TYPE DISCRIMINATION DEVICE FOR OBJECT

摘要

PROBLEM TO BE SOLVED: To provide the type discrimination device of an object capable of accurately discriminating the type of the object based on the size of the object without depending on the loading state or dry/wet state of the object.SOLUTION: A type discrimination device of an object comprises: height image creation means 40 for acquiring the height image information of an object by three-dimensional image measurement; smoothing processing means 41 for smoothing the height image information acquired by the height image creation means to acquire smoothed height image information; difference processing means 42 for acquiring difference image information between the height image information and the smoothed height image information acquired by the smoothing processing means; a first primary differentiation processing means 43 for performing primary differentiation processing to the difference image information acquired by the difference processing means to calculate difference image primary differentiation information; first area processing means 44 for calculating the area of a region in which the value of the difference image primary differentiation information acquired by the first primary differentiation processing means is equal to or more than a first reference value; and first discrimination means 45 for comparing the area obtained by the first area processing means with a first discrimination value to discriminate the type of the object.