| 摘要 |
PURPOSE:To enhance accuracy, by calculating a position approximate to reference image data and judging an object on the basis of the picture element data at a check position spaced apart by a preset distance from the approximate position. CONSTITUTION:For example, the images of pieces 20, 21 are picked up by a visual sensation sensor 22 and stored in image memory 24 as binarized image data through an image signal converter 23 to be displayed on CRT display apparatus 36. The image data of a step part 20a is preliminarily stored in reference image data memory 31 and an image position operation part 32 reads the reference image data to search for and find out the part approximate thereto from the binarized image data to calculate the coordinates X0, Y0 of the approximate position (a). A posture check position (b), where the pipe 21 is present in a normal state, is set to a posture check position setting part 33 and a posture state check part 34 reads the picture element data at coordinates X1, Y1 spaced apart by a determined distance from the coordinates X0, Y0 and, if one level, it is discriminated that the pipe 21 is accurately inserted in the pipe 20.
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