Patent
Image processing device and robot control system
Ryota Urakawa,Keita Ushizaka,良太 浦川,慶太 牛坂 +3 more
- 03 Apr 2008
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TL;DR: In this article, the authors proposed a method to obtain high-accuracy positional information of a workpiece from image information of the workpiece photographed by a camera in an image processing device.
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Abstract: PROBLEM TO BE SOLVED: To obtain high-accuracy positional information of a workpiece from image information of the workpiece photographed by a camera in an image processing device. SOLUTION: The image processing device 1 which acquires the image information of the workpiece photographed by stereo cameras 3a, 3b and measures a position of the workpiece using the image information is provided with: a master register part 11 storing master positional information which shows a predetermined reference position of the workpiece in three dimensions; a position measuring part 12 calculating three-dimensional positions of characteristic points at three places of the workpiece and the center of gravity of the work by using the image information of the workpiece; and a deviation calculation part 13 calculating a deviation amount of the workpiece in three-dimensional directions and respective inclinations of the workpiece in the three-dimensional directions from the three-dimensional positions of the characteristic points calculated at the three places, the calculated center of gravity, and the master position information of the workpiece. COPYRIGHT: (C)2010,JPO&INPIT
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Citations
Patent
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