PURPOSE: To provide a board hole drilling method and a board hole drilling machine which can drill a hole at a position provided with a hole drilling mark accurately.

CONSTITUTION: A compensation mark 33 is provided at a position which is a certain position in drill coordinate system and within a visual field of a CCD camera 1. At the time of calibration, an image of the compensation mark 33 is taken in by the CCD camera l to recognize an initial position Xo, Yo. At the time of drilling a hole, the image of the compensation mark 33 is taken in by the CCD camera 1 to recognize a position Xh, Yh immediately before being drilled so that an error ΔX, ΔY of the initial position Xo, Yo and the position Xh, Yh immediately before being drilled is computed. An image of a hole drilling mark P is taken in by the CCD camera 1 to recognize a center of gravity position X, Y, and the center of gravity position X, Y is compensated by the error ΔX, ΔY and then is coordinate-transformed to obtain a hole drilling position R, θ in a drill coordinate system.