Robot Work Program Creation Using Marker-Based Coordinate Conversion
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Solution Overview
Problem
Existing methods for creating a program for a robot require photographing an image that includes the robot, which occupies the robot and lowers its operation rate.
Innovation Solution
A terminal device that photographs a first image of a work target with a marker, sets a user-coordinate system, and creates a work program based on the operation path of the industrial robot. It then photographs a second image with a robot marker attached, calculates the robot-coordinate system, and modifies the work program by converting the coordinate system from user to robot coordinates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an image including the robot is photographed to create a work program, then the program can be created using the robot's actual position and attitude, but the robot becomes occupied and its operation rate decreases
Solution Approach 1:
The patent applies preliminary action by photographing the work target and setting the user coordinate system before the robot begins its work operations. The first image is captured to establish the coordinate system, and the work program is created in advance, allowing the robot to operate continuously without being occupied during program creation. This separates the measurement phase from the operation phase, eliminating the conflict between accurate positioning and maintaining high operation rates.
2Adaptability or versatility
If the coordinate system is converted from user coordinate system to robot coordinate system, then the work program can be adapted to the robot's actual configuration, but additional processing steps are required
Solution Approach 1:
The patent uses the user coordinate system as an intermediary between the work target's coordinate system and the robot's coordinate system. The conversion process involves two sequential transformations: first from the work target's coordinate system to the user coordinate system (using the marker's position), then from the user coordinate system to the robot coordinate system (using the robot marker's position and attitude). This intermediary approach simplifies the overall conversion by breaking it into manageable steps with clear reference frames at each stage.
Data Source
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AI summary
A terminal device photographs a first image including a work target and a marker for the work target, sets a user coordinate system, with the marker for the work target that is included in the first image being a reference, sets an operation path of an industrial robot on a user coordinate system on the basis of a work spot of the work target included in the first image, creates a work program for causing the industrial robot to operate on the basis of the set operation path of the industrial robot, photographs a second image including the work target and the marker for the work target, which maintain a positional relation in the first image and a robot marker attached to the industrial robot, calculates a robot coordinate system on the basis of the robot marker and position attitude information of the industrial robot included in the second image, and converts the operation path of the industrial robot from the user coordinate system to a robot coordinate system so as to modify the work program.