Title:
【発明の名称】ロボットの物体認識方法及びその装置
Document Type and Number:
Japanese Patent JP3375242
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To detect an object optimum to be clamped among long-sized flanged objects which are irregularly piled up and to calculate an accurate clamp position from the object. SOLUTION: The whole shape of an object group is extracted by picking up an image of the object group and processing the gray level image, and a pixel segment of pixels which succeed in the whole shape by more than a specific length in a specific direction on a screen is extracted to extract the object shape which has length only in the specific direction. The directions and positions of axes are calculated by extracted object shapes and the object shape having those axes are extracted from the whole shape according to the directions and positions of the axes. In the extracted object shape, an object shape having a flange feature in a specific shape at a specific position about the axis in the extracted shape is detected as the shape of an object to be clamped and when the object shape has a flange feature, the clamp position of the body shape is calculated and outputted to a robot controller.
Inventors:
Katsumi Yamamoto
Tadashi Koyama
Hiroshi Kise
Masayuki Kojima
Yasutaka Yamazaki
Tadashi Koyama
Hiroshi Kise
Masayuki Kojima
Yasutaka Yamazaki
Application Number:
JP32993395A
Publication Date:
February 10, 2003
Filing Date:
November 24, 1995
Export Citation:
Assignee:
Toyota Koki Co., Ltd.
TOYOTA JIDOSHA KABUSHIKI KAISHA
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
G05B19/19; G06K9/36; G06T1/00; G06T7/00; G06T7/60; B25J13/08; (IPC1-7): G06T7/60; B25J13/08; G05B19/19; G06T1/00
Domestic Patent References:
| JP5127722A |
Attorney, Agent or Firm:
Osamu Fujitani