THREE-DIMENSIONAL COORDINATE MEASURING DEVICE

摘要

PURPOSE:To speed up measuring operation by taking a picture of a mark whose size and shape are already known which is fitted at a specific position of an object through a TV camera, converting it into a digital picture signal, and calculating three-dimensional coordinates on the basis of data in a data storage device. CONSTITUTION:A robot 4 picks up an image of the mark 7 of a manipulator 2 as an object of measurement by an optical fiber opening part 5a fitted to the tip part of the robot and transmits the image to a TV camera through an optical fiber 5. An analog image signal obtained by the TV camera 9 is processed by an image arithmetic processor 12 to determine the distance 2 between the mark 7 and optical fiber opening part and the amounts of displacement in an X and an Y direction. Further, three-dimensional relative positions of the robot 4 and the manipulator are calculted on the basis of basic data and command signals to the robot and the manipulator are inputted to a controller 14 on the basis of said calculated values.