Position recognition system using optical sensor - determines location and orientation of objects by means of circular optical scanning

摘要

The optical sensor of the location and orientation of objects lying on a table, takes account of the centre of gravity of the area of the envelope of the object and the point of intersection of circles about the centre of gravity with the outline, in which a first scan determines the coordinates of the centre of gravity, after which a circular scan times the period elapsing before the scan meets the envelope. Comparison of the results of two such circular scans with stored reference times enables the nature and orientation of the position of the object and hence its location to be determined. The stored reference values may first be derived from a series of scans with the objects to be recognized in known positions.