Patent ID: 11874679
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Computer technology (Electrical engineering)
Classification: CPC G  H  B | IPC B  G  H

Claim 6:
7. A control method for 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 method comprising:
calculating an estimated value of a relative position between the target and the imaging device, based on a drive command signal input to drive circuitry to drive the mounting head;
correcting 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;
correcting the target position to which the mounting head is to be moved using the corrected template image;
calculating 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;
outputting 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
correcting the target position, based on the estimated value and the observed value.