Patent Document ID: 10137574
Application ID: 14955067
Patent Status: 1

Claim One:
1. An image processing apparatus comprising: a communication device capable of performing data communication with a robot controller that controls a motion of an end effector of the robot, wherein the robot controller is external from the image processing apparatus; an imaging device that captures an image of a calibration target grasped by the end effector; a command transmitting unit for transmitting to the robot controller a movement command in a common format to move the end effector to a plurality of predetermined positions so as to change a relative position of the calibration target, which becomes an imaging target, with respect to the imaging device, wherein the movement command in the common format is interpreted and converted to the movement command to the end effector in accordance with a type of the robot by a conversion program installed in the robot controller and wherein the movement command includes an order code and positions of movement destinations; a movement coordinate acquiring unit for acquiring first coordinate values being each of position coordinates of the end effector having moved in accordance with the movement command to the end effector; an imaging controlling unit for controlling an operation of the imaging device so as to capture an image of the calibration target at each movement destination, to which the end effector has moved; an image detecting unit for detecting second coordinate values being position coordinates of the calibration target based on the image of the calibration target captured at each movement destination; and a calibration executing unit for calculating a conversion rule between both of the coordinates based on the plurality of acquired first coordinate values and the plurality of detected second coordinate values; wherein the conversion program is provided for each type of the robot, and when the movement command is received and the order code is detected in the movement command, the conversion program converts the positions of movement destinations to a movement command to the end effector in accordance with the type of the robot.