| 摘要 |
PURPOSE:To exactly calculate a position where work is to be executed, and to exactly operate a robot hand by adjusting a binarized level of an image where signal so that an area of an object belonging to the position where work is to be executed, becomes an area set in advance to the object. CONSTITUTION:An image processor 9 is provided with a data communication part 23 connected to a management computer 8, an image pickup command signal output part 24 and an image pickup signal input part 25 connected to image pickup devices 5, 6 consisting of a camera 5 and an illuminating device 6, and central processing part 26 and an image processing part 27 connected to them, and a binarized level adjusting part 28 and a robot correction amount calculating part 29 are connected thereto. In such a state, at the time of calculating a moving position of a tool from a photographed work executed position by the binarized level adjusting part 28, a binarized level of an image signal is adjusted so that an area of an object belonging to the work executed position becomes an area set in advance to the object, and the work executed position is calculated exactly. Accordingly, since a robot control position is determined, based on the work executed position calculated exactly, an assembly deviation and a working deviation become minimum. |
