| 摘要 |
PURPOSE:To determine position coordinates of a work precisely by varying the focal length of a lens optical system and acquiring the work position within a wide visual field, and then putting the optical system closer to the work position. CONSTITUTION:The visual sensor 1 consists of the optical lens system 2a which varies in focal length and an image sensor 3, and when the center of the sensor 1 is placed in the area determined by coordinates x6-x9, a work 14 or 15 is acquired by visual field acquisition. The center of the sensor 1 is aligned to the center coordinate x1 of the work 14 or 15 on the basis of the output of the sensor 3 by the acquisition, and when the sensor 1 is put closer to the work 14 or 15, the focal length of the optical system 2a varies to perform automatic focusing, deciding on the center coordinates of the work 14 or 15. |
