US 2004/0167671 A1 · Automatic work apparatus and automatic work control program

Abstract

The automatic work apparatus extracts the target image of which photos are taken by the left and right CCD cameras, specifies the spatial position of the target and executes an operation to the target by the arm. Two regions, the central region and the peripheral ones, allocated to the image taken by the CCD camera so that if the target image stays in the peripheral region of the image then the cameras are rotated to take the target image in the central portion and the position determining module determines the spatial position of the target and then tasks are done for the targets. The relative distance from the target is adjusted by transfer equipment. This invention is applicable to an automatic work apparatus that can operate a predetermined operation for moving target and an automatic operation control program to carry out such operation.

Claims11

Dependent claims

An automatic work apparatus which detects spatial position of targets based on images thereof taken by means of plural observing camera devices that have lenses of non-central projection such as fisheye lenses set therein and carries out predetermined tasks comprising:

a rotation device to change viewing direction of said observing camera devices;
a target image extracting unit to extract said targets in said images taken by means of said plural observing camera devices;
and
a rotation controller to control said rotation device in accordance with a certainty obtained by discriminating the target position information in response to target position that is specified by said target image extracting unit for each of said images of said targets.

1 more element

An automatic work apparatus which specifies spatial position of targets based on images thereof taken by means of plural observing camera devices that have lenses of non-central projection such as fisheye lenses set therein and carries out predetermined tasks comprising:

a rotation device to change viewing direction of said observing camera devices;
a target image extracting unit to extract said targets in said images taken by means of said plural observing camera devices;
a position determining unit to determine said-spatial positions of said targets by using image positions of said targets specified by said target image extracting unit;
and
a rotation controller to control said rotation device so that said rotation device changes viewing direction of said observing camera devices which take images, wherein at least two areas as a peripheral area and a central area are assigned to said images, of said targets in said central area in case that image positions of said targets specified by said target image extracting unit are in said peripheral area.

2 more elements

Dependencies are inferred from the claim text.

Automatic work apparatus and automatic work control program

Life of this patent

Automatic work apparatus and automatic work control program

Life of this patent

Abstract

Claims11