Teaching devices that use teaching tools or the operator's hand to set the teaching points.

Abstract

The robot control device includes: a camera for capturing images of a teaching pendant containing feature parts, and a feature part detection unit for detecting the position of the feature parts. The robot control device includes: a movement command generation unit that changes the robot's position and posture when the operator moves the teaching pendant, causing the camera to follow the feature parts. The robot control device includes: a calculation unit that calculates the position and posture of the teaching pendant in an auxiliary coordinate system based on the position of the feature parts. The robot control device includes: a setting unit that sets the position of the teaching point and the robot's posture at the teaching point based on the position and posture of the auxiliary coordinate system.

Description

Technical Field

[0001] The present invention relates to a teaching device that uses teaching tools or the operator's hand to set teaching points. Background Technology

[0002] The robotic device includes: a robot, a working tool mounted on the robot, and a control device for controlling the robot. The control device drives the robot and the working tool according to the work program. To determine the robot's position and posture, the operator can pre-teach a teaching point. The work program includes information such as the position of the teaching point and the robot's posture at the teaching point.

[0003] In existing technology, the operator uses a teaching pendant to change the robot's position and posture, so that the working tool is in the desired position and posture. Then, when the robot's position and posture are in the desired position and posture, a teaching point can be set.

[0004] Furthermore, methods for performing teaching tasks using a teaching pendant to represent the position and posture of a working tool are known. In this method, a stereo camera fixed at a predetermined position is used to photograph the teaching pendant. Based on the images captured by the stereo camera, the position and posture of the teaching pendant are detected. Then, based on the position and posture of the teaching pendant, the position and posture of the robot are set (e.g., Japanese Patent Application Laid-Open No. 2014-136275 and Japanese Patent Application Laid-Open No. 2011-104759).

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2014-136275

[0008] Patent Document 2: Japanese Patent Application Publication No. 2011-104759 Summary of the Invention

[0009] The problem that the invention aims to solve

[0010] When setting teach points, the operator needs to operate the teach pendant control panel to change the robot's position and posture by pressing the teach points. Therefore, there is a problem that setting teach points requires a long operation time.

[0011] For example, in robotic devices that transport workpieces, the robot's position and posture need to be manually adjusted when setting teach points. Because many teach points must be set, the operation time becomes longer. This is especially true when the workpiece movement path includes curves; many teach points need to be set to move the workpiece along the desired path. For robotic devices performing tasks other than workpiece transport, the need to set many teach points to generate the work program also leads to longer operation times.

[0012] In addition, sometimes the working tool needs to enter a space or narrow area enclosed by a housing or similar structure to perform its work. In such cases, the operator may have difficulty seeing the working tool when setting the robot's teaching point. As a result, it can be difficult to confirm the position and orientation of the working tool.

[0013] For example, a machine tool has a housing that forms the machining chamber, which prevents the splashing of cutting fluid. Sometimes, a robot is used inside the machining chamber to position the workpiece. When setting teach points for such a robot device, there is a problem that the operator may have difficulty confirming the position and posture of the working tool that has entered the housing. Therefore, setting teach points can be time-consuming.

[0014] Methods for solving problems

[0015] One aspect of this disclosure is a teaching pendant for setting teaching points of a robotic device, the robotic device comprising a robot and a working tool. The teaching pendant includes: a three-dimensional sensor that captures images of the teaching tool or the operator's hand, wherein the teaching tool or the operator's hand is used to represent the position of the teaching point and the robot's posture at the teaching point; and a processing unit that processes the signals from the three-dimensional sensor. The processing unit includes: a feature detection unit that detects the position of a feature part in the teaching tool or the operator's hand based on the output of the three-dimensional sensor. The processing unit includes: a movement command generation unit that generates commands to change the position and posture of the robot when the operator moves the teaching tool or hand, so as to maintain the position and posture of the three-dimensional sensor relative to the feature part. The processing unit includes: a calculation unit that, when the operator has configured the teaching tool or hand in a manner corresponding to the position and posture of the robot when working with the robotic device, calculates the position and posture of the teaching tool or the operator's hand in a pre-set auxiliary coordinate system based on the position of the feature part detected by the feature detection unit. The processing device includes a setting unit that sets the position of the teaching point and the posture of the robot at the teaching point based on the position and posture of the auxiliary coordinate system calculated by the calculation unit.

[0016] Invention Effects

[0017] According to the present disclosure, a teaching device capable of performing teaching operations in a short period of time can be provided. Attached Figure Description

[0018] Figure 1 This is a perspective view of the first robot device in the implementation method when it begins to transport the workpiece.

[0019] Figure 2 This is a block diagram of the first robotic device in the implementation method.

[0020] Figure 3 This is a 3D view of the first robot device when it finishes transporting the workpiece.

[0021] Figure 4 This is a 3D diagram illustrating the robot's movement path when transporting workpieces.

[0022] Figure 5 This is a perspective view of the first teaching tool in the implementation method.

[0023] Figure 6 It is a teaching tool and a stereoscopic view of the camera when setting up an auxiliary coordinate system.

[0024] Figure 7 It is a three-dimensional view of the teaching tool, camera, and workpiece when setting teaching points in the path mode of the implementation method.

[0025] Figure 8 It is a flowchart for setting up a teaching point.

[0026] Figure 9 It is a three-dimensional view of the teaching tool, camera, and workpiece when setting the teaching point in the point mode of the implementation method.

[0027] Figure 10 It is a stereoscopic diagram of the teaching tool and camera that explains the first instruction action of the teaching tool.

[0028] Figure 11 It is a stereoscopic diagram of the teaching tool and camera used to explain the second instruction action of the teaching tool.

[0029] Figure 12 This is a perspective view of the second teaching tool in the implementation method.

[0030] Figure 13 It is a three-dimensional image of the worker's hand.

[0031] Figure 14 This is a perspective view of the second robotic device in the embodiment. Detailed Implementation

[0032] Reference Figures 1 to 14The teaching device in the embodiment will be described. In this embodiment, a robot device having a robot that transports a workpiece from a starting position to a target position will be described as an example.

[0033] Figure 1 This is a perspective view of the first robotic device in this embodiment. Figure 2 This is a block diagram of the robot device in this embodiment. Figure 1 This is a 3D view of the initial transfer of workpiece 81. (Refer to...) Figure 1 and Figure 2 The robot device 8 has a manipulator 2 as a working tool and a robot 1 that moves the manipulator 2. The robot device 8 has a conveyor 84 for transporting workpieces 81. The first robot device 8, as indicated by arrow 91, transports the cuboid workpiece 81 from the shelf 80 to the conveyor 84.

[0034] Figure 3 These are other perspective views of the first robotic device in this embodiment. Figure 3 This is a perspective view of the workpiece 81 at the end of its transport. When the workpiece transport based on robot 1 is completed, conveyor 84 moves workpiece 81 to the designated position as shown by arrow 92.

[0035] Reference Figures 1 to 3 The robot 1 of this embodiment is a multi-joint robot comprising multiple joints. Robot 1 includes a base portion 14 and a rotating base 13 supported on the base portion 14. The rotating base 13 rotates relative to the base portion 14. Robot 1 includes an upper arm 11 and a lower arm 12. The lower arm 12 is supported on the rotating base 13 via joints. The upper arm 11 is supported on the lower arm 12 via joints. Robot 1 includes a wrist 15 connected to the end of the upper arm 11. The wrist 15 is supported on the upper arm 11 via joints. The wrist 15 includes a flange 16 formed in a rotatable manner.

[0036] The robotic arm 2 is configured to hold the workpiece 81. In this embodiment, the robotic arm 2 has two claws 2a that move in opposite directions. The robotic arm 2 is fixed to the flange 16 of the wrist 15. Furthermore, the working tool is not limited to a robotic arm; any device corresponding to the task performed by the robotic device can be used. For example, when applying adhesive, a dispenser or similar tool can be used as the working tool.

[0037] Robot 1 includes a robot drive device that drives the upper arm 11 and other components of robot 1. In this embodiment, the robot drive device includes multiple robot drive motors 22 for driving the upper arm 11, lower arm 12, rotating base 13, and wrist 15. Manipulator 2 includes a manipulator drive device for driving manipulator 2. In this embodiment, the manipulator drive device includes a manipulator drive motor 24 for opening or closing the gripper 2a.

[0038] The robot device 8 includes a robot control unit 4 that controls the robot 1 and the robotic arm 2. The robot control unit 4 includes an arithmetic processing unit (computer) with a CPU (Central Processing Unit) as a processor. The arithmetic processing unit includes RAM (Random Access Memory) and ROM (Read Only Memory) connected to the CPU via a bus.

[0039] The robot control device 4 includes a teach pendant 3, which serves as a control panel for the operator to manually operate the robot device 8. The teach pendant 3 includes an input section 3a for inputting information related to the robot 1 and the robotic arm 2. The input section 3a consists of components such as a keyboard and dials. The teach pendant 3 includes a display section 3b for displaying information related to the control of the robot device 8. The display section 3b consists of a display panel such as a liquid crystal display panel. Alternatively, the display section 3b may also include a touch panel. In this case, the display section 3b functions as the input section 3a.

[0040] The robot control device 4 drives the robot 1 and the manipulator 2 according to the action program 40. The action program 40 in this embodiment includes a work program 41 for performing predetermined operations such as workpiece transport. When the robot device 8 performs actual operations, the robot control device 4 changes the position and posture of the robot 1 according to the teach point determined by the work program 41. The robot control device 4 includes a storage unit 42 that stores information related to the control of the robot device 8. The storage unit 42 can be constructed from a non-temporary storage medium capable of storing information. For example, the storage unit 42 can be constructed from a volatile memory, a non-volatile memory, a magnetic storage medium, or an optical storage medium. The action program 40 is stored in the storage unit 42. The position of the teach point for driving the robot 1 and the posture of the robot 1 at the teach point are determined in the work program 41.

[0041] The robot control device 4 includes a motion control unit 43 that issues motion commands to the robot 1 and the robotic arm 2. The motion control unit 43 is equivalent to a processor that drives the robot according to the motion program 40. The processor reads the motion program 40 and implements the control determined by the motion program 40, thereby functioning as the motion control unit 43. Furthermore, the processor drives the robot 1 and the robotic arm 2 according to instructions from the processing unit 51, thereby functioning as the motion control unit 43.

[0042] The motion control unit 43 sends motion commands to the robot drive unit 45 to drive the robot 1. The robot drive unit 45 includes circuitry for driving the robot drive motor 22. The robot drive unit 45 supplies power to the robot drive motor 22 according to the motion commands. Additionally, the motion control unit 43 sends motion commands to the robot arm drive unit 44 to drive the robot arm 2 according to the work program 41. The robot arm drive unit 44 supplies power to the robot arm drive motor 24 according to the motion commands.

[0043] Robot 1 includes state detectors for detecting the position and posture of robot 1. In this embodiment, the state detectors include position detectors 23 mounted on robot drive motor 22. The position and posture of robot 1 are detected based on the outputs of multiple position detectors 23.

[0044] A world coordinate system 71 is established for the robot device 8 of this embodiment. In the first robot device 8, the origin of the world coordinate system 71 is positioned at the base 14 of the robot 1. The world coordinate system 71 is also referred to as the reference coordinate system of the robot device 8. The world coordinate system 71 is a coordinate system in which the position of the origin is fixed and the orientation of the coordinate axes is fixed. The world coordinate system 71 has mutually orthogonal X-axis, Y-axis and Z-axis as coordinate axes. In addition, the W-axis is set as the coordinate axis around the X-axis. The P-axis is set as the coordinate axis around the Y-axis. The R-axis is set as the coordinate axis around the Z-axis.

[0045] In this embodiment, a tool coordinate system with an origin is established, which is set at any position of the working tool. The origin of the tool coordinate system 72 in this embodiment is set at the tool tip point. In setting the tool tip point in this embodiment, the center point in the height direction is set at the front end of the two claws 2a. Then, the midpoint of the straight line connecting the center points of the two claws 2a is set as the tool tip point. The tool coordinate system 72 has mutually orthogonal X-axis, Y-axis, and Z-axis as coordinate axes. In addition, the tool coordinate system 72 has a W-axis about the X-axis, a P-axis about the Y-axis, and an R-axis about the Z-axis.

[0046] When the position and pose of robot 1 change, the position and orientation of the origin of tool coordinate system 72 change. For example, the position of robot 1 corresponds to the position of the tool tip (the position of the origin of tool coordinate system 72). In addition, the pose of robot 1 corresponds to the orientation of tool coordinate system 72 relative to world coordinate system 71.

[0047] The robot device 8 of this embodiment includes a teaching device for setting teaching points for the robot device 8. In this embodiment, the robot control device 4 functions as the teaching device. The teaching device includes a camera 27 that acts as a three-dimensional sensor for photographing the teaching tool or the operator's hand. In this embodiment, the camera 27 is a stereo camera that can detect the three-dimensional position of an object based on images captured by two two-dimensional cameras.

[0048] The parallax of the object's position in an image captured by one 2D camera and an image captured by another 2D camera is calculated. Based on this parallax, the distance from the stereo camera to the object at a measurement point set on the object's surface is calculated. Furthermore, the 3D position of the measurement point can be calculated based on the position and orientation of camera 27.

[0049] As a 3D sensor, it is not limited to stereo cameras; any sensor capable of detecting the position and posture of a specified work tool (teaching tool or operator's hand) can be used. For example, a TOF (Time of Flight) camera that captures distance images using the time-of-flight method can be used as a 3D sensor.

[0050] In this embodiment, the camera 27 is supported on the robot 1. The camera 27 is fixed to the robotic arm 2 via a support member 28. The position and posture of the camera 27 change together with the robotic arm 2. The camera 27 is able to acquire position information of measurement points on the surface of an object within a predetermined shooting range. For example, the camera 27 can capture a distance image of the shooting range based on the position information of the three-dimensional measurement points.

[0051] The teaching pendant of this embodiment includes a processing unit for processing signals from the camera 27. The robot control device 4 includes a processing unit 51 that processes the output of the camera 27 and sets teaching points. In this embodiment, the processing unit 51 of the robot control device 4 functions as a processing unit. Furthermore, the processing unit 51 issues a shooting command to the camera 27. The operation program 40 of this embodiment includes a setting program 46 that implements control for setting teaching points. The processing unit is driven according to the setting program 46. The setting program 46 is pre-created and stored in the storage unit 42.

[0052] The processing unit 51 includes: a feature detection unit 52, which detects the position of feature parts of the teaching tool or the operator's hand based on the output of the camera 27. The processing unit 51 also includes: a coordinate system setting unit 53, which sets an auxiliary coordinate system for the teaching tool or the operator's hand. Finally, the processing unit 51 includes: a movement command generation unit 54, which generates commands to change the position and posture of the robot 1 to maintain the position and posture of the camera 27 relative to the feature parts.

[0053] An auxiliary coordinate system is pre-set for the teaching tool or the operator's hand. The processing unit 51 includes a calculation unit 55, which calculates the position and orientation of the auxiliary coordinate system based on the position of the feature detected by the feature detection unit 52. The processing unit 51 also includes a setting unit 56, which serves as a teaching point setting unit, and sets teaching points based on the position and orientation of the auxiliary coordinate system calculated by the calculation unit 55, thereby providing information including the position of the teaching point and the robot's orientation at the teaching point.

[0054] The processing unit 51, the feature detection unit 52, the coordinate system setting unit 53, the movement command generation unit 54, the calculation unit 55, and the setting unit 56 are each equivalent to a processor that is driven according to the setting program 46. The processor reads the setting program 46 and implements the control determined by the setting program 46, thereby performing its function as each unit.

[0055] Figure 4 This is a perspective view illustrating the movement path of the robot in this embodiment. The position of robot 1 moves along movement path 98. That is, the tool tip of robot 1 moves along movement path 98. As the position of robot 1 moves, its posture also changes. In this embodiment, the position and posture of robot 1 change so that the workpiece 81 disposed on shelf 80 can be grasped by manipulator 2. Manipulator 2 grasps workpiece 81. Next, robot 1 performs an action of pulling workpiece 81 out of shelf 80 while maintaining the posture of manipulator 2. Next, robot 1 performs an action of placing workpiece 81 onto conveyor 84 while changing the position and posture of manipulator 2.

[0056] The movement path 98 is determined based on multiple teaching points. Figure 4 In the example shown, the start teaching point TPS for starting the transport of workpiece 81 and the end teaching point TPE for ending the transport of workpiece 81 are indicated. Multiple teaching points TP are set between the start teaching point TPS and the end teaching point TPE. In the teaching device of this embodiment, such teaching points are set for the robot 1.

[0057] Figure 5 This is a perspective view of the first teaching pendant in this embodiment. In this embodiment, the operator uses the teaching pendant 31 to specify the position and posture of the robotic arm 2. The position and posture of the robotic arm 2 correspond to the position and posture of the robot 1. In this embodiment, the position of the robot 1 is the position of the tool tip point. That is, the operator uses the teaching pendant 31 to specify the position of the tool tip point and the posture of the robot 1.

[0058] The first teaching pendant 31 has an elongated shape. The teaching pendant 31 has a gripping part 32 for the operator to hold and a support part 33 extending from the gripping part 32. The teaching pendant 31 has a designating part 34, which has a shape indicating the position and posture of the robot arm 2. The processing unit 51 of the robot control device 4 detects the position and posture of the designating part 34 based on the output of the camera 27. Then, the processing unit 51 sets the position of the teaching point and the posture of the robot 1 at the teaching point based on the position and posture of the designating part 34. The designating part 34 is disposed at the front end of the support part 33.

[0059] The designator 34 has a three-dimensional shape capable of detecting the position and posture of the designator 34 based on the output of the camera 27. The designator 34 of the first teaching tool 31 has rod-shaped portions 34a, 34b, and 34c extending in mutually perpendicular directions. A conical feature portion 34d is formed at the front end of the rod-shaped portion 34a. The end face of the front end of the rod-shaped portion 34b constitutes a feature portion 34e. A spherical feature portion 34f is formed at the front end of the rod-shaped portion 34c. Thus, feature portions 34d, 34e, and 34f with different shapes are formed at the front ends of the rod-shaped portions 34a, 34b, and 34c. Furthermore, the reference portion where the rod-shaped portions 34a, 34b, and 34c intersect constitutes a feature portion 34g.

[0060] Figure 6 This shows a stereoscopic view of the first teaching tool and the camera when setting up an auxiliary coordinate system for the teaching tool. (Refer to...) Figure 2 and Figure 6 In this embodiment, the processing unit 51 includes a feature part detection unit 52 that detects the position of feature parts 34d to 34g of the teaching pendant 31. The processing unit 51 also includes a coordinate system setting unit 53 that sets an auxiliary coordinate system 73 for the teaching pendant 31.

[0061] The operator manually changes the position and posture of the robot 1 using the teaching pendant control panel 3 to capture images of designated parts 34 of the teaching pendant 31. The operator positions the teaching pendant 31 so that the designated parts 34 are positioned within the shooting range 27a of the camera 27. The operator changes the position and posture of the teaching pendant 31 to capture images of various feature parts 34d to 34g. The camera 27 captures images of the designated parts 34.

[0062] Next, the feature detection unit 52 detects the positions of the feature parts 34d to 34g of the teaching pendant 31. In this embodiment, distance images obtained by taking pictures of designated parts 34 of the teaching pendant 31 from various angles and distances are stored in advance in the storage unit 42. These images are called reference images.

[0063] The feature detection unit 52 selects the most suitable reference image from multiple reference images for the image actually captured by the camera 27. The feature detection unit 52 compares the image actually captured by the camera 27 with the reference image using pattern matching, thereby detecting feature parts 34d to 34g. Next, the feature detection unit 52 determines the position of the feature parts 34d to 34g in the actually captured image. The feature detection unit 52 obtains the position information of the three-dimensional points of each feature part 34d to 34g. The position of the feature parts 34d to 34g can be detected, for example, in a camera coordinate system with a predetermined point in the camera 27 as the origin. The camera coordinate system moves along with the camera 27.

[0064] Camera 27 is fixed to robot arm 2. The relative position and orientation of the camera coordinate system relative to the tool coordinate system 72 are fixed. The relative position and orientation of the camera coordinate system relative to the tool coordinate system 72 can be predetermined. Based on the position and orientation of robot 1, the position represented in the camera coordinate system can be transformed into the position represented in the world coordinate system 71. Feature detection unit 52 can transform the position of the feature detected in the camera coordinate system into the position of the feature represented in the world coordinate system 71.

[0065] Furthermore, the reference image can also be created in advance by the operator using CAD (Computer Aided Design) data, etc. For example, the operator can generate reference images of specified parts in various positions and postures based on three-dimensional design data. Alternatively, a two-dimensional reference image can be generated in advance. Then, the feature detection unit 52 can determine the position of the feature part in the three-dimensional image by performing pattern matching based on the two-dimensional image obtained by a camera included in the stereo camera.

[0066] Next, the coordinate system setting unit 53 sets an auxiliary coordinate system 73 for the teaching tool 31. The method for setting the auxiliary coordinate system 73 can be predetermined. In this embodiment, the coordinate system setting unit 53 sets the feature portion 34g as the origin of the auxiliary coordinate system 73. In addition, the coordinate system setting unit 53 sets the axis from the origin of the auxiliary coordinate system 73 toward the optical center of the camera 27 as the Z-axis. The coordinate system setting unit 53 sets the axis perpendicular to the Z-axis that extends vertically upward when viewed from the camera 27 as the X-axis. Furthermore, the coordinate system setting unit 53 sets the direction perpendicular to both the X-axis and the Z-axis as the Y-axis.

[0067] In this way, the coordinate system setting unit 53 sets a coordinate axis of the auxiliary coordinate system 73, which is determined by the teaching tool 31, towards the camera 27. This coordinate axis can be either the X-axis or the Y-axis. The robot control device 4 can automatically set the auxiliary coordinate system 73 by having the operator photograph the designated part 34 of the teaching tool 31 using the camera 27.

[0068] The method for setting the auxiliary coordinate system 73 is not limited to this one; any method can be used. For example, the Z-axis can be set by overlapping with the rod-shaped part 34a. Alternatively, the X-axis can be set by overlapping with the rod-shaped part 34b, and the Y-axis can be set by overlapping with the rod-shaped part 34c. Or, the operator can manually set the auxiliary coordinate system while observing the image captured by the camera 27. The display unit 3b of the teaching operation panel 3 can display the distance image captured by the camera 27. The operator can operate the input unit 3a to set the auxiliary coordinate system 73 on the teaching tool 31.

[0069] In this embodiment, the origin of the auxiliary coordinate system is set at the teaching pendant, but it is not limited to this method. The origin of the auxiliary coordinate system can also be far away from the teaching pendant. Alternatively, the operator can configure the position of robot 1 at the starting teaching point TPS, and configure the teaching pendant 31 in a manner that corresponds to the position and posture of robot 1 at the starting teaching point TPS. Afterwards, the operator can set the auxiliary coordinate system.

[0070] Next, the coordinate system setting unit 53 calculates the relative position and relative orientation of the auxiliary coordinate system 73 with respect to the feature parts 34d to 34g. The storage unit 42 stores the relative position and relative orientation of the auxiliary coordinate system 73 with respect to the feature parts 34d to 34g. When the position of the feature parts 34d to 34g is detected, the position and orientation of the auxiliary coordinate system 73 can be calculated.

[0071] Figure 7 This is a perspective view showing the camera, workpiece, and teaching tool when setting teaching points using the teaching tool of this embodiment. The robot control device 4 of this embodiment is configured to implement both path mode and point mode. The path mode is a mode in which teaching points are continuously set if the operator moves the teaching tool 31, while the point mode is a mode in which the operator sets teaching points by stopping the teaching tool 31. First, the path mode will be explained.

[0072] Reference Figure 4 as well as Figure 7The operator changes the position and posture of robot 1, and uses robotic arm 2 to hold the workpiece 81 placed on shelf 80. That is, the position of robot 1 is set at the starting teaching point TPS for transporting workpiece 81. The operator sets the teaching pendant 31 in a manner corresponding to the position and posture of robot 1 at the starting teaching point TPS. The operator positions the teaching pendant 31 at a position where the designated part 34 can be photographed by camera 27. In this example, the operator positions the teaching pendant 31 on the upper surface of workpiece 81. In addition, the operator sets the direction of the Z-axis of the tool coordinate system 72 to be approximately parallel to the extension direction of the rod-shaped part 34a containing the feature part 34d.

[0073] The processing unit 51 acquires the image captured by the camera 27. The feature detection unit 52 detects the positions of the feature parts 34d, 34e, and 34f of the designated unit 34. The calculation unit 55 calculates the position and orientation of the auxiliary coordinate system 73 based on the positions of the feature parts 34d, 34e, and 34f. Next, the processing unit 51 calculates the relative position and orientation of the tool coordinate system 72 relative to the auxiliary coordinate system 73. The storage unit 42 stores the initial relative position and orientation. Furthermore, the operator can set the relative position and orientation of the tool coordinate system 72 relative to the auxiliary coordinate system 73 when the robot arm 2 holds the workpiece 81 using any method. For example, the operator can input the relative position and orientation by operating the input unit 3a of the teaching operation panel 3.

[0074] Figure 8 This is a flowchart illustrating the control process for setting a teach point. (See reference...) Figure 2 , Figure 4 as well as Figure 8 When setting the teaching point, the robot control device 4 is driven according to the setting program 46. In step 111, the operator moves the teaching pendant 31 along the movement path 98. In this embodiment, by implementing the following control described later, the position and posture of the robot 1 change so that the camera 27 moves in correspondence with the movement of the teaching pendant 31.

[0075] In step 112, the camera 27 captures an image of a designated portion 34 of the teaching tool 31. In step 113, the feature detection unit 52 detects the positions of feature portions 34d, 34e, and 34f of the designated portion 34 based on the image captured by the camera 27.

[0076] The relative position and relative orientation of the auxiliary coordinate system 73 with respect to the feature parts 34d to 34g are calculated by the coordinate system setting unit 53. In step 114, the calculation unit 55 calculates the position and orientation of the auxiliary coordinate system 73 based on the relative position and relative orientation.

[0077] The relative position and orientation of the tool coordinate system 72 relative to the auxiliary coordinate system 73 are predetermined. In step 115, the setting unit 56 calculates the position and orientation of the tool coordinate system 72 (the position of the teaching point and the robot's orientation at the teaching point) based on this relative position and orientation. Thus, the setting unit 56 sets the teaching point based on the position and orientation of the auxiliary coordinate system 73 detected by the calculation unit 55, thereby including information on the position of the teaching point and the robot's orientation at the teaching point.

[0078] In step 116, the storage unit 42 stores the information of the teaching point. In this way, the teaching point can be set by using the camera 27 to photograph the teaching tool 31 configured by the operator.

[0079] Furthermore, the robot device 8 in this embodiment implements the following tracking control: if the operator moves the teaching pendant 31, the position and posture of the robot 1 change so that the camera 27 can capture images of the designated part 34. In the tracking control, the position and posture of the robot 1 are changed to maintain the relative position and posture of the camera 27 with respect to the feature parts 34d, 34e, and 34f. In this embodiment, the camera 27 is fixed to the manipulator 2; therefore, the position and posture of the robot 1 are changed to maintain the relative position and posture of the tool coordinate system 72 with respect to the auxiliary coordinate system 73.

[0080] Reference Figure 7 The operator moves the teaching tool 31 along the desired movement path, as indicated by arrow 93. In the follow control, the camera 27 captures images at predetermined small time intervals. For example, images can be captured according to the control cycle of robot 1. The feature detection unit 52 detects the positions of feature parts 34d, 34e, and 34f. The calculation unit 55 detects the position and orientation of the auxiliary coordinate system 73 based on the positions of feature parts 34d, 34e, and 34f.

[0081] The movement command generation unit 54 obtains from the storage unit 42 the relative position and relative posture of the tool coordinate system 72 relative to the auxiliary coordinate system 73 when the teaching tool 31 is configured at the position corresponding to the start teaching point TPS. Based on this relative position and posture, and the position and posture of the auxiliary coordinate system 73, the movement command generation unit 54 calculates the position and posture of the robot 1. The movement command generation unit 54 then issues motion commands for the robot 1 to the motion control unit 43, thus defining the position and posture of the robot 1.

[0082] Thus, when the operator moves the teaching tool 31, the movement command generation unit 54 changes the position and posture of the robot 1 so that the position and posture of the camera 27 follow the feature parts 34d, 34e, and 34f. Furthermore, various controls can be implemented in the following control. For example, the robot's position and posture can be changed to maintain the relative position and posture of the tool coordinate system or camera coordinate system relative to the feature parts. In the path mode of continuously setting teaching points, following control can be implemented during the setting of teaching points.

[0083] Reference Figure 4 as well as Figure 7 In path mode, the operator operates the input section 3a of the teaching control panel 3 to switch to path mode. The operator manually sets the start teaching point TPS. As indicated by arrow 93, the operator moves the teaching pendant 31 from the position corresponding to the start teaching point TPS along the movement path 98. Through follow control, the position and posture of the robot 1 automatically change so that the camera 27 can capture images of the designated part 34 of the teaching pendant 31.

[0084] The processing unit 51 sets the teaching point TP at predetermined intervals in conjunction with the movement of the teaching pendant 31. The processing unit 51 then... Figure 8 The control unit 51 sets the teaching point TP. The processing unit 51 can set the teaching point at predetermined time intervals or at predetermined travel distances of the teaching pendant 31. The feature detection unit 52 detects the positions of feature parts 34d, 34e, and 34f at these intervals. The calculation unit 55 calculates the position and orientation of the auxiliary coordinate system 73 based on the positions of the feature parts 34d, 34e, and 34f detected at these intervals. The setting unit 56 sets the position of the teaching point TP and the orientation of the robot 1 at the teaching point TP in a manner corresponding to these intervals.

[0085] When the teaching pendant 31 moves to the position corresponding to the end teaching point TPE, the operator operates the input section 3a of the teaching operation panel 3, thereby the processing unit 51 sets the end teaching point TPE and ends the path mode. In this way, multiple teaching points TP can be automatically set while the operator moves the teaching pendant 31.

[0086] In path mode, the operator does not need to operate the teaching control panel each time a teaching point is set; multiple teaching points can be set automatically. Furthermore, many teaching points can be set at fine intervals. Path mode is suitable for robotic devices that perform operations on curved paths where the tool tip moves, as in the movement path of this embodiment.

[0087] Next, regarding the point mode, the mode of setting up teaching points one by one will be explained. In the point mode, the operator operates the teaching operation panel 3 each time a teaching point is set. The relative position and relative posture of the tool coordinate system 72 relative to the auxiliary coordinate system 73 when the teaching tool 31 is configured at a position corresponding to a predetermined position such as the starting teaching point TPS are obtained in advance, which is the same as the path mode described above.

[0088] The operator switches the robot control device 4 to point mode by operating the teaching pendant 3. Then, the operation begins. Figure 8 In steps 111 to 116, teaching points are set. In step 111, by implementing follow control, the position and posture of robot 1 automatically change when the operator moves the teaching pendant 31, so that the designated unit 34 can be captured by camera 27. The operator operates the teaching control panel 3, thereby the processing unit 51 performs the control in steps 112 to 116. By repeatedly performing this operator configuration of the teaching pendant 31 and robot control device 4 to set teaching points, multiple teaching points are set.

[0089] Figure 9 This is a perspective view showing the workpiece, camera, and teaching tool when the teaching point is set as an approach point. Before starting the actual operation, the robot device 8 positions the tool tip at a teaching point TPA near the starting teaching point TPS. During the actual operation, the robot device 8 controls the robot arm 2 to approach the starting teaching point TPS from the teaching point TPA. At the teaching point TPA, the robot arm 2 is in an open state. When the robot 1 is positioned at the starting teaching point TPS, the robot arm 2 is controlled to close. This teaching point TPA near the starting teaching point TPS is called the approach point.

[0090] Teaching at a teach point (TPA) can be performed in point mode. Additionally, follow-up control can be implemented. When the operator moves the teach pendant 31, the movement command generation unit 54 changes the position and posture of the robot 1 so that the camera 27 follows the movement of the teach pendant 31. By implementing follow-up control, the operator does not need to adjust the position and posture of the robot 1 each time a teach point is set, making it easy to set teach points.

[0091] After setting the start teaching point (TPS), the operator moves the teaching pendant 31 to a position away from the workpiece 81, as indicated by arrow 94. Through follow control, the robot arm 2, equipped with camera 27, moves in tandem with the movement of the teaching pendant 31. When the teaching pendant 31 is positioned at the desired location, the operator operates the teaching operation panel 3, thereby allowing the processing unit 51 to set the teaching point (TPA).

[0092] Furthermore, at the end of the actual operation, the robot device 8 positions the leading edge of the manipulator 2 away from the workpiece 81. The robot control device 4 positions the robot 1 at a teaching point that has retreated from the end teaching point TPE. Afterwards, the robot control device 4 changes the position and posture of the robot 1 to perform the next action. This teaching point is called the avoidance point. The teaching point that becomes the avoidance point can also be set in point mode, just like the approach point.

[0093] In point mode, the operator can stop the teaching pendant 31 when setting a teaching point. The operator can finely adjust the position and posture of the teaching pendant 31. Therefore, in point mode, the position and posture of the robot at the teaching point can be finely adjusted. Furthermore, when the robot moves in a straight line, the movement path becomes simple. When the movement path is simple, only a few teaching points need to be set. In this case, the operator can set the teaching point in a short time by setting the teaching point in point mode.

[0094] In the robot control device 4 of this embodiment, point mode and path mode can be switched to set teaching points. Furthermore, when setting teaching points, the conditions for driving the work tool can be set. For example, in a robotic hand whose gripper is driven by a motor, the operator can set conditions such as the magnitude of the force used by the robotic hand to hold the workpiece. When the operator operates the teaching control panel 3 to set point mode or path mode, they can input the conditions for driving the work tool. The storage unit 42 can store the conditions for driving the work tool along with the information of the set teaching points. The robot control device 4 can generate a work program 41 based on the information of the teaching points and the conditions for driving the work tool.

[0095] When the robot device 8 is performing actual work, the motion control unit 43 can control the robot's position and posture through various tool tip point movement methods. For example, the motion control unit 43 can implement the following first motion control: controlling the position and posture of the robot 1 by moving the tool tip point in a straight line between teach points. Additionally, the motion control unit 43 can implement the following second motion control: controlling the position and posture of the robot 1 by moving the tool tip point in a curved line between teach points. Furthermore, the motion control unit 43 can implement the following third motion control: controlling the position and posture of the robot by moving the tool tip point in a curved line between or near teach points. In the third motion control, the tool tip point does not need to pass through teach points, and the working tool moves on a smooth movement path.

[0096] The operator can specify any of the first to third movement controls when setting the teach point. For example, the operator can specify the type of movement control through the operation of the teach pendant 3. The storage unit can store the type of movement control along with the set teach point information. The robot control device 4 can generate a work program 41 based on the teach point information and the type of movement control.

[0097] Furthermore, the point mode can also be used when setting discrete teaching points. In point mode, it is preferable to generate instruction statements for a work procedure that changes the robot's position and orientation via a first motion control. On the other hand, the path mode can be used when the work tool continuously performs work while the robot's position and orientation change. In path mode, it is preferable to generate instruction statements for a work procedure that changes the robot's position and orientation via a second or third motion control.

[0098] In the above-described embodiment, the operator operates the input section 3a of the teaching pendant 3, thereby opening or closing the robot arm 2. Alternatively, the operator operates the input section 3a of the teaching pendant 3, thereby switching between point mode and path mode. In the robot control device 4 of this embodiment, such commands can be given through the operation of the teaching tool 31. That is, instead of operating the input section 3a of the teaching pendant 3, the operation of the teaching tool 31 can be used to input the teaching pendant 3a.

[0099] Figure 10 This is a 3D view of the teaching pendant and camera used when instructions are given to the processing unit through the actions of the teaching pendant. (See reference) Figure 2 as well as Figure 10 The processing unit 51 includes a motion detection unit 57 that detects predetermined instruction actions of the teaching tool 31 based on the output of the camera 27. The motion detection unit 57 is equivalent to a processor that drives the device according to a setting program 46. The processor reads the setting program 46 and implements the control determined by the setting program 46, thereby functioning as the motion detection unit 57.

[0100] The motion detection unit 57 acquires the position of at least one feature part 34d to 34g from the feature part detection unit 52 at predetermined time intervals. The motion detection unit 57 detects the movement of the feature parts 34d to 34g. The motion detection unit 57 detects a predetermined action of the teaching pendant 31. In this embodiment, the action of the teaching pendant 31 used to give commands to the robot control device 4 is referred to as a command action. Figure 10 In the example shown, the operator, as indicated by arrow 95, performs a command to move the teaching pendant 31 back and forth slightly in any direction. In this example, the operator moves the teaching pendant 31 in the direction in which the rod-shaped portion 34c, which is equipped with the feature part 34f, extends.

[0101] The motion detection unit 57 detects a command action based on the position of the feature part 34d detected by the feature part detection unit 52. For example, the motion detection unit 57 detects that the feature part 34d moves in one direction and in the opposite direction within a predetermined time. When such an action is detected, the motion detection unit 57 determines it to be a predetermined command action and implements control corresponding to the command action. The control corresponding to such a command action is predetermined.

[0102] For example, the motion detection unit 57 determines that the commanded action is a command for closing the robot arm 2. The storage unit 42 stores the motion command for closing the robot arm 2 together with the current teaching point information. The robot control device 4 can generate a work program 41 that includes the teaching point information and the command for closing the robot arm 2.

[0103] Alternatively, when setting the teach point in point mode, the operator can operate the teach pendant control panel instead of the operator, and the motion detection unit 57 determines that the instruction action is a command to store the teach point. Before performing the reciprocating motion shown by arrow 95, the calculation unit 55 and the setting unit 56 obtain the position and posture of the teaching tool 31. The calculation unit 55 and the setting unit 56 set the teach point based on the position and posture.

[0104] Alternatively, in path mode, the operator can configure the teaching pendant 31 in a manner corresponding to the start teaching point TPS, and then execute the instruction action. The motion detection unit 57 can determine that the instruction to set the start teaching point TPS is in path mode. Then, the operator moves the teaching pendant 31 from the position corresponding to the start teaching point TPS to the position corresponding to the end teaching point TPE. The calculation unit 55 and the setting unit 56 automatically set multiple teaching points based on the position and posture of the configured teaching pendant 31. In teaching at the end teaching point TPE, the instruction action is executed after the teaching pendant 31 reaches the end teaching point TPE. The calculation unit 55 and the setting unit 56 can set the end teaching point TPE based on the position and posture of the teaching pendant 31 before executing the instruction action.

[0105] Figure 11 This is a perspective view of the teaching pendant and camera, illustrating other instruction actions of the teaching pendant. As an example of another instruction action, as shown by arrow 96, the designated part 34 of the teaching pendant 31 can be moved rapidly closer to the camera 27. For example, the motion detection unit 57 determines it to be an instruction action when the feature part 34d approaches the camera 27 within a predetermined distance and within a predetermined time. Alternatively, the motion detection unit 57 determines it to be an instruction action when the feature part 34d moves a distance greater than a predetermined distance determination value toward the camera 27 within a predetermined time.

[0106] It can also be detected Figure 11 When the indicated command is executed, the motion detection unit 57 determines it to be a predetermined control command. For example, the motion detection unit 57 can switch between point mode and path mode. That is, as shown by arrow 96, the operator performs an operation that causes the designated part 34 to rapidly approach the camera 27, thereby enabling the switching between path mode and point mode.

[0107] Thus, in the robot control device 4 of this embodiment, commands can be given to the robot control device 4 through predetermined command actions of the teaching pendant. The operator can give commands to the robot control device 4 even without operating the teaching control panel 3. Therefore, teaching operations can be performed quickly.

[0108] As a command action, it is not limited to the methods described above; any action can be used. For example, as a command action, the operator can quickly position the designated part outside the camera's field of view and then return it to the inside of the field of view. Alternatively, as a command action, the teaching tool can be moved in a circular motion by a feature part.

[0109] Figure 12 This is a perspective view of the second teaching tool in this embodiment. The teaching tool is not limited to the manner described above and can have any shape capable of detecting the position and posture of a designated part of the teaching tool through images captured by a camera. The second teaching tool 37 includes: a gripping part 32 as a part for a person to hold, and a support part 33 extending in a rod shape from the gripping part 32. A designated part 38 is disposed at the end of the support part 33.

[0110] The designated part 38 of the second teaching tool 37 has characteristic parts 38d, 38e, and 38f. Characteristic parts 38d and 38e are formed in a ring shape. Characteristic part 38f is formed to protrude from the side.

[0111] In the second teaching tool 37, similar to the first teaching tool 31, the feature detection unit 52 detects the positions of feature parts 38d to 38f based on the three-dimensional information obtained by the camera 27. The coordinate system setting unit 53 sets an auxiliary coordinate system 73 for the teaching tool 37. The origin of the auxiliary coordinate system 73 can be, for example, set at the feature part 38f. The coordinate system setting unit 53 can calculate the relative position and relative posture of the auxiliary coordinate system 73 with respect to the feature parts 38d, 38e, and 38f. Next, the operator positions the teaching tool 37 in the desired position and posture relative to the work tool and captures an image using the camera 27. The processing unit 51 calculates the relative position and relative posture of the work tool with respect to the auxiliary coordinate system 73 (the relative position and relative posture of the tool coordinate system 72) based on the image from the camera 27. For other tasks, teaching points can be set by performing the same tasks as the first teaching tool 31.

[0112] Figure 13 This is a perspective view showing the operator's hand in this embodiment. In this embodiment, the position and posture of the working tool are specified relative to the workpiece using a first teaching tool 31 or a second teaching tool 37, but this method is not limited to. The operator may also use their hand 39 to specify the position and posture of the working tool.

[0113] exist Figure 13 In the example shown, the hand 39 is generated by using the thumb, index finger, and middle finger to represent roughly perpendicular directions. The tip of the thumb is designated as feature 39d. The tip of the index finger is designated as feature 39f. Additionally, the tip of the middle finger is designated as feature 39e. The shape of the operator's hand 39 is not limited to the above method; any shape capable of detecting the feature parts can be used to specify the position and posture of the work tool. The operator can specify the position and posture of the work tool while maintaining the shape of the hand 39.

[0114] Similar to teaching tools 31 and 37, an auxiliary coordinate system 73 can be set for the operator's hand 39. For example, the coordinate system setting unit 53 can automatically set the auxiliary coordinate system 73 based on a distance image obtained by the camera 27 capturing the operator's hand 39. In this example, the origin of the auxiliary coordinate system 73 is set to the characteristic portion 39f at the tip of the index finger.

[0115] Setting other teaching points is controlled in the same way as setting teaching points using a teaching tool. In the teaching device of this embodiment, the operator can perform teaching operations on the robot device even if the operator uses their hand instead of a teaching tool.

[0116] Figure 14 This is a perspective view of the second robot device in this embodiment. The second robot device 9 includes a robot 5 and a machine tool 7. In the robot device 9 of this embodiment, the robot 5 replaces the workpiece 82 processed by the machine tool 7. The robot device 9 includes the robot 5 and a manipulator 6. The manipulator 6 includes a suction cup 6a that holds the workpiece 82 by suction. A camera 27, which serves as a stereo camera, is fixed to the manipulator 6.

[0117] The robotic device 9 has a conveyor 85 for transporting workpieces 82. The conveyor 85 transports multiple workpieces 82 as shown by arrow 97. The conveyor 85 transports the workpieces 82 to a position where the robotic arm 6 can hold the workpieces 82.

[0118] The machine tool 7 in this embodiment is numerically controlled. The machine tool 7 can automatically process the workpiece 82 according to a pre-made machining program. The machine tool 7 includes a door 76 disposed on the side of a frame 75. The door 76 can be opened or closed. A spindle head for assembling tools and a worktable 77 supporting the workpiece 82 are disposed in the machining chamber surrounded by the frame 75. A fixing member 78 for the workpiece 82 is fixedly disposed on the worktable 77. The workpiece 82 is disposed in a recess 78a of the fixing member 78. During the machining of the workpiece 82, at least one of the spindle head and the worktable 77 moves, and the relative position of the tool with respect to the workpiece 82 changes. The workpiece 82 is machined into a desired shape.

[0119] Robot 5 positions the workpiece 82 before processing on the fixed component 78, or removes the processed workpiece 82 from the fixed component 78. During the change of workpiece 82, door 76 is open. As shown by arrow 99, the workpiece 82, transported by conveyor 85, is positioned inside the processing chamber by robot 5 on the fixed component 78. At this time, robot 5 inserts the upper arm 11 and lower arm 12 into the processing chamber through the opening. During teaching operations, the operator must confirm the position and posture of robot arm 6 from outside the processing chamber. Therefore, it is sometimes difficult to observe the position and posture of robot arm 6.

[0120] However, in the teaching device of this embodiment, teaching points can be set using a teaching tool or by hand, thus allowing the operator to easily specify the position and posture of the robot 5. In particular, by using a teaching tool, the operator can specify the robot's position and posture while standing outside the processing room. Therefore, teaching operations can be performed in a short time.

[0121] In this embodiment, examples of a robot device for transporting workpieces and a robot device for processing workpieces are used for explanation, but the method is not limited to this. The control described in this embodiment can be applied to robot devices performing any operation. For example, the control described in this embodiment can be applied to robot devices with tools for applying adhesives, or robot devices with laser heads for laser processing, etc.

[0122] Furthermore, in the above-described embodiment, a teaching pendant or the operator's hand is used to specify the location for the task. As a method for specifying the location, a sticker with text or markings can be affixed to the workpiece as a two-dimensional marker. Then, a camera is used to detect the position of the two-dimensional marker, thereby setting the position of the teaching point. The robot moves the camera to capture images of the surroundings. The teaching device can search for markers in the camera's image. When a two-dimensional marker is found, its position can be set as the teaching point.

[0123] The above-described embodiments can be appropriately combined. In the above figures, identical or equivalent parts are labeled with the same symbols. Furthermore, the above-described embodiments are examples and do not limit the invention. Additionally, the embodiments include modifications to the embodiments shown in the claims.

[0124] Symbol Explanation

[0125] 1.5 robots

[0126] 2, 6 robotic arms

[0127] 4. Robot control device

[0128] Robotic devices 8 and 9

[0129] 27 cameras

[0130] Teaching tools 31, 37

[0131] 32 Control Department

[0132] Designated departments 34 and 38

[0133] 34a, 34b, 34c rod-shaped parts

[0134] 34d, 34e, 34f, 34g characteristic parts

[0135] 38d, 38e, 38f characteristic parts

[0136] 39 hands

[0137] 39d, 39e, 39f characteristic parts

[0138] 42 Storage Section

[0139] 51 Processing Department

[0140] 52 Feature Detection Unit

[0141] 53 Coordinate System Setting Department

[0142] 54. Movement Command Generation Unit

[0143] 55. Computing Department

[0144] 56. Setting Department

[0145] 57 Motion Detection Department

[0146] 73 Auxiliary coordinate system

[0147] Workpieces 81 and 82

[0148] 98. Movement Path

[0149] TP and TPA teaching points

[0150] TPS Start Teaching Point

[0151] TPE End Teaching Point.

Claims

1. A teaching device that sets a teaching point of a robot device including a robot and a work tool, characterized by comprising: a three-dimensional sensor that captures a teaching tool or a hand of a worker, wherein the teaching tool or the hand of the worker is used to indicate a position of the teaching point and a posture of the robot at the teaching point; and a processing device that processes a signal from the three-dimensional sensor, wherein the processing device includes: a feature point detection section that detects a position of a feature point in the teaching tool or the hand of the worker based on an output of the three-dimensional sensor; a movement instruction generation section that generates an instruction to change a position and a posture of the robot so as to maintain the position and the posture of the three-dimensional sensor with respect to the feature point when the worker moves the teaching tool or the hand; a calculation section that calculates a position and a posture of an auxiliary coordinate system that is set in advance for the teaching tool or the hand of the worker based on the position of the feature point detected by the feature point detection section in a state where the worker arranges the teaching tool or the hand in a manner corresponding to the position and the posture of the robot when the robot device is operated; and a setting section that sets the position of the teaching point and the posture of the robot at the teaching point based on the position and the posture of the auxiliary coordinate system calculated by the calculation section.

2. The teaching device according to claim 1, characterized in that the teaching device includes the teaching tool, wherein the teaching tool includes: a holding section for the worker to hold; and a designation section having the feature point, and the designation section has a three-dimensional shape that enables detection of the position and the posture of the designation section based on the output of the three-dimensional sensor.

3. The teaching device according to claim 1 or 2, characterized in that the teaching device includes a coordinate system setting section that sets the auxiliary coordinate system for the teaching tool or the hand of the worker based on the position of the feature point detected by the feature point detection section, and the coordinate system setting section sets a direction from an origin of the auxiliary coordinate system determined for the teaching tool or the hand of the worker toward the three-dimensional sensor as one coordinate axis of the auxiliary coordinate system.

4. The teaching device according to claim 1 or 2, characterized in that the processing device includes a motion detection section that detects a predetermined instruction motion of the teaching tool based on the output of the three-dimensional sensor, and the motion detection section performs a control corresponding to the instruction motion when the instruction motion is detected.

5. The teaching device according to claim 1 or 2, characterized in that the feature point detection section detects the position of the feature point together with a movement of the teaching tool or the hand of the worker at a predetermined interval, the calculation section calculates the position and the posture of the auxiliary coordinate system based on the position of the feature point detected at the interval, and the setting section sets the position of the teaching point and the posture of the robot at the teaching point in a manner corresponding to the interval. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​

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