Measuring device
AssigneeKeyence Corporation
InventorsKyosuke Tawara, Naoki Takayama
Life of this patent
Estimating the term…
Abstract
A user can easily create a robot program. A measuring device includes a position determination processing part that determines a holding position, held by a robot hand, of a workpiece placed in a work space and determines coordinates of a fixed via point having any single attribute based on a result of measurement made by a measuring part and holding information, the fixed via point being one of an approach position of the robot hand for holding the holding position, the holding position, and a retreat position after holding, and an output part that outputs, to a robot controller, the coordinates of the fixed via point determined by the position determination processing part and attribute information showing the attribute of the fixed via point.
Claims16
A measuring device that measures a workpiece placed in a work space and controls a robot that conveys the workpiece, the measuring device comprising:
- a measuring part that measures a position and orientation of the workpiece placed in the work space;
- a holding information storage part that stores holding information showing a possible holding position of the workpiece held by a robot hand of the robot;
- a position determination processing part that determines a holding position, held by the robot hand, of the workpiece placed in the work space and determines coordinates of each of a plurality of fixed via points having any single attribute based on a result of measurement made by the measuring part and the holding information stored in the holding information storage part, one of the plurality of fixed via points being one of an approach position of the robot hand for holding the holding position, the holding position, and a retreat position after holding;
- a user interface creation part that creates a user interface that includes (1) an order display area showing a passing order of the plurality of fixed via points and (2) a robot display area, different from the order display area, showing the robot hand;
- an output part that outputs, to a robot controller connected to the robot, the coordinates of each of the plurality of fixed via points determined by the position determination processing part, attribute information showing the attribute of each of the plurality of fixed via points, and information regarding the passing order of the plurality of fixed via points;
- and
- an input part that receives a new fixed via point added or inserted and new attribute information showing an attribute of the new fixed via point on the user interface, wherein
- when the input part receives the new fixed via point and the new attribute information, (i) the user interface creation part creates the order display area showing a new passing order of a new plurality of fixed via points including the new fixed via point, and (ii) the output part outputs, to the robot controller, (a) coordinates of each of the new plurality of fixed via points determined by the position determination processing part, (b) the new attribute information of each of the new plurality of the fixed via points, and (c) information regarding the new passing order of the new plurality of fixed via points.
A measuring device that measures a workpiece placed in a work space and controls a robot that conveys the workpiece, the measuring device comprising:
- a measuring part that measures a position and orientation of the workpiece placed in the work space;
- a holding information storage part that stores holding information showing a possible holding position of the workpiece held by a robot hand of the robot;
- a position determination processing part that determines a holding position, held by the robot hand, of the workpiece placed in the work space and determines coordinates of each of a plurality of fixed via points having any single attribute based on a result of measurement made by the measuring part and the holding information stored in the holding information storage part, one of the plurality of fixed via points being one of an approach position of the robot hand for holding the holding position, the holding position, and a retreat position after holding, and processes the attribute information showing the attribute of each of the plurality of fixed via points to convert the attribute information into a command;
- a user interface creation part that creates a user interface that includes (1) an order display area showing a passing order of a plurality of fixed via points and (2) a robot display area, different from the order display area, showing the robot hand;
- an output part that outputs, to a robot controller connected to the robot, the command obtained by the position determination processing part, and information regarding the passing order of the plurality of fixed via points;
- and
- an input part that receives a new fixed via point added or inserted and new attribute information showing an attribute of the new fixed via point on the user interface, wherein
- when the input part receives the new fixed via point and the new attribute information, (i) the user interface creation part creates the order display area showing a new passing order of a new plurality of fixed via points including the new fixed via point, and (ii) the output part outputs, to the robot controller, new commands of the new plurality of fixed via points obtained by the position determination processing part, and information regarding the new passing order of the new plurality of fixed via points.
Dependencies are inferred from the claim text.