| 摘要 |
PURPOSE:To detect the inclination of parts without being limited by the shape of the parts by obtaining the approximate inclination by straight line detection about the vicinity of the points of intersection of straight lines parallel with X/Y axes passing through the centroid of the parts and the contour of the parts, and further, determining the processing range, and obtaining the inclination of each side of the parts. CONSTITUTION:The contour and the centroid G of the picture of the parts are detected, and the point of intersection PO, etc., of the straight lines m, n parallel with the X/Y axes passing through the centroid G and the contour of the parts are obtained. The processing ranges x, x' around the center of PO, for instance, are determined from distance between the points of intersection. The inclinations theta, theta' of the straight lines are obtained for the point on the contour line contained in the processing ranges x, x' by a least square method. The inclination theta of a larger absolute value between the inclinations theta, theta' is made the approximate value of the inclination of the parts. The length of the side of the parts is obtained from the inclination theta, and the final processing range x0 is determined. Further, the inclination of the side is determined about the processing range x0 by the least square method. The inclination of the parts is determined from the average of the inclinations of four sides. Thus, even in the case of the square parts, the inclination can be detected. |
