| 摘要 |
<p>A camera (19) picks up an image of an article to be handled, and captures image data of a mark affixed to the article. An image processing unit (66) recognizes an image of the mark, and calculates the position and the size of the mark in a screen coordinate system. An actual coordinate position calculation unit (77) calculates the position of the camera (19) in the actual coordinate system based on the calculated position and size of the mark. A deviation calculation unit (78) calculates the deviation of the current position from a target position of a fork based on the position of the camera (19). A cargo handling control unit (50) performs automatic positioning control of the fork so that the deviation becomes zero.</p> |
