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1. 发明申请

WO1994012915A1 JIG FOR SETTING COORDINATE SYSTEM OF VISUAL SENSOR AND SETTING METHOD 审中-公开
标题翻译：用于设置视觉传感器坐标系的设置和设置方法
公开(公告)号：WO1994012915A1
公开(公告)日：1994-06-09
申请号：PCT/JP1993001750
申请日：1993-12-01
申请人： FANUC LTD , TERAWAKI, Fumikazu , WARASHINA Fumikazu
发明人： FANUC LTD
IPC分类号： G05B19/19
CPC分类号： B25J9/1692 , G01B11/00
摘要： A jig (J) has a large number of characteristic points (Pmn) which are disposed at known intervals at grid points of a grid corresponding the coordinate system of a vision sensor, and the characteristic points can be recognized by the sensor. Three or more, but not many, of characteristic points have additional characteristics so that they can be distinguished from the rest of characteristic points by the vision sensor, and the mode of their arrangement or the characteristic points themselves represent the origin and the axes of the coordinate system of the vision sensor. The jig (J) is disposed at a predetermined position and observation is effected through the vision sensor. The origin and axes of the coordinate system are recognized according to the mode of arrangement of the characteristic points or those points themselves, and data required for combining a camera coordinate system with the sensor coordinate system is obtained by using image data of the recognized characteristic points including those having the additional characteristics.
摘要翻译：夹具（J）具有大量特征点（Pmn），它们以对应于视觉传感器的坐标系的网格的网格点以已知的间隔布置，并且特征点可被传感器识别。特征点的三个或更多但不多的具有附加特征，使得它们可以通过视觉传感器与特征点的其余部分区分开，并且它们的排列方式或特征点本身表示原点和轴的轴视觉传感器坐标系。夹具（J）设置在预定位置，通过视觉传感器进行观察。根据特征点或这些点本身的配置方式识别坐标系的原点和轴，并通过使用识别的特征点的图像数据获得组合相机坐标系与传感器坐标系所需的数据包括具有附加特征的那些。

2. 发明申请

WO1993001029A1 AUTOMATIC CALIBRATION METHOD 审中-公开
标题翻译：自动校准方法
公开(公告)号：WO1993001029A1
公开(公告)日：1993-01-21
申请号：PCT/JP1992000851
申请日：1992-07-06
申请人： FANUC LTD , WATANABE, Atsushi , TERAWAKI, Fumikazu , WARASHINA, Fumikazu
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： B25J9/1692 , G05B19/4015
摘要： A method of automatically effecting calibration between an image processor and an automatic machine. Data of a calibration jig and a position of a robot to which is fitted a jig capable of imaging by a a camera at the time of calibration are instructed beforehand. The robot having the jig fitted thereto moves to the instruction point (T3) by a calibration instruction and after this movement, the image processor takes the image of the jig and inputs the image (T4, S3, S4). Calibration processing is carried out by the image data taken, the jig data set and the robot position (T6, S7-S9, S10-S13). Once the jig data and the instruction point are set and instructed at the beginning, subsequent calibration can be carried out automatically by merely fitting the jig to the robot and inputting the calibration instruction.

3. 发明申请

WO1992015838A1 DETECTION POSITION CORRECTION SYSTEM 审中-公开
标题翻译：检测位置校正系统
公开(公告)号：WO1992015838A1
公开(公告)日：1992-09-17
申请号：PCT/JP1992000241
申请日：1992-02-28
申请人： FANUC LTD , WATANABE, Atsushi , ARIMATSU, Taro , WARASHINA, Fumikazu
发明人： FANUC LTD
IPC分类号： G01B21/00
CPC分类号： G01S5/16 , B25J9/1692 , B25J9/1697 , G05B19/4015
摘要： Calibration is effected only once at a given position, enabling the position of an object to be detected at any other position, i.e., enabling the position of the object to be detected over a wide range. Calibration data (CDA) (32) are obtained by calibration at a position A of a camera (3) is moved, and the camera is moved to a position B to obtain calibration data (CDB) (33) by calculation based on the position of the camera (3) and the data (CM) (12) of the change of the camera attitude. Then, the position of an object (30) is detected from the calibration data (CDB) (33) and imaged data (WDB) (31) of the object (30) with the camera (3) at the position B.

4. 发明申请

WO1992009019A1 METHOD FOR SETTING COORDINATE SYSTEM OF ROBOT 审中-公开
标题翻译：设定机器人坐标系的方法
公开(公告)号：WO1992009019A1
公开(公告)日：1992-05-29
申请号：PCT/JP1991001566
申请日：1991-11-15
申请人： FANUC LTD , WATANABE, Atsushi , TERAWAKI, Fumikazu , WARASHINA, Fumikazu
发明人： FANUC LTD
IPC分类号： G05B19/18
CPC分类号： B25J9/1692 , G05B19/4086 , G05B2219/39399
摘要： A method for setting a common coordinate system of the robots of a robot system, including a robot substituted for one of them. Calculated is a coordinate converting matrix for converting a provisional coordinate system (X2Y2Z2), which has been recognized by a first robot (10, 30) through the access to a second jig (62), to a common coordinate system (X1Y1Z1), which has been recognized by the first robot through accessing a first jig (61). Further, by using this converting matrix, a provisional coordinate system, which has been recognized by a second robot through the access to the second jig, is converted to the common coordinate system, which is set in the second robot. When a substitute robot for the second robot is provided, calculated is a second coordinate converting matrix for converting a provisional system, which has been recognized by the first robot through accessing a third jig (63), to the common coordinate system. Further, a second provisional coordinate system, which has been recognized by the substitute robot through accessing the third jig, is converted to the common coordinate system by using the second coordinate converting matrix, and is set in the substitute robot.

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