Detection apparatus, Detection method and Manipulator

A detection apparatus, comprising:

• a singular monocular imaging unit,
• a single light beam irradiation unit provided at an end of a manipulator, and a computing device, wherein:
• an optical axis of the imaging unit form an intersecting angle with a light beam projected on a horizontal imaging plane or a light beam projected on a vertical imaging plane which passes through the optical axis of the imaging unit, comprising:
• the computing unit is configured to compute a distance L between the light beam irradiation unit and an objective plane which is orthogonal to a light beam irradiation direction, by obtaining a position of a light beam irradiation point on the imaging plane of the objective plane from an image, which is imaged by the imaging unit, of a light beam irradiation point on the an objective plane defined on the object,
• the computing unit is further configured to obtain a corresponding distance L for the obtained position of the light beam irradiation point on the imaging plane with reference to a relational expression previously formed based on:
• 1) a position (xi, yi) (i=0, 1, 2, . . . N) of the light beam irradiation points on the imaging plane;
• and
• 2) an actually measured value of distances Li between the objective plane and light beam irradiation unit for respective position (xi, yi) of the light beam irradiation points on the imaging plane,
• wherein the computing unit is further configured to obtain a relative distance between the light beam irradiation point and hand coordinate point, which is a coordinate of joint point to which the detection apparatus is mounted and is obtained based on kinematics of a robot, based on the obtained corresponding distance L.