Detection apparatus, detection method and manipulator

摘要

A detection unit comprising a manipulator, a imaging unit, a light beam irradiation unit and a computing unit, the imaging unit and the light beam irradiation unit are provided on a manipulator. The detection apparatus includes a horizontal imaging plane, which includes an optical axis of the imaging unit, and a vertical imaging plane, which includes the optical axis of the imaging unit and 1) a projection of a light beam from the light beam irradiation unit on the horizontal imaging plane and 2) a projection of a light beam from the light beam irradiation unit on the vertical imaging plane respectively form an intersecting angle with the optical axis of the imaging unit.

主权项

1. A detection apparatus, comprising:
a singular monocular imaging unit; a single light beam irradiation unit provided at an end of a manipulator; and a computing unit, wherein: an optical axis of the imaging unit forms an intersecting angle with a light beam projected on a horizontal imaging plane or a light beam projected on a vertical imaging plane which passes through the optical axis of the imaging unit, the computing unit is configured to compute a distance L between the light beam irradiation unit and an objective plane which is orthogonal to a light beam irradiation direction, by obtaining a position of a light beam irradiation point on the imaging plane of the objective plane from an image, which is imaged by the imaging unit, of a light beam irradiation point on the an objective plane defined on the object, the computing unit is further configured to obtain a corresponding distance L for the obtained position of the light beam irradiation point on the imaging plane with reference to a relational expression previously formed based on: 1) a position (xi, yi) (i=0, 1, 2, . . . N) of the light beam irradiation points on the imaging plane; and 2) an actually measured value of distances Li between the objective plane and light beam irradiation unit for respective position (xi, yi) of the light beam irradiation points on the imaging plane, and wherein the computing unit is further configured to obtain a relative distance between the light beam irradiation point and hand coordinate point, which is a coordinate of joint point to which the detection apparatus is mounted and is obtained based on kinematics of a robot, based on the obtained corresponding distance L.