PURPOSE: To reduce an error in image recognizing processing, and improve versatility by using a stored threshold value level as an initial value, and repeating the image recognizing processing until accurate image recognition is carried out while changing it gradually.
CONSTITUTION: In an image recognizing device 2, an image is taken in from a camera 8, and binarizing processing is carried out by a binarizing processing means 42, and picture processing is carried out by an image recognizing processing means 44. According to image data obtained by carrying out the picture processing by the means 44, judgment is made by an image recognizing judging means 46 on whether or not the image data is accurate as data to be used in detecting a part position. When it is accurate, a signal is sent to a threshold value setting means 48 from the image recognizing processing means 44 so that a threshold value level is stored as an initial value when being judged as accurate. A signal is sent to the image recognizing processing means 44 from the means 46, and the image data judged as accurate is transmitted to the other processing means. When it is not accurate, the threshold value setting means 48 sends the threshold value level to the binarizing processing means 42 while changing it gradually, and stores an accurate threshold value level, and next time, it repeats similar processing while using this threshold value level as the initial value.
MARUYAMA SHIGEAKI
KATO YASUHIRO
