Simulation device using three-dimensional position information obtained from output from vision sensor
AssigneeFanuc Corporation
InventorTakashi YAMAZAKI
Life of this patent
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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 simulation device configured to perform a simulation of an operation of a robot device including a robot, comprising:
- a model generating unit configured to generate a robot device model and a workpiece model for a simulation based on three-dimensional shape data of a robot device and three-dimensional shape data of a workpiece;
- a display part configured to display an image of the robot device model and an image of the workpiece model;
- an operation information setting unit configured to generate an operation program including a teaching point;
- a simulation executing unit configured to perform a simulation of an operation of the robot device based on the teaching point and estimate an operation path of the robot;
- and
- a position information generating unit configured to generate three-dimensional position information on a surface of the workpiece based on an output of a vision sensor which images an actual workpiece;
- wherein
- the display part displays the three-dimensional position information on the surface of the workpiece which is superimposed on the image of the robot device model, the image of the workpiece model, and the operation path of the robot.
A simulation device configured to perform a simulation of an operation of a robot device including a robot, comprising:
- a model generating unit configured to generate a robot device model and a workpiece model for a simulation based on three-dimensional shape data of a robot device and three-dimensional shape data of a workpiece;
- a simulation executing unit configured to perform a simulation of an operation of the robot device;
- an operation information setting unit configured to set operation information which is defined in an operation program, based on the simulation of the operation of the robot device;
- a position information generating unit configured to generate three-dimensional position information on a surface of the workpiece based on an output of a vision sensor which images an actual workpiece;
- and
- a position detecting unit configured to detect a position of the actual workpiece by matching reference data of the workpiece with the three-dimensional position information on the surface of the workpiece;
- wherein
- the operation information setting unit corrects the operation information included in the operation program so as to correspond to the position of the actual workpiece, based on a position of the workpiece model in the simulation and the position of the actual workpiece detected by the position detecting unit.
Dependencies are inferred from the claim text.