Coordinate system setting method using visual sensor

A method of setting a coordinate system to an automatic machine using a visual sensor, said method comprising the:

• placing a coordinate system marker for visually expressing the coordinate system to be set in a predetermined position on a reference coordinate system set to said automatic machine;
• moving a movable part of said automatic machine, which supports said visual sensor, to a first position and photographing said coordinate system marker to obtain first image data;
• moving said movable part to a second position and photographing said coordinate system marker to obtain second image data;
• and
• determining transformation data between a sensor coordinate system set to said visual sensor and said coordinate system to be set, based upon said first and second image data and predetermined data regarding said coordinate system marker.

A method of setting a coordinate system to an automatic machine using a visual sensor, said method comprising the:

• placing a coordinate system marker for visually expressing the coordinate system to be set in a predetermined position on a reference coordinate system set to said automatic machine;
• moving a movable part of said automatic machine, which supports said visual sensor, to a first position and photographing said coordinate system marker to obtain first image data;
• moving said movable part to a second position and photographing said coordinate system marker to obtain second image data;
• determining transformation data between a sensor coordinate system set to said visual sensor and said coordinate system to be set, based upon said first and second image data and predetermined data regarding a specific position and geometric configuration of said coordinate system marker;
• and
• obtaining data representing a position and a posture of the coordinate system to be set, based upon data representing the position and posture of said movable part at said first and second positions and said transformation data.

A method of setting a coordinate system to an automatic machine using a visual sensor including a camera, said method comprising the:

• disposing coordinate system expressing means for visually expressing the coordinate system to be set in a desired position and which is out of range of movement of said automatic machine on a reference coordinate system set to said automatic machine;
• moving a movable part of said automatic machine to at least two different positions, said movable part supporting said camera;
• photographing said coordinate system expressing means by said camera at each of said at least two positions and obtaining image data of said coordinate system expressing means;
• obtaining transformation data between a sensor coordinate system set to said visual sensor and the coordinate system to be set, based on the image data obtained in said photographing and geometric data of said coordinate system expressing means;
• and
• obtaining data representing a position and a posture of the coordinate system to be set with respect to said reference coordinate system, based on the data representing the position and posture of said movable part of said automatic machine at said at least two positions, and said transformation data obtained in said obtaining transformation data.

A method of setting a coordinate system to an automatic machine using a visual sensor, said method comprising the:

• placing a coordinate system marker for visually expressing the coordinate system to be set in a predetermined position and which is out of range of movement of said automatic machine on a reference coordinate system set to said automatic machine;
• moving a movable part of said automatic machine, which supports said visual sensor, to a first position and photographing said coordinate system marker to obtain first image data;
• moving said movable part to a second position and photographing said coordinate system marker to obtain second image data;
• and
• determining transformation data between a sensor coordinate system set to said visual sensor and said coordinate system to be set, based upon said first and second image data and predetermined data regarding said coordinate system marker.