| 摘要 |
PURPOSE:To speed up detection of the center of gravity position and the inclination angle of an object by detecting the center of gravity position while taking in the picture of the object by a CCD camera and storing the picture in a picture memory and further detecting the inclination angle from a signal read from the picture memory and another signal to detect the center of gravity position. CONSTITUTION:When the area of the object is M(0, 0), since moment for an I axis and that for a J axis are expressed as M(1, 0) and M(0, 1) respectively, the coordinates (m, n) of the center of gravity are expressed with expressions I and II respectively. In order to obtain the parameters of the expressions, while the picture is stored in a picture memory 2, M(0, 0), M(1, 0), and M(0, 1) are obtained with a summing counter 3, a horizontal counter 4, and a moment counter 6, and the center of gravity (m, n) is obtained. Next, a principal axis directional tan theta is obtained in a direction in which a graphic width is larger in an expression III, and M(1, 1) and M(0, 2) are obtained by applying the parameters used in obtaining the center of gravity position. Further, in order to obtain M(2, 0), the picture data are read from the picture memory 2 with a vertical line counter 5, and M(2, 0) is obtained. Thus, an inclination angle thetacan be also obtained. |
