Abstract: A robot numerical control apparatus for following a program and utilizing, in the program, the result of processing an image obtained by a camera attached to an arm of a robot. Either a first command for displacing the manipulating end of the robot to a designated position or a second command for displacing the center of the output image of the camera to the designated position is selectable as a displacement command to actuate the robot. A coordinate transformer is provided for controlling the movement of the robot's arm with pseudo-control in such a manner that when the second command is selected the center of the sensed image is positioned at the manipulating end of a virtual arm measured from the center of the sensed image to the center of the articulation of the robot's arm equipped with the camera, whereby the subject being photographed can be caught exactly at the image sensing center of the camera attached to the robot's arm.

Abstract: A high-speed image recognition system operates in response to a binary digitized picture image signal. The system comprises a first memory for storing a bi-level reference image pattern therein, a selector coupled to the first memory for manually designating a plurality of selected points of the bi-level reference image pattern, a detector coupled to the selector for detecting signal levels at each of the points selected by the selector, a second memory coupled to the detector for storing therein detected signal levels obtained from the detector, and a comparator coupled to the second memory for comparing the detected signal levels at the selected points of the bi-level reference image pattern with signal levels at the same points of a candidate image pattern, whereby an object corresponding to the candidate image pattern is recognized.