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:
May. 12, 2009
Filed:
Jan. 14, 2005
Kazunori Ban, Minamitsuru-gun, JP;
Makoto Yamada, Minamitsuru-gun, JP;
Kazunori Ban, Minamitsuru-gun, JP;
Makoto Yamada, Minamitsuru-gun, JP;
Fanuc Ltd, Minamitsuru-gun, Yamanashi, JP;
Abstract
A measuring system which can easily measure a three-dimensional position of a target to be measured using a light receiving device mounted to a manipulator of a robot. When the manipulator is positioned at a first position, a moving process for moving an image of the target imaged by the light receiving device or a camera to a center of a light receiving surface of the camera is executed. Next, the manipulator positioned at the first position is moved, without changing the orientation of the camera, to a second position where the distance between the camera and the target is different to that at the first position. After that, the moving process is executed again. Based on the position of the manipulator after the process, the orientation of a coordinate system Σvrepresenting the direction of a visual line is calculated. Then, the manipulator is rotated by 180 degree about Z-axis of the coordinate system Σvand the moving process is executed again. A middle point of the positions of coordinate system Σvbefore and after movement of the manipulator is determined as an origin of a coordinate system Σvrepresenting the orientation and the position of the visual line. The manipulator is inclined relative to Y-axis of the coordinate system Σvand the moving process is executed again, so as to calculate the three-dimensional position of the target.