| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system for accurately detecting the position of a workpiece from a blurred image with the workpiece photographed therein. SOLUTION: The robot system 5 includes: a robot 10 for performing an operation on a workpiece W; a stage 72 on which the workpiece W is disposed and which has a phosphor marker 74; a camera 20 for photographing the workpiece W and the phosphor marker 74 with a predetermined exposure time; and a marker control part 45 for blinking the phosphor marker 74 in a cycle shorter than the exposure time of the camera 20, and further includes: a point-spread function calculation part 35 for extracting an orbit image 100 of the phosphor marker 74 from a blurred image photographed by the camera 20, and calculating a point-spread function from the orbit image 100; an image generation part 37 for generating a non-blurred original image from the blurred image by image conversion of the blurred image using the calculated point-spread function; and a position calculation part 39 for calculating the position of the workpiece W from the original image. COPYRIGHT: (C)2011,JPO&INPIT
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