JPS6472284A - Position recognizing method - Google Patents

Position recognizing method

Info

Publication number
JPS6472284A
JPS6472284A JP22930787A JP22930787A JPS6472284A JP S6472284 A JPS6472284 A JP S6472284A JP 22930787 A JP22930787 A JP 22930787A JP 22930787 A JP22930787 A JP 22930787A JP S6472284 A JPS6472284 A JP S6472284A
Authority
JP
Japan
Prior art keywords
subject
angle
recess part
centroid
expanding
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.)
Pending
Application number
JP22930787A
Other languages
Japanese (ja)
Inventor
Katsumi Suzuki
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.)
Seiko Instruments Inc
Original Assignee
Seiko Instruments Inc
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 Seiko Instruments Inc filed Critical Seiko Instruments Inc
Priority to JP22930787A priority Critical patent/JPS6472284A/en
Publication of JPS6472284A publication Critical patent/JPS6472284A/en
Pending legal-status Critical Current

Links

Landscapes

  • Image Analysis (AREA)
  • Image Processing (AREA)

Abstract

PURPOSE:To calculate the position and the angle of a subject with high accuracy for a subject assembling device by using an expanding/reducing function to leave a recess part of the subject as it is and to detect the centroid of said recess part. CONSTITUTION:A subject 1 which is irradiated by the reflected or transmitted illumination is attached to a robot 7 serving as an assembling device. Otherwise the subject 1 is photographed by an image pickup device 3 set separately. Then the position and the angle of the subject 1 are calculated by a video processor 5 with use of the video signals of the device 3. Then an expanding/reducing function is used to leave a recess part of the subject as it is and the angle variance of the subject 1 is prevented by means of the angle formed by the centroid of said recess part and the form centroid of the subject 1. In such a way, the angle of the subject 1 is calculated with high accuracy.
JP22930787A 1987-09-12 1987-09-12 Position recognizing method Pending JPS6472284A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP22930787A JPS6472284A (en) 1987-09-12 1987-09-12 Position recognizing method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP22930787A JPS6472284A (en) 1987-09-12 1987-09-12 Position recognizing method

Publications (1)

Publication Number Publication Date
JPS6472284A true JPS6472284A (en) 1989-03-17

Family

ID=16890090

Family Applications (1)

Application Number Title Priority Date Filing Date
JP22930787A Pending JPS6472284A (en) 1987-09-12 1987-09-12 Position recognizing method

Country Status (1)

Country Link
JP (1) JPS6472284A (en)

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