| 摘要 |
PROBLEM TO BE SOLVED: To provide a position and attitude detection device for a movable body, capable of detecting a position of a reference point set in the movable body and an attitude of the movable body with high accuracy. SOLUTION: This position and attitude detection device has: a target unit 11 having three targets not aligned on the same straight line, provided in a tool 30; a plurality of cameras 13 photographing the target unit from a photographing position wherein an absolute position in a robot coordinate system is grasped, and generating image data showing an image of the target unit; an image processing part 14 finding an absolute position of the reference point set in the tool in the robot coordinate system and an absolute attitude of the tool on the basis of the image data from the camera; an acceleration sensor 16 and a gyroscopic sensor 15 provided in the tool, detecting relative slide displacement and relative angle displacement of the tool; and an arithmetic part 18 finding the attitude and the position of the reference point of the tool on the basis of the absolute attitude and the absolute position of the reference point of the tool, and the relative angle displacement and the relative slide displacement of the tool. COPYRIGHT: (C)2006,JPO&NCIPI
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