| US 7,532,949 B2 | ||
| Measuring system | ||
| Kazunori Ban, Minamitsuru-gun (Japan); and Makoto Yamada, Minamitsuru-gun (Japan) | ||
| Assigned to Fanuc Ltd, Minamitsuru-gun, Yamanashi (Japan) | ||
| Filed on Jan. 14, 2005, as Appl. No. 11/34,724. | ||
| Claims priority of application No. 2004-009848 (JP), filed on Jan. 16, 2004. | ||
| Prior Publication US 2005/0159842 A1, Jul. 21, 2005 | ||
| Int. Cl. G06F 15/16 (2006.01) | ||
| U.S. Cl. 700—245 [345/419] | 12 Claims |
| 1. A measuring system for measuring a position of a target to be measured relative to a robot having a manipulator, the measuring
system comprising:
a light receiving device mounted to the manipulator;
a control device for positioning the manipulator to an initial position; and
an image processing unit for calculating a position of the target on a light receiving surface of the light receiving device
imaged on the light receiving surface, the control device comprising:
a first arithmetic part for calculating a distance of movement of the manipulator, by means of which the position of the target
on the light receiving surface calculated by the image processing unit coincides with a predetermined reference point on the
light receiving surface;
a drive control part for moving the manipulator according to the distance of movement;
a second arithmetic part for calculating at least one of a position and an orientation of a visual line of the light receiving
device relative to a robot coordinate, based on position data of the manipulator with respect to a plurality of the initial
position; and
a third arithmetic part for calculating a three-dimensional position of the target relative to the robot coordinate, based
on at least one of the position and the orientation of the visual line.
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