Title:
OBJECT RECOGNITION METHOD BY OTPICAL CUTTING METHOD
Document Type and Number:
WIPO Patent Application WO/1991/003704
Kind Code:
A1
Abstract:
This invention relates to an object recognition method capable of recognizing quickly an object by an optical cutting method. A pattern element curve (A, B, C) forming part of the pattern image, which is obtained when a coded pattern beam is projected from a projector onto an object in a specific posture through a liquid crystal shutter array, is selected and model data consisting of numeric value parameters containing the distance (A, B) between both ends of the curve are extracted from this curve. Model data are generated in accordance with several object postures. When object recognition processing is carried out, belt-like beam and reversed pattern beam obtained by reversing brightness of the former are projected sequentially to the object so as to obtain two images and two slit optical images (a ~ e, a' ~ e') are formed on the basis of these two images. Collation data consisting of numeric value parameters containing the distance between the two points (bc, b'c') on each image are extracted from each of the slit optical images. When the difference between the distance parameter (bc, b'c') of the collation data and the distance parameter (AB) of any one of the model data is within an allowable range, the object is judged to be in a posture associated with that model data.
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Inventors:
HIRAIZUMI MITSUO (JP)
Application Number:
PCT/JP1990/001129
Publication Date:
March 21, 1991
Filing Date:
September 04, 1990
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
G01B11/24; G01B11/25; (IPC1-7): G01B11/00; G01B11/24
Foreign References:
| JPS59197813A | 1984-11-09 |
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