JPH0724070B2 - Placement determination device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to the arrangement of parts to be judged, that is, the parts are placed in a predetermined position on a base (also referred to as a base) in a predetermined direction (rotation) after parts are assembled. The present invention relates to an image processing device for inspecting whether or not they are mounted at a corner, etc., and particularly when the plural judgment target parts of the same shape are placed on the base (positions of each of the plural parts, The present invention relates to an inspection device capable of identifying (direction)

[Prior art and its problems]

In the following description of the drawings, the same reference numerals indicate the same or corresponding parts. FIG. 3 is a block diagram showing a configuration of a main part of a conventional shape determining apparatus of this type, and FIG. 2 is a diagram showing a sequence of images for explaining the operation of the conventional shape determining apparatus and the arrangement determining apparatus of the present invention. is there. The above figures will be described below.

In FIG. 3, 100 is an inspected part with a base to be inspected, 101
Is a two-dimensional image pickup device that picks up a two-dimensional image of the component 100 and converts it into an image signal, and 102 is an A / D converter, and the image pickup device 101
The analog video signal, which changes depending on the brightness and hue on the surface of the component 100 output from the, is digitized with a threshold value that obtains an appropriate S / N ratio or a threshold value that depends on the component to be inspected (2 Then, the binarized image signal for obtaining the binarized image of the background and the region (inside the contour) of the part to be inspected is output. Reference numeral 103 denotes a connectivity processing circuit, which is connected in a complicated manner to a region belonging to one shape in the screen from the digitized video signal (binarized image signal) from the A / D converter 102, or an independent When there are regions that belong to multiple shapes, the connected regions are of one shape, and the independent regions are separated so that they can be processed as multiple independent shapes. Confirm the sex and label each independent shape separately.

104 to 108 are circuits for counting the characteristic values of the images of the respective shapes separated by the connectivity processing circuit 103, and in this example, they are as follows. That is, 104 is the area of each shape separated by the connectivity processing circuit 103, 105 is the circumference, 106 is the number of holes, 107 is the moment, and 108 is the histogram. It is a circuit to do. Reference numeral 109 is a memory for registering and recording the standard value of each characteristic value and the patent range of a normal part. Reference numeral 110 is a circuit for comparing the characteristic values of the inspected component obtained by the counting circuits 104 to 108 with the standard and allowable values of the characteristic values stored in advance in the memory 109, and determining the quality of the component 100. Is.

By the way, in the conventional apparatus having such a configuration, for example, the second
A pentagonal judgment target component P (P1a, P2a) is formed on a base 203, 213, 223 having a dashed outline as shown in FIGS.
.., P1c, P2c), each of which is incorporated into the memory 109, it is possible to register and determine the feature value in the form that there are two pentagonal parts P in the memory 109 on the same base. , (A), (b), and (c) are indistinguishable, and the relationship of mutual arrangement of two pentagonal parts on the same base is indistinguishable. However, Figure (a),
(B) and (c) are obviously different assemblies. As described above, the problem of the conventional device is that only the image feature values that are not influenced by the position of the image to be determined on the screen, that is, the position or the posture (rotation) are calculated.

[Object of the Invention]

An object of the present invention is to provide an apparatus capable of inspecting the appropriateness of the arrangement of a determination target component in an image, except for the above problems. When a plurality of parts having the same shape are to be judged at the same time, this device serves as a part alignment inspection device.

[Main points of the invention]

Elements of the present invention, as the feature value of the shape of the image to be determined,
By adding to the feature value obtained irrespective of the position and rotation of the shape in the screen, the center of gravity position and the rotation direction itself, which are determined by the feature value related to the arrangement of the shape, that is, the position and rotation, are added. The point is to check the layout and alignment.

In other words, the main point of the present invention is that, when focusing on the base and the object to be judged, a base having a predetermined shape (such as a base) and one or more objects to be judged having the same shape ( Eg 5
A two-dimensional shape of an object to be imaged, which is composed of a rectangular component), and binarizes this image with a plurality of predetermined threshold values, and the binarized image of the object to be judged and the base. In the device that separates each independent image and determines the arrangement of each independent image, means for calculating the centroid as a value representing the position of each independent image (centroid calculation circuit, etc.) and each independent image When the means for calculating the rotation direction for each (direction calculation circuit, etc.) and the difference between the corresponding calculated values of the independent image of the object to be judged and the independent image of the base are the arrangement feature relative values, each arrangement Means (memory or the like) for specifically storing the standard value for the characteristic relative value, and means for comparing and collating each arrangement characteristic relative value based on the calculated value of each of the calculating means and the standard value given from the storing means (comprehensive determination) Circuit)
There is a point that was made to consist of.

In addition, when focusing on a plurality of objects to be determined, it is possible to detect an object to be imaged composed of a plurality of objects having the same shape (eg, pentagonal parts) provided on a base (such as a base) having a predetermined shape. A two-dimensional shape is imaged, this image is binarized by one or a plurality of predetermined threshold values, this binarized image is separated into each independent image of the object to be judged, and the arrangement of each independent image is determined. In the determination device, means for calculating the center of gravity as a value representing the position of each of the independent images (center of gravity calculation circuit, etc.)
Similarly, when the difference between the means for calculating the rotation direction of each independent image (direction calculation circuit etc.) and the corresponding calculated value of each independent image of the object to be determined is the arrangement feature relative value, each arrangement feature Means (memory or the like) for setting and storing the standard value relative to the relative value, and means for comparing and collating the relative value of each arrangement feature based on the calculated value of the calculating means with the standard value given from the storing means (comprehensive determination circuit) ), And the point that it consists of.

Example of Invention

An embodiment of the present invention will be described below with reference to FIGS. 1, 2, and 3. FIG. 1 is a block diagram showing the configuration of the main part of the embodiment of the present invention. In the figure, 100 to 110 are the same as the configuration of the prior art (FIG. 3). The newly added means are the center of gravity calculating circuit 311 and the direction calculating circuit 312. The center-of-gravity calculation circuit 311 is a circuit that performs the connectivity processing by the connectivity processing circuit 103 and calculates the center of gravity of each separated independent shape. As is well known, the principle of determining the center of gravity is the coordinate axes X and Y of the image scanning for the shape (Fig. 2).
It can be obtained by calculating the first moment with respect to and dividing this by the area of the shape. Also the direction calculation circuit
Reference numeral 312 is a circuit for calculating the rotation direction of the shape, and for example, based on the secondary moment, synergistic moment, center of gravity, and area of the shape with respect to the X-axis and Y-axis, the equivalent area that makes the shape equal to the center of gravity It is replaced with an ellipse, and the direction of the major axis of the equivalent ellipse is calculated with an angle θ (range of 0 to 180 ° C.) as the X axis. Such a method of calculating the rotation direction itself is known.

By having the above means, (a) of FIG.
Each pentagonal part P (P1a, P2a ~ P1c, P2c) in ~ (c)
Can be classified as follows.

That is, the ellipse E (E1a, E2a to E1c, E2c) shown by the dotted line in FIGS. 2 (a) to (c) is the pentagonal part P (P1a,
P2a ~ P1c, P2c) is the equivalent ellipse replaced, (α1,
α2), (β1, β2), and (γ1, γ2) are the major axes of the equivalent ellipses on the diagrams (a), (b), and (c), respectively (G20
1, G202), (G211, G212), (G221, G222) are the center of gravity of each ellipse (simultaneously pentagonal part), (θ201, θ202),
Similarly, (θ211, θ212) and (θ221, θ222) are angles formed by the directions of each ellipse, that is, the major axis (α1 to γ2) and the X axis. Therefore, P1a in the figure (a) is θ201 at the center of gravity of G201.
A pentagonal part facing the rotation direction of (= 0 °), P2a in the figure (a) is a pentagonal part facing the rotation direction of θ202 (= 0 °) at the center of gravity of G202, and so on. (B)
P1b is G211, θ211 (= 0 °), and P2b is G212, θ212.
(= 0 °), P1c in Figure (c) is G221, θ221, and P2c is
It can be said that it is a pentagonal component having the center of gravity positions of G222 and θ222 and the rotation direction. Thus, even if all the pentagonal parts P1a to P2c are completely congruent figures, they can be judged as having different characteristics.

If it is assumed that the component arrangement shown in FIG. 2 (b) is a good product and the components shown in FIGS. 2 (a) and 2 (c) are defective, the condition shown in FIG. It is necessary to set the standard value and the permissible range of the shape feature value in) for the placement determination device. This method is specifically (b)
Image the parts that are arranged within the non-defective range such as
The characteristic values irrelevant to the position and rotation of the component are obtained from the counting circuits 104 to 108, and the characteristic values relating to the position and rotation direction of the component are obtained by the calculation circuits 311 and 312, and the comprehensive determination circuit 11
At 0, the standard value and the allowable range may be calculated and stored in the memory 109.

After this preliminary operation, the actual determination operation is performed. In this case, the characteristics of the circuits 104 to 108 and the characteristic values of the circuits 311 and 312 are equal, and the shapes can be checked and the arrangement can be checked by checking the respective standard values and the allowable range.

In the above description, the bases 203 to 223 in FIGS. 2A to 2C are located at the same position in the screen in the same direction (however, for the base having a circular contour as shown in FIG. It is assumed that the direction is marked with a mark (not shown). However, the position and direction of the base are Regarding the determination direction of the component placement when it fluctuates, first, the center of gravity and direction of the base are calculated by the first threshold that can identify the bases 203 to 203, and then the base disappears.
Each pentagonal part by the second threshold in which only part P is visible
By obtaining the position and direction of P1a to P2c and evaluating the center of gravity and direction difference between the former and the latter (referred to as the relative value of the arrangement feature), the position and rotation of the base on the screen can be freely taken. The correct placement of the parts can be determined.

Further, information on component placement can also be obtained by evaluating the difference between the respective features of the center of gravity and the direction between a plurality of components on the same base (also called placement feature relative value).

In addition to the above-mentioned ones, two feature points P1 and P2 that are uniquely determined with respect to the rotation of the pattern (the P1 and P2 are, for example, the center of gravity of the pattern and the holes in the pattern) Select the center of gravity, the convex and concave parts of the pattern, etc.) There is a way to define in the direction of.

〔The invention's effect〕

As is apparent from the above description, according to the present invention, the conventional shape determination device is further provided with means for calculating the center of gravity and the direction of the determination target shape. It is possible to obtain a device that can confirm the disposition property and, further, the alignment property of a plurality of parts.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration example of a main part of an arrangement determination device of the present invention, FIG. 2 is a diagram showing an example of an image for explaining the operation of the present invention and a conventional determination device, and FIG. 3 is a block diagram showing a configuration of a main part of the shape determination device of FIG. 100 …… Inspected parts with base, 101 …… Two-dimensional imaging device, 10
2 ... A / D converter, 103 ... Connectivity processing circuit, 104 ... Area counting circuit, 105 ... Perimeter counting circuit, 106 ... Hole counting circuit,
107 ... Moment counting circuit, 108 ... Histogram counting circuit, 311 ... Centroid calculation circuit, 312 ... Direction calculation circuit, 10
9 ... Memory, 110 ... Comprehensive judgment circuit, 203-223 ... Base, P (P1a-P2c) ... Pentagonal part (part), G201-G2
22 …… Center of gravity, E1a to E2c …… Equivalent ellipse, α1 to γ2 …… Long diameter, θ (θ201 to θ222) …… Direction (rotation angle).

Claims (2)

[Claims] 1. An object to be imaged 2 comprising a base having a predetermined shape and one or a plurality of objects having the same shape provided on the base.
A three-dimensional shape is imaged, this image is binarized by a plurality of predetermined threshold values, the binarized image is separated into independent images of the object to be judged and the base, and the arrangement of the independent images is separated. In the device for determining, the means for calculating the center of gravity as a value representing the position for each of the independent images, the means for calculating the rotation direction for each independent image, the independent image of the object to be determined and the When the difference between the corresponding calculated values with respect to the independent image of the base is the arrangement feature relative value, means for specifically storing the standard value for each arrangement feature relative value, and each arrangement feature based on the calculated value of each calculating means An arrangement determination device comprising: a means for comparing and collating a relative value with the standard value given from the storage means. 2. A two-dimensional shape of an object to be imaged, which is made up of a plurality of objects having the same shape and is provided on a base of a predetermined shape, and this image is taken at one or a plurality of predetermined threshold values. In a device that binarizes, separates the binarized image into individual images of the object to be determined, and determines the arrangement of the individual images, the center of gravity is set as a value representing the position of each of the individual images. A means for calculating, a means for calculating the rotation direction for each independent image, and a difference between the corresponding calculated values for each independent image of the object to be determined is the arrangement feature relative value, and for each arrangement feature relative value An arrangement determination comprising: a means for setting and storing a standard value; and a means for comparing and collating each arrangement feature relative value based on the calculated value of each calculating means with the standard value given from the storing means. apparatus.