| 摘要 |
PURPOSE:To position automatically a mounting member, by controlling an arm from the information set by picking up the image of the position where said member is to be mounted. CONSTITUTION:An image sensor camera 7 picks up the image of the mounting position where the internal mounting member 4 of a base material 1 is set, and transmits an image signal (a) corresponding to the image picked up by the same. A high speed image processing circuit 9 obtains a binary encoded signal (b) from the signal (a) by A/D conversion. The comparing and arithmetic processing circuit 10a of a system minicomputer 10 arranges and stores said signal into the matrix shape corresponding to the image to provide matrix information, compares and calculates the matrix information and standard matrix information and calculates position correction signals DELTAxDELTAy. The signals DELTAxDELTAy are delivered from an output circuit 10b for correction value to the control circuit 11 for a moving motor, then a moving motor 12 is driven by the control signal C transmitted from the control circuit in accordance with the signals DELTAxDELTAy, thereby adjusting finely the position of an arm 6. The member 4 is thus positioned to a correct position. |
