MARKER AND ROBOT SYSTEM

• Main Authors: ISHIHARA HIROYUKI, KOBAYASHI KENJI, MIZUSAWA TETSUYA
• Format: Patent
• Language: English; Japanese
• Published: 27.05.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

To support highly accurate measurement of a position of a workpiece and exact grip of the workpiece using a Monocular camera.SOLUTION: A marker is captured with a Monocular camera disposed on a workpiece and composing a robot system, and includes: a square dot arrangement surface; eight dot parts arranged on the dot arrangement surface in three rows and three columns side by side and having luminance capable of being identified on an image captured by the Monocular camera compared to its circumference; and one non-dot part having a size similar to that of the dot part and not having luminance capable of being identified on the image captured by the Monocular camera compared to the circumference. The non-dot parts are arranged at a corner part of either of three rows and three columns.SELECTED DRAWING: Figure 3 【課題】単眼カメラを用いたワークの位置の高精度な計測およびワークの的確な把持を支援する。【解決手段】マーカは、ワーク上に配置され、ロボットシステムを構成する単眼カメラにより撮像され、正方形状のドット配置面と、ドット配置面上で３行３列状に並んで配置され、単眼カメラの撮像画像上で周囲に比べて識別可能な輝度を有する８つのドット部と、ドット部と同等の大きさを有し、単眼カメラの撮像画像上で周囲とに比べて識別可能な輝度を有さない１つの非ドット部と、を備え、非ドット部は、３行３列状のいずれか角部に配置される。【選択図】図３