To provide an attitude recognition device of a three-dimensional part and an attitude recognition method therefor allowing a robot hand to grip an object part easily from among parts loaded in bulk on a part tray.
An image of grip attitude when the object part and a robot camera oppose mutually and properly and master images per inclination when it is inclined by 10°, 5°, and 2.5° for the grip attitude are prepared in advance. Matching processing is performed among the master images and the attitude of the object part to determine the direction of moving of the robot camera based on the results, and the robot camera is sequentially moved in the direction in which the part and the robot camera oppose mutually and properly. This processing is repeatedly performed per inclination of the master images to bring the attitude of the part close to a position where the part opposes to the robot camera properly stepwise, and the robot hand is securely led to a position where it can grip the part to grip the object part from among the parts loaded in bulk easily.
MORI YOSHIHIRO
MATSUOKA HIROSHI
Next Patent: COMPUTER SYSTEM RECOGNIZING GESTURE, WALKING ROBOT, AND METHOD