Visual sensor for industrial robot
专利汇可以提供Visual sensor for industrial robot专利检索，专利查询，专利分析的服务。并且PURPOSE: To obtain correctly an object work position by setting a reference surface and a virtual surface to cross in the straight line for linking a television camera and the object work and calculating the position and the inclination of the object work in the reference surface and the virtual surface based upon the data obtained by photographing the object work by the television camera.
CONSTITUTION: The substance whose dimensions are found out is pictured on the photoelectric surface of a television camera 2 and it is measured what millimeters one picture element is from the number of picture elements in the transverse direction of the picture of the substance. Next, when the television camera 2 pictures an object work 5, a visual sensor control device 1 calculates displacement positions XA and YA and the inclination θ in the reference surface S of an object work 5. The actual position and the inclination of the object work 5 are XθWZθ and θ. A robot controller 8 positions a hand 18 to positions XAWZA of the object work 5 in a reference surface S, gives positions XBWZB of the object work 5 in a virtual surface S' and shifts the hand 18 from the positions XAWZA and positions XBWZB. At the position where a holding detecting device 19 detects the object work 5, the hand 18 is stopped and the object work 5 is held.
COPYRIGHT: (C)1986,JPO&Japio，下面是Visual sensor for industrial robot专利的具体信息内容。
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