| 摘要 |
<p>PROBLEM TO BE SOLVED: To determine whether work is present in a container accurately and easily when the work is picked up from the container in a manner other than ones that count out the work and use an image recognizing process on the work by an image processor. SOLUTION: As long as a work recognizing process by an image processor determines that work is present, it is picked up in S2 to S5. If no work is judged to be in a container, it is subjected to at least one of rocking, inclination and internal agitation in S6 and the work recognizing process is repeated anew until a counter is incremented over n in S7 and S8. The work recognizing process by the image processor includes a comparison between container bottom images, and a registration of the whole bottom as an image recognizing model or pattern.</p> |
