US Patent No. 9,352,467

ROBOT PROGRAMMING APPARATUS FOR CREATING ROBOT PROGRAM FOR CAPTURING IMAGE OF WORKPIECE


Patent No. 9,352,467
Issue Date May 31, 2016
Title Robot Programming Apparatus For Creating Robot Program For Capturing Image Of Workpiece
Inventorship Hiroyuki Atohira, Yamanashi (JP)
Yoshiharu Nagatsuka, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 9,352,467

1. A robot programming apparatus for creating a robot program to be taught to a robot which is used to process a workpiece
arranged in a work space, the robot programming apparatus comprising:
a virtual space creation unit for creating a virtual space that expresses the work space in three-dimensions;
a target portion designation unit for designating a target portion whose image is to be captured by an image pickup device,
on a model of the workpiece arranged in the virtual space;

a position determination unit for determining at least one position of the image pickup device for capturing the image of
the target portion by the image pickup device in the virtual space;

a position storage unit for storing the at least one position of the image pickup device determined by the position determination
unit;

an image pickup program creation unit for creating an image pickup program to be taught to the robot so that the image pickup
device captures the image of the target portion according to the at least one position of the image pickup device stored in
the position storage unit; and

a judgment unit for judging whether or not the full image of the target portion can be captured when the image pickup device
is arranged in one position determined by the position determination unit,

wherein the position determination unit is configured to determine an additional position of the image pickup device different
from the one position when the judgment unit judges that the full image of the target portion cannot be captured, and

wherein the position determination unit is configured, when determining a plurality of positions of the image pickup device,
to determine the plurality of positions of the image pickup device so that the image pickup device in the respective positions
adjacent to each other has ranges of visual fields so as to superimpose on each other over a predetermined range,

the robot programming apparatus further comprising a processing program creation unit for creating a processing program for
processing the workpiece on a position of the target portion obtained by simulating the image pickup program in the virtual
space.