JPH0770874B2 - Parts position detection method - Google Patents
Parts position detection methodInfo
- Publication number
- JPH0770874B2 JPH0770874B2 JP2034245A JP3424590A JPH0770874B2 JP H0770874 B2 JPH0770874 B2 JP H0770874B2 JP 2034245 A JP2034245 A JP 2034245A JP 3424590 A JP3424590 A JP 3424590A JP H0770874 B2 JPH0770874 B2 JP H0770874B2
- Authority
- JP
- Japan
- Prior art keywords
- component
- image
- input device
- inclination
- image input
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 title claims description 11
- 238000000034 method Methods 0.000 claims description 12
- 238000003384 imaging method Methods 0.000 claims 1
- 238000012546 transfer Methods 0.000 description 4
- 238000012935 Averaging Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Supply And Installment Of Electrical Components (AREA)
Description
本発明は、主として面実装用の部品を画像入力装置によ
って撮像し、画像入力装置により得られた画像に基づい
て、画像上での基準点に対する部品の位置ずれや、画像
上での基準軸に対する部品の傾きを検出するようにした
部品の位置検出方法に関するものである。The present invention mainly captures a surface mounting component by an image input device, and based on an image obtained by the image input device, misalignment of the component with respect to a reference point on the image and a reference axis on the image. The present invention relates to a component position detecting method for detecting the inclination of a component.
一般に、部品を回路基板に自動的に装着する際には、フ
ィーダなどによって供給された部品を、移送装置の吸着
ヘッドによって吸着して取り出し、回路基板に設定され
た実装位置まで部品を吸着したまま移送して装着するよ
うになっている。このような装着方法では、吸着ヘッド
と部品との相対位置が必ずしも一定しないから、吸着ヘ
ッドと部品との相対位置に基づいて、回路基板上の実装
位置に対する装着ヘッドの相対位置を補正する必要があ
る。とくに、部品としてリードの本数が非常に多い面実
装用の部品を用いるような場合には、隣接するリード間
のピッチが小さく、わずかに位置がずれても誤配線につ
ながるから、位置補正を正確に行う必要がある。そこ
で、移送装置による部品の移送過程で吸着ヘッドに対す
る部品の位置と傾きとを検出し、検出された部品の位置
および傾きに応じて移送中の部品の位置と傾きとのずれ
を補正して実装位置に正確に位置合わせをすることが考
えられている。 このような部品の位置検出方法としては、特開昭63−88
896号公報に示された方法がある。すなわち、画像入力
装置により部品を撮像し、部品から突設された２本のリ
ードの先端縁の中心を通る直線の画像上の基準軸に対す
る傾きを求めて、部品の傾きとし、また、隣合う２辺に
それぞれ突設された２本のリードの中心線の交点を部品
の中心と認定して、画像上の基準点に対する部品の中心
位置の変位を求めるのである。ここに、画像入力装置の
視野は、部品の全体を撮像できる大きさに設定されてい
る。Generally, when a component is automatically mounted on a circuit board, the component supplied by a feeder is sucked by a suction head of a transfer device and taken out, and the component is sucked to the mounting position set on the circuit board. It is designed to be transferred and installed. In such a mounting method, since the relative position between the suction head and the component is not always constant, it is necessary to correct the relative position of the mounting head with respect to the mounting position on the circuit board based on the relative position between the suction head and the component. is there. Especially when surface mounting components with a large number of leads are used as components, the pitch between adjacent leads is small and misalignment may occur even if the position is slightly misaligned. Need to do. Therefore, the position and the inclination of the component with respect to the suction head are detected in the process of transferring the component by the transfer device, and the deviation between the position and the inclination of the component being transferred is corrected according to the detected position and the inclination of the component and mounted. It is considered to align the position accurately. A method for detecting the position of such a component is disclosed in Japanese Patent Laid-Open No. 63-88.
There is a method disclosed in Japanese Patent No. 896. That is, the image of the component is picked up by the image input device, the inclination of the straight line passing through the center of the tip edges of the two leads protruding from the component with respect to the reference axis on the image is obtained, and the inclination of the component is determined. The displacement of the center position of the component with respect to the reference point on the image is obtained by recognizing the intersection of the center lines of the two leads protruding on each of the two sides as the center of the component. Here, the field of view of the image input device is set to a size capable of capturing an image of the entire component.
ところで、画像入力装置において用いられている現行の
撮像素子は、１素子当たりの画素数および単位面積当た
りの画素数に限界があるから、上述したように部品の全
体を画像入力装置によって撮像すると、分解能が低くな
る、分解能の制限によって部品の傾きや位置を正確に検
出できなくなるという問題が生じる。 本発明は上記問題点の解決を目的とするものであり、現
行の画像入力装置を用いながらも分解能を高くすること
ができて、部品の傾きや位置を正確に検出できるように
した部品の位置検出方法を提供しようとするものであ
る。By the way, since the current image pickup device used in the image input device has a limit in the number of pixels per device and the number of pixels per unit area, as described above, when the entire image pickup device is imaged, There is a problem that the resolution becomes low and the tilt and position of the component cannot be accurately detected due to the limitation of the resolution. The present invention is intended to solve the above-mentioned problems, and it is possible to increase the resolution while using the current image input device, and to detect the tilt and position of the component accurately. It is intended to provide a detection method.
上記目的を達成するために、本発明では、部品を画像入
力装置により撮像し、画像入力装置により得られた画像
上での基準点に対する部品の中心位置と上記画像上での
基準軸に対する部品の傾きとを求める部品の位置検出方
法において、部品は、画像入力装置により撮像される面
が矩形状であって、少なくとも隣合う２辺の各辺につい
てそれぞれ等間隔で複数本のリードが列設されたパッケ
ージを有し、画像入力装置は、リードが列設されたパッ
ケージの２辺の交差するコーナと、このコーナからパッ
ケージの各辺について数えてそれぞれ半数より多い本数
のリードの先端縁と、部品の中心とが撮像できる大きさ
で、かつ部品の全体を撮像できる大きさよりは小さい視
野を有し、画像入力装置により得られた画像について、
パッケージの各辺に設けたリードのうち少なくとも半数
本のリードの代表点を通る各直線の上記基準軸に対する
傾きをそれぞれ求めるとともに両傾きの平均の傾きを部
品の傾きとし、パッケージの各辺の中点を通り上記基準
軸に対してそれぞれ上記平均の傾きを有する各直線にそ
れぞれ直交する一対の直線の交点を求めて部品の中心位
置としているのである。In order to achieve the above object, in the present invention, a part is imaged by an image input device, and the center position of the part with respect to a reference point on the image obtained by the image input device and the part with respect to the reference axis on the image. In the component position detecting method for obtaining the inclination, the component has a rectangular surface imaged by the image input device, and a plurality of leads are arranged at equal intervals on at least two adjacent sides. The image input device includes a package in which leads are arranged in rows, the two corners of the package intersect with each other, the leading edges of the leads of which the number is more than half each of the sides of the package from the corners, Regarding the image obtained by the image input device, which has a field of view smaller than that of the center of
Among the leads on each side of the package, determine the inclination of each straight line passing through the representative points of at least half of the leads with respect to the reference axis, and use the average inclination of both inclinations as the inclination of the component. The intersection of a pair of straight lines passing through the points and orthogonal to the respective straight lines having the above-mentioned average inclinations with respect to the reference axis is determined as the center position of the component.
上記方法によれば、画像入力装置の視野を、部品のほぼ
４分の１程度の面積を撮像できる程度の大きさに設定す
ればよいから、現行の画像入力装置を用いながらも分解
能を高めることができ、部分の傾きや位置の検出精度が
高まるのである。また、画像内でパッケージの各辺のリ
ードのうち少なくとも半数本のリードの代表点を通るよ
うな２直線を求め、各直線について画像の基準軸に対す
る傾きを求め、両傾きの平均を部品の傾きとするから、
多数本のリードから得た情報の平均化によってリードの
曲がりなどの影響を低減することができ、傾きの検出精
度が高くなる。しかも、リードから位置情報を得るか
ら、パッケージのように成形時の寸法公差やバリなどの
影響によって検出誤差の生じやすい部分を用いる場合に
比較すると、検出精度の低下が少なく、かつ１台の画像
入力装置を用いるだけで精度のよい位置検出が行なえる
のである。According to the above method, the field of view of the image input device may be set to a size that can capture an area of approximately one-fourth of the component, so that the resolution can be increased while using the existing image input device. Therefore, the accuracy of detecting the inclination and position of the portion is improved. In addition, two straight lines that pass through the representative points of at least half of the leads on each side of the package in the image are obtained, the inclination of each straight line with respect to the reference axis is obtained, and the average of both inclinations is calculated as the component inclination. Because,
By averaging the information obtained from a large number of leads, it is possible to reduce the influence of lead bending and the like, and the inclination detection accuracy is improved. Moreover, since the position information is obtained from the leads, the detection accuracy is less deteriorated and a single image can be compared to the case where a portion such as a package that is prone to detection error due to dimensional tolerances and burrs during molding is used. Accurate position detection can be performed only by using the input device.
本実施例では部品１が面実装用であって、直方体状のパ
ッケージ1aの４周にそれぞれ複数本のリード1bが突設さ
れているものとする。部品１を回路基板３に実装すると
きには、第１図の位置で、部品１のフィーダやトレー
から移送装置の吸着ヘッド２によって吸着して取り出
し、第１図の位置まで移送して回路基板３の実装位置
に装着する。また、吸着ヘッド２による移送過程の位
置において、ITVカメラ等の画像入力装置４によって部
品１を撮像し、リード1bなどの画像に基づいて部品１の
位置と傾きとを求めるとともに、求めた位置および傾き
に応じて回路基板３の実装位置に合致するように部品１
の位置および傾きを補正するのである。画像入力装置４
により得られた画像の処理、および吸着ヘッド２の位置
補正は、制御装置５により行われる。 画像入力装置４の視野Ｖは、第２図に示すように、部品
１の一部分（約４分の１）が撮像できる程度の大きさに
設定されている。すなわち、画像入力装置４の視野Ｖに
は、部品１の中心Ｏと、リード1bが突設された隣合う２
辺の間のコーナと、このコーナから各辺について数えて
各辺のリード1bの総本数の半数より多い本数のリード1b
の先端縁とが含まれる。 このようにして得られた画像に基づいて、まず、各辺の
両端のリード1bの先端縁の中心を結ぶ直線の中点を求め
る。すなわち、各辺のリード1bの総本数は、あらかじめ
与えることができるから、奇数本（2n＋１）であれば、
コーナから数えて（ｎ＋１）本目のリード1bの先端縁の
中心の座標を求め、偶数本（2n）であれば、コーナから
数えて（ｎ）本目と（ｎ＋１）本目とのリード1bの先端
縁の中心の座標を求める。こうして各辺について求めた
座標をそれぞれ（xa,ya）、（xb,yb）とする。また、一
方の辺について各リード1bの先端縁の中点a1,a2,…,an
の座標に最小二乗法を適用して、リード1bの先端縁に沿
う直線laを求め、画像の基準軸（水平軸）に対する直線
laの角度θａを求める。同様にして、他方の辺について
も各リード1bの先端縁の中点b1,b2,…,bnの座標に基づ
いて、画像の基準軸（垂直軸）に対する直線lbの角度θ
ｂを求める。すなわち、ここでは各リード1bの代表点と
して、リード1bの先端縁の中点a1,a2,……,an、b1,b2,
……,bnを用いている。このようにして得られた角度θ
a,θｂの平均値θ［＝（θａ＋θｂ）/2］を部品１の傾
きとするものである。さらに、画像の各基準軸に対して
それぞれ傾きθを有する直線に直交し、かつ（xa,y
a）、（xb,yb）をそれぞれ通る直線の交点を求め、この
交点の座標（x0,y0）を部品１の中心Ｏとする。以上の
ようにして、部品１の中心Ｏの座標（（x0,y0）と、部
品の傾きθとを求めることができるから、これらの値を
用いて部品１の位置を補正することができるのである。
上記動作について第３図にまとめて示す。In the present embodiment, it is assumed that the component 1 is for surface mounting, and a plurality of leads 1b are provided on each of four circumferences of the rectangular parallelepiped package 1a. When the component 1 is mounted on the circuit board 3, the component 1 is sucked and taken out from the feeder or tray of the component 1 by the suction head 2 of the transfer device at the position shown in FIG. Mount at the mounting position. Further, at the position of the transfer process by the suction head 2, the component 1 is imaged by the image input device 4 such as an ITV camera, and the position and inclination of the component 1 are obtained based on the image of the lead 1b and the obtained position and Depending on the inclination, the component 1 should match the mounting position of the circuit board 3.
The position and the inclination of are corrected. Image input device 4
The processing of the image obtained by the above and the position correction of the suction head 2 are performed by the control device 5. As shown in FIG. 2, the field of view V of the image input device 4 is set to a size such that a part (about 1/4) of the component 1 can be imaged. That is, in the field of view V of the image input device 4, the center O of the component 1 and the adjacent 2 on which the lead 1b is provided are projected.
Leads 1b with more than half of the total number of corners between the sides and the number of leads 1b on each side counting from this corner
And the leading edge of the. Based on the image thus obtained, first, the midpoint of a straight line connecting the centers of the leading edges of the leads 1b at both ends of each side is obtained. That is, since the total number of leads 1b on each side can be given in advance, if it is an odd number (2n + 1),
The coordinates of the center of the leading edge of the (n + 1) th lead 1b counted from the corner are obtained. If the number is an even number (2n), the leading edge of the (n) th lead and the (n + 1) th lead 1b counted from the corner Find the coordinates of the center of. The coordinates thus obtained for each side are (xa, ya) and (xb, yb). Also, the midpoints a 1 , a 2 , ..., a n of the leading edge of each lead 1b on one side
The least squares method is applied to the coordinates of to obtain the straight line la along the tip edge of the lead 1b, and the straight line with respect to the reference axis (horizontal axis) of the image
The angle θa of la is calculated. Similarly, midpoint b 1 also leading edge of each lead 1b for the other side, b 2, ..., based on the coordinates of b n, the angle of the straight line lb with respect to the reference axis of the image (vertical axis) theta
Find b. That is, here, as the representative point of each lead 1b, the midpoints a 1 , a 2 , ..., a n , b 1 , b 2 ,
......, b n are used. The angle θ obtained in this way
The average value θ of a and θb [= (θa + θb) / 2] is used as the inclination of the component 1. Furthermore, it is orthogonal to a straight line having an inclination θ with respect to each reference axis of the image, and (xa, y
The intersections of the straight lines passing through a) and (xb, yb) are obtained, and the coordinates (x 0 , y 0 ) of the intersections are set as the center O of the component 1. As described above, since the coordinates ((x 0 , y 0 ) of the center O of the component 1 and the inclination θ of the component can be obtained, the position of the component 1 can be corrected using these values. You can do it.
The above operation is shown collectively in FIG.
本発明では上述のように、部品を画像入力装置により撮
像し、画像入力装置により得られた画像上での基準点に
対する部品の中心位置と上記画像上での基準軸に対する
部品の傾きとを求める部品の位置検出方法において、部
品は、画像入力装置により撮像される面が矩形状であっ
て、少なくとも隣合う２辺の各辺についてそれぞれ等間
隔で複数本のリード線が列設されたパッケージを有し、
画像入力装置は、リードが列設されたパッケージの２辺
の交差するコーナと、このコーナからパッケージの各辺
について数えてそれぞれ半数より多い本数のリードの先
端縁と、部品の中心とが撮像できる大きさで、かつ部品
の全体を撮像できる大きさよりは小さい視野を有し、画
像入力装置により得られた画像について、パッケージの
各辺に設けたリードのうち少なくとも半数本のリードの
代表点を通る各直線の上記基準軸に対する傾きをそれぞ
れ求めるとともに両傾きの平均の傾きを部品の傾きと
し、パッケージの各辺の中点を通り上記基準軸に対して
それぞれ上記平均の傾きを有する各直線にそれぞれ直交
する一対の直線を交点を求めて部品の中心位置としてい
るものであり、画像入力装置の視野を、部品のほぼ４分
の１程度の面積を撮像できる程度の大きさに設定すれば
よいから、現行の画像入力装置を用いながらも分解能を
高めることができ、部品の傾きや位置の検出精度が高ま
るという利点を有し、また、画像内でパッケージの各辺
のリードのうち少なくとも半数本のリードの代表点を通
るような２直線を求め、各直線について画像の基準軸に
対する傾きを求め、両傾きの平均を部品の傾きとするか
ら、多数本のリードから得た情報の平均化によってリー
ドの曲がりなどの影響を低減することができ、傾きの検
出精度が一層高くなるという効果がある。しかも、リー
ドから位置情報を得るから、パッケージのように成形時
の寸法公差やバリなどの影響によって検出誤差の生じや
すい部分を用いる場合に比較すると、検出精度の低下が
少なく、かつ１台の画像入力装置を用いるだけで精度の
よい位置検出が行なえるという利点を有するのである。In the present invention, as described above, the component is imaged by the image input device, and the center position of the component with respect to the reference point on the image obtained by the image input device and the inclination of the component with respect to the reference axis on the image are obtained. In the component position detecting method, the component is a package in which the surface to be imaged by the image input device is rectangular and a plurality of lead wires are arranged at equal intervals on at least two adjacent sides. Have,
The image input device is capable of capturing an image of a corner where two sides of a package in which leads are arranged intersect with each other, leading edges of more than half of each of the sides of the package counted from this corner, and the center of a component. It has a field of view that is smaller than the size that allows the entire component to be imaged, and passes through the representative point of at least half of the leads provided on each side of the package for the image obtained by the image input device. The inclination of each straight line with respect to the reference axis is obtained, and the average inclination of both inclinations is taken as the inclination of the component, and each straight line that passes through the midpoint of each side of the package and has the average inclination with respect to the reference axis is obtained. A pair of straight lines that intersect at right angles is used as the center position of the component by finding the intersection point, and the field of view of the image input device is captured in an area of about a quarter of the component. Since the size can be set to the extent possible, the resolution can be increased even with the current image input device, and the advantages of increasing the accuracy of detecting the tilt and position of the component and the package in the image can be obtained. 2 straight lines that pass through the representative points of at least half of the leads on each side are obtained, the inclination with respect to the reference axis of the image is obtained for each straight line, and the average of both inclinations is taken as the inclination of the component. By averaging the information obtained from the lead, it is possible to reduce the influence of lead bending and the like, and there is an effect that the inclination detection accuracy is further enhanced. Moreover, since the position information is obtained from the leads, the detection accuracy is less deteriorated and a single image can be compared to the case where a portion such as a package that is prone to detection error due to dimensional tolerances and burrs during molding is used. The advantage is that accurate position detection can be performed only by using the input device.
第１図は本発明の実施例における部品の移送過程を示す
動作説明図、第２図および第３図は同上の動作説明図で
ある。 １……部品、1a……パッケージ、1b……リード、２……
吸着ヘッド、３……回路基板、４……画像入力装置、５
……制御装置。FIG. 1 is an operation explanatory view showing a component transferring process in the embodiment of the present invention, and FIGS. 2 and 3 are operation explanatory views of the same. 1 …… Parts, 1a …… Package, 1b …… Lead, 2 ……
Suction head, 3 ... Circuit board, 4 ... Image input device, 5
……Control device.
Claims (1)
力装置により得られた画像上での基準点に対する部品の
中心位置と上記画像上での基準軸に対する部品の傾きと
を求める部品の位置検出方法において、部品は、画像入
力装置により撮像される面が矩形状であって、少なくと
も隣合う２辺の各辺についてそれぞれ等間隔で複数本の
リード線が列設されたパッケージを有し、画像入力装置
は、リードが列設されたパッケージの２辺の交差するコ
ーナと、このコーナからパッケージの各辺について数え
てそれぞれ半数より多い本数のリードの先端縁と、部品
の中心とが撮像できる大きさで、かつ部品の全体を撮像
できる大きさよりは小さい視野を有し、画像入力装置に
より得られた画像について、パッケージの各辺に設けた
リードのうち少なくとも半数本のリードの代表点を通る
各直線の上記基準軸に対する傾きをそれぞれ求めるとと
もに両傾きの平均の傾きを部品の傾きとし、パッケージ
の各辺の中点を通り上記基準軸に対してそれぞれ上記平
均の傾きを有する各直線にそれぞれ直交する一対の直線
を交点を求めて部品の中心位置とすることを特徴とする
部品の位置検出方法。1. A position of a part obtained by imaging the part with an image input device and obtaining a center position of the part with respect to a reference point on the image obtained by the image input device and an inclination of the part with respect to the reference axis on the image. In the detection method, the component has a package in which a surface captured by the image input device has a rectangular shape, and a plurality of lead wires are arranged in a row at equal intervals on at least two adjacent sides, The image input device is capable of capturing an image of a corner where two sides of a package in which leads are arranged intersect with each other, leading edges of more than half of each of the sides of the package counted from this corner, and the center of a component. It has a size and a field of view smaller than the size that can image the whole part, and the number of leads provided on each side of the package is small for the image obtained by the image input device. In both cases, the inclination of each straight line passing through the representative points of half the leads with respect to the reference axis is obtained, and the average inclination of both inclinations is taken as the inclination of the component. A method for detecting a position of a component, characterized in that a pair of straight lines each orthogonal to each of the straight lines having the average inclination is obtained as an intersection point and set as a center position of the component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2034245A JPH0770874B2 (en) | 1990-02-15 | 1990-02-15 | Parts position detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2034245A JPH0770874B2 (en) | 1990-02-15 | 1990-02-15 | Parts position detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03237800A JPH03237800A (en) | 1991-10-23 |
| JPH0770874B2 true JPH0770874B2 (en) | 1995-07-31 |
Family
ID=12408778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2034245A Expired - Fee Related JPH0770874B2 (en) | 1990-02-15 | 1990-02-15 | Parts position detection method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0770874B2 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008085216A (en) * | 2006-09-28 | 2008-04-10 | Fujikura Ltd | Method and apparatus for positioning printed circuit board |
| JP4915940B2 (en) * | 2007-05-11 | 2012-04-11 | 富士機械製造株式会社 | Image processing data creation method and image processing data creation device |
| JP4878385B2 (en) * | 2009-12-07 | 2012-02-15 | コグネックス・コーポレイション | Object control system, object control method, program, and rotation center position specifying device |
| JP7755779B2 (en) * | 2022-05-13 | 2025-10-17 | ヤマハ発動機株式会社 | Component mounter, lead component rotation angle calculation method, and lead component rotation angle calculation program |
| CN115435749B (en) * | 2022-08-11 | 2025-01-07 | 中国电子科技集团公司第十三研究所 | Method, device, terminal and storage medium for measuring inclination angle of bonding finger |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5984499A (en) * | 1982-11-05 | 1984-05-16 | 株式会社日立製作所 | Electronic component mounting equipment |
| JPH0767032B2 (en) * | 1986-10-02 | 1995-07-19 | 三洋電機株式会社 | Position correction method for electronic components |
| JPS6450500A (en) * | 1987-08-20 | 1989-02-27 | Toshiba Corp | Method of positioning flat package type element |
-
1990
- 1990-02-15 JP JP2034245A patent/JPH0770874B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03237800A (en) | 1991-10-23 |
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