JPS60252914A - Conversion system between visual sensor coordinate information and robot reference coordinate information - Google Patents

Conversion system between visual sensor coordinate information and robot reference coordinate information

Info

Publication number
JPS60252914A
JPS60252914A JP10989484A JP10989484A JPS60252914A JP S60252914 A JPS60252914 A JP S60252914A JP 10989484 A JP10989484 A JP 10989484A JP 10989484 A JP10989484 A JP 10989484A JP S60252914 A JPS60252914 A JP S60252914A
Authority
JP
Japan
Prior art keywords
coordinate system
visual sensor
robot
position information
reference coordinate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP10989484A
Other languages
Japanese (ja)
Inventor
Mitsuo Hiraizumi
平泉　満男
Bunichi Terawaki
寺脇　文一
Hiroshi Sugimura
杉村　洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to JP10989484A priority Critical patent/JPS60252914A/en
Publication of JPS60252914A publication Critical patent/JPS60252914A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4086—Coordinate conversions; Other special calculations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36503—Adapt program to real coordinates, software orientation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37572—Camera, tv, vision

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To facilitate easy teaching for conversion of coordinates by supplying the position information on three points within the viewfield of a visual sensor through a visual sensor coordinate system and a robot reference coordinate system for conversion of coordinates. CONSTITUTION:The holding mechanism of a robot holds a sign, and the sign is set at an optional position (a) within a viewfield of a visual sensor. The position information on both visual sensor and robot reference coordinate systems are calculated and stored in a memory. In the same way, the position information on points (b) and (c) are calculated and stored in the memory. The position information on three points are used to calculate the original point vector information between the original point of the robot coordinate system and the original point of the visual sensor coordinate system as well as the axial direction basic vector of the visual sensor coordinate system to the robot reference coordinate system. Then the position information on the visual sensor coordinate system is converted into that on the robot reference coordinate system.

Description

【発明の詳細な説明】 発明の技術分野 本発明は、視覚センサ座標系の位置情報をロボットの基
準座標系の位置情報に換算する座標情報の換算方式に関
する。TECHNICAL FIELD OF THE INVENTION The present invention relates to a coordinate information conversion method for converting position information in a visual sensor coordinate system to position information in a reference coordinate system of a robot.

発明の背景 視覚センサとロボットを組合せたシステムでは、視覚セ
ンサ１＝よって認識された物体の位置情報全視覚センサ
からロボットに通知し、ロボットがその位置情報から物
体の位置を判別し、その物体に対して把持等の何等かの
操作を行なう。この場合、視覚センサからの物体の位置
情報は視覚センナの座標系でロボットに通知される。視
覚センサ座標系とロボット座標系とが同一である場合に
は視覚センサからの位置情報をそのまま使用しても差し
支えない。しかし、両座様系が原点、軸の方向が異なっ
ていると、何等かの換算をしなければロボットは自己の
座標系ζ二おける物体の位置を判別しえない。BACKGROUND OF THE INVENTION In a system that combines a visual sensor and a robot, the position information of an object recognized by visual sensor 1 is notified to the robot from all visual sensors, and the robot determines the position of the object from the position information and Some kind of operation such as gripping is performed on the object. In this case, the position information of the object from the visual sensor is notified to the robot in the coordinate system of the visual sensor. If the visual sensor coordinate system and the robot coordinate system are the same, the position information from the visual sensor may be used as is. However, if the origin and axes of the ambiguous system are different, the robot cannot determine the position of the object in its own coordinate system ζ2 without some kind of conversion.

発明の目的 本発明の目的は、比較的簡単な方法により視覚センサ座
標系の位置情報をロボットの基準座標系の位置情報に換
算Ｔる座標情報の換算方式を提供することにある。OBJECTS OF THE INVENTION An object of the present invention is to provide a coordinate information conversion method for converting position information in a visual sensor coordinate system into position information in a reference coordinate system of a robot using a relatively simple method.

発明の原理、構成 第１図に示すようにロボット基準座標系ＸＹと視覚セン
サ座標系ｘｙをとり、α、ｈ、ｃ５点の視覚センサ座標
系Ｃ：おける座標値ｆ、（ｘａ、ｙａ）。Principle and Structure of the Invention As shown in FIG. 1, take the robot reference coordinate system XY and the visual sensor coordinate system xy, and calculate the coordinate values f, (xa, ya) in the visual sensor coordinate system C: of five points α, h, and c.

（”Ｊ＋’／ｂ）　＋　（”ｃ１３’ｃ）とし、ロボッ
ト基準座標系における座標値ｔ　（Ｘａ　、Ｙａ）、　
（Ｘｂ　、Ｙｂ　）、　（Ｘｃ　、Ｙｃ　）とし、ロボ
ット基準座標系における視覚センサ座標系のＸ軸、ｙ軸
方向基本ベクトルｌ　−（１，、ｌｙ）。("J+'/b) + ("c13'c), and the coordinate value t (Xa, Ya) in the robot reference coordinate system,
(Xb, Yb), (Xc, Yc), and the basic vector l-(1,,ly) in the X-axis and y-axis directions of the visual sensor coordinate system in the robot reference coordinate system.

ｍ＝（ｍ、、専ｙ）と下ると、一般に次式が成立する。When m=(m,, exclusive y), the following equation generally holds true.

ここで、Ｏはロボット基準座標系の原点Ｏから視覚セン
サ座標系の原点Ｏまでのベクトル、乙はα、ｂ、ｃであ
る。Here, O is a vector from the origin O of the robot reference coordinate system to the origin O of the visual sensor coordinate system, and O is α, b, and c.

（１）式と、α、ｂ、ｃ点のロボット基準座標系におけ
る座標値、視覚センサ座標系における座標値とから次式
が得られる。The following equation is obtained from equation (1), the coordinate values of points α, b, and c in the robot reference coordinate system and the coordinate values in the visual sensor coordinate system.

ここで、Ｘクー１番−Ｘノ、ｘ、ノーｘ、、−ｘノ（幕
、ノーα＋ｂＨ（：）である。Here, Xku No. 1 -Xノ, x, no x, , -xノ (curtain, no α+bH(:)).

（２）式より軸方向基本ベクトルｌ、ｍは次のようにな
る。From equation (2), the axial basic vectors l and m are as follows.

また、（１）式、（５）式から原点ベクトルＯは、以上
から視覚センサ座標上の任意の点Ｃ％＋　ｙ２＋ｚ、）
のロボット基準座標系での座標値（ＸＲ２ＹＲ２ＺＲ）
は次式よりまる。Also, from equations (1) and (5), the origin vector O is any point on the visual sensor coordinates C%+y2+z,)
Coordinate values in the robot reference coordinate system (XR2YR2ZR)
is obtained from the following equation.

ＺＢ　＝　Ｚ　＋Ｚｓ　”’（６１ ここでＺはロボットのＺ軸方向成分である。ZB = Z + Zs”’ (61 Here, Z is the Z-axis direction component of the robot.

以上は、視覚センナ座標系のｘｙ平面とロボット基準座
標系のＸＹ平面が一致する場合であるが、αｌ’ｌ’の
３点の座標値ｆＺ方向まで拡張丁れば、ｘｙ平面、ＸＹ
平面が相違する場合にも適用可能である。The above is a case where the xy plane of the visual sensor coordinate system and the
It is also applicable to cases where the planes are different.

本発明は上述のような原理を利用したもので、視覚セン
サ座標系の位置情報をロボットの基準座標系の位置情報
に換算する方式において、視覚センサの視野内の少なく
とも３点の視覚センサ座標系における位置情報とロボッ
ト基準座標系における位置情報をそれぞれロボットに教
示し、該教示情報からロボット座標系の原点から視覚セ
ンナ座標系の原点への原点ベクトル情報及びロボット基
準座標系における視覚センサ座標系の軸方向基本ベクト
ルを算出させ、前記原点ベクトル情報及び軸方向基本ベ
クトルに基づき視覚センナ座標系の位置情報をロボット
の基準座標系の位置情報に換算するようにしたものであ
る。従って、オペレータとしては上記３点の視覚センサ
座標系における位置情報とロボット基準座標系（二おけ
る位置情報をそれぞれロボットに教示する操作を行なう
だけで済み、教示方法を簡略化することができる。The present invention utilizes the principle described above, and in a method of converting position information in a visual sensor coordinate system to position information in a reference coordinate system of a robot, the visual sensor coordinate system of at least three points within the field of view of the visual sensor is converted into position information in a robot's reference coordinate system. and the position information in the robot reference coordinate system to the robot, and from the teaching information, the origin vector information from the origin of the robot coordinate system to the origin of the visual sensor coordinate system and the position information of the visual sensor coordinate system in the robot reference coordinate system. An axial basic vector is calculated, and position information in the visual sensor coordinate system is converted into position information in the robot's reference coordinate system based on the origin vector information and the axial basic vector. Therefore, the operator only needs to teach the robot the positional information in the visual sensor coordinate system of the three points and the positional information in the robot reference coordinate system (two points), thereby simplifying the teaching method.

発明の実施例 第２図は本発明方式を実施するシステムの一例を示す上
面構成図である。同図において、１はロボット本体で、
数値制御装置２によって制御される。ロボット本体１と
数値制御装置２でロボットを構成する。ロボット本体１
は台座６上にＺ軸方向（紙面垂直方向）に伸縮自在で且
つθ方向に回転可能に設けられたアーム４と、アーム４
の先端部にα軸を中心に回転自在に奴付けられたハンド
５等から成る。アーム４はまたその長手方向（Ｒ方向）
に伸縮自在に構成されている。ハンド５の端部には把持
機構６があり、これに後述する標識７が把持されている
。この場合、標識７の上面の重心が把持機構６の把持中
心と一致するように把持させる。８はセンサ部であり、
その出力信号はセンサ制御装置９で処理される。このセ
ンサ制御装置９とセンサ部８で視覚センサが構成される
。Embodiment of the Invention FIG. 2 is a top configuration diagram showing an example of a system implementing the method of the present invention. In the figure, 1 is the robot body,
It is controlled by a numerical control device 2. A robot body 1 and a numerical control device 2 constitute a robot. Robot body 1
The arm 4 is provided on the pedestal 6 so as to be extendable and retractable in the Z-axis direction (perpendicular to the paper surface) and rotatable in the θ direction;
It consists of a hand 5 etc. which is rotatably attached to the tip of the hand 5 around the α axis. Arm 4 also has its longitudinal direction (R direction)
It is configured to be expandable and contractible. A gripping mechanism 6 is provided at the end of the hand 5, and a marker 7, which will be described later, is gripped by the gripping mechanism 6. In this case, the sign 7 is gripped so that the center of gravity of the upper surface of the sign 7 coincides with the gripping center of the gripping mechanism 6 . 8 is a sensor section;
The output signal is processed by the sensor control device 9. The sensor control device 9 and the sensor unit 8 constitute a visual sensor.

１０は視覚センサ萼の視野である。また、ＸＹは口ポッ
トの基準座標系、ｘｙは視覚センサの座標系である。10 is the visual field of the visual sensor calyx. Further, XY is the reference coordinate system of the mouth pot, and xy is the coordinate system of the visual sensor.

第３図はロボットの制御を行なう数値制御装置２の要部
ブロック図であり、各種の指令やデータを入力する為の
操作盤２１．センサ制御装置９とのインタフェイス回路
２２．メモリ２６．Ｚ軸、θ軸、Ｒ軸、α軸制御回路２
４〜２７等がマイクロコンピュータ２０にデータバス、
アドレスバス、コントロールパスな含むパス２８ヲ介し
て接続されている。また、２９〜６２は各軸対応のモー
タであり、これらはロボット本体１（二組込まれる。各
モータからは回転位置情報が各軸の制御回路にフィード
バックされており、マイクロコンピュータ２０はその回
転位置情報からロボット１のハンド５の位置を知ること
ができる。また、インタフェイス回路２２乞介して視覚
センサから位置情報が送られ、その情報に従った位置決
め動作等を実行する。FIG. 3 is a block diagram of the main parts of the numerical control device 2 that controls the robot, and shows an operation panel 21 for inputting various commands and data. Interface circuit 22 with sensor control device 9. Memory 26. Z-axis, θ-axis, R-axis, α-axis control circuit 2
4 to 27 etc. connect the data bus to the microcomputer 20,
They are connected via paths 28 including an address bus and a control path. Further, 29 to 62 are motors corresponding to each axis, and these are incorporated into the robot main body 1.Rotational position information from each motor is fed back to the control circuit of each axis, and the microcomputer 20 controls the rotational position. The position of the hand 5 of the robot 1 can be known from the information. Also, position information is sent from the visual sensor via the interface circuit 22, and positioning operations and the like are performed in accordance with the information.

第４図はセンサ制御装置９の構成例を示すブロック図で
あり、センサ部８の出力信号を２値化する２値化回路５
０の出力を記憶するフレームメモリ５１と、数値制御装
置２とのインタフェイス回路５２と、データ等を入力す
る為のキーボード５３と、メモ９５４と、２値画像を表
示する為のＣＲＴ５５とがパス５６を介してマイクロコ
ンピュータ５７に接続されている。また、視覚センサＳ
で捉えた画像をモニタする為のモニタテレビ５８が視覚
センナへに接続されている。FIG. 4 is a block diagram showing an example of the configuration of the sensor control device 9, in which a binarization circuit 5 that binarizes the output signal of the sensor section 8 is shown.
A frame memory 51 for storing the output of 0, an interface circuit 52 for the numerical control device 2, a keyboard 53 for inputting data, etc., a memo 954, and a CRT 55 for displaying a binary image are connected to the path. It is connected to a microcomputer 57 via 56. In addition, visual sensor S
A monitor television 58 is connected to the visual sensor for monitoring images captured by the sensor.

次（二本実施例の動作を説明する。Next, the operation of the second embodiment will be explained.

先ず、ロボットの把持機構乙に標ｊｉ７ｆａ：把持させ
る。この標識７は例えばｓ５図に示すように円形の上面
７０と持手７１とを有するもので、上面７０は背景との
明暗差がでるように白く着色されている。また持手７１
の軸中心と上面７０の重心とは一致する。この上面７０
がセンサ部８に対向するように把持させる。なお、標識
７の形状は上記のものだけでなく各種のものを採用する
ことができ、上面７０は正方形、長方形等であっても良
く、色も白に限定されない。First, the robot's gripping mechanism B is made to grip the mark ji7fa. This sign 7 has, for example, a circular upper surface 70 and a handle 71, as shown in Figure s5, and the upper surface 70 is colored white to create a contrast with the background. Also handle 71
The axial center of the upper surface 70 coincides with the center of gravity of the upper surface 70. This upper surface 70
The sensor section 8 is held so that it faces the sensor section 8. Note that the shape of the sign 7 is not limited to the one described above, and various shapes can be adopted, and the upper surface 70 may be square, rectangular, etc., and the color is not limited to white.

次に、操作盤２１を操作して手動送り等により標識７を
視覚センサの視野内の任意の位置例えば第６図のα点に
置く。なお、第６図の破線は視覚センサの視野を示す。Next, the marker 7 is placed at an arbitrary position within the field of view of the visual sensor, for example, at point α in FIG. 6, by operating the operation panel 21 and manually feeding it. Note that the broken line in FIG. 6 indicates the field of view of the visual sensor.

この操作が終了すると、操作盤２１を操作してその点の
ロボット基準座標系における座標値（Ｘα、Ｙａ）ｗロ
ボットに算出させ、これをメモリ２６に記憶する。また
、センサ制御装置９のキーボード５６を操作してセンサ
制御装置９に標識７の上面７０の重心の視覚センサ座標
系における座標値（”ａ　、　ｙ、　）を算出させる。When this operation is completed, the operation panel 21 is operated to cause the robot to calculate the coordinate values (Xα, Ya) of that point in the robot reference coordinate system, and these are stored in the memory 26. Further, the user operates the keyboard 56 of the sensor control device 9 to cause the sensor control device 9 to calculate the coordinate values ("a, y, ) of the center of gravity of the top surface 70 of the sign 7 in the visual sensor coordinate system.

この算出は、上面７０の２値画像がフレームメモリ５１
に記憶さｎでいるので、それを読取ってマイクロコンピ
ュータ５７により公知の重心算出アル−ｆ９ズムを使用
して行なわれる。また、この重心の計算が終了すると、
キーボード５６を操作してその座標値をインタフェイス
回路５２　、２２を介してロボットに通知し、メモリ２
６（二記憶させる。In this calculation, the binary image of the upper surface 70 is
Since n is stored in n, the microcomputer 57 reads it and calculates the center of gravity using the well-known gravity center calculation algorithm f9. Also, once this calculation of the center of gravity is completed,
Operate the keyboard 56 to notify the robot of the coordinate values via the interface circuits 52 and 22, and store them in the memory 2.
6 (2 memorize.

次に、操作盤２１を操作してハンド５を移動させ、標識
７を視覚センサ視野内の前記とは別の位置例えば第６因
の６点に移動させる。そして、上述と同様な操作及び処
理により、標識７の重心のロボット基準座標系における
座標値＜Ｘｂ、Ｙｂ）と視覚センサ座標系における座標
値＜”ｂ、ｙｂ’）’ｔメモリ２６１ユ記憶させる。Next, the operation panel 21 is operated to move the hand 5, and the marker 7 is moved to a different position within the field of vision of the visual sensor, for example, to the six points of the sixth factor. Then, through the same operations and processing as described above, the coordinate values of the center of gravity of the marker 7 in the robot reference coordinate system <Xb, Yb) and the coordinate values in the visual sensor coordinate system <"b, yb')'t memory 261 are stored. .

更に、操作盤２１を操作して標識７を視覚センサ視野内
の更に異なる位置例えば第６図の０点の位置に標識７を
移動させ、そのときの標識７の重心のロボット基準座標
系における座標値（’Ｙｃ。Furthermore, by operating the operation panel 21, the marker 7 is moved to a different position within the field of view of the visual sensor, for example, the 0 point position in FIG. 6, and the coordinates of the center of gravity of the marker 7 at that time in the robot reference coordinate system are determined. Value ('Yc.

Ｙｃ）と視覚センサ座標系における座標値（ｘｃ。Yc) and the coordinate value (xc) in the visual sensor coordinate system.

ｙｃ）をメモリ２６に記憶させる。yc) is stored in the memory 26.

以上のような教示が終了すると、操作盤２１から換算指
令を入力する。マイクロコンピュータ２０はメモリ２６
に記憶されたαｌｂ＋’の６点のロボット基準座標系に
おける座標値および視覚センサ座標系における座標値を
使用し、前記ｆ１＋　、　（２）から前記（３）　、　
（４）式で示す軸方向基本ベクトルｌ、ｍと原点ベクト
ルＯｆ算出し、これをメモリ２６に記憶する。従って、
実行モードにおいて、視覚センサから物体の位置情報が
視覚センサ座標系の座標値としてロボットに通知された
場合、前記（５）　、　ｆ６＋式によりロボット基準座
標系での物体の座標値が判明することになる。When the above-mentioned teaching is completed, a conversion command is inputted from the operation panel 21. The microcomputer 20 has a memory 26
Using the coordinate values in the robot reference coordinate system and the coordinate values in the visual sensor coordinate system of the six points of αlb+' stored in , the f1+, (2) to (3),
The basic axial vectors l and m and the origin vector Of shown in equation (4) are calculated and stored in the memory 26. Therefore,
In the execution mode, when the position information of an object is notified to the robot from the visual sensor as coordinate values in the visual sensor coordinate system, the coordinate values of the object in the robot reference coordinate system can be determined by the f6+ formula in (5) above. Become.

以上の実施例は、少なくとも６点の視覚センチ座標系、
ロボット基準座標系における座標値をロボットに教示す
る方法として、標識７をロボットに把持させこれを視覚
センサ視野内に移動させて行なったが、それ以外の方法
を採用し得ることは勿論のことである。例えば、予め６
個の物体を視覚センサに見せ、その各々の重心の視覚セ
ンサ座標系での座標値を視覚センサで算出させ、これを
ロボットに通知すると共に、ロボットのハンドの把持中
心を手動モード等により上記６個の物体の重心（＝一致
するように移動させ、そのときのロボット基本座標系に
おける座標値をロボットに教示させる方法等が採用可能
である。The above embodiments have a visual centimeter coordinate system of at least six points,
As a method of teaching the robot the coordinate values in the robot reference coordinate system, we had the robot hold the sign 7 and move it within the field of view of the visual sensor, but it is of course possible to adopt other methods. be. For example, 6
Show the object to the visual sensor, have the visual sensor calculate the coordinate value of each center of gravity in the visual sensor coordinate system, notify this to the robot, and set the grip center of the robot's hand in manual mode etc. It is possible to adopt a method such as moving the centers of gravity of the objects so that they coincide with each other and teaching the robot the coordinate values in the robot's basic coordinate system at that time.

発明の詳細 な説明したように、本発明によれば、少なくとも６点の
視覚センサ座標系における座標値と、そのロボット基本
座標系における座標値とを教示し、該教示情報からロボ
ット座標系の原点かり視覚センサ座標系の原点までの原
点ベクトル情報及びロボット基準座標系における視覚セ
ンサ座標系の軸方向基本ベクトルを算出させ、前記原点
ベクトル情報及び軸方向基本ベクトルに基づき視覚セン
サ座標系の位置情報をロボットの基準座標系の位置情報
に換算するようにしたものであり、比較的簡単な方法に
より視覚センサ座標系の位置情報をロボットの基準座標
系の位置情報に換算することができる。また、ロボット
のハンド座標系等と視覚センサ座標系とを結合するので
はなく、ロボットの基本座標系と視覚センサ座標系とを
直接納会させるので、従来より座標定義が６易となり、
視覚センナの方向がロボットの動作軸最終断の中心から
の垂線に平行でなくても良いという効果もある。As described in detail, according to the present invention, the coordinate values of at least six points in the visual sensor coordinate system and their coordinate values in the robot basic coordinate system are taught, and the origin of the robot coordinate system is determined from the teaching information. Calculate the origin vector information up to the origin of the visual sensor coordinate system and the axial basic vector of the visual sensor coordinate system in the robot reference coordinate system, and calculate the position information of the visual sensor coordinate system based on the origin vector information and the axial basic vector. The position information is converted into the position information of the robot's reference coordinate system, and the position information of the visual sensor coordinate system can be converted into the position information of the robot's reference coordinate system by a relatively simple method. In addition, instead of combining the robot's hand coordinate system and the visual sensor coordinate system, the robot's basic coordinate system and the visual sensor coordinate system are directly connected, making coordinate definition easier than before.
Another advantage is that the direction of the visual sensor does not have to be parallel to the perpendicular line from the center of the final cut of the robot's motion axis.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本党明の原理説明図、第２図は本発明はセンチ
制御装置９の構成例を示すブロック図、第５図は標識の
外観斜視図、第６図は実施例の説明図である。 １はロボット、２は数値制御装置、６は台座、４はアー
ム、５はハンド、６は把持機構、７は標識、８はセンサ
部、９はセンサ制御装置、ｘｙは視覚センサ座標系、Ｘ
Ｙはロボット基準座標系である。 特許出願人　ファナック株式会社 代理人　弁理士　玉蟲久五部（外２名）第　１　図 第２図Fig. 1 is an explanatory diagram of the principle of the present invention, Fig. 2 is a block diagram showing an example of the configuration of the centimeter control device 9 of the present invention, Fig. 5 is an external perspective view of the sign, and Fig. 6 is an explanatory diagram of an embodiment. It is. 1 is a robot, 2 is a numerical control device, 6 is a pedestal, 4 is an arm, 5 is a hand, 6 is a gripping mechanism, 7 is a sign, 8 is a sensor section, 9 is a sensor control device, xy is a visual sensor coordinate system,
Y is the robot reference coordinate system. Patent Applicant Fanuc Co., Ltd. Agent Patent Attorney Gobe Tamamushi (2 others) Figure 1 Figure 2

Claims (1)

【特許請求の範囲】[Claims] 視覚センサ座標系の位置情報をロボットの基準座標系の
位置情報に換算する方式において、視覚センサの視野内
の少なくとも５点の視覚センサ座標系Ｃ：おける位置情
報とロボット基準座標系における位置情報をそれぞれロ
ボットに教示し、該教示情報からロボット座標系の原点
から視覚センナ座標系の原点までの原点ベクトル情報及
びロボット基準座標系における視覚センサ座標系の軸方
向基本ベクトルを算出させ、前記原点ベクトル情報及び
軸方向基本ベクトルに基づき視覚センサ座標系の位置情
報をロボットの基準座標系の位置情報に換算することを
特徴とする視覚センサ座標情報とロボット基準座標情報
の換算方式。In the method of converting position information in the visual sensor coordinate system to position information in the robot reference coordinate system, position information in the visual sensor coordinate system C: of at least five points within the field of view of the visual sensor and position information in the robot reference coordinate system are converted. The robot is taught respectively, and the origin vector information from the origin of the robot coordinate system to the origin of the visual sensor coordinate system and the axial basic vector of the visual sensor coordinate system in the robot reference coordinate system are calculated from the teaching information, and the origin vector information is calculated. A method for converting visual sensor coordinate information and robot reference coordinate information, characterized in that position information in a visual sensor coordinate system is converted into position information in a robot reference coordinate system based on an axial fundamental vector.
JP10989484A 1984-05-30 1984-05-30 Conversion system between visual sensor coordinate information and robot reference coordinate information Pending JPS60252914A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP10989484A JPS60252914A (en) 1984-05-30 1984-05-30 Conversion system between visual sensor coordinate information and robot reference coordinate information

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP10989484A JPS60252914A (en) 1984-05-30 1984-05-30 Conversion system between visual sensor coordinate information and robot reference coordinate information

Publications (1)

Publication Number Publication Date
JPS60252914A true JPS60252914A (en) 1985-12-13

Family

ID=14521854

Family Applications (1)

Application Number Title Priority Date Filing Date
JP10989484A Pending JPS60252914A (en) 1984-05-30 1984-05-30 Conversion system between visual sensor coordinate information and robot reference coordinate information

Country Status (1)

Country Link
JP (1) JPS60252914A (en)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6396504A (en) * 1986-09-29 1988-04-27 アセア　アクチーボラグ Method and device of industrial robot for calibrating sensor
JPS63104105A (en) * 1986-10-22 1988-05-09 Aisin Seiki Co Ltd Conversion method for robot visual coordinate system
JPS63180486A (en) * 1987-01-20 1988-07-25 愛三工業株式会社 Method of setting coordinate system of robot with visual sensor
JPS63212491A (en) * 1987-02-25 1988-09-05 アイシン精機株式会社 Coordinate conversion system of robot having visual sense
WO1989001849A1 (en) * 1987-08-22 1989-03-09 Fanuc Ltd Calibration system for visual sensor system
EP0336174A2 (en) * 1988-04-08 1989-10-11 Abb Robotics Inc. A method and apparatus for controlling a manipulator
JPH02199582A (en) * 1989-01-30 1990-08-07 Omron Tateisi Electron Co Image processor
WO1992015838A1 (en) * 1991-03-07 1992-09-17 Fanuc Ltd Detection position correction system
JPH11203473A (en) * 1998-01-12 1999-07-30 Mitsutoyo Corp Coordinate system setting method and image measuring device
JP2013198965A (en) * 2012-03-26 2013-10-03 Daihen Corp Substrate conveying device and method
JP2018034272A (en) * 2016-09-01 2018-03-08 アイシン精機株式会社 Palletizing device
JP2019098409A (en) * 2017-11-28 2019-06-24 東芝機械株式会社 Robot system and calibration method

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6396504A (en) * 1986-09-29 1988-04-27 アセア　アクチーボラグ Method and device of industrial robot for calibrating sensor
JPS63104105A (en) * 1986-10-22 1988-05-09 Aisin Seiki Co Ltd Conversion method for robot visual coordinate system
JPS63180486A (en) * 1987-01-20 1988-07-25 愛三工業株式会社 Method of setting coordinate system of robot with visual sensor
JPS63212491A (en) * 1987-02-25 1988-09-05 アイシン精機株式会社 Coordinate conversion system of robot having visual sense
WO1989001849A1 (en) * 1987-08-22 1989-03-09 Fanuc Ltd Calibration system for visual sensor system
EP0336174A2 (en) * 1988-04-08 1989-10-11 Abb Robotics Inc. A method and apparatus for controlling a manipulator
JPH02199582A (en) * 1989-01-30 1990-08-07 Omron Tateisi Electron Co Image processor
WO1992015838A1 (en) * 1991-03-07 1992-09-17 Fanuc Ltd Detection position correction system
US5319443A (en) * 1991-03-07 1994-06-07 Fanuc Ltd Detected position correcting method
JPH11203473A (en) * 1998-01-12 1999-07-30 Mitsutoyo Corp Coordinate system setting method and image measuring device
JP2013198965A (en) * 2012-03-26 2013-10-03 Daihen Corp Substrate conveying device and method
JP2018034272A (en) * 2016-09-01 2018-03-08 アイシン精機株式会社 Palletizing device
JP2019098409A (en) * 2017-11-28 2019-06-24 東芝機械株式会社 Robot system and calibration method

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