| 摘要 |
PURPOSE:To detect an object correctly even if the background contains some noise element, by rotating the photoelectric transducer around the optical axis, and detecting and processing the ridge of the object from the video screen. CONSTITUTION:A rectangular parallelepiped 2 and a column 3 on a work table 1 are observed by a television camera 4, and candidate points of the horizontal ridge of the object are extracted 10 from the video signals 9 from the camera 4, and the length of the horizontal line element in the horizontal direction is inspected 11. When this length exceeds the specified minimum length necessary for detecting the object, it is rgarded that the horizontal straight line is detected,and this straight line information signal is sent into an object detecting circuit 12. In the circuit 12, based on the horizontal straight line information sent in successively, items necessary for discovering the object are inspected. When a set of straight line group is detected, it is regarded that the rectangualr parallelepiped 2 has been discovered, and the object detecting performance is terminated. |
