| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot system capable of improving both the speed and precision of a robot's operation of pulling out a workpiece by optimizing the estimated projection region of slit light. <P>SOLUTION: The robot system with regard to one of embodiments includes a projection unit, an imaging part, an estimated projection region determining unit, a projection position detection unit, and a robot. The projection unit projects slit light to a placing region on which a workpiece is placed, and moves it to a prescribed direction. The imaging part takes an image of the slit light moving on the workpiece a plurality of times in sequence. The estimated projection region determining unit traverses a picked-up image in a direction intersecting the foregoing shifting direction, and determines the estimated projection region of the slit light in the image so that the orientation of the length in parallel with the shifting direction may be longer as it progresses near to the center in the intersecting direction in the image. The estimated position detection unit detects the projection position of the slit light out of the estimated projection region. The robot grips the workpiece on the basis of the detected projection position. <P>COPYRIGHT: (C)2013,JPO&INPIT |
