| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an article position recognizing device that constantly and normally recognizes the position and orientation of an article by making a boundary between the articles clear. <P>SOLUTION: The device is provided with a CCD camera 11 photographing the article 2 on a pallet 1, an image processing device 15 recognizing the article 2 based on the image data of the article 2 photographed by the CCD camera 11, and a robot that can move the article 2 on the pallet 1 at least horizontally, and has the structure that the image processing device 15 moves the article 2 with the robot to recognize the article 2 again when the article 2 on the highest stage can not be recognized. In this structure, the article 2 can be recognized by moving the article 2 to provide a space between the article 2 and others when the article 2 on the highest stage can not be recognized with the image processing device 15. Consequently, the automatic operation of facilities can be continued without stopping the facilities by the recognition abnormality of the article 2. <P>COPYRIGHT: (C)2003,JPO |
