Title:
WORK POSITION RECOGNIZING APPARATUS
Document Type and Number:
Japanese Patent JP3482938
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a work position recognizing apparatus which enables automatic depalletization by detecting the position of work.
SOLUTION: The apparatus is provide with an area sensor to detect the height of work, a lighting device 22 to light the side of work F at the highest stage from all directions based on a height data detected by the area sensor, a CCD camera 24 to photograph the work F from above a pallet P and an image processor, which extracts the top surface (shadow part) of the work F at the highest stage from image data photographed by the CCD camera 24 to detect the contour of the work F at the highest stage. The rough position of the work F at the highest stage is judged from contour data of the work F at the highest stage for recognizing the position of the work F. With such an arrangement, the rough position of the work F at the highest state is judged from the contour data, to recognized the position of the work F thereby enabling execution of depalletization automatically.
Inventors:
Takuya Gondo
Atsushi Kurayama
Atsushi Kurayama
Application Number:
JP2000133047A
Publication Date:
January 06, 2004
Filing Date:
May 02, 2000
Export Citation:
Assignee:
Daifuku Co., Ltd.
International Classes:
B25J13/08; G01B11/24; G01B11/245; G01B11/00; G06T1/00; (IPC1-7): G01B11/00; B25J13/08; G01B11/24
Domestic Patent References:
| JP7299782A | ||||
| JP7291450A | ||||
| JP7332944A | ||||
| JP788791A |
Attorney, Agent or Firm:
Yoshihiro Morimoto
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