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1. 发明专利

DE69116709T2 未知
公开(公告)号：DE69116709T2
公开(公告)日：1997-02-06
申请号：DE69116709
申请日：1991-03-18
申请人： HITACHI LTD
发明人： TOMITA MASAMICHI , HONMA KAZUO , IGARASHI SHIGEMI , ISHIKAWA TADAAKI , TAKIZAWA RYU , HIRAMOTO SOTOZI , HONMA MAKOTO , HATA SEIJI , NAKAMURA MITSUO
IPC分类号： H05K13/04 , H05K13/08
摘要： An apparatus for transporting a component, such as an electronic component (4) has a head (1) with a holding means (3) for holding the component (4) when the component (4) is picked up from a suitable store (15,15a). The head (1) is movable relative to a base (100). An imaging apparatus (6), such as a camera, is fixed to the head (1) and this allows the position of the component (4) relative to the holding means (3) to be determined whilst the component (4) is being transported. In order to simplify the structure, there is a movable optical component (8) on the head (1) which, in one position, contributes to defining an optical path between the component (4) and the imaging apparatus (6), and in another position is withdrawn. A further imaging apparatus may be provided, on the base or on the head. That further imaging apparatus (42,43,45) may then detect the position of large components (4), if the first imaging apparatus has a narrow filed of view for small components (4). Alternatively, when the further imaging apparatus is on the head (1), it may detect the position to which the component (4) is to be transported.

2. 发明专利

DE69107882D1 未知
公开(公告)号：DE69107882D1
公开(公告)日：1995-04-13
申请号：DE69107882
申请日：1991-04-17
申请人： HITACHI LTD
发明人： TAKAGI YUJI , HATA SEIJI
IPC分类号： G01B11/24 , G01N21/88 , G01N21/956
摘要： A method and an apparatus for inspecting a three-dimensional surface shape and pattern of an object (1) under inspection by images of the surface of the object, said images being formed by reflected light rays from the object illuminated by lights. The surface of the object is illuminated by first (3) and second lights (4) provided on the inspected surface side of the object and at different heights from the object, images of the reflected light rays from the surface of the object illuminated by the first and second lights (3,4) are acquired by an imaging unit (5), a first image of the surface of the object illuminated by the first light and a second image of the surface of the object illuminated by the second light, both acquired by the imaging unit, are input separately, brightness values at the same pixel points of the first and the second images are subjected to a division process to obtain a value, and by using this value as the brightness value of the pixel, a third image is formed which is used for quality evaluation.

3. 发明专利

DE3586326T2 未知
公开(公告)号：DE3586326T2
公开(公告)日：1992-12-10
申请号：DE3586326
申请日：1985-03-25
申请人： HITACHI LTD
发明人： ARIGA MAKOTO , HATA SEIJI , SUZUMURA YOSHIKAZU , NAKAGIMA MASAAKI , TAKAHASHI MICHIO
IPC分类号： G06K9/34 , G06K9/46 , G06T7/60 , G06K9/56 , G06F15/70
摘要： A segmentation apparatus utilized in an image processing system for recognizing a pattern in an image inputted thereto includes a separate circuit (19) for outputting logical values of m by n pixels separated from the inputted image, an encode circuit (20) for storing in advance therein codes to be determined according to the content of an inputted pattern and for outputting a code indicating that which set of pixels is identical to the objective pixel by using as an input pattern the logical value ouputted from the separate circuit (19), and a select circuit (51) for selecting a label of the objective label, from the label data of neighborhood pixels already determined and the new label data assigned, in accordance with the output from the encode circuit (20).

4. 发明专利

DE3566160D1 IMAGE PROCESSING APPARATUS 未知
公开(公告)号：DE3566160D1
公开(公告)日：1988-12-15
申请号：DE3566160
申请日：1985-03-21
申请人： HITACHI LTD
发明人： OKADA TAKUSHI , SUGIMOTO KOICHI , SAKAUE SHIYUKI , HATA SEIJI
IPC分类号： G01B11/24 , G01B11/02 , G01B11/25 , G06K9/00 , G06T1/00 , G06F15/62
摘要： A three-dimensional object recognition system according to the present invention comprising three-dimensional position measurement means (6) to measure from a two-dimensional image of an object (1) to be recognized, three-dimensional positions of at least three points on an edge line of a specified polygonal plane of an object surface of the image; image processing means (3) to find on the basis of the three-dimensional position information, direction vectors of respective sides of the edge line as well as a normal vector of the polygonal plane and also edge angles of the respective sides of the edge line relative to a specified direction; and contour line extraction means (4) to select a filter suited for the polygonal plane on the basis of the edge angles and to detect the edge line from two-dimensional image data of the object (1) via a filtering process of the filter.

5. 发明公开

EP0178329A4 POSTURE JUDGING SYSTEM FOR IMAGE PROCESSING. 失效
标题翻译：图像处理的位置确定系统。
公开(公告)号：EP0178329A4
公开(公告)日：1988-07-04
申请号：EP85901573
申请日：1985-03-25
申请人： HITACHI LTD
发明人： NISIDA YOSIE ISHIISOU BUKKOU-C , HATA SEIJI , MIYAKAWA AKIRA HITACHI KEIMEI-
IPC分类号： G06K9/68 , G06K9/62 , G06T1/00 , G06K9/00
CPC分类号： G06K9/6228

6. 发明专利

DE69107882T2 未知
公开(公告)号：DE69107882T2
公开(公告)日：1995-11-02
申请号：DE69107882
申请日：1991-04-17
申请人： HITACHI LTD
发明人： TAKAGI YUJI , HATA SEIJI
IPC分类号： G01B11/24 , G01N21/88 , G01N21/956
摘要： A method and an apparatus for inspecting a three-dimensional surface shape and pattern of an object (1) under inspection by images of the surface of the object, said images being formed by reflected light rays from the object illuminated by lights. The surface of the object is illuminated by first (3) and second lights (4) provided on the inspected surface side of the object and at different heights from the object, images of the reflected light rays from the surface of the object illuminated by the first and second lights (3,4) are acquired by an imaging unit (5), a first image of the surface of the object illuminated by the first light and a second image of the surface of the object illuminated by the second light, both acquired by the imaging unit, are input separately, brightness values at the same pixel points of the first and the second images are subjected to a division process to obtain a value, and by using this value as the brightness value of the pixel, a third image is formed which is used for quality evaluation.

7. 发明专利

DE3689406D1 未知
公开(公告)号：DE3689406D1
公开(公告)日：1994-01-27
申请号：DE3689406
申请日：1986-08-07
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SUZUKI KENJI , HATA SEIJI , NISHIDA YOSHIE , KAWASAKI KYOICHI , FUJII KENJIRO , SHIMURA YASUNORI , TAKEYOSHI SHIGENORI
IPC分类号： H05K13/04 , H05K13/08
摘要： A method and an apparatus for cresting surface mounted device such as the IC (31) or the like by the hand (33) of the robot and automatically and accurately loading them onto the contact pattern of the printed board by means of the image processor (7) are disclosed. According to this method, the measurement line (17) is provided onto each image pattern of the pin array of the surface mounted device and the array of the contact pattern of the board, so that it may intersect at right angles with the direction of the pattern, and each position of the pin array and the array of the contact pattern is sought from the variation of the brightness (I,II,...) on that line. In accordance with the result thus obtained, displacement of the position and that of the rotation over the entire surfaced part and the contact pattern are sought and the operation of the robot (1-10) is controlled in accordance with that information.

8. 发明专利

DE3587061T2 未知
公开(公告)号：DE3587061T2
公开(公告)日：1993-07-15
申请号：DE3587061
申请日：1985-11-11
申请人： HITACHI LTD
发明人： SUZUKI KENJI , HATA SEIJI , TSUJI MASAO
IPC分类号： G06T1/00 , G06K9/48 , G06K9/62 , H04N7/26 , G06F15/62 , G06K9/00
摘要： The invention relates to an image processing device and a method for controlling the same wherein the contour of a certain segment of an image, or pattern is polygonal-approximated so that it is represented by a row of vertex data (204) and the row of vertex data is processed to recognize the shape of the segment. This method comprises the steps of describing an image processing procedure (101-106) as a program by a programming language incorporating a group of image processing instructions, and executing this program by the image processing whereby several different image procedures can be performed for image processing according to different uses. This method also controls the image processing procedure using a program written by a programming language incorporating variables representing the structure inherent in the image data.

9. 发明专利

DE3587034D1 未知
公开(公告)号：DE3587034D1
公开(公告)日：1993-03-11
申请号：DE3587034
申请日：1985-10-31
申请人： HITACHI LTD
发明人： TAKEDA KENJI , MATSUZAKI KICHIE , MOURI SHUNJI , HATA SEIJI , SUZUKI KENJI
IPC分类号： G05B15/02 , B25J9/16 , G05B19/4093 , G05B19/418 , G06F1/00 , G05B19/405 , G06F15/46
摘要： A system for carrying out a cooperative control operation for a plurality of automated devices connected together, the operations of which can be controlled variously in accordance with a program. In the control method in this system, the controlling of various automated devices is practiced by inputting a program described in a language which has a unified system, and translating this program in accordance with the combination of the automated devices.

10. 发明专利

DE3586326D1 未知
公开(公告)号：DE3586326D1
公开(公告)日：1992-08-20
申请号：DE3586326
申请日：1985-03-25
申请人： HITACHI LTD
发明人： ARIGA MAKOTO , HATA SEIJI , SUZUMURA YOSHIKAZU , NAKAGIMA MASAAKI , TAKAHASHI MICHIO
IPC分类号： G06K9/34 , G06K9/46 , G06T7/60 , G06K9/56 , G06F15/70
摘要： A segmentation apparatus utilized in an image processing system for recognizing a pattern in an image inputted thereto includes a separate circuit (19) for outputting logical values of m by n pixels separated from the inputted image, an encode circuit (20) for storing in advance therein codes to be determined according to the content of an inputted pattern and for outputting a code indicating that which set of pixels is identical to the objective pixel by using as an input pattern the logical value ouputted from the separate circuit (19), and a select circuit (51) for selecting a label of the objective label, from the label data of neighborhood pixels already determined and the new label data assigned, in accordance with the output from the encode circuit (20).

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