| 摘要 |
PURPOSE:To select an article in a specific attitude accurately. CONSTITUTION:A plurality of parts are placed on a recognition table 2 with a sample area for placing, in a specific shape, samples in the same shape as that of parts P to be recognized, light is applied to them by a lighting means 4, and then the reflection light images are picked up by an image pick-up means 5. The image picked up by the image pick-up means 5 is binarized and then a means 61 for detecting features which detects the area and direction of each part image, a means 62 for setting threshold value which sets the threshold value for the binarization so that the binary-coding area of the sample part image becomes a prescribed area value, and a means 63 for updating the threshold value which allows the sample part image to be taken at a specific period and then the means for setting the threshold value to set the threshold value again are provided. The part image whose area is within the allowable tolerance of a prescribed area value is selected out of the part images detected by the means 61 for detecting the features and then a transfer means 3 picks up parts according to the position and direction of the corresponding part and then aligns the directions to a specific position and transfers them. |
