摘要 |
Method and device for determining the position of an object in connection with robot equipment, whereby at least one camera support by the robot is used. The camera provides a two-dimensional image of a region (CF1) of the surface of the object. On the basis of a light source mechanically connected to the camera, a line (20) or a different pattern is projected on the surface of the object, the emitted light making a fixed angle with the optical axis of the camera. On the basis of the position in the image of the projected line (20) in a first direction (B-B), a measure (z1) is calculated of the distance of the object from the camera. On the basis of the position in the image in a second direction of a distortion (21) of the projected line, which is caused by a characteristic part of the object, a measure (x1) is calculated of the position of said characteristic part. |