Robot programming apparatus for creating robot program for capturing image of workpiece

摘要

A robot programming apparatus includes a virtual space creation unit for creating a virtual space that expresses a 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 workpiece model 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 in the virtual space; a position storage unit for storing the at least one position of the image pickup device; and an image pickup program creation unit for creating an image pickup program to be taught to a 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.

主权项

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.