JPH0425583B2 - - Google Patents
Info
- Publication number
- JPH0425583B2 JPH0425583B2 JP58123260A JP12326083A JPH0425583B2 JP H0425583 B2 JPH0425583 B2 JP H0425583B2 JP 58123260 A JP58123260 A JP 58123260A JP 12326083 A JP12326083 A JP 12326083A JP H0425583 B2 JPH0425583 B2 JP H0425583B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- image
- distance
- detector
- distance image
- 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.)
- Expired - Lifetime
Links
- 238000001514 detection method Methods 0.000 claims description 36
- 238000012545 processing Methods 0.000 claims description 36
- 238000000605 extraction Methods 0.000 claims description 22
- 230000005484 gravity Effects 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 description 53
- 238000010586 diagram Methods 0.000 description 47
- 238000000034 method Methods 0.000 description 42
- 238000003384 imaging method Methods 0.000 description 36
- 230000007246 mechanism Effects 0.000 description 34
- 230000008569 process Effects 0.000 description 12
- 230000000007 visual effect Effects 0.000 description 11
- 239000011159 matrix material Substances 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 6
- 238000013459 approach Methods 0.000 description 5
- 230000004069 differentiation Effects 0.000 description 5
- 238000007689 inspection Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 239000000284 extract Substances 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000037237 body shape Effects 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000011889 copper foil Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052736 halogen Inorganic materials 0.000 description 1
- 150000002367 halogens Chemical class 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58123260A JPS6015780A (ja) | 1983-07-08 | 1983-07-08 | ロボット制御装置 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58123260A JPS6015780A (ja) | 1983-07-08 | 1983-07-08 | ロボット制御装置 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6015780A JPS6015780A (ja) | 1985-01-26 |
| JPH0425583B2 true JPH0425583B2 (zh) | 1992-05-01 |
Family
ID=14856157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58123260A Granted JPS6015780A (ja) | 1983-07-08 | 1983-07-08 | ロボット制御装置 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6015780A (zh) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003039820A1 (fr) * | 2001-11-06 | 2003-05-15 | Kabushiki Kaisha Yaskawa Denki | Procede servant a determiner la position tridimensionnelle et la posture d'un objet en cours de detection et detecteur visuel pour robot |
| JP2013130426A (ja) * | 2011-12-20 | 2013-07-04 | Canon Inc | 情報処理装置、情報処理装置の制御方法、およびプログラム |
Families Citing this family (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6081681A (ja) * | 1983-10-07 | 1985-05-09 | Seiko Instr & Electronics Ltd | 組立ロボツト用画像処理装置 |
| JPS61203285A (ja) * | 1985-03-04 | 1986-09-09 | 株式会社日立製作所 | ロボツトの動作制御方法 |
| JPS61296409A (ja) * | 1985-06-25 | 1986-12-27 | Fanuc Ltd | ロボツト制御方式 |
| JPS629894A (ja) * | 1985-07-08 | 1987-01-17 | 石川県 | 形状認識装置による最適保持位置決定法 |
| JPS6257004A (ja) * | 1985-09-05 | 1987-03-12 | Fanuc Ltd | ロボツト用視覚センサ |
| DE3689406T2 (de) * | 1985-10-11 | 1994-06-16 | Hitachi Ltd | Verfahren zur Plazierung eines oberflächenmontierten Teiles und eine Vorrichtung dazu. |
| US5189707A (en) * | 1985-10-11 | 1993-02-23 | Hitachi, Ltd. | Method of loading surface mounted device and an apparatus therefor |
| JPS62165206A (ja) * | 1986-01-17 | 1987-07-21 | Hitachi Metals Ltd | ロボツト視覚装置におけるワ−ク姿勢決定方法 |
| JPH07120416B2 (ja) * | 1986-06-04 | 1995-12-20 | オムロン株式会社 | 高速視覚認識装置 |
| JPS62292377A (ja) * | 1986-06-10 | 1987-12-19 | 日産自動車株式会社 | 散積み物体をロボツトハンドでピツクアツプするための視覚システム |
| JPS6334093A (ja) * | 1986-07-29 | 1988-02-13 | シャープ株式会社 | 視覚装置 |
| JPH07104937B2 (ja) * | 1986-08-11 | 1995-11-13 | 松下電工株式会社 | 実装部品の外観検査方法 |
| EP0471196A3 (en) * | 1990-08-13 | 1994-09-07 | Siemens Ag | Image analysis method |
| JP3503207B2 (ja) * | 1994-08-19 | 2004-03-02 | 井関農機株式会社 | 収穫ロボットの果実識別装置 |
| JP3711105B2 (ja) | 2002-12-20 | 2005-10-26 | ファナック株式会社 | ３次元計測装置 |
| JP3860552B2 (ja) | 2003-03-25 | 2006-12-20 | 富士通株式会社 | 撮影装置 |
| JP4645177B2 (ja) * | 2004-11-30 | 2011-03-09 | パナソニック電工株式会社 | 計測装置 |
| WO2009028489A1 (ja) * | 2007-08-30 | 2009-03-05 | Kabushiki Kaisha Yaskawa Denki | 物体検出方法と物体検出装置およびロボットシステム |
| US10023396B2 (en) * | 2011-06-07 | 2018-07-17 | Carefusion Germany 326 Gmbh | Device for separating piece goods to be stored in an automated storage facility |
| JP2013111672A (ja) * | 2011-11-25 | 2013-06-10 | Chiba Inst Of Technology | 無人走行体を用いた環境情報の取得システム |
| JP5736622B1 (ja) * | 2014-05-01 | 2015-06-17 | 機械設計中畑株式会社 | 検出装置およびこの装置を具えたマニプレータの動作制御 |
| JP6807821B2 (ja) | 2017-10-31 | 2021-01-06 | 株式会社東芝 | 検査システム |
| US11420335B2 (en) | 2018-01-23 | 2022-08-23 | Sony Corporation | Information processing apparatus, information processing method, and information processing system |
| JP7178802B2 (ja) * | 2018-06-04 | 2022-11-28 | アズビル株式会社 | ２次元位置姿勢推定装置及び２次元位置姿勢推定方法 |
| JP7034971B2 (ja) * | 2018-11-08 | 2022-03-14 | 株式会社東芝 | 作動システム、制御装置、およびプログラム |
| US11396101B2 (en) | 2018-11-08 | 2022-07-26 | Kabushiki Kaisha Toshiba | Operating system, control device, and computer program product |
| JP6836628B2 (ja) * | 2019-07-18 | 2021-03-03 | 株式会社ファースト | ピッキングまたはデバンニング用対象物認識装置、ピッキングまたはデバンニング用対象物認識方法、ならびにプログラム |
| JP7176148B1 (ja) * | 2021-09-24 | 2022-11-21 | 株式会社ダイヘン | 溶接線検出システム |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS48100853A (zh) * | 1972-04-05 | 1973-12-19 | ||
| JPS5423545A (en) * | 1977-07-22 | 1979-02-22 | Mitsubishi Paper Mills Ltd | Heat sensitive paper with reduced adherability of dregs to thermal head |
| JPS57168384A (en) * | 1981-04-08 | 1982-10-16 | Nissan Motor Co Ltd | Detecting method for shape of object |
-
1983
- 1983-07-08 JP JP58123260A patent/JPS6015780A/ja active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS48100853A (zh) * | 1972-04-05 | 1973-12-19 | ||
| JPS5423545A (en) * | 1977-07-22 | 1979-02-22 | Mitsubishi Paper Mills Ltd | Heat sensitive paper with reduced adherability of dregs to thermal head |
| JPS57168384A (en) * | 1981-04-08 | 1982-10-16 | Nissan Motor Co Ltd | Detecting method for shape of object |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003039820A1 (fr) * | 2001-11-06 | 2003-05-15 | Kabushiki Kaisha Yaskawa Denki | Procede servant a determiner la position tridimensionnelle et la posture d'un objet en cours de detection et detecteur visuel pour robot |
| JP2013130426A (ja) * | 2011-12-20 | 2013-07-04 | Canon Inc | 情報処理装置、情報処理装置の制御方法、およびプログラム |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6015780A (ja) | 1985-01-26 |
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