Device and method for detecting the position and orientation of a workpiece, device and method for marking a feature on a workpiece, and computer program

Abstract

There were cases where, when a workpiece is detected that has a feature serving as a reference for an orientation, the orientation of the workpiece cannot be accurately detected. A device 80 for detecting the position and orientation of a workpiece 100, 120 comprises: a position detection unit 84, which detects the position and orientation by comparing a workpiece model 100M, 120M, which models the workpiece 100, 120 and in which a feature model area FTe, FTe corresponding to a feature FT is characterized, with shape data SDi for the workpiece 100, 120, which was detected by a shape recognition sensor 14; and a feature evaluation unit 88, which, based on the data set Δgr; The form data SDi, which overlaps the feature model area FTe, FTe', which is marked in the workpiece model 100M, 120M, which was compared with the form data SDi, is evaluated to determine whether the feature is included in the form data SDi.

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