EP0091132A2
Expired / Lapsed
EP
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Robot system
Assignee: Hitachi Ltd
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Filing: 1983-04-07
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Granted: —
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Expires: 2003-04-07
Abstract
Abstract The present invention consists in a robot (15) wherein a slit-light detector (12) which is constructed of a light projector (6) for projecting light so as to form a slit-light on an object to-be-handled and an image detector (3) for detecting an image of the light-section waveform, is mounted on an operating member (17) of the robot; means (9) for scanning the slit-light detector (12) is disposed; and the slit-light detector (12) detects range data, on the basis of which a position, posture, inclination etc. of the object in a three-dimensional shape are detected, so that the robot (15) can handle the object.
Inventors
- 👤 Yasuo Nakagawa
- 👤 Takanori Ninomiya
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-24 19:22
CPC Classifications
B; B25; B25J; B25J19/00; B25J19/02; B25J19/021; B25J19/023; B25J9/00; B25J9/10; B25J9/1005; B25J9/1015; G; G06; G06T; G06T1/00; G06T1/0014; G06V; G06V10/00; G06V10/10; G06V10/12; G06V10/14; G06V10/145; G06V10/20; G06V10/24; G06V10/40; G06V10/42; G06V20/00; G06V20/60; G06V20/64
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
122 words
A robot characterized in that a three-dimensional shape detection device (11) is mounted on an operating member (17) of the robot (15), said three-dimensional shape detection device (11) comprising a light projector (6) which projects light so as to form a slit-light on an object to-be-handled, an image detector (3) which detects in two dimensions an image of the light-section waveform projected by said light projector (6), and a scanning device (9) which scans at least the slit-light in a predetermined direction, said detection device detecting with said image detector (3) the light-section waveform scanned by said scanning device (9), thereby to grasp range data so as to visually recognize a three-dimensional shape of the object including a position, an inclination etc.
Claim 2
Dependent Claim
122 words
A robot characterized in that a three-dimensional shape detection device (11) is mounted on an operating member (17) of the robot (15), said three-dimensional shape detection device (11) comprising a light projector (6) which projects light so as to form a slit-light on an object to-be-handled, an image detector (3) which detects in two dimensions an image of the light-section waveform projected by said light projector (6), and a scanning device (9) which scans at least the slit-light in a predetermined direction, said detection device detecting with said image detector (3) the light-section waveform scanned by said scanning device (9), thereby to grasp range data so as to visually recognize a three-dimensional shape of the object including a position, an inclination etc.
Claim 3
Dependent Claim
30 words
A robot as defined in claim 1, characterized in that said scanning device (9) of said three-dimensional shape detection device is so constructed as to scan the slit-light in parallel.
Claim 4
Dependent Claim
36 words
A robot as defined in claim 2, characterized in that said scanning device (9) is so constructed as to integrate said light projector (6) and said image detector (3) therewith and to scan the slit-light rectilinearly.
Claim 5
Dependent Claim
51 words
A robot as defined in claim 1, 2 or 3, characterized in that said robot (15) operates with at least three degrees of freedom, and that said three-dimensional shape detection device (11) is mounted on a fore end of the member (17) which operates with at least three degrees of freedom.
Claim 6
Dependent Claim
77 words
A robot as defined in claim 1, characterized in that an image processor (42) which recognizes the three-dimensional shape of the object including the position, the inclination etc. is disposed, and that the information of the position, inclination etc. of the object obtained from said image processor (42) are fed back to a robot control device (43) and are given to an operation program of the robot (15), so that said robot (15) can handle the object.
Claim 7
Dependent Claim
97 words
A robot as defined in claim 5, characterized in that said image processor (42) is constructed of differentiation means for differentiating a range data signal to form a jump edge image signal, separation means for separating the range data into a region closed with the jump edge, extraction means for extracting a necessary region / * ) and then extracting the range data of a major plane from the extracted region, and detection means for detecting a position of a center of gravity, an inclination etc. of the major plane on the basis of this range data.
Claim 8
Dependent Claim
117 words
A robot characterized in that a slit-light detector (12) is mounted on an operating member (17) of the robot (15), said detection head being constructed of a light projector (6) which projects light so as to form a slit-light on an object to-be-handled, and an image detector (3) which detects in two dimensions an image of light-section waveform projected by said light projector, and that the slit-light which is scanned by moving the operating member (17) of said robot in a predetermined * ) from the separated region direction is detected by said image detector (3) so as to grasp it as a range data, so that a three-dimensional shape of the object can be visually recognized.
Claim 9
Dependent Claim
117 words
A robot characterized in that a slit-light detector (12) is mounted on an operating member (17) of the robot (15), said detection head being constructed of a light projector (6) which projects light so as to form a slit-light on an object to-be-handled, and an image detector (3) which detects in two dimensions an image of light-section waveform projected by said light projector, and that the slit-light which is scanned by moving the operating member (17) of said robot in a predetermined * ) from the separated region direction is detected by said image detector (3) so as to grasp it as a range data, so that a three-dimensional shape of the object can be visually recognized.
Claim 10
Dependent Claim
42 words
A robot as defined in claim 7, characterized in that said robot (15) is constructed with at least three degrees of freedom, and that said slit-light detector (12) is mounted on the member which operates with at least three degrees of freedom.
Claim 11
Dependent Claim
74 words
A robot as defined in claim 7, characterized in that an image processor (13, 42) which visually recognizes a position, an inclination etc. of the object, and that the information of the position, inclination etc. of the object obtained from said image processor (13, 42) are fed back to a robot control device (14, 43) and are given to an operation program of the robot (15), so that said robot can handle the object.
Claim 12
Dependent Claim
98 words
A robot as defined in claim 9, characterized in that said image processor (13, 42) is constructed of differentiation-means for differentiating a range data signal to form a jump edge image signal, separation means for separating the range data into a region closed with the jump edge, extraction means for extracting a necessary region from the separated region and then extracting the range data of a major plane from the extracted region, and detection means for detecting a position of a center of gravity, an inclination etc. of the major plane on the basis of this range data.
References Cited (Backward Citations)
No citation records indexed.
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