| 摘要 |
PURPOSE:To automate the moving and mounting works at a coil yard by acquiring the image of an object body by the first and second cameras, setting two small-region windows in one image, obtaining the corresponding points applicable to the small-region windows in the other image and obtaining the three- dimensional positions of the small-region windows by a triangulation method. CONSTITUTION:An image is acquired by a first camera 6 into an image processor 8, and the two-dimensional position is detected. A plurality of small-region windows are generated on a coil 2. Then, the image is acquired by a second camera 7 into the processor 8. Whether the corresponding points of the small- region windows are present or not is checked with a search window W of the camera 7 based on pattern matching by a correlation method. The three- dimensional positions of the small-region windows are detected by a triangulation method based on the relative position relationship of these points. Then, the relative positions from the first and second cameras 6 and 7 are computed, and the position correcting value is outputted into an automatic crane control device 9. |
