| 摘要 |
PURPOSE:To detect exactly the three-dimensional position of a member to be detected by calculating the positional deviation of member on the plane where the member exists from the information on the two light spots out of the image information taken into a visual sensor and calculating the positional deviation of the visual sensor in the optical axis direction thereof from the information on the two light spots and one light spot. CONSTITUTION:A lighting device 10 illuminates the member W to be detected from diagonal behind thereof to form the two light spots (a), (b) which can be taken as the image information by the visual sensor 1 and to decrease the information except the two light spots (a), (b) with respect to the image information taken into the sensor 1. The 2nd illuminating device 17 is placed on the front face of the member W with respect to the device 10 and is placed obliquely to an angle Ztheta to form one light spot (c) so as to be taken with the sensor 1 as the image information on the perpendicular at midpoint 13 running the middle point of the straight line connecting the points (a), (b). The signal taken into the sensor is binary-coded and the image information relating to the three points (a), (b), (c) is arithmetically processed by an arithmetic unit (not shown). |
