WORKPIECE DETECTION DEVICE AND WORKPIECE DETECTION METHOD

A pattern matching unit (302) carries out a pattern matching between a photographed image obtained by photographing a workpiece with a monocular camera and a first plurality of models having a plurality of sizes and a plurality of angles, and selects a model having a size and an angle with the highe...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	TERASAKI, Shuuhei, WASHIO, Takeshi, KUBOTA, Teruyuki, TAKATSU, Satoshi, MIURA, Naohumi
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	CALCULATING CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMPUTING COUNTING HAND TOOLS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MANIPULATORS MEASURING MEASURING ANGLES MEASURING AREAS MEASURING IRREGULARITIES OF SURFACES OR CONTOURS MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS TESTING TRANSPORTING
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Beschreibung
Zusammenfassung:	A pattern matching unit (302) carries out a pattern matching between a photographed image obtained by photographing a workpiece with a monocular camera and a first plurality of models having a plurality of sizes and a plurality of angles, and selects a model having a size and an angle with the highest degree of matching. A primary detection unit (304) detects a position and an angle of an uppermost workpiece from among loaded workpieces based on the selected model. An actual load height calculation unit (305) calculates an actual load height of the uppermost workpiece based on a hand height detected by a workpiece holding robot (10). A secondary detection unit (306) re-detects the position and the angle of the uppermost workpiece based on a model having a size and an angle with the highest degree of matching selected by carrying out a pattern matching between the photographed image and a second plurality of models selected or newly created based on the actual load height.