Patent ID: 6016368
Filing Date: 2000-01-18
Classification: B65G,G06T

Abstract:
An apparatus for deriving spatial position information with respect to box-shaped objects which are stacked on top of and next to one another in a manner such that lateral surfaces of the objects in the stack are substantially parallel, said apparatus comprising:a camera for obtaining image information with respect to said objects, said camera being positioned at a first position obliquely above and in front of the stack such that an optical axis of the camera is located in a vertical plane which is substantially perpendicular to the lateral surfaces of the objects which, seen from the camera, are front surfaces of the objects, said optical axis making a first angle .alpha. with respect to a horizontal surface on which the stack rests;a first light source for emitting substantially bundled light in a direction at a second angle with respect to the horizontal surface on which the stack rests, said first light source being positioned at a second position and said second angle being greater than .alpha.;a second light source for emitting substantially bundled light in a direction at a third angle with respect to the horizontal surface on which the stack rests, said second light source being positioned at a third position and said third angle being less than the second angle;a memory for storing intensity values of pixels representing said image information;a processor for performing mathematical operations on the intensity values stored in the memory to thereby derive the spatial position information.