| 摘要 |
PURPOSE:To improve flexibility for variation of the number of parts and shapes by providing a mark on parts to be set and recognizing variation of the shape of the mark before and after setting of parts by pictures to confirm setting of parts. CONSTITUTION:Parts 1 to be set are provided with a mark 8, which is partially or completely covered with parts 2, by painting or the like. Before setting of parts 2, two-dimensional picture information of the mark 8 is obtained by a TV camera 9 and is used as an original pattern 11. When parts 2 are attached to a prescribed position of parts 1 to be set, the mark 8 is partially covered with parts 2, and the mark 8 is detected in this state by the TV camera to obtain two dimensional information 12, and this information 12 is compared with the original pattern 11 to confirm setting of parts. Thus, flexibility is improved because this method can cope easily with variation of the number of object parts to be confirmed and their shapes. |
