CN1561659A - Automatic filter changer for use on surface mounter inspection camera - Google Patents
Automatic filter changer for use on surface mounter inspection camera Download PDFInfo
- Publication number
- CN1561659A CN1561659A CNA02819389XA CN02819389A CN1561659A CN 1561659 A CN1561659 A CN 1561659A CN A02819389X A CNA02819389X A CN A02819389XA CN 02819389 A CN02819389 A CN 02819389A CN 1561659 A CN1561659 A CN 1561659A
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- China
- Prior art keywords
- circuit board
- filter
- pcb
- physical features
- printed circuit
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
- H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement
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- Engineering & Computer Science (AREA)
- Operations Research (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Image Input (AREA)
- Image Processing (AREA)
Abstract
A printed circuit board assembly machine inspects circuit boards and parts to be mounted on those circuit boards prior to assembly. This assembly machine may visualize and recognize physical features of the circuit boards and parts as part of this inspection. A filter may be deployed while visualizing certain types of circuit boards or parts to remove characteristic defects found in images of those types of parts. When several types of circuit boards or parts inspected by the assembly machine exhibit different characteristic visualization problems, the assembly machine may deploy a different filter for each type of circuit board or part.
Description
The application is the part continuation application of 09/970,960 common unsettled Application No. formerly for the series number of submitting to October 4 calendar year 2001.
The present invention relates to have performance and show the circuit board of problem and the video picture of element.The present invention's special (but being not unique) is applicable to discern by computer vision and presents different performance and show any physical features in some types circuit board of problem or the electronic component.
Automatically the printed circuit board (PCB) mounting equipment utilizes the computer vision system inspection and accurately places printed circuit board (PCB) and prepare installation element onboard, as the automatic component mounter of An Biang (Assembleon).Inspection to these members requires member to be carried out video picture, the physical property of discerning its physical features and analyzing these physical features usually.
The printed substrate of a sky or cartoon are everlasting after its storeroom taking-up, and assembly equipment is used a computer vision means (comprising a camera and frontlighting) and come the physical features on the inspection plate.Some physical features is known as benchmark, described benchmark is set so that accurately the brigadier is installed in element on the described plate.Other physical features on the wiring board are the solder cream contact weld pad.If checked plate is qualified, assembly equipment will be placed on the station of placing element to it so that install.
Then, the element that be placed on the plate will be taken out by its storeroom, and be checked by computer vision means (comprising a camera and frontlighting equally).If described element is qualified, assembly equipment will be controlled the placement of described element, make described element with its onboard or card go up the installation site and suitably aim at.
Yet, performance issue can appear when computer vision system attempts to check the wiring board, card of some type or element.The benchmark or the solder cream contact weld pad of gold or silver color made and had by some plates or card by light ceramic material.These colors can not provide enough visual contrast for existing computer vision system, thereby can't discern benchmark or contact weld pad reliably.
Appear in the ceramic background of white or light color when element has the hard contact of silver or gold, similar problem also can take place, thereby can not discern the contact reliably.
The contact that also has some elements to have the another kind of color under certain color background, but during with the monochrome cameras video picture, lack of contrast makes the contact to be discerned reliably.
When the contact of the element of some type or background have dazzle, another kind of performance issue can be occurred, the contact can not be discerned reliably equally.
It is very responsive to infrared light because be used for the charge-coupled device (CCD) camera of computer vision system to also have a kind of problem to be.So if element is more to the infrared spectrum reflection, its image will be difficult to identification reliably as by erosion.
The application's former obligee (predecesor) has taught the physical features that a skill ingenious is discerned the element with the hard contact in light background.Yet a printed circuit board (PCB) kludge will be handled many different circuit boards and element usually, and wherein each sample all can present one or more different above-mentioned identification problems.At present, be used to overcome in the printed circuit board (PCB) mounting equipment the miscellaneous identification problem that is run into without any technology.
In a printed circuit board (PCB) mounting equipment of handling multiple different circuit board and element, people can find the various aspects of method and apparatus of the present invention, wherein, and filter of configuration automatically when checking certain type circuit board and element.The performance issue that filter is run into when being used to be modified to the physical features video picture of described type circuit board and element.
Can be by using linearly polarized light to throw light on and as plate or element video picture the time, using the linear polarization filter different to improve the contrast of image between silver color benchmark and the light printed circuit board (PCB) or the image contrast between silver color contact and the light element with the orientation of illumination filter as circuit board.
Can improve contrast between the background of the contact of a certain color in the part drawing picture and another color by using colour filter.
Can weaken dazzle in circuit board or the part drawing picture by for circuit board or element video picture the time, using the circular polarization filter.
Can be by weakening in the influence of the infrared ray that reflects aspect the image of circuit board or element to charge-coupled device camera through the method for a ultrared filter of obstruct to circuit board or element video picture.
More specifically, one aspect of the present invention is found in the method that following being used for will have the member video picture of the physical features on the background.Described member is shone by the electromagnetic radiation of an irradiation source, and from the electromagnetic radiation formation width of cloth image of described member reflection, described image has the fixed performance deficiency with the type that is rasterized member.In order to remove the performance deficiency in the image, filtering is carried out in the electromagnetic radiation to described reflection automatically, thereby improved the contrast between the physical features and background in the filtered image.
Can come the physical features of identification circuit plate or element by filtered image, thereby reach the purpose of inspection.
Another aspect of the present invention is found in a kind of equipment of the member video picture that is used to the physical features that has on the background.The described member of the electromagnetic radiation irradiation of one or more radiation sources.Picture reproducer forms from the image of the electromagnetic radiation of described member reflection, and described image has the fixed performance deficiency with the type of the member that is rasterized.Actuator locatees filter like this, makes described image be formed by the electromagnetic radiation by filter, thereby has removed the performance deficiency in the image, thereby improved the contrast between the physical features and background in the image.
In the embodiment of a demonstration of the present invention, filter will be moved into its station along straight line.
In the embodiment of another demonstration of the present invention, some stand-by filters are installed in and rotate into its station on the wheel disc then.
Another aspect of the present invention is found in circuit board or card, at described circuit board or card upper surface the element of having discerned according to described method is installed.By using described method, the described process identification physical features that is mounted element is packed into the form of aiming at the contact weld pad of described plate or card.
Read following detailed description in conjunction with the drawings in detail and will understand other aspects of the present invention, in the accompanying drawing:
Fig. 1 for according to video picture of the present invention, discern and be provided with the elevation cross-sectional view of the signal of equipment;
Fig. 2 is the illumination seen down from the 2-2 line and the top view of reflective mirror (reption) parts;
Fig. 3 is that the filter among the figure is retracted according to the profile of video picture of the present invention, identification, setting and linear filter configuration device;
Fig. 4 is placed on the profile of station for filter;
Fig. 5 is the profile of another embodiment of the present invention, rotary filter apparatus for placing shown in the figure; And
Fig. 6 is the top view of rotary filter apparatus for placing among Fig. 5.
With reference to the Fig. 1 in the described accompanying drawing, the embodiment of the video picture of the parts that are used for having the metal object that is in the very poor background of dielectric or nonmetallic contrast of the present invention is described, cooperate with traditional computer vision system 10 ball grid array (BGA) 12 of the very little high-melting-point soldered ball 14 that supports by ceramic dielectric substrate 16 of discerning two dimension normally of described embodiment.
BGA 12 is caught and is in the top of the camera 20 of the computer vision system 10 that a camera lens makes progress by the gripping apparatus of a component pick-up placement machine (not illustrating in the drawings) or manipulator 18.Camera 20 is taken electronic image and is provided it to computer vision system 10, and described computer vision system will be discerned the soldered ball of checking on the BGA 12 14 with this electronic image, whether have soldered ball size and spacing such as soldered ball.If BGA 12 is qualified, vision system 10 is placed on circuit board or the card with manipulator robot 18 translation BGA 12 and with it, and the soldered ball 14 that makes identification and plate or the contact weld pad 24 of blocking on 22 are aimed at.
Usually putting BGA 12 and other surface mounted component to circuit board or blocked before 22, contact weld pad 24 can apply quick solder cream, at plate or block and put on 22 after BGA 12 and other surface mounted component, plate and on the BGA that put and other elements will be heated, so that solder cream fusing filler rod, described filler rod is welded in BGA on plate or the card securely.
At soldered ball 14 is white or when light under the poorest situation of contrast for silver color substrate 16, lamp box 26 is normally used for providing upwards and inside oriented polarization illumination I for BGA 12, cooperate simultaneously with the polarizing filter 28 before the camera lens 30 of camera 20, so that make normally video picture of camera 20, and then make vision system 10 can normally discern soldered ball 14.
As shown in Figure 2, the most preferred embodiment of lamp box 26 has centre bore 32, so that camera 20 is upwards found a view by polarizing filter 28, other has four step surface 34,36,38,40 that tilt upwardly and outwardly of frusto-pyramidal, and each face forms a branch of independently polarised light.Surface 34,36,38,40 is included on the corresponding opal glass diffuser 50 and the polarizing filter on light emitting diode matrix 52 40,42,44 and 46.
Suppose that the linear polarization with polarizing filter 28 is 0 degree, the linear polarization of polarizing filter 40 and 44 is adjusted to 90 degree, and the linear polarization of polarizing filter 42 and 46 is adjusted to 180 degree.The result is the light that goes out from four light emitted, and behind soldered ball 14 reflected backs, downward component is 90 degree polarizations, and is promptly approaching perpendicular to the polarisation of light direction that can pass through polarizing filter 28.Therefore, can not arrive the camera lens 30 of camera 20 from the light of soldered ball 14 reflections.
On the other hand, then be distributed in each polarization direction more equably via the downward component of the light of white or light substrate 16 reflections, so in a large number will be by the camera lens 30 of polarizing filter 28 arrival cameras 20 from the downward light of substrate 16 reflections.As a result, in the captured electronic image of camera 20, soldered ball 14 presents black basically color and substrate 16 presents white basically color.The effect of this generation contrast is considered to because electromagnetic wave keeps former polarization direction from the process of glossiness metal object reflection, and electromagnetic wave has been eliminated former polarization direction from the process of medium object reflection.
A printed circuit board (PCB) mounting equipment will be checked different types of components when circuit board of assembling.If some elements that will check are light substrate, other are black substrate, and new problem will occur.Because the effect of linear polarizer plate 28 makes soldered ball 14 be black basically in the electronic image that camera 20 is taken the photograph, when utilizing this filter to take a picture, the soldered ball on the element of black substrate will be difficult for identified.Desirable in this case way is, when being white base component video picture, and configuration polarizing filter 28 before the camera lens 30 of camera 20, and when for the video picture of black substrate element, the described polarizing filter of withdrawing.
If a printed circuit board (PCB) mounting equipment also has similar problem when handling printed circuit board (PCB) or card.Some circuit boards are made by the glass fibre substrate, are generally green.For being used to aim at silver or the golden benchmark that is mounted position of components, this substrate can provide good contrast.Yet other circuit boards that described mounting equipment is handled or card perhaps have white or light ceramic substrate, and contrast is relatively poor between the benchmark of this and metallochrome.Above-described no matter in time use filter to have with identification reliably be the technology of the soldered ball on the element of light color or dark substrate, and no matter also can be used to be identified in reliably is light color or dark printed circuit board (PCB) or the metal benchmark on the card.
The control system of circuit board mounting equipment is used the specification file of its handled all types of member (printed circuit board (PCB), card and element) usually.Described file comprises the data of the characteristic of each class A of geometric unitA.The data of described file such as quantity and position (as benchmark, the contact pad on plate or the card, the contact of element) of physical features, are carried out the inspection operation for computer vision system.In a mounting equipment of using the technology of the present invention, specification file can comprise also whether expression needs to use filter to check the data of certain type member, and for as shown in Figure 5 embodiment, also will comprise the data of using which kind of filter.
With reference to the Fig. 3 in the accompanying drawing, use one embodiment of the present of invention of linear filter apparatus for placing 60 shown in the figure, filter is regained among the figure.Filter is connected to linear actuator 65 by connecting rod 64.When being excited by the control system of circuit board mounting equipment, the configuration shown in the linear actuator 65 selected figure, promptly filter is recalled from the optical axis of camera 20.When control system stops to excite, linear actuator 65 selected configurations shown in Figure 4, promptly connecting rod stretches out, and filter 61 is positioned in camera lens 30 the place aheads of camera 20.
For some linear actuator, the action meeting of linear actuator 65 is opposite with above description, and promptly when linear actuator 65 was excited, filter 61 was placed, and when stopping to excite linear actuator 65, filter 61 is withdrawn.Settle filter 61 though the use linear actuator only has been discussed in the above argumentation, what should infer is that cylindrical solenoid also can be used in the embodiments of the invention.
For example, if the member that is rasterized has the red physical features on the green background, filter 61 can be selected Red lightscreening plate.This filter can allow from the ruddiness of red physical features reflection by intercepting the green glow of background reflectance, thereby makes in the electronic image of black and white camera shooting physical features present basically white and background presents black basically.
If camera 20 uses charge-coupled device (CCD)s to take electronic image, another kind of performance issue can appear to the strong member of infrared spectrum reflection when the video picture.Because charge coupled device is very responsive to the radiation of infrared spectrum, so the electronic image of member can present as by erosion, the physical features and the background of member present light gray, make the physical features that computer vision system can't identification means.For this class A of geometric unitA, filter 61 can be selected for use and intercept infrared light but infrared fileter by visible light.Intercept infrared ray and can make the visible light video picture of charge coupled device, thereby obtain the contrast between better physical feature and the background in the image after colour filter by reflecting.
If run into dazzle during for some member video picture, the image that camera 20 is taken the photograph also can present as by erosion.In these cases, filter 61 can be selected the circular polarization filter for use.This filter limits from the rotational component of the illumination light of member reflection, thereby has weakened the dazzle of member, makes its physical features obtain correct identification.
Contact or the benchmark on printed circuit board (PCB) or the card and the process of contact weld pad of identification electronic component described in the discussion of front, and what should infer is that perhaps the physical features that is identified on other members is not contact or benchmark.Such as, in the time will on light-emitting diode, lens being installed, will check the installation feature of described lens, described installation feature allows light-emitting diode is connected on circuit board or the card.Similarly, can the check circuit plate or card whether have heat to coagulate viscose glue point and accurate position thereof so that non-soldered elements is installed onboard.
The various members that ifs circuit plate mounting equipment is handled all present different performance issues, and like this according to the different members that is examined, one in several different filters will be placed, thereby the physical features of described member can be discerned reliably.One embodiment of the present of invention allow to use in several filters, as shown in Figure 5.Rotary filter apparatus for placing 70 shown in the figure, it be installed on stepping motor 76 the axle on filter runner 75.Fig. 5 is also shown in filter 61 and 63 and is installed on the filter runner 75 and is positioned at 72 and 74.By the signal of response mounting equipment control system, stepper motor 76 will forward certain ad-hoc location to, thereby place the filter that matches with the member that is rasterized.
The details of rotary filter apparatus for placing 70 shown in Fig. 6.Filter runner 75 in one embodiment of the present of invention has 4 unthreaded holes 71,72,73 and 74.Unthreaded hole 72,73 and 74 is equipped with filter 61,62 and 63 respectively, and unthreaded hole 71 does not then have filter.The center of filter runner 75 is installed on the axle of stepping motor 76.Camera lens 30 is found a view by unthreaded hole 74.In the motor 76 superincumbent descriptions is stepping motor, and what should infer is that servomotor also can be used in the embodiments of the invention, responds the signal of mounting equipment control system, is filter runner 75 location.
Though Fig. 3,4 and 5 illustrates the embodiment that is used for ball grid array encapsulation video picture of the present invention, should will be appreciated that technology of the present invention also can be used to improve the encapsulation of other types or the video picture of circuit board and card.
Though only illustrating, embodiment discussed above uses single filter apparatus for placing, but what should infer is, in other embodiment, the polylith filter can be placed simultaneously by a plurality of filter apparatus for placing, thereby improves the video picture of the member that presents multiple performance issue.
Can point out that now purpose of the present invention reaches.Carefully explaining orally item by item when of the present invention, should will be appreciated that, in spirit of the present invention and the scope that relates to, can there be a large amount of modifications.When explaining appending claims, should infer:
A) " comprise " that a speech do not get rid of other element or the step of not enumerating in claims;
B) article " a " before certain element or " an " variform of not getting rid of described element;
C) any reference symbol in claims does not limit its coverage;
D) can use the structure that realizes by hardware or software or the identical components of function to represent " device ".
Claims (18)
1. in an automatic printed circuit board (PCB) mounting equipment, a kind of being used for will have the method for member (12) video picture of the physical features (14) on the background (16), said method comprising the steps of:
Utilize light source (26),, comprise described physical features and described background with the described member of electromagnetic radiation irradiation;
Formation is from the image (20) of the electromagnetic radiation of described member reflection, and described image comprises the performance deficiency fixed with the classification of described member; And
Automatically for carrying out filtering (60,70) from the electromagnetic radiation of described reflection so that from described image, eliminate described performance deficiency, thereby reduce the performance deficiency in the described filtered image thus improved described physical features and described background between contrast.
2. described according to claim 1 method is characterized in that also comprising the physical features (10) in the described filtered image of identification.
3. the method for claim 1 is characterized in that: described electromagnetic radiation is a light and described filtered image is taken by camera.
4. method as claimed in claim 2 is characterized in that: described electromagnetic radiation is a light and image after the described colour filter is to take by the camera of computer vision system, and described identification is undertaken by described computer vision system.
5. the method for claim 1, it is characterized in that: described member is a printed circuit board (PCB).
6. method as claimed in claim 2 is characterized in that: described member is a printed circuit board (PCB).
7. the method for claim 1 is characterized in that: described member will be for being installed in the element on the printed circuit board (PCB).
8. method as claimed in claim 2 is characterized in that: described member will be for being installed in the element on the printed circuit board (PCB).
9. in the printed circuit board (PCB) automatic assembly equipment, a kind of being used for will have the member display of the physical features on the background, and described device comprises:
One or more light sources (26) are used to utilize the described member of electromagnetic radiation irradiation;
Imaging device (20) is used to form from the image of the electromagnetic radiation of described member reflection, and there is with described element type fixed performance deficiency in described image;
Filter (61); And
Actuator (65,76), in order to described filter is placed on the appropriate location, make the described image that forms by electromagnetic radiation pass through described filter, thereby described filter reduce the performance deficiency in the described filtered image thereby improved described physical features and described background between contrast.
10. as described device as described in the claim 9, it is characterized in that also comprising computer vision system, be used for discerning the described physical features of described filtered image.
11. device as claimed in claim 9 is characterized in that: described electromagnetic radiation is a light and described filtered image is taken by camera.
12. device as claimed in claim 10 is characterized in that: described electromagnetic radiation is a light and described imaging device is the camera of described computer vision system.
13. device as claimed in claim 9 is characterized in that: described member is a printed circuit board (PCB).
14. device as claimed in claim 10 is characterized in that: described member is a printed circuit board (PCB).
15. device as claimed in claim 9 is characterized in that: described member will be for being installed in the element on the printed circuit board (PCB).
16. device as claimed in claim 10 is characterized in that: described member will be for being installed in the element on the printed circuit board (PCB).
17. device as claimed in claim 16 is characterized in that also comprising manipulator, be used to utilize the element of identification physical features, with the form of aiming at described element is placed on appropriate location on circuit board or the card with the contact pad of described plate or card.
18. circuit board or card, the element surface according to the identification of the method for claim 8 is installed on described circuit board or the card, and described mounted on surface process is to utilize the physical features of the described element of identification, carry out with the form of aiming at the contact weld pad of described plate or card.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US09/970,960 US6765185B2 (en) | 2001-10-04 | 2001-10-04 | Computer vision recognition of metallic objects against a poorly contrasting background |
| US09/970,960 | 2001-10-04 | ||
| US10/024,788 US20030068078A1 (en) | 2001-10-04 | 2001-12-19 | Automatic filter changer for use on surface mounter inspection camera |
| US10/024,788 | 2001-12-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1561659A true CN1561659A (en) | 2005-01-05 |
Family
ID=26698868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA02819389XA Pending CN1561659A (en) | 2001-10-04 | 2002-09-30 | Automatic filter changer for use on surface mounter inspection camera |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP1438883A1 (en) |
| JP (1) | JP2005505942A (en) |
| CN (1) | CN1561659A (en) |
| WO (1) | WO2003032705A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI549256B (en) * | 2012-12-24 | 2016-09-11 | 鴻海精密工業股份有限公司 | Method of manufacturing led module |
| CN106454040A (en) * | 2016-10-21 | 2017-02-22 | 东风商用车有限公司 | Night anti-dazzle vehicular camera and control method thereof |
| CN109565953A (en) * | 2016-08-24 | 2019-04-02 | 株式会社富士 | Mounting device |
| CN110140084A (en) * | 2017-01-06 | 2019-08-16 | 株式会社富士 | Illumination device for photographing |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015106603A (en) * | 2013-11-29 | 2015-06-08 | スタンレー電気株式会社 | Component attachment light irradiation imaging device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5044072A (en) * | 1990-04-13 | 1991-09-03 | Air-Vac Engineering Company, Inc. | Vision system apparatus and method for component/pad alignment |
| JPH09264722A (en) * | 1996-03-28 | 1997-10-07 | Sony Corp | Appearance inspecting method and apparatus therefor |
| JP2000121338A (en) * | 1998-10-13 | 2000-04-28 | Yamagata Casio Co Ltd | Electronic component inspecting device |
-
2002
- 2002-09-30 JP JP2003535520A patent/JP2005505942A/en active Pending
- 2002-09-30 EP EP02772667A patent/EP1438883A1/en not_active Withdrawn
- 2002-09-30 WO PCT/IB2002/004046 patent/WO2003032705A1/en not_active Application Discontinuation
- 2002-09-30 CN CNA02819389XA patent/CN1561659A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI549256B (en) * | 2012-12-24 | 2016-09-11 | 鴻海精密工業股份有限公司 | Method of manufacturing led module |
| CN109565953A (en) * | 2016-08-24 | 2019-04-02 | 株式会社富士 | Mounting device |
| CN109565953B (en) * | 2016-08-24 | 2021-10-01 | 株式会社富士 | Mounting device |
| CN106454040A (en) * | 2016-10-21 | 2017-02-22 | 东风商用车有限公司 | Night anti-dazzle vehicular camera and control method thereof |
| CN110140084A (en) * | 2017-01-06 | 2019-08-16 | 株式会社富士 | Illumination device for photographing |
| CN110140084B (en) * | 2017-01-06 | 2022-03-18 | 株式会社富士 | Lighting device for shooting |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2003032705A1 (en) | 2003-04-17 |
| JP2005505942A (en) | 2005-02-24 |
| EP1438883A1 (en) | 2004-07-21 |
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