Marker Detection Apparatus and Robot Teaching System

A robot teaching system comprising:

• a photographing unit having a 3D camera that photographs an image including a workpiece and a marker;
• a three-dimensional plane detection unit that detects a three-dimensional plane serving as a plane in a three-dimensional space on a basis of point group data acquired by the 3D camera;
• a two-dimensional plane image generation unit that projects point group data constituting the detected three-dimensional plane in a perpendicular direction based on the three-dimensional plane, thereby generating a two-dimensional plane image;
• a marker detection unit that detects a marker from the generated two-dimensional plane image;
• a marker position calculation unit that, for the detected marker included in the two-dimensional plane image, calculates three-dimensional coordinates on the three-dimensional plane;
• a camera coordinate system setting unit that sets a camera coordinate system on a basis of the calculated three-dimensional coordinates of the marker;
• and
• a program generation unit that generates a working program for operating a manipulator, while converting an operation path of the manipulator in the camera coordinate system into a robot coordinate system set in a robot control apparatus.