| 摘要 |
PURPOSE:To execute a straight line calculation suitable to the position correction of a robot with a visual sense by obtaining a point, in which brightness exceedingly changes, with a multi-value image by a load average, and further, obtaining a straight line, in which the error from respective points is the least. CONSTITUTION:A chassis 2, which flows at random on a belt conveyor 1, is grasped by a TV camera 3, and the image of the whole body of the chassis 2 or the image of a part of it is transferred to an image processor 4. At the device 4, the position attitude of the chassis 2 is calculated from an input image and the data are sent to a robot 5. Then, a robot 5 assembles the parts removed from a part supplying magazine 6 to the chassis 2. Then, the device 4 obtains the difference in the brightness with an adjoining picture element on one scanning line to an input multi-value image, calculates the point, in which the difference in the brightness comes to be maximum, by the load average and further, makes it approximate to the straight line, in which the error from respective points is the least, by the method of least square.
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