Robot system, marker, and calibration method
AssigneeSeiko Epson Corporation
InventorsKazufumi OYA, Shuya SEGAWA, Kazuyuki MIYASHITA, Kanji OKUYAMA
Life of this patent
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Abstract
In a robot system, a control device drives a robot arm and engages a positioning portion with a marker, thereby aligning the marker with the positioning portion, and acquires a first position that is a position of the positioning portion in a robot coordinate system in a state in which the positioning portion is engaged with the marker, images the marker after the alignment using the imaging device, and acquires a second position that is a position of the marker in the image coordinate system, based on an obtained image, and performs calibration between the robot coordinate system and the image coordinate system based on the first position and the second position.
Claims10
A robot system comprising:
- a robot including a robot arm and a positioning portion disposed at a tip end portion of the robot arm;
- a marker that is disposed on a work surface, is configured to slide with respect to the work surface, and is configured to engage with the positioning portion;
- an imaging portion configured to image the marker;
- and
- a control device configured to perform calibration between a robot coordinate system set in the robot and an image coordinate system set in the imaging device, wherein
- the control device
- drives the robot arm and engages the positioning portion with the marker, thereby aligning the marker with the positioning portion, and acquires a first position that is a position of the positioning portion in the robot coordinate system,
- images the marker after the alignment using the imaging device, and acquires a second position that is a position of the marker in the image coordinate system, based on an obtained image, and
- performs calibration between the robot coordinate system and the image coordinate system based on the first position and the second position.
A marker used for calibration between a robot coordinate system set in a robot having a robot arm and a positioning portion disposed at a tip end portion of the robot arm, and an image coordinate system set in an imaging device that images a work surface,
- the marker being disposed on the work surface and being configured to slide with respect to the work surface, the marker comprising:
- a base portion configured to extend in a direction orthogonal to the work surface and include a recessed portion formed in a surface facing the positioning portion;
- and
- an annular flange portion configured to protrude outward from the base portion in a plan view of the work surface, wherein
- the marker is configured to align with the positioning portion by insertion of the positioning portion into the recessed portion.
A calibration method in a robot system including a robot including a robot arm and a positioning portion disposed at a tip end portion of the robot arm,
- a marker that is disposed on a work surface, is configured to slide with respect to the work surface, and is configured to engage with the positioning portion, and
- an imaging device configured to image the marker, for performing calibration between a robot coordinate system set in the robot and an image coordinate system set in the imaging device, the method comprising:
- driving the robot arm and engaging the positioning portion with the marker, thereby aligning the marker with the positioning portion, and acquiring a first position that is a position of the positioning portion in the robot coordinate system;
- imaging the marker after the alignment using the imaging device and acquiring a second position that is a position of the marker in the image coordinate system, based on an obtained image;
- and
- performing calibration between the robot coordinate system and the image coordinate system based on the first position and the second position.
Dependencies are inferred from the claim text.