Component manipulating method, component extracting method, component assembling method, component manipulating apparatus, component extracting apparatus, and component assembling apparatus

A component extracting method comprising:

• recognizing a position and an attitude of a measured object by taking an image of a light spot group of the measured object with a camera, the measured object and a component of an extracting target being supported in predetermined positions of a component support, the measured object having the light spot group including a plurality of light spots, serving as a measurement target of a position and an attitude, based on a light image expressing light spots constituting the light spot group on an image taken with the camera;
• computing a position and an attitude of the component based on the position and the attitude of the measured object recognized in the recognizing as well as geometric arrangement positions of the measured object supported by the component support and the component;
• and
• manipulating a robot to extract the component from the component support by positioning the robot to face and grasp the component of which position and attitude are computed in the computing, the robot being used to grasp the component.

A component assembling method comprising:

• taking an image of a light spot group of a measured object with a camera, the measured object and a first component being supported in predetermined positions of an assembly pallet, the measured object having the light spot group including a plurality of light spots and serving as a measurement target of a position and an attitude;
• recognizing a position and an attitude of the measured object based on a light image expressing the light spots constituting the light spot group on the image taken with the camera;
• computing a position and an attitude of the first component based on the position and the attitude of the measured object and geometric arrangement positions of the measured object and the first component, the position and the attitude of the measured object recognized in the recognizing, the measured object and the first component being supported by the assembly pallet;
• and
• assembling a component by causing a robot to grasp a second component and assemble the second component in the first component, by making the second component face the first component based on the position and the attitude of the measured object recognized in the recognizing.

A component manipulating apparatus comprising:

• a camera;
• an image-taking control unit that causes the camera to take an image of a light spot group of a measured object, the measured object and a component of a manipulating target being supported in predetermined positions of a component support, the measured object having the light spot group including a plurality of light spots, the measured object serving as a measurement target of a position and an attitude;
• a recognizing unit that recognizes a position and an attitude of the measured object based on a light image expressing the light spots constituting the light spot group on the image taken with the camera;
• a computing unit that computes a position and an attitude of the component based on the position and the attitude of the measured object and geometric arrangement positions of the measured object and the component, the position and the attitude of the measured object recognized by the recognizing unit, the measured object and the component being supported by the component support;
• a robot that manipulates the component;
• and
• a control unit that causes the robot to manipulate the component based on the position and the attitude computed in the computing unit.

A component extracting apparatus comprising:

• a camera;
• an image-taking control unit that causes the camera to take an image of a light spot group of a measured object, the measured object and a component of an extracting target being supported in predetermined positions of a component support, the measured object having the light spot group including a plurality of light spots, the measured object serving as a measurement target of a position and an attitude;
• a recognizing unit that recognizes a position and an attitude of the measured object based on a light image expressing the light spots constituting the light spot group on the image taken with the camera;
• a computing unit that computes a position and an attitude of the component based on the position and the attitude of the measured object and geometric arrangement positions of the measured object and the component, the position and the attitude of the measured object recognized by the recognizing unit, the measured object and the component being supported by the component support;
• a robot that grasps the component;
• and
• a component extract control unit that causes the robot to face the component whose position and attitude have been computed in the computing unit and causes the robot to grasp the component to extract the component from the component support.

A component assembling apparatus comprising:

• a camera;
• an image-taking control unit that causes the camera to take an image of a light spot group of a measured object, the measured object and a first component being supported in predetermined positions of an assembly pallet, the measured object having the light spot group including a plurality of light spots and serving as a measurement target of a position and an attitude;
• a position and attitude recognizing unit that recognizes the position and attitude of the measured object based on a light image expressing the light spots constituting the light spot group on the image taken with the camera;
• a position and attitude computing unit that computes a position and an attitude of the first component based on the position and attitude of the measured object and geometric arrangement positions of the measured object and the first component, the position and attitude of the measured object being recognized in the position and attitude recognizing unit, the measured object and the first component being supported by the assembly pallet;
• a robot that grasps a second component to assemble the second component in the first component;
• and
• a component assembly control unit that causes the robot to grasp the second component causes the second component to face the first component based on the position and attitude of the measured object recognized in the position and attitude recognizing unit, and causes the robot to assemble the second component in the first component.