| 摘要 |
PURPOSE:To select a section where obstacles do not exist between a robot and a robot application object and to easily store action instructions of the robot by reading in and processing the image of the plan of a space where the robot acts. CONSTITUTION:An image processing device 2 reads three views of an object 7 and the plan of a building 8 from a figure 6 by a TV camera 1 to synthesize plan information of space environments and gives a height coordinate value to a space occupying material and adds a density proportional to the value Z to each point of coordinate (x,y) to display an image. Four operators OP1-OP4 having density distribution of 0-255 are applied at intervals of 90 deg. with a position 10 of the object 7 as the center, and the OP density in the AND condition to information of a track 9 is extracted, and an image of density difference between points on the track 9 and the structure 8 is formed. The image processing device 2 selects coordinates of the section where obstacles do not exist between a robot 5 and the robot application object. Consequently, action instructions are easily inputted to the robot and are stored. |
