| 摘要 |
PROBLEM TO BE SOLVED: To provide a plate-like object transfer device and a plate-like object transfer method which precisely determines height positional information of stacked plate-like objects by the use of three-dimensional object recognition device and can reliably grasp and transfer the plate-like object by means of a robot by using the height positional information.SOLUTION: A plate-like object transfer device and a plate-like object transfer method includes a robot having such a function as to retain a plate-like object and transfer the object to a prescribed position, further includes a lighting apparatus for irradiating a surface of the plate-like object with light and furthermore includes an image recognition part for acquiring information in relation to a three-dimensional shape and position of the plate-like object. Therein, the image recognition part includes two cameras for acquiring a two-dimensional image from the oblique upper side with respect to the surface of the plate-like object and a data processing part for processing image information acquired by two cameras and the robot retains the plate-like object based on information in relation to the plate-like object of the uppermost layer calculated from the data processing part.SELECTED DRAWING: Figure 3 |
