EP-4737071-A1 - ROBOT SYSTEM

Abstract

To readily cause a robot to operate just as an operator imagined. A robot system includes: a display control portion which causes image data having been captured by an imaging portion and based on imaging information at least including a work object to be worked by an industrial robot to be displayed on a screen; an acquiring portion which acquires three-dimensional data corresponding to at least the work object; a linking portion which links the image data and the three-dimensional data as data in a user coordinate system; a designation accepting portion which accepts, on a screen, a designation of a target position to be a destination of movement of a work tool portion of the industrial robot; a coordinate transforming portion which transforms the target position in the user coordinate system into the target position in a robot coordinate system of which an origin is a specific location of the industrial robot; a trajectory calculating portion which calculates a trajectory from a current position of the work tool portion to the target position; and an operation control portion which causes the work tool portion to operate to the target position according to the calculated trajectory.

Inventors

• KITAGAWA, Ryo
• NAKAGAWA, SHINICHIRO

Assignees

• DAIHEN Corporation

Dates

Publication Date

20260506

Application Date

20251017

Claims (6)

1. A robot system (100), comprising: a display control portion (311) which causes image data having been captured by an imaging portion (4) and based on imaging information at least including a work object to be worked by an industrial robot (2) to be displayed on a screen; an acquiring portion (312) which acquires three-dimensional data corresponding to at least the work object; a linking portion (313) which links the image data and the three-dimensional data as data in a user coordinate system of which an origin is a position of a feature point included in either the image data or the three-dimensional data or an imaging position; a designation accepting portion (314) which accepts, on a screen, a designation of a target position to be a destination of movement of a work tool portion of the industrial robot (2); a coordinate transforming portion (315) which transforms the target position in the user coordinate system into the target position in a robot coordinate system of which an origin is a specific location of the industrial robot (2); a trajectory calculating portion (316) which calculates a trajectory from a current position of the work tool portion to the target position; and an operation control portion (317) which causes the work tool portion to operate to the target position according to the calculated trajectory.
2. The robot system (100) according to claim 1, wherein the three-dimensional data is three-dimensional point cloud data corresponding to objects included in the image data measured by a distance measuring portion.
3. The robot system (100) according to claim 2, wherein the designation accepting portion (314) does not accept a designation of the target position at a position where the point cloud data does not exist.
4. The robot system (100) according to claim 1, wherein the user coordinate system is a three-dimensional coordinate system of which an origin is a specific position of a marker included in the image data, and a positional relationship between the marker and the industrial robot (2) is specified.
5. The robot system (100) according to claim 1, wherein when another target position that differs from the target position is designated by the designation accepting portion (314) while the work tool portion is being operated to the target position by the operation control portion (317), the trajectory calculating portion (316) calculates a trajectory from a current position of the work tool portion to the other target position as a changed trajectory, and the operation control portion (317) operates the work tool portion to the other target position according to the calculated changed trajectory.
6. The robot system (100) according to claim 1, wherein the designation accepting portion (314) further accepts a designation of a relative position for adjusting the target position, and the trajectory calculating portion (316) calculates a trajectory from a current position of the work tool portion to the target position after being adjusted by the relative position.

Description

Background Field The present invention relates to a robot system. Description of Related Art Japanese Patent No. 7326911 discloses a system that teaches robot operations in a real environment by simulating a robot model in a virtual space. In the system, an operation of a robot is taught using teaching data created by executing off-line teaching using a robot model in a virtual space. Off-line teaching is processing in which a robot model and an object model showing a shape of an object are displayed in a virtual space and teaching points are set according to user input. Teaching data is data describing a plurality of teaching points in chronological order. Summary The system according to Japanese Patent No. 7326911 operates the robot in the real environment so that a position and a posture of the robot approaches a position and a posture of the robot model included in a simulation image created when simulating the robot model. Furthermore, the robot model and the object model used for the simulation are created with CAD data. However, since sizes, an arrangement, and the like of robots and work objects in a real environment do not always conform to CAD data, misalignment and the like readily occur, making it difficult to cause robots in the real environment to operate just as an operator imagined (to cause robots to operate in a manner that does not conflict with the real environment and to reach a target position). In addition, because it is difficult to comprehend an orientation of a robot coordinate system and the like from the operator's point of view, it is difficult for the operator to match a direction in which the operator causes the robot to operate on the system with a direction in which the robot operates in the real environment. In consideration thereof, an object of the present invention is to provide a robot system capable of readily causing a robot to operate just as an operator imagined. A robot system according to an aspect of the present invention includes: a display control portion which causes image data having been captured by an imaging portion and based on imaging information at least including a work object to be worked by an industrial robot to be displayed on a screen; an acquiring portion which acquires three-dimensional data corresponding to at least the work object; a linking portion which links the image data and the three-dimensional data as data in a user coordinate system of which an origin is a position of a feature point included in either the image data or the three-dimensional data or an imaging position; a designation accepting portion which accepts, on a screen, a designation of a target position to be a destination of movement of a work tool portion of the industrial robot; a coordinate transforming portion which transforms the target position in the user coordinate system into the target position in a robot coordinate system of which an origin is a specific location of the industrial robot; a trajectory calculating portion which calculates a trajectory from a current position of the work tool portion to the target position; and an operation control portion which causes the work tool portion to operate to the target position according to the calculated trajectory. According to this aspect, image data including a work object of an industrial robot can be caused to be displayed on a screen, the image data and three-dimensional data corresponding to the work object can be linked as data in a user coordinate system, a designation of a target position to be a destination of movement of a work tool portion can be accepted on a screen, the target position in the user coordinate system can be transformed into the target position in a robot coordinate system, a trajectory from a current position of the work tool portion to the target position can be calculated, and the work tool portion can be caused to operate to the target position according to the calculated trajectory. Accordingly, by designating the target position on the screen, the operator can move the work tool portion to the designated target position. In the aspect described above, the three-dimensional data may be three-dimensional point cloud data corresponding to objects included in the image data measured by a distance measuring portion. According to this aspect, objects that exist within a measurement range of the distance measuring portion can be represented as three-dimensional point cloud data. In the aspect described above, the designation accepting portion need not accept a designation of the target position at a position where point cloud data does not exist. According to this aspect, the destination of movement of the work tool portion can be limited to locations where an object such as a work object exists. In the aspect described above, the user coordinate system may be a three-dimensional coordinate system of which an origin is a specific position of a marker included in the image data, and a positio