JPH0392712A - Three-dimensional position recognition by use of image processing device and distance measuring sensor - Google Patents
Three-dimensional position recognition by use of image processing device and distance measuring sensorInfo
- Publication number
- JPH0392712A JPH0392712A JP22826189A JP22826189A JPH0392712A JP H0392712 A JPH0392712 A JP H0392712A JP 22826189 A JP22826189 A JP 22826189A JP 22826189 A JP22826189 A JP 22826189A JP H0392712 A JPH0392712 A JP H0392712A
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- Prior art keywords
- image processing
- distance
- camera
- points
- dimensional position
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- 238000012545 processing Methods 0.000 title claims abstract description 40
- 238000005259 measurement Methods 0.000 claims abstract description 38
- 230000003287 optical effect Effects 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 12
- 238000012937 correction Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、ロボッＩ・等の自動機械による絹立，搬送作
業において利用される作業対象物の３次元位置の認識方
法に関する。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a method for recognizing the three-dimensional position of a workpiece used in silk stand and conveyance work by an automatic machine such as Robot I.
従来の技術
ロボット等の自動機械においては、作業対象物に対し何
らかの作業を行う」二で、対象物の位置を検出しなけれ
ばならない。通常、標準的な対象物の位置がロボット等
の自動機械には教示されているが、個々の作業対象物の
位置は標準的な位置からずれが生じており、そのため位
置補正を行う必・要がある。この位置補正は、画像処理
装置のノｙメラで対象物の物体を撮影し、物体の位置を
検出して位置補正を行っている。しかし、画像処理装置
においては、カメラの性能上、カメラの光軸と垂直な平
面における対象物体の位置しか認識できなく、対象物体
の３次元位置を検出することができない。この対象物体
の３次元位置を認識する方法としては、ステレオカメラ
等で対象物体上において位置が既知の点、例えば穴（以
下、ゲージホールという）の３次元位置を認識し、３つ
のゲージホールの位置によって対象物体の３次元位置を
認識する方法がある。Conventional technology In automatic machines such as robots, the position of the object must be detected when performing some kind of work on the object. Normally, automatic machines such as robots are taught the position of a standard object, but the position of each work object deviates from the standard position, so it is necessary to correct the position. There is. This position correction is performed by photographing the target object with a camera of the image processing device, detecting the position of the object, and performing position correction. However, in the image processing apparatus, due to the performance of the camera, the position of the target object can only be recognized in a plane perpendicular to the optical axis of the camera, and the three-dimensional position of the target object cannot be detected. The method for recognizing the three-dimensional position of the target object is to recognize the three-dimensional position of a known point on the target object, such as a hole (hereinafter referred to as a gauge hole), using a stereo camera, etc. There is a method of recognizing the three-dimensional position of a target object based on its position.
発明が解決しようとする課題
ステレオカメラ等でゲージホールの３次元位置を認識し
ようとする場合、カメラの較正が複雑になる。即ち、カ
メラ座標軸とロボット等の自動機械の座標軸を対応づけ
るための較正（キヤリプレーション）作業が複雑で多く
の作業と時間が必要となる。また、ゲージホールを斜め
から見るため、ゲージホールが楕円として認識され、か
つゲージホールの奥行き等によってゲージホールの検出
が安定しないといった問題が生じる。Problems to be Solved by the Invention When attempting to recognize the three-dimensional position of a gauge hole using a stereo camera or the like, camera calibration becomes complicated. That is, the calibration work for associating the camera coordinate axes with the coordinate axes of an automatic machine such as a robot is complicated and requires a lot of work and time. Further, since the gauge hole is viewed from an oblique angle, the gauge hole is recognized as an ellipse, and the detection of the gauge hole is unstable depending on the depth of the gauge hole.
そこで、本発明の目的は、画像処理装置のカメラの較正
及び対象物体の画像処理が簡単で、かつ、正確に対象物
体の３次元位置を認識できる物体の３次元位置認識方法
を提供することにある。SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a method for recognizing the three-dimensional position of an object, which allows easy calibration of the camera of an image processing device and image processing of the target object, and which can accurately recognize the three-dimensional position of the target object. be.
課題を解決するための手段
本発明は、物体上における既知の３点に対し、画像処理
装置で該画像処理装置のカメラの光軸と垂直な基準面上
における上記３点の位置を夫々検出し、測距センサによ
って上記３点の測距センサからの距離を夫々測定し、測
定した」二記測距センサからの夫々の距離によって検出
した基準面」二における上記３点の各位置を夫々視差補
正し、視差補正された位置と測距センサからの距離によ
って上記３点の夫々の３次元位置を認識して、該３点の
３次元位置より物体の３次元位置を認識するようにした
。Means for Solving the Problems The present invention detects the positions of three known points on an object on a reference plane perpendicular to the optical axis of a camera of the image processing device using an image processing device. The distances from the three points from the distance sensor are measured using the distance sensor, and the positions of the three points on the reference plane 2 detected by the measured distances from the distance sensor are determined by the parallax. The three-dimensional position of each of the three points is recognized based on the parallax-corrected position and the distance from the ranging sensor, and the three-dimensional position of the object is recognized from the three-dimensional positions of the three points.
また、測距センサで測定しようとする物体上の点の存在
する面が測定方向に対し垂直でない場合には、該点周囲
の複数の点を測距センサで測定し、その測定値の平均値
を当該点の測距センサからの距離として求め、物体の３
次元位置を認識するようにした。In addition, if the surface on which the point on the object to be measured with the distance measurement sensor exists is not perpendicular to the measurement direction, measure multiple points around the point with the distance measurement sensor, and calculate the average value of the measured values. is determined as the distance of the point from the distance measurement sensor, and 3
Dimensional position is now recognized.
作用
画像処理装置のカメラを検出しようとする物体上の点と
正対させて、カメラ光軸と垂直な基準面」二の該点の位
ａ （ｘ，ｙ）を求める。次に、測距センサによって、
測距センサから該点までの距離を求めて該距離と基準面
の位置により上記基準面上の位置（ｘ， ｙ）を視差
補正して、上記点の３次元位置を求める。なお、測定し
ようとする物体上の上記点の存在する面が測定方向に対
し、垂直でない場合には、該測定しようとする点の周囲
の複数の点を測距センサで測定し、その測定値の平均に
よって該点と測距センサ間の距離とする。The camera of the operational image processing device is placed directly opposite a point on the object to be detected, and the position a (x, y) of the point on the reference plane perpendicular to the camera optical axis is determined. Next, the distance measurement sensor
The distance from the distance measurement sensor to the point is determined, and the position (x, y) on the reference plane is corrected for parallax based on the distance and the position of the reference plane to determine the three-dimensional position of the point. In addition, if the surface on which the above point on the object to be measured exists is not perpendicular to the measurement direction, measure multiple points around the point to be measured with a range sensor and calculate the measured value. The distance between the point and the distance measuring sensor is determined by the average of .
こうして、物体上の位置が既知の３点についてその３次
元位置を検出すれば、物，体の３次元位置が認識できる
。In this way, by detecting the three-dimensional positions of three points on an object whose positions are known, the three-dimensional position of the object or body can be recognized.
実施例 第３図は、本発明を実施する一実施例の構或図である。Example FIG. 3 is a structural diagram of an embodiment of the present invention.
ロボットＪの手首には画像処理装置１０のカメラ２２と
レーザ光によって距離を測定するレーザセンサ等の測距
センサ２４が取付けられ、対象物体２、例えば車体のド
ア等に設けられた対象物体上の位置が既知の穴であるゲ
ージホール３の３次元位置を上記カメラ２２（画像処理
装置）゛及び７Ｉｌｌ＋距センサ２４で測定するもので
ある。なお、破線で示した符号２６は、ロボット１に取
付けられるツールを示している。A camera 22 of an image processing device 10 and a distance measuring sensor 24 such as a laser sensor that measures distance using laser light are attached to the wrist of the robot J. The three-dimensional position of the gauge hole 3, which is a hole whose position is known, is measured by the camera 22 (image processing device) and the distance sensor 24. Note that the reference numeral 26 indicated by a broken line indicates a tool attached to the robot 1.
第２図は同実施例において使用する画像処理装置の要部
ブロック図である。FIG. 2 is a block diagram of main parts of the image processing apparatus used in the same embodiment.
図中、１０は画像処理装置で、該画像処理装置１０は主
中央処理装置（以下、メインＣＰＵという）１１を有し
、該メインＣＰＵｉｌには、カメラインタフエイス１２
，画像処理プロセッザ１３，コンソールインタフエイス
１４，通信インタフェイス１５，センサフェイス１．６
，フレームメモリ１７，ＲＯＭで形威されたコントロー
ルソフト用メモリ１８，ＲＡＭ等で構威されたブロラム
メモリ１９，不揮発性ＲＡＭで構成されたデータメモリ
２０がバス２１で接続されている。In the figure, 10 is an image processing device, the image processing device 10 has a main central processing unit (hereinafter referred to as main CPU) 11, and the main CPUil includes a camera interface 12.
, image processing processor 13, console interface 14, communication interface 15, sensor face 1.6
, a frame memory 17, a control software memory 18 in the form of a ROM, a brochure memory 19 in the form of a RAM, etc., and a data memory 20 in the form of a non-volatile RAM are connected by a bus 21.
カメラインタフェイス１２には車のドア等の対象物の物
体を撮影するカメラ２２が接統され、該カメラ２２の視
野でとらえた画像は、グレイスケールによる濃淡画像に
変換されてフレームメモリ１７に格納される。A camera 22 is connected to the camera interface 12 for photographing a target object such as a car door, and the image captured in the field of view of the camera 22 is converted into a gray scale image and stored in the frame memory 17. be done.
画像処理プロセッサ｛３はフレームメモリ１７に格納さ
れた画像を処理し対象物の識別，位置姿勢を計測する。The image processing processor {3 processes the images stored in the frame memory 17 to identify the object and measure the position and orientation of the object.
コンソールインタフェイス１４にはコンソール２３が接
続され、該コンソール２３は、液晶表示部の外、各種指
令キー，アプリケーションプログラムの入力，編集，登
録，実行などの操作を行うための数字キー等を有してお
り、上記液晶表示部には、各種データ設定のためのメニ
ューやプログラムのリストなどを表示できるようになっ
ている。A console 23 is connected to the console interface 14, and the console 23 has a liquid crystal display, various command keys, and numeric keys for performing operations such as inputting, editing, registering, and executing application programs. The liquid crystal display section can display menus for setting various data, a list of programs, and the like.
また、コントロールソフト用メモリ１８にはメインＣ
Ｐ Ｕ １． １が該画像処理装置を制御するためのコ
ントロールプログラムが格納されており、また、プログ
ラムメモリ１９にはユーザーが作威するプログラムが格
納されている。In addition, the main C
P U 1. 1 stores a control program for controlling the image processing apparatus, and a program memory 19 stores programs operated by a user.
通信インタフェイス１５にはロボット１の制御装置が接
続されている。また、センサインタフエイス１−６には
Ａ／Ｄ変換器２５を介して洞距センサ２４が接続されて
いる。A control device for the robot 1 is connected to the communication interface 15 . Further, a distance sensor 24 is connected to the sensor interface 1-6 via an A/D converter 25.
以上の構或は、センサインタフエイス１６，Ａ． ／
Ｄ変換器２５，測距センサ２４を設けた以外、従来の視
覚センサシステムの構成と同様である。The above structure or the sensor interface 16, A. /
The configuration is the same as that of a conventional visual sensor system except that a D converter 25 and a distance measurement sensor 24 are provided.
次に、本発明の動作説明する。Next, the operation of the present invention will be explained.
３次元位置を認識しようとする対象物体（例えば車のド
ア一等）上で、位置が既知な点、本実施例では３つのゲ
ージホール３に対して、カメラ２２が各ゲージホール３
と正対する位置（カメラ２２の光軸と各ゲージホール３
の面が垂直となる位置）をロボット１に教示すると共に
、カメラ２２を各ゲージホール３と正対させてカメラの
較正（キヤリプレーヨン）を行う。また、そのときの各
ゲージホール３と測距センサ２４（カメラ２２）からの
距離（基準面の位置）及び測距センサ２２で測定する測
定点の位置をゲージホール３の中心からの補正量（ずれ
量）として画像処理装置１０のデータメモリ２０内に設
定する。On a target object whose three-dimensional position is to be recognized (for example, a car door, etc.), the camera 22 detects points whose positions are known, three gauge holes 3 in this embodiment.
(optical axis of camera 22 and each gauge hole 3)
The camera 22 is calibrated (calibration) by directing the camera 22 to directly face each gauge hole 3. In addition, the distance from each gauge hole 3 and the distance measurement sensor 24 (camera 22) at that time (position of the reference plane) and the position of the measurement point measured by the distance measurement sensor 22 are calculated by the correction amount ( The amount of deviation) is set in the data memory 20 of the image processing device 10.
ゲージホール３の中心位置は、カメラ２２でゲージホー
ル３を撮影して基準面上でのゲージホールの中心位置（
ｘ， ｙ）を検出し、次に、該基準面に乗直な方向（
Ｚ）におけるゲージホールの位置を測距センサ２４で測
定するもので、基準面とカメラでの光軸（測距センサ２
４の測定方向）が垂直になるものであれば、または、そ
のずれ角度が小さい場合には第４図に示すように、測距
センサ２４による測定点Ｓは１個でよいが、必ずしも垂
直にならず規準面が傾くものであれば、第５図に示すよ
うに、複数の測定点Ｓ１から８４の位置を補正量として
設定しておく。そして、測距センサ２４で測定した各点
Ｓ１〜Ｓ４の距離を平均して各ゲージホール３の測距セ
ンサ２４（カメラ２２）からの距離とする。The center position of the gauge hole 3 can be determined by photographing the gauge hole 3 with the camera 22 and determining the center position of the gauge hole on the reference plane (
x, y), and then detect the direction perpendicular to the reference plane (
The distance measurement sensor 24 measures the position of the gauge hole at the reference plane and the camera optical axis (the distance measurement sensor 2
If the measurement direction (measurement direction 4) is perpendicular, or if the deviation angle is small, as shown in FIG. If the reference plane is not tilted, the positions of a plurality of measurement points S1 to 84 are set as correction amounts, as shown in FIG. Then, the distances of the respective points S1 to S4 measured by the distance measurement sensor 24 are averaged to determine the distance of each gauge hole 3 from the distance measurement sensor 24 (camera 22).
こうして、カメラ２２が較正され各種データが設定され
た後、対象物体が送り込まれて来て該対象物体の３次元
位置を認識するには、ロボット１の制御装置はまず、教
示された第１のゲージホールを撮影できる位置にカメラ
２２を移動させ、画像処理装置１０にスナップ指令を出
力する。画像処理装置１０のＣ Ｐ Ｕ Ｉ． １はロ
ボッｌ・からスナップ指令を受信すると第１，図にフロ
ーチャートで示す処理を開始する。In this way, after the camera 22 has been calibrated and various data have been set, the control device of the robot 1 first uses the first taught object to recognize the three-dimensional position of the object. The camera 22 is moved to a position where the gauge hole can be photographed, and a snap command is output to the image processing device 10. CPU of the image processing device 10. When robot 1 receives a snap command from robot 1, robot 1 starts the process shown in the flowchart in FIG.
ＣＰＵ１．１はカメラ２２にゲージホーノレ３を｛最影
し、画像処理プロセッサ１３でグレイスケール濃淡処理
を行った後、該画像をフレームメモリ１７に格納する。The CPU 1.1 images the gauge horn 3 on the camera 22, performs grayscale gradation processing on the image processing processor 13, and then stores the image in the frame memory 17.
（ステップ１００）。(Step 100).
次に、ＣＰＵＩ １は画像処理プロセッサＪ３にゲージ
ホール検出指令を出力し、画像処理プロセッサは従来と
同様な方法で対象物即ちゲージホールの形状輪郭を認識
し、第↓のゲージホールの中心位置（ｘｉ，ｙｉ）を求
める（ステップ１０］）。Next, the CPU 1 outputs a gauge hole detection command to the image processing processor J3, and the image processing processor recognizes the shape outline of the object, that is, the gauge hole, in the same manner as before, and the center position of the ↓th gauge hole ( xi, yi) (step 10]).
なお、ｉは指標で、始めは初期設定でｒＯＪに設定され
ており、この指標ｉが「０」で第１−、ｉ＝１で第２、
ｉ＝２で第３のゲージホールを示す。Note that i is an index, which is initially set to rOJ, and when this index i is "0", it is the first -, when i = 1, it is the second,
i=2 indicates the third gauge hole.
次に、データメモリ２０に設定されている測定点の補正
量とステップ１０１で求めたゲージホール位置より、測
距センサ２４で測定しようとする測定点の位置である補
正データを算出し、ロボット１の制御装置へ通信インタ
エイス１５を介して送出する（ステップ１．０２，１．
０３）。Next, from the correction amount of the measurement point set in the data memory 20 and the gauge hole position determined in step 101, correction data, which is the position of the measurement point to be measured by the distance measurement sensor 24, is calculated, and the robot 1 to the control device via the communication interface 15 (steps 1.02, 1.
03).
ロボット１の制御装置はこの補正データを受信してロボ
ット１−を駆動し、測距センサ２４が測定点Ｓと正対す
る位置へ移動させ、移動完了後、完了イ５号を山像処理
装置１０へ送出する。画像処岬装置１０のＣＰＵＩ １
は完了信号を受信すると（ステップ１０４）、測距セン
サ２４で測定点Ｓまでの距離を測定し、測定データｚｉ
を得る。The control device of the robot 1 receives this correction data, drives the robot 1-, moves the robot 1- to a position where the distance measurement sensor 24 directly faces the measurement point S, and after completing the movement, transfers the completed No. 5 to the mountain image processing device 10. Send to. CPUI 1 of image processing misaki device 10
When receiving the completion signal (step 104), the distance sensor 24 measures the distance to the measurement point S, and the measured data zi
get.
（ステップ１０５）。そして、ロボット１の制御装置に
測定完了信号を送出すると共に、測定した距離ｚｉと、
設定されている当該ケージホールの基準面の位置（規準
位置として設定されている距離センサとゲージホール面
の距離）より、視差補正を行う。即ち、第６図に示すよ
うにカメラ２２（測距センサ２４）と基準而間の距離を
ｚｓとし、測距センサ２４で測定した距離を２とすると
、視差により誤差ａが生じる。この誤差ａを、ステップ
１−０１で得られたゲージホール３の中心位置（ｘｉ，
ｙｉ）に対し補正し、ゲージホール３の位１１
置Ｐｉ（ｘｉ’， ｙｉ’， ｚｉ）を求めて記憶
する（ステップ１０６〜１０８）。なお、本実施例では
測定点Ｓを１つとしたが、第５図に示すように複数の測
定点３１〜Ｓ４を測定する場合には、ステップ１０２〜
１． ０ ５の処邪を各測定点毎に行い、得られた７１
ＩＩ１定データの平均舶をゲージホールの測ｂ“１４セ
ンサ２４からの距離とし、視差補正を行う。(Step 105). Then, a measurement completion signal is sent to the control device of the robot 1, and the measured distance zi and
Parallax correction is performed based on the set position of the reference plane of the cage hole (distance between the distance sensor and the gauge hole plane set as the reference position). That is, as shown in FIG. 6, if the distance between the camera 22 (range sensor 24) and the reference object is zs, and the distance measured by the range sensor 24 is 2, an error a occurs due to parallax. This error a is calculated as the center position (xi,
yi), and the position Pi(xi', yi', zi) of the gauge hole 3 is determined and stored (steps 106 to 108). In this embodiment, the number of measurement points S is one, but if a plurality of measurement points 31 to S4 are to be measured as shown in FIG.
1. 0 5 was performed at each measurement point, and the obtained 71
II1 The average distance of the constant data is taken as the distance from the gauge hole measurement b"14 sensor 24, and parallax correction is performed.
次に、指標ｌを「１」インクリメン１・シ、該指標ｉが
「２」に達したか否か判断ずる（ステップ１．０９，１
１．０）。即ち、３つのゲージホールの位置を検出した
か否で判断ずる。達してなければ処理を終了する。Next, the index l is incremented by "1" and it is determined whether the index i has reached "2" (step 1.09,
1.0). That is, the determination is made based on whether or not the positions of the three gauge holes are detected. If it has not been reached, the process ends.
一方、ロボット１の制御装置はステップ１ ０ ６で送
出された測定完了信号を受信すると、次のゲージホール
とカメラ２２が正対ずる位置ヘロホットを駆動し、画像
処理装置１０ヘスナップ指令を送出する。スナップ指令
を画像処理装置１０が受信すると、再びステップ１００
以下の処理を開始する。こうして、３つのゲージホール
の｛１’／：置ＰＯ （Ｘｏ’．ｙｏ’．Ｚｏ），Ｐ
ｌ− （ｘ＋’，Ｖ＋１
９
Ｚ＋），Ｐ２ （Ｘ２’．５’２’．Ｚ２）が検出され
、指標ｉが「２」になったことが確認されると（ステッ
プ１．１０）、画像処理装置１０のＣ Ｐ Ｕ ］−
１はロボット１の制御装置へ該３つのゲージホールに位
置ＰＯ， Ｐｌ．，Ｐ２を送出し、指標ｉを「０」にセ
ッ１・シて対象物体の３次元付１′α認識処即を終了す
る。ロボット１の制御装置は受信した対象物体の３点の
位置より、対象物体の３次元位置を認識することができ
る。On the other hand, when the control device of the robot 1 receives the measurement completion signal sent out in step 106, it drives the hero hot at a position where the next gauge hole and the camera 22 directly face each other, and sends a snap command to the image processing device 10. When the image processing device 10 receives the snap command, the process returns to step 100.
Start the following process. In this way, the three gauge holes {1'/: PO (Xo'.yo'.Zo), P
l- (x+', V+1 9 Z+), P2 (X2'.5'2'.Z2) is detected, and when it is confirmed that the index i has become "2" (step 1.10), the image CPU of processing device 10 ]-
1 is connected to the control device of the robot 1 at the three gauge holes at positions PO, Pl. , P2 and sets the index i to "0" to complete the three-dimensional 1'α recognition process of the target object. The control device of the robot 1 can recognize the three-dimensional position of the target object from the received three-point positions of the target object.
発明の効果
本発明は、１式のカメラと測距センサの組合せによる簡
単な機器構成によって物体の３次元位置を認識でき、３
次元位置補正が容易となる。さらに、カメラによる画像
処理は平面に対して行われるので、カメラの較正が単純
になる上に、カメラを検出点（ゲージホール）に対しほ
ぼ正対させるため、画像処理」二、検出点（ゲージホー
ル）の検出が容易で安定し、正確に検出することができ
る。Effects of the Invention The present invention can recognize the three-dimensional position of an object with a simple equipment configuration consisting of a combination of one camera and a distance sensor.
Dimensional position correction becomes easy. Furthermore, since image processing by the camera is performed on a flat surface, camera calibration is simple. holes) can be detected easily, stably, and accurately.
第１図は本発明の一実施例における画像処理装置におけ
る処理のフローチャート、
第２図は同実施例における画像処理装置の要部ブロック
図、
第３図は同実施例の構或図、
第４図，第５図はゲージホールとが｛１１定点の説明図
、
第６図は視差補正の説明図である。
↓・・・ロボット、２・・・対象物体、３・・・ゲージ
ホール、１０・・・画像処理装置、２２・・・カメラ、
２４・・・測距センサ、Ｓ，Ｓｌ〜Ｓ４測定点。FIG. 1 is a flowchart of processing in an image processing apparatus according to an embodiment of the present invention, FIG. 2 is a block diagram of main parts of an image processing apparatus according to the embodiment, FIG. 3 is a configuration diagram of the embodiment, and FIG. FIG. 5 is an explanatory diagram of the fixed point with the gauge hole {11}, and FIG. 6 is an explanatory diagram of parallax correction. ↓...Robot, 2...Target object, 3...Gauge hole, 10...Image processing device, 22...Camera,
24... Distance sensor, S, Sl to S4 measurement points.
Claims (2)
で該画像処理装置のカメラの光軸と垂直な基準面上にお
ける上記３点の位置を夫々検出し、測距センサによって
上記３点の測距センサからの距離を夫々測定し、測定し
た上記測距センサからの夫々の距離について検出した基
準面上における上記３点の各位置を夫々視差補正し、視
差補正された位置と測距センサからの距離によって上記
３点の夫々の３次元位置を認識して、該３点の３次元位
置より物体の３次元位置を認識するようにした画像処理
装置と測距センサによる物体の３次元位置認識方法。(1) For three known points on an object, an image processing device detects the positions of the three points on a reference plane perpendicular to the optical axis of the camera of the image processing device, and a distance measurement sensor detects the three points. The distances from the distance measurement sensor are respectively measured, and the positions of the three points on the reference plane detected for each of the measured distances from the distance measurement sensor are corrected for parallax, and the parallax-corrected position and distance measurement are The three-dimensional position of each of the three points mentioned above is recognized based on the distance from the sensor, and the three-dimensional position of the object is recognized from the three-dimensional position of the three points using an image processing device and a distance measuring sensor. Location recognition method.
し、各点に対して測定された距離の平均値を各点の測距
センサからの距離とした請求項１記載の画像処理装置と
測距センサによる物体の３次元位置認識方法。(2) Image processing according to claim 1, wherein a plurality of points around the three points are measured by respective measurement sensors, and the average value of the distances measured for each point is determined as the distance of each point from the distance measurement sensor. A method for recognizing the three-dimensional position of an object using a device and a ranging sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22826189A JPH0392712A (en) | 1989-09-05 | 1989-09-05 | Three-dimensional position recognition by use of image processing device and distance measuring sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22826189A JPH0392712A (en) | 1989-09-05 | 1989-09-05 | Three-dimensional position recognition by use of image processing device and distance measuring sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0392712A true JPH0392712A (en) | 1991-04-17 |
Family
ID=16873702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP22826189A Pending JPH0392712A (en) | 1989-09-05 | 1989-09-05 | Three-dimensional position recognition by use of image processing device and distance measuring sensor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0392712A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0611344A (en) * | 1992-05-01 | 1994-01-21 | Aoki Corp | Measuring method of position and attitude of moving body |
| JPH07286820A (en) * | 1994-04-20 | 1995-10-31 | Fanuc Ltd | Position measuring method using three-dimensional visual sensor, and positional deviation correcting method |
| JPH09178418A (en) * | 1995-12-26 | 1997-07-11 | Ricoh Co Ltd | Three-dimensional position detector and transferring robot using it |
| JP2000046514A (en) * | 1998-07-27 | 2000-02-18 | Aisin Takaoka Ltd | Method for detecting position of worked hole of casting |
| JP2002264059A (en) * | 2001-03-13 | 2002-09-18 | Think Laboratory Co Ltd | Method of handling roll to be processed, and robot hand |
| US6542840B2 (en) | 2000-01-27 | 2003-04-01 | Matsushita Electric Industrial Co., Ltd. | Calibration system, target apparatus and calibration method |
| KR100835906B1 (en) * | 2007-05-03 | 2008-06-09 | 고려대학교 산학협력단 | Method for estimating global position of robot and device for estimating global position of robot |
| JP2009172718A (en) * | 2008-01-24 | 2009-08-06 | Canon Inc | Working device and calibration method of the same |
| JP2013134057A (en) * | 2011-12-22 | 2013-07-08 | Japan Siper Quarts Corp | Method for determining three-dimensional distribution of bubble distribution of silica glass crucible, and method for manufacturing silicon monocrystal |
| JP2013134056A (en) * | 2011-12-22 | 2013-07-08 | Japan Siper Quarts Corp | Method for determining three-dimensional distribution of infrared absorption spectrum of silica glass crucible, and method for manufacturing silicon monocrystal |
| JP2013528125A (en) * | 2010-06-07 | 2013-07-08 | ペックス・レント・ビー．ブイ． | Gripping device |
| JP2015180881A (en) * | 2015-05-13 | 2015-10-15 | 株式会社Sumco | Method for determining three-dimensional distribution of infrared absorption spectrum of silica glass crucible, and method for producing silicon single crystal |
| US9402151B2 (en) | 2011-08-27 | 2016-07-26 | Korea University Research And Business Foundation | Method for recognizing position of mobile robot by using features of arbitrary shapes on ceiling |
| JP2019098409A (en) * | 2017-11-28 | 2019-06-24 | 東芝機械株式会社 | Robot system and calibration method |
| US10573021B2 (en) | 2016-09-28 | 2020-02-25 | Honda Motor Co., Ltd. | Position and attitude estimation method and position and attitude estimation system |
| JP2020197883A (en) * | 2019-05-31 | 2020-12-10 | ホームネットカーズ株式会社 | Simplified estimating device, simplified estimating system, simplified estimating system control method, program, and recording medium |
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| JPS6263801A (en) * | 1985-09-13 | 1987-03-20 | Agency Of Ind Science & Technol | Distance measuring method utilized attitude measuring mark pattern |
| JPS6491005A (en) * | 1987-10-01 | 1989-04-10 | Atr Tsushin Syst Kenkyusho | Three-dimensional position detecting method |
| JPH01109202A (en) * | 1987-10-22 | 1989-04-26 | Fanuc Ltd | Visual sensor with parallax correction |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6263801A (en) * | 1985-09-13 | 1987-03-20 | Agency Of Ind Science & Technol | Distance measuring method utilized attitude measuring mark pattern |
| JPS6491005A (en) * | 1987-10-01 | 1989-04-10 | Atr Tsushin Syst Kenkyusho | Three-dimensional position detecting method |
| JPH01109202A (en) * | 1987-10-22 | 1989-04-26 | Fanuc Ltd | Visual sensor with parallax correction |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0611344A (en) * | 1992-05-01 | 1994-01-21 | Aoki Corp | Measuring method of position and attitude of moving body |
| JPH07286820A (en) * | 1994-04-20 | 1995-10-31 | Fanuc Ltd | Position measuring method using three-dimensional visual sensor, and positional deviation correcting method |
| JPH09178418A (en) * | 1995-12-26 | 1997-07-11 | Ricoh Co Ltd | Three-dimensional position detector and transferring robot using it |
| JP2000046514A (en) * | 1998-07-27 | 2000-02-18 | Aisin Takaoka Ltd | Method for detecting position of worked hole of casting |
| US6542840B2 (en) | 2000-01-27 | 2003-04-01 | Matsushita Electric Industrial Co., Ltd. | Calibration system, target apparatus and calibration method |
| JP2002264059A (en) * | 2001-03-13 | 2002-09-18 | Think Laboratory Co Ltd | Method of handling roll to be processed, and robot hand |
| KR100835906B1 (en) * | 2007-05-03 | 2008-06-09 | 고려대학교 산학협력단 | Method for estimating global position of robot and device for estimating global position of robot |
| JP2009172718A (en) * | 2008-01-24 | 2009-08-06 | Canon Inc | Working device and calibration method of the same |
| JP2013528125A (en) * | 2010-06-07 | 2013-07-08 | ペックス・レント・ビー．ブイ． | Gripping device |
| US9402151B2 (en) | 2011-08-27 | 2016-07-26 | Korea University Research And Business Foundation | Method for recognizing position of mobile robot by using features of arbitrary shapes on ceiling |
| JP2013134056A (en) * | 2011-12-22 | 2013-07-08 | Japan Siper Quarts Corp | Method for determining three-dimensional distribution of infrared absorption spectrum of silica glass crucible, and method for manufacturing silicon monocrystal |
| JP2013134057A (en) * | 2011-12-22 | 2013-07-08 | Japan Siper Quarts Corp | Method for determining three-dimensional distribution of bubble distribution of silica glass crucible, and method for manufacturing silicon monocrystal |
| JP2015180881A (en) * | 2015-05-13 | 2015-10-15 | 株式会社Sumco | Method for determining three-dimensional distribution of infrared absorption spectrum of silica glass crucible, and method for producing silicon single crystal |
| US10573021B2 (en) | 2016-09-28 | 2020-02-25 | Honda Motor Co., Ltd. | Position and attitude estimation method and position and attitude estimation system |
| JP2019098409A (en) * | 2017-11-28 | 2019-06-24 | 東芝機械株式会社 | Robot system and calibration method |
| JP2020197883A (en) * | 2019-05-31 | 2020-12-10 | ホームネットカーズ株式会社 | Simplified estimating device, simplified estimating system, simplified estimating system control method, program, and recording medium |
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