| 摘要 |
<p>PURPOSE:To attain an automatic robot operation by controlling a robot after photographing an object work by a photographing means to analyze the features of the work and comparing these features with those features stored previously. CONSTITUTION:A robot controller contains a TV camera (image pickup means) 13 which photographs an object work 11 carrying on a conveyor line 12 and a picture processor 18 which processes the photographed pictures. The pictures obtained by photographing the work 11 by the camera 13 are stored to the 1st memory 19 in the processor 18 in the form of white/black binary pictures and then processed by a picture processing CPU20. Thus the features including the centroid, etc. of the work 11 are analyzed. While the 2nd memory 21 stores previously the features of various types of works. These stored features are compared with those of the work 11 for discrimination of the work type. Then data are transmitted to a robot control board 22 based on the decided type of the work. Thus a robot main body is driven and controlled.</p> |
