Daihen Corporation

Makoto Ikeguchi

Provided is a marker detection apparatus able to detect the position of a marker with high accuracy and a robot teaching system using the same. A marker detection apparatus includes: an image generation unit that superimposes point group data, acquired by a 3D camera and photographed from a viewpoint same as a viewpoint of a 2D camera, on image data acquired by the 2D camera, thereby generating a combined image; a marker position calculation unit that detects a marker and calculates a position of the marker on a basis of the image data; a plane detection unit that detects a plane on a basis of the point group data; a marker plane determination unit that determines a marker plane on a basis of point group data included in a region of the marker detected from the position of the marker calculated by the marker position calculation unit and the plane detected by the plane detection unit; and a marker position correction unit that projects the position of the marker, calculated by the marker position calculation unit, onto the marker plane, thereby correcting the position of the marker.

Marker detection apparatus and robot teaching system

A robot teaching system includes: a photographing unit that photographs an image including a welding target and a marker installed on an industrial robot; a camera coordinate system setting unit that sets a camera coordinate system on a basis of the marker included in the image; an operation path setting unit that sets an operation path of the industrial robot on a basis of a welding position of the welding target included in the image in the camera coordinate system; and a program generation unit that generates a working program, while converting the set operation path from the camera coordinate system into a robot coordinate system set in a robot control apparatus on a basis of a position of the marker installed on the industrial robot. The robot teaching system generates a working program allowing appropriate welding at a welding position.

Growing community of inventors

Osaka, Japan

Makoto Ikeguchi