CN-121989222-A - Robot system

Abstract

The invention provides a robot system. The robot is simply operated as the worker imagines. The robot system includes a display control unit that displays image data, which is imaged by an imaging unit and is based on imaging information including at least an operation target of an industrial robot, on a screen, an acquisition unit that acquires at least three-dimensional data corresponding to the operation target, a correlation creation unit that correlates the image data and the three-dimensional data as data in a user coordinate system, a designation receiving unit that receives designation of a target position, which is a movement destination of an operation tool unit of the industrial robot, on the screen, a coordinate conversion unit that converts the target position in the user coordinate system into a target position in a robot coordinate system having a specific part of the industrial robot as an origin, a trajectory calculation unit that calculates a trajectory from a current position to the target position of the operation tool unit, and an operation control unit that operates the operation tool unit to the target position according to the calculated trajectory.

Inventors

• Bei Chuanliang
• NAKAGAWA SHINICHIRO

Assignees

• 株式会社达谊恒

Dates

Publication Date

20260508

Application Date

20251009

Priority Date

20241101

Claims (6)

1. 1. A robot system is provided with: a display control unit that displays image data on a screen based on image capturing information that is captured by the image capturing unit and that includes at least the object to be worked by the industrial robot; An acquisition unit that acquires at least three-dimensional data corresponding to the work object; A correlation establishing unit that establishes a correlation between the image data and the three-dimensional data as data in a user coordinate system having a position of a feature point or an imaging position included in any one of the image data and the three-dimensional data as an origin; a designation receiving unit that receives designation of a target position, which is a destination of movement of a work tool unit of the industrial robot, on a screen; a coordinate conversion unit that converts the target position in the user coordinate system into the target position in a robot coordinate system having a specific part of the industrial robot as an origin; A trajectory calculation unit that calculates a trajectory from a current position of the work tool unit to the target position, and And an operation control unit that operates the work tool unit to the target position according to the calculated trajectory.
2. 2. The robotic system of claim 1, wherein, The three-dimensional data is three-dimensional point group data corresponding to the object contained in the image data measured by the distance measuring unit.
3. 3. The robotic system of claim 2, wherein, The designation accepting unit does not accept designation of the target position at a position where the point group data does not exist.
4. 4. The robotic system of claim 1, wherein, The user coordinate system is a three-dimensional coordinate system having a specific position of a marker contained in the image data as an origin, The mark identifies a positional relationship with the industrial robot.
5. 5. The robotic system of claim 1, wherein, When the operation control unit operates the work tool unit to the target position and when another target position different from the target position is designated by the designation receiving unit, the trajectory calculation unit calculates a trajectory from the current position of the work tool unit to the other target position as a changed trajectory, The operation control unit operates the work tool unit to the other target position according to the calculated trajectory after the change.
6. 6. The robotic system of claim 1, wherein, The designation accepting section further accepts designation for adjusting the relative position of the target position, The trajectory calculation unit calculates a trajectory from a current position of the work tool unit to the target position after adjustment by the relative position.

Description

Robot system Technical Field The present invention relates to robotic systems. Background Patent document 1 discloses a system for teaching the operation of a robot in a real environment by simulating a robot model in a virtual space. In this system, the teaching data created by performing the offline teaching using the robot model in the virtual space is used to teach the operation of the robot. The offline teaching is a process of displaying an object model representing the shape of a robot model and an object on a virtual space and setting teaching points according to user input. The teaching data is data in which a plurality of teaching points are described in time series order. Prior art literature Patent literature Patent document 1 JP patent publication No. 7326911 However, the system of patent document 1 operates the robot in the real environment so as to be close to the position and orientation of the robot model contained in the simulation image when the robot model is simulated. Further, a robot model and an object model used for simulation are created using CAD data. However, the size, arrangement, and the like of the robot and the work object in the real environment are not necessarily limited to CAD data, and positional deviation is likely to occur, and it is difficult to cause the robot in the real environment to operate as intended by the worker (to cause the robot to move so as not to diverge from the real environment and to reach the target position). Further, since it is difficult to grasp the orientation of the robot coordinate system from the viewpoint of the operator, it is difficult for the operator to systematically align the direction in which the robot operates with the direction in which the robot operates in the real environment. Disclosure of Invention The present invention is directed to a robot system capable of operating a robot as easily as an operator imagines. A robot system according to an aspect of the present invention includes a display control unit that displays image data based on image capturing information of an operation target that is imaged by an imaging unit and includes at least an industrial robot to perform an operation on a screen, an acquisition unit that acquires at least three-dimensional data corresponding to the operation target, a correlation creation unit that creates a correlation between the image data and the three-dimensional data as data in a user coordinate system having a position of a feature point or an imaging position included in either one of the image data and the three-dimensional data as an origin, a designation receiving unit that receives designation of a target position that is a movement destination of a work tool unit of the industrial robot on the screen, a coordinate conversion unit that converts the target position in the user coordinate system into a target position in the robot coordinate system having a specific part of the industrial robot as an origin, a trajectory calculation unit that calculates a trajectory from a current position of the work tool unit to the target position, and an operation control unit that operates the work tool unit to the target position according to the calculated trajectory. According to this aspect, the image data including the work object of the industrial robot is displayed on the screen, the image data and the three-dimensional data corresponding to the work object are associated as data in the user coordinate system, the designation of the target position to be the movement destination of the work tool unit is received on the screen, the target position in the user coordinate system is converted into the target position in the robot coordinate system, the trajectory from the current position to the target position of the work tool unit is calculated, and the work tool unit is operated to the target position according to the calculated trajectory. Thus, the operator can specify the target position on the screen, and the work tool section can be moved to the specified target position. In the above aspect, the three-dimensional data may be three-dimensional point group data corresponding to an object included in the image data measured by the distance measuring unit. According to this aspect, the object existing in the measurement range of the distance measuring unit can be characterized as three-dimensional point group data. In the above aspect, the designation receiving unit may not receive designation of the target position at a position where the point group data does not exist. According to this aspect, the destination of movement of the work tool portion can be limited to a place where an object such as a work object is present. In the above aspect, the user coordinate system may be a three-dimensional coordinate system having a specific position of the marker included in the image data as an origin, and the marker may determine a positional relationship with the industrial robot. Accord