| 摘要 |
PURPOSE:To detect the state, such as the position and attitude, of a part on a circuit board by extracting the contour of the part in an image based on the gradient of each picture element obtained by differentiating the brightness of the image, judging the position of the contour of each picture element from the direction of the gradient, weighting each picture element, and utilizing Haugh transform. CONSTITUTION:A CCD camera 11 for obtaining the variable-density image of a part 2 on a circuit board 1, a personal computer 12 for image processing, and a monitor CRT 13 displaying the image data are provided. The contour of the part 2 is extracted by the variable-density image obtained by the camera 11, an image emphasized with the contour is obtained, and the picture elements on the contour of the part 2 are weighted based on the continuity of the edge. The inclination angle of the part 2 is detected from the distribution of the picture elements in the gradient direction, and the picture elements are weighted by the inclination angle. Rectangular conversion is performed while the inclination angle is fixed, the center position of the part 2 is detected, and the state of the part 2 can be detected. |
