JP2000285235A - Method and device for picture processing - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a method and a device for picture processing which display a picture capable of grasping an entire image of large-sized electronic parts or substrate without changing an image pickup means and a display means and without adding a special mechanism. SOLUTION: Electronic parts or a substrate is taken as a display object, and the image of the entire display object is picked up n-times ((n) is a natural number) correspondingly to its size, and actually taken n-pictures are acquired and stored as image pickup results, and an overall picture representing the whole of the display object is obtained on the basis of actually taken n-pictures, and a display picture based on this overall picture is displayed on a prescribed display screen; and if the overall picture has such size that it cannot be entirely displayed on the prescribed display screen, a reduction picture is generated by reducing the overall picture to such size that it can be entirely displayed, and this reduction picture is integrally displayed as a whole picture on the prescribed display screen.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to an image processing apparatus and an image display method for capturing an electronic component or a substrate as a display object and displaying the image on a predetermined display screen.

[0002]

2. Description of the Related Art In an electronic component mounting apparatus or the like, as one of methods for identifying whether or not a sucked electronic component is defective,
A data processing device provided in the electronic component mounting device or the like, based on an actual component image (actual image) obtained by imaging the sucked electronic component with a component recognition camera and component library data defined in advance. A method has been used in which the generated graphic image is superimposed on a display screen such as a monitor and displayed as an error (defective product) when the two are different (for example, see Japanese Patent Application No. 10-270289). Also, in order to reduce the possibility of erroneous input, etc., in creating the above-described component library data, data for creating and processing the component library data while displaying a photographed image of a normal electronic component and a graphic image based on the input data. Processing apparatuses are used (for example, Japanese Patent Application No. 11-022
No. 383).

[0003]

In this type of data processing apparatus, in order to easily create part library data and detect defective parts, the whole parts are collectively displayed on a display screen of a monitor or the like. Must be displayed.
In other words, in order to grasp the entire image of the target electronic component and easily recognize and correct an erroneous input, etc., or easily recognize and treat a defect, it is necessary to image the entire component and collectively Must be displayed. However, a relatively large electronic component such as a CPU and its socket does not fit entirely into the field of view of the component recognition camera, so that there is a problem that the entire image of the component cannot be grasped. On the other hand, if a camera having a large field of view or a camera having a zoom mechanism is used, there is a problem in that the setting space and cost are high. The same applies to a substrate or the like. A board recognition camera that captures an image of a small rectangular area of a part of the board (such as near a vertex of the board or near a corner of a wiring pattern) cannot cover the entire board in its field of view. There is a problem that the image cannot be grasped.

The present invention is applicable to large electronic components and substrates.
It is an object of the present invention to provide an image processing apparatus and an image processing method capable of displaying an image whose entirety can be grasped without changing an imaging unit and a display unit and without adding a special mechanism.

[0005]

An image processing apparatus according to the present invention takes an electronic component or a substrate as a display object and images a part or the whole of the display object which can be imaged by one image pickup. Imaging means for taking in as one real image, storage means for storing n real images as imaging results of n (n is a natural number) times of imaging, and controlling the imaging means to perform the n times of imaging By imaging the entire display target, the n actual shot images are obtained as an imaging result, and the imaging control means for storing the n actual shot images in the storage unit, and the n real shot images Image display means for obtaining a whole image representing the entirety of the display object based on the entire image, and displaying a display image based on the whole image on a predetermined display screen, the image display means comprising: of A reduced image creation unit that creates a reduced image obtained by reducing the entire image to a size that can be displayed collectively when the size cannot be displayed collectively on the display screen; Batch display means for batch-displaying the reduced image as the display image on the predetermined display screen.

[0006] In this image processing apparatus, the entire display object is imaged by n (n is a natural number) times of imaging according to its size. Can be imaged, and the entire image representing the entire display target is obtained based on the n actual images, so that the imaging target range in each imaging can be adjusted. For this reason, for example, when a relatively large electronic component that cannot be imaged as a whole by one (n =) image pickup is set as a display target, an entire image can be obtained by a plurality of (n> 1) image pickups. Further, with this, for example, a large-sized component recognition camera or a zoom mechanism is used while using an imaging unit (a component recognition camera or the like) or a display unit (a monitor or the like) for capturing and displaying an entire image of a small electronic component. Without adding a special mechanism such as the above, it is possible to capture the entire large electronic component to obtain an entire image and to display a display image based on the entire image.

When the entire image cannot be displayed on the predetermined display screen at a time, a reduced image is created by reducing the entire image to a size that can be displayed collectively, and the reduced image is displayed on the predetermined display screen as a display image. Since it is displayed on the screen all at once,
Regardless of the size of the entire image based on the imaging result, a display image that allows the user to grasp the entire image of the display target can be displayed on a predetermined display screen at a time. Therefore, this image processing apparatus can display an image that can grasp the entirety of a large electronic component, a board, or the like without using a special mechanism while using the existing imaging unit and display unit. Similarly, for example, an image of the entire board can be taken without using any special mechanism while using an image pickup means (such as a board recognition camera) or a display means (such as a monitor) capable of picking up only a small rectangular area of the board. An entire image can be obtained, and a display image based on the entire image can be displayed.

Further, according to the image processing method of the present invention, an electronic component or a substrate is used as a display object, and
(N is a natural number) image capturing of the entire display target object by capturing images, and obtaining and storing n real shot images as a shooting result; and displaying the display target based on the n real shot images. In addition to finding an overall image that represents the whole thing,
An image display step of displaying a display image based on the entire image on a predetermined display screen, wherein in the image display step,
When the whole image has a size that cannot be displayed collectively on the predetermined display screen, a reduced image is created by reducing the whole image to a size that can be displayed collectively, and the reduced image is used as the display image as the predetermined image. It is characterized in that it is collectively displayed on a display screen.

In this image processing method, n (n is a natural number)
Since the image is captured by the number of times of imaging, the entire display object can be imaged regardless of the size of the display object, and the entire image representing the entire display object is obtained based on the n actual shot images. (N =) Even when a relatively large electronic component that cannot be imaged as a whole by one imaging is set as a display target, an entire image can be obtained by a plurality of (n> 1) imagings. If the entire image cannot be displayed on the predetermined display screen at once, a reduced image is created by reducing the entire image to a size that can be displayed on one screen, and the reduced image is displayed on the predetermined display screen as a display image. Since the display is performed, a display image capable of grasping the entire image of the display target can be collectively displayed on a predetermined display screen regardless of the size of the entire image based on the imaging result.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an electronic component mounting apparatus to which an image processing apparatus according to an embodiment of the present invention is applied will be described with reference to the accompanying drawings. This electronic component mounting device
It is a so-called multi-function chip mounter that is configured to mount various electronic components such as circuit components such as chip capacitors and chip resistors, grid components such as BGA, and multi-lead components such as QFP and SOP. ing.

FIG. 1 is a plan view of an electronic component mounting apparatus.
As shown in FIG. 1, the electronic component mounting apparatus 1 includes a machine base 2,
A conveyor section 3 extending in the left-right direction at the center of the machine base 2;
Front (lower side) and rear (upper side) of the machine base 2
And two sets of mounting units 4 (4a, 4b) arranged in the same manner. The conveyor unit 3 includes a set table 13 in the center.
And a carry-in transport path 14 on the left and a carry-out transport path 15 on the right. The substrate P is supplied to the set table 13 from the carry-in transport path 14, and is set immovably and at a predetermined height on the set table 13 to receive the mounting of the electronic component S. Then, the board P on which the mounting of the electronic component S is completed is
The sheet is discharged from the set table 13 via the unloading conveyance path 15.

An XY stage 5 is movably disposed on each mounting unit 4, and each XY stage 5 has
Head unit 7 for sucking and mounting electronic component S
Is installed. Each head unit 7 is equipped with one board recognition camera 8 and two mounting heads 9. In each mounting unit 4, a pair of component recognition cameras 10 and a nozzle stocker 11 are provided on the machine base 2. In each mounting unit 4, a large number of tape cassettes 17 are arranged side by side. Each of the tape cassettes 17 accommodates an electronic component S in a state of being loaded on a carrier tape (not shown). S is supplied one by one from the leading end of the tape cassette 17. In the electronic component mounting apparatus 1, a relatively small electronic component S such as a surface mount component is supplied from each tape cassette 17, and a relatively large electronic component S is supplied from a tray type component supply unit (not shown). You.

Normally, the XY stage 5 of each mounting unit 4 operates alternately. In this case, after the head unit 7 is made to face each tape cassette 17 (or another component supply unit) by the XY stage 5, the mounting head 9 is lowered to suck a desired electronic component S. Next, the mounting head 9
Is raised to a predetermined position, the electronic component S is made to face the component recognition camera 10, and the suction posture is recognized and correction is performed. Further, the head unit 7 is moved to a predetermined position on the substrate P, and after the substrate recognition camera 8 recognizes (corrects) the reference position of the substrate P, the electronic component S is mounted on the substrate P based on the NC data.

In this case, based on the recognition result of the component recognition camera 10, the design value (nozzle position of the mounting head 9) and the suction posture (suction position, suction angle, etc.) of the sucked electronic component S are determined.
(X and Y directions and angle θ (Z direction)). Similarly, based on the recognition result of the board recognition camera 8, the deviation between the design value and the reference position of the board P which is the origin of the mounting position is corrected. here,
To accurately mount the electronic component S on the substrate P,
It is necessary to accurately perform image recognition by the component recognition camera 10. In particular, the electronic components S to be mounted are BGA, QFP,
In the case of a so-called multi-pin (multi-terminal) component such as an SOP, in the image recognition by the component recognition camera 10, it is necessary to accurately recognize the number and position (arrangement) of all the terminals. Also, in order to find a defective product due to deformation of a terminal or the like, it is necessary to perform accurate image recognition. On the other hand, the design values to be compared with the recognition results are prepared for all the electronic components S handled by the electronic component mounting apparatus 1, and are stored as component library data in the control unit 6 of the electronic component mounting apparatus 1.

Next, the control unit 6 of the electronic component mounting apparatus 1 will be described with reference to FIG. In this description, only one mounting unit 4 will be described. As shown in the figure, the control unit 6 includes a control unit main body 60, a touch panel 61, and an external storage device (ES) 62 such as a hard disk or a magneto-optical disk. The touch panel 61 is used for input / output of the electronic component mounting apparatus 1.
It is an editing / display means, and has a display screen as a so-called monitor. The operator can input various instructions and various data by touch input on the monitor screen (display screen) to perform editing and the like. These can be confirmed and grasped by displaying the editing result and various error displays (notifications). The ES 62 includes an NC program area 621 for storing a numerical control (NC) program, a component library data area 622 for storing component library data, and a component terminal development data area 62 for storing component terminal development data.
3 and another area 624 for storing other various programs and various data. The component library data includes component dimension data, unit terminal data relating to the form and pitch of the terminal of the target component, all terminal arrangement data relating to the arrangement of all terminals, all missing terminal arrangement data, and the like.

The control unit main body 60 includes a CPU 601 and a ROM.
602, RAM 603, I / O controller (IOC)
604, an external storage controller (ESC) 605, and are mutually connected by an internal bus 606. RO
The M602 incorporates various control programs including a control process such as a screen display process and the above-described data expansion process, as well as a system startup program and the like. RAM6
Reference numeral 03 is used as an internal storage unit of the control unit main body 60, for example, in various work areas, buffers, and the like when the data is developed as the individual position data.

The IOC 604 includes an X motor 51 and a Y motor 5 for moving the XY stage 5 in the XY directions.
2. Mounting head 9 of head unit 7, Z motor 71 for correcting the Z direction (rotation direction), lifting motor 721 of head lifting mechanism 72 for lifting and lowering mounting head 9, board recognition camera 8, component recognition camera 10. , A touch panel 61 in the control unit 6 and peripheral devices such as a control unit 652 of an external input device 65 different from the electronic component mounting device 1. And the IOC 604 is the CPU 601.
And the input and output of various control signals and various data between these peripheral devices and the control unit main body 60 in accordance with commands from The ESC 605 follows a command from the CPU 601 and
By driving and controlling the ES 62, the ES 62 and the control unit main body 60 are driven.
And the input and output of various control signals and various data between them.

The CPU 601 has the above configuration, and
In accordance with a built-in program of the M602, a control program of the ES62, and the like, a data development process, a component mounting process, and other data processing necessary for the electronic component mounting apparatus 1 are generally performed using a work area of the RAM 603, a save area of the ES62, and the like. , And the entire electronic component mounting apparatus 1 is controlled via the IOC 604 and the ESC 605.

The external input device 65 includes an input unit 651 similar to the touch panel 61 and the control unit main body 60 described above.
And a storage unit 65 similar to ES62.
3 so that the following various data can be input, created, and processed in place of the control unit 6,
It is connected to the control unit 6 via a network capable of performing data communication (transmission and reception). That is, in the following description,
A description will be given assuming that a data processing device is incorporated in the main body of the electronic component mounting apparatus 1 (also serving as the control unit 6). 1 can also be connected. When the ES 62 is a storage medium detachable from the main body, such as a magneto-optical disk, various data input by the external input device 65 as a component data input device is stored in the removable storage medium. Then, by mounting it again as the ES 62 of the control unit 6 of the electronic component mounting apparatus 1, various input data can be utilized as data of the electronic component mounting apparatus 1 without a communication means.

Next, the overall control flow of the electronic component mounting apparatus 1 will be described with reference to FIG. When the process is started by turning on the power or the like, first, as shown in FIG.
In order to return the electronic component mounting apparatus 1 to the state before the last power-off, initial settings such as restoring the saved control flags are performed (S1), and the previous display screen is used as the initial screen. It is displayed (S2). The subsequent processing in FIG. 3, that is, the determination branch (S3) for determining whether or not there is a touch input (S3) and various interrupt processing (S4) are processing conceptually shown. In the electronic component mounting apparatus 1, when the initial screen display (S2) is completed, the touch panel 61, which is an input / edit / display unit, can perform various instructions / data input / edit / display by touch input. Various interrupts due to input are permitted, and the state is maintained as it is until a touch input interrupt occurs (S3: No). If any touch input interrupt occurs (S3: Yes), each interrupt processing is performed. (S4), and when the interrupt processing is completed,
The state is maintained again (S3: No).

As described above, in the electronic component mounting apparatus 1,
Since the main processing is started by a touch input interrupt on the touch panel 61, as described above, the operator touches any touch key (icon) at any time on the monitor screen (display screen) of the touch panel 61 ( By touch input), various instructions and various data can be input and edited, and the editing result can be displayed and various errors can be displayed (notified) to confirm and grasp them.

For example, when inputting and creating component library data of various electronic components S, the operator first changes the display screen to an “actual component image capturing screen” by touch input instruction (touch instruction). Can be captured. In this case, since the image is for inputting / creating the component library data, the electronic component S that is not defective, that is, the electronic component S for which the shapes such as the arrangement of the ball terminals and the lead terminals are all normal, is displayed as an object to be imaged and displayed. set to target. For this reason, the operator supplies a normal electronic component S in advance, and the electronic component S
Touch instruction to capture the image of. Thus, in the electronic component mounting apparatus 1, the normal electronic component S is sucked by the mounting head 9, imaged by the component recognition camera 10, and a real component image (hereinafter, “real image”) obtained as an imaging result Sr) is captured as an image of the electronic component S, and a display image Gr based on the actual image Sr is displayed.

When the capture of the actual image Sr of the electronic component S is completed, the operator next changes the display screen to a “component data editing screen” by touching, and changes the component library data of the target electronic component S. Can be entered and edited. In this case, for example, as shown in FIG. 4, a display image Gr based on the real image Sr is displayed. As shown in the figure, on this screen, the component dimensions can be input by operating the icon 210 (by touch instruction), and the input result is represented by a graphic image Gg generated based on the input data. Easy to see. That is, the X- and Y-side dimensions of the component
, A graphic image Gg of only the outer frame corresponding to the dimension is displayed, and expands and contracts according to the increase and decrease of the input dimension.
By operating 10 to match the outer frame of the graphic image Gg with the outer shape of the display image Gr, the component dimensions of the electronic component S can be easily input.

In the above screen, the icon 21
When the user operates 1 (touch instruction), a small screen for inputting a numerical value is displayed on a part of the screen, similar to a so-called numeric keypad, so that the X- and Y-side dimensions of the component can be adjusted using the screen. You can input directly by numerical value. The icon 201 at the top of the screen can be used to adjust the position of the graphic image to be created such as left and right (scroll) and rotation, and the icon 202 can be used to enlarge (zoom up), reduce, and adjust the brightness of the image display. The screen can be opened and closed by the icon 203.

Here, in FIG. 4, when the electronic component S is, for example, a BGA, a detailed image including a ball terminal and the like is displayed. Since only the outline needs to be clarified, the display image Gr is treated as a mere rectangular (shown by dot-dot) for simplicity of description and illustration. Also, for example, the electronic component S
Is an SOP, an image including lead terminals and the like is actually displayed. Similarly, the display image Gr is simply a rectangular image (illustrated by hatching) to simplify the description and illustration. However, when dealing with the outer shape and its dimensions, a simple rectangle is easier to handle, so the image may be actually simplified and displayed on the input screen for the component dimensions described above in FIG. Therefore, this method is mainly used in the following description.

Here, the fact that an image in which the outer shape of a lead terminal or the like is displayed can be shown by a rectangular display image means that a display object of any shape can be displayed. This means that a display image can be represented by a rectangle. For example, not only ordinary ICs and LSIs, but also electronic components S that are difficult to represent in a rectangle such as a resistor or a capacitor, a rectangular range in which their shape (outer shape) is inscribed or a rectangular range close thereto is represented by a rectangular display image. It can be. This means that the following description is valid regardless of the shape of the display object.

That is, in the following, the display images Gr of all display objects (for example, electronic components S) are represented by rectangular images (shown by dot shading), and the display images are also displayed in actual image processing. Treat as a rectangular image. In general, a display screen for displaying an image or the like is rectangular like the above-described monitor screen of the touch panel 61 (see FIG. 4), so that the display target range is also a rectangular range. in this case,
The display image Gr is represented by image data DG indicating the contents of the display target range AG (information of pixel dots, etc.) (see FIGS. 5 and 8). Here, for convenience of illustration, that is, image data DG indicating the display target range AG and the contents of the range.
In order to distinguish the display image Gr itself represented by the following from the display image Gr itself as an image, the display target range is shown to be slightly larger than the display image Gr. Of course, the size may be the same, which is more preferable in terms of the data amount of the image data DG.
In addition, since the final display image Gr is represented as a rectangular image, the actual image or display object that is the basis thereof can be represented by a rectangle, and these are treated as rectangles in actual image processing.

By the way, if a small electronic component S is imaged and displayed as it is, a display image Gr based on the real image Sr is displayed as described above with reference to FIG. 4, for example. In the same manner, if the image is taken, the entire electronic component S cannot be imaged at the same magnification, and even if it can be imaged, the entire electronic component S cannot be displayed on the display screen. Conversely, if the magnification and the like are adjusted to the relatively large number of large-sized electronic components S, not only the accuracy of the imaging is reduced, but also in the case of the small-sized electronic components S, the actual photographed image Sr and the display image Gr based thereon are displayed. Is too small to handle, and the display is too small to confirm. This means that not only the case where the component library data is created based on the display image Gr of the normal electronic component S but also whether the electronic component S mounted on the board P is defective or not, as described above. Therefore, there is also a problem in displaying the display image Gr based on the real image Sr on the graphic image Gg based on the component library data defined in advance.

In response to the above-mentioned problems relating to the display of the display image Gr based on the actual photographed image Sr, the electronic component mounting apparatus 1 uses the existing image pickup means for imaging and displaying the small electronic component S. An image capable of grasping the whole of the large electronic component S can be displayed without using any special mechanism while using the display means. Hereinafter, this point will be described. Note that the image processing on the actual image of the electronic component S described below is similarly performed on the board P, but the image processing on the actual image of the board P will be additionally described as appropriate. Hereinafter, a case where the display target is the electronic component S will be mainly described. However, since the electronic component S and the substrate P are to be displayed,
These are represented and shown as a display object T as a representative. In addition, the part of the real image is shown by hatching, and the part of the display image is shown by decoration by dot shading.

First, an outline of image processing (actual image processing) for an actual image will be described. As shown in FIG. 5, for example, a small display object T (for example, an electronic component S)
When the image is taken at the same magnification as the image, an image (an entire image described later) Fr
Even if the display object T is large, the image F
As long as r can be obtained, it can be displayed as a display image Gr on a predetermined display screen (that is, the monitor screen of the touch panel 61) by reducing the size by image processing. here,
There are two image pickup positions whose relative positions (including partial overlap) are different from each other with respect to the display target T, and image data Da representing a real image Tr of the image pickup target range Aa at one of the image pickup positions, and the other. If the image data DF expressing the image Fr of the display target area AF can be created by combining (combining) with the image data Db expressing the real photographed image Tr of the imaging target area Ab at the image pickup position, the image Fr is obtained. Can be. That is, the real images Tr, Tr of the different imaging target ranges Aa, Ab of the display target T.
Corresponds to a divided image of the image Fr, and a combined image obtained by combining them is an image (entire image) Fr representing the entire display target T.
, The actual image T of the imaging target ranges Aa and Ab
By imaging r and Tr, the entire image Fr can be obtained.

The two imaging target ranges Aa, Ab
It is not necessary to necessarily use two image pickup means to image the real images Tr, Tr, and any image pickup means that can move the relative position with respect to the display target T can be used as the image pickup target range A.
At two imaging positions where a and Ab can be imaged, actual images Tr and Tr of the imaging target ranges Aa and Ab can be obtained by imaging once, that is, simply twice. And
Although details will be described later, in the electronic component mounting apparatus 1,
With one imaging unit, arbitrary n (n is a natural number) real photographed images Tr in different imaging target ranges Ar can be obtained, and thereby, the entire image Fr can be obtained based on the n real photographed images Tr. Thus, a display image Gr based on the entire image Fr can be displayed.

As described above, the operator can capture the display image Gr of the display object T (for example, the electronic component S) by touching an instruction on, for example, an “actual component image capture screen”. In this case, FIG. As described above, a touch input interrupt of the corresponding real image processing is generated by the above touch instruction, and the real image processing is started. In the electronic component mounting apparatus 1, as shown in FIG.
Is activated, first, a photographed image acquisition process is performed (S2
0) Then, a real image display process is performed (S30), and the process (S10) ends (S40). More specifically, in the actual photographed image acquisition process (S20), first, as shown in FIG. 7, a display target range determination process is performed (S2).
1) Subsequently, display target dimension determination processing is performed (S22),
Subsequently, an imaging condition determination process is performed (S23), a condition control process is subsequently performed (S24), and the process (S20) ends (S25). Hereinafter, these processes will be sequentially described in detail.

For example, as shown in FIG. 8, in the electronic component mounting apparatus 1, when the real image processing (S10) is started, first, n (n is a natural number; here, n is a natural number) corresponding to the size of the display target T The entire display target T is imaged by n = 4 × 3 = 12) times, and (n =) 12 is obtained as an imaging result.
The actual photographed images Tr are acquired and stored (actual photographed image acquisition processing: S20). That is, by (n =) 12 imagings, a part of the display target T that can be imaged at each imaging position is imaged as the imaging target range Ar each time, and the image data Dr representing the real image Tr of the imaging result is captured. Is stored. For this reason, as the imaging result of the 12 imagings, 12 actual shot images Tr are acquired (the image data Dr representing the images).
A).

Subsequently, the (n =) 12 actual photographed images T
An entire image Fr representing the entire display target T is obtained based on the r, and a display image Gr based on the entire image Fr is displayed on a predetermined display screen (that is, a monitor screen of the touch panel 61) (actual image display processing: S30), processing (S1)
0) is ended (S40). That is, by combining (combining) the image data Dr representing the real images Tr of the respective imaging target ranges Ar at the respective imaging positions different from each other with respect to the display target T, the entire display target range AF is obtained. The image data DF representing the image Fr is created. Further, in this case, the whole image Fr is too large to be displayed on the predetermined display screen, and thus is reduced to create a reduced image and displayed as, for example, the above-described display image Gr in FIG. Note that, in the example of FIG. 8, the twelve imaging target ranges Ar are all merely adjacent, but depending on the size of the display target T, the adjacent imaging targets Ar may be similar to the above-described example in FIG. The whole image Fr is created between the target ranges Ar, that is, between the adjacent real shot images Tr, so that a part of them overlaps with each other.

As described above, in the electronic component mounting apparatus 1,
When the above-described actual image processing (S10) is started in FIG.
First, the electronic component S or the substrate P is set as a display target T,
The entire display object T is imaged by n (n is a natural number) times of imaging corresponding to the size, and n actual photographed images Tr are acquired and stored as an imaged result (actual photographed image acquisition processing: S
20), an overall image Fr representing the entire display target T is obtained based on the n actual shot images Tr, and the overall image Fr is obtained.
Is displayed on a predetermined display screen of the touch panel 61 (real image display processing: S30), and the real image processing (S10) ends (S40). That is, the entire display target T is represented by n (n is a natural number) corresponding to the size.
Since the image is picked up every time, the entire display object T can be imaged irrespective of the size of the display object T, and the entire image representing the entire display object T based on the n actual shot images Tr. Since Fr is obtained, the imaging target range Ar in each imaging can be adjusted.

For this reason, for example, when the display object T is a small electronic component S that can be imaged as a whole with (n =) one image pickup, the entire image Fr (= actual image Tr) is obtained with one image pickup.
When a relatively large electronic component S whose entire image cannot be captured by one image capturing is set as the display target T, a plurality (n>
1) The whole image Fr can be obtained by one imaging. That is,
For example, while using an imaging unit (the component recognition camera 10 and the like: details will be described later) and a display unit (a monitor screen of the touch panel 61 and the like) for capturing and displaying the entire image Fr of the small electronic component S, for example, Without adding a special mechanism such as a component recognition camera or a zoom mechanism, the entire large electronic component S can be imaged to obtain an entire image Fr and a display image Gr based thereon can be displayed. In the same manner, for example, using an image pickup means (such as the board recognition camera 8) or a display means (same as above: the touch panel 61) which can image only a small rectangular area of the board P, without adding any special mechanism, Can be taken to obtain a whole image Fr, and a display image Gr based on the whole image Fr can be displayed. Therefore, in this electronic component mounting apparatus 1, while using the existing imaging means and display means, without adding a special mechanism,
It is possible to display an image capable of grasping the whole of the large electronic component S and the board P.

Further, in the electronic component mounting apparatus 1, as described above with reference to FIG. 4 and the like, when the entire image Fr is large enough to be collectively displayed on a predetermined display screen of the touch panel 61, the entire image Fr is used as the display image Gr. 5 and 8, when the entire image Fr has a size that cannot be displayed collectively on the predetermined display screen, the entire image Fr is reduced to a size that can be displayed collectively. A reduced image is created, and the reduced image is collectively displayed on a predetermined display screen as a display image Gr. That is, regardless of the size of the whole image Fr based on the imaging result, the display image Gr that can grasp the whole image of the display target T can be displayed on a predetermined display screen at a time. In this case, the size of each of the n actual shot images Tr is a size that can be displayed collectively on a predetermined display screen of the touch panel 61. That is, in the case of a small display target T that can capture the entire image by one imaging, the entire image Fr can be obtained and displayed collectively by one imaging. On the other hand, in the case of a large display object T in which the entire image cannot be captured by one image capturing, the entire image Fr can be obtained by a plurality of (n> 1) image capturing, reduced, and the reduced image can be displayed collectively. The creation and batch display of these reduced images are performed in the real image display processing (S30) in FIG. Therefore, the electronic component mounting apparatus 1 includes a mechanism for performing this processing (S30), and is specifically processed by the control unit 6 (see FIG. 2) including the touch panel 61 serving as a display unit.

On the other hand, the electronic component mounting apparatus 1 includes an image pickup means, a storage means, and an image pickup control means as a mechanism (image processing apparatus) for performing the real image acquisition processing (S20) of FIG. . In this imaging means, an imaging target size that is the size of the imaging target range Ar that can be imaged by one imaging is determined, and at each imaging position after the relative movement with the display target T, the imaging target range Ar A part or the whole of the display target T that can be imaged in the camera is taken and taken in as one actual photographed image Tr. In particular,
First, when the display target T is an electronic component S, the mounting head 9 and the component recognition camera 10 mounted on the head unit 7 correspond to an imaging unit. When the display target T is a substrate P, the mounting head 9 is mounted on the head unit 7. The obtained board recognition camera 8 corresponds to an imaging unit.

That is, in the component recognition camera 10, the size of the imaging target range Ar, which is the size of the imaging target range Ar that can be imaged by one imaging operation, is determined. As shown in FIG.
By moving the mounting head 9 (actually the head unit 7), the electronic component S attracted to the mounting head 9 is moved.
The relative movement with respect to (display target T) is performed, and at each imaging position after the relative movement, a part or all of the electronic component S (display target T) that can be imaged within the imaging target range Ar is imaged. , Each of which is taken as one actual photographed image Tr. Also,
The board recognition camera 8 also has a predetermined imaging target dimension,
In this case, by moving the board recognition camera 8 itself (actually, the head unit 7), the set table 13 is moved.
Is moved relative to the substrate P (display target T) set in the camera, and at each imaging position after the relative movement, a part of the substrate P (display target T) that can be imaged within the imaging target range Ar or The whole is imaged and taken in as one actual photographed image Tr.

The above-mentioned storage means stores the actual photographed image Tr. Specifically, as described above with reference to FIG. 2, the RAM 603 used as a work area (or the ES62 used additionally). Etc.) correspond to storage means. The imaging control means controls the above-described imaging means (the mounting head 9 and the component recognition camera 10 or the board recognition camera 8) to make a relative movement, and to image the entire display target T by n times of imaging. Then, n actual photographed images Tr are obtained as imaging results, and the storage means (RAM 603,
ES62) to store n actual shot images Tr. Specifically, as described above with reference to FIG.
(Especially, the control unit main body 60) corresponds to an imaging control unit. Then, under the control of the control unit 6, the actual photographed image acquisition processing (S20) of FIG. 6 is performed.

Here, in the actual photographed image acquisition processing (S20), first, in the display target area determination processing (S21) of FIG. 7, the display target area AF of the entire image Fr (see FIG. 8) is determined. Here, as described above, the display target range AF
Is a virtual rectangular range surrounding the entire display target T. For example, as shown in FIGS. 9 and 10, when the display target T is an electronic component S, the electronic component S sucked to the mounting head 9 is relatively moved with respect to the component recognition camera 10,
The real image Tr captured by the component recognition camera 10 is displayed on the monitor screen of the touch panel 61, and the real image T in the field of view (imaging target range) Ar (A1 to A4 shown) is displayed.
The graphic image Eg prepared in advance for the alignment of the four corners of the electronic component S at r (T1 to T4) is finally adjusted to the display image Gr.
The display target range AF of the entire image Fr displayed as
See). As described above, when the outer shape of the electronic component S is a simple rectangle, the display target range can be matched with the outer shape of the electronic component S. When the display object T is the substrate P, the substrate recognition camera 8 is moved relatively to the substrate P, and the field of view (the imaging target range) Ar
The photographed images Tr (T1 to T4) in (A1 to A4) are displayed on the touch panel 61, and 4
By adjusting the graphic image Eg to a position corresponding to a corner, the display target range AF of the entire image Fr can be determined.

As described above, the control unit (display range determining means) 6 controls the relative movement of the imaging means (the mounting head 9 and the component recognition camera 10 or the board recognition camera 8) with respect to the display target T. By doing so, the range that can be imaged during the relative movement is imaged, and the continuous real image Tr
And continuously display the continuous real image Tr on a predetermined display screen (monitor screen of the touch panel 61), and within the continuously displayed real image Tr, of the four vertices of the rectangular display target range AF When at least one is included, the position of the vertex is provisionally determined, and when all of the four vertices are provisionally determined, a rectangular range based on the four vertices is determined as the display target range AF. . Here, the display target range A
Since F is a rectangular range, the display target range AF can be determined by determining its four vertices.

Next, the display target size determination processing shown in FIG. 7 (S2
In 2), a display target size, which is the size of the display target range AF, is determined. For example, in the case of the above-described examples of FIGS. 8 to 10, once the four corners of the display target area AF are determined, the moving direction, the moving amount, and the like of the relative movement for obtaining the four corners (for example, calculated based on the prescribed coordinates) The display target range AF
Can be determined (the display object T).
If the outer shape is rectangular, the display target area AF can be adjusted to that to obtain the component outer dimensions.)

In the next imaging condition determination processing (S23), imaging conditions including the number n of the real images Tr in n times of imaging are determined based on the imaging target dimensions and the display target dimensions. For example, in the case of the above-described example of FIG.
Based on the dimension that can be imaged within r (imaging target dimension: dimension of Ar) and the calculated display target dimension (dimension of AF),
The number n of real images Tr to be imaged and acquired (here, n =
12: the number of actual photographed images Tr, etc., and the imaging conditions for acquiring the required n actual photographed images Tr are determined.

In the next condition control processing (S24), the image pickup means (the mounting head 9 and the component recognition camera 10, or the board recognition camera 8) is controlled based on the image pickup conditions, so that the entire display target area AF is controlled. By n times of imaging, and as an imaging result, n real shot images T
Acquire and store r. That is, for example, in the case of the example of FIG. 8, the entire display target range AF is imaged by (n =) 12 imagings, and as a result of the imaging, 12 actual shot images T
Acquire and store r.

As described above, the control unit (imaging control means) 6 performs the real image acquisition process (S20) in FIG.
As shown in FIG. 7, first, a display target range AF including the entire display target T is determined (display target range determination processing: S2).
1) The display target size, which is the size of the display target range AF, is determined (display target size determination processing: S22), and the number n of the real images Tr in the n times of imaging is determined based on the image capture target size and the display target size. By determining imaging conditions including the imaging condition (imaging condition determination processing: S23) and controlling the imaging means (the mounting head 9 and the component recognition camera 10, or the board recognition camera 8) based on the imaging conditions, the entire display target range AF is controlled. By n times of imaging, and as an imaging result, n
Acquisition and storage of real photographed images Tr (condition control processing: S
24), the real image acquisition process (S20) ends (S2).
5).

In this case, as is apparent from FIGS. 8 and 10, for example, the display target area AF includes the entire display target object T. Therefore, if the entire display target area AF is imaged, the entire display target object T is captured. Is acquired, and if n actual photographed images Tr are acquired and stored as the imaging result, the entire image Fr of the display target T can be obtained based on the acquired actual photographed images Tr.
The display image Gr based thereon can be displayed. In this case, the display target dimension, which is the size of the display target range AF, is determined. For example, the display target range A is determined based on the imaging target size (Ar size) and the display target size (AF size).
By dividing the entirety of F into n imaging target ranges Ar (including a case where they partially overlap), the number n of the actual photographed images Tr in the n imagings and the imaging target range Ar in each of the n imagings ( Can be easily determined. Then, since these imaging conditions are determined and the control is performed based on the imaging conditions, it is possible to easily control the imaging means, thereby easily acquiring and storing the n actual shot images Tr. .

That is, for example, the display target area AF is determined as described above with reference to FIGS. 9 and 10 (S21), and the display target dimensions are determined by calculating from the coordinates and the like (S22).
Since the number of times of the imaging target (the size of the imaging target range Ar) is a predetermined value, the number n of the actual captured images Tr is calculated by, for example, decrementing the display target size in each of the vertical and horizontal directions / the imaging target size (the remainder is rounded up). Can be easily determined, for example, FIG.
As shown in (1), if the number n = 12 of the real shot images Tr is determined, the imaging target range Ar for each of the (n =) 12 imagings can be easily determined, and the imaging target range is determined based on these imaging conditions. The imaging means (the mounting head 9 and the component recognition camera 10 or the board recognition camera 8) can be easily moved relatively to the imaging position where Ar can be imaged, and the control of the imaging means becomes easy.

In this case, the imaging target range Ar for each time
Can be easily determined, a predetermined imaging position (such as a center position of the imaging target range Ar or an origin position such as a vertex) for realizing the determination can be easily determined. For this reason, the imaging condition may include an imaging position (coordinate information indicating) for imaging the imaging target range Ar, instead of the imaging target range Ar for each of the n times of imaging. That is, if the imaging range Ar and the imaging position of each time are included in the imaging conditions, the imaging range A
Since the imaging means can be relatively moved to the imaging position where r can be imaged, the control of the imaging means becomes easy.
Therefore, in these cases, since the imaging conditions include at least one of the imaging target range Ar and the imaging position in each of the n imagings, the imaging unit can be easily controlled based on the imaging conditions, and n imaging units can be easily controlled. The real image Tr can be easily obtained and stored.

Further, the imaging conditions may include relative movement information including the amount of movement and the direction of movement for relative movement to the first imaging position and the next imaging position in order. As described above, if the imaging position of each time is included in the imaging conditions, it is easy to relatively move the imaging means to that imaging position. In addition to the position, the relative movement including the movement amount and the movement direction after the first relative movement is included in the imaging conditions as relative movement information including the movement amount and the movement direction for sequentially moving to the next imaging position in order. The control may be performed based on the information, and the control of the imaging unit may be further facilitated, and the n actual shot images Tr may be more easily obtained and stored.

In the electronic component mounting apparatus 1, in addition to the above-described actual image processing (S10), the control unit 6 (data processing means) mainly relates to the shape and coordinates of the display target T based on the entire image Fr. Can create and process data. Therefore, for example, the display target T is the electronic component S
In the case of the related art, there are conventional methods such as creation and processing of component library data indicating the shape and the like, and creation and processing of coordinate data indicating the mounting position of the electronic component S on the board P when the display target T is the board P. Data creation and processing that was not easy can be easily performed. In this case, since the entire image Fr has been obtained, data may be automatically created and processed based on the entire image Fr, or an image (the entire image or its reduced image) capable of grasping the entire display target T may be obtained. Image) can be displayed, so that it is easy to create and process data while inputting it manually and checking it on the display screen.

Similarly, the control unit 6 (data processing means) mainly detects whether or not the display target T is defective based on data prescribed in advance regarding the shape of the display target T. Data processing can be performed.
In this case, even if the display target T is a large electronic component S or a substrate P, it can be easily detected whether or not it is defective, and the whole image F
Since r can be obtained, automatic data processing, that is, automatic detection may be performed based on the obtained r, or an image (whole image or its reduced image) that can grasp the entire display target T can be displayed. It is easy to visually recognize a defective product on the display screen. Similarly, the control unit 6 (data processing means) performs data processing for correcting the actual attitude or position of the display target T based on data defined in advance for the coordinates of the display target T. It can be performed. In this case, in the electronic component mounting device (data processing device) 1, the entire image F of the display target T is displayed.
Since r is obtained, even when the display target T is a large electronic component S or a substrate P, data processing for correction of the actual posture or position of the display target T can be easily performed.

In these cases, the control unit 6
(Data processing means) is the display image Gr displayed on the predetermined display screen of the touch panel 61 as described above in FIG.
In addition, since the graphic image Gg of the display target T generated based on the data is superimposed and displayed, the difference between the display image Gr based on the captured whole image Fr of the display target T and the graphic image Gg based on the data is displayed. Can be easily detected. That is, the data is corrected by reflecting the difference from the display image Gr based on the entire image Fr of the normal display target T in the data, or displayed by the difference from the graphic image Gg based on the data of the normal display target T. Data processing can be easily performed, such as detecting a defect of the target object T and correcting the attitude and position of the display object T.
In these cases, the electronic component mounting device (data processing device) 1 can obtain the entire image of the display target T. Therefore, even if the display target T is a large electronic component S or a substrate P, the electronic component mounting device (data processing device) 1 can obtain a small image. Data processing can be performed with the same ease as in the case of.

[0054]

As described above, according to the image processing apparatus and the image processing method of the present invention, a special mechanism can be provided for a large-sized electronic component or board without changing the imaging means and the display means. There is such an effect that an image that can be grasped as a whole can be displayed without being added.

[Brief description of the drawings]

FIG. 1 is a plan view of an electronic component mounting apparatus to which an image processing apparatus according to an embodiment of the present invention has been applied.

FIG. 2 is a block diagram showing a control system of the electronic component mounting apparatus of FIG.

FIG. 3 is a flowchart showing a conceptual processing flow of the entire control of the electronic component mounting apparatus 1 of FIG. 1;

FIG. 4 is an explanatory diagram showing a component data editing screen of the touch panel.

FIG. 5 is an explanatory diagram for describing, using an example, an outline of a real image processing which is an image processing on the real image;

FIG. 6 is a flowchart illustrating an example of a real image processing;

FIG. 7 is a flowchart illustrating an example of the actual photographed image acquisition process of FIG. 6;

FIG. 8 is an explanatory diagram showing a specific example of the real image processing of FIG. 6;

FIG. 9 is an explanatory diagram showing a specific example of the display target range determination processing of FIG. 7;

FIG. 10 is an explanatory diagram for supplementing FIG. 9;

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 electronic component mounting device 6 control unit 7 head unit 8 board recognition camera 9 mounting head 10 component recognition camera 60 control unit main body 61 touch panel 62 external storage device (ES) S electronic component P board T display target

Claims (2)

[Claims] An image pickup unit that picks up a part or the whole of the display target object that can be imaged by one image pick-up by using an electronic component or a substrate as a display target object, and captures each part as one real image; A storage unit for storing n actual shot images as an imaging result of n (n is a natural number) times of imaging by the imaging unit; and controlling the imaging unit to image the entire display target object by the n times of imaging. The imaging control unit causes the storage unit to acquire the n actual shot images as an imaging result, and stores the n actual shot images in the storage unit, and the entirety of the display object based on the n actual shot images. Image display means for obtaining a whole image representing the image and displaying a display image based on the whole image on a predetermined display screen,
Wherein the image display means includes a reduced image creation means for creating a reduced image in which the entire image is reduced to a size that can be displayed collectively when the entire image cannot be displayed collectively on a predetermined display screen; and An image processing apparatus comprising: a batch display unit configured to batch display the reduced image as the display image on the predetermined display screen when the size of the entire image cannot be displayed collectively. 2. An electronic component or a board is set as a display object, and the whole of the display object is imaged by n (n is a natural number) times of imaging according to the size of the electronic object or the substrate. An image obtaining step of obtaining and storing, and an image display for obtaining a whole image representing the whole of the display object based on the n actual shot images and displaying a display image based on the whole image on a predetermined display screen Process and
In the image display step, when the entire image is of a size that cannot be displayed collectively on the predetermined display screen, a reduced image in which the entire image is reduced to a size that can be displayed collectively is created, and the reduced image is created. An image processing method, wherein images are collectively displayed on the predetermined display screen as the display images.