To correctly detect the designated side or corner, when a component center designated by a user is different from a circumscribing rectangle center or an actual suction position of a component, when the component as a whole does not shine, or even when suction displacement exceeding assumption occurs.
A minimum rectangle including the whole designated characteristic point (side or corner) of a positioning target component is set as a characteristic point circumscribing rectangle S0, and a circumscribing rectangle of a component image of a picked up image is set as a component circumscribing rectangle S1. The presence range of the designated characteristic point is narrowed down by use of the characteristic point, circumscribing rectangle S0 and the component circumscribing rectangle S1, and a narrowed-down area is image-processed as a search window W for detecting the characteristic point.
| JP2006190849A | 2006-07-20 | |||
| JP2002230538A | 2002-08-16 | |||
| JP2002288634A | 2002-10-04 | |||
| JP2006234793A | 2006-09-07 | |||
| JPH05149716A | 1993-06-15 |
Keisuke Matsuyama
Tsuyoshi Makino
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