Simulation device using three-dimensional position information obtained from output from vision sensor
AssigneeFanuc Corporation
InventorTakashi Yamazaki
Life of this patent
Estimating the term…
Abstract
This simulation device comprises a simulation implementation unit that simulates a movement of a robot device, and estimates a movement path of a robot. The simulation device comprises a position information generation unit that generates three-dimensional position information for a surface of a workpiece on the basis of the output of a vision sensor, which has imaged an actual workpiece. A display unit displays the three-dimensional position information for the surface of the workpiece, superimposed on an image of a robot device model, an image of a workpiece model, and the movement path of the robot.
Claims6
A simulator configured to perform a simulation of an operation of a robot device including a robot, comprising:
- at least one processor;
- and
- a display configured to display an image of a robot device model and an image of a workpiece model;
- wherein
- the at least one processor is configured to
- generate the robot device model and the workpiece model for the simulation based on three-dimensional shape data of the robot device and three-dimensional shape data of a workpiece,
- generate an operation program including a teaching point,
- perform the simulation of the operation of the robot device based on the teaching point,
- estimate an operation path of the robot,
- generate a point group of three-dimensional points and three-dimensional position information including information on positions of three-dimensional points in the point group of three-dimensional points on a surface of the workpiece from an output of a three-dimensional camera which images the workpiece, and
- cause the display to display the point group of three-dimensional points on the surface of the workpiece based on the three-dimensional position information generated by the output of the three-dimensional camera, so that the point group of three-dimensional points are superimposed on the image of the robot device model, the image of the workpiece model, and the operation path of the robot and deviation of the point group of three-dimensional points to the workpiece model is shown.
A simulator configured to perform a simulation of an operation of a robot device including a robot, comprising:
- at least one processor configured to
- generate a robot device model and a workpiece model for the simulation based on three-dimensional shape data of the robot device and three-dimensional shape data of a workpiece,
- perform the simulation of the operation of the robot device,
- set operation information which is defined in an operation program, based on the simulation of the operation of the robot device,
- generate a point group of three-dimensional points and three-dimensional position information including information on positions of three-dimensional points in the point group of three-dimensional points on a surface of the workpiece from an output of a three-dimensional camera which images the workpiece,
- detect a position of the workpiece by matching reference data of the workpiece with the information on positions of the point group of three-dimensional points on the surface of the workpiece, and
- correct the operation information included in the operation program so as to correspond to the position of the workpiece, based on a position of the workpiece model in the simulation and the detected position of the workpiece, wherein
- the point group of three-dimensional points is set over an entirety of the surface of the workpiece facing the three-dimensional camera.
Dependencies are inferred from the claim text.