JP2944776B2 - Position recognition device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[Object of the Invention]

[0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position recognition device for recognizing the position of a recognition mark placed on an object.

[0003]

2. Description of the Related Art For example, TAB (Tape Automated Bondi)
ng) When the components are automatically mounted, the supply of the TAB components is performed while being mounted on the carrier tape. When mounting the components on the target device, the TAB components are cut from the carrier tape, It is moved to a predetermined position and connected. In this case, what is important is the positioning of the TAB component. That is, in order to mount the TAB component at an appropriate position on the mounting board, it is necessary to adjust the position with considerably fine precision. For this reason, conventionally, a camera for recognizing the position of the TAB component and the position of the mounting board is provided, and control is performed so that the position is corrected to a correct position based on an image signal obtained by enlarging and shooting.

In this case, when recognizing the position of the mounting board, for example, a recognition mark previously attached to a predetermined position of the mounting board is photographed by a camera, and the intensity of an image signal at that time, that is, a difference in shading, is taken on the board. The position of the recognition mark is accurately obtained, and the movement is controlled in the X direction, the Y direction, or the θ direction so that the recognition mark is arranged at a predetermined position.

[0005]

By the way, when recognizing the position of the mounting board as described above, it is necessary to correctly recognize the material and color depending on the type of the mounting board and the lighting condition at that time. In some cases, the position of the mark cannot be determined. That is, the reflectance between the recognition mark for recognizing the position and the surface of the substrate becomes substantially the same,
Or if the difference in brightness decreases even if the color is different,
This is because the shading degree of the image signal becomes small, and it is very difficult to set the threshold value when binarizing.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides a position recognition device capable of reliably detecting a recognition mark and recognizing the position even when the difference in color brightness is small. is there.

[Structure of the Invention]

[0008]

According to the present invention, there is provided a position recognizing device, comprising: image pickup means for picking up a color image of an object having a recognition mark; and a color signal component of each color signal based on a color-specific image signal from the image pickup means. Calculating means for calculating a difference in signal strength caused by the presence or absence of the recognition mark; extracting means for extracting the color-specific image signal having the largest signal strength difference by the calculating means; and a color-specific image from the extracting means. A distinction means for recognizing the recognition mark position of the object based on the signal is provided.

[0009]

According to the position recognition device of the present invention, the image pickup means includes:
The recognition mark attached to the object is photographed as a color image, and the color-specific image signal is output. The calculating means determines the signal intensity of the color signal components generated by the presence or absence of the recognition mark based on the color-specific image signal. Calculate the difference. The extraction means extracts a color-specific image signal having the maximum difference from the calculation result of the signal strength difference from the calculation means, and provides it to the determination means. Since the discrimination means recognizes the position of the recognition mark of the object based on the extracted color-specific image signal, the presence or absence of the recognition mark can be reliably determined, and the reliability of the position recognition is improved.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a TAB component automatic mounting apparatus will be described below with reference to the drawings.

FIG. 2 schematically shows a main part of a TAB automatic mounting apparatus, in which a TAB component 1 is supplied while being mounted on a carrier tape 2. Carrier tapes 2 and 2 wound on tape reels are respectively sent out.

The punching mechanism 3 is constituted by a pair of dies 3a and 3b arranged vertically, and punches the TAB component 1 mounted on the carrier tape 2 into a predetermined shape. The lower mold 3b is provided so as to be movable together with the lower mold 3b of the other punching mechanism 3, so that the punched TAB component 1 is moved while being placed thereon. When one of the punching mechanisms 3 is in operation, the TAB component 1 punched by the other punching mechanism 3 is moved to the supply position A at an intermediate portion between the two punching mechanisms 3. .

The intermediate stage 4 is provided at a position corresponding to the above-mentioned supply position A, and the TAB component 1 supplied to the supply position A is moved to the intermediate stage 4 by the transfer head 5. In this case, the transfer head 5 is configured to carry the TAB component 1 to the intermediate stage 4 by sucking the TAB component 1 from above.

TAB component 1 moved to intermediate stage 4
Is subsequently moved to the substrate mounting stage 7 (see FIG. 1) by suction by the mounting head 6.
At this time, the mounting head 6 moves in conjunction with the transfer head 5. The substrate mounting stage 7 controls the movement of the mounted substrate 9 to a predetermined position by a position control mechanism 8 (see FIG. 1).

As shown in FIG. 1, a color CCD camera 10 serving as an image pickup means for recognizing the position of the component mounting substrate 9 is provided above the substrate mounting stage 7. In this case, a recognition mark S for positioning is provided on the substrate 9 at a predetermined position, and the substrate mounting stage 7 is moved to a rough position in advance in order to accurately recognize the position of the placed substrate 9. To capture the recognition mark S.

Now, an image processing apparatus 11 as shown in FIG. 1 is connected to the CCD camera 10, which will be described below.

That is, in FIG. 1 showing an electric block configuration, an output line of the CCD camera 10 is connected to an A / D conversion circuit 13 via an I / F circuit (interface circuit) 12. The A / D conversion circuit 13 is a CCD camera 10
, The R (red), G (green), and B (blue) color image signals are converted into 6-bit digital signals and output. A /
The output line of the D conversion circuit 13 is connected to a memory 14 called a frame memory, and the memory 14 stores the image signal converted into the digital signal.

The CPU 15 has an arithmetic means, an extracting means and a discriminating means, and is connected to the memory 14 so that stored data can be called and written. Further, the CPU 15 includes an input / output control circuit 16 and an I / F circuit 1.
The position control mechanism 18 of the substrate mounting stage 7 is driven and controlled through the position control circuit 18 via the position control circuit 18.

A D / A conversion circuit 19 is connected to the memory 14. The digital image signal output from the CPU 15 to the memory 14 is converted into an analog monitor signal by the D / A conversion circuit 19. Has become. D
The output terminal of the / A conversion circuit 19 is connected to the input terminal of the monitor 20 via the above-mentioned I / F circuit 12, and the D / A
An image corresponding to the monitor signal from the conversion circuit 19 is displayed on the screen.

Next, the operation of the present embodiment will be described with reference to FIGS.

First, when a predetermined position of the substrate 9 mounted on the substrate mounting stage 7, that is, a portion centered on the recognition mark S is photographed by the CCD camera 10, R, R
Color-specific image signals corresponding to G and B are input to an A / D conversion circuit 13 via an I / F circuit 12. CCD camera 10
Is divided into, for example, 512 × 512 pixels. The A / D conversion circuit 13 converts the analog color-specific image signal into a 6-bit digital signal for each pixel, and stores the digital signal in the memory 13.

Next, based on the digital color image signals stored in the memory 14, the CPU 15 firstly generates a line segment X1-X2 crossing the center of the screen as shown in FIG.
The portion is scanned and its signal intensity is calculated for the difference between the maximum value and the minimum value for each of the R, G, and B colors. At this time, the size of each of the R, G, and B data is distributed as shown in FIG. 3, for example, that is, the difference in signal intensity between the portion of the recognition mark S and the surface portion of the substrate 9 is large, and G is large. If they are in order, the CPU 15 extracts a G image signal from the calculation result.

That is, if the recognition mark S is determined based on the G (green) color image signal among the color image signals of the video imaged by the CCD camera 10, the difference in signal intensity can be determined. Therefore, the position of the recognition mark S can be reliably recognized.

The present invention is not limited to this case. If the color of the recognition mark S is different from the color of the surface of the substrate 9, even if there is almost no difference in shading between the substrate and the recognition mark S in an image signal in monochrome photographing. When a color image is taken as in the present embodiment, a large difference in shading appears in any of the R, G, and B image signals, and this is calculated and extracted by the CPU 15. The presence or absence of the recognition mark S can be determined, so that the position of the substrate 9 can be accurately recognized and the movement can be controlled to the correct position.

[0025]

As described above, according to the position recognition apparatus of the present invention, the calculation means calculates the signal intensity difference depending on the presence or absence of the recognition mark based on the color-specific image signal of the color image from the imaging means. The extraction means extracts the image signal for each color whose calculation result is the largest, and the position of the recognition mark is recognized by the determination means based on the result.
Even when the density of the color of the recognition mark attached to the object is small, the recognition can be reliably performed, and therefore, an excellent effect that the position of the recognition mark can be accurately recognized can be obtained.

[Brief description of the drawings]

FIG. 1 is an electrical block diagram showing one embodiment of the present invention.

FIG. 2 is a perspective view showing a main part of the automatic mounting apparatus.

FIG. 3 is an intensity distribution of an image signal for each color.

FIG. 4 is a diagram showing an image of a recognition mark portion.

[Explanation of symbols]

1 is a TAB component, 2 is a carrier tape, 7 is a substrate mounting stage, 8 position control mechanism, 9 is a substrate (object), 10 is a CCD camera (imaging means), 11 is an image processing device, 13
Is an A / D conversion circuit, 14 is a memory, 15 is a CPU (calculating means, extracting means, discriminating means), 18 is a position control device,
9 is a D / A conversion circuit, 20 is a monitor, and S is a recognition mark.

Claims (1)

(57) [Claims] 1. An image pickup means for photographing a color image of an object having a recognition mark, and a signal intensity difference caused by the presence or absence of the recognition mark in each color signal component based on a color-specific image signal from the image pickup means. Calculating means for calculating, extracting means for extracting the color-specific image signal having the largest difference between the signal intensities by the calculating means, and a recognition mark position of the object based on the color-specific image signal from the extracting means. A position recognizing device comprising: a recognizing means.