US-12617090-B2 - Terminal device

US12617090B2US 12617090 B2US12617090 B2US 12617090B2US-12617090-B2

Abstract

A terminal device is configured to photograph a first image including a work target and a marker for the work target, and a second image including a robot marker, the work target, and the marker for the work target, which maintain a positional relation in the first image, set a user coordinate system using the marker for the work target as a reference, set an operation path based on a work spot of the work target included in the first image, create a work program based on the set operation path of the industrial robot, calculate a robot coordinate system based on the robot marker included in the second image and position attitude information of the industrial robot, and modify the work program by converting a coordinate system of the operation path of the industrial robot from the user coordinate system to the robot coordinate system.

Inventors

Sho FUJISAWA

Assignees

DAIHEN CORPORATION

Dates

Publication Date: 20260505
Application Date: 20240423
Priority Date: 20231031

Claims (5)

1 . A terminal device, comprising: a photographing portion configured to photograph a first image that includes a work target and a marker for the work target, and a second image that includes a robot marker that is attached to an industrial robot, the work target, and the marker for the work target, wherein the work target and the marker for the work target are configured to maintain a positional relation in the first image, and wherein the photographing portion is configured to capture the first image at a first location so that the first image does not include the robot marker, and to capture the second image at a second location that is different from the first location so that the robot marker is included in the second image; a user-coordinate system setting portion configured to set a user coordinate system, using the marker for the work target that is included in the first image as a reference; an operation-path setting portion configured to set an operation path of the industrial robot on the user coordinate system on the basis of a work spot of the work target included in the first image; a program creating portion configured to create a work program for causing the industrial robot to operate on the basis of the set operation path of the industrial robot; a robot-coordinate system calculating portion configured to calculate a robot coordinate system on the basis of the robot marker included in the second image and position attitude information of the industrial robot; and a program modifying portion configured to modify the work program by converting a coordinate system of the operation path of the industrial robot from the user coordinate system to the robot coordinate system.
2 . The terminal device according to claim 1 , wherein the program modifying portion is configured to convert the coordinate system of the operation path of the industrial robot on the basis of a difference between an origin of the user coordinate system and an origin of the robot coordinate system.
3 . The terminal device according to claim 1 , wherein the user-coordinate system setting portion is configured to calculate an origin of the user coordinate system and coordinate axes using the marker for the work target as a reference.
4 . The terminal device according to claim 1 , wherein the robot-coordinate system calculating portion is configured to calculate an origin and coordinate axes of the robot coordinate system on the basis of the robot marker and position attitude information of the industrial robot.
5 . The terminal device according to claim 1 , wherein the position attitude information of the industrial robot includes angle information of each axis of the industrial robot obtained from a robot control device which controls an operation of the industrial robot.

Description

BACKGROUND Field The present invention relates to a terminal device which can create a work program for a robot. Description of Related Art Conventionally, for creating a program for causing a robot to operate, there is an art of creation by using an image photographed by a camera. In the art in the Japanese Patent No. 7190552, for example, a program for causing the robot to operate is created by using an image including the robot, to which a marker being photographed by a camera is attached, and a welding target. In the art in the Japanese Patent No. 6420229, a program for causing the robot to operate is created by superimposing a virtual image such as an effector of the robot on an image of an actual space including the robot photographed by a camera. SUMMARY However, with the arts in the Japanese Patent No. 7190552 and the Japanese Patent No. 6420229, when a program is to be created, an image including the robot needs to be photographed. Therefore, while the program is being created, the robot is occupied, which lowers an operation rate of the robot. Thus, this disclosure has an object to provide a terminal device which can create a work program without lowering the operation rate of the robot. A terminal device according to an aspect of this disclosure includes a first photographing portion which photographs a first image including a work target and a marker for the work target, a user-coordinate system setting portion which sets a user coordinate system, with the marker for the work target that is included in the first image being a reference, an operation-path setting portion which sets an operation path of an industrial robot on the user coordinate system on the basis of a work spot of the work target included in the first image, a program creating portion which creates a work program for causing the industrial robot to operate on the basis of the set operation path of the industrial robot, a second photographing portion which photographs a second image including a robot marker attached to the industrial robot in addition to the work target and the marker for a work target which, maintain a positional relation in the first image, a robot-coordinate system calculating portion which calculates a robot coordinate system on the basis of the robot marker included in the second image and position attitude information of the industrial robot, and a program modifying portion which modifies the work program by converting a coordinate system of the operation path of the industrial robot from the user coordinate system to the robot coordinate system. According to this aspect, by photographing the first image including the work target and the marker for a work target, the user coordinate system is set, with the maker for work target being a reference, and the work program of the industrial robot can be created on the basis of the operation path of the industrial robot on the user coordinate system set on the basis of the work spot of the work target. And by photographing the second image including the work target and the marker for the work target, which maintain the positional relation in the first image and a robot marker attached to the industrial robot, the robot coordinate system based on the marker for robot and the position attitude information of the industrial robot is calculated, and the work program can be modified by converting the coordinate system of the operation path of the industrial robot from the user coordinate system to the robot coordinate system. As a result, the work program of the industrial robot on the user coordinate system is created in advance on the basis of the first image not including the industrial robot and on the basis of the second image to which the robot marker mounted on the industrial robot to be photographed after that is added, the coordinate system indicating the operation path of the industrial robot is converted from the user coordinate system to the robot coordinate system, and the work program based on the user coordinate system can be modified to the work program based on the robot coordinate system. In the aforementioned aspect, the program modifying portion may convert the coordinate system of the operation path of the industrial robot on the basis of a difference between an origin of the user coordinate system and an origin of the robot coordinate system. According to this aspect, the coordinate system of the operation path of the industrial robot can be converted on the basis of the difference between the origin of the user coordinate system and the origin of the robot coordinate system. In the aforementioned aspect, the user-coordinate system setting portion may calculate the origin and the coordinate axes of the user coordinate system, with the marker for the work target being a reference. According to this aspect, the work program of the industrial robot can be created on the basis of the origin and the coordinate axes of the user coordinate system calcula