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1. 发明公开

EP0222072A3 Method of loading surface mounted device and an apparatus therefor 失效
标题翻译：加载表面安装设备的方法及其设备
公开(公告)号：EP0222072A3
公开(公告)日：1989-03-22
申请号：EP86110922.1
申请日：1986-08-07
申请人： HITACHI, LTD. , HITACHI KEIYO ENGINEERING CO., LTD.
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
CPC分类号： H05K13/0413 , H01L2924/181 , H05K13/08 , H01L2924/00012
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.
摘要翻译：公开了一种用于通过机器人的手抓住诸如IC等的表面安装装置并通过使用图像处理器将其自动且精确地加载到印刷电路板的接触图案上的方法和装置。根据该方法，将测量线设置在表面安装器件的针阵列的每个图像图案和板的接触图案的阵列上，使得其可以与图案的方向成直角相交，并且针阵列的每个位置和接触图案的阵列是从该线上的亮度的变化中寻求的。根据这样获得的结果，寻求在整个表面部分和接触图案上的位置和旋转的位移，并且根据该信息来控制机器人的操作。

2. 发明授权

EP0222072B1 Method of loading surface mounted device and an apparatus therefor 失效
标题翻译： Verfahren zur Plazierung einesoberflächenmontiertenTeiles und eine Vorrichtung dazu。
公开(公告)号：EP0222072B1
公开(公告)日：1993-12-15
申请号：EP86110922.1
申请日：1986-08-07
申请人： HITACHI, LTD. , HITACHI KEIYO ENGINEERING CO., LTD.
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
CPC分类号： H05K13/0413 , H01L2924/181 , H05K13/08 , H01L2924/00012

3. 发明公开

EP0222072A2 Method of loading surface mounted device and an apparatus therefor 失效
标题翻译：一种用于装载表面的方法安装部件，以及用于其的装置。
公开(公告)号：EP0222072A2
公开(公告)日：1987-05-20
申请号：EP86110922.1
申请日：1986-08-07
申请人： HITACHI, LTD. , HITACHI KEIYO ENGINEERING CO., LTD.
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
CPC分类号： H05K13/0413 , H01L2924/181 , H05K13/08 , H01L2924/00012
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.

4. 发明授权

EP0452905B1 Method and apparatus for inspecting surface pattern of object 失效
标题翻译：用于检查物体的表面图案的方法和装置。
公开(公告)号：EP0452905B1
公开(公告)日：1995-03-08
申请号：EP91106141.4
申请日：1991-04-17
申请人： HITACHI, LTD.
发明人： Takagi, Yuji , Hata, Seiji
IPC分类号： G01N21/88
CPC分类号： G01N21/8806 , G01N21/95684 , G01N2021/1776 , G01N2021/1785 , G01N2021/8887 , G01N2021/95653

5. 发明授权

EP0180926B1 Method of and apparatus for controlling automated devices 失效
标题翻译：用于控制自动装置的方法和装置
公开(公告)号：EP0180926B1
公开(公告)日：1993-01-27
申请号：EP85113903.0
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： G05B19/408
CPC分类号： G05B19/41845 , G05B19/40936 , G05B19/4185 , G05B2219/13019 , G05B2219/13022 , G05B2219/36016 , Y02P90/16 , Y02P90/18 , Y02P90/265

6. 发明公开

EP0156343A3 Partial pattern matching method and apparatus 失效
标题翻译：部分图案匹配方法和装置
公开(公告)号：EP0156343A3
公开(公告)日：1988-09-14
申请号：EP85103490
申请日：1985-03-25
申请人： HITACHI, LTD.
发明人： Suzuki, Kenji , Hata, Seiji , Miyakawa, Akira , Nishida, Yoshie
IPC分类号： G06K09/80
CPC分类号： G06K9/6204 , G06K9/48 , G06K9/62 , G06K9/80 , G06K2209/19
摘要： In a partial pattern matching system, a dictionary pattern, a pattern to be recognized and a binary-coding unit for giving a binary-coded image pattern by comparing each pixel with a predetermined voltage (10, 101 to 103) are provided. A polygonal approximation unit (104) gives a coordinate string of vertices of a polygon composed of a plurality of successive straight line segments approximately representing a contour of the binary-coded image pattern. A contour segmentation unit (106) judges a corner point among the vertex coordinates of the polygon based upon a criterion dependent upon the shape of the polygon. the corner point being used for dividing the polygon into a plurality of partial pattern. In a matching unit (107, 109), a correspondence pair is given by subjecting each combination of the partial patterns of the dictionary and recognition-object patterns to matching comparison, and each evaluation of matching degree is given for each of the correspondence pair.

7. 发明公开

EP0247627A2 Misconvergence amount measuring apparatus 失效
标题翻译： Gerätzur Messung derGrössevon Konvergenzfehlern。
公开(公告)号：EP0247627A2
公开(公告)日：1987-12-02
申请号：EP87107831.7
申请日：1987-05-29
申请人： HITACHI, LTD.
发明人： Mochizuki, Jun , Hata, Seiji , Takahashi, Michio , Asano, Toshio , Kato, Katutoshi
IPC分类号： H04N17/04
CPC分类号： H04N17/04
摘要： Disclosed is a misconvergence amount measuring apparatus comprising: display means (15) for displaying a cross hatch pattern on a color display tube to be measured; image pickup means (14) for enlarging a scene of the color display tube to be measured on which a cross hatch pattern is displayed by the display means and for picking up an image of the enlarged scene of the color display tube; a picture input circuit (5) having an analog-to-digital converter for converting an image signal of the scene having the cross hatch pattern for every color picked up by the image pickup means (14) into a digital image signal; a picture memory (6) for storing picture data formed on the basis of the image signal for every color obtained from the picture input circuit; a program memory (3) storing a program; an arithmetic circuit (4) for taking in the picture data for every color from the picture memory so as to parallely execute a cumulative arithmetic processing of the picture data and an inner product arithmetic processing between the picture data and a picture address;

calculation means (1) for designating a region where a supply is transferred from the picture memory to the arithmetic circuit to thereby set a first window, and for executing a calculation in the first window to divide a result of the inner product arithmetic processing between the picture data and the picture address obtained from the arithmetic circuit by a result of the cumulative arithmetic processing of the picture data obtained from the arithmetic circuit to thereby obtain a barycenter of the cross hatch pattern for every color, and for measuring a displacement of the obtained barycenter of the cross hatch pattern for every color to thereby measure an amount of. misconvergence; and a bus line (8) for connecting the picture input circuit, the picture memory, the program memory, the arithmetic circuit, and the calculation circuit to each other.
摘要翻译：公开了一种失会聚量测量装置，包括：显示装置（15），用于在要测量的彩色显像管上显示交叉影线图案; 图像拾取装置（14），用于放大由显示装置显示交叉阴影图案的被测量彩色显像管的场景，以及拾取彩色显示管的放大场景的图像; 具有模拟 - 数字转换器的图像输入电路（5），用于将由图像拾取装置（14）拾取的每种颜色的具有交叉图案的场景的图像信号转换为数字图像信号; 图像存储器，用于存储从图像输入电路获得的每种颜色的基于图像信号形成的图像数据; 存储程序的程序存储器（3）算术电路（4），用于从图像存储器中获取每种颜色的图像数据，以平行执行图像数据的累积运算处理和图像数据与图像地址之间的内积运算处理; 计算装置（1），用于指定供应从图像存储器传送到运算电路的区域，从而设置第一窗口，并且用于在第一窗口中执行计算，以将内积运算处理的结果除以图像数据和从运算电路获得的图像地址，通过从运算电路获得的图像数据的累积运算处理结果，获得每个颜色的交叉图案的重心，并且测量所获得的图像数据的位移每个颜色的交叉影线图案的重心，从而测量失会聚量; 以及用于将图像输入电路，图像存储器，程序存储器，运算电路和计算电路相互连接的总线（8）。

8. 发明公开

EP0218259A2 Method and apparatus for calculating position and orientation by combination of features of partial shapes 失效
标题翻译：用于计算位置和通过的部分形状的特征的组合的定向的方法和装置。
公开(公告)号：EP0218259A2
公开(公告)日：1987-04-15
申请号：EP86114039.0
申请日：1986-10-10
申请人： HITACHI, LTD.
发明人： Nishida, Yoshie , Hata, Seiji , Tsuji, Masao
IPC分类号： G06F15/70
CPC分类号： G06K9/46 , G06T7/73
摘要： There are disclosed a method and an apparatus for properly recognizing the position and orientation of a whole object article from its partial shape. The method comprises the steps of first extracting an image of a partial shape from a two-dimensional picture image representing at least one portion of the object article (2) whose position and orientation are to be recognized, then calculating at least one of a center of gravity, an intersection of straight lines and a linear equation with respect to each of the extracted feature shapes, thereby obtaining at least one feature parameter, and calculating the position and orientation of the whole object article by arbitrarily combining such feature parameters.

9. 发明公开

EP0151417A1 Method for correcting systems of coordinates in a robot having visual sensor device and apparatus therefor 失效
标题翻译：校正坐标配备有显示装置及其所用的机器人装置的车辆的系统的方法。
公开(公告)号：EP0151417A1
公开(公告)日：1985-08-14
申请号：EP85100512.4
申请日：1985-01-18
申请人： HITACHI, LTD.
发明人： Okada, Takushi , Sugimoto, Koichi , Sakaue, Shiyuki , Hata, Seiji
IPC分类号： G05B19/18 , B25J13/08
CPC分类号： B25J9/1697 , G05B2219/33263 , G05B2219/37572 , G05B2219/45083
摘要： The co-ordinates system correction apparatus, incorporated in a robot system having a visual sensor for measuring two or three dimensional position and posture data, corrects a visual sensor co-ordinates system and a robot co-ordinates systems. The apparatus corrects the co-ordinates systems by means of a correction of parameters representing a relationship between the co-ordinates systems. The parameter correction is caused by calculating parameter errors from a deviation between calculated position and posture data and measured position and posture data.
摘要翻译：的坐标系统校正装置，在具有用于测量二维或三维位置和姿势的数据的视觉传感器的机器人系统并入，校正的视觉传感器坐标系统和机器人坐标系统。所述装置通过的代表坐标系统之间的关系的参数的校正装置校正的坐标系统。参数校正是通过从计算的位置和姿势的数据和测量的位置和姿势的数据之间的偏差计算参数错误引起的。

10. 发明公开

EP0452905A1 Method and apparatus for inspecting surface pattern of object 失效
标题翻译：维尔法赫恩和赫尔特·乌尔布鲁斯特·埃尔茨赫特
公开(公告)号：EP0452905A1
公开(公告)日：1991-10-23
申请号：EP91106141.4
申请日：1991-04-17
申请人： HITACHI, LTD.
发明人： Takagi, Yuji , Hata, Seiji
IPC分类号： G01N21/88
CPC分类号： G01N21/8806 , G01N21/95684 , G01N2021/1776 , G01N2021/1785 , G01N2021/8887 , G01N2021/95653
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.
摘要翻译：一种用于通过物体表面的图像检查的物体（1）的三维表面形状和图案的方法和装置，所述图像由来自被光照射的物体的反射光线形成。物体的表面被照射在物体的检测表面侧上的第一（3）和第二光（4），并且距物体不同的高度，来自被物体的被照射的物体的表面的反射光线的图像第一和第二光（3,4）由成像单元（5）获取，由第一光照亮的物体的表面的第一图像和由第二光照亮的物体的表面的第二图像，两者由成像单元获取，分别输入，对第一和第二图像的相同像素点处的亮度值进行除法处理以获得值，并且通过使用该值作为像素的亮度值，将第三形成用于质量评估的图像。

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