Method and device for determining the position of an object in connection with robot equipment.

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.