US 12,290,924 B2
Coordinate system alignment method, alignment system, and alignment device for robot
Yusei Tsuboi, Tokyo (JP)
Assigned to SICK K.K., Tokyo (JP)
Appl. No. 17/781,141
Filed by SICK K.K., Tokyo (JP)
PCT Filed Nov. 17, 2020, PCT No. PCT/JP2020/042870
§ 371(c)(1), (2) Date May 31, 2022,
PCT Pub. No. WO2021/111868, PCT Pub. Date Jun. 10, 2021.
Claims priority of application No. 2019-217775 (JP), filed on Dec. 2, 2019.
Prior Publication US 2022/0410375 A1, Dec. 29, 2022
Int. Cl. B25J 9/10 (2006.01); G01B 11/26 (2006.01)
CPC B25J 9/10 (2013.01) [G01B 11/26 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method for aligning a robot coordinate system, being a coordinate system of a robot for moving an operating point three-dimensionally, and a measuring instrument coordinate system, being a coordinate system of a three-dimensional measuring instrument which is capable of executing a light sectioning method and of which a position and attitude with respect to the operating point are unchanging, characterized by including the steps of:
determining a relationship between an operating space coordinate system, being a coordinate system of an operating space of the operating point, and the robot coordinate system, by moving the operating point to a first reference point positioned at an origin of the operating space coordinate system, and a second reference point and a third reference point positioned respectively on two straight lines that intersect at right angles at the first reference point, and teaching the position of each reference point;
radiating sheet-like slit light from the three-dimensional measuring instrument onto a reference object in the shape of a rectangular cuboid which is fixed, in such a way that the edges thereof are parallel to each of three orthogonal axes defining the operating space coordinate system, onto a surface of a plate-shaped member disposed parallel to a plane on which two of the three orthogonal axes are located, and acquiring a projection line on the reference object resulting from the slit light;
finding the attitude of the three-dimensional measuring instrument relative to the reference object on the basis of a profile of the projection line, the projection line profile includes the length of the projection line on the upper surface of the reference object, the distance between the projection line on the upper surface of the reference object and the projection line on a surface of the plate-shaped member, and the inclination of the projection lines relative to the coordinate axes of the three-dimensional measuring instrument;
determining whether the found attitude falls within a predetermined standard attitude range; and
when the found attitude does not fall within the predetermined standard attitude range, moving the three-dimensional measuring instrument such that the attitude of the three-dimensional measuring instrument falls within the predetermined standard attitude range.