Device for acquiring position of workpiece, control device, robot system, and method
AssigneeFanuc Corporation
InventorJun Wada
Life of this patent
Estimating the term…
Abstract
A device includes a model acquisition unit that acquires a workpiece model representing a modeled workpiece; a partial model generation unit that generates, using the workpiece model acquired by the model acquisition unit, a partial model representing a limited part of the workpiece model; and a position acquisition unit that matches the partial model generated by the partial model generation unit with shape data detected by a shape detection sensor to acquire the position, in a control coordinate system, of the portion of the workpiece corresponding to the partial model.
Claims19
A device configured to acquire a position of a workpiece in a control coordinate system based on shape data of the workpiece detected by a shape detection sensor arranged at a known position in the control coordinate system, the device comprising a processor configured to:
- acquire a workpiece model modeling the workpiece;
- generate partial models obtained by limiting the workpiece model to a part thereof, using the acquired workpiece model, wherein the processor respectively generates the partial models in a plurality of orientations when viewing the part of the workpiece model from a plurality of virtual visual-line directions;
- and
- acquire a first position in the control coordinate system of a portion of the workpiece corresponding to the partial model, by respectively matching the generated partial models with the shape data detected by the shape detection sensor.
A device configured to acquire a position of a workpiece in a control system based on shape data of the workpiece detected by a shape detection sensor arranged at a known position in the control coordinate system, the device comprising a processor configured to:
- acquire a workpiece model modeling the workpiece;
- generate a partial model obtained by limiting the workpiece model to a part thereof, using the acquired workpiece model;
- acquire a first position in the control coordinate system of a portion of the workpiece corresponding to the partial model, by matching the generated partial model with the shape data detected by the shape detection sensor;
- and
- acquire a second position of the workpiece in the control coordinate system, based on the first position and a position of the partial model in the workpiece model.
A method of acquiring a position of a workpiece in a control coordinate system based on shape data of the workpiece detected by a shape detection sensor arranged at a known position in the control coordinate system, the method comprising:
- acquiring, by a processor, a workpiece model modeling the workpiece;
- generating, by the processor, a partial model obtained by limiting the workpiece model to a part thereof, using the acquired workpiece model, and respectively generating partial models in a plurality of orientations when viewing the part of the workpiece model from a plurality of virtual visual-line directions;
- and
- acquiring, by the processor, a position in the control coordinate system of a portion of the workpiece corresponding to the partial model, by respectively matching the generated partial models with the shape data detected by the shape detection sensor.
Dependencies are inferred from the claim text.