BOX-SHAPED WORK RECOGNIZING DEVICE AND METHOD

PROBLEM TO BE SOLVED: To provide a box-shaped work recognizing device and a method capable of highly accurately recognizing a position and an attitude of a picking work, when the work is brought into close contact with each other and even in collapse of a load stack, with the box-shaped work as an object. SOLUTION: This box-shaped work recognizing device has a monocular camera 11 for acquiring the whole image by photographing a plurality of box-shaped works 1 adjacently loaded with a cargo from above, a distance sensor 12 for measuring a three-dimensional shape of the plurality of whole box-shaped works, and an object recognizing processing device 16 for outputting the position and the attitude of the picking box-shaped work, by recognizing the position and the attitude of the respective box-shaped works from the three-dimensional shape with an edge part as a boundary, by detecting the edge part of the box-shaped works from the whole image. COPYRIGHT: (C)2011,JPO&INPIT