Robot system equipped with camera for capturing image of target mark

Patent metadata

Field	Value
Publication number	US-9969090-B2
Application number	US-201615281091-A
Country	US
Kind code	B2
Filing date	Sep 30, 2016
Priority date	Oct 5, 2015
Publication date	May 15, 2018
Grant date	May 15, 2018

Abstract

A robot system which is inexpensive and can easily measure a position of a target point. The system stores feature quantities of an image of a target mark included in an image acquired as reference data when the target mark is placed at a known first target mark position at the robot coordinate system and stores the first target mark position with respect to an arm tip as the position of the tool center point. The system compares the feature quantities obtained from the image acquired when the target mark is arranged at a second target mark position and the feature quantities of the reference data to make the arm tip move and calculates the second target mark position at the robot coordinate system based on a second robot position corresponding to the position of the arm tip after movement and the position of the tool center point.

First claim

What is claimed is:

1. A robot system, comprising:
a robot having an arm tip;
a target mark;
a camera attached to the arm tip of the robot, and configured to capture an image of the target mark; and
a robot controller configured to
store a position and size of the image of the target mark included in an image captured by the camera as reference data,
store a first target mark position with respect to the arm tip as a position of a tool center point when the target mark is arranged at the first target mark position determined in advance in a robot coordinate system forming the basis of control of the robot and the arm tip is positioned at a first robot position,
control the arm tip to perform a movement so that a position and size of the image of the target mark included in the image of the camera when the target mark is arranged at a second target mark position match the position and size of the image of the target mark stored as the reference data, and
use a second robot position, which is the position of the arm tip after said movement, and the position of the tool center point as the basis to calculate the second target mark position in the robot coordinate system.

2. The robot system according to claim 1 , wherein
the robot system further comprises a machine tool,
when the target mark is arranged at any of at least three target mark positions that are determined in advance in a machine coordinate system forming the basis for control of the machine tool and that do not exist on the same straight line, the robot controller is configured to calculate the at least three target mark positions each at the robot coordinate system, and
the robot controller is further configured to use the at least three target mark positions at the machine coordinate system and the at least three target mark positions at the robot coordinate system as the basis to calculate the position of the machine coordinate system with respect to the robot coordinate system.

3. The robot system according to claim 2 , wherein
the machine tool includes an operable moving portion,
the target mark is set at the moving portion, and
the machine tool is configured to make the moving portion operate so as to make the target mark move to the at least three target mark positions.

4. The robot system according to claim 1 , wherein
when the target mark is arranged at least at three target mark positions that do not exist on the same straight line and that are unknown at the robot coordinate system, the robot controller is configured to calculate the at least three target mark positions at the robot coordinate system,
the robot controller is further configured to use the at least three target mark positions at the robot coordinate system as the basis to calculate a work coordinate system of the robot,
the work coordinate system is different from the robot coordinate system and used in predetermined work performed by the robot,
positions where the work coordinate system is to be set correspond to the at least three target mark positions, and
the robot controller is configured to calculate the work coordinate system with respect to a plane including the at least three target mark positions.

Assignees

• Fanuc Corp

Inventors

• Warashina Fumikazu
• Watanabe Keisuke
• Oono Kenshirou

Classifications

• B25J9/1692 Primary

  Calibration of manipulator · CPC title

• G05B2219/40003

  Move end effector so that image center is shifted to desired position · CPC title

• G05B2219/37561

  Move camera until image corresponds to stored image of same workpiece · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title