CN1822644A - Image acquiring method, image acquiring apparatus and device with image acquiring apparatus - Google Patents
Image acquiring method, image acquiring apparatus and device with image acquiring apparatus Download PDFInfo
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- CN1822644A CN1822644A CN 200610009241 CN200610009241A CN1822644A CN 1822644 A CN1822644 A CN 1822644A CN 200610009241 CN200610009241 CN 200610009241 CN 200610009241 A CN200610009241 A CN 200610009241A CN 1822644 A CN1822644 A CN 1822644A
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Abstract
The present invention provides image acquiring method, image acquiring device and image acquiring equipment with the image acquiring device, and the lighting condition for lighting the photographed target may be obtained properly in short time. The image acquiring device includes one first image creating unit for setting the light source in the first luminance to obtain the first image; one second image creating unit for setting the light source in the second luminance to obtain the second image; one unit image creating unit to create the image data corresponding to unit luminance increment with the first image and the second image; and one imaginary image data creating unit to create imaginary image data corresponding to different luminances through image treatment on the basis of the image data corresponding to unit luminance increment.
Description
Technical field
The present invention relates to a kind of image acquiring method that obtains image, the image that wherein obtains is the best luminosity that is used for determining by image processing the luminosity variable light source, the invention still further relates to image acquiring device that uses this image acquiring method and surface mounting apparatus, use in printed circuit board solder printing machine, chip wafer feedway, electronic component shifting apparatus and the shape check device etc. that use this image acquiring device.
Background technology
All the time, for example in the surface mounting apparatus that electronic component is installed on the printed circuit board (PCB), adopt following structure, promptly the adsorbed electronic component of adsorption nozzle is made a video recording, by the having or not of image processing detected electrons element, absorption position etc. by video camera.
When electronic component is made a video recording,, need the shape and size of corresponding electronic component to carry out optimal illumination as above-mentioned in order to improve the accuracy of identification of element.This is the image planes difference being shot owing to electronic component, and according to the kind of electronic component, image planes being shot mostly are minute surface or form matsurface.Thereby in the prior art,, set the illumination control data, so that can shine optimal illumination light reliably according to the view data that reality is made a video recording and obtained electronic component.For example patent documentation 1 discloses a kind of conventional images acquisition methods that obtains employed view data in this setting.
Patent documentation 1 (the open communique spy of Japan Patent open 2000-332500 number (the 4th～7 page, Fig. 1)) described image acquiring method, be to use direction of illumination different and can change a plurality of light sources of luminosity in more than enough grade ground, and change this light source kind, light source luminosity and the method for making a video recording.And the establishing method of its illumination control data adopts following structure, promptly determines and the corresponding best of breeds such as the shape of electronic component, image planes state being shot of being made a video recording from the luminosity combination (lighting condition) of these a plurality of light sources, each light source.In obtaining this setting, in the image acquiring method of employed view data,, carry out actual shooting respectively with all combinations in order to determine combinations thereof.
In the establishing method of illumination control data, carry out described setting by in all images data, selecting optimum data.For example, comprise lighting lamp state not and can be with 3 kinds of light sources of 8 Change of Class luminosity the time,, then will carry out 83 powers (512 times) shooting, and from so many images, select optimized image having if select this method for use interior.
The prior art of determining in the prior art documentation ﹠ info that present specification is put down in writing, before proposing the application, the applicant does not find and the closely-related prior art document of the present invention.
But, in the image acquiring device of the image acquiring method shown in the patent documentation 1 and this method of enforcement, owing under all lighting conditions, electronic component is carried out actual shooting, thereby exist described shooting to need the problem of plenty of time.Particularly as surface mounting apparatus while object is moved in the device of making a video recording with respect to lighting device and camera head, because that object moves required time is more elongated than the shooting required time, so press for the minimizing number of times of imaging.
In order to respond this requirement, can consider under all lighting conditions, not make a video recording some lighting condition of partial cancellation and making a video recording.But in the case, the lighting condition that is cancelled is in to be determined outside the object, the combination of the light source and the luminosity of optimal illumination condition might occur not being.
Except in surface mounting apparatus to other occasion discerning with element is installed, the occasion of the electronic component that is installed on the printed circuit board (PCB) being made a video recording for example by the video camera of head unit, in use in printed circuit board solder printing machine, the occasion of the various signs on the printed circuit board (PCB) being made a video recording by video camera, the occasion of in the chip wafer feedway, chip wafer being made a video recording by video camera, the occasion of in electronic component shifting apparatus, electronic component being made a video recording by video camera, the occasion of by video camera electronic component being made a video recording when electronic component is checked in appearance inspection device produces the above-mentioned problem that is occurred like that too when lighting condition is determined.
Summary of the invention
In order to address the above problem proposition the present invention, the objective of the invention is to strive for rightly the lighting condition (combination of illumination and luminosity) that light shines the light source on the object being determined at short notice.
In order to realize this purpose, image acquiring method of the present invention, utilize camera head that the object that the light source that can change by luminosity is illuminated is made a video recording, obtain the view data that is used for determining best luminosity, it can change the luminosity of above-mentioned light source and object is repeatedly made a video recording, view data difference according to these images, make luminosity change the view data that changes to generate with unit quantity, overlapping its copy data on this view data generates the luminosity that is equivalent to make above-mentioned light source with this and changes and a plurality of imaginary view data of a plurality of real images of being made a video recording from the low paramount luminosity of luminosity with above-mentioned unit quantity.
Image acquiring device of the present invention comprises can changing luminosity and with the light source of rayed to object; The camera head that above-mentioned object is made a video recording; The luminosity of above-mentioned light source is set at the 1st luminosity of regulation, utilizes above-mentioned camera head that object is made a video recording, generate the 1st video generation device of the 1st image; The luminosity of above-mentioned light source is set at the 2nd luminosity that only changes with the unit quantity of stipulating from above-mentioned the 1st luminosity, utilizes above-mentioned camera head that object is made a video recording, generate the 2nd video generation device of the 2nd image; By image processing, higher another image of figure image subtraction of luminosity from above-mentioned the 1st image and the 2nd image generates the unit video generation device of view data of the unit luminosity augmenting portion of above-mentioned light source thus; Pass through image processing, overlapping its copy data on the view data of above-mentioned unit luminosity augmenting portion generates the luminosity be equivalent to make above-mentioned light source thus and changes and the imaginary video generation device of a plurality of imaginary view data of a plurality of real images of being made a video recording from the low paramount luminosity of luminosity with above-mentioned unit quantity.
Adopt above-mentioned image acquiring method of the present invention and image acquiring device, can carry out repeatedly at the view data of the unit luminosity augmenting portion that generates from the 1st image and the 2nd image overlapping, thereby can obtain and the identical imaginary drawing picture of actual image of making a video recording under all luminosity.
Thereby, for the shooting that obtains to carry out, as long as the minimum shooting of carrying out 2 order 1 images and the 2nd image corresponding to the image of all luminosity that change possible luminosity.Therefore, even can be divided into the light source that Three Estate changes luminosity, number of times of imaging also can be above-mentioned minimum 2 times, thereby can reduce number of times of imaging.
Its result, adopt the present invention, in the image acquiring method and image acquiring device that use the modifiable light source of luminosity to throw light on, can obtain at short notice the lighting condition that enters best luminosity is determined necessary view data, therefore can be at short notice and determine lighting condition rightly.
In above-mentioned image acquiring device, also can comprise a plurality of light sources, wherein above-mentioned the 1st video generation device is set at all light sources above-mentioned the 1st luminosity and takes the 1st image, above-mentioned the 2nd video generation device is set at all light sources above-mentioned the 2nd luminosity and takes the 2nd image, above-mentioned bit image generating apparatus is at the view data of all light sources generation unit luminosity augmenting portions, and above-mentioned imaginary video generation device generates imaginary view data at all combinations of light source and luminosity.
Adopt said structure, when making a video recording, all light sources can be set at the 1st luminosity and carry out the shooting of 1 order, 1 image, only carry out the bat picture of the 2nd image of the number of times that is same as quantity of light source then at the lighting condition of determining a plurality of light sources.Thereby when comprising a plurality of light source, only carrying out number of times is that quantity of light source adds 1 shooting, compares so obtain device with conventional images, can be reduced to the number of times of imaging that obtains to determine to enter the necessary view data of lighting condition of best luminosity.
In above-mentioned image acquiring device, the luminosity of above-mentioned light source changes from 0 to a plurality of grades of maximum luminosity with five equilibrium, and above-mentioned the 2nd luminosity only exceeds described 1 grade part of carrying out the luminosity of change of rank than above-mentioned the 1st luminosity.
Adopt said structure, owing to the luminosity corresponding to change of rank generates imaginary view data, so can obtain more high-precision imaginary view data.
In above-mentioned image acquiring device, comprise that also lighting condition determines device, according to the view data of the view data that comprises the 1st image at least, the 2nd image or one or more view data of the imaginary view data in the imaginary view data, determine the best luminosity of above-mentioned light source.
Adopt said structure, image acquiring device, and then can determine the best luminosity of light source according to the view data that comprises the imaginary view data of making by captured actual image data.
Another image acquiring device of the present invention comprises can changing luminosity and with the light source of rayed to object; The camera head that above-mentioned object is made a video recording; The luminosity of above-mentioned light source is set at the 1st luminosity of regulation, utilizes above-mentioned camera head that object is made a video recording, generate the 1st video generation device of the 1st image; The luminosity of above-mentioned light source is set at the 2nd luminosity that only changes with the unit quantity of stipulating from above-mentioned the 1st luminosity, utilizes above-mentioned camera head that object is made a video recording, generate the 2nd video generation device of the 2nd image; By image processing, higher another image of figure image subtraction of light source luminosity from above-mentioned the 1st image and the 2nd image generates the unit video generation device of view data of the unit luminosity augmenting portion of above-mentioned light source thus; By image processing repeatedly overlapping its copy data on the view data of above-mentioned unit luminosity augmenting portion, generate the composograph data generating device of composograph data; By more above-mentioned composograph data be in the view data of saturation condition, obtain the photometric range change device of maximum overlapping number in the overlapping number of the copy data that makes above-mentioned composograph data not become saturation condition; Luminosity after above-mentioned light source luminosity is set at above-mentioned overlapping number and above-mentioned unit quantity and multiplies each other, and utilize above-mentioned camera head that object is made a video recording, generate the 3rd video generation device of the 3rd image; The view data that will obtain from above-mentioned the 3rd figure image subtraction the 1st image by image processing is divided by above-mentioned overlapping number, generates the new unit video generation device of view data of the unit luminosity augmenting portion of new unit quantity thus; Pass through image processing, overlapping its copy data on the view data of above-mentioned new unit luminosity augmenting portion generates the luminosity be equivalent to make above-mentioned light source thus and changes and the imaginary video generation device of a plurality of imaginary view data of a plurality of real images of being made a video recording from the low paramount luminosity of luminosity with above-mentioned new unit quantity.
Adopt said structure, for the shooting that obtains to carry out, as long as the minimum shootings of carrying out 3 order, 1～the 3rd image corresponding to the image of all luminosity that change possible luminosity.Therefore, even can be divided into the light source of 4 grades or above change luminosity, number of times of imaging also can be above-mentioned minimum 3 times, thereby can reduce number of times of imaging.
Its result adopts foregoing invention, in the image acquiring device that uses the modifiable light source of luminosity to throw light on, can obtain at short notice the lighting condition that enters best luminosity is determined necessary view data.Therefore use this view data, can determine to enter the lighting condition of best luminosity.
Particularly, adopt foregoing invention, when if the captured image of camera head is darker image, even the relative more noise (noise) that comprises in the view data of the unit luminosity augmenting portion that is generated according to the 1st image and the 2nd image also can obtain not to be in the imaginary view data of saturation condition.
Thereby, adopt foregoing invention, can obtain more high-precision imaginary view data.
In above-mentioned image acquiring device, comprise a plurality of light sources, above-mentioned the 1st video generation device is set at all light sources the 1st luminosity and takes the 1st image, above-mentioned the 2nd video generation device is set at all light sources above-mentioned the 2nd luminosity and takes the 2nd image, above-mentioned unit video generation device generates the view data of unit luminosity augmenting portion at all light sources, above-mentioned imaginary video generation device generates a plurality of imaginary view data at all light sources, above-mentioned view data synthesizer generates the composograph data at all light sources, above-mentioned photometric range change device is obtained the overlapping number of copy data at all light sources, above-mentioned the 3rd video generation device is taken the 3rd image at all light sources, above-mentioned new unit video generation device generates the view data of new unit luminosity augmenting portion at all light sources, and above-mentioned imaginary video generation device generates imaginary view data at all combinations of light source and luminosity.
Adopt said structure, when making a video recording at the lighting condition of determining a plurality of light sources, the luminosity of all light sources can be set at the 1st luminosity of regulation and carry out the shooting of 1 order, 1 image, carry out the 2nd image of the number of times that is same as quantity of light source and the shooting of the 3rd image then.Thereby when comprising a plurality of light source, only carrying out number of times is two extraordinarily 1 shootings of quantity of light source, compares so obtain device with conventional images, can significantly be reduced to the number of times of imaging that obtains to determine to enter the necessary view data of lighting condition of best luminosity.
In above-mentioned image acquiring device, the luminosity of above-mentioned light source changes from 0 to a plurality of grades of maximum luminosity with five equilibrium, and the 2nd luminosity only exceeds described 1 grade part of carrying out the luminosity of change of rank than the 1st luminosity.
Adopt said structure, owing to the luminosity that changes corresponding to rank character generates imaginary view data, so can obtain more high-precision imaginary view data.
In above-mentioned image acquiring device, comprise that also lighting condition determines device, according to the view data of the view data that comprises the 1st image at least, the 2nd image or one or more view data of the imaginary view data in the imaginary view data, determine the best luminosity of above-mentioned light source.
Adopt said structure, image acquiring device, and then can determine the best luminosity of light source according to the view data that comprises the imaginary view data of making by captured actual image data.
Surface mounting apparatus of the present invention comprises above-mentioned any image acquiring device, and wherein the adsorbed installation elements of component moving and loading device is an object.
Adopt foregoing invention, can provide a kind of at short notice to the surface mounting apparatus of determining rightly with the optimal illumination condition of element is installed.
Another surface mounting apparatus of the present invention comprises above-mentioned any image acquiring device, and the telltale mark that wherein is arranged on the printed circuit board (PCB) is an object.
Adopt foregoing invention, a kind of surface mounting apparatus of at short notice the specifically labelled optimal illumination condition that is arranged on the printed circuit board (PCB) being determined rightly can be provided.
Use in printed circuit board solder printing machine of the present invention comprises above-mentioned any image acquiring device, and the telltale mark that wherein is arranged on the printed circuit board (PCB) is an object.
Adopt foregoing invention, a kind of use in printed circuit board solder printing machine of at short notice the specifically labelled optimal illumination condition that is arranged on the printed circuit board (PCB) being determined rightly can be provided.
Chip wafer feedway of the present invention comprises above-mentioned any image acquiring device, and wherein the adsorbed chip wafer of chip wafer shifting apparatus is an object.
Adopt foregoing invention, a kind of chip wafer feedway of at short notice the optimal illumination condition of chip wafer being determined rightly can be provided.
Electronic component shifting apparatus of the present invention comprises above-mentioned any image acquiring device, and wherein the adsorbed electronic component of electronic component transfer head is an object.
Adopt foregoing invention, a kind of electronic component shifting apparatus to being determined rightly by the optimal illumination condition of the adsorbed electronic component of electronic component transfer head at short notice can be provided.
Shape check device of the present invention comprises above-mentioned any image acquiring device, and wherein the electronic component that is used to check that kept of electronic component transfer head is an object.
Adopt foregoing invention, a kind of shape check device of determining rightly with the optimal illumination condition of electronic component that is examined to being kept by electronic component transfer head at short notice can be provided.
Description of drawings
Fig. 1 is the vertical view that expression has the surface mounting apparatus structure of the image acquiring device of implementing image acquiring method of the present invention;
Fig. 2 is the end view of component moving and loading device;
Fig. 3 is the end view of the structure of presentation video deriving means;
Fig. 4 is the block diagram of the control system structure of presentation surface fitting machine;
Fig. 5 is the block diagram that the expression lighting condition is determined apparatus structure;
Fig. 6 is the flow chart that is used to illustrate the image acquiring device action;
Fig. 7 is the flow chart that is used to illustrate the image acquiring device action;
Fig. 8 is the block diagram that the expression lighting condition is determined other embodiment of device;
Fig. 9 is used to illustrate that lighting condition determines the flow chart of the action of device;
Figure 10 is the curve chart of expression luminosity grade and view data hierarchical relationship.
Embodiment
(the 1st embodiment)
Utilize Fig. 1～7 to introduce 1 embodiment of image acquiring device of the present invention in detail below.At this moment, being assemblied on the surface mounting apparatus with the image acquiring device that will be used to implement image acquiring method of the present invention is that example describes.
Fig. 1 is the vertical view that expression has comprised the surface mounting apparatus structure of the image acquiring device of implementing image acquiring method of the present invention, Fig. 2 is the end view of component moving and loading device, Fig. 3 is the end view of the structure of presentation video deriving means, Fig. 4 is the block diagram of the control system structure of presentation surface fitting machine, Fig. 5 is that the expression lighting condition determines that the block diagram of apparatus structure, Fig. 6 and 7 are the flow charts that are used to illustrate the action of image acquiring method of the present invention and image acquiring device.
In these figure, the surface mounting apparatus of label 1 expression present embodiment.This surface mounting apparatus 1 comprises base station 2; The conveyer 4 that is used for conveyance printed circuit board (PCB) 3 on this base station 2; Be assemblied in a plurality of tape feeders 5 on base station 2 both sides, 5...; Be used for to install with element 6 (with reference to figure 3) the transfer component moving and loading device 7 to the printed circuit board (PCB) 3 from these tape feeders 5; To the image unit 8 of making a video recording with element 6 is installed; Control device 9 (with reference to figure 4).
Described tape feeder 5 is used to supply scutellate installation such as IC, transistor, resistance, capacitor element 6.
Described component moving and loading device 7 is included in 2 fixed guides 11,11 that base station 2 upper edge Y directions are extended; Form the shape of extending along directions X and be supported on director element 12 on the said fixing guide rail 11 with moving freely; Be supported on head unit 13 on this director element 12 along X-direction with moving freely.Above-mentioned director element 12 comprises and is arranged on the nut 15 of ballscrew shaft 14 screw-threaded engagement on above-mentioned 1 fixed guide 11, ballscrew shaft 14 by Y-axis servomotor 16 rotating drive along the Y direction reciprocating motion.
Above-mentioned head unit 13 and ballscrew shaft 17 screw-threaded engagement that are arranged on the above-mentioned director element 12, by X-axis servomotor 18 rotating drive, ballscrew shaft 17 moves back and forth along X-direction.
And as shown in Figure 2, this head unit 13 is arranged to a plurality of installations and is used head 19 along the equidistant also row arrangement of X-direction.
These are installed with head 19, supported movably with respect to the framework (not shown) of head unit 13 respectively along Z-direction (above-below direction), it is supported rotationally to center on the Z axle simultaneously, is being provided with to be used to adsorb the adsorption nozzle of installing with element 6 20 on the bottom.
And, described installation is driven with head 19 along Z-direction by the lifting drive (not shown) that is arranged on the head unit 13, described installation is rotated with head 19 around Z-direction by the device of rotation driving (not shown) that is arranged on the head unit 13.
Above-mentioned image unit 8 is separately positioned on two positions between above-mentioned each tape feeder 5 and the installation exercise position as shown in Figure 1.The structure of these image units 8,8 is identical.Thereby, hereinafter only 1 image unit 8 is introduced.
As shown in Figure 3, image unit 8 be by video camera 21 from the below to by above-mentioned installation with head 19 absorption and move to the unit that the installation of camera position (position shown in Figure 3) is made a video recording with element 6, comprise and carry out light-struck three kinds with element 6 and throw light on 22～24 installing.Constitute camera head of the present invention by video camera 21, constitute light source of the present invention by three kinds of illuminations 22～24.
Three kinds of illuminations 22～24 be exactly to light shine from oblique below the half-mirror 25 installing with the key lighting on the element 6 22, use to be positioned at video camera 21 tops under light shine to install to light shine and the side of using on the element 6 is installed throws light on 24 with the coaxial-illuminating on the element 6 23, from side roughly.Described three kinds of illuminations 22～24 are made of a plurality of LED 26 respectively, and by being controlled by 9 pairs of supplying electric current values of aftermentioned control device, luminosity divides a plurality of change of rank.Described luminosity from 0 to a plurality of change of rank of maximum luminosity with five equilibrium.The illumination of present embodiment constitutes and can change in comprising 9 grades of lighting lamp state not.
Above-mentioned half-mirror 25, the light that makes coaxial-illuminating 23 be towards installing with element 6 reflections, make simultaneously from install with the reverberation of element 6 downwards (to video camera 21 sides) pass through, and be fixed on the framework of image unit 8 with 45 ° of heeling conditions.
Though above-mentioned video camera 21 is not shown, comprise CCD area sensor and imaging lens integratedly, and be fixed on the framework of image unit 8, under the installation that is positioned at above-mentioned camera position is made a video recording with element 6.The video camera 21 of present embodiment uses the video camera of output corresponding to input light quantity linear change.The view data (view data) that the output of this video camera 21 is just made a video recording is transported in the image processing part 31 of control device 9 shown in Figure 4.
The action of 9 pairs of surface mounting apparatus 1 of control device is controlled, and the axle control part of controlling by the above-mentioned image processing part 31 that has been transferred above-mentioned view data, main operational part 32, to the action of each drive unit of said elements shifting apparatus 7 and head unit 13 etc. 33, I/O control part 34, storage part 35, communication control unit 36 etc. constitute.Above-mentioned image processing part 31 comprises the image-input device (not shown) that capture board of being taken into as digital picture by the output with video camera 21 etc. is formed.This image-input device uses the input unit of the digital picture that can be taken into 256 grades.
And image processing part 31 constitutes the view data of being made a video recording according to above-mentioned video camera 21, by image processing to being adsorbed on installation the having or not and correct errors, the position of XY direction, detect on the above-mentioned adsorption nozzle 20 with element 6 around the angle of Z axle etc.When 21 pairs of these image processing of video camera were made a video recording with image, control device 9 was set on each installs with element 6 and is made the luminosity of above-mentioned three kinds of illuminations 22～24 become the optimal illumination condition.
Following (image planes being shot) with element 6 are installed,, on shape, size, color etc., there are differences, and on metals such as lead and terminal part, its surface state (whether having gloss) is also different according to the kind of every kind of installation with element 6.Determine this lighting condition for each is installed with element 6, in control device 9, be provided with lighting condition and determine device 41 (with reference to figure 5).Determine that by lighting condition device 41, above-mentioned video camera 21, above-mentioned three kinds of illuminations 22～24 etc. constitute image acquiring device 42 of the present invention (with reference to figure 3).
Lighting condition is determined that device 41 is installed with element 6 each by described later the processing in advance and is determined optimal illumination conditions (combination of illumination and luminosity), for absorption position and angle etc. are detected to installing when making a video recording with element 6, in order to satisfy above-mentioned lighting condition, respectively luminosity is carried out in three kinds of illuminations 22～24 and set.
Above-mentioned in advance the processing is to be undertaken being made a video recording with element 6 by 21 pairs of installations of video camera under the irradiating state by above-mentioned illumination 22～24 in advance, the processing that the lighting condition of the most appropriate accurate shooting is stored with the lighting condition data of element 6 as each installation.
Lighting condition determine device 41 as shown in Figure 5 by the 1st video generation device the 43, the 2nd video generation device 44, unit video generation device 45, imaginary video generation device 46, determine that video generation device 47 etc. constitutes, undertaken above-mentionedly handling by these devices in advance.
Above-mentioned the 1st video generation device 43 for example constitutes above-mentioned three kinds of illuminations 22～24 is made a video recording with the 1st image of element 6 by 21 pairs of installations of video camera under turn-off.
Above-mentioned the 2nd video generation device 44 constitutes and makes that a kind of luminosity of illumination is only greater than the 1st grade in above-mentioned three kinds of illuminations 22～24, and other illumination simultaneously is under the turn-off, is made a video recording with the 2nd image of element 6 by 21 pairs of installations of video camera.The 2nd image is made a video recording in all illuminations 22～24.Just 44 pairs the 2nd images of the 2nd video generation device carry out 3 shootings altogether.
Above-mentioned unit video generation device 45 by by image processing from above-mentioned the 2nd figure image subtraction the 1st image, generate the view data of the unit luminosity augmenting portion (1 grade part of the luminosity that can change) of each illumination.Have 3 kinds of illuminations in the present embodiment, unit video generation device 45 generates the view data of 3 unit luminosity augmenting portions altogether.
View data and its copy data overlapping (addition calculation) of above-mentioned imaginary video generation device 46 by made above-mentioned unit luminosity augmenting portion by image processing is created on the imaginary view data in the illumination 22～24 and the combination of all luminosity.For example being equivalent at illumination luminosity is the imaginary view data of 2 real images that grade is made a video recording, by overlapping generation of view data secondary of the unit's of making luminosity augmenting portion.Just imaginary video generation device 46 generates and is equivalent to make illumination luminosity to change a plurality of imaginary view data of a plurality of real images of being made a video recording in each grade (each unit quantity) from the low paramount luminosity of luminosity.
The imaginary video generation device 46 of present embodiment is created on the imaginary view data in all combinations by computing shown in the following formula (1).In formula (1), I (m, c, s) view data of illumination of expression purpose and luminosity combination, B is illustrated in the view data (the 1st image) that all illuminations are under the turn-off to be made a video recording, m represents the luminosity grade (for example 1～8) of key lighting 22, Δ M represents the view data of the unit luminosity augmenting portion of key lighting 22, c represents the grade (for example 1～8) of coaxial-illuminating 23 luminosity, Δ C represents the view data of coaxial-illuminating 23 unit luminosity augmenting portions, s represents the throw light on grade (for example 1～8) of 24 luminosity of side, and Δ S represents the throw light on view data of 24 unit luminosity augmenting portions of side.
I(m，c，s)＝{B+m×ΔM+c×ΔC+s×ΔS}…(1)
And, when the right of following formula (1) is 255 when above, make the numerical value on the right equal 255.
Above-mentioned definite video generation device 47 is determined can correctly show the best imaginary view data of mounted on surface with element 6 in the imaginary view data of the illumination that produced by above-mentioned imaginary image data generating device 46 and all combinations of luminosity.Should determine that video generation device 47 when imaginary view data is determined, for example can adopt definite method such shown in the patent documentation 1.
Hereinafter utilize Fig. 6 and flow chart shown in Figure 7 that above-mentioned lighting condition is determined that the action of device 41 is introduced.
Lighting condition determines that device 41 is at first in the step S1 of flow chart shown in Figure 6, luminosity with all illuminations 22～24 is 0, then in step S2, make as the installation of object by head unit 13 to move to the top of video camera 21 with element 6, make a video recording by this video camera 21.View data by the 1st image that this shooting obtained is kept in the storage part 35 in step S3.
Then in step S4, lighting condition determines that it is to light under the 1st grade (level of illumination 1) at luminosity that device 41 makes 1 illumination, in step S5, make a video recording once more with element 6 by 21 pairs of these installations of video camera, in step S6, be kept in the above-mentioned storage part 35 by the view data of the 2nd image that this shooting obtained.And, shown in step S7 and S8,, carry out the shooting and the preservation of above-mentioned the 2nd image repeatedly for remaining two illuminations.
For each illumination of three kinds of illuminations 22～24, carry out the shooting of the 2nd image after, shown in step S9, lighting condition determines that device 41 generates the view data (Δ M, Δ C, Δ S) of unit luminosity augmenting portions.Then, lighting condition determine device 41 as shown in Figure 7 shown in the step S10～S12 in the flow chart like that, grade (luminosity grade) with the luminosity (y1) of key lighting 22 is 0, grade (luminosity grade) with the luminosity (y2) of coaxial-illuminating 23 is 0, is 0 with the grade (luminosity grade) of the luminosity (y3) of side illumination 24.
Then, lighting condition determines that device 41 carries out the computing shown in following formula (1) the right in step S13.Just in step S13, with the luminosity grade of each illumination (view data (the Δ M of y1～y3) and the unit luminosity augmenting portion of each illumination, Δ C, Δ S) multiplies each other, carry out sum operation each other by these phase multiplier values, in all combinations of illumination and luminosity, produce imaginary view data.
In step S13, represent key lighting 22 by lighting source x1, represent coaxial-illuminating 23 by lighting source x2, represent side illumination 24 by lighting source x3.
In the initial process from step S12 shift-in to step S13, because all grades all are set at 0, generation is equivalent to all imaginary view data of turn-off of throwing light on.Then shown in step S14 and S15, lighting condition determines that device 41 is under the turn-off in key lighting 22 and coaxial-illuminating 23 boths, grade ground of grade of luminosity of side illumination 24 (lighting source x3) is increased, generate imaginary view data in each grade.
After above-mentioned such imaginary view data that generates under the occasion that the luminosity that only makes side illumination 24 changes, lighting condition is determined device 41 shown in step S16 and step S17, is created under key lighting 22 turn-offs and makes side illumination 24 and coaxial-illuminating 23 both luminosity change imaginary view data in all combinations under occasions.Then, lighting condition is determined device 41 shown in step S18 and step S19, generates 1 the grade ground of 1 grade of luminosity make key lighting 22 and increases and make coaxial-illuminating 23 and side illumination 24 both luminosity change imaginary view data in all combinations of occasions in each grade.
Just by step S10～S19, the imaginary view data during all that are created on illumination and luminosity make up.These imaginary view data are kept in the storage part 35.
After generating this imaginary view data, lighting condition determines that device 41 determines the best imaginary view data that can correctly represent object in step S20, with obtained should the imagination view data illumination and the combination of luminosity as above-mentioned each lighting condition data with element 6 are installed, be kept in the storage part 35.
Thereby in the image acquiring method and image acquiring device of present embodiment, because by utilizing the unit luminosity augmenting portion view data that is produced by the 1st image and the 2nd image, be created on the identical imaginary view data of image of making a video recording with reality in all combinations of illumination and luminosity, thereby, be used for lighting condition is determined and the actual shooting implemented also can be carried out 4 shootings by minimum level, promptly the 2nd image of the 1st image and each illumination made a video recording.
Therefore, although the image acquiring device of present embodiment 42 comprises 3 kinds of illuminations that can change luminosity 8 grades, but be used for to lighting condition determine and the shooting carried out also can resemble above-mentioned minimum carrying out 4 times, so compare with the conventional images deriving means of in all combinations of illumination and luminosity, making a video recording respectively, can reduce number of times of imaging significantly.And, the image acquiring device 42 of present embodiment comprises that lighting condition determines device 41, according to the view data of the view data that comprises the 1st image, the 2nd image or with imaginary view data that the image of reality shooting equates in one or more view data of at least one above-mentioned imaginary view data, the best luminosity of light source is determined.Thus, can determine lighting condition at short notice, in case after lighting condition determined, at every turn when making a video recording with element 6 as the installation of object, throw light under the lighting condition after determining on one side and make a video recording on one side, can obtain optimized image.
Its result in the surface mounting apparatus 1 of the image acquiring device 42 that has comprised present embodiment, can determine the optimal illumination condition at short notice rightly.
(the 2nd embodiment)
Lighting condition determines that device can constitute as Fig. 8～as shown in Figure 10.
Fig. 8 is that the expression lighting condition determines that the block diagram of other embodiment of device, Fig. 9 are to be used to illustrate that lighting condition determines the flow chart of the action of device, and Figure 10 is the curve chart of expression luminosity grade and view data hierarchical relationship.In these figure, represent by identical mark with the element components identical of explanation in above-mentioned Fig. 1～7, and omitted detailed description them.
Even the lighting condition of present embodiment determines that it is dark image (the narrow image of dynamic range) that device 41 constitutes the image that video camera 21 made a video recording, and also can generate imaginary view data with high accuracy.
This lighting condition is determined device 41, as shown in Figure 8, comprises composograph generating apparatus 51, photometric range change device the 52, the 3rd video generation device 53, new unit video generation device 54 in the 1st embodiment shown device.
The view data of the unit luminosity augmenting portion that above-mentioned composograph generating apparatus 51 will be generated by unit video generation device 45 by image processing itself and copy data are overlapping, generate composograph data (step S100 among Fig. 9).These composograph data each the illumination 22～24 in, the luminosity grade part that generation can be changed.
Photometric range change device 52 compares above-mentioned each composograph data and view data under the saturation condition of being stored in advance, obtains (the step S101 among Fig. 9) above-mentioned composograph data and do not become maximum overlapping number (highest luminance grade) in the overlapping number of copy data of saturation condition.
Just photometric range change device 52 is obtained overlapping several Lm, Lc, the Ls of each illumination of satisfying following formula (2)～(4) condition.In following formula (2)～(4), B represents to make the view data (the 1st image) of throwing light on and turning off the light and making a video recording, Δ M represents the view data of the unit luminosity augmenting portion of key lighting 22, Δ C represents the view data of the unit luminosity augmenting portion of coaxial-illuminating 23, and Δ S represents the view data of the unit luminosity augmenting portion of side illumination 24.
B+Lm * Δ M＜255 ... (2): for key lighting 22
B+Lc * Δ C＜255 ... (3): for coaxial key lighting 23
B+Ls * Δ S＜255 ... (4): for side illumination 24
At this, utilize Figure 10 that above-mentioned overlapping number is described.When the image of being made a video recording by video camera 21 is dark image, be to comprise a lot of noises in the 1st grade view data of making a video recording at luminosity sometimes.In Figure 10,, comprise the view data occasion of a lot of noises by the expression of B point by the desirable view data occasion of A point expression.According to the view data that comprises a lot of described noises, generate the view data of unit luminosity augmenting portion, make them a plurality of when overlapping, shown in double dot dash line among Figure 10, even under the luminosity grade occasion littler than greatest level, image also becomes saturation condition.
According to the photometric range change device 52 of present embodiment, under occasion shown in Figure 10, the luminosity class 5 that will become the limit of saturation condition is set at maximum overlapping several L (m, c, s) (highest luminance grade).
Above-mentioned the 3rd video generation device 53 will be equivalent to above-mentioned overlapping several Lm, Lc, the luminosity of Ls is set at the luminosity of each illumination, only make under a kind of illumination illuminating state, by 21 pairs of installations of video camera with the 3rd image of element 6 make a video recording (the step S102 among Fig. 9).
Under example occasion shown in Figure 10, making the luminosity grade is 5, and the 3rd image is made a video recording.The shooting with illumination number same number is carried out in the shooting of the 3rd image, just carries out 3 shootings.The view data of these the 3rd images is kept in the storage part 35.
Above-mentioned new unit video generation device 54 from above-mentioned the 3rd figure image subtraction the 1st image, generates new view data by image processing.And this new unit video generation device 54 is by above-mentioned overlapping several Lm, Lc, and Ls carries out the phase division operation to above-mentioned new view data, generates the view data (the step S103 among Fig. 9) of the new unit luminosity augmenting portion that utilizes new unit quantity.Just new unit video generation device 54 carries out computing by following formula (5)～(7), obtains the view data (new Δ M, new Δ C, new Δ S) of the new unit luminosity augmenting portion of each illumination.In following formula (5)～(7), Mm represents to use the view data of the 3rd image of key lighting 22 shootings, and Mc represents to use the view data of the 3rd image of coaxial-illuminating 23 shootings, and Ms uses the view data of the 3rd images of side illumination 24 shootings.
New Δ M=(Mm-B)/Lm ... (5) for key lighting 22
New Δ C=(Mc-B)/Lc ... (6) for coaxial-illuminating 23
New Δ S=(Ms-B)/Ls ... (7) for side illumination 24
The imaginary video generation device 46 of present embodiment uses the view data of the new unit luminosity augmenting portion that is generated by above-mentioned new unit video generation device 54, and is identical with the 1st embodiment, the imaginary view data during all that are created on illumination and luminosity make up.
According to the 2nd embodiment, even become dark image occasion as the image of being made a video recording by video camera 21, relative when comprising a lot of noise in the view data of the unit luminosity augmenting portion that is generated by the 1st image and the 2nd image, also can obtain undersaturated imaginary view data.
Thereby, in the image acquiring device 42 of present embodiment, can obtain more high-precision imaginary view data.
And in the image acquiring device 42 of present embodiment, the shooting of being carried out when the lighting condition of a plurality of illuminations 22～24 is determined also can be 1 order, 1 image pickup that all illumination luminosity of 22～24 are carried out as the 1st grade, and only to carry out shooting to the 2nd and the 3rd image with illumination quantity same number.
Thereby, because the number of times of imaging that the image acquiring device 42 of present embodiment is carried out can be to be equivalent to throw light on two extraordinarily 1 of species number, compare with the conventional images deriving means, can reduce number of times of imaging significantly.
In above-mentioned each embodiment,, can improve computational speed and reduce memory capacity because the luminosity (the 1st luminosity) will make a video recording to the 1st image the time is set at 0.This is because can store as fixed number not as image data storage making the 1st image of being made a video recording under the illumination turn-off regard roughly the same with the dark output of video camera 21 as.
Just by above-mentioned like that with the 1st view data as fixed number, compare with the situation of carrying out computing with respect to view data, can improve computational speed, can reduce simultaneously the memory capacity when data are stored.
In above-mentioned each embodiment, though shown the example of the 1st image being made a video recording at every turn, the luminosity when the 1st image is made a video recording is under 0 the occasion, as the 1st image, can use the view data of the image of making a video recording in advance when factory's shipment.At this moment, the view data of the 1st image is kept in the storage part 35, reads and uses from storage part 35 as required.By adopting this structure, when lighting condition is determined,, can further reduce number of times of imaging owing to there is no need the 1st image is made a video recording.
In above-mentioned each embodiment, illumination luminosity is divided into the grade of a plurality of five equilibriums and is changed from 0 to maximum luminosity, and the 2nd luminosity when the 2nd image is made a video recording is set for and compared 1 the grade part that exceeds the luminosity that above-mentioned rank character changes with the 1st luminosity.
Owing to, generate the imaginary view data of the luminosity that changes corresponding to rank character, thereby can obtain more high-precision imaginary view data by adopting this structure.And the grade that illumination luminosity is changed is not limited to 8 grades shown in the present embodiment, can suitably change.
When the output of video camera 21 is not under the occasion of linear change corresponding to the input light quantity, measure the regulation input-output characteristic, prepare conversion table, the right of following formula (1) is changed as input value.And, as other solution of this kind occasion, under the occasion that can represent as mathematical formulae, be that benchmark is changed then with this mathematical formulae.Identical therewith, do not correspond to the level of illumination that sets and during linear change, in the illumination light quantity by conversion table or mathematical formulae, at the right of following formula (1), the every conversion outside the B.For example under the occasions such as index variation, the output characteristic of video camera 21 is carried out revisal corresponding to specifying level of illumination, become following formula (8) by conversion table in each illumination.
I(m，c，s)＝Tab1e(B+2
m×ΔM+2
c×ΔC+2
s×ΔS)…(8)
And in above-mentioned various (1)～(7) that comprised this formula (8), view data I, B, M, C, S are matrixes, above-mentioned various each key element that has shown matrix.
In above-mentioned each embodiment, owing to image acquiring device 42 of the present invention is applied in and will be used in the surface mounting apparatus 1 of element 6 as object by component moving and loading device 7 adsorbed installations, can obtain at short notice rightly to the surface mounting apparatus of determining with the optimal illumination condition of element 6 is installed.Image acquiring device 42 of the present invention is not limited to this application, also can be applied in other device.
As other device of using image acquiring device 42 of the present invention, for example can exemplify the location surface mounting apparatus of mark that to be arranged on the printed circuit board (PCB) as object.By image acquiring device of the present invention is assemblied in this surface mounting apparatus, can determine with the optimal illumination condition of mark the location that is arranged on the printed circuit board (PCB) 3 rightly at short notice.
As other device of using image acquiring device of the present invention, for example can exemplify the location use in printed circuit board solder printing machine of mark that to be arranged on the printed circuit board (PCB) as object.By image acquiring device of the present invention being assemblied on this use in printed circuit board solder printing machine the use in printed circuit board solder printing machine that can determine with the optimal illumination condition of mark the location that is arranged on the printed circuit board (PCB) rightly at short notice.
As other device of using image acquiring device of the present invention, for example can exemplify by the chip wafer feedway of the adsorbed chip wafer of chip wafer shifting apparatus as object.By image acquiring device of the present invention is assemblied on this chip wafer feedway, can obtain the chip wafer feedway of rightly the optimal illumination condition of chip wafer being determined at short notice.
As other device of using image acquiring device of the present invention, for example can exemplify by the electronic component shifting apparatus of the adsorbed electronic component of electronic component transfer head as object.By image acquiring device of the present invention is assemblied on this electronic component shifting apparatus, can obtain at short notice the electronic component shifting apparatus to determining rightly by the optimal illumination condition of the adsorbed electronic component of electronic component transfer head.
Other device as using image acquiring device of the present invention for example can exemplify being examined with the electronic component appearance inspection device of electronic component as object of being kept by electronic component transfer head.By image acquiring device of the present invention is assemblied in this electronic component with on the appearance inspection device, can obtain at short notice the electronic component appearance inspection device of determining with the optimal illumination condition of electronic component that is examined to being kept rightly by electronic component transfer head.
Though in the above-described embodiments, shown the example of having assembled 3 kinds of illuminations 22～24, but the present invention also goes for only having the image acquiring device of a kind of illumination, also go for using the different light source of wavelength (for example red, under the occasion of in the image acquiring device green, indigo plant) the different light of wavelength being synthesized.
Claims (15)
1. an image acquiring method utilizes camera head that the object that the light source that can change by luminosity is illuminated is made a video recording, and obtains the view data that is used for determining best luminosity, it is characterized in that,
Change the luminosity of described light source and object is repeatedly made a video recording, difference according to the view data of these images, make luminosity change the view data that changes to generate with unit quantity, overlapping its copy data on this view data generates the luminosity that is equivalent to make described light source with this and changes and a plurality of imaginary view data of a plurality of real images of being made a video recording from the low paramount luminosity of luminosity with described unit quantity.
2. image acquiring device comprises can changing luminosity and with the light source of rayed to object, and to the camera head that described object is made a video recording, it is characterized in that, also comprises:
The 1st video generation device is set at the 1st luminosity of regulation with the luminosity of above-mentioned light source, utilizes described camera head that object is made a video recording, and generates the 1st image;
The 2nd video generation device is set at the 2nd luminosity that only changes with the unit quantity of regulation from described the 1st luminosity with the luminosity of above-mentioned light source, utilizes described camera head that object is made a video recording, and generates the 2nd image;
The unit video generation device, by image processing, higher another image of figure image subtraction of light source luminosity from described the 1st image and the 2nd image generates the view data of the unit luminosity augmenting portion of described light source thus; And
The imagination video generation device, pass through image processing, overlapping its copy data on the view data of described unit luminosity augmenting portion generates the luminosity be equivalent to make described light source thus and changes and a plurality of imaginary view data of a plurality of real images of being made a video recording from the low paramount luminosity of luminosity with described unit quantity.
3. as image acquiring device as described in the claim 2, it is characterized in that,
Comprise a plurality of light sources,
The 1st video generation device is set at all light sources above-mentioned the 1st luminosity and takes the 1st image,
The 2nd video generation device is set at all light sources above-mentioned the 2nd luminosity and takes the 2nd image,
The unit video generation device, at the view data of all light sources generation unit luminosity augmenting portions,
The imagination video generation device is at the imaginary view data of all combination generations of light source and luminosity.
4. image acquiring device as claimed in claim 2 is characterized in that,
The luminosity of above-mentioned light source changes from 0 to a plurality of grades of maximum luminosity with five equilibrium,
The 2nd luminosity only exceeds described 1 grade part of carrying out the luminosity of change of rank than the 1st luminosity.
5. image acquiring device as claimed in claim 2 is characterized in that,
Comprise that lighting condition determines device,, determine the best luminosity of light source according to the view data of the view data that comprises above-mentioned the 1st image at least, the 2nd image or one or more view data of the imaginary view data in the imaginary view data.
6. image acquiring device comprises can changing luminosity and with the light source of rayed to object, and to the camera head that described object is made a video recording, it is characterized in that, also comprises:
The 1st video generation device is set at the 1st luminosity of regulation with the luminosity of above-mentioned light source, utilizes described camera head that object is made a video recording, and generates the 1st image;
The 2nd video generation device is set at the 2nd luminosity that only changes with the unit quantity of regulation from described the 1st luminosity with the luminosity of above-mentioned light source, utilizes described camera head that object is made a video recording, and generates the 2nd image;
The unit video generation device, by image processing, higher another image of figure image subtraction of light source luminosity from described the 1st image and the 2nd image generates the view data of the unit luminosity augmenting portion of described light source thus;
The composograph data generating device by image processing repeatedly overlapping its copy data on the view data of described unit luminosity augmenting portion, generates the composograph data thus;
The photometric range change device by more described composograph data be in the view data of saturation condition, is obtained the maximum overlapping number that makes in the overlapping number of copy data that described composograph data do not become saturation condition;
The 3rd video generation device, the luminosity after light source luminosity is set at described overlapping number and described unit quantity and multiplies each other, and utilize described camera head that object is made a video recording, generate the 3rd image;
New unit video generation device, the view data that will obtain from described the 1st image of described the 3rd figure image subtraction by image processing generates the view data of the unit luminosity augmenting portion of new unit quantity thus divided by described overlapping number; And
The imagination video generation device, pass through image processing, overlapping its copy data on the view data of described new unit luminosity augmenting portion generates thus and is equivalent to make described light source luminosity to change and a plurality of imaginary view data of a plurality of real images of being made a video recording from the low paramount luminosity of luminosity with described new unit quantity.
7. image acquiring device as claimed in claim 6 is characterized in that,
Comprise a plurality of light sources,
The 1st video generation device is set at all light sources above-mentioned the 1st luminosity and takes the 1st image,
The 2nd video generation device is set at all light sources above-mentioned the 2nd luminosity and takes the 2nd image,
The unit video generation device, at the view data of all light sources generation unit luminosity augmenting portions,
The imagination video generation device generates a plurality of imaginary view data at all light sources,
The view data synthesizer generates the composograph data at all light sources,
The photometric range change device is obtained the overlapping number of copy data at all light sources;
The 3rd video generation device is taken the 3rd image at all light sources;
New unit video generation device generates the view data of new unit luminosity augmenting portion at all light sources;
The imagination video generation device is at the imaginary view data of all combination generations of light source and luminosity.
8. image acquiring device as claimed in claim 6 is characterized in that,
The luminosity of above-mentioned light source changes from 0 to a plurality of grades of maximum luminosity with five equilibrium,
The 2nd luminosity only exceeds described 1 grade part of carrying out the luminosity of change of rank than the 1st luminosity.
9. image acquiring device as claimed in claim 6 is characterized in that,
Comprise that lighting condition determines device,, determine the best luminosity of above-mentioned light source according to the view data of the view data that comprises above-mentioned the 1st image at least, the 2nd image or one or more view data of the imaginary view data in the imaginary view data.
10. a surface mounting apparatus that comprises each described image acquiring device in the claim 2～9 is characterized in that,
The adsorbed installation elements of component moving and loading device is an object.
11. a surface mounting apparatus that comprises each described image acquiring device in the claim 2～9 is characterized in that,
The telltale mark that is arranged on the printed circuit board (PCB) is an object.
12. a use in printed circuit board solder printing machine that comprises each described image acquiring device in the claim 2～9 is characterized in that,
The telltale mark that is arranged on the printed circuit board (PCB) is an object.
13. a chip wafer feedway that comprises each described image acquiring device in the claim 2～9 is characterized in that,
The adsorbed chip wafer of chip wafer shifting apparatus is an object.
14. an electronic component shifting apparatus that comprises each described image acquiring device in the claim 2～9 is characterized in that,
The adsorbed electronic component of electronic component transfer head is an object.
15. a shape check device that comprises each described image acquiring device in the claim 2～9 is characterized in that,
The electronic component that is used to check that electronic component transfer head is kept is an object.
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| JP2005037427 | 2005-02-15 | ||
| JP2005037427A JP4607616B2 (en) | 2005-02-15 | 2005-02-15 | Image acquisition method, image acquisition apparatus, surface mounter, solder printer for printed wiring board, wafer chip supply apparatus, electronic component transfer apparatus, and electronic component appearance inspection apparatus |
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| CN103743749A (en) * | 2014-01-03 | 2014-04-23 | 苏州吉视电子科技有限公司 | Device and method for detecting surface quality of flaky parts |
| CN104458752A (en) * | 2013-09-18 | 2015-03-25 | 电装波动株式会社 | Appearance inspection apparatus and appearance inspection method |
| CN106503724A (en) * | 2015-09-04 | 2017-03-15 | 佳能株式会社 | Grader generating means, defective/zero defect determining device and method |
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| JP5239561B2 (en) * | 2008-07-03 | 2013-07-17 | オムロン株式会社 | Substrate appearance inspection method and substrate appearance inspection apparatus |
| JP5412076B2 (en) * | 2008-09-30 | 2014-02-12 | 株式会社日立ハイテクインスツルメンツ | Electronic component mounting device |
| JP2012059735A (en) * | 2010-09-03 | 2012-03-22 | Panasonic Corp | Component mounting method and component mounting apparatus |
| WO2014184855A1 (en) * | 2013-05-13 | 2014-11-20 | 富士機械製造株式会社 | Component mounting machine |
| CN104865188A (en) * | 2015-05-28 | 2015-08-26 | 歌尔声学股份有限公司 | Visual inspection control method and system |
| JP6601264B2 (en) * | 2016-02-29 | 2019-11-06 | 富士通株式会社 | Lighting condition setting device, lighting condition setting method, and lighting condition setting computer program |
| WO2020255365A1 (en) * | 2019-06-21 | 2020-12-24 | 株式会社Ｆｕｊｉ | Image synthesis device, image acquisition device, image processing system, and image processing method |
| JP2022049874A (en) * | 2020-09-17 | 2022-03-30 | オムロン株式会社 | Inspection device, inspection method, and inspection program |
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| JP2000332500A (en) * | 1999-05-17 | 2000-11-30 | Matsushita Electric Ind Co Ltd | Method for setting illumination of electronic component |
| US6627863B2 (en) * | 2000-12-15 | 2003-09-30 | Mitutoyo Corporation | System and methods to determine the settings of multiple light sources in a vision system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104458752A (en) * | 2013-09-18 | 2015-03-25 | 电装波动株式会社 | Appearance inspection apparatus and appearance inspection method |
| CN104458752B (en) * | 2013-09-18 | 2018-10-23 | 电装波动株式会社 | Appearance inspecting system and appearance inspection method |
| US10190989B2 (en) | 2013-09-18 | 2019-01-29 | Denso Wave Incorporated | Method and apparatus for inspecting appearance of object using images picked up under different light quantities |
| CN103743749A (en) * | 2014-01-03 | 2014-04-23 | 苏州吉视电子科技有限公司 | Device and method for detecting surface quality of flaky parts |
| CN106503724A (en) * | 2015-09-04 | 2017-03-15 | 佳能株式会社 | Grader generating means, defective/zero defect determining device and method |
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| JP2006228789A (en) | 2006-08-31 |
| CN100550992C (en) | 2009-10-14 |
| JP4607616B2 (en) | 2011-01-05 |
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