METHOD AND DEVICE OF PROCESSING VISUAL INFORMATION FOR INDUSTRIAL ROBOT

摘要

PROBLEM TO BE SOLVED: To detect the position and the direction of an object to be detected by a lookup table wherein after an angle between orthogonal line images is detected from an image, the rotational component of the object to be detected having an angle forming argument is stored. ;SOLUTION: In the image of an apex consisting of the three ridge lines, crossing each other at right angles, of an object 1 to be detected, when the position of the apex is present on the optical axis of a visual sensor 2, i.e., on the z-axis of the visual sensor 2, the unit direction vector of a ridge line image is constant regardless of a distance to the object 1 to be detected and the direction of the ridge line image is uniformly decided according to the direction of the object to be detected. Thus, by producing a lookup table wherein the rotation component of the object 1 to be detected according to a pre-angle between the ridge line pictures is contained, the direction of the object 1 to be detected is decided at a real time.;COPYRIGHT: (C)1997,JPO