| 摘要 |
PURPOSE:To well perform confirmation even if the position of a camera changes, by using a reference article to calculate a converting parameter converting a picked up image of a TV camera into a reference coordinates system. CONSTITUTION:The image of parts on a table 10 is picked by TV cameras 1, 2, and the arm 11A grasping the parts and a robot main body 11 are controlled by a robot control apparatus 12 and an image processing unit 3 is connected to the cameras 1, 2 and the apparatus 12. A parameter for converting a scale into a reference coordinates system determined by the kind of a reference article and the relative distance between the cameras 2, 2 is preliminarily calculated. On the basis of this parameter, the scale correction of the picked-up image of the parts to be taught and confirmed is performed. The image after this correction is one under the reference coordinates system and comes to one from a reference position having no relation to the actual positions of the cameras 1, 2. Therefore, regardless of the positions of the cameras 1, 2, the pattern comparison and confirmation of the measured data from the parts to be confirmed and the reference teaching data from the parts to be taught can be performed.
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