Object control system, object control method and program, and rotational center position specification device

Patent metadata

Field	Value
Publication number	US-9247684-B2
Application number	US-201013501660-A
Country	US
Kind code	B2
Filing date	Dec 6, 2010
Priority date	Dec 7, 2009
Publication date	Jan 26, 2016
Grant date	Jan 26, 2016

Abstract

An object control system prevents shifting an object to a target position from requiring a long time, even if, for example, the position of installation of an image capturing unit is deviated. And, according to the present invention, an object control system includes: a first image capturing unit that captures a first image including a first reference mark that specifies a first object line determined in advance with respect to an object; an angle acquisition unit that, on the basis of said first reference mark within said first image, acquires a first differential angle that specifies the angle between a first target object line, determined in advance with respect to said first image, and said first object line; and an object control unit that controls a rotation mechanism that rotates said object, on the basis of said first differential angle.

First claim

What is claimed:

1. An object control system, comprising:
an image acquisition device that acquires a first image from a first image capturing device that captures said first image including a first reference mark that specifies a first object line determined in advance with respect to an object;
an angle acquisition processing component that, on the basis of said first reference mark within said first image, acquires a first differential angle that specifies the angle between a first target object line, determined in advance with respect to said first image, and said first object line;
an object control processing component that controls a rotation mechanism that rotates said object, on the basis of said first differential angle;
a calibration processing component that specifies a rotational center position of a rotation mechanism that rotates a holding member upon which said object is held, and wherein:
said image acquisition device acquires, with said first image capturing device, images including at least a portion of said holding member;
said calibration processing component comprises:
a first rotational center position specification processing component that specifies a first rotational center position of said rotation mechanism on the basis of positions of a first mark that is determined with respect to said holding member, included in said images before said holding member is rotated by said rotation mechanism and after that rotation;
a second rotational center position specification processing component that determines, on the basis of said first rotational center position, a set rotational center position that is closer to the image capturing range of said first image capturing device than said first rotational center position, and that specifies a second rotational center position of said rotation mechanism on the basis of positions of a second mark that is determined with respect to said holding member, included in said images before said holding member is rotated by said rotation mechanism around said position of the set rotational center and after that rotation; and
a rotational center position correction processing component that corrects said first rotational center position on the basis of said set rotational center position and said second rotational center position;

and said object control processing component controls said rotation mechanism on the basis of said corrected position of the first rotational center.

2. The object control system according to claim 1 , further comprising a calibration processing component that specifies a rotational center position of a rotation mechanism that rotates a holding member upon which said object is held, and wherein:
said image acquisition device acquires, with said first image capturing device, first mark images including a first mark that is set in advance with respect to said holding member;
said calibration unit acquires an isosceles triangle shape whose bottom edge is a straight line that connects the first marks that are respectively included in two said first mark images acquired by said image acquisition device before said holding member is rotated by said rotation mechanism and after that rotation, and whose apical angle is an angle corresponding to the amount of rotation of said rotation mechanism, and acquires said rotational center position on the basis of the position within the first mark image of the vertex of said apical angle of said isosceles triangle shape; and
said object control processing component controls said rotation mechanism on the basis of said rotational center position.

3. The object control system according to claim 1 , wherein:
said first rotational center position specification processing component specifies said first rotational center position of said rotation mechanism on the basis of positions of said first mark included in said images before said holding member is rotated by said rotation mechanism around a rotational center position outside the image capture range of said first image capturing device, and after that rotation; and
said second rotational center position specification processing component specifies said second rotational center position of said rotation mechanism on the basis of positions of said second mark included in said images before said holding member is rotated by said rotation mechanism around said position of the set rotational center that is included within the image capture range of said image capturing unit, and after that rotation.

4. The object control system according to claim 1 , wherein:
said image acquisition device acquires a second image from a second image capturing device that captures said second image including a second reference mark that specifies a second object line determined in advance with respect to said object;
said angle acquisition processing component further, on the basis of said second reference mark within said second image, acquires a second differential angle that specifies the angle between a second target object line, determined in advance with respect to said second image, and said second object line; and
said object control processing component controls said rotation mechanism on the basis of said second differential angle.

5. The object control system according to claim 4 , further comprising a decision processing component that makes a decision as to whether or not said first reference mark is included within said first image; and wherein, if said first reference mark is not included within said first image, said object control processing component controls said rotation mechanism on the basis of said second differential angle.

6. The object control system according to claim 4 , further comprising a decision processing component that makes a decision as to whether or not said first reference mark is included within said first image; and wherein, if said first reference mark is not included within said first image, said object control processing component controls said rotation mechanism on the basis of said second differential angle so that said first reference mark is included within said first image.

7. The object control system according to claim 4 , further comprising a weighting memory storage that stores respective weightings for said first image capturing device and said second image capturing device; and wherein, for said first differential angle and said second differential angle, a weighting for said first image capturing device and a weighting for said second image capturing device are respectively assigned, and said rotation mechanism is controlled on the basis of said first differential angle and said second differential angle to which said respective weightings have been assigned.

8. The object control system according to claim 7 , wherein:
said object control processing component further controls a parallel shifting mechanism that shifts said object parallel to itself, and said object control processing component:
specifies a first parallel shift amount for said object on the basis of said first reference mark and a first target reference mark that is determined in advance for said first image;
specifies a second parallel shift amount for said object on the basis of said second image and a second target reference mark that is determined in advance with respect to said second image;
assigns a weight to said first image capturing device and a weight to said second image capturing device for said first parallel shift amount and said second parallel shift amount, respectively; and
controls said parallel shifting mechanism on the basis of said first parallel shift amount and said second parallel shift amount to which said respective weightings have been assigned.

Assignees

• Ikeda Masaaki
• Cognex Corp

Inventors

• Ikeda Masaaki

Classifications

• H05K13/0015 Primary

  Orientation; Alignment; Positioning · CPC title