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1. 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.

2. 发明专利

DE3689406T2 未知
公开(公告)号：DE3689406T2
公开(公告)日：1994-06-16
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.

3. 发明专利

JPS63282897A DICTIONARY DATA ORIGINATING SYSTEM IN CHARACTER RECOGNITION SYSTEM 失效
公开(公告)号：JPS63282897A
公开(公告)日：1988-11-18
申请号：JP11687887
申请日：1987-05-15
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： NISHIDA YOSHIE , HATA SEIJI , YANO SOICHI
IPC分类号： G06K9/52 , G06K9/46 , G06K9/62 , G06K9/68
摘要： PURPOSE:To simplify the origination of dictionary data capable of corresponding to various characters by dividing a segmented character into meshes and analyzing character background structure in accordance with the ratio of the characters in the divided meshes. CONSTITUTION:A character is segmented and then a character frame is divided into several meshes less than 32 vertical and horizontal meshes and the meshes to be a background are noticed to analyze rough background structure. Since each mesh is expressed by one bit, a dictionary data can be expressed by the small number of bits corresponding to the number of divided meshes. At the time of forming dictionary data, the background structure of plural data is analyzed in each character (0-9, A-Z) based on real teaching, and every appearance of different background structure, new dictionary data are registered. Consequently, the system can be allowed to correspond to noises or changes of a character form (various character forms) and the dictionary origination based upon real teaching can be simplified.

4. 发明专利

JPH02268388A CHARACTER RECOGNIZING METHOD 失效
公开(公告)号：JPH02268388A
公开(公告)日：1990-11-02
申请号：JP8806589
申请日：1989-04-10
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： HAGIMAE KINUYO , HATA SEIJI , YANO SOICHI
IPC分类号： G06K9/34 , G06K9/32 , G06K9/38 , G06K9/62 , G06K9/68
摘要： PURPOSE:To execute character recognition at high speed by excluding a character remote for more than a prescribed distance from a candidate character group every time a feature vector extracted from the character is successively compared with a dictionary vector concerning the plural kinds of the feature vectors. CONSTITUTION:The character displayed by printing, seal impressing and mark stamping, etc., is two-dimensionally image picked-up and stored. Afterwards, picture processing is executed and the character is recognized. The recognition of the character is executed by using the feature quantity of the character and limiting a character to be a candidate. The feature quantity is expressed as the vector and the plural kinds of the feature vectors are prepared as the dictionary vectors in correspondence to a candidate character string. When characters (kinds) i, j, k, m and l are left as the candidate characters, the feature vector (displayed by arrows of thick lines) concerning a feature vector alpha extracted from the character as a recognition object is compared with the respective dictionary vectors (displayed by the arrows of thin lines) of those characters and the characters (i) and (l) separated for more than the prescribed distance are excluded. Even concerning feature vectors beta and gamma, processing is similarly executed and the character (k) is recognized.

5. 发明专利

JPS63143681A PARTS IMAGE RECOGNITION SYSTEM 失效
公开(公告)号：JPS63143681A
公开(公告)日：1988-06-15
申请号：JP29042086
申请日：1986-12-08
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： HATA SEIJI , HAGIMAE KINUYO , MOCHIDA KOICHI
IPC分类号： G06T1/00 , G06T7/00 , G06T7/60
摘要： PURPOSE:To execute stable recognition for finding out an intersecting point or an angle by extending a straight line even if a part of the straight line is lacking due to superposition or contact by using an angle formed by a main straight line of parts and a distance between intersecting points formed by its adjacent straight lines as an object for collation. CONSTITUTION:An inputted data are processed by binarization and segmentation and approximated to a polygon by vortex sequence data. The vortex sequence data are successively stored in a numbered vortex sequence table 4 from a start point along the external shape of the parts in the clockwise direction. The obtained vortex sequence data are processed by a recognizing processor 5. Namely, the position or direction of a main straight segment of the parts can be determined from a partial image even if the whole parts can not be observed. When the straight line can be determined, an unshown corner e.g. can be calculated by extending the straight line, its angle or distance can be found out, so that the kind of the parts and positional posture of the parts can be recognized.

6. 发明专利

JPS63271583A FEATURED SHAPE EXTRACTION SYSTEM 失效
公开(公告)号：JPS63271583A
公开(公告)日：1988-11-09
申请号：JP10425687
申请日：1987-04-30
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： NISHIDA YOSHIE , YANO SOICHI , HATA SEIJI
IPC分类号： G06T7/00
摘要： PURPOSE:To accurately and stably extract a featured shape and to eliminate variance in feature quantity due to positioning by using the individual threshold values of windows and performing segmentation only in the window. CONSTITUTION:The individual threshold values of many windows on one screen are determined by sampling brightness and the segmentation is performed only in the window according to the threshold values. Namely, the best threshold value is determined by looking at the inside of a window 19 whose threshold value is to be determined so as to determine the individual threshold values of the respective windows 19. Therefore, when threshold values of plural images are determined, the threshold values need not be determined in consideration of whether or not other featured shape parts are normal, and an area check and a position check at the time of teaching are made by performing the segmentation only in the windows by using the individual threshold values to stably and accurately extract the featured shape.

7. 发明专利

JPH02226008A METHOD AND APPARATUS FOR INSPECTING ELECTRONIC PART MOUNTING STATE 失效
公开(公告)号：JPH02226008A
公开(公告)日：1990-09-07
申请号：JP4528189
申请日：1989-02-28
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： HATA SEIJI , HAGIMAE KINUYO , YANO SOICHI
IPC分类号： G01B11/24 , G01B11/245 , H05K13/08
摘要： PURPOSE:To detect a lead state without being affected by the distortion of a substrate itself and an adjacent lead row by projecting slit light on the lead row almost vertically and detecting the profile of the slit light in an oblique direction crossing the lead row at a right angle. CONSTITUTION:Slit light is projected on the lead row arranged on a substrate 9 from a slit projector 2 in the direction vertical to the surface of the substrate 9 and the state of the lead row is imaged by two TV cameras I, II in the direction of an angle theta of 45 - 60 deg. to the surface of the substrate so as to hold the slit light between said cameras. At this time, when the slit light is projected on the leading ends of leads, the leading ends of the leads shine like (a) to be detected. When the slit light is projected on the sides reverse to the TV cameras so as to hold the leads between the cameras, the cutting of the slit light due to the leads is detected like (b). When there is no leads, the profile of the slit light becomes linear. These data obtained by the two TV cameras are combined to judge the presence of the leads.

8. 发明专利

JPH01154298A CHARACTER RECOGNIZING METHOD 失效
公开(公告)号：JPH01154298A
公开(公告)日：1989-06-16
申请号：JP31200887
申请日：1987-12-11
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： HAGIMAE KINUYO , HATA SEIJI , YANO SOICHI
IPC分类号： G06K9/62 , G06K9/46 , G06K9/68 , G06K9/70
摘要： PURPOSE:To execute a stable recognition by deriving a convex closure shape of a character to be recognized, etc. CONSTITUTION:A binarization processing is executed against a one-character area which is segmented, and with respect to this binarized image, an area for showing a character is extracted. Subsequently, at every said area, a polygon approximation of its contour line is executed. Also, a convex closure containing all apex data of this area is generated. Next, a convex closure shape pattern for expressing a shape of the convex closure is generated. In this state, the obtained convex closure shape pattern is classified into several kinds by executing the matching (DP matching) based on a dynamic planning method together with a dictionary pattern which is prepared in advance. Thereafter, an internal structure of the segmented character is investigated.

9. 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.

10. 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.

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