Robot system for recognizing three dimensional shapes
First Claim
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1. A robot system for operating upon an object, comprising:
- a robot having an operating member movable with at least three degrees of freedom;
robot control means for moving the operating member of the robot according to a program;
a three-dimensional shape detection device mounted on the operating member of the robot, said three-dimensional shape detection device comprising a light projector which projects light so as to form a slit-light on the object, an image detector which projects in two dimensions an image of the light-segment projected by said light projector, and a scanning device which scans at least the slit-light in a predetermined direction;
circuit means for extracting a range data signal representing the image of the light-segments from the image signal detected by the image detector in accordance with scanning performed by said scanning device;
an image processor for visually recognizing the three-dimensional shape of the object including the position and the inclination, said image processor comprising differentiation means for differentiating the range data signal obtained by said circuit means to form a jump edge image signal representing a jump edge of the object, separation means for separating the range data into a region closed with the jump edge, extraction means for extracting a necessary region from the separated region and then extracting the range data of a major plane from the extracted region, and detection means for detecting a position of a center of gravity and an inclination of the major plane on the basis of the range data; and
means for modifying said program to thereby modify the movement of said operating member of the robot in response to said recognized three-dimensional shape of the object obtained by said image processor so as to be able to operate the object with said operating member of the robot.
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Abstract
The present invention consists in a robot wherein a slit-light detector which is constructed of a light projector for projecting light so as to form a slit-light on an object to-be-handled and an image detector for detecting an image of the light-section waveform, is mounted on an operating member of the robot; means for scanning the slit-light detector is disposed; and the slit-light detector detects range data, on the basis of which a position, posture, inclination etc. of the object in a three-dimensional shape are detected, so that the robot can handle the object.
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Citations
18 Claims
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1. A robot system for operating upon an object, comprising:
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a robot having an operating member movable with at least three degrees of freedom; robot control means for moving the operating member of the robot according to a program; a three-dimensional shape detection device mounted on the operating member of the robot, said three-dimensional shape detection device comprising a light projector which projects light so as to form a slit-light on the object, an image detector which projects in two dimensions an image of the light-segment projected by said light projector, and a scanning device which scans at least the slit-light in a predetermined direction; circuit means for extracting a range data signal representing the image of the light-segments from the image signal detected by the image detector in accordance with scanning performed by said scanning device; an image processor for visually recognizing the three-dimensional shape of the object including the position and the inclination, said image processor comprising differentiation means for differentiating the range data signal obtained by said circuit means to form a jump edge image signal representing a jump edge of the object, separation means for separating the range data into a region closed with the jump edge, extraction means for extracting a necessary region from the separated region and then extracting the range data of a major plane from the extracted region, and detection means for detecting a position of a center of gravity and an inclination of the major plane on the basis of the range data; and means for modifying said program to thereby modify the movement of said operating member of the robot in response to said recognized three-dimensional shape of the object obtained by said image processor so as to be able to operate the object with said operating member of the robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A robot system for operation upon an object, comprising:
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a robot having an operating member movable with at least three degrees of freedom; robot control means for moving the operating member of the robot according to a program; a three-dimension shape detection device mounted on the operating member of the robot, said three-dimension shape detection device comprising a light projector which projects light so as to form a slit-light on the object, an image detector which projects in two dimensions an image of the light-segment projected by said light projector, and means for scanning the slit-light by moving the operating member of said robot in a predetermined direction whereby the slit-light is detected by said image detector as range data, so that a three-dimensional shape of the object can be visually recognized; circuit means for extracting a range data signal representing the image of the light-segments from the image signal detected by the image detector in accordance with scanning performed by said scanning device; an image processor for visually recognizing the three-dimensional shape of the object including the position and the inclination, said image processor comprising differentiation means for differentiating the range data signal obtained by said signal means to form a jump edge image signal representing a jump edge of the object, separation means for separating the range data into a region closed with the jump edge, extraction means for extracting a necessary region from the separated region and then extracting the range data of a major plane from the extracted region, and detection means for detecting a position of a center of gravity and an inclination of the major plane on the basis of the range data; and means for modifying said program to thereby modify the movement of said operating member of the robot in response to said recognized three-dimensional shape of the object obtained by said image processor so as to be able to operate the object with said operating member of the robot. - View Dependent Claims (16, 17)
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18. A robot system for operating upon a object comprising:
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a base; a manipulatable arm having means as its outer end for providing a desired function and to move along a desired path, means mounting the other end of said arm to said base, and means providing at least three degrees of freedom for the outer end of said arm relative to said base; control means for moving said arm according to a program; three-dimensional shape detector means mounted near the fore part of said arm on a portion of said arm that has at least three degrees of freedom relative to said base for movement of said detector means with said portion in accordance with the program, said shape detector means including projector means for projecting a beam of radiant energy to form a slit-light pattern on an object whose shape is to be detected, image detector means for receiving the radiant energy reflected from said object to produce in two dimensions a corresponding image signal of the light segment projected by said projector means, and means for moving at least one of said detector means and said projector means relative to the object to scan said object and produce a plurality of different image signals of the object; circuit means for extracting a range data signal representing the image of the light-segments from the image signal detected by the image detector in accordance with scanning performed by said scanning device; an image processor for visually recognizing the three-dimensional shape of the object, comprising differentiation means for differentiating the range data signal obtained by said circuit means to form a jump edge image signal representing a jump edge of the object, separation means for separating the range data into a region closed with the jump edge, extraction means for extracting a necessary region from the separated region and then extracting the range data of a major plane from the extracted region, and detection means for detecting a position of a center of gravity and an inclination of the major plane on the basis of the range data; and means for modifying said program to thereby modify the movement of said robot arm in response to said detected three-dimensional shape of the object.
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Specification