Recognition method and apparatus
First Claim
1. A method for recognizing a position of an object having an absolute position and orientation and having a surface and a pattern thereon, and for recognizing a desired portion of the pattern, said method comprising the steps of:
- (a) sensing an image within a predetermined area of the object and forming a first and a second resolution image signal corresponding to the object and pattern respectively;
(b) detecting the position of the object in accordance with the first resolution image signal;
(c) receiving data representing a positional relation between the object and the pattern;
(d) determining a predetermined area of the object in accordance with the data representing the positional relation between the object and the pattern;
(e) detecting the position of the desired portion of the pattern in accordance with the second resolution image signal within the predetermined area, wherein the first resolution is lower than the second resolution.
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Accused Products
Abstract
A recognition apparatus comprising an image sensor sensing an image of a pad pattern on an IC chip pattern, a pre-treatment circuit for converting the outputs of the image sensor into binary-coded signals in accordance with at least two slice levels, and a pattern detecting section for detecting the position and inclination of the pad pattern based on the images of the pad and chip patterns corresponding to the data stored in a memory; that is, the binary-coded signals generated in accordance with two slice levels. Two image sensors may be used for sensing the chip and pad data respectively.
58 Citations
23 Claims
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1. A method for recognizing a position of an object having an absolute position and orientation and having a surface and a pattern thereon, and for recognizing a desired portion of the pattern, said method comprising the steps of:
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(a) sensing an image within a predetermined area of the object and forming a first and a second resolution image signal corresponding to the object and pattern respectively; (b) detecting the position of the object in accordance with the first resolution image signal; (c) receiving data representing a positional relation between the object and the pattern; (d) determining a predetermined area of the object in accordance with the data representing the positional relation between the object and the pattern; (e) detecting the position of the desired portion of the pattern in accordance with the second resolution image signal within the predetermined area, wherein the first resolution is lower than the second resolution. - View Dependent Claims (4, 5, 6, 7, 8)
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2. A method for recognizing and sensing an object having corners and a surface with a pattern formed thereon, said method comprising:
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(a) defining a field of view having a center line; (b) defining a view surface within the field of view and including the object; (c) providing image signals responsive to the object and the view surface; (d) converting the image signals into digital data in accordance with a first and a second conversion signal level; (e) storing the digital data in respective storage locations of a memory; (f) providing the digital data stored in the respective ones of the storage locations in a specified sequence; (g) detecting a first predetermined data of the digital data corresponding to a respective one of the corners of the object; (h) detecting a second predetermined data of digital data corresponding to the pattern; (i) generating a projection pattern corresponding to a predetermined portion of the digital data corresponding to the pattern; (j) detecting the storage locations storing the center signal of the projection pattern signals.
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3. A recognition apparatus for sensing an object having a pattern thereon and for sensing a desired portion of the pattern, said apparatus being operatively connected to receive data representing a positional relation between the object and the pattern, the object having an absolute position and an orientation, and comprising:
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an image sensing section having outputs, for sensing an image of said pattern on said object and for generating, as outputs, image signals corresponding to said object, said pattern, and an area adjacent to said object; a pre-treatment circuit operatively connected to said image sensing section and to receive two slice levels, for converting the outputs of the image sensing section into a first binary-coded signal corresponding to the object, accordance with a first slice level, and for converting the outputs of the image sensing section into a second binary-coded signal corresponding to the pattern, in accordance with a second slice level; a pattern detecting section operatively connected to said pre-treatment circuit, for detecting the absolute position and orientation of the object in accordance with said first binary-coded signal, for determining a predetermined area of the object in accordance with the data representing the positional relation between the object and the pattern, and for detecting the desired portion of the pattern within said predetermined area in accordance with said second binary-coded signal.
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9. A recognition apparatus for sensing an object having a pattern thereon and for sensing a desired portion of the pattern, comprising an image sensing section having outputs, for sensing an image of said pattern on said object and for generating, as outputs, image signals corresponding to said object, said pattern, and an area adjacent to said object;
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a pre-treatment circuit operatively connected to said image sensing section and to receive at least two slice levels, for converting the outputs of the image sensing section into binary-coded signals; and a pattern detecting section operatively connected to said pre-treatment circuit, for detecting the position of the pattern in accordance with the binary-coded signals generated by the pre-treatment circuit, said image sensing section comprises a first optical system for sensing an image of the object and a second optical system for sensing an image of the pattern. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A recognition apparatus for sensing an object and a pattern thereon, the object having corners and a surface, said apparatus comprising:
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an image sensing means having a field of view with a center line, for sensing a view surface defined by said field of view and including said object, and for providing image signals in accordance with said object and said view surface; A/D conversion means, operatively connected to said image sensing means, for converting said image signals into digital data in accordance with a first and a second conversion signal level and for providing said digital data as an output; a bus line; memory means having a specified number of storage locations, operatively connected to said A/D conversion means and to said bus line, for storing said digital data in respective ones of said storage locations; reading means, operatively connected to said bus line and to receive memory address signals, for accessing respective ones of said storage locations in accordance with said memory address signals, and for providing said digital data stored in said respective ones of said storage locations as an output; corner detecting means, operatively connected to said bus line, for accessing respective ones of said storage locations in accordance with a specified sequence, for detecting a first predetermined data of said digital data, corresponding to respective ones of said corners, and for providing a corner detect signal indicating said respective one of said storage locations storing digital data corresponding to said first predetermined data; image correcting means, operatively connected to said bus line for accessing respective ones of said storage locations, for detecting a second predetermined data of said digital data corresponding to said pattern, and for providing a correction signal indicating said respective one of said storage locations storing said second predetermined data; projection pattern generating means, operatively connected to said bus line, for accessing respective ones of said storage locations, for generating projection pattern signals corresponding to a predetermined portion of said digital data corresponding to said pattern, and for storing said projection pattern signals in respective storage locations of said memory means; center point detection means, operatively connected to said bus line, for accessing said projection pattern signals and for generating a center point signal indicating the storage location storing the center signal of said projection pattern signal; control means, operatively connected to said bus line, for providing address signals and control signals, and for storing said digital data into said memory means. - View Dependent Claims (18, 19, 20, 21, 22, 23)
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Specification