

means for selecting the plurality of installation-allowed positions when it is determined that it is not possible to move the tip end of the arm to the obtained position, such that a position among the installation-allowed positions, which is nearer than the installation-allowed position at which it is assumed that the robot is installed, is selected for the determination and a remaining position among the instillation-allowed positions, which is farther than the installation-allowed position at which it is assumed that the robot is installed, is removed from the determination.