Active camera apparatus for searching for object manipulation by a robot

摘要

PURPOSE: To provide an active camera searching device for manipulating an object with the use of a robot which actively find out the object so as to simply, stably and precisely carry out visual feed-back control. ;CONSTITUTION: A robot 1 and an object 2 are photographed by a camera 5, and thus photographed outputs are image-processed in an image processing part 9 so as to obtain a relative positional relationship between the robot 1 and the object 2. A robot control part 4 causes the robot 1 to approach the object 2. When the robot 1 comes onto the object 2, the camera 2 is moved under the control of a camera control part 7 so as to again obtain a relative positional relationship between the robot 1 and the object 2, then causing the robot 1 to approach the object 2. If the robot 1 fails to recognizes the object due to the presence of an obstruct, the camera 5 is moved upward, and then the relative positional relationship between the robot 1 and the object 2 is obtained.;COPYRIGHT: (C)1993,JPO&Japio