Title:
【発明の名称】三次元物体の位置と姿勢との決定方法と装置
Document Type and Number:
Japanese Patent JP2602812
Kind Code:
B2
Abstract:
A method and system are provided for automatically determining the position and attitude of a three-dimensional body at a work station by utilizing three cameras each of which generates a non-overlapping plane of image data, including a single target point of the body without the use of structured light. The locations of the target points are determined and processed within a programmed computer together with calibration data relating to the expected position of the body in the work station to provide data relating to the position and attitude of the body with respect to the work station. The resultant data relating to the position and attitude of the body are subsequently transformed into a first set of offset data relating to the difference between the actual and expected positions of the body. The first set of offset data is then transformed into a second set of offset data in the coordinate system of a peripheral device such as a robot, programmable controller, numerically controlled machine, etc. Finally, the programmed computer transfers the second set of offset data to the peripheral device which utilizes the data to modify its pre-programmed path.
Inventors:
Chiapee day
Kennis W. Claus
Louis El Whitcomb
Bar Salt Keep Horn
Kennis W. Claus
Louis El Whitcomb
Bar Salt Keep Horn
Application Number:
JP12999286A
Publication Date:
April 23, 1997
Filing Date:
June 04, 1986
Export Citation:
Assignee:
GM Robotics Corporation
International Classes:
B25J9/22; G01B11/00; B25J9/10; G01B11/03; G01B11/26; G01B21/00; G01B21/22; G05B19/18; G05B19/19; G05B19/4063; G05B19/408; G05B19/4155; G06V10/147; (IPC1-7): G01B11/00; G01B11/03
Domestic Patent References:
| JPS6044815A | ||||
| JPS56110010A | ||||
| JPS56125610A |
Attorney, Agent or Firm:
Minoru Nakamura (3 others)