| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an image recognition method and a gripping device, capable of recognizing quickly and simply the shape of a work having a branch point. <P>SOLUTION: The image recognition method and the gripping device are characterized in that in the image recognition method, the work having the branch point is imaged and binarized, the lower end of the work is detected from a binarized image, a contour of the work is pursued from the lower end of the work, and a point where the direction of a contour line is suddenly changed is determined as the branch point, wherein the maximum value in the X-direction, the minimum value in the X-direction, the maximum value in the Y-direction, and the minimum value in the Y-direction are extracted from the binarized image, a square domain having them as each side is determined, endpoints belonging to the square domain are used as candidate points, and the lower end of the work is determined from the candidate points. <P>COPYRIGHT: (C)2008,JPO&INPIT |
