ROBOT HAND POSITION DETECTION DEVICE, ROBOT DEVICE, AND ROBOT HAND POSITION DETECTION METHOD

摘要

PROBLEM TO BE SOLVED: To detect the position of a robot hand using a camera having a narrow imaging range.SOLUTION: A reference position pattern indicating the reference position of each of a plurality of groups each formed by a plurality of pixels is projected from a projector 16 toward the top face of a workbench 24. Also, a uniqueness pattern indicating the uniqueness of each of the plurality of groups is projected from the projector 16 toward the top face of the workbench 24 more than once while the pattern contents are differentiated. A camera 18 is attached to a robot hand 34, and images the pattern projected from the projector 16. A controller 20 determines a group among the plurality of groups that is used for position detection on the basis of the reference position pattern imaged by the camera 18. The controller 20 also extracts the reference position of the determined group on the basis of a plurality of uniqueness patterns imaged by the camera 18, and calculates the absolute coordinates of the robot hand 34.SELECTED DRAWING: Figure 1