Detection device and detection method

Abstract

The photographing control section (18) of the detection device (10) controls the photographing direction of the three-dimensional camera (14) in a manner that one end of the workpiece (24) enters the field of view of the three-dimensional camera (14), and then controls the photographing direction of the three-dimensional camera (14) in a manner that the other end of the workpiece (24) enters the field of view of the three-dimensional camera (14), the coordinate acquisition section (16) acquires the position coordinates of the one end based on the three-dimensional information of the one end acquired by the three-dimensional camera (14), and acquires the position coordinates of the other end based on the three-dimensional information of the other end acquired by the three-dimensional camera (14).

Description

Technical Field

[0001] This invention relates to a detection device and a detection method for detecting the position of long strip workpieces. Background Technology

[0002] Previously, detection devices and methods capable of detecting the positions of both ends of a long workpiece have been disclosed (e.g., Japanese Patent Application Publication No. 63-72506). Summary of the Invention

[0003] To detect the positions of both ends of a long workpiece, the aforementioned detection sensors need to be moved to the vicinity of one end and the other end of the workpiece, respectively. Therefore, detecting the positions of both ends of the long workpiece takes time.

[0004] The present invention was made to solve the above-mentioned problems, and its purpose is to provide a detection device and detection method that can shorten the time required to detect the positions of both ends of a long workpiece.

[0005] The first aspect of the present invention is a detection device for detecting the position of a long workpiece. This detection device includes: a three-dimensional camera capable of acquiring three-dimensional information and changing its imaging direction; an imaging control unit controlling the imaging direction of the three-dimensional camera; and a coordinate acquisition unit acquiring the position coordinates of the long workpiece based on the three-dimensional information acquired by the three-dimensional camera. The imaging control unit changes the imaging direction of the three-dimensional camera so that one end of the long workpiece enters the field of view, and then changes the imaging direction of the three-dimensional camera so that the other end of the long workpiece enters the field of view. When changing the imaging direction of the three-dimensional camera so that one end enters the field of view, the coordinate acquisition unit acquires the position coordinates of that end based on the three-dimensional information acquired by the three-dimensional camera; and when changing the imaging direction of the three-dimensional camera so that the other end enters the field of view, the coordinate acquisition unit acquires the position coordinates of that other end based on the three-dimensional information acquired by the three-dimensional camera.

[0006] The second aspect of the present invention is a detection method for detecting the position of a long workpiece based on three-dimensional information acquired by a three-dimensional camera. This detection method includes: a photography step, in which the direction of the three-dimensional camera is changed to acquire the three-dimensional information by having one end of the long workpiece enter the field of view of the three-dimensional camera, and then the direction of the three-dimensional camera is changed to acquire the three-dimensional information by having the other end of the long workpiece enter the field of view of the three-dimensional camera; and a coordinate acquisition step, in which the position coordinates of one end are acquired based on the three-dimensional information of the one end acquired by the three-dimensional camera when the direction of the three-dimensional camera is changed to have one end enter the field of view of the three-dimensional camera, and the position coordinates of the other end are acquired based on the three-dimensional information of the other end acquired by the three-dimensional camera when the direction of the three-dimensional camera is changed to have the other end enter the field of view of the three-dimensional camera.

[0007] According to the present invention, the time required to detect the positions of both ends of a long workpiece can be shortened. Attached Figure Description

[0008] Figure 1 This is a block diagram of a position detection device.

[0009] Figure 2A-2C This is a diagram representing a multi-joint robot.

[0010] Figure 3 This is a diagram illustrating the method for obtaining the position coordinates of a workpiece.

[0011] Figure 4A and Figure 4B This is a diagram illustrating the method for setting the workpiece coordinate system.

[0012] Figure 5 This is a diagram illustrating the method for obtaining the position coordinates of a workpiece.

[0013] Figure 6 This is a diagram showing examples of other shapes of the workpiece.

[0014] Figure 7 This is a diagram illustrating the method for obtaining the position coordinates of a workpiece.

[0015] Figure 8 This is a flowchart illustrating the process of workpiece position detection in a position detection device.

[0016] Figure 9 This is a diagram representing a robot.

[0017] Figures 10A to 10D It is a diagram showing the relationship between the field of view of the 2D camera and the position of the workpiece.

[0018] Figure 11A and Figure 11B This is a diagram showing the range of motion of a robot's arm. Detailed Implementation

[0019] [First Implementation Method]

[0020] [Composition of the coordinate detection device]

[0021] Figure 1 This is a block diagram of the position detection device 10. Figures 2A to 2C This is a diagram showing a multi-joint robot 12. The position detection device 10 includes a 3D camera 14, a coordinate acquisition unit 16, and a photography control unit 18. The position detection device 10 corresponds to the detection device of the present invention.

[0022] The 3D camera 14 is, for example, a camera having a projection unit that projects a pattern onto a subject and an imaging unit that captures images of the subject in the state of having the pattern projected onto it. Figures 2A to 2C As shown, the 3D camera 14 acquires 3D information of the workpiece 24 placed on the worktable 20. Alternatively, the 3D camera 14 can be a stereo camera with multiple camera units. The 3D camera 14 is fixed to the arm 22 of the multi-joint robot 12 (hereinafter referred to as robot 12). The robot 12 changes the position and imaging direction of the 3D camera 14. Furthermore, any device capable of changing the position and imaging direction of the 3D camera 14 is not limited to the robot 12. Alternatively, the 3D camera 14 can be rotatably mounted on the arm 22 of the robot 12 via a mechanism provided on the 3D camera 14. In this case, the position of the 3D camera 14 is changed by the robot 12, and the imaging direction of the 3D camera 14 is changed by the mechanism provided on the 3D camera 14.

[0023] The coordinate acquisition unit 16 acquires the position coordinates of the workpiece 24 in three-dimensional space based on the three-dimensional information of the workpiece 24 acquired by the three-dimensional camera 14. The acquisition of position coordinates will be described in detail later.

[0024] The camera control unit 18 controls the position and camera orientation of the 3D camera 14. The camera control unit 18 outputs command values ​​regarding the position and camera orientation of the 3D camera 14 to the robot control device 26. The robot control device 26 controls the robot 12 according to the command values ​​input from the camera control unit 18, changing the position and camera orientation of the 3D camera 14.

[0025] The position detection device 10 includes a computer with a processing unit (not shown) and memory. The processing unit includes a processor such as a central processing unit (CPU) or a microprocessor unit (MPU), and memory consisting of non-transitory tangible computer-readable storage media such as ROM and RAM. The memory is a non-transitory tangible computer-readable storage medium such as a hard disk or a solid-state drive (SSD). The coordinate acquisition unit 16 and the photography control unit 18 are implemented, for example, by the processing unit executing a program stored in the memory.

[0026] [Regarding obtaining the workpiece's position coordinates]

[0027] The coordinate acquisition unit 16 acquires the position coordinates of the workpiece 24 in three-dimensional space based on the three-dimensional information acquired by the three-dimensional camera 14, the position information of the three-dimensional camera 14, and the imaging direction information of the three-dimensional camera 14. The position information and imaging direction information of the three-dimensional camera 14 can be obtained from the position command value and imaging direction command value of the three-dimensional camera 14 output by the imaging control unit 18 to the robot control device 26. The position information and imaging direction information of the three-dimensional camera 14 can also be obtained from the position information of the tip of the arm 22 of the robot 12 and the posture information of the robot 12. The position information of the tip of the arm 22 of the robot 12 and the posture information of the robot 12 are obtained from the robot control device 26.

[0028] The position detection device 10 of this embodiment can detect the positions of both ends of the elongated workpiece 24. Furthermore, the position detection device 10 can detect the midpoint of the elongated workpiece 24 along its axial direction. The workpiece 24 corresponds to the elongated workpiece of this invention.

[0029] Figure 3 This diagram illustrates the method for acquiring the position coordinates of workpiece 24. The camera control unit 18 controls the position of the 3D camera 14 so that it is positioned above the vertical (gravity) direction of workpiece 24. The camera control unit 18 also controls the camera to be positioned below the vertical direction of the 3D camera 14. The coordinate acquisition unit 16 sets the workpiece coordinate system based on the 3D information of workpiece 24 acquired by the 3D camera 14, the position information of the 3D camera 14, and the information of the camera direction of the 3D camera 14.

[0030] Figure 4A and Figure 4B This is a diagram illustrating the method for setting the workpiece coordinate system. Figure 4A This is a top-view perspective view of workpiece 24. Figure 4B This is a side-view perspective of workpiece 24.

[0031] like Figure 4A and Figure 4B As shown, the workpiece coordinate system sets the direction of extension of workpiece 24 as the Y-axis direction, and the left-hand side when viewed from the robot 12 or the direction away from the robot 12 as the front side. The origin of the Y-axis direction is set as the center of workpiece 24 in the Y-axis direction within the field of view of the 3D camera 14. The origin of the Y-axis direction can be set at any point on the Y-axis within the field of view of the 3D camera 14.

[0032] like Figure 4A As shown, in the workpiece coordinate system, on the horizontal plane (a plane orthogonal to the vertical direction), the direction orthogonal to the Y-axis is set as the X-axis direction, and the direction from which the robot 12 leaves or the right-hand side when viewed from the side of the robot 12 is set as the front side. The origin of the X-axis direction is set at the position where the X-axis and Y-axis directions intersect, which is the origin of the Y-axis direction.

[0033] like Figure 4A and Figure 4B As shown, the direction of the workpiece coordinate system that is orthogonal to the X-axis and Y-axis is set as the Z-axis direction, and the upper side is set as the positive side.

[0034] Figure 5 This diagram illustrates the method for acquiring the position coordinates of workpiece 24. When a workpiece coordinate system is set, the camera control unit 18 controls the camera direction of the 3D camera 14 so that one end of workpiece 24 on the negative side of the Y-axis direction enters the field of view of the 3D camera 14. The camera control unit 18 controls the camera direction of the 3D camera 14 based on the 3D information acquired by the 3D camera 14. As a result, the 3D camera 14 is able to acquire the 3D information of the negative end of workpiece 24 on the Y-axis direction.

[0035] The coordinate acquisition unit 16 acquires the position coordinates of the negative Y-axis end of the workpiece 24 in the workpiece coordinate system based on the three-dimensional information of the negative Y-axis end of the workpiece 24 acquired by the three-dimensional camera 14, the position information of the three-dimensional camera 14, and the imaging direction information of the three-dimensional camera 14. For example, as Figure 5 As shown, focusing on the Y-axis component value of the position coordinates of the negative end of the Y-axis direction of the workpiece 24, the smallest Y-axis component value Y1 is stored as Ymin. Additionally, Figure 5 The workpiece 24 shown is cylindrical, but it can also be other shapes. Figure 6 This is a diagram showing examples of other shapes for workpiece 24. (The diagram is incomplete and requires further context.) Figure 6 Similarly, in the case of workpiece 24 with the shape shown, the smallest Y-axis component value Y3 is stored as Ymin.

[0036] Figure 7This diagram illustrates the method for obtaining the position coordinates of workpiece 24. After controlling the imaging direction of the 3D camera 14 so that one end of workpiece 24 enters the field of view of the 3D camera 14, the imaging control unit 18 controls the imaging direction of the 3D camera 14 so that the other end of workpiece 24 on the positive side in the Y-axis direction enters the field of view of the 3D camera 14. The imaging control unit 18 controls the imaging direction of the 3D camera 14 based on the 3D information obtained by the 3D camera 14. As a result, the 3D camera 14 is able to acquire the 3D information of the positive end of workpiece 24 on the Y-axis direction.

[0037] The coordinate acquisition unit 16 acquires the position coordinates of the positive end of the workpiece 24 in the Y-axis direction in the workpiece coordinate system based on the three-dimensional information of the positive end of the workpiece 24 in the Y-axis direction acquired by the three-dimensional camera 14, the position information of the three-dimensional camera 14, and the imaging direction information of the three-dimensional camera 14. For example, as Figure 7 As shown, focusing on the Y-axis component value of the position coordinate of the positive side end of the Y-axis direction of the workpiece 24, the largest Y-axis component value Y1' is stored as Ymax.

[0038] The coordinate acquisition unit 16 calculates the position coordinates of the midpoint of the workpiece 24 in the Y-axis direction in the workpiece coordinate system based on the minimum Y-axis component value Ymin and the maximum Y-axis component value Ymax of the workpiece 24. The position coordinates (Xc, Yc, Zc) of the midpoint of the workpiece 24 are obtained as follows.

[0039] (Xc, Yc, Zc)=(0, (Ymax+Ymin) / 2, 0)

[0040] The coordinate acquisition unit 16 can also replace the position coordinates of the midpoint of the workpiece 24 in the Y-axis direction in the workpiece coordinate system, and calculate the coordinates of the inner sub-points other than the midpoint of the workpiece 24 in the Y-axis direction in the workpiece coordinate system.

[0041] The coordinate acquisition unit 16 transforms the position coordinates (Xc, Yc, Zc) of the midpoint of the workpiece 24 in the workpiece coordinate system into position coordinates in the user coordinate system used for the control of the robot 12. The workpiece coordinate system corresponds to the first coordinate system of the present invention, and the user coordinate system corresponds to the second coordinate system of the present invention.

[0042] [Workpiece Position Detection Processing]

[0043] Figure 8 This is a flowchart illustrating the workpiece position detection process performed in the position detection device 10. The workpiece position detection process is executed each time a new workpiece 24 is placed on the worktable 20.

[0044] In step S1, the photography control unit 18 controls the 3D camera 14 to be positioned above the workpiece 24 in the vertical direction, and then moves to step S2.

[0045] In step S2, the photography control unit 18 controls the 3D camera 14 so that its photography direction is oriented downward in the vertical direction, and then proceeds to step S3.

[0046] In step S3, the coordinate acquisition unit 16 sets the workpiece coordinate system based on the three-dimensional information of the workpiece 24 acquired by the three-dimensional camera 14, the position information of the three-dimensional camera 14, and the shooting direction information of the three-dimensional camera 14, and then moves to step S4.

[0047] In step S4, the coordinate acquisition unit 16 determines whether both ends of the workpiece 24 are within the field of view of the 3D camera 14 based on the 3D information acquired by the 3D camera 14. If both ends of the workpiece 24 are within the field of view of the 3D camera 14 (step S4: Yes), the process proceeds to step S7; if at least one end of the workpiece 24 is not within the field of view of the 3D camera 14 (step S4: No), the process proceeds to step S5.

[0048] In step S5, the photography control unit 18 controls the photography direction of the 3D camera 14 so that the negative end of the workpiece 24 in the Y-axis direction (one end of the workpiece 24) enters the field of view of the 3D camera 14, and then proceeds to step S6. The photography control unit 18 controls the photography direction of the 3D camera 14 based on the 3D information acquired by the 3D camera 14.

[0049] In step S6, the photography control unit 18 controls the photography direction of the 3D camera 14 so that the positive end of the workpiece 24 (the other end of the workpiece 24) in the Y-axis direction enters the field of view of the 3D camera 14, and then proceeds to step S7. The photography control unit 18 controls the photography direction of the 3D camera 14 based on the 3D information acquired by the 3D camera 14.

[0050] In step S7, the coordinate acquisition unit 16 acquires the Y-axis component value Ymin as the position information of the negative end of the Y-axis direction of the workpiece 24 (one end of the workpiece 24), and then proceeds to step S8.

[0051] In step S8, the coordinate acquisition unit 16 acquires the Y-axis component value Ymax as the position information of the positive end of the Y-axis direction of the workpiece 24 (the other end of the workpiece 24), and then proceeds to step S9.

[0052] In step S9, the coordinate acquisition unit 16 calculates the position coordinates of the midpoint of the workpiece 24 in the workpiece coordinate system based on the Y-axis component values ​​Ymin and Ymax, and then transfers to step S10.

[0053] In step S10, the coordinate acquisition unit 16 transforms the position coordinates of the midpoint of the workpiece 24 in the workpiece coordinate system into the position coordinates in the user coordinate system, and ends the workpiece position detection process.

[0054] [Effects]

[0055] In this embodiment, the position detection device 10 uses the three-dimensional information of the workpiece 24 acquired by the three-dimensional camera 14 to detect the positions of both ends of the workpiece 24. The position detection device 10 can also use a two-dimensional camera 28. Figure 9 The two-dimensional information of the workpiece 24 is obtained to detect the positions of both ends of the workpiece 24. In this case, the two-dimensional camera 28 needs to be set up so that the shooting direction of the two-dimensional camera 28 is orthogonal to the length direction of the workpiece 24.

[0056] Figure 9 This is a diagram representing robot 12. The two-dimensional camera 28 is mounted on the arm 22 of robot 12 in the same manner as the three-dimensional camera 14 in this embodiment. The position and shooting direction of the two-dimensional camera 28 can be changed by robot 12.

[0057] The position of the 2D camera 28 is as follows Figure 9 As shown, the camera moves to the upper vertical direction of the workpiece 24, and the posture of the 2D camera 28 is controlled so that the imaging direction is lower vertically. In addition, the workpiece 24 is placed on the worktable 20 with its length direction parallel to the horizontal direction (the direction orthogonal to the vertical direction).

[0058] Figures 10A to 10D This is a diagram showing the relationship between the field of view of the 2D camera 28 and the position of the workpiece 24. For example, as shown... Figure 10A As shown, when one end of the workpiece 24 is within the field of view of the 2D camera 28 while the other end is outside the field of view, the 2D camera 28 cannot obtain 2D information about the other end of the workpiece 24. Additionally, as... Figure 10B As shown, when both ends of the workpiece 24 are outside the field of view of the two-dimensional camera 28, the two-dimensional camera 28 cannot obtain two-dimensional information of the two ends of the workpiece 24.

[0059] In order to obtain two-dimensional information about both ends of the workpiece 24, the two-dimensional camera 28 needs to be separated from the workpiece 24 by a distance. Therefore, as... Figure 10C As shown, both ends of the workpiece 24 are within the field of view of the 2D camera 28. Alternatively, it may be necessary to move the 2D camera 28 so that it is positioned above each end of the workpiece 24 in the vertical direction. Thus, as... Figure 10D As shown, one end of the workpiece 24 and the other end are located within the field of view of the two-dimensional camera 28.

[0060] Figure 11Aand Figure 11B This is a diagram showing the range of motion of the arm 22 of robot 12. (See diagram for example.) Figure 10C As shown, when the two-dimensional camera 28 is moved away from the workpiece 24 in order to bring both ends of the workpiece 24 into the field of view of the two-dimensional camera 28, such as... Figure 11A As shown, the position of the 2D camera 28 sometimes falls outside the range of motion of the robot 12's arm 22. Additionally, as... Figure 10D As shown, in order to place one end and the other end of the workpiece 24 within the field of view of the two-dimensional camera 28, the two-dimensional camera 28 is moved to a position above each end of the workpiece 24 in the vertical direction. Figure 11B As shown, the position of the 2D camera 28 is sometimes outside the range of motion of the robot 12's arm 22.

[0061] Thus, it remains to be seen whether the two-dimensional information of the workpiece 24 obtained by the two-dimensional camera 28 can detect whether the positions of the two ends of the workpiece 24 are affected by the range of motion of the robot arm 22. In addition, even if the positions of the two ends of the workpiece 24 can be detected by moving the two-dimensional camera 28 within the range of motion of the robot arm 22, there is still a problem that the detection of the positions of the two ends of the workpiece 24 takes a long time because the movement of the two-dimensional camera 28 takes time.

[0062] Therefore, in the position detection device 10 of this embodiment, the position of the workpiece 24 is detected using the three-dimensional information of the workpiece 24 acquired by the three-dimensional camera 14. The camera control unit 18 controls the camera direction of the three-dimensional camera 14 so that one end of the workpiece 24 enters the field of view of the three-dimensional camera 14, and then controls the camera direction of the three-dimensional camera 14 so that the other end of the workpiece 24 enters the field of view of the three-dimensional camera 14. The coordinate acquisition unit 16 acquires the position coordinates of one end of the workpiece 24 based on the three-dimensional information of one end of the workpiece 24 acquired by the three-dimensional camera 14, and acquires the position coordinates of the other end of the workpiece 24 based on the three-dimensional information of the other end of the workpiece 24 acquired by the three-dimensional camera 14. Thus, the position detection device 10 can detect the positions of both ends of the elongated workpiece 24. Furthermore, the position detection device 10 can detect the positions of both ends of the workpiece 24 in a short time.

[0063] In the coordinate acquisition unit 16 of the position detection device 10 of this embodiment, the position coordinates of the midpoint of the workpiece 24 in the length direction are calculated based on the position coordinates of one end of the workpiece 24 and the position coordinates of the other end of the workpiece 24. Therefore, the position detection device 10 is able to detect the position of the midpoint of the long strip workpiece 24 in the length direction.

[0064] Furthermore, in the coordinate acquisition unit 16 of the position detection device 10 of this embodiment, the position coordinates of the midpoint of the workpiece 24 along its length direction in the workpiece coordinate system with the length direction of the workpiece 24 as the Y-axis direction are calculated, and the calculated position coordinates of the midpoint are transformed into position coordinates in the user coordinate system used for the control of the robot 12. Thus, the position detection device 10 is able to detect the position of the midpoint of the workpiece 24 along its length direction in the user coordinate system.

[0065] [Technical Ideas Derived from Implementation Methods]

[0066] A detection device (10) is used to detect the position of a long workpiece (24). The detection device (10) includes: a three-dimensional camera (14) capable of acquiring three-dimensional information and changing the shooting direction; a shooting control unit (16) controlling the shooting direction of the three-dimensional camera; and a coordinate acquisition unit (16) acquiring the position coordinates of the long workpiece based on the three-dimensional information acquired by the three-dimensional camera. The shooting control unit changes the shooting direction of the three-dimensional camera so that one end of the long workpiece enters the field of view of the three-dimensional camera, and then changes the shooting direction of the three-dimensional camera so that the other end of the long workpiece enters the field of view of the three-dimensional camera. When the coordinate acquisition unit changes the shooting direction of the three-dimensional camera so that one end enters the field of view of the three-dimensional camera, it acquires the position coordinates of the one end based on the three-dimensional information acquired by the three-dimensional camera. When the shooting direction of the three-dimensional camera changes so that the other end enters the field of view of the three-dimensional camera, it acquires the position coordinates of the other end based on the three-dimensional information acquired by the three-dimensional camera.

[0067] In the above-mentioned detection device, the coordinate acquisition unit may calculate the position coordinates of the inner division points in the length direction of the long workpiece based on the position coordinates of one end and the position coordinates of the other end.

[0068] In the above-mentioned detection device, the coordinate acquisition unit may calculate the position coordinates of the midpoint of the long strip workpiece in the length direction.

[0069] In the above-mentioned detection device, the long workpiece may be a workpiece held by a robot (12), and the coordinate acquisition unit calculates the position coordinates of the inner sub-points in a first coordinate system with at least the length direction of the long workpiece as the coordinate axis direction, and transforms the position coordinates of the inner sub-points in the first coordinate system into position coordinates in a second coordinate system for the control of the robot.

[0070] In the above-mentioned detection device, the three-dimensional camera may also be fixed on the robot's arm (22) or rotatably held on the robot's arm (22) to change the direction of the photography.

[0071] A detection method for detecting the position of a long workpiece based on three-dimensional information acquired by a three-dimensional camera. The method includes: a photography step, where, after acquiring the three-dimensional information by changing the direction of the three-dimensional camera's photography to allow one end of the long workpiece to enter the field of view, the direction of the three-dimensional camera's photography is changed again to allow the other end of the long workpiece to enter the field of view, thereby acquiring the three-dimensional information; and a coordinate acquisition step, where, when changing the direction of the three-dimensional camera's photography to allow one end to enter the field of view, the position coordinates of that end are acquired based on the three-dimensional information acquired by the three-dimensional camera, and when changing the direction of the three-dimensional camera's photography to allow the other end to enter the field of view, the position coordinates of the other end are acquired based on the three-dimensional information acquired by the three-dimensional camera.

[0072] The detection method described above may also include an inner division point acquisition step, in which the position coordinates of the inner division points along the length direction of the long workpiece are calculated based on the position coordinates of one end and the position coordinates of the other end obtained in the coordinate acquisition step.

[0073] In the above detection method, the position coordinates of the midpoint in the length direction of the long workpiece can also be calculated in the inner dividing point acquisition step.

[0074] In the above detection method, the long workpiece can also be a workpiece held by a robot. In the step of obtaining the inner division point, the position coordinates of the inner division point in a first coordinate system with at least the length direction of the long workpiece as the coordinate axis direction are calculated, and the position coordinates of the inner division point in the first coordinate system are transformed into position coordinates in a second coordinate system for the control of the robot.

Claims

1. A detection device (10) for detecting the position of a long strip workpiece (24), characterized in that, have: A 3D camera (14) is capable of acquiring 3D information and changing the shooting direction; The photography control unit (18) controls the photography direction of the three-dimensional camera; and The coordinate acquisition unit (16) acquires the position coordinates of the elongated workpiece based on the three-dimensional information obtained by the three-dimensional camera. The photography control unit positions the 3D camera above the vertical direction of the elongated workpiece, while simultaneously setting the camera's shooting direction below the vertical direction. Then, after changing the camera's shooting direction so that one end of the elongated workpiece enters the camera's field of view, it changes the camera's shooting direction again so that the other end of the elongated workpiece enters the camera's field of view. The coordinate acquisition unit sets up a first coordinate system with the length direction of the long workpiece as the coordinate axis based on the three-dimensional information of the long workpiece acquired by the three-dimensional camera when the camera's shooting direction is set to the vertical downward direction, the position information of the three-dimensional camera, and the shooting direction information of the three-dimensional camera. The coordinate acquisition unit obtains the position coordinates of one end in the first coordinate system based on the three-dimensional information of one end obtained by the three-dimensional camera when the camera direction of the three-dimensional camera is changed so that one end enters the field of view of the three-dimensional camera, and obtains the position coordinates of the other end in the first coordinate system based on the three-dimensional information of the other end obtained by the three-dimensional camera when the camera direction of the three-dimensional camera is changed so that the other end enters the field of view of the three-dimensional camera.

2. The detection device according to claim 1, characterized in that, The coordinate acquisition unit calculates the position coordinates of the inner division points along the length direction of the long workpiece in the first coordinate system based on the position coordinates of one end and the position coordinates of the other end.

3. The detection device according to claim 2, characterized in that, The coordinate acquisition unit calculates the position coordinates of the midpoint of the long strip workpiece in the length direction in the first coordinate system.

4. The detection device according to claim 2 or 3, characterized in that, The long workpiece is a workpiece held by a robot (12). The coordinate acquisition unit calculates the position coordinates of the inner sub-points in the first coordinate system and transforms the position coordinates of the inner sub-points in the first coordinate system into position coordinates in a second coordinate system used for the control of the robot.

5. The detection device according to any one of claims 1 to 3, characterized in that, The 3D camera is fixed to the robot's arm (22) or can be rotatably held on the robot's arm (22) to change the shooting direction.

6. A method for detecting the position of a long workpiece based on three-dimensional information acquired by a three-dimensional camera, characterized in that, include: The photography steps involve setting the position of the 3D camera above the vertical direction of the long workpiece, and simultaneously setting the photography direction of the 3D camera to the lower vertical direction. Then, after obtaining the 3D information by changing the photography direction of the 3D camera so that one end of the long workpiece enters the field of view of the 3D camera, the photography direction of the 3D camera is changed so that the other end of the long workpiece enters the field of view of the 3D camera to obtain the 3D information. as well as The coordinate acquisition step involves establishing a first coordinate system with the length direction of the long workpiece as the coordinate axis, based on the 3D information of the long workpiece acquired by the 3D camera when its shooting direction is set to the vertical downward direction, the position information of the 3D camera, and the shooting direction information of the 3D camera. The position coordinates of one end in the first coordinate system are obtained based on the 3D information of one end acquired by the 3D camera when its shooting direction is changed so that one end enters the field of view of the 3D camera. Similarly, the position coordinates of the other end in the first coordinate system are obtained based on the 3D information of the other end acquired by the 3D camera when its shooting direction is changed so that the other end enters the field of view of the 3D camera.

7. The detection method according to claim 6, characterized in that, The method includes an inner division point acquisition step, which calculates the position coordinates of the inner division points of the long workpiece in the length direction in the first coordinate system based on the position coordinates of one end and the position coordinates of the other end obtained in the coordinate acquisition step.

8. The detection method according to claim 7, characterized in that, The step of obtaining the inner dividing point calculates the position coordinates of the midpoint of the long strip workpiece in the length direction in the first coordinate system.

9. The detection method according to claim 7 or 8, characterized in that, The long workpiece is a workpiece held by a robot. In the step of obtaining the inner sub-point, the position coordinates of the inner sub-point in the first coordinate system are calculated, and the position coordinates of the inner sub-point in the first coordinate system are transformed into position coordinates in the second coordinate system used for the control of the robot.

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