US 11,874,679 B2
Using an imaging device to correct positioning errors
Akio Saito, Tokyo (JP); Hiroyuki Sekiguchi, Tokyo (JP); and Takeyuki Kawata, Tokyo (JP)
Assigned to MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP)
Appl. No. 17/296,253
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed Jan. 9, 2019, PCT No. PCT/JP2019/000394
§ 371(c)(1), (2) Date May 24, 2021,
PCT Pub. No. WO2020/144776, PCT Pub. Date Jul. 16, 2020.
Prior Publication US 2022/0004206 A1, Jan. 6, 2022
Int. Cl. G06T 5/00 (2006.01); G06T 7/00 (2017.01); G05B 23/02 (2006.01); G06T 3/00 (2006.01); G06V 10/24 (2022.01); G06V 10/44 (2022.01); G06V 10/88 (2022.01); G06V 30/146 (2022.01); G05D 3/12 (2006.01); H05K 13/08 (2006.01); G06V 10/75 (2022.01); B25J 9/00 (2006.01); B25J 15/06 (2006.01)
CPC G05D 3/12 (2013.01) [G05B 23/0254 (2013.01); G06T 3/0068 (2013.01); G06T 5/003 (2013.01); G06T 7/001 (2013.01); G06V 10/24 (2022.01); G06V 10/443 (2022.01); G06V 10/75 (2022.01); G06V 10/88 (2022.01); G06V 30/146 (2022.01); H05K 13/081 (2018.08); B25J 9/0093 (2013.01); B25J 15/0616 (2013.01); G06T 2207/20201 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A control device to control a control target apparatus including a mounting head and an imaging device to change a position relative to a target as the mounting head moves and acquire a captured image of the target, the control device comprising:
drive circuitry to drive the mounting head, based on a drive command signal to move the mounting head to a target position; and
processing circuitry configured to:
calculate an estimated value of a relative position between the target and the imaging device, based on the drive command signal,
correct a preregistered template image, based on a time-series signal of the estimated value of the relative position within an imaging time of the imaging device resulting in a corrected template image,
correct the target position using the corrected template image,
calculate the corrected template image in a spatial frequency domain by performing an operation to apply a filter to the corrected template image in the spatial frequency domain,
the control device further comprising:
an image processor to output an observed value of the relative position by image processing based on the captured image and the corrected template image in the spatial frequency domain, and correct the target position, based on the estimated value and the observed value.