US 12,420,424 B2
Coordinate system setting system and position/orientation measurement system
Shoutarou Ogura, Yamanashi (JP); and Yuta Namiki, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 17/995,974
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Apr. 12, 2021, PCT No. PCT/JP2021/015189
§ 371(c)(1), (2) Date Oct. 11, 2022,
PCT Pub. No. WO2021/210540, PCT Pub. Date Oct. 21, 2021.
Claims priority of application No. 2020-072342 (JP), filed on Apr. 14, 2020.
Prior Publication US 2023/0191612 A1, Jun. 22, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1692 (2013.01) [B25J 9/1697 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A coordinate system setting system that sets a coordinate system for use in control of an industrial machine, the coordinate system setting system comprising:
a calibrated visual sensor; and
a processor, the processor being configured to
store, in advance, calibration data obtained when the visual sensor is calibrated;
process a captured image obtained by capturing, by means of the visual sensor, an image of a calibration jig disposed at a position for which the coordinate system is to be set; and
use a result of the image processing to set a coordinate system for use in control of the industrial machine,
wherein the processor obtains
a position of the calibration jig relative to a visual sensor position obtained based on the captured image obtained by capturing, by means of the visual sensor, the image of the calibration jig and the calibration data,
a visual sensor position relative to a reference position of a base coordinate system stored in the calibration data and set at a center of a base of the industrial machine, the reference position being set in advance with respect to the industrial machine, and
a position of the calibration jig relative to the reference position based on the position of the calibration jig relative to the visual sensor position and the visual sensor position relative to the reference position, and
uses the position of the calibration jig relative to the reference position to set a coordinate system, and controls the industrial machine in the set coordinate system.