| 摘要 |
<P>PROBLEM TO BE SOLVED: To reduce processing time when recognizing the type and attitude of a workpiece from a camera image. Ž<P>SOLUTION: An identifiable mark C having directions for each outer surface FA is given to a workpiece Wi. A robot 10 is provided with: an imaging means 12 for capturing the images of the mark C and the workpiece Wi; a first master image storage means 42 for storing a mark master image M obtained by capturing the image of the mark C; and a second master image storage means 43 for storing a workpiece master image N of each attitude of the workpiece Wi obtained by capturing the image of the workpiece Wi. The workpiece identifying method includes: an image input process S3 for fetching the image; a first image comparison process S4 for comparing the mark image P with the mark master image M; an attitude determination process S5 for determining the attitude of the workpiece Wi from the result; a second image comparison process S6 for comparing the workpiece master image N corresponding to the attitude of the determination result with the workpiece image R; and a type determination process S7 for determining the type of the workpiece Wi from the result. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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