The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 10, 2009
Filed:
Oct. 16, 2003
Kazunori Ban, Yamanashi, JP;
Ichiro Kanno, Yamanashi, JP;
Kazunori Ban, Yamanashi, JP;
Ichiro Kanno, Yamanashi, JP;
Fanuc Ltd, Yamanashi, JP;
Abstract
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.