CN1691883A - Lighting condition determination method, element recognition device, surface mounting machine and element test apparatus - Google Patents
Lighting condition determination method, element recognition device, surface mounting machine and element test apparatus Download PDFInfo
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- CN1691883A CN1691883A CN 200510067012 CN200510067012A CN1691883A CN 1691883 A CN1691883 A CN 1691883A CN 200510067012 CN200510067012 CN 200510067012 CN 200510067012 A CN200510067012 A CN 200510067012A CN 1691883 A CN1691883 A CN 1691883A
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Abstract
This method is a method for setting the illumination condition (combinations of illumination parts 25a-25c for lighting and luminous intensity levels thereof) when recognizing a sucked component, using a lighting system 24 having the illumination parts 25a-25c capable of changing the luminous intensity levels in a plurality of steps. The method comprises processes for: acquiring a component image in each of the luminous intensity levels in every of the illumination parts 25a-25c, by lighting only one out of the illumination parts 25a-25c of the lighting system 24 on sequentially, and by imaging the component in the each of the luminous intensity levels while changing the luminous intensity level during the lighting of the one illumination part;generating component images corresponding to all the illumination conditions by composing the component images acquired in the process hereinbefore; and specifying the optimum illumination condition for the objective component, based on the component images generated in the process. This invention can properly specify an illumination condition for component recognition or the like in a surface mounting equipment or a component testing device, in a short time.
Description
Technical field
The present invention relates to be suitable for to utilize suction nozzle that the electronic component of IC etc. is carried out negative-pressure adsorption and gives conveyance, and the lighting condition that in the conveyance way adsorbed state of element is carried out the surface mounting apparatus of image recognition and element test apparatus etc. is determined method, element identifying device, the surface mounting apparatus and the element test apparatus of this device is housed.
Background technology
In the past, general known surface mounting apparatus structure was, utilized displaceable head unit with suction nozzle from component feeding portion the chip component of IC etc. to be carried out negative-pressure adsorption, and conveyance is installed to the assigned position on the printed substrate.In this surface mounting apparatus, need prevent that the absorption error of element and the caused installation of absorption skew are bad, absorptive element is carried out image recognition and its adsorbed state is checked (before installing) in advance.For example, will have on the video camera of CCD area sensor and the pedestal that lighting device is arranged on surface mounting apparatus, after element absorption, absorptive element be made a video recording before making head unit move to this video camera.
When element is carried out image recognition, carry out optimal illumination above-mentioned according to the shape and the size of absorptive element, just very important aspect the accuracy of identification that improves element.Therefore, in the past, such as in the patent documentation 1 (Japan Patent open communique spy open 2000-332500 number) announcement, it is different respectively and can make the lighting device of a plurality of light sources of the many grades changes of gray scale that setting has illumination direction, among the combination (lighting condition) of employed light source and its gray scale, determine the optimal lighting condition of adaptive element shape etc., carry out drive controlling according to this lighting condition illumination apparatus.
Yet in the device of patent documentation 1, owing under all lighting conditions, element is made a video recording to all combinations of employed light source and its gray scale are promptly actual, according to this part drawing picture the lighting condition that is suitable for component recognition is most determined, so for example have the occasion that the gray scale that comprises the state of not lighting a lamp can be made 3 kinds of light sources of 8 grade changes, existing tentative number of times is 8
3Inferior (=512 times), determine that processing that lighting condition uses needs the problem of too much time.
Therefore, way in the reality is, makes a video recording the realization time to shorten by selecting to remove the partial illumination condition to element, but in this occasion, removed lighting condition is discharged to be determined outside the object, thereby the situation of best lighting condition may take place to determine.
In addition, determining of lighting condition when the problems referred to above are not limited to component recognition, for example, use to carry that video camera on head unit comes when being installed in element on the printed substrate and carrying out image recognition or also be same when being marked on lighting condition that various marks (reference mark, butt joint mark (butt mark)) on the printed substrate carry out image recognition and determining.
Known again have a so-called element test apparatus, it has and has carried element absorption with head and move possible head unit, utilize described head will put that element in component feeding position (component feeding portion) carries out negative-pressure adsorption and with its conveyance to testing equipment, element is inserted into be located at this testing equipment test with carrying out various tests on the socket (experimental rig).But for this equipment owing to also camera carrying is being carried out image recognition with the location on the socket with mark etc. to being marked on test on the head unit, so for the lighting condition of this occasion determine also exist and above-mentioned same problem.
Summary of the invention
The present invention In view of the foregoing makes, and its purpose is, short time and the lighting condition during suitably to component recognition in surface mounting apparatus or element test apparatus etc. are determined.
To achieve these goals, the lighting condition of technical scheme 1 of the present invention is determined method, as utilizing the displaceable head unit element to be kept and conveyance during to assigned position from the component feeding position, use has gray scale and can make the lighting device of a plurality of lighting sources of a plurality of grades change and the privileged site of described head unit is made a video recording and discerned and the processing in advance carried out, the lighting source of lighting a lamp when this shooting and the lighting condition that constitutes of its gray scale are determined, comprise: a lighting source in the described lighting source is lit a lamp, and its gray scale is changed and with each gray scale described privileged site is made a video recording, obtain the operation of image of privileged site of each gray scale of each lighting source thus; Image to acquired privileged site in this operation synthesizes, and generates the operation of the image of the privileged site corresponding with all lighting conditions thus; According to the image that in this operation, is generated, the operation that the lighting condition of the image recognition that is suitable for described privileged site is determined.
For example, when described privileged site is discerned remaining on element on the described head unit, handle in advance and described lighting condition is determined (technical scheme 2) as it.
Adopt this method, since in fact only obtain with the possible lighting condition of the setting of lighting device in a part the corresponding part drawing picture of lighting condition, in fact other lighting condition uses the image that has absorbed to generate composograph, so compare with conventional art, can reduce the tentative number of times of the lighting condition that is suitable for element being determined in change, promptly lighting condition the time and the number of times that element is carried out actual shooting.For example, as lighting device, have the occasion that makes gray scale can make 3 lighting sources of 8 grades change respectively in use, when under all lighting conditions element being made a video recording as the conventional art, tentative number of times is 8
3Inferior (=512 times), and use this method, because as long as in each lighting source, element is made a video recording, so even tentative number of times also is 8 * 3 times (24 times) at the most with each gray scale.Therefore, can with conventional art the samely according to suitably determining the lighting condition of object elements can shorten the required time of this processing significantly again with all lighting condition corresponding elements images.
Again, the element identifying device of technical scheme 3 of the present invention, can utilize and have the lighting device that gray scale can carry out a plurality of lighting sources of a plurality of grade changes, the element that remains on the head unit that is used for the conveyance element is provided illumination light and utilizes camera head that this element is made a video recording, according to this image the hold mode of element is discerned, this element identifying device has: control device, it controls described lighting device and camera head, to carry out object elements to the camera position of the regulation that is positioned at described camera head, a lighting source in the described lighting source is lit a lamp, and its gray scale is changed, with each gray scale element is made a video recording, thereby obtain the processing in advance of part drawing picture of each gray scale of each lighting source; Image synthesizer, its with in the described lighting source by the combination of the lighting source of being lit a lamp and its gray scale as lighting condition, look like to synthesize by the part drawing of obtaining in will describedly handling in advance, and generation and all lighting condition corresponding elements images; And lighting condition is determined device, it is according to composograph that this image synthesizer generated and determine to be suitable for the lighting condition of the image recognition of object elements from all lighting conditions, described control device described handle in advance after, when the hold mode of object elements is discerned, according to determining that by described lighting condition the determined lighting condition of device is to the control of lighting a lamp of described lighting device.
Adopt this device,, can determine to be suitable for the lighting condition of object elements the short time owing in element identifying device, can automatically carry out above-mentioned lighting condition establishing method.
In addition, in this device, described image synthesizer comparatively it is desirable to the image of deletion behind element image section captured under the state that all lighting sources are not lit a lamp the image after synthetic made final composograph (technical scheme 4).
That is, when a plurality of part drawings were looked like to synthesize, the image color of background parts increased and the concentration difference of componentry and background parts is diminished, and compared with the situation after the reality shooting, and the contrast of image is reduced.In contrast, if delete the element image section of under all lighting sources are not lit a lamp state, being made a video recording the image after synthetic as mentioned above, just can guarantee the concentration difference of componentry and background parts well, just can synthesize and the actual more approaching image of photographed images.
Again, in this device, described control device comparatively it is desirable to, before discerning after the described processing in advance, to the hold mode of object elements, in order to judge whether fixed lighting condition is fit to, determine the determined lighting condition of device according to described lighting condition, object elements is carried out actual shooting (technical scheme 5).
Adopt this device, owing to can whether fixed lighting condition be fit to verify according to the image of reality, so can improve the reliability of lighting condition.
Again, in this device, comparatively it is desirable to, described control device, handling when handling described as the 1st in advance in advance, can select to carry out the 1st handles in advance, and the lighting source of being lit a lamp in the described lighting source and the combination of its gray scale are changed successively, actual photographed is corresponding to the 2nd processing in advance of the part drawing picture of all lighting conditions on one side, from described lighting source, be identified for the lighting source of object elements identification simultaneously, and according to the number of this lighting source of determining carry out the 1st or the 2nd handle in advance in short processing of processing time, and described lighting device and camera head are controlled, described lighting condition determines that device carrying out the 2nd when handling in advance, according to the image of its shooting and determine to be suitable for the lighting condition (technical scheme 6) of the image recognition of object elements from all lighting conditions.
Adopt this device, since can automatically carry out according to the employed lighting source of the identification of object elements generate the 1st of composograph handle in advance and utilize camera head pair and all lighting condition corresponding elements image carry out actual shooting the 2nd in advance in the processing any processing time than the processing of lacking, so when a part of lighting source in the lighting source is used for object elements identification, just can reasonably determine to lighting condition.Specifically, for example, gray scale can be done in the lighting device of 3 lighting sources of 2 grades change having, when only 2 lighting sources being used for object elements identification, the number of times of imaging of element is 2 * 2 times (=4 times) in the 1st handles in advance, on the other hand, in the 2nd handles in advance, be 2
2Inferior (=4 times), both number of times of imaging equate, and when adopting the 2nd to handle, it is synthetic to need not image in advance, so the processing time shortens, can be shorter than definite lighting condition of the 1st processing time of in advance handling.Therefore, aspect lighting condition being determined, compare with the situation that same execution the 1st is handled in advance and to have rational structure with the short period.
On the other hand, surface mounting apparatus of the present invention, utilization is equipped with the head that is used for holding element and the described head that moves possible head unit keeps electronic component from component feeding portion, and after the element hold mode of described each head is carried out image recognition, put in destination locations and described element is installed in, be on the wiring board of installation exercise position, wherein, can adopt each described element identifying device (technical scheme 7) in the technical scheme 3～6 as the device that the element hold mode of described each head is carried out image recognition.
Again, element test apparatus of the present invention, utilization is equipped with the head that is used for holding element and the described head that moves possible head unit keeps electronic component from component feeding portion, and after the element hold mode of described each head is carried out image recognition, relay being positioned at and carry out various tests on the experimental rig of destination locations, wherein, can adopt each described element identifying device (technical scheme 8) in the technical scheme 3～6 as the device that the element hold mode of described each head is carried out image recognition.
Adopt above-mentioned surface mounting apparatus and element test apparatus, owing to have an above-mentioned element identifying device, so can be with suitably definite optimal lighting condition when installation elements and test element are carried out image recognition of short period.
Again, the lighting condition establishing method of technical scheme 9 of the present invention is, as using the camera head that carries on the mobile head unit that is provided with possibly above the pedestal, the processing in advance of making a video recording and being discerned by having that the lighting device that can make gray scale carry out a plurality of lighting sources of a plurality of grades change provides illumination light and to the privileged site on the described pedestal, the lighting source of being lit a lamp when the above-mentioned shooting and the lighting condition that constitutes of its gray scale are determined, comprise: a lighting source in the described lighting source is lit a lamp, and its gray scale is changed and with each gray scale described privileged site is made a video recording, obtain the operation of image of privileged site of each gray scale of each lighting source thus; Image to acquired privileged site in this operation synthesizes, and generates the operation of the image of the privileged site corresponding with all lighting conditions thus; According to the image that in this operation, is generated, the operation that the lighting condition of the image recognition that is suitable for described privileged site is determined.
Adopt this method, determine that with the lighting condition of technical scheme 1 method is identical, can be suitably to the privileged site on the pedestal, for example in surface mounting apparatus, can determine to being marked on the lighting condition that the various marks of installing on the wiring board carry out image recognition, on the other hand, can shorten the required time of this processing significantly.
Adopt the lighting condition of technical scheme 1 and 2 to determine the element identifying device of method and technical scheme 3～6, then both can be same as conventional art according to determining lighting condition with all lighting condition corresponding elements images, can reduce the number of times of imaging of element again significantly, with definite lighting condition of short period.Therefore, adopt this lighting condition establishing method or carried the surface mounting apparatus (technical scheme 6) and the element test apparatus (technical scheme 7) of this element identifying device, both can suitably set lighting condition no less than device level in the past, can reduce the required time of this processing significantly again, for example, can shorten the running time of device effectively.
Again, adopt the lighting condition of technical scheme 9 to determine method, the lighting condition in the time of can the short period suitably determining to utilize the camera head that carries on head unit that the privileged site on the pedestal is carried out image recognition.
Description of drawings
Fig. 1 is the vertical view of an example of expression surface mounting apparatus of the present invention (using the surface mounting apparatus that element identifying device of the present invention, lighting condition are determined method).
Fig. 2 is the front view of presentation surface fitting machine.
Fig. 3 is the ideograph of the structure of expression image unit.
Fig. 4 is the block diagram of the control system (mainly being to handle relevant part with component recognition) of presentation surface fitting machine.
Fig. 5 is that expression utilizes control device to handle the flow chart of an example of running control in advance.
Embodiment
Describe with reference to the example of accompanying drawing best example of the present invention.
Surface mounting apparatus of the present invention (using the surface mounting apparatus that element identifying device of the present invention and lighting condition are determined method) represented in Fig. 1 and Fig. 2 summary.As shown in the drawing, on the pedestal 1 of surface mounting apparatus (below, abbreviate fitting machine as), disposing the conveyer belt 2 that is used for the conveyance printed substrate, printed circuit board (PCB) 3 is transmitted with 2 conveyances and stops at the installation exercise position of regulation.
Disposing component feeding portion 4 in the both sides of above-mentioned conveyer belt 2.In these component feeding portions 4, be provided with the belt feeder 4a of multiple row.Each belt feeder 4a constitutes, and will accommodate the strip chip component of IC, transistor, capacitor etc. with predetermined distance respectively and the belt that is kept is derived from reel, along with utilizing head unit 6 described later that element is taken out, and sends element discontinuously.
Above said base 1, the head unit 6 that is used for installation elements is installed.This head unit 6 can move between component feeding portion 4 and printed substrate 3 residing installation exercise positions, and can move along X-direction (direction parallel with conveyer belt 2) and Y direction (with the direction of conveyer belt 2 quadratures).
Promptly, on said base 1, be equipped with along the fixed guide 7 of Y direction with by Y-axis servomotor 9 rotation ball screw driven axles 8, dispose head unit supporting member 11 on said fixing guide rail 7, the nut portion 12 that is arranged on this supporting member 11 screws togather with above-mentioned ball screw axle 8.Again, on above-mentioned supporting member 11, be equipped with along the ways 13 of X-direction with by X-axis servomotor 15 ball screw driven axles 14, head unit 6 moves and is maintained at possibly on the above-mentioned ways 13, and the nut portion (not shown) that is arranged on this head unit 6 screws togather with ball screw axle 14.And, utilize the running of Y-axis servomotor 9 that above-mentioned supporting member 11 is moved along Y direction, utilize the running of X-axis servomotor 15 that head unit 6 is moved along X-direction with respect to supporting member 11.
Again, on Y-axis servomotor 9 and X-axis servomotor 15, be respectively equipped with encoder 9a, 15a, just can detect thus the position of above-mentioned head unit 6.
On described head unit 6, carrying a plurality of installations that are used for installation elements with heads 16, in this example, 6 installations with head 16 along X-direction uniformly-spaced to be arranged in a row.
Install with head 16 and can move and rotate around R axle (suction nozzle central shaft) along Z-direction with respect to the framework of head unit 6 respectively, utilization be driven servomotor as the lifting drive of drive source and rotating driving device.Again, install with on head 16, suction nozzle 16a be installed at its front end (lower end) at each, by illustrated Negative pressure supply device never with negative pressure feeding in the suction nozzle front end, thereby with the attraction of this negative pressure generation element is adsorbed.
On described pedestal 1, also be provided with the image unit 20 (camera head) that the state of head unit 6 absorptive elements is carried out image recognition, in this example, between installation exercise position and each component feeding portion 4, be respectively equipped with image unit 20.
As shown in Figure 3, image unit 20 has been wholely set video camera 22, lighting device 24 and half-reflecting mirror 26 on shared framework, and the element C (illustrated position) on the camera position of the regulation that is configured in image unit 20 tops is made a video recording from its below.
Lighting device 24 has 3 kinds of Lighting Divisions (lighting source) that illumination light is shone the element that is positioned over camera position from mutual different direction.Specifically, have: the 1st Lighting Division 25a, its from the Z axle as the radial outside of the circle at center to the absorptive element C irradiating illumination light that is positioned over camera position; The 2nd Lighting Division 25b, it is configured between camera position and the half-reflecting mirror 26, from oblique downside illumination light is shone the absorptive element C that is positioned over camera position; The 3rd Lighting Division 25c, it is arranged on the below of half-reflecting mirror 26, by this speculum 26 with illumination light under the absorptive element C that is positioned over camera position is shone.
On each Lighting Division 25a～25c, be provided with a plurality of LED that are positioned, by controlling, and can make the gray scale of each Lighting Division 25a～25c carry out many grades changes by 30 pairs of supplying electric current values of aftermentioned control device.Thus, when component recognition, to be suitable for installing lighting condition with the best of component shape, size or color etc. adsorbed on the head 16, promptly with the Lighting Division of being lit a lamp among each Lighting Division 25a～25c and the combination of its gray scale, illumination apparatus 24 control of lighting a lamp.
Fig. 4 is the block diagram of the control system of the above-mentioned fitting machine of expression.And this block diagram is represented the main part relevant with the present invention in the control system of fitting machine, specifically, only extracts the part relevant with the component recognition processing and represents.
Above-mentioned fitting machine has control device 30, it comprise the actuating logic computing known CPU, will control this CPU various programs etc. in advance stored ROM and in the device running RAM etc. of temporary transient store various kinds of data.This control device 30 as its functional structure, comprises master control part 32, axle control part 34, lighting control section 36, video camera control part 38, image processing part 40 and storage part 42.
Again, before running is installed, utilize described lighting control section 36 and video camera control part 38 illumination apparatus 24 and video camera 22 etc. to carry out drive controlling, and carry out determining the processing in advance of the lighting condition of suitable this kind according to every kind of kind of element.In addition, handle in the back for this in advance and describe in detail.
The control of lighting a lamp of the lighting device 24 of 36 pairs of image units 20 of lighting control section, according to the control signal of being exported from master control part 32 Lighting Division 25a～25c is connected respectively, disconnects, the current value that the electric current of LED is supplied with in control simultaneously makes Lighting Division 25a～25c light a lamp with the gray scale that is determined.In addition, in this example, the gray scale of each Lighting Division 25a～25c comprises that the state of not lighting a lamp can do 8 grades (rank " 0 "～" 7 ") changes.
The effect of image processing part 40 is to handle in advance and install in the running above-mentioned, by image unit 20 captured part drawing pictures enforcement predetermined process are generated the view data that is suitable for component recognition.Especially when handling, look like to synthesize by the part drawing that will take in advance, and generate in order to determine the necessary view data of lighting condition, described master control part 32 is determined the lighting condition that is suitable for most object elements according to this view data.That is, in this example, constitute image synthesizer of the present invention, and constitute control device of the present invention and lighting condition is determined device by master control part 32 by this image processing part 40.
Then, according to the flow chart of Fig. 5 control device 30 described being handled running control in advance describes.
Described in advance the processing is meant: in running is installed, when utilizing 20 pairs of image units to be taken by head unit 6 adsorbed elements, kind according to element, be shape, size or the color etc. of element, the lighting condition of illumination apparatus 24 determines, and the processing that this condition is stored as the lighting condition data of this element.This handles in advance, is using fitting machine to produce preceding for the first time or increasing under the situation of new varieties element as installation elements, implementing before reality is used this element.
After this handles beginning, at first will specify the initial value of the designated value X of the object of lighting a lamp among each Lighting Division 25a～25c of lighting device 24 to be set at " 1 ", and the initial value of its gray scale value L will be set at " 0 " (step S1).In addition, in this example,, be assigned as " 1 ", " 2 ", " 3 " respectively as designated value X for the 1st Lighting Division 25a, the 2nd Lighting Division 25b, the 3rd Lighting Division 25c.
In step S2, by making head unit 6 runnings, the described camera position of lighting device 24 is taken out and be configured in to object elements from belt feeder 4a, element is made a video recording according to the set point of step S1, and this image is stored in the storage part 42 (step S2～S4).Specifically, the 1st Lighting Division 25a corresponding to designated value " 1 " is lit a lamp with gray scale " 0 ", and store the image in the storage part 42.Here, so-called gray scale " 0 " is actually the state of not lighting a lamp, and therefore, initial pictures is the part drawing picture under state is not lit a lamp in illumination.In addition, in the following description, for convenience's sake, the state of will not lighting a lamp suitably shows as " lighting a lamp with gray scale ' 0 ' ".
In step S5, carry out the element shooting to whether with all gray scales (" 0 "～" 7 ") of the 1st Lighting Division 25a and judge.Here, be judged as the occasion of NO, after gray scale is improved 1 measuring point, entering step S2 (step S6), thus, the 1st Lighting Division 25a is being lit a lamp, once more absorptive element is being made a video recording with gray scale " 1 ".
In contrast, when in step S5, being judged as YES, again whether all Lighting Divisions are finished, promptly whether all Lighting Division 25a～25c are carried out the element shooting by all gray scales and judge (step S7), here, when being judged as NO, make designated value X only increase " 1 " and, simultaneously gray scale value L is set at " 1 " and enters step S2 (step S8) switching as the Lighting Division of object of lighting a lamp.Here, why gray scale value L is set at " 1 " rather than is set at " 0 ", be because the image of gray scale value " 0 " is the image of the state of not lighting a lamp of throwing light on, and with the common cause of initial pictures (with gray scale " 0 " to light a lamp image after the control of the 1st Lighting Division 25a).
Like this, by a Lighting Division among Lighting Division 25a～25c being lit a lamp successively and its gray scale is changed repeat the processing that element is made a video recording, thereby can obtain the do not light a lamp part drawing picture (21 (7 * 3)) of each gray scale (rank " 1 "～" 7 ") of the initial pictures (1) of state and Lighting Division 25a～25c of illumination successively.
When in step S7, being judged as YES, then enter definite processing of the synthetic and lighting condition of image.
At first, the initial value with the gray scale value L1 of the 1st Lighting Division 25a is set at " 0 " (step S9).Equally, the initial value with each gray scale value L2, the L3 of the 2nd Lighting Division 25b and the 3rd Lighting Division 25c is set at " 0 " (step S10, S11) respectively.
Then, will with the corresponding image of luminance level value L1～L3 that sets among step S9～S11, part drawing picture when specifically, will with intensity level in addition other " 0 " Lighting Division 25a～25c be lit a lamp respectively reads on the not shown video memory and synthetic (step S12) from storage part 42.
Here, because the part drawing when with gray scale " 0 " Lighting Division 25a～25c being lit a lamp similarly is the do not light a lamp image of state of illumination respectively, so it is synthetic in fact not carry out image in this occasion, and with initial pictures (the bat image pattern picture when the 1st Lighting Division 25a being lit a lamp) with gray scale " 0 " directly as composograph.In addition, in this example, so-called " composograph " for convenience's sake, is also contained in the composograph in fact synthesizing the image of handling.
Then, whether be that the image that is suitable for the identification of object elements is judged (step S13) to the image that in step S12, is synthesized.This judgement is according to for example predefined a plurality of comparison elements such as contrast of light and shade, part drawing picture and its background parts of image self, compare be stored in composograph data in the not shown storage part in the master control part 32 and newly-generated composograph data as optimum value, judging that newly-generated composograph be under the best situation (being YES among the step S13), updates stored in these composograph data and lighting condition at this moment in the above-mentioned not shown storage part (step S14) as optimum value.In contrast, when judging that stored view data is best, continuing to keep this storing image data is optimum value.When also not storing, be optimum value with synthetic at first image data storage as the view data of optimum value again.
Then, whether the gray scale value L3 of the 3rd Lighting Division 25c is " 7 ", promptly whether all gray scales of the 3rd Lighting Division 25c has been carried out image is synthetic to be judged, here, when being judged as NO, making gray scale value L3 increase " 1 " and enter step S12 (step S15, S16).Thus, in the processing of next step S12, generate composograph after the gray scale make the 3rd Lighting Division 25c improves " 1 " individual measuring point.
When in step S15, being judged as YES, enter step S17, whether the 2nd Lighting Division 25b gray scale value L2 is " 7 ", promptly whether all gray scales of the 2nd Lighting Division 25b has been carried out image is synthetic to be judged.Here, when being judged as NO, making gray scale value L2 increase " 1 " and enter step S11 (step S18).Thus, in the processing of next step S12, generate composograph after the gray scale value L2 make the 2nd Lighting Division 25b improves " 1 " individual measuring point.
When in step S17, being judged as YES, enter step S19, whether the 1st Lighting Division 25a gray scale value L1 is " 7 ", promptly whether all gray scales of the 1st Lighting Division 25a is through with image is synthetic to be judged.Here, when being judged as NO, making gray scale value L1 increase " 1 " and enter step S10 (step S20).Thus, in the processing of next step S12, generate composograph after the gray scale value L1 make the 1st Lighting Division 25a improves " 1 " individual measuring point.
And, when in step S19, being judged as YES, the lighting condition of the composograph data that will be stored as optimum value, the combination that is about to Lighting Division 25a～25c of being lit a lamp and its gray scale are stored in the storage part in the master control part 32 also process ends as the lighting condition data of object elements.
Above-mentioned processing gathers as follows.Promptly, at first utilize the processing of step S1～step S8, each Lighting Division 25a～25c of the 1st～mat woven of fine bamboo strips 3 is lit a lamp respectively, and change its gray scale and element is made a video recording, obtain the do not light a lamp part drawing picture of each gray scale (rank " 1 "～" 7 ") of the initial pictures of state and each the Lighting Division 25a～25c except the state of not lighting a lamp of illumination thus successively.And, by using these photographed images and coming composograph, generate the state of lighting a lamp with gray scale " 0 ", " 0 ", " 0 " part drawing picture to all lighting conditions of the state of lighting a lamp with gray scale " 7 ", " 7 ", " 7 " corresponding to Lighting Division 25a～25c of the 1st～the 3rd by the processing of step S9～step S20.For example, as an example, make the 1st Lighting Division 25a light a lamp, make with gray scale " 5 " that the 2nd Lighting Division 25b lights a lamp, the indivedual part drawing pictures of taking pictures of institute when with gray scale " 1 " the 3rd Lighting Division 25c being lit a lamp with gray scale " 3 " respectively by synthetic, simulation generates the while makes part drawing picture after each Lighting Division 25a～25c lights a lamp with gray scale " 3 ", " 5 ", " 1 ".And, when generating the different image of lighting condition, at any time this composograph and the composograph of being stored as optimum value are compared, and the suitable image that will obtain by the component recognition of object elements upgraded storage as optimum value, will be stored as the lighting condition data of object elements corresponding to the lighting condition of the composograph data of finally being stored as optimum value.
In addition, according to the flow chart of Fig. 5, in the processing of step S12, it is synthetic also to carry out image when comprising gray scale for the image of " 0 " in synthetic image, but is that gray scale is synthesized for the image beyond the image of " 0 " in this occasion.For example, in the occasion that will with gray scale " 3 ", " 5 ", " 0 " image after each Lighting Division 25a～25c lights a lamp be synthesized simultaneously, will make the image after the 1st Lighting Division 25a lights a lamp and the image after the 2nd Lighting Division 25b lights a lamp be synthesized with gray scale " 3 " with gray scale " 5 ".In the occasion that will simultaneously the image after each Lighting Division 25a～25c lights a lamp be synthesized, will make image after the 1st Lighting Division 25a lights a lamp directly as composograph with gray scale " 3 " with gray scale " 3 ", " 0 ", " 0 " again.Thus, it is synthetic to omit the useless image that is unfavorable for improving picture quality.
Then, the installation running control of being undertaken by control device 30 is described.
When printed substrate 3 being moved into when beginning to the installation exercise position and in this fitting machine running is installed, at first, make head unit 6 move to component feeding portion 4, utilize each to install with head 16 absorptive elements.Specifically, will install be configured in as the belt feeder 4a of object with head 16 above after, by carrying out lifting with head 16 and drive and the element in the belt is adsorbed, from belt feeder 4a, take out by suction nozzle 16a to installing.At this moment, under possible situation, can take out a plurality of elements simultaneously with head 16 by driving a plurality of installations.
After the absorption of element is finished, head unit 6 is moved to the top of image unit 20, utilize 20 pairs of image units to be adsorbed on each and install and make a video recording, and this adsorbed state is carried out image recognition with the element on the head 16.Specifically, by each is installed the camera position that is configured in image unit 20 with head 16 adsorbed elements successively, and according to the lighting condition corresponding with absorptive element, promptly carry out drive controlling, thereby successively each absorptive element is made a video recording according to the lighting condition data illumination apparatus of in above-mentioned processing in advance, determining 24.
And, after making a video recording by 20 pairs of elements of image unit, head unit 6 is moved on the printed substrate 3 of installation exercise position, and betwixt according to checking the element adsorption state (absorption error) of each installation with head 16 by the absorptive element image after image unit 20 shootings, when having the absorption error, carry out the setting again of target location.
And,, successively each installation is installed on the printed substrate 3 with head 16 adsorbed elements by head unit 6 being carried out drive controlling according to the target location that sets.Specifically, the installation that will adsorb object elements be configured in head 16 installation site above after, by to install with head 16 carry out that lifting drives and when it is in upper/lower positions blocking-up and element is installed on the printed substrate 3 to suction nozzle 16a supply negative pressure.
After this, while make head unit 6 between component feeding portion 4 and printed substrate 3, move back and forth, successively requisite number purpose element is installed on the printed substrate 3.
Adopt above-mentioned fitting machine, when the identification absorptive element,, can correctly carry out image recognition with the element adsorption state of head 16 to installing owing to can make a video recording to element with optimal lighting condition at element, its result can guarantee the installation accuracy of element well.
And, in this fitting machine, as the processing of determining lighting condition (handling) in advance, in fact only obtain part drawing picture corresponding to a part of lighting condition in the possible lighting condition of the setting of lighting device 24, for other lighting condition, use the actual image of clapping picture suitably to generate composograph, so it is identical with fitting machine in the past, can be according to determining that corresponding to the image of all lighting conditions best lighting condition advances, on the other hand can be at the tentative number of times of change, promptly lighting condition the time, and reduce the number of times that element is carried out actual photographed significantly.Specifically, because above-mentioned lighting device 24, as mentioned above, have and make gray scale respectively to comprise 3 Lighting Division 25a～25c that do not light a lamp illumination 8 grades of state change, if lighting condition is determined with identical in the past method, then need under all lighting conditions, carry out actual shooting, so tentative number of times is 8
3Inferior (adding up to 512 times).In contrast, if adopt the method for handling of this example in advance, tentative number of times only is that the shooting (7 * 3 times) under the shooting (1 time) under the state of not lighting a lamp that throws light on and each gray scale (" 1 "～" 7 ") of each Lighting Division 25a～25c adds up to 22 times.Therefore, both differences are 490 times, from this result as can be known, can shorten the tentative number of times of per a kind of element significantly.
Therefore, when the kind of considering the element that fitting machine is installed more for a long time, just can shorten the required time of lighting condition of determining significantly, for example, can shorten the time before the first production significantly, promptly make above-mentioned lighting condition data etc., time of the data (installation elements data) of necessary relevant various installation elements in running is installed.When increasing the new varieties element, can promptly make the installation elements data of relevant this element within a short period of time as installation elements again.
Above Shuo Ming fitting machine, be an example of the best example of surface mounting apparatus of the present invention (using the surface mounting apparatus of element identifying device of the present invention), and its concrete structure or can suitably change without departing from the spirit and scope of the present invention the method that lighting condition is determined.For example, also can adopt following such form.
(1) in the step S12 of Fig. 5, the part of the image (initial pictures) of the state of also deletion illumination the image after synthetic can not being lit a lamp makes final composograph.Promptly, behind synthetic a plurality of part drawing pictures, the image color of background parts is increased, and the concentration difference of componentry and background parts is reduced, and clap the situation of picture to compare with reality, the contrast of image is reduced, but as mentioned above, if from composograph, delete initial pictures, just can guarantee the concentration difference of componentry and background parts well, just can generate and the actual approaching image of photographed images.At this moment, also exist the composograph of not deleting initial pictures near actual photographed image, therefore comparatively it is desirable to distinguish initial pictures and whether deleted according to lighting condition according to the kind (lighting condition) of composograph.
(2) in example,,, also can omit obtaining of initial pictures in advance handling in unwanted occasion though in handling, obtain part drawing picture (initial pictures) when each Lighting Division 25a～25c being lit a lamp in advance with gray scale " 0 ".
(3) in example, though the lighting condition that will finally determine in the step S21 of Fig. 5 is directly stored as the lighting condition data of object elements, but when the part drawing picture of determining this lighting condition is composograph fully, promptly in synthetic image, comprise 2 gray scales for the image of " 0 " does not carry out actual synthetic processing, image the situation of composograph that actual photographed image is handled as step S12, can verify whether determined lighting condition is suitable by element being carried out actual shooting with definite lighting condition.The advantage that can have the reliability that improves determined lighting condition thus.
(4) can select the processing in advance shown in the flow chart of execution graph 5 (the 1st handles in advance), with with identical in the past, under all lighting conditions, element is carried out actual photographed, and determine the processing in advance (the 2nd in advance handle) of optimal lighting condition, and carry out the above-mentioned the 1st or the 2nd according to the Lighting Division 25a～25c that is used for component recognition among Lighting Division 25a～25c and handle short processing of processing time in advance according to above-mentioned image.
For example, gray scale can be done in the fitting machine of lighting device of 3 Lighting Divisions of 2 grades change having, shape and size from object elements, when in the identification of this element, only using 2 Lighting Divisions and illumination being lit a lamp, determine lighting condition as if handle according to the 1st in advance, then tentative number of times (number of times of imaging) is 2 * 2 times (=4 times).On the other hand, when using the 2nd to handle, tentative number of times also is 2 in advance
2Inferior (=4 times) are so the tentative number of times of Chu Liing equates in advance.But, when adopting the 2nd to handle,, just can preferentially carry out the 2nd processing in advance this moment so do not need to adopt synthetic processing of the 1st image in handling to determine to handle required total time of lighting condition short in advance in advance than the 1st in advance.If adopt such structure, compare with the situation of the processing in advance (the 1st handles) of same execution example in advance, in fact can determine lighting condition, so comparatively reasonable with the short period.
(5) in above-mentioned example, lighting device 24 can distinctly be connected, disconnect, and has the Lighting Division 25a～25c that can change gray scale, so these Lighting Divisions 25a～25c can be carried out above-mentioned processing in advance as lighting source of the present invention.In addition, even the lighting device that constitutes by single Lighting Division, also the LED that this Lighting Division comprised can be divided into a plurality of groups (row), and make each group (row) connect respectively, disconnect, and gray scale can change, and can carry out this LED group (row) above-mentioned processing in advance this moment as lighting source of the present invention.
(6) in above-mentioned example, the situation of surface mounting apparatus that is applied to have the video camera 22 of the image unit 20 that adopts area sensor with regard to the present invention is described, certainly, while have the video camera 22 that adopts rectilinear transducer, promptly make absorptive element also can use the present invention with respect to the surface mounting apparatus that image unit 20 moved, can carry out component recognition.
(7) in addition, in above-mentioned example, the example that is applied to surface mounting apparatus with regard to element identifying device involved in the present invention (lighting condition is determined method) is described, and element identifying device of the present invention (lighting condition is determined method) for example also can be applied to electronic component is carried out the element test apparatus of various tests.
For example known equipment, diagram is omitted, have and carried element absorption head and mobile possible head unit, utilize described head that the element that puts in component feeding position (component feeding portion) is carried out negative-pressure adsorption and testing equipment is arrived in its conveyance, and element is inserted into be located at this testing equipment test with carrying out various tests on the socket (experimental rig), in this kind element test apparatus, for element correctly is installed in test with on the socket, also can carry out image recognition to the element adsorption state of described head, if when having absorption skew (error), can revise it, and then element is installed in test with on the socket.Therefore, in this element test apparatus, camera head as absorptive element, be as above-mentioned image unit 20, can connect individually, disconnect, and when having the camera head of a plurality of Lighting Divisions (lighting source) that can change gray scale, can determine lighting condition according to the order among Fig. 5, and carry out component recognition with this lighting condition of determining.If adopt the structure of said elements testing equipment, then the surface mounting apparatus with example is identical, can shorten the required time of lighting condition being determined processing significantly, and can shorten the time before the first production significantly.
(8) again, in example, the definite method to the lighting condition when carrying out image recognition with the element adsorption state of head 16 is installed that illustrated adopts example of the present invention, and definite method of the lighting condition during in addition image recognition also can be used the present invention.For example, in above-mentioned surface mounting apparatus, in lower surface of head unit 6 etc. mark is set, utilize 20 pairs of above-mentioned marks of image unit to make a video recording, can discern the position of head unit 6 and the adsorbed state of element according to this marking image, also can use the present invention as definite method of this mark being carried out the lighting condition of image recognition this moment.
Again, with definite method of the lighting condition of camera carrying on head unit 6, when using this video camera to carry out image recognition, also can use the present invention to being installed in the element on the printed substrate 3, various mark (reference mark, butt joint mark) or independently being arranged on various marks on the pedestal 1 with respect to printed substrate 3.In addition, in element test apparatus, for example with camera carrying on head unit, when using this video camera to carry out image recognition with the location on the socket with mark to being marked on the test of being located at pedestal, also can use the present invention as definite method that this mark is carried out the lighting condition of image recognition this moment.
Claims (9)
1, a kind of lighting condition is determined method, as utilizing the displaceable head unit element to be kept and conveyance during to assigned position from the component feeding position, use has gray scale and can make the lighting device of a plurality of lighting sources of a plurality of grades change and the privileged site of described head unit is made a video recording and discerned and the processing in advance carried out, the lighting source of lighting a lamp when this shooting and the lighting condition that constitutes of its gray scale are determined, be it is characterized in that comprising:
A lighting source in the described lighting source is lit a lamp, and its gray scale is changed and with each gray scale described privileged site is made a video recording, obtain the operation of each lighting source thus at the image of the privileged site of each gray scale;
Image to the privileged site obtained in this operation synthesizes, and generates the operation of the image of the privileged site corresponding with all lighting conditions thus;
According to the image that in this operation, is generated, the operation that the lighting condition of the image recognition that is suitable for described privileged site is determined.
2, lighting condition as claimed in claim 1 is determined method, it is characterized in that, when described privileged site is discerned remaining on element on the described head unit, handles in advance and described lighting condition is determined as it.
3, a kind of element identifying device, utilization has the lighting device that gray scale can carry out a plurality of lighting sources of a plurality of grade changes, the element that remains on the head unit that is used for the conveyance element is provided illumination light and utilizes camera head that this element is made a video recording, according to this image the hold mode of element is discerned, it is characterized in that, comprising:
Control device, control described lighting device and camera head, to carry out object elements to the camera position of the regulation that is positioned at described camera head, a lighting source in the described lighting source is lit a lamp, and its gray scale is changed, with each gray scale element is made a video recording, thereby obtain the processing in advance of part drawing picture of each gray scale of each lighting source;
Image synthesizer, with in the described lighting source by the combination of the lighting source of being lit a lamp and its gray scale as lighting condition, look like to synthesize generation and all lighting condition corresponding elements images by the part drawing of obtaining in will describedly handling in advance; And
Lighting condition is determined device, according to the composograph that this image synthesizer generated, determines to be suitable for the lighting condition of the image recognition of object elements from all lighting conditions,
Described control device described handle in advance after, when the hold mode of object elements is discerned, according to determining the determined lighting condition of device by described lighting condition, to the control of lighting a lamp of described lighting device.
4, element identifying device as claimed in claim 3 is characterized in that, described image synthesizer, will be from the image after synthetic deletion under all lighting sources are not lit a lamp state the image behind the captured element image section as final composograph.
5, as each described element identifying device in claim 3 or 4, it is characterized in that, before described control device is discerned after described processing in advance, to the hold mode of object elements, in order to judge whether fixed lighting condition is suitable, determine the determined lighting condition of device according to described lighting condition, object elements is carried out actual shooting.
6, as each described element identifying device in claim 3 or 4, it is characterized in that,
Described control device, handling when handling described as the 1st in advance in advance, can select to carry out the 1st handles in advance, and the lighting source of being lit a lamp in the described lighting source and the combination of its gray scale are changed successively, actual photographed is corresponding to the 2nd processing in advance of the part drawing picture of all lighting conditions on one side, from described lighting source, be identified for the lighting source of object elements identification simultaneously, and according to the number of this lighting source of determining carry out the 1st or the 2nd handle in advance in short processing of processing time, and described lighting device and camera head are controlled
Described lighting condition determines that device carrying out the 2nd when handling in advance, according to the image of its shooting and determine to be suitable for the lighting condition of the image recognition of object elements from all lighting conditions.
7, a kind of surface mounting apparatus, utilization is equipped with the head that is used for holding element and the described head that moves possible head unit keeps electronic component from component feeding portion, and after the element hold mode of described each head is carried out image recognition, described element is installed in puts in destination locations, be on the wiring board of installation exercise position, it is characterized in that, as the device that the element hold mode of described each head is carried out image recognition, adopt as each described element identifying device in the claim 3～6.
8, a kind of element test apparatus, utilization is equipped with the head that is used for holding element and the described head that moves possible head unit keeps electronic component from component feeding portion, and after the element hold mode of described each head is carried out image recognition, electronic original part relayed being positioned at carry out various tests on the experimental rig of destination locations, it is characterized in that, as the device that the element hold mode of described each head is carried out image recognition, adopt as each described element identifying device in the claim 3～6.
9, a kind of lighting condition is determined method, as using the camera head that carries on the mobile head unit that is provided with possibly above the pedestal, the processing in advance of making a video recording and being discerned by having that the lighting device that can make gray scale carry out a plurality of lighting sources of a plurality of grades change provides illumination light and to the privileged site on the described pedestal, the lighting source of being lit a lamp when the above-mentioned shooting and the lighting condition that constitutes of its gray scale are determined, it is characterized in that, comprising:
A lighting source in the described lighting source is lit a lamp, and its gray scale is changed and with each gray scale described privileged site is made a video recording, obtain the operation of image of privileged site of each gray scale of each lighting source thus;
Image to the privileged site obtained in this operation synthesizes, and generates the operation of the image of the privileged site corresponding with all lighting conditions thus;
According to the image that in this operation, is generated, the operation that the lighting condition of the image recognition that is suitable for described privileged site is determined.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004134656 | 2004-04-28 | ||
| JP2004134656A JP2005315749A (en) | 2004-04-28 | 2004-04-28 | Illumination condition specifying method, component recognition device, and surface mounting equipment and component testing device provided the device |
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| Publication Number | Publication Date |
|---|---|
| CN1691883A true CN1691883A (en) | 2005-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200510067012 Pending CN1691883A (en) | 2004-04-28 | 2005-04-22 | Lighting condition determination method, element recognition device, surface mounting machine and element test apparatus |
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| JP (1) | JP2005315749A (en) |
| CN (1) | CN1691883A (en) |
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