3D hand-eye robot vision system using a cone-shaped structured light for the SICE-ICASE International Joint Conference 2006 (SICE-ICCAS 2006)

In this paper, we proposed a cone-shaped structured light method for a 3D hand-eye robot vision. As cone-shaped structured light is type of closed shape, it recognizes a surface of discontinuity, it has an advantage to detect a defect or seam, and there is a merit to know position and direction information. Also because it is possible to express it as a singular numerical formula such as dot, and line, we can say that it is suitable for application work on a industrial robot fields, by merit of quick calculation time on 3D information. We performed a subject as follows by using pattern beam in type of cone. Firstly, we made a circular silhouette by projecting beam in type of cone on measuring subject, and researched a way of measurement of 3D information of subject after receiving this image through camera. Second, by using this laser vision system, we produced sensor system having compact, light, and fast treatment speed that was suitable for robot, install it on end-effector of robot, and tested it. Finally, by showing the result of measurement classified by each distance of sensor system, the test result of applying it for a robot, and demo work, we verified that this system was really useful for application work of industrial robot.