公开(公告)号：EP0218259A3

公开(公告)日：1990-04-18

申请号：EP86114039.0

申请日：1986-10-10

申请人： HITACHI, LTD.

发明人： Nishida, Yoshie ,  Hata, Seiji ,  Tsuji, Masao

IPC分类号： G06F15/70

CPC分类号： G06K9/46 ,  G06T7/73

摘要： There are disclosed a method and an apparatus for properly recognizing the position and orientation of a whole object article from its partial shape. The method comprises the steps of first extracting an image of a par­tial shape from a two-dimensional picture image repre­senting at least one portion of the object article (2) whose position and orientation are to be recognized, then calcu­lating at least one of a center of gravity, an intersec­tion of straight lines and a linear equation with respect to each of the extracted feature shapes, thereby obtaining at least one feature parameter, and calculating the posi­tion and orientation of the whole object article by arbitrarily combining such feature parameters.

摘要翻译： 公开了一种用于从其部分形状适当地识别整个物品的位置和方向的方法和装置。 该方法包括以下步骤：首先从表示要识别其位置和取向的对象物品的至少一部分的二维图像图像提取部分形状的图像，然后计算重心的至少一个， 相对于每个提取的特征形状的直线和线性方程的交点，从而获得至少一个特征参数，并且通过任意组合这些特征参数来计算整个物体物品的位置和取向。

公开(公告)号：EP0222072A3

公开(公告)日：1989-03-22

申请号：EP86110922.1

申请日：1986-08-07

申请人： HITACHI, LTD. ,  HITACHI KEIYO ENGINEERING CO., LTD.

发明人： Suzuki, Kenji ,  Hata, Seiji ,  Nishida, Yoshie ,  Kawasaki, Kyoichi ,  Fujii, Kenjiro ,  Shimura, Yasunori ,  Takeyoshi, Shigenori

IPC分类号： H05K13/04 ,  H05K13/08

CPC分类号： H05K13/0413 ,  H01L2924/181 ,  H05K13/08 ,  H01L2924/00012

摘要： A method and an apparatus for cresting surface mounted device such as the IC (31) or the like by the hand (33) of the robot and automatically and accurately loading them onto the contact pattern of the printed board by means of the image processor (7) are disclosed. According to this method, the measurement line (17) is provided onto each image pattern of the pin array of the surface mounted device and the array of the contact pattern of the board, so that it may intersect at right angles with the direction of the pattern, and each position of the pin array and the array of the contact pattern is sought from the variation of the brightness (I,II,...) on that line. In accordance with the result thus obtained, displacement of the position and that of the rotation over the entire surfaced part and the contact pattern are sought and the operation of the robot (1-10) is controlled in accordance with that information.

摘要翻译： 公开了一种用于通过机器人的手抓住诸如IC等的表面安装装置并通过使用图像处理器将其自动且精确地加载到印刷电路板的接触图案上的方法和装置。 根据该方法，将测量线设置在表面安装器件的针阵列的每个图像图案和板的接触图案的阵列上，使得其可以与图案的方向成直角相交，并且 针阵列的每个位置和接触图案的阵列是从该线上的亮度的变化中寻求的。 根据这样获得的结果，寻求在整个表面部分和接触图案上的位置和旋转的位移，并且根据该信息来控制机器人的操作。

公开(公告)号：EP0222072B1

公开(公告)日：1993-12-15

申请号：EP86110922.1

申请日：1986-08-07

申请人： HITACHI, LTD. ,  HITACHI KEIYO ENGINEERING CO., LTD.

发明人： Suzuki, Kenji ,  Hata, Seiji ,  Nishida, Yoshie ,  Kawasaki, Kyoichi ,  Fujii, Kenjiro ,  Shimura, Yasunori ,  Takeyoshi, Shigenori

IPC分类号： H05K13/04 ,  H05K13/08

CPC分类号： H05K13/0413 ,  H01L2924/181 ,  H05K13/08 ,  H01L2924/00012

公开(公告)号：EP0222072A2

公开(公告)日：1987-05-20

申请号：EP86110922.1

申请日：1986-08-07

申请人： HITACHI, LTD. ,  HITACHI KEIYO ENGINEERING CO., LTD.

发明人： Suzuki, Kenji ,  Hata, Seiji ,  Nishida, Yoshie ,  Kawasaki, Kyoichi ,  Fujii, Kenjiro ,  Shimura, Yasunori ,  Takeyoshi, Shigenori

IPC分类号： H05K13/04 ,  H05K13/08

CPC分类号： H05K13/0413 ,  H01L2924/181 ,  H05K13/08 ,  H01L2924/00012

摘要： A method and an apparatus for cresting surface mounted device such as the IC (31) or the like by the hand (33) of the robot and automatically and accurately loading them onto the contact pattern of the printed board by means of the image processor (7) are disclosed. According to this method, the measurement line (17) is provided onto each image pattern of the pin array of the surface mounted device and the array of the contact pattern of the board, so that it may intersect at right angles with the direction of the pattern, and each position of the pin array and the array of the contact pattern is sought from the variation of the brightness (I,II,...) on that line. In accordance with the result thus obtained, displacement of the position and that of the rotation over the entire surfaced part and the contact pattern are sought and the operation of the robot (1-10) is controlled in accordance with that information.

公开(公告)号：EP0218259B1

公开(公告)日：1994-02-16

申请号：EP86114039.0

申请日：1986-10-10

申请人： HITACHI, LTD.

发明人： Nishida, Yoshie ,  Hata, Seiji ,  Tsuji, Masao

IPC分类号： G06F15/70

CPC分类号： G06K9/46 ,  G06T7/73

公开(公告)号：EP0156343A2

公开(公告)日：1985-10-02

申请号：EP85103490.0

申请日：1985-03-25

申请人： HITACHI, LTD.

发明人： Suzuki, Kenji ,  Hata, Seiji ,  Miyakawa, Akira ,  Nishida, Yoshie

IPC分类号： G06K9/80

CPC分类号： G06K9/6204 ,  G06K9/48 ,  G06K9/62 ,  G06K9/80 ,  G06K2209/19

摘要： In a partial pattern matching system, a dictionary pattern, a pattern to be recognized and a binary-coding unit for giving a binary-coded image pattern by comparing each pixel with a predetermined voltage (10, 101 to 103) are provided. A polygonal approximation unit (104) gives a coordinate string of vertices of a polygon composed of a plurality of successive straight line segments approximately representing a contour of the binary-coded image pattern. A contour segmentation unit (106) judges a corner point among the vertex coordinates of the polygon based upon a criterion dependent upon the shape of the polygon. the corner point being used for dividing the polygon into a plurality of partial pattern. In a matching unit (107, 109), a correspondence pair is given by subjecting each combination of the partial patterns of the dictionary and recognition-object patterns to matching comparison, and each evaluation of matching degree is given for each of the correspondence pair.

摘要翻译： 在部分模式匹配系统中，提供字典模式，要识别的模式和用于通过将每个像素与预定电压（10,101至103）进行比较来给出二进制编码图像模式的二进制编码单元。 多边形近似单元（104）给出由近似表示二进制编码图像图案的轮廓的多个连续直线段组成的多边形的顶点的坐标串。 轮廓分割单元（106）基于取决于多边形的形状的标准来判断多边形的顶点坐标中的角点。 角点用于将多边形分割成多个部分图案。 在匹配单元（107,109）中，通过对字典的部分模式和识别对象模式的每个组合进行匹配比较来给出对应对，并且对于每个对应关系给出每个匹配度的评估。

公开(公告)号：EP0156343A3

公开(公告)日：1988-09-14

申请号：EP85103490

申请日：1985-03-25

申请人： HITACHI, LTD.

发明人： Suzuki, Kenji ,  Hata, Seiji ,  Miyakawa, Akira ,  Nishida, Yoshie

IPC分类号： G06K09/80

CPC分类号： G06K9/6204 ,  G06K9/48 ,  G06K9/62 ,  G06K9/80 ,  G06K2209/19

摘要： In a partial pattern matching system, a dictionary pattern, a pattern to be recognized and a binary-coding unit for giving a binary-coded image pattern by comparing each pixel with a predetermined voltage (10, 101 to 103) are provided. A polygonal approximation unit (104) gives a coordinate string of vertices of a polygon composed of a plurality of successive straight line segments approximately representing a contour of the binary-coded image pattern. A contour segmentation unit (106) judges a corner point among the vertex coordinates of the polygon based upon a criterion dependent upon the shape of the polygon. the corner point being used for dividing the polygon into a plurality of partial pattern. In a matching unit (107, 109), a correspondence pair is given by subjecting each combination of the partial patterns of the dictionary and recognition-object patterns to matching comparison, and each evaluation of matching degree is given for each of the correspondence pair.

公开(公告)号：EP0218259A2

公开(公告)日：1987-04-15

申请号：EP86114039.0

申请日：1986-10-10

申请人： HITACHI, LTD.

发明人： Nishida, Yoshie ,  Hata, Seiji ,  Tsuji, Masao

IPC分类号： G06F15/70

CPC分类号： G06K9/46 ,  G06T7/73

摘要： There are disclosed a method and an apparatus for properly recognizing the position and orientation of a whole object article from its partial shape. The method comprises the steps of first extracting an image of a par­tial shape from a two-dimensional picture image repre­senting at least one portion of the object article (2) whose position and orientation are to be recognized, then calcu­lating at least one of a center of gravity, an intersec­tion of straight lines and a linear equation with respect to each of the extracted feature shapes, thereby obtaining at least one feature parameter, and calculating the posi­tion and orientation of the whole object article by arbitrarily combining such feature parameters.