Robot simulation system which simulates takeout process of workpieces
A robot simulation system includes a first plane calculation part which calculates a group of first planes extending through focal points of two camera models and divide the fields of vision of the two camera models at equal intervals when capturing a measurement region, a second plane calculation part which calculates a group of second planes which intersect the first planes and extend along boundaries of light-dark contrast formed on the measurement region with stripe shaped patterns of light from the projector model, an intersecting line calculation part which calculates a plurality of intersecting lines between the first planes and the second planes, a three-dimensional information calculation part which calculates positions of intersecting points between the intersecting lines and surfaces of the workpiece models as three-dimensional information, and a position and posture calculation part which calculates positions and postures of the workpiece model based on the three-dimensional information.
1. A robot simulation system for simulating in a virtual space a takeout process for successively taking out a plurality of bulk stacked workpieces by a robot, based on three-dimensional information of the workpieces which is obtained by a range sensor including two cameras and a projector,
the robot simulation system comprising a model placement part which places in the virtual space a robot model, a plurality of workpiece models, two camera models, and a projector model which three-dimensionally express the robot, the plurality of workpieces, and the two cameras and the projector of the range sensor, respectively,
wherein the model placement part is configured to place the plurality of workpiece models in the virtual space in a bulk stacked state, and place the two camera models and the projector model in the virtual space so that fields of vision of the two camera models and a projection range of the projector model encompass a measurement region which is set for bulk stacked workpiece models,
the robot simulation system further comprising:
a first plane calculation part which calculates a group of first planes which extend through focal points of the two camera models and divide the fields of vision of the two camera models at equal intervals when capturing the measurement region;
a second plane calculation part which calculates a group of second planes which intersect the group of first planes and extend through the projector model and boundaries of light-dark contrast which are formed on the measurement region when the projector model projects stripe shaped patterns of light on the measurement region;
an intersecting line calculation part which calculates a plurality of intersecting lines between the group of first planes and the group of second planes;
a three-dimensional information calculation part which calculates positions of a plurality of intersecting points between the plurality of intersecting lines and surfaces of the workpiece models as three-dimensional information of the workpiece models,
a position and posture calculation part which calculates positions and postures of the workpiece models based on the three-dimensional information of the workpiece models, and
a simulation run part which runs a simulation of the takeout process by the robot model based on the positions and postures of the workpiece models which are calculated by the position and posture calculation part.
2. The robot simulation system according to claim 1 , wherein the model placement part is configured to place a second camera which captures an image of the bulk stacked workpiece models in the virtual space,
the robot simulation system further comprises a two-dimensional image acquisition part which acquires a two-dimensional image of the bulk stacked workpiece models from the second camera, and
the position and posture calculation part is further configured to calculate positions and postures of the workpiece models, based on the three-dimensional information of the workpiece models and the two-dimensional image.