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WORK SYSTEM AND INFORMATION PROCESSING METHOD

  • US 20100131235A1
  • Filed: 11/18/2009
  • Published: 05/27/2010
  • Est. Priority Date: 11/26/2008
  • Status: Active Grant
First Claim
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1. A work system comprising:

  • an arm mechanism, a position and an orientation of which are configured to be changed so as to execute a predetermined work for an object to be processed placed on a work area;

    a member arranged at a distal end portion of said arm mechanism;

    an irradiation unit configured to form a light projection pattern on said member and on the object to be processed by irradiating said member and the object to be processed with pattern light, said irradiation unit being arranged on said arm mechanism to have a constant relative position with respect to said member;

    an image sensing unit configured to sense an image of the object to be processed, said image sensing unit being fixed at a position independent of said arm mechanism;

    a first calculation unit configured to calculate a position and an orientation of the distal end portion of said arm mechanism and an irradiation plane of the pattern light based on the light projection pattern formed on said member included in image data of the object to be processed which is obtained by image sensing by said image sensing unit; and

    a second calculation unit configured to calculate a position and an orientation of the object to be processed based on the calculated irradiation plane and the light projection pattern formed on the object to be processed included in the image data of the object to be processed which is obtained by image sensing by said image sensing unit.

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