| 摘要 |
PURPOSE:To detect the position and attitude of an object by obtaining the distance from the reference plane, attitude, shape, and position of the feature face of the object which is the plane straightforwardly indicating the shape feature of the object mounted on the work surface. CONSTITUTION:A set of a light reception section having a light projection section 1 and an area sensor 2 serving as an image pickup element is integrally advanced straightly in parallel with the reference plane K in the plane including the optical axes of the outgoing light and the reflected light. An object feature face S in parallel with the radiation line by the outgoing light on the reference plane K is recognized. The distance Z from the reference plane K, inclination, shape, and position of the object feature face S are obtained by a signal process section based on the signals on the deviation quantity Y=OJ front the reference line of the light reception line on the object feature face S and the length and position of the light reception line from the area sensor 2. |
