US Patent No. 9,519,736

DATA GENERATION DEVICE FOR VISION SENSOR AND DETECTION SIMULATION SYSTEM


Patent No. 9,519,736
Issue Date December 13, 2016
Title Data Generation Device For Vision Sensor And Detection Simulation System
Inventorship Hiroyuki Atohira, Yamanashi (JP)
Yoshiharu Nagatsuka, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 9,519,736

1. A data generation device configured to generate data used in a detection process using a vision sensor, based on positions
of a three-dimensional model of a robot, a three-dimensional model of the vision sensor and a three-dimensional model of an
object which are positioned in a virtual space, the data generation device comprising:
a robot placement position designating part configured to designate a placement position of the three-dimensional model of
the robot in the virtual space based on a reference coordinate system defined in the virtual space;

a vision sensor placement position designating part configured to designate a placement position of the three-dimensional
model of the vision sensor in the virtual space based on the reference coordinate system;

a placement position storing part configured to store the placement positions of the three-dimensional model of the robot
and the three-dimensional model of the vision sensor;

a positional relationship calculating part configured to calculate a positional relationship between a robot coordinate system
defined in relation to the three-dimensional model of the robot and a sensor coordinate system defined in relation to the
three-dimensional model of the vision sensor, based on the placement positions of the three-dimensional model of the robot
and the three-dimensional model of the vision sensor, without carrying out a calibration for associating the robot with the
vision sensor; and

a positional relationship storing part configured to store the positional relationship between the robot coordinate system
and the sensor coordinate system as data used in a detection process of the vision sensor.