Position/attitude recognizing method, part holding method, part arranging method, part assembling method, position/attitude recognizing apparatus, part holding apparatus, part arranging apparatus and part assembling apparatus
First Claim
Patent Images
1. A position/attitude recognizing method comprising:
- a first shooting process of shooting, by a camera, a group of light spots on an object-to-be-measured on which the group of light spots are arranged, the group of light spots including a plurality of light spots which are dispersed and disposed three-dimensionally to be disposed not on one plane; and
a first recognizing process of recognizing a position and an attitude of the object-to-be -measured based on an optical image representing each of the plurality of light spots included in the group of light spots on a first shot image obtained by the shooting in the first shooting process, wherein the object-to-be-measured is an object in which a group of light spots including three first light spots arranged at mutually separated positions and one second light spot arranged at a position which is separated away in a perpendicular direction from a triangular reference surface whose apexes are respectively the three first light spots are arranged.
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Accused Products
Abstract
A group of light spots dispersed and disposed three-dimensionally to be disposed not in one plane on an object-to-be-measured are shot by a camera. A position and an attitude of the object-to-be-measured are recognized based on an optical image representing each of the light spots included on a shot image by the camera.
11 Citations
20 Claims
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1. A position/attitude recognizing method comprising:
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a first shooting process of shooting, by a camera, a group of light spots on an object-to-be-measured on which the group of light spots are arranged, the group of light spots including a plurality of light spots which are dispersed and disposed three-dimensionally to be disposed not on one plane; and a first recognizing process of recognizing a position and an attitude of the object-to-be -measured based on an optical image representing each of the plurality of light spots included in the group of light spots on a first shot image obtained by the shooting in the first shooting process, wherein the object-to-be-measured is an object in which a group of light spots including three first light spots arranged at mutually separated positions and one second light spot arranged at a position which is separated away in a perpendicular direction from a triangular reference surface whose apexes are respectively the three first light spots are arranged. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A position/attitude recognizing apparatus comprising:
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a camera; a camera control section that performs a first shooting process of causing the camera to shoot a group of light spots on an object-to-be-measured on which the group of light spots are arranged, the group of light spots including a plurality of light spots dispersed and disposed three dimensionally to be disposed not on one plane; and a position/attitude recognizing section that performs a first recognizing process of recognizing a position and an attitude of the object-to-be-measured based on an optical image representing each of the plurality of the light spots included in the group of light spots on a first shot image obtained by the shooting operation in the first shooting process, wherein the object-to-be-measured is an object in which a group of light spots including three first light spots disposed at mutually separated positions and one second light spot arranged at a position being separated away in a perpendicular direction from a triangular reference surface whose apexes are respectively the three first light spots are arranged. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification