CN116235024A - 检测装置及检测方法 - Google Patents

检测装置及检测方法 Download PDF

Info

Publication number
CN116235024A
CN116235024A CN202180061283.9A CN202180061283A CN116235024A CN 116235024 A CN116235024 A CN 116235024A CN 202180061283 A CN202180061283 A CN 202180061283A CN 116235024 A CN116235024 A CN 116235024A
Authority
CN
China
Prior art keywords
camera
workpiece
dimensional
position coordinates
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202180061283.9A
Other languages
English (en)
Chinese (zh)
Inventor
铃木忠则
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of CN116235024A publication Critical patent/CN116235024A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
  • Image Processing (AREA)
CN202180061283.9A 2020-07-13 2021-07-08 检测装置及检测方法 Pending CN116235024A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020119653 2020-07-13
JP2020-119653 2020-07-13
PCT/JP2021/025791 WO2022014458A1 (ja) 2020-07-13 2021-07-08 検出装置及び検出方法

Publications (1)

Publication Number Publication Date
CN116235024A true CN116235024A (zh) 2023-06-06

Family

ID=79555417

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180061283.9A Pending CN116235024A (zh) 2020-07-13 2021-07-08 检测装置及检测方法

Country Status (5)

Country Link
US (1) US12307703B2 (https=)
JP (1) JP7381758B2 (https=)
CN (1) CN116235024A (https=)
DE (1) DE112021003715T5 (https=)
WO (1) WO2022014458A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023036302A (ja) * 2021-09-02 2023-03-14 株式会社ミツトヨ 測定システム、測定方法及びプログラム

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008164493A (ja) * 2006-12-28 2008-07-17 Pulstec Industrial Co Ltd ３次元形状測定方法および校正用物体
CN105459134A (zh) * 2014-09-29 2016-04-06 发那科株式会社 检测对象物的三维位置的检测方法及检测装置
CN106346315A (zh) * 2015-07-14 2017-01-25 发那科株式会社 能够取得工件原点的机床控制系统以及工件原点设定方法
US20170191822A1 (en) * 2015-12-30 2017-07-06 Faro Technologies, Inc. Registration of three-dimensional coordinates measured on interior and exterior portions of an object
US20180157230A1 (en) * 2016-12-01 2018-06-07 Fanuc Corporation Robot controller which automatically sets interference region for robot
US10692204B2 (en) * 2016-08-01 2020-06-23 The Boeing Company System and method for high speed surface and subsurface FOD and defect detection

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6372506U (https=) * 1986-10-30 1988-05-14
JP4837538B2 (ja) * 2006-12-04 2011-12-14 昭和電工株式会社 端部位置測定方法および寸法測定方法
JP4309439B2 (ja) * 2007-03-30 2009-08-05 ファナック株式会社 対象物取出装置
JP2017207439A (ja) * 2016-05-20 2017-11-24 大日本印刷株式会社 円柱体の位置状態測定方法及びシステム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008164493A (ja) * 2006-12-28 2008-07-17 Pulstec Industrial Co Ltd ３次元形状測定方法および校正用物体
CN105459134A (zh) * 2014-09-29 2016-04-06 发那科株式会社 检测对象物的三维位置的检测方法及检测装置
CN106346315A (zh) * 2015-07-14 2017-01-25 发那科株式会社 能够取得工件原点的机床控制系统以及工件原点设定方法
US20170191822A1 (en) * 2015-12-30 2017-07-06 Faro Technologies, Inc. Registration of three-dimensional coordinates measured on interior and exterior portions of an object
US10692204B2 (en) * 2016-08-01 2020-06-23 The Boeing Company System and method for high speed surface and subsurface FOD and defect detection
US20180157230A1 (en) * 2016-12-01 2018-06-07 Fanuc Corporation Robot controller which automatically sets interference region for robot

Also Published As

Publication number Publication date
US20230281857A1 (en) 2023-09-07
DE112021003715T5 (de) 2023-05-11
JP7381758B2 (ja) 2023-11-15
WO2022014458A1 (ja) 2022-01-20
JPWO2022014458A1 (https=) 2022-01-20
US12307703B2 (en) 2025-05-20

Similar Documents

Publication Publication Date Title
JP6885856B2 (ja) ロボットシステムおよびキャリブレーション方法
JP2014014912A (ja) ロボットシステム、ロボット、ロボット制御装置、ロボット制御方法、およびロボット制御プログラム
CN102914293A (zh) 信息处理设备和信息处理方法
JP2020047049A (ja) 画像処理装置及び画像処理方法
CN106003020A (zh) 机器人、机器人控制装置以及机器人系统
CN105313127A (zh) 机器人、机器人的控制方法以及机器人的控制装置
CN111152243B (zh) 控制系统
WO2021019627A1 (ja) コンピュータビジョンシステムのキャリブレーション方法及びこれに用いる基準立体物
JP5858773B2 (ja) ３次元計測方法、３次元計測プログラム及びロボット装置
US20180215044A1 (en) Image processing device, robot control device, and robot
JP2019049467A (ja) 距離計測システムおよび距離計測方法
CN116235024A (zh) 检测装置及检测方法
CN115280096B (zh) 基于由多个照相机拍摄到的图像来生成物体表面的位置信息的三维测定装置
CN114945450A (zh) 机器人系统
JP2006224291A (ja) ロボットシステム
JP6565367B2 (ja) 位置補正システム
WO2022124232A1 (ja) 画像処理システム及び画像処理方法
CN116323103A (zh) 校准装置及校准的自动设定方法
CN115397626B (zh) 坐标系设定系统和位置姿势测量系统
JP7657936B2 (ja) ロボット制御装置、ロボット制御システム、及びロボット制御方法
JP2018004554A (ja) 対象物の特徴点の三次元座標を算出するための装置及び方法
CN114902281B (zh) 图像处理系统
JP6528445B2 (ja) 自律移動体及び自律移動体の制御システム
TW202422545A (zh) 控制裝置、三維位置計測系統、及程式
KR20240171974A (ko) 간섭 판정 장치

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination