| 摘要 |
PURPOSE:To provide a part position recognition method and a device capable of recognizing the position of a part accurately from its image data even if the data contain disturbances or the like. CONSTITUTION:The image of a square part is picked up by a television camera (S1). The image data are sent to an image processing device, and the candidate positions of the specific points (four corners) of the part are obtained through a template matching method (S2 to S4). Only the combined candidate positions conforming to a previously stored prescribed positional relation are selected out of all the candidate positions (S5). The center position and turning angle of the part are obtained by operation basing on the coordinates of the selected positions (S6). By this setup, Even if wrong candidate positions are mixed due to turbulences or the like they are removed, since they deviate from the mutual positional relation of the specific points of the part, and the position of the part is obtained from only the candidate positions corresponding to the specific points of the part. |
