| 摘要 |
PURPOSE:To make it possible to perform calculation processing rapidly with versatility, by calculating the center of the plane video diagram of a parts and then by comparing a circumferential pattern, indicating whether the existence of the parts on the circumference centering on the center of the diagram to a dictionary pattern. CONSTITUTION:A parts image obtained by image pickup unit 1 is supplied to video memory unit 5 and divided into a finite number of picture elements for binary coding. Parts position operator 6 fixes the center of the diagram as to this binary- coded parts image. Next, pattern comparator 7 fetches the pattern of the image as a circumferential pattern along the circumference of a circle of a constant radius centering on the center of the diagram. On the other hand, the pattern of a dictionary pattern image and the dictionary pattern are previously written in comparator 7. Then, comparator 7 compares the circumferential pattern to the dictionary pattern and then respective of the pattern are repetedly circulated to the left by one bit until the both agree each other. When the frequency of circulating bits until the both agree is denoted as N, the turning angle of the attitude when the dictionary pattern is obtained can be found by frequency N. Thus, the position and attitude of the parts can be obtained. |
