| 摘要 |
PCT No. PCT/JP89/00661 Sec. 371 Date Feb. 20, 1990 Sec. 102(e) Date Feb. 20, 1990 PCT Filed Jun. 30, 1989 PCT Pub. No. WO90/00109 PCT Pub. Date Jan. 11, 1990.An automatic nominal data setting method in a visual sensor system is capable of accurately and rapidly setting nominal data with ease, and a correction data deriving method is executable on the basis of the automatically set nominal data. If operation of the visual sensor system in a nominal mode is determined (S200) upon start of execution of an orientation portion of a user program by the visual sensor system mounted on an industrial robot, a message for interrogating whether or not nominal data setting should be executed is displayed (S201). When an operator inputs a nominal data setting command (S202), the workpiece position/posture data in the sensor coordinate system at that time, determined based on gray-scale image data, is converted into workpiece position/posture data in the robot coordinate system to be stored as nominal data (S203). During a robot operation, the visual sensor system calculates correction data for correction of the operating position/posture of the robot on the basis of workpiece position/posture data created similarly and the nominal data, and supplies same to the robot.
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