JP2707548B2 - Coordinate correction method for visual recognition device - Google Patents

Coordinate correction method for visual recognition device

Info

Publication number
JP2707548B2
JP2707548B2 JP62137059A JP13705987A JP2707548B2 JP 2707548 B2 JP2707548 B2 JP 2707548B2 JP 62137059 A JP62137059 A JP 62137059A JP 13705987 A JP13705987 A JP 13705987A JP 2707548 B2 JP2707548 B2 JP 2707548B2
Authority
JP
Japan
Prior art keywords
coordinates
visual recognition
recognition device
camera
positioning device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP62137059A
Other languages
Japanese (ja)
Other versions
JPS63300843A (en
Inventor
正久 細井
康介 川端
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sony Corp
Original Assignee
Sony Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sony Corp filed Critical Sony Corp
Priority to JP62137059A priority Critical patent/JP2707548B2/en
Publication of JPS63300843A publication Critical patent/JPS63300843A/en
Application granted granted Critical
Publication of JP2707548B2 publication Critical patent/JP2707548B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

  • Machine Tool Sensing Apparatuses (AREA)
  • Image Processing (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Image Analysis (AREA)

Description

【発明の詳細な説明】 [産業上の利用分野] 本発明は、視覚認識装置を備えた数値制御装置などの
位置決め装置において、視覚認識装置の座標系と位置決
め装置の座標系を一致させて、一般の認識対象の座標を
同一座標として取り扱うことを可能にする視覚認識装置
の座標補正方法に関する。 [発明の概要] 本発明は、視覚認識装置を備えた位置決め装置におい
て、 位置確認用の認識対象を位置決め装置により視覚認識
装置の座標系の3つの位置に相対移動させて、夫々の位
置の視覚認識装置座標と位置決め装置座標とを認識し、
この認識座標と上記認識対象の位置決め装置の座標系上
の座標とから、この両方の座標間の補正式を求め、座標
系間の座標の倍率と傾きを補正して2つの座標系を一致
させることにより、 簡単かつ安価な方法で、視覚認識装置での座標と位置
決め装置での座標とを同一座標として取り扱えるように
したものである。 [従来の技術] 従来より、高精度な加工や組み立てが要求される製造
装置などでは、ワークや加工,作業用の治具の位置決め
のために数値制御装置(以下NC装置と記す)が使用され
ている。近年、これらの製造装置では、視覚認識装置を
付属させることにより、供給されるワークを認識し、ワ
ークと治具の相対的な位置決めを行なって、より一層の
高精度化が図られている。このため、NC装置の座標と視
覚認識装置の座標を合わせて、同一の座標として取り扱
う必要があり、XYの直角座標系においては2つの座標を
合わせるために、X座標の倍率,Y座標の倍率,座標系の
傾きを設定する必要がある。この座標系の間の倍率や傾
きを設定する方法として、従来は以下の2つの方法があ
った。 第4図(イ),(ロ)は従来の第1の方法の説明図で
ある。第1の方法は、予め大きさのわかっている図形を
(イ)に示すようにカメラに写し出して画像取り込みを
行ない、X方向,Y方向の倍率を入力する。その後、
(ロ)に示すように、まず図形の画像をカメラの端に写
し出して画像取り込みを行ない、次にNC装置によりX方
向,Y方向に移動し反対側のカメラの端へ画像を移動させ
て座標系の傾きを入力する方法である。 第5図は従来の第2の方法の説明図である。第2の方
法は、座標系の傾きがないことをカメラの機械的取付精
度によって保証されているものとして、1つの画像をNC
装置のX方向に移動させ、次にY方向にも移動させて、
夫々のスケールを測定して入力する方法である。第2の
方法では座標の倍率の設定を行なうのみで、座標系の傾
きは補正できなかった。 特開昭61−174800号公報には視覚認識装置を備えた装
着部品の姿勢検知を行なう電子部品の装着装置が提案さ
れているが、そこで使用されているイメージセンサ(カ
メラに相当する)の座標系を装置ヘッドの位置決め装置
座標系に合わせることが不可欠になる。 [発明が解決しようとする問題点] しかしながら、上記従来の技術における位置決め装置
(NC装置)と付属の視覚認識装置の座標系の倍率や傾き
を設定する方法には、以下のような問題点があった。 (1)第1の方法では、予め大きさをわかっている図形
認識用の治具を極めて精度良く製作する必要があること
と、倍率設定の作業工程と傾き設定の作業工程の2度の
工程があり煩雑であること、およびカメラの傾斜を考慮
した正確な補正ができない欠点がある。 (2)第2の方法では、カメラの傾斜をも考慮した座標
系の傾きの補正ができず、カメラの機械的な取付精度を
向上,維持させる必要があり、装置を高価なものにす
る。 本発明は、上記問題点を解決するために創案されたも
ので、視覚認識装置の座標を補正するための図形認識用
治具を廃止することができるとともに、カメラの取付精
度に頼ることなく、座標系の倍率と傾きの補正を1度の
作業で行なうことができるようにして作業を簡単化した
視覚認識装置の座標補正方法を提供することを目的とす
る。 [問題点を解決するための手段] 上記の目的を達成するための本発明の視覚認識装置の
座標補正方法の構成は、 視覚認識装置を備えた位置決め装置における視覚認識
装置の座標補正方法において、 位置確認用の1つの認識対象を前記位置決め装置によ
り前記視覚認識装置座標系の三角状の3つの位置に相対
移動させて夫々の位置の視覚認識装置座標および位置決
め装置座標とを認識する過程と、 前記3つの位置の認識された座標と前記認識対象の位
置決め装置座標系上の座標とから任意の視覚認識装置座
標の倍率と傾きを補正して位置決め装置座標に合致させ
る補正式を求める過程と、 前記求めた補正式を用いて前記視覚認識装置で認識し
た任意の視覚認識装置座標を位置決め装置座標に補正す
る過程と、 を有することを特徴とする。 [作用] 本発明は、位置決め装置によって位置確認用の認識対
象を三角状の3つの位置へ移動させ視覚認識装置によっ
て3回の画像取り込みを行ない、カメラの垂直方向の傾
斜を考慮して3次元的に視覚認識装置の座標の倍率と傾
きの補正を行なう。画像上の3つの位置の視覚認識装置
および位置決め装置での座標が認識され、一方、認識対
象の位置決め装置上の座標が初期の位置出しなどからわ
かるから、アフィン(affine)変換などの座標変換によ
り上記座標の倍率補正と傾き補正をする補正式を求める
ことができる。位置確認用の認識対象は1点を特定する
ものであり、寸法精度等は必要がなく装置やワーク等に
記されたマークなど簡略なもので良い。 [実施例] 以下、本発明の実施例を図面に基づいて詳細に説明す
る。 第1図は本発明の一実施例の構成を示すブロック図で
ある。本実施例は、位置決め装置として直角なXY座標系
内をヘッド部が移動可能に構成されたNCロボット装置に
適用した場合を示している。 このロボット装置はヘッド1を少なくともX方向およ
びY方向に位置決め可能なロボット2と、ロボット2の
数値制御および本発明の座標補正を行なう制御部3と、
制御部3の指令によりロボット2を駆動する出力制御部
4などから成る。 視覚認識装置は、カメラ5と、カメラ5で撮像された
画像を2値化するなどして画像取り込みを行ない、画像
の認識を行なう画像処理部6と、取り込んだ画像の表示
を行なうモニタテレビ7などから成る。カメラ5は、ロ
ボット2のヘッド1に固装され、通常は、ワークの姿勢
を認識してヘッド1に備えられる作業治具の位置補正を
行なうために、画像の取り込みを行なうが、そのために
予めカメラ5の座標(以下カメラ座標と記す)をヘッド
1の座標(以下XYテーブル座標と記す)に合わせる補正
を行なう必要があるので、位置確認用のマーク8を制御
部3の指令によって夫々別個の位置に移動させて3回取
り込む。このマーク8はワーク(例えばプリント基板)
9などに記されている。このマーク8は初期において位
置出しが行なわれる。 以上の構成の実施例の作用を述べる。第2図はカメラ
の移動の説明図であり、第3図はカメラ座標でのマーク
の位置を示す説明図である。5aはカメラ5の視野であ
り、ロボット2が制御部3の指令に基づいて、カメラ5
を第2図のようにその視野5aが5a′,5a″に変化するよ
うに移動し、夫々の位置においてマーク8の画像取り込
みを行なう。その結果、マーク8はカメラ座標上で第3
図に示す3つの位置P1,P2,P3に写し出される。画像処理
部6ではこの位置P1,P2,P3を認識し、制御部3へ送出す
る。 ワーク9上の任意の一点のXYテーブル座標を(x,y)
とし、一方、この点をカメラで見たときのカメラ座標を
(cx,cy)とし、この画像上の点のXYテーブル座標を(e
x,ey)とすると、(x,y)は、 で表されるものと仮定することができる。ここで、マー
ク8のXYテーブル座標を(x0,y0)とし、前記したマー
ク8をカメラでずらしながら3つの位置P1,P2,P3に写し
出したときの夫々のカメラ座標とXYテーブル座標をP
1(cx1,cy1),(ex1,ey1),P2(cx2,cy2),(ex2,e
y2),P3(cx3,cy3),(ex3,ey3)とすると、式(1)
から が成り立つ。ここで、式(3)−式(2)より、 式(4)−式(2)より、 が成り立つ。上記式(5)と式(6)により、 が成り立ち、式(7)より、 が求められる。従って、式(1)によりワーク上の任意
の点のカメラ座標をXYテーブル座標系での座標に補正す
ることが可能になる。即ち、式(1)はカメラ座標系と
XYテーブル座標系の倍率と傾きを合致させる補正を行な
うことになる。上記においては3次元で考えられている
から、カメラの垂直方向の傾斜も補正される。 なお、上記実施例ではカメラを移動したが、カメラを
固定にしてワークを載置するテーブルをXY移動させて行
なう構成であっても適用可能である。 このように、本発明はその主旨に沿って種々に応用さ
れ、実施態様を取り得るものである。 [発明の効果] 以上の説明で明らかなように、本発明の視覚認識装置
の座標補正方法によれば、以下のような効果を奏する。 (1)カメラの傾斜を考慮した3次元的な視覚認識装置
の補正が、直接NC装置などの位置決め装置を使用し、ま
た同一のマーク等の3回の画像取り込みを行なうだけ
で、補正式を求めて座標の倍率,傾きを補正することで
可能になるので、非常に正確でかつ簡便である。 (2)正確な図形認識用のゲージ(治具)を製作する必
要がないので安価にできる。
DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a positioning device such as a numerical control device provided with a visual recognition device, in which the coordinate system of the visual recognition device and the coordinate system of the positioning device are matched. The present invention relates to a coordinate correction method of a visual recognition device that enables a general recognition target coordinate to be treated as the same coordinate. [Summary of the Invention] The present invention relates to a positioning device provided with a visual recognition device. In the positioning device, a recognition target for position confirmation is relatively moved to three positions in a coordinate system of the visual recognition device by the positioning device. Recognize recognition device coordinates and positioning device coordinates,
From the recognized coordinates and the coordinates of the recognition target on the coordinate system of the positioning device, a correction formula between the two coordinates is obtained, and the magnification and inclination of the coordinates between the coordinate systems are corrected to match the two coordinate systems. Thus, the coordinates of the visual recognition device and the coordinates of the positioning device can be handled as the same coordinates in a simple and inexpensive manner. [Prior art] Conventionally, in a manufacturing apparatus or the like that requires high-precision processing and assembly, a numerical control device (hereinafter, referred to as an NC device) is used for positioning a workpiece, a processing, and a jig for the operation. ing. In recent years, in these manufacturing apparatuses, by attaching a visual recognition device, the supplied workpiece is recognized, and the relative positioning between the workpiece and the jig is performed, thereby achieving higher precision. For this reason, the coordinates of the NC device and the coordinates of the visual recognition device need to be treated as the same coordinates. In the XY rectangular coordinate system, the magnification of the X coordinate and the magnification of the Y coordinate are used to match the two coordinates. , It is necessary to set the inclination of the coordinate system. Conventionally, there are the following two methods for setting the magnification and inclination between the coordinate systems. FIGS. 4A and 4B are explanatory diagrams of the first conventional method. In the first method, a figure of which size is known in advance is projected on a camera as shown in (a) to capture an image, and the magnification in the X and Y directions is input. afterwards,
As shown in (b), first, the image of the figure is projected on the edge of the camera and the image is captured. Next, the image is moved in the X and Y directions by the NC device, and the image is moved to the opposite end of the camera to coordinate. This is the method of inputting the slope of the system. FIG. 5 is an explanatory view of the second conventional method. The second method assumes that there is no tilt in the coordinate system by assuring the mechanical mounting accuracy of the camera,
Move the device in the X direction and then in the Y direction
This is a method of measuring and inputting each scale. In the second method, only the magnification of the coordinates is set, but the inclination of the coordinate system cannot be corrected. Japanese Patent Application Laid-Open No. 61-174800 proposes a mounting device for electronic components which has a visual recognition device and detects the attitude of the mounted component. The coordinates of an image sensor (corresponding to a camera) used therein are proposed. It is imperative that the system be aligned with the positioning device coordinate system of the device head. [Problems to be Solved by the Invention] However, the following problems are involved in the method of setting the magnification and tilt of the coordinate system of the positioning device (NC device) and the attached visual recognition device in the above-described conventional technology. there were. (1) In the first method, it is necessary to manufacture a jig for recognizing a figure whose size is known in advance with extremely high accuracy, and two steps of a magnification setting operation step and a tilt setting operation step. However, there are drawbacks in that it is complicated, and accurate correction cannot be performed in consideration of the tilt of the camera. (2) In the second method, the inclination of the coordinate system cannot be corrected in consideration of the inclination of the camera, and it is necessary to improve and maintain the mechanical mounting accuracy of the camera, which makes the apparatus expensive. The present invention has been made in order to solve the above problems, and can eliminate the jig for graphic recognition for correcting the coordinates of the visual recognition device, and without depending on the mounting accuracy of the camera, It is an object of the present invention to provide a coordinate correction method for a visual recognition device that simplifies the work by correcting the magnification and tilt of the coordinate system in one operation. [Means for Solving the Problems] To achieve the above object, the configuration of the coordinate correction method of the visual recognition device of the present invention is as follows. A step of relatively moving one recognition target for position confirmation by the positioning device to three triangular positions of the visual recognition device coordinate system to recognize the visual recognition device coordinates and the positioning device coordinates of each position; A step of correcting a magnification and a tilt of any visual recognition device coordinates from the recognized coordinates of the three positions and the coordinates of the recognition target on the positioning device coordinate system to obtain a correction formula that matches the positioning device coordinates; Correcting the arbitrary visual recognition device coordinates recognized by the visual recognition device into the positioning device coordinates by using the obtained correction formula. [Function] In the present invention, the recognition object for position confirmation is moved to three triangular positions by the positioning device, the image is captured three times by the visual recognition device, and the three-dimensional image is taken in consideration of the vertical inclination of the camera. Correction of the magnification and inclination of the coordinates of the visual recognition device is performed. The coordinates of the three positions on the image are recognized by the visual recognition device and the positioning device. On the other hand, the coordinates of the recognition target on the positioning device can be known from the initial positioning and the like. A correction equation for performing the magnification correction and the inclination correction of the coordinates can be obtained. The recognition target for position confirmation specifies one point, and does not need dimensional accuracy or the like, and may be a simple one such as a mark written on an apparatus or a work. Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing the configuration of one embodiment of the present invention. The present embodiment shows a case where the present invention is applied to an NC robot apparatus in which a head section is configured to be movable in a rectangular XY coordinate system as a positioning apparatus. The robot apparatus includes a robot 2 capable of positioning a head 1 in at least an X direction and a Y direction, a control unit 3 for performing numerical control of the robot 2 and correcting coordinates according to the present invention,
It comprises an output control unit 4 for driving the robot 2 according to a command from the control unit 3, and the like. The visual recognition device includes a camera 5, an image processing unit 6 that performs image capturing by binarizing an image captured by the camera 5 and performs image recognition, and a monitor television 7 that displays the captured image. Etc. The camera 5 is fixed to the head 1 of the robot 2 and normally captures an image in order to recognize the posture of the work and correct the position of a work jig provided on the head 1. It is necessary to perform a correction to match the coordinates of the camera 5 (hereinafter referred to as camera coordinates) with the coordinates of the head 1 (hereinafter referred to as XY table coordinates). Move to position and capture three times. This mark 8 is a work (for example, a printed circuit board)
9 and the like. This mark 8 is initially positioned. The operation of the embodiment having the above configuration will be described. FIG. 2 is an explanatory view of the movement of the camera, and FIG. 3 is an explanatory view showing the position of the mark in the camera coordinates. Reference numeral 5a denotes a field of view of the camera 5, and the robot 2 controls the camera 5 based on a command from the control unit 3.
Is moved so that the field of view 5a changes to 5a ', 5a "as shown in FIG. 2, and the image of the mark 8 is captured at each position. As a result, the mark 8 is moved to the third position on the camera coordinates.
The image is projected at three positions P 1 , P 2 , and P 3 shown in the figure. The image processing unit 6 recognizes the positions P 1 , P 2 , and P 3 and sends them to the control unit 3. XY table coordinates of any one point on the work 9 are (x, y)
On the other hand, the camera coordinates when this point is viewed by the camera are (cx, cy), and the XY table coordinates of the point on this image are (e
x, ey), (x, y) is It can be assumed that Here, the XY table coordinates of the mark 8 are (x 0 , y 0 ), and the camera coordinates and XY when the mark 8 is projected at three positions P 1 , P 2 , and P 3 while being shifted by the camera. Table coordinates P
1 (cx 1 , cy 1 ), (ex 1 , ey 1 ), P 2 (cx 2 , cy 2 ), (ex 2 , e
y 2 ), P 3 (cx 3 , cy 3 ), (ex 3 , ey 3 )
From Holds. Here, from Equation (3) -Equation (2), From Equation (4) -Equation (2), Holds. According to the above equations (5) and (6), Holds, and from equation (7), Is required. Therefore, it is possible to correct the camera coordinates of an arbitrary point on the workpiece to the coordinates in the XY table coordinate system by using equation (1). That is, equation (1) is
The correction is performed to match the magnification and the inclination of the XY table coordinate system. In the above description, since the camera is considered in three dimensions, the vertical tilt of the camera is also corrected. Although the camera is moved in the above embodiment, the present invention can be applied to a configuration in which the camera is fixed and the table on which the work is placed is moved by XY movement. As described above, the present invention can be applied in various ways according to the gist and can take embodiments. [Effects of the Invention] As is clear from the above description, the coordinate correction method of the visual recognition device of the present invention has the following effects. (1) The correction of the three-dimensional visual recognition device in consideration of the tilt of the camera can be performed by directly using a positioning device such as an NC device and by taking in the same mark three times an image. Since it becomes possible by correcting the magnification and inclination of the coordinates obtained, it is very accurate and simple. (2) Since there is no need to manufacture a gauge (jig) for accurate figure recognition, the cost can be reduced.

【図面の簡単な説明】 第1図は本発明の一実施例の構成を示すブロック図、第
2図はカメラ移動の説明図、第3図はマーク画像の説明
図、第4図(イ),(ロ)は従来の第1の方法の説明
図、第5図は従来の第2の方法の説明図である。 2……ロボット(位置決め装置)、3……制御部(位置
決め装置)、5……カメラ(視覚認識装置)、6……画
像処理部(視覚認識装置)、8……マーク(認識対
象)。
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention, FIG. 2 is an explanatory diagram of camera movement, FIG. 3 is an explanatory diagram of a mark image, FIG. , (B) are explanatory diagrams of the first conventional method, and FIG. 5 is an explanatory diagram of the second conventional method. 2 ... Robot (positioning device), 3 ... Control unit (positioning device), 5 ... Camera (visual recognition device), 6 ... Image processing unit (visual recognition device), 8 ... Mark (recognition target).

Claims (1)

(57)【特許請求の範囲】 1.視覚認識装置を備えた位置決め装置における視覚認
識装置の座標補正方法において、 位置確認用の1つの認識対象を前記位置決め装置により
前記視覚認識装置座標系の三角状の3つの位置に相対移
動させて夫々の位置の視覚認識装置座標および位置決め
装置座標とを認識する過程と、 前記3つの位置の認識された座標と前記認識対象の位置
決め装置座標系上の座標とから任意の視覚認識装置座標
の倍率と傾きを補正して位置決め装置座標に合致させる
補正式を求める過程と、 前記求めた補正式を用いて前記視覚認識装置で認識した
任意の視覚認識装置座標を位置決め装置座標に補正する
過程と、 を有することを特徴とする視覚認識装置の座標補正方
法。
(57) [Claims] In the coordinate correction method for a visual recognition device in a positioning device provided with a visual recognition device, one recognition target for position confirmation is relatively moved by the positioning device to three triangular positions of the visual recognition device coordinate system. A process of recognizing the visual recognition device coordinates and the positioning device coordinates of the position; and a magnification of an arbitrary visual recognition device coordinate from the recognized coordinates of the three positions and the coordinates of the recognition target on the positioning device coordinate system. Correcting the inclination to obtain a correction formula that matches the positioning device coordinates, and correcting the arbitrary visual recognition device coordinates recognized by the visual recognition device to the positioning device coordinates using the obtained correction formula. A coordinate correction method for a visual recognition device, comprising:
JP62137059A 1987-05-30 1987-05-30 Coordinate correction method for visual recognition device Expired - Lifetime JP2707548B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62137059A JP2707548B2 (en) 1987-05-30 1987-05-30 Coordinate correction method for visual recognition device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62137059A JP2707548B2 (en) 1987-05-30 1987-05-30 Coordinate correction method for visual recognition device

Publications (2)

Publication Number Publication Date
JPS63300843A JPS63300843A (en) 1988-12-08
JP2707548B2 true JP2707548B2 (en) 1998-01-28

Family

ID=15189928

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62137059A Expired - Lifetime JP2707548B2 (en) 1987-05-30 1987-05-30 Coordinate correction method for visual recognition device

Country Status (1)

Country Link
JP (1) JP2707548B2 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2545674B2 (en) * 1992-07-31 1996-10-23 セイコープレシジョン株式会社 Printed circuit board processing method and apparatus
JP3339090B2 (en) * 1993-02-25 2002-10-28 ソニー株式会社 Position detection method
JP2001015992A (en) * 1999-06-29 2001-01-19 Sony Corp Calibration method in component mounting device
DE10015157A1 (en) * 2000-03-27 2001-10-18 P A L M Gmbh Collecting device for objects dissolved out of mass, especially by laser radiation, has control system automatically generating accommodation unit displacement signals
JP2005271103A (en) * 2004-03-23 2005-10-06 Tookin:Kk Working robot and calibration method thereof
JP5017034B2 (en) * 2007-09-20 2012-09-05 新東エスプレシジョン株式会社 2D coordinate measuring machine
US9615064B2 (en) * 2010-12-30 2017-04-04 Pelco, Inc. Tracking moving objects using a camera network
CN106078353B (en) * 2016-08-05 2019-01-01 深圳市博视科技有限公司 Numerical control device automatic contraposition device

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61188056A (en) * 1985-02-16 1986-08-21 Nec Home Electronics Ltd Positioning system between printed circuit board and machining device
JPS62263700A (en) * 1986-05-09 1987-11-16 松下電器産業株式会社 Electronic parts mounting

Also Published As

Publication number Publication date
JPS63300843A (en) 1988-12-08

Similar Documents

Publication Publication Date Title
CN107073719B (en) Robot and robot system
CN111565895B (en) Robot system and robot control method
US20010055069A1 (en) One camera system for component to substrate registration
CN112720458B (en) System and method for online real-time correction of robot tool coordinate system
CN111066130B (en) Apparatus and method for positioning a first object relative to a second object
EP3825071A1 (en) Trajectory control device
JP2707548B2 (en) Coordinate correction method for visual recognition device
KR100228440B1 (en) Wire bonding method and device thereof
KR0161332B1 (en) Bonding coordinate teaching method and teaching means
JPH06187021A (en) Coordinate correcting method for robot with visual sense
JP3358847B2 (en) Control device for component mounting machine
JP3286105B2 (en) Mounting position correction method for mounting machine
JPS62113206A (en) Position correcting method
JP3679460B2 (en) Mobile device and control method thereof
JP2907246B2 (en) Component mounting equipment
JP6407433B2 (en) Model data creation device, model data creation method, mounting reference point determination device, mounting reference point determination method
CN117283570B (en) Target guiding type robot system for FPC assembly and control method and device thereof
JP2782959B2 (en) Automatic mounting device with visual function
JP3040232B2 (en) Mounting position control method for component mounter
JPH09186489A (en) Work location coordinates calculating method in printed board and its device
KR0135466B1 (en) Component Recognition Method of Electronic Component Mounter
JP2003101297A (en) Method for correcting offset in electronic component mounter
JPH0715185A (en) Positioning device for very small component
JPH01124072A (en) Pick and place
JPS61220008A (en) Positioning system

Legal Events

Date Code Title Description
EXPY Cancellation because of completion of term
FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20071017

Year of fee payment: 10