METHOD FOR COMBINING CAMERA COORDINATE SYSTEM AND ROBOT COORDINATE SYSTEM IN ROBOT CONTROL SYSTEM, IMAGE PROCESSING DEVICE, PROGRAM, AND STORAGE MEDIUM

摘要

PROBLEM TO BE SOLVED: To provide a method for combining a camera coordinate system and a robot coordinate system which has no need to grab precisely when a tool to be recognized is grabbed by a handling robot, and can simply obtain the tool axis center of a hand tool and inclinations of the robot coordinate system and the camera coordinate system from a consecutive image when the handling robot is rotated and linearly moved in a state in which the handling robot grabs the tool to be recognized, and an image processing device thereof.;SOLUTION: Frame difference is obtained from a rotational motion image of the tool to be recognized held by the hand tool of the robot, and a position of the tool axis center of the camera coordinate system is calculated from a circular arc locus including a plurality of characteristic points concerning a characteristic region of the tool to be recognized based on the frame difference. The frame difference is obtained from a linear motion image of the tool to be recognized when the handling robot is linearly moved in parallel to the X-axis of the robot coordinate system, and the inclination of the robot coordinate system to the camera coordinate system is calculated from a linear locus of characteristic points of the tool to be recognized based on the frame difference.;COPYRIGHT: (C)2012,JPO&INPIT