JPS6375804U - - Google Patents
Info
- Publication number
- JPS6375804U JPS6375804U JP17107186U JP17107186U JPS6375804U JP S6375804 U JPS6375804 U JP S6375804U JP 17107186 U JP17107186 U JP 17107186U JP 17107186 U JP17107186 U JP 17107186U JP S6375804 U JPS6375804 U JP S6375804U
- Authority
- JP
- Japan
- Prior art keywords
- detected point
- detecting
- detected
- predetermined
- point
- 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.)
- Granted
Links
- 238000003384 imaging method Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Description
第１図は本考案の一実施例の原理を説明するた
めの簡略化した斜視図、第２図はその実施例の電
気的構成を示すブロツク図である。
１…車体、２…産業用ロボツト、３…作業端、
４…第１カメラ、５…第２カメラ、６…第３カメ
ラ、７…第４カメラ、８…処理回路、９…コント
ローラ、１０…駆動回路、Ｐ１…第１被検出点、
Ｐ２…第２被検出点、Ｐ３…第３被検出点。
FIG. 1 is a simplified perspective view for explaining the principle of an embodiment of the present invention, and FIG. 2 is a block diagram showing the electrical configuration of the embodiment. 1... Vehicle body, 2... Industrial robot, 3... Working end,
4...First camera, 5...Second camera, 6...Third camera, 7...Fourth camera, 8...Processing circuit, 9...Controller, 10...Drive circuit, P1...First detected point,
P2...second detected point, P3...third detected point.
Claims (1)
を設けておき、第２被検出点は第１被検出点から
予め定めた第１距離離れており、第３被検出点は
第１被検出点から予め定めた第２距離離れており
、 ２つの第１および第２カメラによつて、第１被
検出点を撮像して第１被検出点の３次元座標位置
を検出し、 第３カメラによつて第２被検出点を撮像した結
果と、第１被検出点の３次元座標位置とに基づい
て第２被検出点の３次元位置を検出し、 第４カメラによつて第３被検出点を撮像した結
果と、第１被検出点の３次元位置とに基づいて、
第３被検出点の３次元位置を検出することを特徴
とし、物体の３次元位置および姿勢を最少４台の
カメラで検出する装置。[Claims for Utility Model Registration] Three predetermined first to third detected points are provided on an object, and the second detected point is separated from the first detected point by a predetermined first distance. , the third detected point is separated from the first detected point by a predetermined second distance, and the two first and second cameras capture an image of the first detected point. Detecting the three-dimensional coordinate position, and detecting the three-dimensional position of the second detected point based on the result of imaging the second detected point with a third camera and the three-dimensional coordinate position of the first detected point. Based on the result of imaging the third detected point by the fourth camera and the three-dimensional position of the first detected point,
A device characterized by detecting the three-dimensional position of a third detected point, and detecting the three-dimensional position and orientation of an object using at least four cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1986171071U JPH0634646Y2 (en) | 1986-11-06 | 1986-11-06 | Working device for car body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1986171071U JPH0634646Y2 (en) | 1986-11-06 | 1986-11-06 | Working device for car body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6375804U true JPS6375804U (en) | 1988-05-20 |
| JPH0634646Y2 JPH0634646Y2 (en) | 1994-09-07 |
Family
ID=31106371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1986171071U Expired - Lifetime JPH0634646Y2 (en) | 1986-11-06 | 1986-11-06 | Working device for car body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0634646Y2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005074617A (en) * | 2003-09-04 | 2005-03-24 | Yaskawa Electric Corp | Production system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5923214A (en) * | 1982-07-30 | 1984-02-06 | Hitachi Ltd | Object position measuring system |
-
1986
- 1986-11-06 JP JP1986171071U patent/JPH0634646Y2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5923214A (en) * | 1982-07-30 | 1984-02-06 | Hitachi Ltd | Object position measuring system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0634646Y2 (en) | 1994-09-07 |
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