| CPC B25J 9/1697 (2013.01) | 6 Claims |
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1. A robot system comprising:
a plurality of robots installed so as to work simultaneously on a common workpiece;
robot controllers installed corresponding to the robots respectively;
a plurality of vision sensors configured to acquire visual information; and
a visual processing computer configured to perform processing based on information acquired by the vision sensors, wherein
all of the vision sensors are configured to acquire the visual information of a measurement target of the workpiece,
the plurality of the robot controllers and the plurality of the vision sensors are all configured to communicate with the visual processing computer commonly used,
the visual processing computer is configured to compute a workpiece coordinate system based on a result of measurement of the measurement target that appears in the visual information acquired by the plurality of the vision sensors,
each of the robot controllers corrects a motion of the robot corresponding to the robot controller based on a result of a request transmitted to the visual processing computer by each of the robot controllers,
the visual processing computer stores information about the workpiece coordinate system with respect to each of the robots,
the visual processing computer, according to an initialization command transmitted by each robot controller, performs an initialization process on the information with respect to the robot corresponding to each robot controller that transmits the initialization command,
each of the robot controllers of the robots belonging to a group including two or more of the plurality of the robots to which the workpiece coordinate system is applied, transmits a query to the visual processing computer as to whether the initialization process of the information concerning the workpiece coordinate system has been completed for all the robots belonging to the group,
if the visual processing computer receives each query in a state that the initialization process of the information on the workpiece coordinate system has not been completed regarding one or more of the robots belonging to the group, the visual processing computer transmits as a response to the query a standby command to each robot controller that queried, and
each of the robot controllers makes another query to the visual processing computer upon receipt of the standby command.
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