Work recognition method and random picking method

摘要

PROBLEM TO BE SOLVED: To provide a workpiece recognition method which can quickly recognize a workpiece with high accuracy.SOLUTION: A workpiece recognition method includes: an image acquisition step for acquiring plane images and distance images of bulked workpieces (step S1); a height detection step for detecting the height of a workpiece located at a highest position from the distance images (step S3); a reference image selection step for selecting a reference image captured at a height closest to the height detected in the height detection step (step S4); a workpiece detection step for performing pattern matching between the reference image and the plane images and detecting workpieces having a correlation value of a preliminarily fixed threshold or more (step S5); a workpiece selection step for selecting a workpiece having a largest correlation value from the detected workpieces (step S6); and a workpiece position/attitude calculation step for calculating a central coordinate and inclination of the selected workpiece (step S7).SELECTED DRAWING: Figure 2