COORDINATE SYSTEM CONVERSION SYSTEM AND COORDINATE SYSTEM CONVERSION METHOD
To provide a coordinate system conversion system which enables improvement of accuracy of conversion from a camera coordinate system to a robot coordinate system.SOLUTION: A coordinate system conversion system comprises: a photographing unit 211 which photographs an image including a welding object...
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Format: | Patent |
Sprache: | eng ; jpn |
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Zusammenfassung: | To provide a coordinate system conversion system which enables improvement of accuracy of conversion from a camera coordinate system to a robot coordinate system.SOLUTION: A coordinate system conversion system comprises: a photographing unit 211 which photographs an image including a welding object of an industrial robot and three or more markers; a camera coordinate system setting unit 212 which sets a camera coordinate system; an operation route setting unit 213 which sets an operation route of the industrial robot on the basis of the welding object in the camera coordinate system; and a coordinate system conversion unit 214 which converts the operation route of the industrial robot in the camera coordinate system into the operation route of the industrial robot in the robot coordinate system on the basis of the positions where the three or more markers are installed in the camera coordinate system and the positions where the three or more markers are installed in the robot coordinate system with the industrial robot as a reference, wherein at least a part of the welding object is included in a region which is formed by connecting the three or more markers.SELECTED DRAWING: Figure 2
【課題】カメラ座標系からロボット座標系への変換精度を向上させることができる座標系変換システムを提供する。【解決手段】産業用ロボットの溶接対象及び三つ以上のマーカを含む画像を撮影する撮影部211と、カメラ座標系を設定するカメラ座標系設定部212と、カメラ座標系における溶接対象に基づいて、産業用ロボットの動作経路を設定する動作経路設定部213と、カメラ座標系において三つ以上のマーカが設置されている位置、及び産業用ロボットを基準にしたロボット座標系において三つ以上のマーカが設置されている位置に基づいて、カメラ座標系における産業用ロボットの動作経路を、ロボット座標系における産業用ロボットの動作経路に変換する座標系変換部214と、を備え、溶接対象の少なくとも一部が、三つ以上のマーカを結んで形成される領域の内部に含まれる。【選択図】図2 |
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