Work machine, and calculation method

A calculation method for calculating a position of the lead of a component held by a component holding tool in a work machine provided with a holding head provided with multiple component holding tools, the component holding tools including four suction nozzles equally spaced on a first circumference, a moving device configured to move the holding head in a horizontal plane direction and a vertical direction, a holding head rotating device configured to rotate the holding head, an imaging device provided with side lighting configured to emit light from a side direction onto leads of the components held by the component holding tools, the side lighting including four light sources that are evenly spaced on a second circumference, the calculation method comprising:

• performing a series of operations including
• lowering the holding head such that the leads of at least two components held by at least two of the multiple component holding tools enter a lighting range of the side lighting, and rotating the holding head such that the four suction nozzles face the four light sources in a first direction and a second direction perpendicular to each other, the first direction and the second direction being perpendicular to the vertical direction;
• collectively imaging the leads of the at least two components based on reflected light of the side lighting that is reflected by the leads of the components;
• and
• raising the holding head;
• and
• calculating a position of the leads of the at least two components based on image data imaged in the collective imaging,
• wherein the series of operations is performed only once to calculate the position of the leads of the at least two components.