초록 ▼

A three-dimensional visual sensor which measures the three-dimensional position and orientation of an objective workpiece accurately even when the position and orientation thereof varies. The position Ca, tilting angle θa and size S of a first region A which includes a characteristic part of an

A three-dimensional visual sensor which measures the three-dimensional position and orientation of an objective workpiece accurately even when the position and orientation thereof varies. The position Ca, tilting angle θa and size S of a first region A which includes a characteristic part of an objective workpiece, and the position Cb and radius Rb of a second region B which is a target region of measurement are determined in a two-dimensional image of a representative objective workpiece captured from a predetermined position, and stored as reference information. An image of a to-be-measured objective workpiece is captured, and in the image, a region corresponding to the second region is determined on the basis of the position C'a, tilting angle θ'a and size S' of a region corresponding to the first region A, and the reference information. The position and orientation of the objective workpiece is obtained by measuring the region determined as corresponding to the second region.

대표청구항 ▼

What is claimed is: 1. A three-dimensional visual sensor for obtaining three-dimensional information on an objective workpiece based on an image of the objective workpiece captured by projecting a reference beam onto the objective workpiece, comprising: means for detecting a two-dimensional image o

What is claimed is: 1. A three-dimensional visual sensor for obtaining three-dimensional information on an objective workpiece based on an image of the objective workpiece captured by projecting a reference beam onto the objective workpiece, comprising: means for detecting a two-dimensional image of a reference workpiece of a same type as the objective workpiece; means for storing, as reference information, information about a surface of a first region including a characteristic part of the objective workpiece and a surface of a second region as a target region of three-dimensional measurement of the objective workpiece, said information about the first and second regions being obtained from the detected two-dimensional image of the reference workpiece of the same type as the objective workpiece, which is captured from a predetermined position; means for capturing an image of the objective workpiece and determining a region corresponding to said first region in the image of the objective workpiece; means for determining another region in the image of the objective workpiece corresponding to said second region based on information on a position of the region determined as corresponding to said first region and said reference information stored in said storage means; and means for obtaining three-dimensional information on the objective workpiece in the another region. 2. A three-dimensional visual sensor according to claim 1, wherein said reference information includes information on a position of said first region and a position and a range of said second region. 3. A three-dimensional visual sensor according to claim 1, wherein said reference information includes information on a positional relation between said first and second regions and a range of said second region. 4. A three-dimensional visual sensor according claim 1, wherein the two-dimensional image from which the information on said first region is obtained is a two-dimensional image captured without projecting the reference beam, and the two-dimensional image from which the information on said second region is obtained is a two-dimensional image captured by projecting the reference beam. 5. A three-dimensional visual sensor according to claim 1, wherein the two-dimensional image from which the information on said first and second regions is obtained is a two-dimensional image captured by projecting the reference beam. 6. A three-dimensional visual sensor according to claim 1, wherein said reference information includes information on a position, a size and an orientation of said first region, and a position and a range of said second region. 7. A three-dimensional visual sensor for obtaining three-dimensional information on an objective workpiece based on an image of the objective workpiece captured by projecting a reference beam onto the objective workpiece, comprising: means for detecting a two-dimensional image of a reference workpiece of a same type as the objective workpiece: means for storing, as reference information, information on a surface of a first region including a characteristic part of the objective workpiece and a surface of a second region as a target region of three-dimensional measurement of the objective workpiece, said information on the first and second regions being obtained from the detected two-dimensional image of the reference workpiece of the same type as the objective workpiece, which is captured from a predetermined position; means for capturing an image of the objective workpiece and determining a region corresponding to said first region in the image of the objective workpiece; means for determining a region corresponding to said second region based on information on a position and an orientation of the region determined as corresponding to said first region and said reference information stored in said storage means; and means for obtaining three-dimensional information on the objective workpiece in the region determined as corresponding to said second region of an image of the objective workpiece captured by projecting said reference beam onto the objective workpiece. 8. A three-dimensional visual sensor according to claim 7, wherein said reference information includes information on a position and an orientation of said first region and a position and a range of said second region. 9. A three-dimensional visual sensor according to claim 7, wherein said reference information includes information on an orientation of said first region, a range of said second region, and a positional relation between said first and second regions. 10. A three-dimensional visual sensor according to claim 7, wherein the two-dimensional image from which the information on said first region is obtained is a two-dimensional image captured without projecting the reference beam, and the two-dimensional image from which the information on said second region is obtained is a two-dimensional image captured by projecting the reference beam. 11. A three-dimensional visual sensor according to claim 7, wherein the two-dimensional image from which the information on said first and second regions is obtained is a two-dimensional image captured by projecting the reference beam. 12. A three-dimensional visual sensor for obtaining three-dimensional information on an objective workpiece based on an image of the objective workpiece captured by projecting a reference beam onto the objective workpiece, comprising: means for detecting a two-dimensional image of a reference workpiece of a same type as the objective workpiece; means for storing, as reference information, information about a surface of a first region including a characteristic part of the objective workpiece and a surface of a second region as a target region of three-dimensional measurement of the objective workpiece, said information about the first and second regions being obtained from the detected two-dimensional image of the reference workpiece of the same type as the objective workpiece, which is captured from a predetermined position; means for capturing an image of the objective workpiece and determining a region corresponding to said first region in the image of the objective workpiece; means for determining another region in the image of the objective workpiece corresponding to said second region based on information on a position and a size of the region determined as corresponding to said first region and said reference information stored in said storage means; and means for obtaining three-dimensional information on the objective workpiece in the another region. 13. A three-dimensional visual sensor according to claim 12, wherein said reference information includes information on a position and a size of said first region, and a position and a range of said second region. 14. A three dimensional visual sensor according to claim 12, wherein said reference information includes information on a size of said first region, a range of said second region, and a positional relation between said first and second regions. 15. A three-dimensional visual sensor according to claim 12, wherein the two-dimensional image from which the information on said first region is obtained is a two-dimensional image captured without projecting the reference beam, and the two-dimensional image from which the information on said second region is obtained is a two-dimensional image captured by projecting the reference beam. 16. A three-dimensional visual sensor according to claim 11, wherein the two-dimensional image from which the information on said first and second regions is obtained is a two-dimensional image captured by projecting the reference beam. 17. A three-dimensional visual sensor for obtaining three-dimensional information on an objective workpiece based on an image of the objective workpiece captured by projecting a reference beam onto the objective workpiece, comprising: means for detecting a two-dimensional image of a reference work piece of a same type as the objective workpiece; means for storing, as reference information, information on a surface of a first region including a characteristic part of the objective workpiece and a surface of a second region as a target region of three-dimensional measurement of the objective workpiece, said information on the first and second regions being obtained from the detected two-dimensional image of the reference workpiece of the same type as the objective workpiece, which is captured from a predetermined position; means for capturing an image of the objective workpiece and determining a region corresponding to said first region in the image of the objective workpiece; means for determining a region corresponding to said second region based on information on a position, an orientation and a size of the region determined as corresponding to said first region and said reference information stored in said storage means; and means for obtaining three-dimensional information on the objective workpiece in the region determined as corresponding to said second region of an image of the objective workpiece captured by projecting said reference beam onto the objective workpiece. 18. A three-dimensional visual sensor according to claim 17, wherein said reference information includes information on a size and an orientation of said first region, a range of said second region, and a positional relation between said first and second regions. 19. A three-dimensional visual sensor according to claim 17, wherein the two-dimensional image from which the information on said first region is obtained is a two-dimensional image captured without projecting the reference beam, and the two-dimensional image from which the information on said second region is obtained is a two-dimensional image captured by projecting the reference beam. 20. A three dimensional visual sensor according to claim 17, wherein the two-dimensional image from which the information on said first and second regions is obtained is a two-dimensional image captured by projecting the reference beam.