METHOD FOR MEASURING POSITION AND POSTURE OF SUPERPOSED PARTS

摘要

PURPOSE:To shorten a processing time and to simplify a control circuit by determining roughly the position of a required parts by a visual sensor an then measuring the precise position and posture of the parts by a tactile sensor. CONSTITUTION:A video signal from the visual sensor 1 is inputted to a visual information processing part 5 through a visual information input device 3. On the basis of processing in the processing part 5, signals of a longest center line and an existing area are sent to a position/posture arithmetic part 7. In the arithmetic part 7, the moving distance of the tactile sensor 2 is calculated by a tactile sensor horizontal movement distance arithmetic circuit 73 and the calculated value is inputted to a moving distance output part 64 in a tactile information processing part 6. A tactile sensor driving mechanism control circuit 8 moves the tactile sensor 2 to an existing area of a prescribed pipe system 103 in accordance with a signal obtained from the output part 64.