POSITION AND ATTITUDE DETECTING METHOD, APPARATUS FOR PRACTICING THE SAME, AND FLEXIBLE PRODUCTION SYSTEM USING THE SAME APPARATUS

摘要

This invention aims at providing a production system of a high autonomy, which is constructed as follows. A simulated work environment scene generating means (20) is adapted to simulatively synthesize, when a visual robot (15) and a working robot (14) are in designed positions, a scene, which should be photographed by the visual robot (15), on the basis of the data stored in a work environment data storage means (29), and the visual robot (15) is adapted to actually photograph the scene of a work environment (1). A work environment scene comprehension means (22) is adapted to compare the real image with the simulated scene and detect deviations between the positions and attitudes of the working robot (14) and visual robot (15). Accordingly, even when an absolute reference point is not imaged on the visual robot (15), the position and attitude of an object of the work can be detected and corrected, and a production system of a high autonomy can be implemented.