초록 ▼

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

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 .SIGMA.c to be set with respect to a sensor coordinate system .SIGMA.s is obtained. In the same manner, a matrix data [D2] at a position A2 is obtained. According to a relationship [C]=[A1].multidot.[S].multidot.[D1]=[A2].multidot.[S].multidot.[D2], a matrix [C] is derived and stored as data for setting the coordinate system .SIGMA.c to the robot control device.

대표청구항 ▼

[ What is claimed is:] [1.]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 coo

[ What is claimed is:] [1.]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; andobtaining 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.