Patent ID: 9239234
Filing Date: 2016-01-19
CPC Classification: B25J,G01B,G06T

Claim Text:
1. A work system comprising: an arm mechanism, a position and an orientation of which are configured to be changed so as to process an object placed on a work area; a member arranged at a distal end portion of said arm mechanism to receive a light projection pattern for calculating a position and an orientation of the distal end portion of said arm mechanism; an irradiation unit configured to form the light projection pattern on said member and on the object by irradiating said member and the object with pattern light, said irradiation unit being arranged on said arm mechanism to have a constant relative position with respect to said member; an image sensing unit configured to sense an image of the object, said image sensing unit being fixed at a position independent of said arm mechanism; a first calculation unit configured to calculate a position and an orientation of the distal end portion of said arm mechanism and an irradiation plane of the pattern light based on the light projection pattern formed on said member included in image data of the object obtained by said image sensing unit; and a second calculation unit configured to calculate a position and an orientation of the object based on the calculated irradiation plane and the light projection pattern formed on the object included in the image data of the object obtained by said image sensing unit.