| 摘要 |
<P>PROBLEM TO BE SOLVED: To recognize easily and correctly an object having high specular reflection characteristics. <P>SOLUTION: A process of imaging a substrate S using camera 1 is performed twice, without changing the image target area after three illumination parts A, B, and C, arranged in directions forming respective different elevation angles with respect to the substrate S turn on colored lights different from one another. Then, at the second imaging, the illumination part A and the illumination part B are controlled so as to turn on the opposite colored lights to the first imaging. After the second imaging is finished, by using generated two color images, a binary color difference image, in which pixels of which color differences between the images exceed a predetermined threshold level are set as white pixels, is generated. Template matching on the color difference image is performed, by using model data (template) showing a soldered part, and a part where the degree of matching with the template is highest is determined as the soldered part. <P>COPYRIGHT: (C)2009,JPO&INPIT |
