| 摘要 |
PROBLEM TO BE SOLVED: To facilitate operation for putting a workpiece in a visual field of a camera again when the workpiece disappears from the visual field of the camera halfway during teaching of setting a position for enabling the workpiece to be appropriately viewed as a photographing position by manually operating an arm using a teaching pendant while viewing a photographed image of the camera displayed on a display screen in a visual inspection device for visual inspection by photographing the workpiece with the camera mounted at a leading end of an arm of a robot. SOLUTION: The center of the workpiece is assumed, and when the workpiece disappears from the visual field of the camera during teaching the camera is made to be directed to an assumed center. The coordinate of the assumed center in a height direction is defined based on a result of measuring the height position of the workpiece. The coordinate position of the assumed center in longitudinal and transverse directions is defined to the coordinate of the camera in longitudinal and transverse directions when the desired position of the workpiece is photographed from the above. COPYRIGHT: (C)2009,JPO&INPIT
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