| 摘要 |
PURPOSE:To easily take out parts while considering a shape feature amount as well by calculating an area value and a position for the center of gravity from the binary image graphic of the part and calculating a maximum Pythagorean length as well. CONSTITUTION:The area value and the position for the center of gravity are calculated from the binary image graphic of a part 2 and together with them, the maximum Pythagorean length is calculated as well. First of all, an ideal maximum Pythagorean length P is calculated. When the longitudinal and lateral dimensions of the binary image graphic are defined as (y) and (x), the condition of P=(x<2>+y2)<1/2> is established. Next, a real maximum Pythagorean length P' is calculated for each part 2. On the conditions of an area value A=x.y and an aspect ratio K=x/y, the condition of P'=[A(K<2>+1)]/K is established. Next, error P-P' is calculated, it is judged that the object 2 having small error takes the posture to be easily taken out, and the objects are taken out successively from the parts 2 having small error. Thus, the easiness of take-out can be defined as the deciding factor of the take-out order. Therefore, even when the respective parts 2 are overlapped and the area value of the part 2 positioned downside is larger, for example, the part 2 can be easily taken out without being disturbed by the other part 2. |
