Granted Patent B2

US 12,420,424 · App. 17/995,974 · Granted Sep 23, 2025

Inventors: Shoutarou Ogura (Yamanashi, JP); Yuta Namiki (Yamanashi, JP)

Assignee: FANUC CORPORATION

B25J9/1692B25J9/1697

Abstract

Claims (54)

1. A coordinate system setting system that sets a coordinate system for use in control of an industrial machine, the coordinate system setting system comprising:

a calibrated visual sensor; and

a processor, the processor being configured to

store, in advance, calibration data obtained when the visual sensor is calibrated;

process a captured image obtained by capturing, by means of the visual sensor, an image of a calibration jig disposed at a position for which the coordinate system is to be set; and

use a result of the image processing to set a coordinate system for use in control of the industrial machine,

wherein the processor obtains

a position of the calibration jig relative to a visual sensor position obtained based on the captured image obtained by capturing, by means of the visual sensor, the image of the calibration jig and the calibration data,

a visual sensor position relative to a reference position of a base coordinate system stored in the calibration data and set at a center of a base of the industrial machine, the reference position being set in advance with respect to the industrial machine, and

a position of the calibration jig relative to the reference position based on the position of the calibration jig relative to the visual sensor position and the visual sensor position relative to the reference position, and

uses the position of the calibration jig relative to the reference position to set a coordinate system, and controls the industrial machine in the set coordinate system.

2. The coordinate system setting system according to claim 1 , wherein

the industrial machine is

a robot having a robot arm and a flange connecting the robot arm and a hand tip tool, and

the processor

defines a camera position relative to the reference position acquired from the calibration data as the visual sensor position relative to the reference position, when the visual sensor is a fixed camera, and

obtains a visual sensor position relative to a reference position when an image of the calibration jig is captured based on a camera position relative to a flange position acquired from the calibration data and a position of the flange relative to the reference position when the image of the calibration jig is captured, when the visual sensor is a hand camera attached to the flange.

3. The coordinate system setting system according to claim 1 , wherein

the industrial machine is

a robot having a robot arm and a flange connecting the robot arm and a hand tip tool,

the processor

processes a captured image obtained by capturing, by means of the visual sensor, an image of the calibration jig provided to the flange,

obtains a position of the calibration jig relative to a visual sensor position obtained based on the captured image obtained by capturing, by means of the visual sensor, the image of the calibration jig and the calibration data,

a visual sensor position relative to a reference position set in advance with respect to the industrial machine, the reference position being stored in the calibration data, and

a position of the calibration jig relative to the reference position based on the position of the calibration jig relative to the visual sensor position and the visual sensor position relative to the reference position,

obtains a position of the calibration jig relative to a position of the flange based on the position of the calibration jig relative to the reference position and the position of the flange relative to the reference position acquired from the industrial machine, and

uses the position of the calibration jig relative to the position of the flange to set a coordinate system for use in control of the industrial machine.

4. The coordinate system setting system according to claim 1 , wherein the visual sensor is a two-dimensional camera.

5. A position and orientation measurement system that measures three-dimensional positions and orientations of a calibration jig as viewed from a reference position of an industrial machine, the position and orientation measurement system comprising:

a calibrated visual sensor; and

a processor, the processor being configured to

store, in advance, calibration data obtained when the visual sensor is calibrated;

process a captured image obtained by capturing, by means of the visual sensor, an image of the calibration jig; and

calculate three-dimensional positions and orientations of the calibration jig as viewed from the reference position of the industrial machine using a result of the image processing,

wherein the processor obtains

a position of the calibration jig relative to a visual sensor position obtained based on the captured image obtained by capturing, by means of the visual sensor, the image of the calibration jig and the calibration data,

a visual sensor position relative to a reference position of a base coordinate system stored in the calibration data and set at a center of a base of the industrial machine, the reference position being set in advance with respect to the industrial machine, and

a position of the calibration jig relative to the reference position based on the position of the calibration jig relative to the visual sensor position and the visual sensor position relative to the reference position, and

compensates a motion of the industrial machine based on the obtained position of the calibration jig relative to the reference position.

6. The position and orientation measurement system according to claim 5 , wherein the industrial machine is

a robot having a robot arm and a flange connecting the robot arm and a hand tip tool, and

the processor

defines a camera position relative to the reference position acquired from the calibration data as the visual sensor position relative to the reference position, when the visual sensor is a fixed camera, and

obtains a visual sensor position relative to a reference position when an image of the calibration jig is captured based on a camera position relative to a flange position acquired from the calibration data and a position of the flange relative to the reference position when the image of the calibration jig is captured, when the visual sensor is a hand camera attached to the flange.

7. The position and orientation measurement system according to claim 5 , wherein the industrial machine is

a robot having a robot arm and a flange connecting the robot arm and a hand tip tool,

the processor

processes a captured image obtained by capturing, by means of the visual sensor, an image of the calibration jig provided to the flange,

obtains a position of the calibration jig relative to a visual sensor position obtained based on the captured image obtained by capturing, by means of the visual sensor, the image of the calibration jig and the calibration data,

a visual sensor position relative to a reference position set in advance with respect to the industrial machine, the reference position being stored in the calibration data, and

a position of the calibration jig relative to the reference position based on the position of the calibration jig relative to the visual sensor position and the visual sensor position relative to the reference position,

obtains a position of the calibration jig relative to a position of the flange based on the position of the calibration jig relative to the reference position and the position of the flange relative to the reference position acquired from the industrial machine, and

uses the position of the calibration jig relative to the position of the flange to set a coordinate system for use in control of the industrial machine.

8. The position and orientation measurement system according to claim 5 , wherein the visual sensor is a two-dimensional camera.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (18)