| 摘要 |
PROBLEM TO BE SOLVED: To provide a transfer device capable of accurately detecting a state of a workpiece and particularly detecting a position and a state of each workpiece in short time if a plurality of workpieces are present within a field of view of imaging means.SOLUTION: A transfer device picks up a reflected illumination image after picking up a transmitted illumination image of a workpiece (W), detects a position of the workpiece (W) on the basis of the transmitted illumination image, and limits a power matching target range of the reflected illumination image on the basis of the detected position of the workpiece (W), conducts the pattern matching within the limited range, detects a state of the workpiece (W) on the basis of a result of the pattern matching, and transfers the workpiece (W) in accordance with the detected position and state of the workpiece (W). |
