Title:
WORK RECOGNIZING METHOD BY IMAGE PROCESSING
Document Type and Number:
Japanese Patent JPS6478103
Kind Code:
A
Abstract:
PURPOSE:To shorten the time required for a movement of a camera and an image processing by bringing the whole prescribed range to a image pickup and deciding whether a work exists or not at every split part, and subsequently, executing a split recognition for recognizing the work with regard to the split part in which the work exists. CONSTITUTION:By an instruction of a sequencer 45, a microcomputer 44 operates a loader 6 so as to move a camera 41 to the whole recognition point of a pallet. Subsequently, the sequencer 45 allows an image processor 42 to execute the whole recognition in the pallet. The whole recognition divides a variable density image from the camera 41 into plural parts, and decides whether a work exists or not with regard to each part. Next, the sequencer 45 operates a loader 6 so as to move the camera 41 to a split recognition point of the split part where the work exists. The split recognition recognizes the work from the direction and a position of a border line of a variable density image of the split part. Thereafter, the sequencer 45 gives an instruction to the microcomputer 44, moves a hand 13 to the upper part of the position of the work, allows the hand 13 to execute a holding operation of the work, when a photosensor 38 has detected the work, moves the hand 13 to the upper part of a conveyor, and allows it to take down the work.
Inventors:
HORII YOSHIKAZU
Application Number:
JP23368187A
Publication Date:
March 23, 1989
Filing Date:
September 19, 1987
Export Citation:
Assignee:
NISSAN MOTOR
International Classes:
B25J19/04; G01B11/00; G06T7/00; (IPC1-7): B25J19/04; G01B11/00; G06F15/70
Attorney, Agent or Firm:
Akihide Sugimura (1 outside)