Position control method

• US 4,645,993 A
• Filed: 03/11/1985
• Issued: 02/24/1987
• Est. Priority Date: 03/09/1984
• Status: Expired due to Fees

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Tsuruse, Hideki, Kodama, Tetsuji, Tsutsumi, Hironobu, Naito, Akira
• Primary Examiner(s): NOT, DEFINED
• Application Number:
  US06/710,269
• Time in Patent Office: 715 Days
• Field of Search: 318/640, 318/568, 318/653, 318/568 D
• US Class Current: 318/568.1
• CPC Class Codes: G05B 19/402 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/37572 Camera, tv, vision
• CPC Class Codes: G05B 2219/49113 Align elements like hole and drill, centering tool, probe, workpiece

Abstract

A position control method for aligning a workpiece in a machining apparatus. An alignment pattern, such as a diamond, is provided on the surface of the workpiece. The alignment pattern and the surrounding region are sensed by an image pickup television camera, the output of which is converted to binary form. From the binary data, the central point of the pattern is calculated. The difference between this central point and a reference point is then determined, and the result used to control the position of the workpiece via a positioning mechanism.

Claims

1. A position control method, comprising the steps of:

providing a two-dimensional mark on an object to be positioned;

scanning said mark and an adjacent area with a television camera;

extracting from an output of said television camera positions of corners of said mark;

calculating a center point of said mark from said positions of said corners;

calculating an amount of deviation of said center point from a reference point; and

correcting a position of said object by an amount of said deviation.

2. The position control method of claim 1, wherein said step of extracting said positions of said corners comprises determining points along a boundary of said mark from transitions in a video output signal of said television camera.

3. The position control method of claim 2, wherein said step of extracting said positions of said corners comprises determining end ones of said points along said boundary.

4. The position control method of claim 1, further comprising the step of storing from said output of said video camera only said points along said boundary.