Instruction device

Abstract

The teaching device (30) includes a setting information storage unit (301) that stores setting information for setting a position and posture of a force sensor with respect to a coordinate system set for a robot, and a virtual image superimposition display unit (304) that superimposes and displays a virtual image representing the force sensor in an actual space including the robot or a predetermined object that supports the force sensor, or a virtual space including a model of the robot or a model of the predetermined object, in such a manner that the virtual image is positioned and oriented in accordance with the setting information.

Description

Technical Field

[0001] This invention relates to a teaching device. Background Technology

[0002] Force sensors are often used in operations such as precision fitting, gear meshing, and aligning workpiece surfaces using robots. In such operations, force sensors mounted on the robot detect the forces or torques acting on the workpiece and control the robot to make the detected forces or torques reach predetermined values. Patent Document 1 describes an example of a robot system that performs such force control.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 5338297 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In robot systems that use force sensors, as described above, the position information of the force sensors is stored as internal data for the robot control or teaching device. Sometimes it is difficult to confirm whether the user or teacher has correctly set the force sensor's position information (position or posture). Furthermore, when the force sensor's position information is incorrectly set, the force control may malfunction, and identifying the cause of this malfunction (troubleshooting) is a difficult task requiring a high level of expertise.

[0008] Methods for solving problems

[0009] One aspect of this disclosure is a teaching device comprising: a setting information storage unit that stores setting information for setting the position and orientation of a force sensor relative to a coordinate system set for a robot; and a virtual image overlay display unit that overlays a virtual image representing the force sensor in an actual space containing the robot or a predetermined object supporting the force sensor, or in a virtual space containing a model of the robot or a model of the predetermined object, such that the virtual image is positioned and oriented according to the setting information.

[0010] Invention Effects

[0011] Based on the above structure, and using a virtual image of the force sensor that is overlaid in real or virtual space, the user can quickly and easily grasp the situation visually if there are errors in the setting position and posture of the force sensor.

[0012] These objects, features, and advantages of the invention will become more apparent from the detailed description of typical embodiments of the invention shown in the accompanying drawings. Attached Figure Description

[0013] Figure 1 The device structure of the robot system according to the first embodiment is shown.

[0014] Figure 2 This indicates the coordinate system set for the robot and the coordinate system for the force sensor.

[0015] Figure 3 This section illustrates the hardware structure of a robot control device and a teaching device.

[0016] Figure 4 This is a functional block diagram of the robot control device and teaching device.

[0017] Figure 5A This is the first example of a force sensor configuration.

[0018] Figure 5B For explanation Figure 5A The force sensor's position information may be incorrect.

[0019] Figure 6 Indicates in Figure 5A In the event of an error in the position information of the force sensor, an image of the state in which a virtual image of the force sensor is superimposed in the actual or virtual space is generated.

[0020] Figure 7A This is the second example of a force sensor configuration.

[0021] Figure 7B For explanation Figure 7A The force sensor's position information may be incorrect.

[0022] Figure 8 Indicates in Figure 7A In the event of an error in the position information of the force sensor, an image of the state in which a virtual image of the force sensor is superimposed in the actual or virtual space is generated.

[0023] Figure 9 The device structure of the robot system according to the second embodiment is shown.

[0024] Figure 10 Used to illustrate in Figure 10 The robot system contains errors in the position information of the force sensor.

[0025] Figure 11 Indicates in Figure 10In the event that the position information of the force sensor in the robot system is incorrect, the image is a virtual image of the force sensor superimposed in the actual space or virtual space.

[0026] Figure 12 An example representing a virtual image with asymmetry regarding a force sensor. Detailed Implementation

[0027] Next, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the referenced drawings, the same structural or functional parts are labeled with the same reference numerals. For ease of understanding, the scale of these drawings has been appropriately altered. Furthermore, the embodiments shown in the drawings are examples for carrying out the invention, and the invention is not limited to the illustrated embodiments.

[0028] First Implementation Method

[0029] Figure 1 This describes the device structure of a robot system 100 including the teaching pendant 30 of the first embodiment. The robot system 100 includes a robot 10, a robot control device 50 for controlling the robot 10, and a teaching pendant 30 for teaching (programming) the robot 10.

[0030] The robot 10 is configured to carry a force sensor 21 and is capable of performing various force-controlled operations (fitting, pressing, phase alignment, grinding, deburring, etc.). For example, Figure 1 As shown in the enlarged view enclosed in a circle, the force sensor 21 is mounted on the flange 11 at the front end of the arm of the robot 10 via a bracket 15. Figure 1 As an example, a structure is shown in which a hand 41 is mounted on the front end of the force sensor 21. In this structure, for example, the robot 10 is able to perform an interlocking operation of inserting the workpiece W held by the hand 41 into an interlocking hole of an object workpiece (not shown).

[0031] The output value (force / torque) of force sensor 21 is used as... Figure 2 The force sensor 21 outputs values ​​in coordinate system 201. Therefore, in order to determine the force / torque at the point of application of the force within the robot control device 50, it is necessary to convert the output value of the force sensor 21 into a value in the coordinate system set for the robot 10. Furthermore, the coordinate system set for the robot 10 can be a robot coordinate system 101 set at the base of the robot 10, or a flange coordinate system 102 set at the flange surface, etc. (see reference). Figure 2 ).

[0032] In order to convert the output value of force sensor 21 into a value in the coordinate system set for robot 10, robot system 100 maintains the following setting information as internal data, which defines the relationship between the coordinate system 201 of force sensor 21 and the coordinate system set for robot 10. For example, the setting information defining the relationship between the coordinate system 201 of force sensor 21 and the coordinate system set for robot 10 is set as follows: the position and orientation of force sensor 21 (coordinate system 201) based on the coordinate system set for robot 10.

[0033] Force sensor position information (setting information) = (x1, y1, z1, th1, th2, th3)

[0034] Here, x1, y1, and z1 are the X, Y, and Z coordinates of the force sensor 21 in the coordinate system of robot 10, and th1, th2, and th3 are the rotation angles of the force sensor 21 around the X, Y, and Z axes in the coordinate system of robot 10, respectively.

[0035] The position information of the force sensor 21 is set and input, for example, via the setting input interface of the teaching pendant 30, and reflected in the robot control device 50. If the position information of the force sensor 21 is incorrect, the robot 10 may not move as intended. However, the motion settings of the robot 10 are extremely complex, making it difficult for the user to determine the cause (the force sensor's position information is incorrect). In view of this, as explained below, the teaching pendant 30 of this embodiment overlays a virtual image representing the force sensor in virtual or physical space based on the setting information defining the position and posture of the force sensor. Therefore, if the setting information is incorrect, the user can quickly and easily grasp the situation visually.

[0036] Figure 3 This illustrates an example of the hardware structure of the robot control device 50 and the teaching device 30. For example... Figure 3As shown, the robot control device 50 can have a general computer structure, in which a memory 52 (ROM, RAM, non-volatile memory, etc.), an input / output interface 53, and an operation unit 54 containing various operation switches are connected to the processor 51 via a bus. The teaching pendant 30 can also have a general computer structure, in which a memory 32 (ROM, RAM, non-volatile memory, etc.), a display unit (monitor) 33, an operation unit 34 consisting of input devices such as a keyboard (or software keys), and an input / output interface 35 are connected to the processor 31 via a bus. The teaching pendant 30 of this embodiment can also include a camera 36 and an inertial sensor 37. For example, the camera 36 is a camera that captures two-dimensional images, but other types of cameras (stereo cameras, etc.) can also be used. The inertial sensor 37 is a sensor (gyroscope, accelerometer, etc.) used for position estimation via range estimation techniques.

[0037] The teaching pendant 30 is connected to the robot control device 50 via wired or wireless means. Here, the teaching pendant 30 is a tablet terminal, but as a teaching pendant 30, various information processing devices such as teaching operation panels, smartphones, and personal computers can be used.

[0038] Figure 4 This is a functional block diagram showing the robot control device 50 and the teaching pendant 30. Figure 4 As shown, the robot control device 50 includes: a storage unit 501 that stores the robot's motion program, coordinate system-related settings, and other various setting information; and a motion control unit 502 that controls the robot's motion based on the motion program and various setting information. The motion control unit 502 performs force control based on the detection values ​​of the force sensor 21. Furthermore, the motion control unit 502 provides the teaching pendant 30 with the position and attitude information of the robot 10 (the robot's control unit) and the information required by the teaching pendant 30 to perform the function, according to requests from the teaching pendant 30.

[0039] The teaching pendant 30 includes: a setting information storage unit 301 that stores the position information (setting information) of the force sensor; a model data storage unit 302 that stores the 3D models of each object constituting the robot system 100 and the virtual image data of the force sensor 21; a camera position and posture estimation unit 303 that estimates the position and posture of the camera 36; and a virtual image overlay display unit 304. The setting information storage unit 301 may be composed of non-volatile memory, or it may be a temporary buffer composed of RAM. In addition, the setting information storage unit 301 may store various other information related to the setting of the robot 10.

[0040] The virtual image overlay display unit 304 has the following function: in the actual space containing the robot 10 or the force sensor 21, or in the virtual space containing the model of the robot 10 or the model of the predetermined object, it overlays a virtual image representing the force sensor 21 in the actual space or the virtual space according to the position and posture of the set information. Therefore, the virtual image overlay display unit 304 is configured to include an augmented reality image processing unit 305 or a virtual reality image processing unit 306, wherein the augmented reality image processing unit 305 has the function of generating augmented reality images, and the virtual reality image processing unit 306 has the function of generating virtual reality images.

[0041] As an example, the camera position and posture estimation unit 303 calculates the position and posture of the camera 36 (teaching device 30) in a fixed coordinate system (hereinafter, this coordinate system is referred to as robot coordinate system 101) in the work space of the robot 10 through the following steps, and tracks the position and posture of the camera 36 (teaching device 30) in the fixed coordinate system (robot coordinate system 101) in the work space.

[0042] (A1) The camera position and attitude estimation unit 303 obtains the configuration position of the robot 10 in the work space (robot coordinate system 101) from the storage unit in the robot control device 50 or the teaching device 30.

[0043] (A2) The camera position and orientation estimation unit 303 uses the camera 36 to photograph a visual marker affixed to the base of the robot 10 (prompting the user to photograph the visual marker). The visual marker is, for example, a marker known in the art that has a visual pattern that allows the camera's position and orientation to be measured from a two-dimensional image obtained by photographing the visual marker.

[0044] (A3) The camera position and posture estimation unit 303 performs image processing on the image obtained by shooting the visual marker, and determines the position and posture of the camera 36 (teaching device 30) in the robot coordinate system, and registers the position and posture of the camera 36 (teaching device 30) in the robot coordinate system 101.

[0045] (A4) After that, the camera position and attitude estimation unit 303 calculates the movement of the camera 36 (teaching device 30) based on the output value of the inertial sensor 37 using the range method, and continuously updates the position and attitude of the camera 36 (teaching device 30) in the robot coordinate system 101.

[0046] The augmented reality image processing unit 305 has the following function: based on the position and posture of the camera 36 (teaching device 30) obtained from the camera position and posture estimation unit 303, it overlays a virtual image of the force sensor 21 onto the image (image) captured by the camera 36 according to the position and posture of the force sensor 21 according to the position information (setting information).

[0047] The virtual reality image processing unit 306 has the following functions: based on the actual configuration position information, it configures the models of each object constituting the robot system 100 in a virtual space; in addition, it superimposes the virtual image of the force sensor 21 with the position and posture according to the position information (setting information) of the force sensor 21 in the virtual space.

[0048] The following describes two examples of how the virtual image overlay display unit 304 displays a virtual image of the force sensor 21 according to the position information (setting information) of the force sensor 21. Furthermore, in the following examples, the position information (setting information) of the force sensor 21 is set relative to the flange coordinate system 102 set for the robot 10.

[0049] (Example 1 shown)

[0050] In Example 1, as shown Figure 5A As shown, the force sensor 21 is mounted on the flange surface via the bracket 15 such that the central axis of the force sensor 21 coincides with the central axis of the flange 11. That is, the Z-axis of the flange coordinate system 102 coincides with the Z-axis of the coordinate system of the force sensor 21. In this case, the position information (setting information) of the force sensor 21 can be set as (0, 0, dz, 0, 0, 0) as the value on the flange coordinate system 102 of the robot 10.

[0051] Here, it is assumed that the position information (setting information) of the force sensor 21 is incorrectly set to (dx, dy, dz2, 0, 0, 0), dx≠0, dy≠0, dz2≠dz. In this case, the robot control device 50 considers the force sensor 21 to be in, for example... Figure 5B Given the location, determine the force or torque at the point of application of the force. For example... Figure 6 As shown, the virtual image overlay display unit 304 of the teaching pendant 30 displays a virtual image (3D model) 21M of the force sensor 21 on the image obtained by the camera 36 of the teaching pendant 30 capturing the robot 10, according to the position and orientation of the force sensor 21 based on the position information (dx, dy, dz2, 0, 0, 0). The augmented reality image processing unit 305 performs the function of displaying such augmented reality images.

[0052] Thus, by displaying a virtual image 21M of the force sensor 21 in the image of the actual space of the robot 10 in the display unit 33 according to the position and posture of the set information, the user can immediately grasp the error of the position information (set information) of the force sensor 21 by comparing the position of the robot 10 on the display screen with the virtual image 21M, or by comparing the position of the actual force sensor 21 on the display screen with the virtual image 21M.

[0053] In addition, such as Figure 6 As shown, in addition to the virtual image 21M of the force sensor 21, an image representing the coordinate system 201 of the force sensor 21 can also be overlaid and displayed according to the position information (setting information) of the force sensor 21. In this case, the orientation (posture) of the position information (setting information) of the force sensor 21 is easily visually identified, and errors in the setting information can be identified more accurately visually. Alternatively, instead of the virtual image 21M of the force sensor 21, an image representing the coordinate system 201 of the force sensor 21 can be overlaid and displayed as a virtual image of the force sensor 21.

[0054] (Example 2 shown)

[0055] like Figure 7A As shown, Example 2 illustrates a case where the force sensor 21 is mounted on the flange 11 via a bracket 15A having a laterally longer shape as depicted in the figure. In this case, the central axis of the force sensor 21 is not aligned with the central axis of the flange 11, and the force sensor 21 is offset laterally (in the Y-axis direction) as it is mounted on the bracket 15A. In this example, the position information (setting information) of the force sensor 21 is set as a value in the flange coordinate system 102 of the robot 10, specifically (Dx, Dy, Dz, 0, 0, 0).

[0056] Here, suppose the position information (setting information) of the force sensor 21 is incorrectly set to (Dx2, Dy2, Dz2, th1, th2, th3), Dx2≠Dx, Dy2≠Dy, Dz2≠Dz, th1≠0, th2≠0, th3≠0. In this case, the robot control device 50 considers the force sensor 21 to be in, for example... Figure 7B Given the location, determine the force or torque at the point of application of the force. For example... Figure 8 As shown, the virtual image overlay display unit 304 (augmented reality image processing unit 305) of the teaching device 30 displays the virtual image (3D model) 21M of the force sensor 21 on the image obtained by the camera 36 of the teaching device 30 capturing the robot 10, according to the position and posture of the force sensor 21 according to the position information (Dx2, Dy2, Dz2, th1, th2, th3).

[0057] In this way, by displaying a virtual image 21M of the force sensor 21 in the image of the actual space of the robot 10 in the display unit 33 according to the position and posture of the set information, the user can immediately grasp the error of the position information (set information) of the force sensor 21 by comparing the position of the robot 10 (or the bracket 15A) with the virtual image 21M, or by comparing the position of the physical force sensor 21 with the virtual image 21M.

[0058] In addition, such as Figure 8 As shown, in addition to the virtual image 21M of the force sensor 21, an image representing the coordinate system 201 of the force sensor 21 can also be overlaid and displayed according to the position information (setting information) of the force sensor 21. In this case, the orientation (posture) of the position information (setting information) of the force sensor 21 is easily visually identified, and errors in the setting information can be identified more accurately visually. Alternatively, instead of the virtual image 21M of the force sensor 21, an image representing the coordinate system 201 of the force sensor 21 can be overlaid and displayed as a virtual image of the force sensor 21.

[0059] The above-described display examples 1 and 2 are augmented reality-based display examples that overlay a virtual image 21M of the force sensor 21 onto an image in actual space. However, the teaching device 30 can also display virtual images 21M of the force sensor 21. Figure 6 , Figure 8 The image shown is a virtual reality-based image. The virtual reality image processing unit 306 performs this virtual reality-based display function. In this case, the virtual reality image processing unit 306 generates an image of each object constituting the robot system 100 configured in virtual space based on actual configuration information. Then, the virtual reality image processing unit 306 overlays the virtual image 21M of the force sensor 21 in virtual space according to the position and orientation of the force sensor 21's position information (setting information). In this case, the user can also instantly detect errors in the position information (setting information) of the force sensor 21 by comparing the position of the robot 10 model (or the bracket model) with the virtual image 21M.

[0060] Furthermore, regarding the viewpoint position when generating virtual reality-based images, the camera position obtained by the camera position and posture estimation unit 303 can be used, or the viewpoint position can be fixed at any position within the workspace. When the viewpoint position is fixed at any position within the workspace, the camera 36, ​​the inertial sensor 37, and the camera position and posture estimation unit 303 can be omitted from the teaching pendant 30.

[0061] Second Implementation Method

[0062] The second embodiment differs from the first embodiment in that the force sensor is positioned differently. Figure 9 The structure of the robot system 100A according to the second embodiment is shown. In the first embodiment, the force sensor 22 is mounted on the robot 10, but in the second embodiment, the force sensor 22 is mounted on the worktable 81 via the pedestal 82. That is, in the first embodiment, the object supporting the force sensor 21 is the robot 10, while in the second embodiment, the object supporting the force sensor 22 is the worktable 81 (or the pedestal 82).

[0063] like Figure 9 As shown, the robot system 100A includes a robot 10, a robot control device 50, and a teaching pendant 30. The functions of the robot control device 50 and the teaching pendant 30 are the same as in the first embodiment. A hand 41 is mounted on the flange 11 at the front end of the arm of the robot 10. The hand 41 grasps the workpiece W1. The robot 10 performs the following operation: inserting the workpiece W1 into a fitting hole on the workpiece W2, which is fixed to the worktable 81 via a force sensor 22.

[0064] When force sensor 22 is mounted on worktable 81 via pedestal 82, its position information (setting information) is set, for example, to its coordinate position and orientation in robot coordinate system 101. Here, as an example, assume the original position and orientation of force sensor 22 is (x1, y1, z1, 0, 0, 0). Now, assume the position information (setting information) of force sensor 22 is incorrectly set to (x2, y2, z2, th1, th2, th3), where x2 ≠ x1, y2 ≠ y1, z2 ≠ z1, th1 ≠ 0, th2 ≠ 0, and th3 ≠ 0. In this case, robot control device 50 considers force sensor 22 to be in a specific position. Figure 10 Given the location, determine the force or torque at the point of application of the force. For example... Figure 11 As shown, the virtual image overlay display unit 304 (augmented reality image processing unit 305) of the teaching device 30 displays the virtual image (3D model) 22M of the force sensor 22 on the image obtained by the camera 36 of the teaching device 30 capturing the robot 10, according to the position and posture of the force sensor 22 based on the position information (x2, y2, z2, th1, th2, th3) ​​of the force sensor 22.

[0065] Thus, by overlaying a virtual image 22M of the force sensor 22 onto the actual space of the predetermined object supporting the force sensor 22, namely the worktable 81 (or base 82), the robot 10, etc., according to the position and posture of the set information, the user can immediately grasp the error of the position information (set information) of the force sensor 22 by comparing the position of the worktable 81 (or base 82) on the display screen with the virtual image 22M, or by comparing the position of the actual force sensor 22 on the display screen with the virtual image 22M.

[0066] In addition, such as Figure 11 As shown, in addition to the virtual image 22M of the force sensor 22, an image representing the coordinate system 201 of the force sensor 22 can also be overlaid. In this case, the orientation (posture) of the position information (setting information) of the force sensor 22 is easily visually identified, and errors in the setting information can be identified more accurately visually. Alternatively, instead of the virtual image 22M of the force sensor 22, an image representing the coordinate system 201 of the force sensor 22 can be overlaid as a virtual image of the force sensor 22.

[0067] The above-described display example is an augmented reality-based display example that overlays a virtual image 22M of the force sensor 22 onto an image in actual space. However, the teaching device 30 can also display... Figure 11 The image shown is a virtual reality-based image. In this case, the virtual reality image processing unit 306 generates an image of each object constituting the robot system 100A configured in virtual space based on actual configuration information. Then, the virtual reality image processing unit 306 overlays the virtual image 22M of the force sensor 22 in virtual space according to the position and orientation of the force sensor 22's position information (setting information). In this case, the user can also instantly detect errors in the position information (setting information) of the force sensor 22 by comparing the position of the predetermined object supporting the force sensor 22, i.e., the model of the worktable 81 (or the model of the base 82), with the virtual image 22M.

[0068] As explained above, according to each embodiment, based on the virtual image of the force sensor that is overlaid in the actual space or virtual space, the user can quickly and easily grasp the situation visually when there is an error in the setting position and posture of the force sensor.

[0069] Furthermore, in the first and second embodiments described above, examples of virtual images of the force sensor show a 3D model of the force sensor or a coordinate system of the force sensor; however, virtual images of the force sensor can take many forms. Here, refer to... Figure 12 Other examples of virtual images representing force sensors. Figure 12 The virtual image 23M of the force sensor shown is an example of a virtual image with asymmetry. By making the virtual image of the force sensor asymmetric, errors in posture setting can be identified particularly easily.

[0070] Specifically, the virtual image 23M is shaped such that it has a connector 25 and a connector mounting part 26 on the side of the cylindrical body 24. Thus, the virtual image 23M has a shape that is non-rotationally symmetric about the Z-axis. By setting the virtual image 23M of the force sensor to such a non-rotationally symmetric shape about the Z-axis, even if there is an error in the orientation (angular position) of the force sensor's position information (setting information) about the Z-axis, this situation can be easily identified based on the virtual image 23M of the force sensor.

[0071] In addition, such as Figure 12 As shown, markers 211, 212, and 213 can be formed on the virtual image 23M to represent the positions of each axis of the coordinate system of the force sensor. Marker 211 is denoted as "X-", indicating that the direction where marker 211 exists is on the negative side of the X-axis relative to the origin set on the central axis. Marker 212 is denoted as "Y+", indicating that the side where marker 212 exists is on the positive direction of the Y-axis relative to the origin. Marker 213 is a display where "Z-" and "Z+" are arranged with "Z+" at the bottom, indicating that the bottom of the central axis is on the positive side of the Z-axis. With such markers 211, 212, and 213, the coordinate system set for the force sensor can be identified, thereby making it easier to identify errors in the posture of the virtual image 23M. Furthermore, in Figure 12 The diagram illustrates coordinate system 201, specified by labels 211, 212, and 213.

[0072] The present invention has been described above using typical embodiments, but those skilled in the art will understand that changes, omissions, and additions can be made to the above embodiments without departing from the scope of the present invention.

[0073] In the embodiments described above, examples of displaying augmented reality (AR) images or virtual reality (VR) images on a display device that serves as a tablet-type terminal for teaching purposes have been shown. However, such AR images or VR images can also be displayed on a head-mounted display device, for example. When overlaying augmented reality-based VR images, a glasses-type AR display device that overlays VR images onto a real-world scene can be used.

[0074] Figure 4 The functional blocks of the teaching pendant shown can be implemented by executing various software stored in the storage device through the processor of the teaching pendant, or they can be implemented by a structure based on hardware such as ASIC (Application Specific Integrated Circuit).

[0075] Explanation of reference numerals in the attached figures

[0076] 10 robots

[0077] 11 flanges

[0078] 15, 15A bracket

[0079] 21, 22 Force Sensors

[0080] 21M, 22M, 23M virtual images

[0081] 24. Body Parts

[0082] 25 connector

[0083] 26 Connector Mounting Section

[0084] 30 Teaching Devices

[0085] 31 processor

[0086] 32 memory

[0087] 33 Display Section

[0088] 34 Operations Department

[0089] 35 input / output interfaces

[0090] 36 cameras

[0091] 37 Inertial Sensors

[0092] 50 robot control devices

[0093] 51 processor

[0094] 52 memory

[0095] 53 Input / Output Interfaces

[0096] 54 Operations Department

[0097] 81 workbench

[0098] 82 pedestals

[0099] 100, 100A robot systems

[0100] 101 Robot Coordinate System

[0101] 102 Flange Coordinate System

[0102] 201 coordinate system

[0103] Markers 211, 212, and 213

[0104] 501 Storage Division

[0105] 502 Motion Control Unit

[0106] 301 Information Storage Department

[0107] 302 Model Data Storage Department

[0108] 303 Camera Position and Attitude Estimation Unit

[0109] 304 Virtual Image Overlay Display Unit

[0110] 305 Augmented Reality Image Processing Department

[0111] 306 Virtual Reality Image Processing Department.

Claims

1. A teaching device characterized by comprising: Possessing: a setting information storage section that stores setting information for setting a position and a posture of a force sensor in an actual space with respect to a coordinate system set to an actual robot; a virtual image superimposition display section that superimposes a virtual image representing the force sensor on the actual space or an image of the actual space in such a manner that the virtual image becomes a position and a posture according to the setting information in the actual space including the actual robot or a predetermined object that supports the force sensor.

2. The teaching device according to claim 1, wherein the virtual image is an image of a 3D model of the force sensor.

3. The teaching device according to claim 1, wherein the virtual image has asymmetry.

4. The teaching device according to claim 3, wherein the virtual image is non-rotationally symmetrical around a predetermined coordinate axis of a coordinate system set to the force sensor.

5. The teaching device according to any one of claims 1 to 4, wherein the virtual image has an image for representing a coordinate system set to the force sensor.

Images