| 摘要 |
<p>PURPOSE:To simplify the constitution of a device and to facilitate the detecting operation by detecting a projecting body by an image reader which irradiates an object with light to read the reflected light, and processing by such a picture processor. CONSTITUTION:An image reader 1 consists of a transparent plate 5 and an image scanner 4, and this image scanner 4 adopts the optical system scanning system, where an irradiating lamp is scanned in one direction and the reflected light is received by a sensing part, and is constituted into a device where the principle of dry reflection copy is applied. In a picture processor 2, data related to the image inputted from an image scanner 4 is binarized and processed to calculate the center of gravity position (hub center) of a hub bolt 11, and the extent of offset from a reference center position is calculated and the angle of phase offset from a reference phase is obtained. This processed data is sent to a robot controller 3, and the controller 3 controls a robot based on this data.</p> |
