| 摘要 |
PURPOSE:To teach the specific position of the target object in a visual sensor system by teaching said position by the coordinate value of the object coordinate system XY of which the origine is the controid of the plane image of the target object and the main axis is the X-axis or Y-axis. CONSTITUTION:A microcomputer 14 calculates the characteristic value of a prescribed characteristic term and collates the same with the reference characteristic value stored in a RAM18 thereby discriminating the kind of the object of this time. The microcomputer determines the centroid and main axis of the target object, presumes the object coordinate system and calculates the coordinate value in the coordinate system of the visual sensor in the taught specific position from the coordinate value in the object coordinate system of the specific position stored in the RAM18. The microcomputer informs a robot of the information on the kind of the target object, the coordinate value in the visual sensor coordinate system of the specific position P, the position of the centroid and the attitude angle thetaob of the target object via an interface circuit 13. The teaching is thus executed simply and easily as the position of the target object is taught by the coordinate value of the X-Y coordinates. |
