| 摘要 |
<P>PROBLEM TO BE SOLVED: To shorten a processing time when recognizing the type and attitude of a workpiece from a camera image. Ž<P>SOLUTION: In a workpiece identification method for identifying a plurality of types of workpieces Wi to be supplied with random attitudes, to one external face F of the workpieces Wi, to one external face F of the workpiece Wi, a basic mark having orientation and different for each workpiece Wi is imparted, and to the other external face F of the workpiece Wi, a derived mark with the basic mark deformed so as to be identifiable for each external face F is imparted, and the robot is provided with: an imaging means 12 for picking up the image of the mark; and a master image storage means 42 for storing a master image M for the mark. This workpiece identification method includes: an image input stage S3 for fetching a mark image P to be picked up by the imaging means 12; an image comparison stage S4 for comparing the fetched mark image P with the master image M, and for detecting a matching level or a difference; and a determination stage S5 for determining the type and attitude of the workpiece Wi from the comparison result obtained by the image comparison stage S4. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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