WORKPIECE PHOTOGRAPH IMAGE PROCESSING DEVICE, WORKPIECE PHOTOGRAPH IMAGE PROCESSING METHOD, AND MACHINING SYSTEM

Title:

WORKPIECE PHOTOGRAPH IMAGE PROCESSING DEVICE, WORKPIECE PHOTOGRAPH IMAGE PROCESSING METHOD, AND MACHINING SYSTEM

Document Type and Number:

WIPO Patent Application WO/2021/079802

Kind Code:

A1

Abstract:

According to the present invention, a camera (30) is positioned at a position set apart from a location at which a workpiece is positioned, the position being directly above the center of the positioning location. When a photographed image in which the positioning location at which the workpiece is positioned is photographed by the camera (30), an image processing device (300) uses a predetermined conversion parameter to specify the pixels in the photographed image to which two-dimensional coordinates within a photographed three-dimensional space correspond, two-dimensionally arrays the pixels corresponding to the specified coordinates, and generates a corrected photographed image in which trapezoidal distortion of the photographed image is corrected. A robot control device (100) detects the position of the workpiece at the positioning location on the basis of the corrected photographed image, and controls a workpiece-holding robot (10) so as to hold the workpiece and transport the same to a machining apparatus.

Inventors:

TAKATSU SATOSHI (JP)

Application Number:

PCT/JP2020/038767

Publication Date:

April 29, 2021

Filing Date:

October 14, 2020

Export Citation:

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Assignee:

AMADA CO LTD (JP)

International Classes:

B25J9/10; B25J13/08; G06T5/00; G06T7/80

Domestic Patent References:

WO2019049331A1	2019-03-14
WO2018043524A1	2018-03-08

Foreign References:

JP2018120388A	2018-08-02
JP2015035685A	2015-02-19
JP2010172986A	2010-08-12
JP2015157342A	2015-09-03
JP2018120388A	2018-08-02
JP2019191675A	2019-10-31

Other References: