Coordinate system setting method using visual sensor

• US 6,236,896 B1
• Filed: 01/08/1998
• Issued: 05/22/2001
• Est. Priority Date: 05/19/1994
• Status: Expired due to Term

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Warashina, Fumikazu, Watanabe, Atsushi
• Primary Examiner(s): Grant, William
• Assistant Examiner(s): Marc, McDieunel, Marc, McDieunel
• Application Number:
  US09/004,506
• Time in Patent Office: 1,230 Days
• Field of Search: 700/5, 700/31, 700/115, 700/188, 700/192, 700/246, 700/248, 700/249, 700/252, 700/258, 700/259, 700/262, 700/166, 700/254, 700/59, 700/61, 700/66, 700/279, 700/62, 700/56, 700/302, 700/251, 700/87, 414/730, 701/1, 348/95
• US Class Current: 700/37
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/39016 Simultaneous calibration of manipulator and camera
• CPC Class Codes: G05B 2219/39057 Hand eye calibration, eye, camera on hand, end effector

Abstract

A method of setting a coordinate system to an automatic machine with a stable accuracy in a non-contact manner. The desired coordinate system can be set even if it exists outside a moving range of the automatic machine. The operator operates a robot control device to move a robot to a first position A1 where a coordinate system setting jig is within the field of view of a camera supported by the robot. Matrix data [A1] representing the robot position A1 is stored and the jig is photographed by the camera. The image of a group of dots on the jig are analyzed by an image processor to obtain picture element values of the individual points. Based on the picture element values of the individual points and jig data (data of distances between and number of the points), matrix data [D1] representing a position and a posture of a coordinate system Σc to be set with respect to a sensor coordinate system Σs is obtained. In the same manner, a matrix data [D2] at a position A2 is obtained. According to a relationship [C]=[A1]·[S]·[D1]=[A2]·[S]·[D2], a matrix [C] is derived and stored as data for setting the coordinate system Σc to the robot control device.

Claims

1. A method of setting a coordinate system to an automatic machine using a visual sensor including a camera, said method comprising:

disposing coordinate system expressing means for visually expressing the coordinate system to be set in a desired position on a reference coordinate system set to said automatic machine;

moving a movable part of said automatic machine to at least two different positions, said movable part supporting said camera;

photographing said coordinate system expressing means by said camera at each of said at least two positions and obtaining image data of said coordinate system expressing means;

obtaining transformation data between a sensor coordinate system set to said visual sensor and the coordinate system to be set, based on the image data obtained in said photographing and geometric data of said coordinate system expressing means; and

obtaining data representing a position and a posture of the coordinate system to be set with respect to said reference coordinate system, based on the data representing the position and posture of said movable part of said automatic machine at said at least two positions, and said transformation data obtained in said obtaining transformation data.

2. A coordinate system setting method according to claim 1, wherein said coordinate system expressing means comprises a jig having a group of dots arranged on a plane thereof for representing three axes of the coordinate system to be set.

3. A coordinate system setting method according to claim 1, wherein said coordinate system expressing means comprises characteristic portions of a workpiece and a mark placed in predetermined positions.

4. A method of setting a coordinate system to an automatic machine using a visual sensor, said method comprising the:

placing a coordinate system marker for visually expressing the coordinate system to be set in a predetermined position on a reference coordinate system set to said automatic machine;

moving a movable part of said automatic machine, which supports said visual sensor, to a first position and photographing said coordinate system marker to obtain first image data;

moving said movable part to a second position and photographing said coordinate system marker to obtain second image data; and

determining transformation data between a sensor coordinate system set to said visual sensor and said coordinate system to be set, based upon said first and second image data and predetermined data regarding said coordinate system marker.

5. A method as claimed in claim 4, further comprising the obtaining data representing a position and a posture of the coordinate system to be set, based upon data representing the position and posture of said movable part at said first and second positions and said transformation data.

6. A method of setting a coordinate system to an automatic machine using a visual sensor, said method comprising the:

placing a coordinate system marker for visually expressing the coordinate system to be set in a predetermined position on a reference coordinate system set to said automatic machine;

moving a movable part of said automatic machine, which supports said visual sensor, to a first position and photographing said coordinate system marker to obtain first image data;

moving said movable part to a second position and photographing said coordinate system marker to obtain second image data;

determining transformation data between a sensor coordinate system set to said visual sensor and said coordinate system to be set, based upon said first and second image data and predetermined data regarding a specific position and geometric configuration of said coordinate system marker; and

obtaining data representing a position and a posture of the coordinate system to be set, based upon data representing the position and posture of said movable part at said first and second positions and said transformation data.

7. A method of setting a coordinate system to an automatic machine using a visual sensor including a camera, said method comprising the:

disposing coordinate system expressing means for visually expressing the coordinate system to be set in a desired position and which is out of range of movement of said automatic machine on a reference coordinate system set to said automatic machine;

moving a movable part of said automatic machine to at least two different positions, said movable part supporting said camera;

photographing said coordinate system expressing means by said camera at each of said at least two positions and obtaining image data of said coordinate system expressing means;

obtaining transformation data between a sensor coordinate system set to said visual sensor and the coordinate system to be set, based on the image data obtained in said photographing and geometric data of said coordinate system expressing means; and

obtaining data representing a position and a posture of the coordinate system to be set with respect to said reference coordinate system, based on the data representing the position and posture of said movable part of said automatic machine at said at least two positions, and said transformation data obtained in said obtaining transformation data.

8. A method of setting a coordinate system to an automatic machine using a visual sensor, said method comprising the:

placing a coordinate system marker for visually expressing the coordinate system to be set in a predetermined position and which is out of range of movement of said automatic machine on a reference coordinate system set to said automatic machine;

moving a movable part of said automatic machine, which supports said visual sensor, to a first position and photographing said coordinate system marker to obtain first image data;

moving said movable part to a second position and photographing said coordinate system marker to obtain second image data; and

determining transformation data between a sensor coordinate system set to said visual sensor and said coordinate system to be set, based upon said first and second image data and predetermined data regarding said coordinate system marker.