| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a cargo collapse detection method and device, for detecting cargo collapse generated during automatic transfer of the article by a picking robot, and also detecting cargo collapse generated after transfer work completion. <P>SOLUTION: (a) An article group loaded on a pallet 2 before and after the transfer is imaged from above at every transfer of the individual article 1, an image 1 before the transfer of the article 1 and an image 2 after the transfer are acquired, (b) the image 1 and the image 2 are compared, and the generation of the cargo collapse is decided on the basis of a change degree of an article area except an area wherein the transferred article is present. <P>COPYRIGHT: (C)2007,JPO&INPIT |
