Patent ID: 7171041
Filing Date: 2007-01-30
Classification: B25J,G05B

Abstract:
1. A position-orientation recognition device including a first sensor means for obtaining two-dimensional information within a target area and a second sensor means for obtaining two-dimensional or three-dimensional information within a relatively narrower target area than said target area, comprising: an image processing unit for finding a spatial straight line connecting a single point of a target work with said first sensor means based on two-dimensional information including information on said target work, the information comprising the single point of said target work, obtained by said first sensor means, and the position and orientation of said first sensor means; means for finding a position and an orientation of said second sensor means, which permits said second sensor means to find the position and orientation of said target work, from said spatial straight line; and means for moving said second sensor means to the position and orientation thus found; wherein said second sensor means obtains two dimensional information of the target work or three-dimensional position and orientation information of the target work to recognize the two-dimensional or three-dimensional information of the target work, after said means for moving moves the second sensor means to said found position and orientation, said found position of the second sensor means is a position on said spatial straight line, and said found orientation of the second sensor means being an orientation in a direction matching said spatial straight line.