1227318 玖、發明說明： 發朋所屬之抟術領域 本發明是有關於一種元件之定位方法，且特別是有關 於一種配合運送公式使機構與影像不需要校正調整而可自 動定位的元件之定位方法。 先前技術 物件定位在工業應用中是常見的技術，過去常利用 人力檢測或機構（機台靠邊）及其他感應器作爲物件與欲 定位目標點之位置差的補償。由於人類的視覺對於物件辨 識能力是有限制性的，這些限制性源自於人類的視覺在心 理上或生理上很容易受到來自周圍環境的影響。因此，即 使對單純的觀測，也會在所謂高速、連續的狀態下，發生 無法承受時間工作的問題。 因此，目前大多以一用於定位之固定機構配合至少 一影像擷取裝置（例如：CCD)，取代人力檢測的方式， 以達到物件定位的目的。然而利用影像作爲檢測，會有影 像座標系統與固定機構座標系統無法一致之問題。換句話 說，當固定機構上之物件其座標與影像擷取裝置擷取此物 件影像之座標不一致時，習知技術通常靠著影像座標校正 (影像旋轉）或機構校正（使影像系統與機構一致）克服 11135twf 5 1227318 問題，但其校正的過程繁瑣且浪費時間。 此外，若採用兩個以上之影像擷取裝置（CCDs)將 會產生更複雜之像限判斷及轉換，其校正的過程將更爲複 雜繁瑣且更浪費時間。 發明內容 因此，本發明的目的就是在提供一種元件之定位方 法，藉由將元件在影像擷取裝置之座標系統之座標値代入 一運算公式中，以推導出元件與欲定位目標點之位置差’ 並利用定位機構將元件直接移動至目標點，進而達到自動 且快速定位的目的。 本發明提出一種元件之定位方法，適於藉由一定位 機構及至少一影像擷取裝置對一置放於此定位機構上之一 元件進行定位，此元件之定位方法的步驟爲：依照一已知 的運動模式，驅動定位機構移動，並藉由影像擷取裝置獲 得多組對應之位置資訊；接著求出運動模式與位置資訊的 關係（即特性模式）並建立一運算公式；之後藉由影像擷 取裝置所獲得元件當時之一位置資訊代回運算公式’推導 出一用以驅動定位機構上之元件至定位之運動模式；最後 依照此模式驅動定位機構上之元件至定位。 11135twf 6 1227318 位 在本發明的較佳實施例中，運動模式例如爲 置資訊例如爲 Λ (特性模式）爲 / = 1，2)，而運動模式與位置資訊之關係 ai2 ai3 ai5 ai6_ (卜1，2)。其中X、乃、少2爲定 位機構的移動量，Xi、Yi爲元件相對於在影像擷取裝置之 座標軸的座標，並滿足下列演算公式： ui\ ui2 ui3 ai4 ai5 ai6 :其中i = l，2 在本發明的較佳實施例中，運動模式例如爲 置資訊例如爲 (特性模式）爲 位 Θ (^1，2)，而運動模式與位置資訊之關係 li2 u/3 ζ· = 1，2 )。其中 x、y、Θ 爲定 位機構的移動量，Xi、Yi爲元件相對於在影像擷取裝置之 座標軸的座標，並滿足下列演算公式： an ai4 ^/2 ai51227318 发明 Description of the invention: The present invention relates to a method for positioning a component, and more particularly, to a method for positioning a component that can automatically position a mechanism and an image without correction and adjustment by using a transport formula . Previous technology Object positioning is a common technology in industrial applications. In the past, human detection or mechanism (machine side) and other sensors were used to compensate for the position difference between the object and the target point to be located. Because human vision has limitations on object recognition, these limitations stem from the fact that human vision is psychologically or physiologically easily affected by the surrounding environment. Therefore, even for simple observations, the problem of being unable to work with time in the so-called high-speed, continuous state occurs. Therefore, most of the time, a fixed mechanism for positioning is used in conjunction with at least one image capture device (such as a CCD) to replace the manual detection method to achieve the purpose of object positioning. However, there is a problem that the image coordinate system cannot be consistent with the fixed mechanism coordinate system when the image is used for detection. In other words, when the coordinates of an object on a fixed mechanism are inconsistent with the coordinates of the image captured by the image capture device, conventional techniques usually rely on image coordinate correction (image rotation) or mechanism correction (to make the imaging system consistent with the mechanism) ) Overcome the 11135twf 5 1227318 problem, but its calibration process is tedious and time-consuming. In addition, if more than two image capture devices (CCDs) are used, more complicated quadrant judgment and conversion will be generated, and the correction process will be more complicated and time-consuming. SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a method for positioning a component, by substituting the coordinate of the component in the coordinate system of the image capturing device into an operation formula to derive the position difference between the component and the target point to be positioned. '' And use the positioning mechanism to move the component directly to the target point, thereby achieving the purpose of automatic and rapid positioning. The invention provides a component positioning method, which is suitable for positioning a component placed on the positioning mechanism by a positioning mechanism and at least one image capturing device. The steps of the positioning method of the component are as follows: The known motion mode drives the positioning mechanism to move, and obtains multiple sets of corresponding position information through the image capture device; then finds the relationship between the motion mode and the position information (that is, the characteristic mode) and establishes an operation formula; One of the position information of the component obtained by the capturing device at that time is substituted for a calculation formula to derive a motion mode for driving the component on the positioning mechanism to the positioning; finally, driving the component on the positioning mechanism to the positioning according to this mode. 11135twf 6 1227318 bits In the preferred embodiment of the present invention, the motion mode is, for example, setting information such as Λ (characteristic mode) is / = 1, 2), and the relationship between the motion mode and the position information is ai2 ai3 ai5 ai6_ (b1 ,2). Where X, Nai, Shao2 are the movements of the positioning mechanism, Xi, Yi are the coordinates of the component relative to the coordinate axis of the image capture device, and satisfy the following calculation formula: ui \ ui2 ui3 ai4 ai5 ai6: where i = l, 2 In a preferred embodiment of the present invention, the motion mode is, for example, setting information such as (characteristic mode) as bit Θ (^ 1, 2), and the relationship between the motion mode and the position information li2 u / 3 ζ · = 1, 2 ). Where x, y, Θ are the movements of the positioning mechanism, Xi, Yi are the coordinates of the component relative to the coordinate axis in the image capture device, and satisfy the following calculation formula: an ai4 ^ / 2 ai5
V ，其中/ = 1，2 θ 在本發明的較佳實施例中，定位機構例如有六個自 由度的移動或轉動/且對應採用兩個以上之影像擷取裝置 11135twf 7 1227318 (CCDs)時，運動模式例如爲 '^1 " ^11 Χ2 yn 、3· yn ，位置資 y2i _少23 一 最後，其 §只例如爲 Z12 、 不3 A Z22 X23 4 yl2 .^21. y23 ai3 ^21 a22 a23 «16. _«24 a25 «26. 關係式（特性模式）例如爲^ t 其中Xi〜x3，yn〜y13，y21〜y23，爲定位機構的移動量，χη 〜y23爲元件相對於在影像擷取裝置之座標軸的座標，an 〜a26爲定位機構移動量與位置資訊之關係式，並滿足下列 演算公式： an a\2 an _a14 ai5 a\6 a\\ a\2 ai3 _a14 ^15 «16. a\2 an .^14 a\5 ai6 a2\ a22 a23 34 a25 a26 ai2 a\3 34 a\5 a\6V, where / = 1, 2 θ In a preferred embodiment of the present invention, the positioning mechanism has, for example, six degrees of freedom for movement or rotation / and corresponds to the use of more than two image capturing devices 11135twf 7 1227318 (CCDs) , The movement mode is, for example, '^ 1 " ^ 11 χ2 yn, 3 · yn, position data y2i _ less 23-finally, its § is only for example Z12, not 3 A Z22 X23 4 yl2. ^ 21. Y23 ai3 ^ 21 a22 a23 «16. _« 24 a25 «26. The relational expression (characteristic mode) is, for example, ^ t where Xi ~ x3, yn ~ y13, y21 ~ y23 are the movement amount of the positioning mechanism, and χη ~ y23 are the components relative to the The coordinates of the coordinate axis of the image capture device, an to a26 are the relationship between the movement amount of the positioning mechanism and the position information, and satisfy the following calculation formula: an a \ 2 an _a14 ai5 a \ 6 a \\ a \ 2 ai3 _a14 ^ 15 «16. a \ 2 an. ^ 14 a \ 5 ai6 a2 \ a22 a23 34 a25 a26 ai2 a \ 3 34 a \ 5 a \ 6
Xl yn .^21. 乂 2_ yn L ^12 _ _y22_ 'X3~ "^13" 少!3 ^13 .^23. "^21" .r2l _ Γ^22~ yxi _r22 _ _yn_ 11135twf 1227318Xl yn. ^ 21. 乂 2_ yn L ^ 12 _ _y22_ 'X3 ~ " ^ 13 " less! 3 ^ 13. ^ 23. &Quot; ^ 21 " .r2l _ Γ ^ 22 ~ yxi _r22 _ _yn_ 11135twf 1227318
a\\ a\2 ^14 a\S a\ia \\ a \ 2 ^ 14 a \ S a \ i
33 ^3 3 在本發明的較佳實施例中，上述影像擷取裝置例如 是藉由擷取元件上之至少一定位孔之影像的方式，以獲得 上述多組對應之位置資訊。此外，定位孔之形狀例如是圓 形、矩形、三角形、橢圓形、多邊形或不規則形。另外， 上述驅動模式例如是一沿著一隨機軌跡行進的隨機運動模 式或一沿著一既定軌跡行進的既定運動模式。 本發明藉由一已知的蓮動模式與其對應之多個位置 資訊獲得一對應關係與運算公式，再藉由將待定位元件在 影像擷取裝置之座標系統之座標値（即位置資訊）代入此 運算公式中，以推導出待定位元件與定位目標點之位置差 (即反推出運動模式），並利用定位機構將元件直接移動 至目標點（即做位置補償），進而達到自動且快速定位的 目的。 爲讓本發明之上述和其他目的、特徵和優點能更明 顯易懂，下文特舉一較佳實施例，並配合所附圖式，作詳 細說明如下。 實施方式 11135twf 9 1227318 第1圖繪示依照本發明一較佳實施例的一種元件定 位方法的流程圖。請參照第1圖，本發明提出一種元件之 定位方法，適於藉由一定位機構及至少一影像擷取裝置對 一置放於此定位機構上之一元件進行定位。本發明之元件 的定位方法其步驟爲：依照一已知運動模式，驅動定位機 構移動，並藉由影像擷取裝置獲得多組對應之位置資訊 (S1)。其中，在本實施例中運動模式例如是一隨機運動 模式或是一既定運動模式。換句話說，此運動模式係可隨 機或經設計而沿著一線性、曲線或其他軌跡移動，其在定 位機構依照此運動模式移動的過程中，藉由影像擷取裝置 獲得多組以此影像擷取裝置之座標系統所取得的位置資 訊；接著求出運動模式與這些位置資訊的關係，以獲得一 關係式（特性模式）（S2)。如此一來，即可基於運動模式、 位置資訊之間的關係，建立出一演算公式；之後藉由影像 擷取裝置所獲得元件當時之一位置資訊，帶入此演算公式 中，以推導出一用以驅動定位機構上之元件至定位之運動 模式（S3);最後依照此用以驅動定位機構上之元件至定 位之運動模式，驅動定位機構至定位（S4)。 在本發明的較佳實施例中，運動模式例如爲％ ，位 11135twf 10 1227318 置資訊例如爲， (^1，2)，而運動模式與位置資訊之關係 (特性模式）爲〜〜〜（^1，2)。其中X、乃、％爲定 _ai4 ai5 ai6_ 位機構的移動量（此定位機構之三軸設計爲一X軸、一乃 軸以及一凡軸，可見於第2圖），Xi、Yi爲元件相對於在 影像擷取裝置之座標軸的座標，並滿足下列演算公式： an an an X 乂·— _ai4 ai5 ai6_ y\ 人 入 ;其中 / = 1，2。 故從上可得知，本發明演算公式係利用矩陣的運算 而求出運動模式以及位置資訊之間的關係，進而建立上述 之演算公式。因此，藉由將元件在影像擷取裝置之座標系 統之座標値（即位置資訊）代入此運算公式中，以推導出 元件與欲定位目標點之位置差（即反推出運動模式），並 利用定位機構將元件直接移動至目標點（即做位置補償）， 進而達到自動且快速定位的目的。 此外，在本發明的較佳實施例中，演算公式中之關 係式（特性模式）可依照定位機構的移動方式而對應改變。 位置資訊例如爲 其中運動模式例如爲 ai4 ai5 ai6j 而運動模式與位置資訊之關係（特性模式）爲 11135twf 11 1227318 (ζ· = 1，2)。其中an〜ai0爲定位機構的移動量，χ、y、0爲 元件相對於在定位機構之座標軸的座標（此定位機構之三 軸設計爲一 X軸、一 y軸以及一 6►軸，可見於第3圖），Xi、 Yi爲元件相對於在影像擷取裝置之座標軸的座標，並滿足 下列演算公式： ΛΓ.Ί γ ，其中 / = 1，2。 i ai\ ai2 ai3 _aU ai5 ai6_ 上述之演算公式，其定位機構係適於在一平面上作 移動或轉動’以達到機構的補償。當然，熟悉該項技藝者 應知，若定位機構例如有六個自由度的移動或轉動，且對 應採用兩個以上之影像擺取裝置（CCDs)時，運動模式 Χ3 例如爲 ^11 % yn Λ 7l3 .^21. 722 _ 位置資訊例如爲 χ- X" 、 ^21 ^22 ^23 人 人 最後’其關係式（特性模式） a\\ a\2 an 例如爲α15 α16_ a2l α22 α24 α2533 ^ 3 3 In a preferred embodiment of the present invention, the image capturing device obtains the multiple sets of corresponding position information, for example, by capturing an image of at least one positioning hole on a component. The shape of the positioning hole is, for example, circular, rectangular, triangular, oval, polygonal, or irregular. In addition, the driving mode is, for example, a random motion mode traveling along a random trajectory or a predetermined motion mode traveling along a predetermined trajectory. The present invention obtains a correspondence relationship and an operation formula from a known lotus motion pattern and corresponding position information, and then substitutes the coordinates 値 (that is, position information) of the coordinate system of the component to be positioned in the image acquisition device. In this calculation formula, the position difference between the component to be positioned and the positioning target point is derived (that is, the motion mode is reversed), and the positioning mechanism is used to directly move the component to the target point (that is, to perform position compensation), thereby achieving automatic and rapid positioning. the goal of. In order to make the above and other objects, features, and advantages of the present invention more comprehensible, a preferred embodiment is exemplified below and described in detail with reference to the accompanying drawings. Embodiment 11135twf 9 1227318 FIG. 1 shows a flowchart of a component positioning method according to a preferred embodiment of the present invention. Referring to FIG. 1, the present invention provides a component positioning method suitable for positioning a component placed on the positioning mechanism by a positioning mechanism and at least one image capturing device. The component positioning method of the present invention includes the steps of driving a positioning mechanism according to a known motion mode, and obtaining a plurality of sets of corresponding position information through an image capturing device (S1). In this embodiment, the exercise mode is, for example, a random exercise mode or a predetermined exercise mode. In other words, this motion mode can be randomly or designed to move along a linear, curved or other trajectory. During the movement of the positioning mechanism according to this motion mode, multiple sets of this image are obtained by the image capture device. The position information obtained by the coordinate system of the device is acquired; then the relationship between the motion mode and the position information is obtained to obtain a relationship (characteristic mode) (S2). In this way, a calculation formula can be established based on the relationship between the motion mode and the position information; then one of the current position information of the component obtained by the image capture device is brought into this calculation formula to derive a The movement mode for driving the components on the positioning mechanism to the positioning (S3); finally according to this movement mode for driving the components on the positioning mechanism to the positioning, the positioning mechanism is driven to the positioning (S4). In a preferred embodiment of the present invention, the motion mode is, for example,%, the bit 11135twf 10 1227318 is set information, for example, (^ 1, 2), and the relationship between the motion mode and the position information (characteristic mode) is ~~~ (^ 1, 2). Among them, X, Nai, and% are the amount of movement of the _ai4 ai5 ai6_ position mechanism (the three axes of this positioning mechanism are designed as an X axis, a Nai axis, and a normal axis, which can be seen in Figure 2), and Xi and Yi are components Relative to the coordinates of the coordinate axis of the image capturing device, and satisfying the following calculation formula: an an an X 乂 · — _ai4 ai5 ai6_ y \ person entering; where / = 1, 2. Therefore, it can be known from the above that the calculation formula of the present invention uses a matrix operation to find the relationship between the motion mode and the position information, and then establishes the above calculation formula. Therefore, by substituting the coordinate 値 (ie, position information) of the component in the coordinate system of the image capture device into this calculation formula, the position difference between the component and the target point to be located (that is, the backward motion mode) is derived, and the The positioning mechanism directly moves the component to the target point (that is, to perform position compensation), thereby achieving the purpose of automatic and rapid positioning. In addition, in the preferred embodiment of the present invention, the relational formula (characteristic mode) in the calculation formula can be changed correspondingly according to the movement mode of the positioning mechanism. The position information is, for example, wherein the motion mode is ai4 ai5 ai6j and the relationship between the motion mode and the position information (characteristic mode) is 11135twf 11 1227318 (ζ · = 1,2). Where an ~ ai0 is the movement amount of the positioning mechanism, and χ, y, and 0 are the coordinates of the component relative to the coordinate axis of the positioning mechanism (the three axes of this positioning mechanism are designed as an X axis, a y axis, and a 6► axis. (See Figure 3), Xi and Yi are the coordinates of the component relative to the coordinate axis of the image capture device, and satisfy the following calculation formula: ΛΓ.Ί γ, where / = 1, 2. i ai \ ai2 ai3 _aU ai5 ai6_ The above-mentioned calculation formula, its positioning mechanism is suitable for moving or rotating on a plane 'to achieve the compensation of the mechanism. Of course, those skilled in the art should know that if the positioning mechanism has, for example, six degrees of freedom in movement or rotation, and correspondingly uses more than two CCDs, the motion mode X3 is, for example, ^ 11% yn Λ 7l3. ^ 21. 722 _ Location information is, for example, χ- X ", ^ 21 ^ 22 ^ 23 Everyone's last, its relationship (characteristic model) a \\ a \ 2 an For example, α15 α16_ a2l α22 α24 α25
二23，其中X x3，y!i〜y!3 ’ y21〜y23，爲定位機構的移動量，χη〜y23爲元件相對於在 影像擷取裝置之座標軸的座標，au〜a26爲定位機構移動 量與位置資訊之關係式，並滿足下列演算公式： 11135twf 12 1227318 αη α\3 α\5 α\β yn -^2,. α\2 α\3 '^12" _β14 α\5 α\6 yn yn. α\\ αΧ2 α\3 "^13_ _α14 α\5 α\6 yn α2\ α22 α23 、_ α25 α2β .^21 _ αη α\2 α\3 • Xu _α14 α\5 α\6_ yn y22 _ αη α\2 α\3 、3_ '^33' _α\4 α\5 α\6 ^13 .^33 _ _^23. 請繼續參閱第2圖及第3圖，在本發明的較佳實施 例中，上述影像擷取裝置例如是藉由擷取元件1〇上之至 少一定位孔12之影像的方式，以獲得上述多組對應之位 置資訊。此外，定位孔12之形狀例如是圓形、矩形、三 角形、橢圓形、多邊形或不規則形。 承上所述，本發明之元件固定方法係可利用上述之 運算公式，並配合一電控驅動模組，而達到元件自動快速 13 11135twf 1227318 定位的目的。第4圖是繪示配合本發明之元件定位方法之 電控驅動模組的示意圖。請參閱第4圖，由圖可知電控驅 動模組1〇〇例如是整合個人電腦110、控制器120、驅動 器130、定位機構14〇與感測器（如極限開關150與視覺 系統160)。其中，待定位元件（未示出）係置放於定位機 構140上，定位機構140係依照一運動模式移動，並藉由 視覺系統160 (如影像擷取裝置，CCD)擷取待定位元件 之影像而獲得多組位置資訊，接著利用個人電腦110求出 運動模式與位置資訊之關係以獲得一特性模式，之後藉由 此特性模式以及視覺系統160所獲得元件當時一位置資 訊，由個人電腦110反推出一用以驅動定位機構140上之 元件至定位之運動模式，最後依照此用以驅動定位機構140 上之元件至定位之運動模式，驅動定位機構140將元件移 動至目標點，而定位機構140的結構與其作動係可參閱中 華民國專利公告號521700之「影像處理檯板之對位微調 裝置改良」。 綜上所述，本發明之元件定位方法係藉由一已知的 運動模式與其對應之多個位置資訊獲得一對應關係與運算 公式，再藉由將待定位元件在影像擷取裝置之座標系統之 座標値（即位置資訊）代入此運算公式中，以推導出待定 11135twf 14 1227318 位元件與定位目標點之位置差（即反推出運動模式），並 利用定位機構將元件直接移動至目標點（即做位置補償）， 進而達到自動且快速定位的目的，此元件定位方法適於運 用在印刷電路板之影像定位系統上，將可減少人力支出、 提升生產速度，並可提升製程良率，減少錯誤發生以降低 製造成本。 雖然本發明已以一較佳實施例揭露如上，然其並非 用以限定本發明，任何熟習此技藝者，在不脫離本發明之 精神和範圍內，當可作些許之更動與潤飾，因此本發明之 保護範圍當視後附之申請專利範圍所界定者爲準。 【圖式簡單說明】 第1圖繪示依照本發明一較佳實施例之一種元件定 位方法的流程圖。 第2圖是繪示依照本發明一較佳實施例之元件、機 械座標軸與影像座標軸的關係示意圖。 第3圖是繪示依照本發明另一較佳實施例之元件、 機械座標軸與影像座標軸的關係示意圖。 第4圖是繪示配合本發明之元件定位方法之電控驅 動模組的示意圖。 【圖式標示說明】 11135twf 15 1227318 ίο : 12 : 100 110 120 130 140 150 160 元件 定位孔 :電控驅動模組 =個人電腦 =控制器 :驅動器 =定位機構 :極限開關 :視覺系統 11135twf 16Two 23, where X x3, y! I ~ y! 3'y21 ~ y23, is the movement amount of the positioning mechanism, χη ~ y23 is the coordinate of the component relative to the coordinate axis of the image capture device, and au ~ a26 is the movement of the positioning mechanism The relationship between the quantity and the position information, and satisfies the following calculation formula: 11135twf 12 1227318 αη α \ 3 α \ 5 α \ β yn-^ 2 ,. α \ 2 α \ 3 '^ 12 " _β14 α \ 5 α \ 6 yn yn. α \\ αχ2 α \ 3 " ^ 13_ _α14 α \ 5 α \ 6 yn α2 \ α22 α23 _ α25 α2β. ^ 21 _ αη α \ 2 α \ 3 • Xu _α14 α \ 5 α \ 6_ yn y22 _ αη α \ 2 α \ 3, 3_ '^ 33' _α \ 4 α \ 5 α \ 6 ^ 13. ^ 33 _ _ ^ 23. Please continue to refer to FIG. 2 and FIG. 3. In a preferred embodiment, the image capturing device obtains the above-mentioned multiple sets of corresponding position information by capturing images of at least one positioning hole 12 on the component 10. In addition, the shape of the positioning hole 12 is, for example, circular, rectangular, triangular, oval, polygonal, or irregular. As mentioned above, the component fixing method of the present invention can use the above-mentioned calculation formula and cooperate with an electronically controlled drive module to achieve the purpose of automatic and rapid component positioning 13 11135twf 1227318. FIG. 4 is a schematic diagram showing an electronically controlled driving module that cooperates with the component positioning method of the present invention. Please refer to Fig. 4, which shows that the electronically controlled driving module 100 is, for example, integrating a personal computer 110, a controller 120, a driver 130, a positioning mechanism 14o, and a sensor (such as the limit switch 150 and the vision system 160). Wherein, the component to be positioned (not shown) is placed on the positioning mechanism 140, and the positioning mechanism 140 is moved according to a motion mode, and the vision system 160 (such as an image capture device, CCD) is used to capture the component to be positioned. To obtain a plurality of sets of position information, and then use the personal computer 110 to find the relationship between the motion mode and the position information to obtain a characteristic mode, and then use the characteristic mode and the position information of the component at the time to obtain the visual system 160, and the personal computer 110 Introduce a motion mode for driving the components on the positioning mechanism 140 to positioning, and finally according to this motion mode for driving the components on the positioning mechanism 140 to positioning, drive the positioning mechanism 140 to move the components to the target point, and the positioning mechanism For the structure of 140 and its action system, please refer to "Improvement of Alignment Fine-tuning Device of Image Processing Platen" of the Republic of China Patent Publication No. 521700. In summary, the component positioning method of the present invention obtains a correspondence relationship and calculation formula from a known motion mode and corresponding position information, and then coordinates the component to be positioned in the coordinate system of the image capture device. The coordinates 値 (ie, position information) are substituted into this calculation formula to derive the position difference between the pending 11135twf 14 1227318-bit component and the positioning target point (that is, the motion mode is reversed), and the positioning mechanism is used to move the component directly to the target point ( Ie position compensation), and then achieve the purpose of automatic and fast positioning. This component positioning method is suitable for use in the image positioning system of printed circuit boards, which can reduce labor costs, increase production speed, and improve process yield and reduce Errors occur to reduce manufacturing costs. Although the present invention has been disclosed as above with a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can make some changes and retouch without departing from the spirit and scope of the present invention. The scope of protection of the invention shall be determined by the scope of the attached patent application. [Brief description of the drawings] FIG. 1 shows a flowchart of a component positioning method according to a preferred embodiment of the present invention. Fig. 2 is a schematic diagram showing the relationship between a component, a mechanical coordinate axis and an image coordinate axis according to a preferred embodiment of the present invention. FIG. 3 is a schematic diagram illustrating a relationship between a component, a mechanical coordinate axis, and an image coordinate axis according to another preferred embodiment of the present invention. Fig. 4 is a schematic diagram showing an electronically controlled driving module in accordance with the component positioning method of the present invention. [Illustration of graphic designation] 11135twf 15 1227318 ίο: 12: 100 110 120 130 140 150 160 Components Positioning hole: electric control drive module = personal computer = controller: driver = positioning mechanism: limit switch: vision system 11135twf 16