Method for measuring three-dimensional position of object to be captured and method for capturing the object
First Claim
1. A method for measuring a three-dimensional position of an object to be captured comprising providing a laser measuring unit having an image recognition camera confronting the object and a first and a second laser emitting light source, emitting from the first laser emitting light source laser light for irradiating a lateral slit light onto the object from a slant direction relative to a vertical axis of a vision coordinate system, and emitting from the second laser emitting light source further laser light for irradiating a vertical slit light from a slant direction relative to a lateral axis of the vision coordinate system, one slit image on the vertical axis of the object and one slit image on the lateral axis thereof and one of the slit images on the vertical and lateral axes thereof formed before and after the laser measuring unit is moved a predetermined amount in a direction of a camera optical axis relative to the object are taken into the camera, and calculating the three-dimensional position of the object from the relationship between a predetermined moving amount of the laser measuring unit and deviation of the slit images on vision coordinates of the coordinate system.
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Accused Products
Abstract
A method for measuring the three-dimensional position of an object to be captured. A laser measuring unit is provided having an image recognition camera confronting the object, first and second laser light emitting sources respectively irradiating from a slant direction a lateral slit light onto the object relative to a vertical axis of a vision coordinate system and irradiating a vertical slit light onto the object relative to a lateral axis of the vision coordinate system, one slit image on the vertical axis of the object and one slit image on the lateral axis of the object and one of the slit images on the vertical and lateral axes formed before and after the laser measuring unit is moved a predetermined amount in a direction of a camera optical axis relative to the object are taken into the camera, and the three-dimensional position is calculated from the relationship between the predetermined moving distance amount and the deviation of the slit images on the vision coordinates of the coordinate system. This method can be used to locate an electric adjustment position of an electronic component and to move the hand of an industrial robot carrying an electric adjustment member to the electronic component for adjusting the electronic component in the electric adjustment position.
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Citations
4 Claims
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1. A method for measuring a three-dimensional position of an object to be captured comprising providing a laser measuring unit having an image recognition camera confronting the object and a first and a second laser emitting light source, emitting from the first laser emitting light source laser light for irradiating a lateral slit light onto the object from a slant direction relative to a vertical axis of a vision coordinate system, and emitting from the second laser emitting light source further laser light for irradiating a vertical slit light from a slant direction relative to a lateral axis of the vision coordinate system, one slit image on the vertical axis of the object and one slit image on the lateral axis thereof and one of the slit images on the vertical and lateral axes thereof formed before and after the laser measuring unit is moved a predetermined amount in a direction of a camera optical axis relative to the object are taken into the camera, and calculating the three-dimensional position of the object from the relationship between a predetermined moving amount of the laser measuring unit and deviation of the slit images on vision coordinates of the coordinate system.
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2. A method for measuring a three-dimensional position of an electronic component to be captured by an electric adjustment member at an electric adjustment position of the electronic component, comprising the steps of:
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providing in a control of a servo-driven industrial robot an initial position of an electric adjustment member mounted on a hand portion of the industrial robot; calculating, as an electric adjustment position for the electronic component, the three-dimensional position of the electronic component to be captured by said electric adjustment member and mounted on a workpiece, said calculating step being constituted by providing a laser measuring unit having an image recognition camera confronting the electronic component and a first and second laser emitting light source, emitting from the first laser emitting light source laser light for irradiating a lateral slit light onto the electronic component from a slant direction relative to a vertical axis of a vision coordinate system, and emitting from the second laser emitting light source further laser light for irradiating a vertical slit light onto the electronic component from a slant direction relative to a lateral axis of the vision coordinate system, one slit image on the vertical axis of the electronic component and one slit image on the lateral axis thereof and one of the slit images on the vertical and lateral axes thereof formed before and after the laser measuring unit is moved a predetermined amount in a direction of a camera optical axis relative to the object are taken into the camera, and calculating the three-dimensional position of the electronic component from the relationship between a pre-taught moving distance of the laser measuring unit and deviation of the slit images on vision coordinates of the coordinate system; compensating the initial position of the electric adjustment member on the hand portion of the industrial robot by the amount of deviation of the electric adjustment position of the electronic component from the initial position so as to move the electric adjustment member to the electric adjustment position of the electronic component. - View Dependent Claims (3, 4)
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Specification