PURPOSE: To accurately recognize a position of an object by extracting the contour line of a detection object from an image which is formed by collating the extracted contour line with that of a stored recognition target for judging whether they are identical, and judging upper/lower positions based on the information on the density of the image when the detection targets overlap. CONSTITUTION: The image information of an image pick-up region 17 is generated by an image reading part 5 from the image pick-up output of a camera 4 for inputting image and is binarized by a feature extraction part 7 to detect the contour lines of parts P1 and P2 placed at a region 17. A model comparison part 11 reads model information stored at a model storage part 9 and compares it with the contour line information to obtain the type and layout information of the parts P1 and P2 for constituting the contour line. An overlapping state judgment part 13 judges the overlapping of parts from the layout information of the parts P1 and P2 and transmits the information to an upper/lower judgment part 15 when the parts overlap. The judgment part 13 judges the upper/lower relationship from the combination of overlapped parts, position information, and image information from the image reading part 5 and transmits the information to a robot controller 3, thus picking parts.
DEVICE FOR RECOGNIZING OBJECT POSITION