초록 ▼

An image of a workpiece is taken by a CCD camera, which includes a view field covering a supply range of the workpiece, and is transmitted to an image processor to detect the position and posture of the workpiece. A robot controller controls a robot to approach a position from another position based

An image of a workpiece is taken by a CCD camera, which includes a view field covering a supply range of the workpiece, and is transmitted to an image processor to detect the position and posture of the workpiece. A robot controller controls a robot to approach a position from another position based on the result of the detection. Then, a measurement using a laser sensor is started. Scanning laser beams projected from an emitter are detected by a light detector and the detected data are analyzed by the image processor. When the robot reaches a third position, the measurement is terminated. The laser sensor may be of a split-light-projection type. For the approaching movement, the image taken by the camera is displayed on a display device to perform a jogfeed of the robot on the screen.

대표청구항 ▼

[ I claim:] [1.] A multiple-sensor robot system comprising:a robot;a multiple sensor comprising:first sensing means for obtaining a two-dimensional image within a relatively large area, andsecond sensing means for measuring a three-dimensional position within a relative small area by projecting ligh

[ I claim:] [1.] A multiple-sensor robot system comprising:a robot;a multiple sensor comprising:first sensing means for obtaining a two-dimensional image within a relatively large area, andsecond sensing means for measuring a three-dimensional position within a relative small area by projecting light on the relative small area;means for outputting an operation command for said first sensor means;means for outputting an operation command for said second sensor means;means for processing an image signal obtained by said first sensor means;means for processing a measurement output signal of said second sensor means;robot control means for controlling said robot; rein said processing of said image signal from said first sensor means includes processing for determining a position of an object to be measured in said relatively large area;said robot control means includes means for making said robot perform an approach movement to said object based on said determined position of said object; andsaid processing of said measurement output signal from said second sensor means includes processing of said measuring output signal outputted after said second sensor means is moved to an approach position by said approach movement.