Terminal device
A terminal device is configured to photograph a first image including a work target and a marker for the work target, and a second image including a robot marker, the work target, and the marker for the work target, which maintain a positional relation in the first image, set a user coordinate system using the marker for the work target as a reference, set an operation path based on a work spot of the work target included in the first image, create a work program based on the set operation path of the industrial robot, calculate a robot coordinate system based on the robot marker included in the second image and position attitude information of the industrial robot, and modify the work program by converting a coordinate system of the operation path of the industrial robot from the user coordinate system to the robot coordinate system.
1 . A terminal device, comprising:
a photographing portion configured to photograph a first image that includes a work target and a marker for the work target, and a second image that includes a robot marker that is attached to an industrial robot, the work target, and the marker for the work target, wherein the work target and the marker for the work target are configured to maintain a positional relation in the first image, and wherein the photographing portion is configured to capture the first image at a first location so that the first image does not include the robot marker, and to capture the second image at a second location that is different from the first location so that the robot marker is included in the second image;
a user-coordinate system setting portion configured to set a user coordinate system, using the marker for the work target that is included in the first image as a reference;
an operation-path setting portion configured to set an operation path of the industrial robot on the user coordinate system on the basis of a work spot of the work target included in the first image;
a program creating portion configured to create a work program for causing the industrial robot to operate on the basis of the set operation path of the industrial robot;
a robot-coordinate system calculating portion configured to calculate a robot coordinate system on the basis of the robot marker included in the second image and position attitude information of the industrial robot; and
a program modifying portion configured to modify the work program by converting a coordinate system of the operation path of the industrial robot from the user coordinate system to the robot coordinate system.
2 . The terminal device according to claim 1 , wherein
the program modifying portion is configured to convert the coordinate system of the operation path of the industrial robot on the basis of a difference between an origin of the user coordinate system and an origin of the robot coordinate system.
3 . The terminal device according to claim 1 , wherein
the user-coordinate system setting portion is configured to calculate an origin of the user coordinate system and coordinate axes using the marker for the work target as a reference.
4 . The terminal device according to claim 1 , wherein
the robot-coordinate system calculating portion is configured to calculate an origin and coordinate axes of the robot coordinate system on the basis of the robot marker and position attitude information of the industrial robot.
5 . The terminal device according to claim 1 , wherein
the position attitude information of the industrial robot includes angle information of each axis of the industrial robot obtained from a robot control device which controls an operation of the industrial robot.