| 摘要 |
PROBLEM TO BE SOLVED: To determine the position and type of an article located at an arbitrary position within the field of view of a camera by disposing a pair of cameras at different positions in order to pick up the image of a pattern. SOLUTION: The article identification system 2 is arranged with a pair of cameras 3, 4 at different positions and stored with camera parameters indicative of the position and orientation thereof. When the image of an object identification pattern 01 (01-1 -01-3 ) provided in the vicinity of a fork insertion hole 6 of an object, e.g. a pallet 05, is picked up by means of the cameras 3, 4, position of the pattern 01, thereby determining the position of article based on the intersection of lines of sight P1 , P2 from the cameras 3, 4. Consequently, the position of an article located at any position can be detected. Furthermore, the type of article can be determined by correlating a pattern 01 being picked up with a reference pattern thereby determining the type of pattern 01. |
