| 摘要 |
PURPOSE:To easily detect the angle of an object to be carried on a carrying device. CONSTITUTION:The contour line of an object is extracted as the binarized image V', and a plurality of lines L1, L2 crossing the binarized image V' are prepared in parallel to each other at appropriate space. Overlapped parts R1, R2, R3, R4 where the lines cross the image are extracted with labeling, and the position of the center of gravity and the maximum length D in X-axis or Y-axis direction according to the direction of the lines L1, L2 are obtained in each overlapped part. The point on the outer circumferential side by the distance of D/2 in X-axis or Y-axis direction from the center of gravity is judged as the outermost contour point of the object, and the gradient of either line connecting the adjacent outermost contour points is detected as the gradient of the object. The processing speed is fast because only the range of the overlapped parts is processed. |
