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US 10,482,587 B2Granted
Apparatus having transfer control based on imaged image
AssigneeDisco Corporation
InventorsKatsuharu Negishi, Kazunari Tanaka
Life of this patent
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Abstract
Disclosed herein is an apparatus including an imaging unit configured to image a region in which a holding unit is moved by operation of a moving unit, a basic image storage unit configured to store a basic image corresponding to proper operation of the holding unit or an action unit, and a controller configured to compare an image imaged by the imaging unit with the basic image stored by the basic image storage unit, and control the moving unit or the action unit such that the two images coincide with each other.
Claims20
An apparatus comprising:
- a holding means for holding a workpiece;
- an action means for applying action to the workpiece held by the holding means;
- a moving means for moving the holding means and the action means relative to each other;
- an imaging means for imaging a region in which the holding means is moved by operation of the moving means, wherein the region includes at least two of the following specific elements:
- the workpiece, the holding means and the action means;
- a basic image storing means for storing a basic image corresponding to proper operation of the holding means or the action means, wherein the basic image storing means includes a memory;
- and
- a control means for comparing an image imaged by the imaging means with the basic image stored by the basic image storing means, and controlling the moving means or the action means such that the two images coincide with each other,
- wherein the comparing an image imaged by the imaging means with the basic image includes verifying that a positional relation between at least two of said specific elements of the region imaged by the imaging means coincides with a corresponding positional relation in the basic image stored in the basic image storing means.
6 more elements
An apparatus comprising:
- a holding means for holding a workpiece;
- an action means for applying action to the workpiece held by the holding means;
- a moving means for moving the holding means and the action means relative to each other, wherein the moving means includes an actuating arm coupled to a motor;
- an imaging means for imaging a region in which the holding means is moved by operation of the moving means;
- a basic image storing means for storing a basic image corresponding to proper operation of the holding means or the action means, wherein the basic image storing means includes a memory;
- and
- a control means for comparing an image imaged by the imaging means with the basic image stored by the basic image storing means, and controlling the moving means or the action means such that the two images coincide with each other,
- wherein the comparing an image imaged by the imaging means with the basic image includes verifying that a positional relation between at least two specific elements of the region imaged by the imaging means coincides with a corresponding positional relation of said at least two specific elements in the basic image stored in the basic image storing means.
5 more elements
An apparatus, wherein the apparatus includes a plurality of positions each configured and arranged for performing an action upon a workpiece, the apparatus comprising:
- a holding means for holding the workpiece;
- a moving means for moving the holding means with the workpiece thereon from one of said positions to another of said positions;
- an imaging means for imaging a region in which the holding means is moved by operation of the moving means;
- a basic image storing means for storing a basic image corresponding to proper operation of the holding means, wherein the basic image storing means includes a memory;
- and
- a control means for comparing an image imaged by the imaging means with the basic image stored by the basic image storing means, and controlling the moving means such that the two images coincide with each other,
- wherein the comparing an image imaged by the imaging means with the basic image includes verifying that a positional relation between at least two specific elements of the region imaged by the imaging means coincides with a corresponding positional relation of said at least two specific elements in the basic image stored in the basic image storing means.
4 more elements
Dependencies are inferred from the claim text.