| 摘要 |
PURPOSE:To enable accurate recognition of the position of a desired portion of a part, by forming a plurality of recognition areas within a part position recognition range while paths entering into an image input unit are arranged to select any of the light paths alternatively according to recognition areas. CONSTITUTION:Light directed from a lighting apparatus 13 is made incident upon a scattered reflection lighting body 12 to cause a scattered reflection thereof and the resulting scattered lights are made to irradiate a part 3. Out of the image of the part 3, a portion corresponding to any of recognition areas (A), (B), (C), (D) and (E) selected with a shutter 20 is inputted into an image input unit 11 through any of light paths (a), (b), (c), (d) and (e) therefor to recognize the position in the recognition area of a desired portion of the part 3. This enables identification of the absolute position of a desired portion of the part 3 from the position of the recognition area previously known. When the image of the part 3 covers a plurality of recognition area of part 3 while the position and the attitude of the part 3 are not identified unless the position of portions located in the plurality of recognition areas is recognized, the shutter 20 may be switched to recognized positions of the portions sequentially. |
