JP6707403B2 - Mounting related processing equipment - Google Patents

Description

The present invention relates to a mounting-related processing device, an image processing method, and a program thereof, and more particularly, to a mounting-related processing device, an image processing method, and a program thereof related to a process of mounting a component on a board.

Conventionally, as a mounting apparatus, a plurality of target areas corresponding to a plurality of target objects (for example, sucked parts) that are in a static state before being captured are set in the image sensor imaging area, and the target area is stopped. A method has been proposed in which the acquisition condition of image data is set in advance before imaging (for example, refer to Patent Document 1).

Patent No. 5524495

However, in the mounting apparatus described above, the area of interest is set in advance, but considering the positional deviation of the imaging target, etc., the area of interest with a size in which the margin for safety is added to the maximum value of the suction deviation amount of the component is set. Had to set. In such an apparatus, the transfer amount of image data becomes large, and the transfer may take time.

The present invention has been made in view of the above problems, and a main object of the present invention is to provide a mounting-related processing device that can further shorten the transfer time of image data.

The present invention adopts the following means in order to achieve the above-mentioned main object.

A mounting-related processing apparatus according to the present invention is a mounting-related processing apparatus that executes mounting-related processing related to processing for mounting a component on a board, and an imaging unit that captures an image related to a state of a component sucked by a nozzle; An image of the entire part is included in a predetermined capture area including an image of the part based on the extracted information about the outer shape of the part in the extracted image An area setting unit for moving to a position and an output unit for outputting the image data included in the capture area are provided.

This device captures an image of the state of the component adsorbed by the nozzle, extracts the outer shape of the component existing in a predetermined detection area in the captured image, and based on the extracted information about the outer shape of the component. , A predetermined capture area including the image of the component is moved to a position including the image of the entire component. Then, this apparatus outputs the image data included in the capture area and the movement amount of the capture area . In this device, for example, even if an image in which the position of the component is displaced is captured, the capture region is moved according to the outline of the extracted component, so the capture region can be made smaller. Therefore, the image data of the capture area to be output can be made smaller. Therefore, in this device, the transfer time of the image data can be further shortened. Here, the mounting-related processing device may be, for example, a mounting device that mounts a component on a board or an inspection device that inspects the state of a component mounted on a board.

In the mounting-related processing device of the present invention, the area setting unit may perform binarization processing on the detection area to extract the outer shape of the component. With this device, the transfer time of image data can be further shortened by a relatively simple binarization process.

In the mounting-related processing device of the present invention, the capture area may be smaller than or equal to the detection area. From the viewpoint of transfer time, it is preferable that the capture area is closer to the component size and is narrower. The detection area may be an area that can extract the outline of the component, and is also preferably a narrower area from the viewpoint of the time of the outline extraction processing.

In the mounting-related processing device of the present invention, the area setting unit may change the size based on the extracted outer shape of the component to set the loading area. With this device, the capture area can be made smaller, and the transfer time of image data can be further shortened. The initial value of the capture area may be a size that is predetermined based on the size of the part. Alternatively, in the mounting-related processing device of the present invention, the capture area may be set based on the size of the imaged component.

In the mounting-related processing device of the present invention, the image pickup unit includes an image pickup device that generates charges by receiving light and outputs the generated charges, and an image processing unit that generates image data based on the output charges. The area setting unit may transfer the electric charge from the image sensor and extract the outline of the component when the image processing unit generates an image. In this device, since the outline of the component can be extracted when the charge is transferred from the image pickup element, the processing time from image pickup to image data output can be further shortened.

The mounting-related processing device of the present invention includes a mounting unit that mounts a component on a board and a control unit that controls the mounting unit, and the output unit may output the image data to the control unit. Good. By doing so, it is possible to further shorten the transfer time of the image data from the imaging unit to the control unit.

1 is a schematic explanatory diagram illustrating an example of a mounting system 10. FIG. FIG. 3 is a block diagram showing the configuration of the mounting apparatus 11. Explanatory drawing of components P1-P4 extracted by the mounting head 22. 9 is a flowchart showing an example of an image data output processing routine. Explanatory drawing of the detection area|region 61 and the capture|acquisition area|region 62 of the captured image 60.

Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic explanatory diagram illustrating an example of a mounting system 10. FIG. 2 is a block diagram showing the configuration of the mounting apparatus 11. The mounting system 10 is a system that executes mounting-related processing relating to processing for mounting the component P on the board S. The mounting system 10 includes a mounting device 11 and a management computer 50. The mounting-related processing includes, for example, mounting processing for arranging the component P on the board S, inspection processing for inspecting the state of the component P arranged on the board S, and the like. The mounting system 10 includes a plurality of mounting apparatuses 11 that perform a mounting process for mounting the component P on the board S, and an unillustrated inspection apparatus that inspects the board S on which the component P is arranged, from upstream to downstream. .. In FIG. 1, only one mounting device 11 is shown for convenience of description. In this embodiment, the left-right direction (X axis), the front-back direction (Y axis), and the up-down direction (Z axis) are as shown in FIG.

As shown in FIGS. 1 and 2, the mounting apparatus 11 includes a board transfer unit 12, a mounting unit 13, a component supply unit 14, an image pickup unit 30, and a control device 40. The board transfer unit 12 is a unit for carrying in, carrying, fixing at the mounting position, and carrying out the board S. The substrate transfer unit 12 has a pair of conveyor belts which are provided in front and rear of FIG. The substrate S is conveyed by this conveyor belt.

The mounting unit 13 picks up the component P from the component supply unit 14 and arranges the component P on the substrate S fixed to the substrate transport unit 12. The mounting unit 13 includes a head moving unit 20, a mounting head 22, and a suction nozzle 24. The head moving unit 20 includes a slider that is guided by a guide rail to move in the XY directions, and a motor that drives the slider. The mounting head 22 is detachably mounted on the slider, and is moved in the XY directions by the head moving unit 20. One or more suction nozzles 24 are detachably attached to the lower surface of the mounting head 22. The mounting head 22 has a built-in Z-axis motor, and the height of the suction nozzle 24 is adjusted along the Z-axis by this Z-axis motor. The suction nozzle 24 collects the component P, and a negative pressure is supplied by a decompression pump (not shown) to suck and hold the component P by this negative pressure.

The component supply unit 14 includes a plurality of reels and is detachably attached to the front side of the mounting apparatus 11. A tape is wound around each reel, and a component P is held on the surface of the tape along the longitudinal direction. The tape is unwound backward from the reel, and in a state where the components are exposed, the tape is sent to the sampling position where the suction is performed by the suction nozzle 24 by the feeder unit.

The image pickup unit 30 is a unit for picking up an image of the component P sucked by the mounting head 22, and is arranged between the board transport unit 12 and the component supply unit 14. The imaging range of the imaging unit 30 is above the imaging unit 30. The image pickup unit 30 includes an image pickup device 31, an area setting unit 32, an image processing unit 33, and an output unit 34. The image pickup device 31 generates electric charges by receiving light and outputs the generated electric charges. The image sensor 31 may be a CCD image sensor having a photodiode or a CMOS image sensor. The region setting unit 32 performs a process of setting a capture region of image data based on the charges input from the image sensor 31 to the image processing unit 33. The area setting unit 32 is configured as a circuit that performs binarization processing and outline extraction processing in parallel with charge transfer. The area setting unit 32 performs binarization processing based on the charges of pixels included in a predetermined detection area and a predetermined threshold value. This threshold value is empirically determined to be a value that can be used to determine whether the pixel is a part region or a non-part region. The size and position of the detection area are predetermined according to the position of each suction nozzle 24 of the mounting head 22 and the type of component to be suctioned. Further, the area setting unit 32 performs the outer shape extraction processing of the component P based on the result of the binarization processing. The area setting unit 32 extracts the outer shapes of the parts existing in the detection area in the captured image, and based on the extracted information on the outer shapes of the parts, sets a predetermined capture area including the image of the parts to the parts. The process of moving to the position including the entire image is performed. The image processing unit 33 generates image data based on the input electric charge. The image processing unit 33 performs processing such as dark current correction, interpolation calculation, color space conversion, and gamma correction to generate image data. The output unit 34 outputs a part or all of the generated image data to the control device 40. When the suction nozzle 24 sucking the component P passes above the image pickup unit 30, the image pickup unit 30 images the component P sucked by the suction nozzle 24 and outputs the image pickup result to the control device 40.

As shown in FIG. 2, the control device 40 is configured as a microprocessor centered on a CPU 41, and has a ROM 42 for storing a processing program, an HDD 43 for storing various data, a RAM 44 used as a work area, an external device and an electric device. An input/output interface 45 for exchanging signals is provided, and these are connected via a bus 46. The control device 40 outputs a control signal to the board transport unit 12, the mounting unit 13, and the component supply unit 14, and inputs an image signal from the imaging unit 30.

The management computer 50 is a computer that manages information of each device of the mounting system 10. The management computer 50 is provided with an input device 52 such as a keyboard and a mouse for an operator to input various commands, and a display 54 for displaying various information. The management computer 50 has mounting condition information stored in a storage unit. The mounting condition information includes information such as the shape and size of the component P and the suction nozzle 24 used for suction.

Next, the operation of the mounting system 10 of the present embodiment configured as described above, and first, the mounting process of the mounting apparatus 11 will be described. When the mounting process is started, the CPU 41 of the control device 40 controls the mounting unit 13 to mount the suction nozzle 24 corresponding to the component P to be collected on the mounting head 22 and to collect the component P from the component supply unit 14. FIG. 3 is an explanatory diagram of the components P1 to P4 collected by the mounting head 22. Here, a case where the mounting head 22 is equipped with four suction nozzles 24 will be described as a specific example. The components P1 to P4 are collectively referred to as the component P. Next, the CPU 41 controls the head moving unit 20 so that the mounting head 22 passes above the imaging unit 30, and causes the imaging unit 30 to image the component P suction-held by the mounting head 22. Subsequently, the CPU 41 adjusts the position, the rotation angle, and the like of the component P based on the image pickup result of the image pickup unit 30, and arranges the component P on the board S. At this time, if the component P has an abnormality such as deformation, the CPU 41 causes the mounting unit 13 to perform a process of discarding the component P without using it for mounting. The CPU 41 repeats such processing until the placement of the components P on the board S is completed.

Next, the output processing of the image data in the image pickup unit 30 will be described. FIG. 4 is a flowchart showing an example of an image data output processing routine executed by the image pickup unit 30. This routine is executed by each component (circuit) of the imaging unit 30 each time it receives an imaging command from the control device 40. When this routine is started, the image pickup unit 30 performs image pickup processing by the image pickup device 31 (step S100), and transfers charges from the image pickup device 31 to the image processing unit 33 via the area setting unit 32 (step S110). Next, the region setting unit 32 executes the binarization process and the outline extraction process based on the charges of the predetermined detection region (step S120), and sets the capture region (step S130).

FIG. 5 is an explanatory diagram of the detection regions 61A to 61D and the capture regions 62A to 62D of the captured image 60 captured by the image capturing unit 30, and FIG. 5A is an explanatory diagram of the binarization processing. FIG. 5B is an explanatory diagram in which the capture area 62 is set. Here, the detection areas 61A to 61D are collectively referred to as the detection area 61, and the capture areas 62A to 62D are collectively referred to as the capture area 62. Further, in steps S110 to S130, the electric charges forming each pixel are transferred, and the image data as shown in FIG. 5 is an image. The image sensor 31 transfers the charges forming the image in FIG. 5 to the region setting unit 32 in a predetermined order, for example, from the upper left pixel to the right. When the pixels in the predetermined detection area 61 are transferred, the area setting unit 32 which receives the pixels performs the binarization processing based on whether or not this charge is larger than a predetermined threshold, The result is output as a signal. The output result directly indicates whether the pixel is the part region or the other region. Based on this output result, the contour of the part, that is, the outer shape can be extracted. Here, the predetermined threshold is empirically set to a value capable of distinguishing the background region and the component region according to the color of the component and the like. When the outline of the part is extracted, the area setting unit 32 sets the position of the capture area 62 so that the outline of the part is included. When the part P is contained inside the detection area 61, the area setting unit 32 sets the same position as the detection area 61 in the capture area 62 (see parts P1 and P2 in FIG. 5). Further, when the component P is protruding from the detection region 61, the region setting unit 32 sets the region including the entire image of the component P as the capture region 62 (see components P3 and P4 in FIG. 5).

Here, the detection area 61 and the capture area 62 will be described. In general, the detection area for determining where the component P is approximately is relatively large with respect to the size of the component P in consideration of the suction deviation, the rotation deviation, and the like of the component P to the suction nozzle 24. It is set to a size with a margin. On the other hand, in the imaging unit 30, the capture area 62, which is the area of the image data to be transferred to the control device 40, is slightly moved in accordance with the position of the component P, so the capture area 62 has a smaller margin. It can be a region. For example, even if the image of the part P extends out of the detection area 61 (see parts P3 and P4 in FIG. 5), the position of the part P is grasped by the portion (outer shape and outline) of the detection area 61. can do. Here, the detection area 61 is set as an area that allows the outline of the part P to be extracted, and the detection area 61 and the acquisition area 62 are areas of the same size, and the entire part P is included. Only the size (see FIG. 5).

Then, the image processing unit 33 generates image data based on the transferred charges (step S140). The image data may be, for example, bitmap data or JPEG data. Then, the output unit 34 outputs the image data included in the set capture area 62 and the movement amount of the capture area 62 to the control device 40 (step S150), and ends this routine. The movement amount of the capture area 62 may be a relative movement amount with respect to the detection area 61, or may be a movement amount from the reference position (for example, the upper left end portion of the image) of the captured image 60. The control device 40, which has acquired the movement amount of the capture area 62 and the image data, obtains the suction displacement amount of the component P from the movement amount and the position of the component P in the image data. Further, the control device 40 performs matching between the reference image data of the component P and the acquired image data to determine the rotation angle of the component P and the presence/absence of a shape abnormality. Then, the control device 40 causes the mounting head 22 to correct the rotation angle and finely adjust the placement position so that the components P1 to P4 sucked by the mounting head 22 are properly placed on the substrate S.

Here, the correspondence relationship between the constituent elements of the present embodiment and the constituent elements of the present invention will be clarified. The image pickup device 31 and the image processing unit 33 of the present embodiment correspond to the image pickup unit of the present invention, the area setting unit 32 corresponds to the area setting unit, the output unit 34 corresponds to the output unit, and the mounting unit 13 is the mounting unit. The control device 40 corresponds to the control unit. In the present embodiment, an example of the image processing method of the present invention is clarified by explaining the operation of the mounting apparatus 11.

According to the imaging unit 30 of the mounting apparatus 11 of the above-described embodiment, an image regarding the state of the component sucked by the nozzle is captured, and the outer shape of the component P existing in the detection area 61 is extracted from the captured image. Then, based on the extracted outline of the part P, the capture area 62 including the image of the part P is moved to a position including the entire image of the part P. Then, the imaging unit 30 outputs the image data included in the capture area 62 to the control device 40. In the image pickup unit 30, for example, even if an image in which the position of the component P is displaced is captured, the capture region 62 is moved according to the outer shape of the extracted component, so that the capture region 62 can be made smaller. it can. Therefore, the image data of the capture area 62 output to the control device 40 can be made smaller. Therefore, in the imaging unit 30, the transfer time of image data can be further shortened.

Further, since the region setting unit 32 performs the binarization process in the range included in the detection region 61 to extract the outer shape of the component P, the transfer time of the image data can be further shortened by the relatively simple binarization process. You can Furthermore, since the capture area 62 has the same size as the detection area 61, which is closer to the component size, it is preferable from the viewpoint of transfer time. Furthermore, since the area setting unit 32 extracts the outer shape of the component P when the image processing unit 33 transfers the charge from the image pickup device 31 and the image processing unit 33 generates the image, the processing time from the image pickup to the image data output is set. Can also be shorter. Further, since the output unit 34 outputs the image data to the control device 40, the transfer time of the image data from the imaging unit 30 to the control device 40 can be further shortened.

It is needless to say that the present invention is not limited to the above-described embodiment and can be implemented in various modes within the technical scope of the present invention.

For example, in the above-described embodiment, the binarization process is performed on the detection area 61, but the invention is not particularly limited to this, and the entire captured image 60 may be binarized. Even in this case, the imaging unit 30 transfers the image data of the smaller capture area 62, so that the transfer time of the image data can be further shortened.

In the above-described embodiment, the capture area 62 has the same size as the detection area 61, but the size is not limited to this and may be, for example, the size of the detection area 61 or smaller. The capture area 62 is preferably closer to the component size and narrower in order to shorten the transfer time.

In the above-described embodiment, the capture area 62 is described as being preset based on the size of the imaged component P, but the invention is not particularly limited to this, and the area setting unit 32 causes the extracted component to be extracted. The size may be changed on the basis of the outer shape of the above and the capture area 62 may be set. In the area setting unit 32, the capture area 62 can be further reduced, and the transfer time of image data can be further shortened. The initial value of the capture area 62 may be a size (for example, the size of the detection area 61) predetermined based on the size of the component.

In the above-described embodiment, the electric charge is transferred from the image pickup device 31 and the outer shape of the component is extracted when the image processing unit 33 generates an image. However, the invention is not particularly limited to this, and the image processing unit 33 may display the image. The outer shape of the component may be extracted after the generation. Further, although the area setting unit 32 has been described as being configured as hardware as an electronic circuit, it may be configured as software. In this case, the controller included in the imaging unit 30 may execute this software. Also in this device, the transfer time of the image data can be further shortened.

In the above-described embodiment, the mounting head 22 is described as being equipped with the four suction nozzles 24, but the mounting head 22 is not particularly limited to this. For example, the mounting head 22 may include one or more suction nozzles 24.

In the above-described embodiment, the mounting apparatus 11 has been described as the mounting-related processing apparatus of the present invention, but the present invention is not limited to this as long as the position and shape of the component P are determined. An inspection device for inspecting the position and shape of the component P may be the mounting-related processing device of the present invention. Further, although the present invention has been described as the mounting apparatus 11 in the above-described embodiment, it may be an image processing method or a program executed by a computer.

INDUSTRIAL APPLICATION This invention can be utilized for the apparatus which performs the mounting related process which arrange|positions a component on a board|substrate.

10... Mounting system, 11... Mounting device, 12... Board transfer unit, 13... Mounting unit, 14... Component supply unit, 20... Head moving part, 22... Mounting head, 24... Suction nozzle, 30... Imaging unit, 31... Image pickup device, 32... Area setting unit, 33... Image processing unit, 34... Output unit, 40... Control device, 41... CPU, 42... ROM, 43... HDD, 44... RAM, 45... Input/output interface, 46... Bus , 50... Management computer, 52... Input device, 54... Display, 60... Captured image, 61, 61A-61D... Detection area, 62, 62A-62D... Capture area, P, P1-P4... Parts, S... Board

Claims (7)

A mounting-related processing device that executes mounting-related processing related to processing for mounting a component on a board,
An image pickup section for picking up an image relating to the state of the component sucked by the nozzle;
In the captured image, the outline of a component existing in a predetermined detection area is extracted, and a predetermined capture area including the image of the component is displayed on the basis of information about the extracted outline of the component. A region setting unit that moves to the included position,
An output unit that outputs the image data included in the capture area and the movement amount of the capture area ,
A control unit that corrects the rotation angle of the component and finely adjusts the arrangement position of the component so that the component is appropriately arranged on the substrate based on the acquired image data and the movement amount;
A mounting-related processing device equipped with. The mounting-related processing device according to claim 1, wherein the area setting unit performs binarization processing on the detection area and extracts the outer shape of the component. The mounting-related processing device according to claim 1, wherein the capture area has a size equal to or smaller than the detection area. The mounting-related processing device according to claim 1, wherein the area setting unit changes the size based on the outer shape of the extracted component to set the loading area. The mounting-related processing device according to claim 1, wherein the capture area is set based on the size of the imaged component. The image capturing unit includes an image sensor that generates an electric charge by receiving light and outputs the generated electric charge, and an image processing unit that generates image data based on the output electric charge,
The mounting-related processing device according to any one of claims 1 to 5, wherein the region setting unit transfers electric charges from the image sensor and extracts the outer shape of the component when the image processing unit generates an image. .. The mounting-related processing device according to claim 1, wherein the mounting unit mounts a component on a board,
A control unit that controls the mounting unit,
The mounting-related processing device, wherein the output unit outputs the image data to the control unit.

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