Object conveying system

An object conveying system comprising:

• a conveying apparatus that conveys an object provided with three or more feature points that are disposed in known positional relationships with respect to each other;
• a camera that captures images of the individual feature points of the object being conveyed by the conveying apparatus;
• a position measuring portion that measures positions of the individual feature points from the images acquired by the camera;
• a detecting portion that detects the position of the object or a movement velocity thereof achieved by the conveying apparatus;
• a position correcting portion that corrects, on the basis of the position or the movement velocity detected by the detecting portion and differences in times at which the individual images were acquired by the camera, the positions of the individual feature points measured by the position measuring portion so as to achieve positions at which the feature points are disposed at the same time;
• a line-of-sight calculating portion that calculates lines of sight that pass through the individual feature points on the basis of the positions of the individual feature points corrected by the position correcting portion and the position of the camera;
• and
• a position calculating portion that calculates at least a three-dimensional position of the object by applying a polygon having a known shape, in which the positions of the individual feature points serve as apexes thereof, to the three or more lines of sight calculated by the line-of-sight calculating portion.