JP2004326489A - Image processing method and its device - Google Patents

Image processing method and its device Download PDF

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JP2004326489A
JP2004326489A JP2003121069A JP2003121069A JP2004326489A JP 2004326489 A JP2004326489 A JP 2004326489A JP 2003121069 A JP2003121069 A JP 2003121069A JP 2003121069 A JP2003121069 A JP 2003121069A JP 2004326489 A JP2004326489 A JP 2004326489A
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image processing
pattern matching
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JP4251005B2 (en
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Yasuhisa Matsumoto
康久 松本
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Shibuya Corp
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Shibuya Kogyo Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an image processing method and device for highly precisely detecting the central position of a circle while using the technology of pattern matching. <P>SOLUTION: Photographic ranges A to D including the left edge part, right edge part, upper edge part and lower edge part of a circular work 2 are photographed by a camera 6, and pattern matching is executed in each photographic range by using a registered model several times each by a comparing means 11. As the result of pattern matching, a recognizing means 12 recognizes the coordinate values of an left-most position 14A, right-most edge position 14B, uppermost edge position 14C and lowermost edge position 14D of each registered model, and a calculating means adopts the maximum X coordinate value from the left-most edge position 14A, the minimum X coordinate value from the right-most edge position 14B, the maximum Y coordinate value from the uppermost edge position 14C and the minimum Y coordinate value from the lowermost edge position 14D, and uses the intermediate value of the X coordinate value and the Y coordinate value as the coordinate value of the central position of the work 2. Thus, it is possible to much more highly precisely detect the central position of the circle than a conventional manner by using a conventional pattern matching technology. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

【０００１】
【発明の属する技術分野】
本発明は画像処理方法及びその装置に関し、詳しくはパターンマッチングによって物品の円形部分の中心位置を検出する画像処理方法及びその装置に関する。
【０００２】
【従来の技術】
従来より、物品の円形部分の画像から円形の中心位置を検出する画像処理方法として、所定半径の円のエッジ部分（円周部分）を４分割した登録モデルを準備し、この登録モデルを用いて対象とする円画像の９０°ずつ異なる円弧部分をパターンマッチングを行い、マッチングした４つの登録モデルの間の離れた部分若しくは重合部分の位置に基づいて、対象とする円画像の中心位置を求めることが知られている。（特許文献１）
【０００３】
【特許文献１】
特開平６−２６０５２７号公報（第００３２欄〜００３４欄）
【０００４】
【発明が解決しようとする課題】
ここで、パターンマッチングによる所定位置の特定では、基準とする登録モデルと対象とする画像の形状が全くの同一ではないので、誤差を含むことは避けられない。
特に円画像に対するパターンマッチングの場合、実際に撮影して得られた円画像と使用する登録モデルの円弧では、微妙に曲率が異なるために円周方向にずれを生じやすく、特許文献１の方法によれば、円周方向に隣り合う登録モデルの離れた部分若しくは重合部分の位置に基づいて中心位置を求めるようにしているため、登録モデルの円周方向へのずれが大きいと、その結果得られる中心位置には当該ずれが含まれ、中心位置の精度が低くなる。
このような問題に鑑み，本発明はパターンマッチングの技術を利用しながらも、高精度に円形の中心位置を検出する画像処置方法およびその装置を提供するものである。
【０００５】
【課題を解決するための手段】
すなわち、請求項１に記載の画像処理方法によれば、物品の円形部分の画像からパターンマッチングにより円形の中心位置を求める画像処理方法において、
左右方向に伸びるＸ座標とこれに直交する上下方向に伸びるＹ座標とのＸ−Ｙ座標系を設定し、該Ｘ−Ｙ座標系における円形部分の左端部、右端部、上端部、下端部に対応させて、最左端位置、最右端位置、最上端位置、最下端位置を示した基準円弧からなる登録モデルを設定して、物品の円形部分の画像に対して上記登録モデルにより各々パターンマッチングを行って、画像上に最左端位置、最右端位置、最上端位置、最下端位置をそれぞれ定め、これら最左端位置、最右端位置、最上端位置、最下端位置を上記Ｘ−Ｙ座標系で認識して、最左端位置のＸ座標値と最右端位置のＸ座標値との中間値を求めるとともに、最上端位置のＹ座標値と最下端位置のＹ座標値との中間値を求め、これら中間値からなる座標値を円形の中心位置とすることを特徴としている。
【０００６】
また、請求項５に記載の画像処理装置によれば、物品の円形部分の画像からパターンマッチングにより円形の中心位置を求める画像処理装置において、
物品の円形部分を撮影する撮影手段と、撮影手段を物品の円形部分に対し同一平面内で相対移動させる移動手段と、撮影手段が相対移動する平面と平行に、左右方向に伸びるＸ座標とこれに直交する上下方向に伸びるＹ座標とのＸ−Ｙ座標系を設定して、撮影手段が撮影した画像上の位置を該Ｘ−Ｙ座標系の座標値として認識する認識手段と、該Ｘ−Ｙ座標系における円形部分の左端部、右端部、上端部、下端部に対応させて、最左端位置、最右端位置、最上端位置、最下端位置を示した基準円弧からなる登録モデルを備え、物品の円形部分の画像に対して各々パターンマッチングを行って、画像上に最左端位置、最右端位置、最上端位置、最下端位置を定める比較手段と、比較手段が定めた画像上の各位置を認識手段により座標値として認識して、各座標値に基づく円形の中心位置の座標値を求める計算手段を備え、
計算手段は、最左端位置のＸ座標値と最右端位置のＸ座標値との中間値を求めるとともに、最上端位置のＹ座標値と最下端位置のＹ座標値との中間値を求めて、これら中間値からなる座標値を円形の中心位置とすることを特徴としている。
【０００７】
上記請求項１の画像処理方法及び請求項５の画像処理装置によれば、対象とする円形部分の左端部、右端部、上端部、下端部に対応させた基準円弧に、最左端位置、最右端位置、最上端位置、最下端位置を示した登録モデルを設定し、この登録モデルによって円形部分の画像に対してパターンマッチングを行って、画像上に最左端位置、最右端位置、最上端位置、最下端位置をそれぞれ定め、それらの座標値のうち最左端位置と最右端位置については、ずれの生じにくい左右方向となるＸ座標値だけを参照し、最上端位置と最下端位置についてはずれの生じにくい上下方向となるＹ座標値だけを参照して、これらの座標値から円形の中心位置を求めるようにしているので、当該中心位置にはずれが含まれないことになる。
このように、登録モデルが円形部分の画像に沿って円周方向にずれることを考慮し、このずれが含まれないようにしているので、従来に比べ円形の中心位置を高精度に検出することができる。
【０００８】
【発明の実施の形態】
以下図示実施例について説明すると、図１はワークを基盤に位置合わせしてから接合するボンディング装置１を示しており、本実施例ではその円形をした物品としてのワーク２を基板３にボンディングするものとなっている。
図１において、ボンディング装置１は、ワーク２を保持して基板３にボンディングするボンディングヘッド４と、ボンディングヘッド４に対して水平面内でワーク２や基板３を移動させる移動手段としてのＸＹテーブル５と、ボンディングヘッド４と一体的に設けられてワーク２の円形部分を正面から撮影する撮影手段としてのカメラ６と、ボンディングヘッド４およびカメラ６を鉛直方向に昇降させる昇降手段７とを備えている。
そしてカメラ６で撮影された画像は画像処理部８に取り込まれて処理されるようになっており、本実施例においては、ＸＹテーブル５、カメラ６、画像処理部８によって画像処理装置が構成されている。
また上記ＸＹテーブル５にはワーク２を収容するトレイ９と、基板３の載置されるボンディングテーブル１０が設けられ、上記ＸＹテーブル５と一体的に水平面内で移動するようになっている。
【０００９】
そしてボンディング装置１には、ＸＹテーブル５のＸ方向移動機構５ａとＹ方向移動機構５ｂの各々の移動方向をＸ座標軸、寸座標軸として、それらの移動幅の各中間位置を原点とした機械座標系が設定されている。
一方画像処理部８には同じＸ方向とＹ方向をＸ座標軸、Ｙ座標軸として、カメラ６の視野の中心を原点とした視野座標系が設定されているとともに、カメラ６が撮影した画像上の所定位置を、これら各座標系の座標値として認識する認識手段１１が備えられている。
また、画像処理部８には予め設定されて記憶された登録モデルにより、カメラ６から取り込まれた画像に対してパターンマッチングを行う比較手段１２と、比較手段１２で求められて認識手段１１に認識された各登録モデルの位置に関する座標値に基づいて円形の中心位置の座標値を求める計算手段１３が備えられている。
【００１０】
比較手段１２に記憶された登録モデルは、機械座標系のＸ座標軸を左右方向、Ｙ座標軸を上下方向としてワーク２の円形部分を認識した場合に、その左端部、右端部、上端部、下端部に位置する円弧部分の、それぞれに対して対応させた所定長さを有する４つの基準円弧からなり、各基準円弧における円周側を上方に向けた時の最上方端となる位置を、それぞれ最左端位置１４Ａ、最右端位置１４Ｂ、最上端位置１４Ｃ、最下端位置１４Ｄとしている。（図２参照）
このような登録モデルは、検査対象とするワーク２の画像を用いて基準円を作成し、上記機械座標系で認識した場合の、この基準円と基準円の中心を通るＸ方向の直線との交点のうち、左方側の交点を最左端位置１４Ａ、右方側の交点を最右端位置１４Ｂとし、基準円の中心を通るＹ方向の直線との交点のうち、上方側の交点を最上端位置１４Ｃ、下方側の交点を最下端位置１４Ｄとし、これら交点を中心とする所定長さの円弧部分を基準円弧として設定する。
よって、機械座標系および視野座標系で認識されるワーク２の円形の画像に対して、これら基準円弧からなる登録モデルでパターンマッチングを行うことで、ワーク２の画像の円周上に最左端位置１４Ａ、最右端位置１４Ｂ、最上端位置１４Ｃ、最下端位置１４Ｄを定めることができる。
【００１１】
以下において、本発明に係る画像処理方法について図２により説明する。
まず、ＸＹテーブル５を作動させて今回対象とするワーク２の左端部上方にカメラ６を相対移動させて、図２で示すワーク２の左端部を含む撮影領域Ａの画像を取り込む。
この場合、上述した本実施例の構成では、機械座標系の原点に対するカメラ６の視野中心とトレイ９の中心位置との座標位置は予め認識されているので、トレイ９の中心位置をカメラ６の視野中心の座標位置に位置するようＸＹテーブル５を作動させ、さらにここから所定量だけ右方側（Ｘ座標軸の正の方向）へトレイ９を移動させて、カメラ６をワーク２の左端部の上方に位置させるよう制御している。
次に画像処理部８では、撮影領域Ａの画像が取り込まれると、比較手段１２に記憶された登録モデルのうち、ワーク２の左端部に対応した登録モデルを用い、画像に対して複数回のパターンマッチングを行って複数個の最左端位置１４Ａを定め、認識手段１１は各回毎に最左端位置１４Ａを座標値として認識する。
この際、認識手段１１は視野座標系によりカメラ６の視野の中心、すなわち撮影領域Ａの中心位置を原点として各回の最左端位置１４Ａの座標値を求めることで、機械座標系の原点に対する座標値を認識するようにしている。
【００１２】
そして計算手段１３は認識された複数回分の最左端位置１４Ａの座標値よりＸ座標値だけを比較して、最小となるＸ座標値を選択して記憶する。
以上のような撮影領域Ａに対する画像処理部８での処理に並行して、図２に示す撮影領域Ｂ、撮影領域Ｃ、撮影領域Ｄについても撮影領域Ａと同様に順に画像を取り込み、比較手段１２が右端部、上端部、下端部に対応した登録モデルで各々複数回のパターンマッチングを行ってそれぞれ複数個の最右端位置１４Ｂ、最上端位置１４Ｃ、最下端位置１４Ｄを順次定める。
そして認識手段１１により各回毎に最右端位置１４Ｂ、最上端位置１４Ｃ、最下端位置１４Ｄを座標値として認識するとともに、比較手段１３が最右端位置１４Ｂの座標値からＸ座標値だけを比較して最大となるＸ座標値を、最上端位置１４Ｃの座標値からＹ座標値だけを比較して最大となるＹ座標値を、最下端位置１４Ｄの座標値からＹ座標値だけを比較して最小となるＹ座標値をそれぞれ選択してその値を記憶する。
次に、比較手段１３はこれら左右方向となる最左端位置１４ＡのＸ座標値と最右端位置１４ＢのＸ座標値との中間値と、上下方向となる最上端位置１４ＣのＹ座標値と最下端位置１４ＤのＹ座標値との中間値とを計算して求め、Ｘ座標の中間値をＸ座標値とし、Ｙ座席の中間値をＹ座標値とする座標値をワーク２の中心位置の座標値として認識する。
以上のようにして中心位置が求められると、ボンディング装置１はＸＹテーブル５を作動させて、ボンディングヘッド５の中心を求めたワーク２の中心位置に位置合わせすることができるので、昇降手段７によりボンディングヘッド５を下降させてワーク２を吸着保持し、精度良く基板３の所定位置にボンディングすることができる。
【００１３】
このように、ワーク２の左端部と右端部については、パターンマッチングによつてずれを生じやすい円周方向すなわち上下方向の結果を除いて、左右方向となるＸ座標値だけを採用し、上端部と下端部については、ずれを生じやすい左右方向の結果を除いて上下方向となるＹ座標値だけを採用しているので、パターンマッチングによるずれが含まれなくなり、高精度にワーク２の中心位置を検出可能となる。
さらに、各登録モデル毎に複数回ずつパターンマッチングを行って、Ｘ座標値とＹ座標値における最端となる座標値を選択するようにしているので、最もずれの小さな登録モデルを採用することとなり、さらに高精度にワーク２の中心位置を検出可能となる。
【００１４】
なお、上記画像処理方法の実施例によれば、ワーク２の左端部、右端部、上端部、下端部のそれぞれに対応させて、撮影領域Ａ、撮影領域Ｂ、撮影領域Ｃ、撮影領域Ｄを設定し、各領域にカメラ６を位置させて撮影した画像に対してパターンマッチングを行うようにしたが、ワーク２の全体を撮影した画像における左端部、右端部、上端部、下端部に対してそれぞれ検査領域Ａ、検査領域Ｂ、検査領域Ｃ、検査領域Ｄを設定し、これらの検査領域のそれぞれにパターンマッチングを行うようにしても良い。
また上記実施例ではワーク２の左端部、右端部、上端部、下端部のぞれぞれに対応させて４つの登録モデルを設定していたが、共通で１つの登録モデルを設定して、この登録モデルを左もしくは右に９０°または１８０°回転させることで、ワーク２の左端部、右端部、上端部、下端部のそれぞれに対応させることもできる。
この場合は、例えばワーク２の左端部に対応した登録モデルによってパターンマッチングが終了したら、登録モデルを１８０°回転させて右端部に対応させ、さらにそこから９０°回転させて上端部もしくは下端部に対応させるようにすれば良く、パターンマッチングを行う順序は任意であり、登録モデルを回転させる方向も自由に設定することができる。
また、図示実施例のボンディング装置１の構成ではボンディングヘッド５にカメラ６を取り付けて、トレイ９に載置されたワーク２を撮影して画像処理する場合について説明したが、これに限らずカメラ６をＸＹテーブル５上に配置して、ボンディングヘッド４に保持された状態のワーク２を対象としても良く、さらには、ボンディングヘッド４に取り付けたカメラ６により円形をした基板３を撮影して、同様に円形部分の中心位置を求めることもできる。
【００１５】
【発明の効果】
従来のパターンマッチングの技術を使用しながら、登録モデルが円形部分の画像に沿って円周方向にずれることを考慮することで、従来に比べ円形の中心位置を高精度に検出することができる。
【図面の簡単な説明】
【図１】本実施例におけるボンディング装置を示す該略図。
【図２】本実施例における画像処理方法を示す説明図。
【符号の説明】
１ ボンディング装置 ２ ワーク
５ ＸＹテーブル ６ カメラ
８ 画像処理部 １１ 比較手段
１２ 認識手段 １３ 計算手段
１４Ａ 最左端位置 １４Ｂ 最右端位置
１４Ｃ 最上端位置 １４Ｄ 最下端位置
Ａ〜Ｄ 撮影範囲[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an image processing method and apparatus, and more particularly, to an image processing method and apparatus for detecting the center position of a circular portion of an article by pattern matching.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as an image processing method for detecting a center position of a circle from an image of a circular portion of an article, a registered model in which an edge portion (circumferential portion) of a circle having a predetermined radius is divided into four parts is prepared, and this registered model is used. Pattern matching is performed on arc portions that differ from each other by 90 ° in the target circular image, and the center position of the target circular image is obtained based on the positions of the separated or overlapped portions between the four registered models that have been matched. It has been known. (Patent Document 1)
[0003]
[Patent Document 1]
JP-A-6-260527 (columns 0032 to 0034)
[0004]
[Problems to be solved by the invention]
Here, in the specification of the predetermined position by pattern matching, since the reference registered model and the shape of the target image are not completely the same, it is inevitable that an error is included.
In particular, in the case of pattern matching for a circle image, the curvature of the circle image actually obtained and the registered model to be used is slightly different from that of the registered model, so that the arc tends to shift in the circumferential direction. According to this, since the center position is obtained based on the positions of the separated or overlapped portions of the registered models that are circumferentially adjacent to each other, a large shift in the circumferential direction of the registered model results. The center position includes the deviation, and the accuracy of the center position decreases.
In view of such a problem, an object of the present invention is to provide an image processing method and an apparatus for detecting a circular center position with high accuracy while utilizing a pattern matching technique.
[0005]
[Means for Solving the Problems]
That is, according to the image processing method of the first aspect, in the image processing method of obtaining the center position of the circle by pattern matching from the image of the circular portion of the article,
An XY coordinate system of an X coordinate extending in the left-right direction and a Y coordinate extending in the vertical direction perpendicular to the X-coordinate is set, and a left end portion, a right end portion, an upper end portion, and a lower end portion of a circular portion in the XY coordinate system are set. Correspondingly, a registration model consisting of a reference arc indicating the leftmost position, the rightmost position, the uppermost position, and the lowermost position is set, and pattern matching is performed on the image of the circular portion of the article using the registration model. Then, the leftmost position, the rightmost position, the uppermost position, and the lowermost position are determined on the image, and the leftmost position, the rightmost position, the uppermost position, and the lowermost position are recognized in the XY coordinate system. Then, an intermediate value between the X coordinate value at the leftmost position and the X coordinate value at the rightmost position is obtained, and an intermediate value between the Y coordinate value at the uppermost position and the Y coordinate value at the lowermost position is obtained. The coordinate value consisting of the values is used as the center position of the circle. It is characterized in.
[0006]
According to the image processing apparatus of the fifth aspect, in the image processing apparatus for determining the center position of a circle by pattern matching from an image of a circular portion of an article,
Photographing means for photographing a circular portion of an article; moving means for relatively moving the photographing means relative to the circular portion of the article in the same plane; and X-coordinates extending in the left-right direction parallel to the plane on which the photographing means relatively moves. A recognition unit that sets an XY coordinate system with a Y coordinate extending in the vertical direction perpendicular to the image and recognizes a position on the image captured by the imaging unit as a coordinate value of the XY coordinate system; A left end portion, a right end portion, an upper end portion, and a registration model including a reference arc indicating a lowermost end position, a rightmost end position, an uppermost end position, and a lowermost position corresponding to the lower end portion of the circular portion in the Y coordinate system, A comparing unit that performs pattern matching on the image of the circular portion of the article to determine the leftmost position, the rightmost position, the uppermost position, and the lowermost position on the image; and each position on the image determined by the comparing unit. Is recognized as a coordinate value by the recognition means. To include a calculating means which calculates the coordinate value of the center position of the circular based on each coordinate value,
The calculating means calculates an intermediate value between the X coordinate value at the leftmost position and the X coordinate value at the rightmost position, and calculates an intermediate value between the Y coordinate value at the uppermost position and the Y coordinate value at the lowermost position, It is characterized in that coordinate values composed of these intermediate values are set as the center position of the circle.
[0007]
According to the image processing method of the first aspect and the image processing apparatus of the fifth aspect, the reference arc corresponding to the left end, the right end, the upper end, and the lower end of the target circular portion has the leftmost position and the leftmost position. A registration model indicating the right end position, the top end position, and the bottom end position is set, and pattern matching is performed on the image of the circular portion using the registration model, and the left end position, the right end position, and the top end position are displayed on the image. , The lowermost position is determined, and the leftmost position and the rightmost position of the coordinate values are referred to only the X coordinate values in the left and right directions where deviation is less likely to occur, and the deviation is determined for the uppermost position and the lowermost position. Since the center position of the circle is determined from these coordinate values by referring only to the Y-coordinate values in the vertical direction, which hardly occurs, the center position does not include a deviation.
Considering that the registered model is shifted in the circumferential direction along the image of the circular portion and does not include this shift, the center position of the circle can be detected with higher accuracy than in the past. Can be.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Referring to the illustrated embodiment, FIG. 1 shows a bonding apparatus 1 that positions a work on a base and then joins the work. In the present embodiment, a work 2 as a circular article is bonded to a substrate 3. It has become.
In FIG. 1, a bonding apparatus 1 includes a bonding head 4 that holds a work 2 and bonds it to a substrate 3, and an XY table 5 as a moving unit that moves the work 2 and the substrate 3 relative to the bonding head 4 in a horizontal plane. A camera 6, which is provided integrally with the bonding head 4 and shoots a circular portion of the work 2 from the front, and an elevating means 7 which vertically moves the bonding head 4 and the camera 6 up and down.
An image captured by the camera 6 is captured by the image processing unit 8 and processed. In the present embodiment, the XY table 5, the camera 6, and the image processing unit 8 constitute an image processing device. ing.
The XY table 5 is provided with a tray 9 for accommodating the work 2 and a bonding table 10 on which the substrate 3 is placed, and moves in a horizontal plane integrally with the XY table 5.
[0009]
The bonding apparatus 1 has a mechanical coordinate system in which the moving directions of the X-direction moving mechanism 5a and the Y-direction moving mechanism 5b of the XY table 5 are set as the X coordinate axis and the dimensional coordinate axis, and the intermediate positions of the moving widths are set as the origins. Is set.
On the other hand, the image processing unit 8 has a field of view coordinate system having the same X direction and Y direction as the X coordinate axis and the Y coordinate axis, with the origin at the center of the field of view of the camera 6. Recognition means 11 for recognizing a position as a coordinate value of each of these coordinate systems is provided.
Further, the image processing section 8 performs pattern matching on an image captured from the camera 6 based on a registered model set and stored in advance. Calculation means 13 is provided for calculating the coordinate value of the center position of the circle based on the coordinate value regarding the position of each registered model.
[0010]
When the registered model stored in the comparing means 12 recognizes a circular portion of the workpiece 2 with the X coordinate axis of the machine coordinate system in the horizontal direction and the Y coordinate axis in the vertical direction, its left end, right end, upper end, lower end Are formed of four reference arcs each having a predetermined length corresponding to each other, and the positions of the uppermost ends when the circumferential side of each reference arc is directed upward are respectively set as the uppermost ends. The left end position 14A, the rightmost end position 14B, the uppermost end position 14C, and the lowermost end position 14D are set. (See Fig. 2)
Such a registered model creates a reference circle using an image of the work 2 to be inspected and, when recognized in the machine coordinate system, defines the reference circle and a straight line in the X direction passing through the center of the reference circle. Of the intersections, the intersection on the left side is the leftmost position 14A, the intersection on the right side is the rightmost position 14B, and the intersection on the upper side of the intersection with the straight line in the Y direction passing through the center of the reference circle is the uppermost position. The position 14C and the intersection on the lower side are defined as the lowermost position 14D, and an arc portion having a predetermined length centered on these intersections is set as a reference arc.
Therefore, by performing pattern matching on the circular image of the workpiece 2 recognized in the machine coordinate system and the visual field coordinate system using the registered model including the reference arcs, the leftmost position on the circumference of the image of the workpiece 2 is obtained. 14A, the rightmost position 14B, the uppermost position 14C, and the lowermost position 14D can be determined.
[0011]
Hereinafter, the image processing method according to the present invention will be described with reference to FIG.
First, the XY table 5 is operated to relatively move the camera 6 above the left end of the target work 2 to capture an image of the photographing area A including the left end of the work 2 shown in FIG.
In this case, in the configuration of the present embodiment described above, the coordinate position between the center of the field of view of the camera 6 and the center position of the tray 9 with respect to the origin of the machine coordinate system is recognized in advance, so that the center position of the tray 9 is The XY table 5 is operated so as to be located at the coordinate position of the center of the field of view, and the tray 9 is further moved rightward (positive direction of the X coordinate axis) therefrom by moving the camera 6 to the left end of the work 2. It is controlled to be located above.
Next, when the image of the photographing area A is captured, the image processing unit 8 uses the registration model corresponding to the left end of the work 2 among the registration models stored in the comparison unit 12 to perform multiple times on the image. A plurality of leftmost positions 14A are determined by performing pattern matching, and the recognizing means 11 recognizes the leftmost positions 14A as coordinate values each time.
At this time, the recognizing means 11 obtains the coordinate value of the leftmost position 14A each time with the center of the field of view of the camera 6, that is, the center position of the photographing area A as the origin, based on the visual field coordinate system. To recognize.
[0012]
Then, the calculating means 13 compares only the X coordinate values from the recognized coordinate values of the leftmost position 14A for a plurality of times, and selects and stores the minimum X coordinate value.
In parallel with the processing of the image processing unit 8 for the imaging area A as described above, the imaging areas B, C, and D shown in FIG. Reference numeral 12 denotes a registered model corresponding to the right end portion, the upper end portion, and the lower end portion, each of which performs pattern matching a plurality of times to sequentially determine a plurality of rightmost end positions 14B, topmost positions 14C, and bottommost positions 14D.
The recognizing means 11 recognizes the rightmost position 14B, the uppermost position 14C, and the lowermost position 14D as a coordinate value each time, and the comparing means 13 compares only the X coordinate value from the coordinate value of the rightmost position 14B. The maximum X coordinate value is compared with only the Y coordinate value from the coordinate value of the uppermost position 14C, and the maximum Y coordinate value is compared with the minimum by comparing only the Y coordinate value from the coordinate value of the lowermost position 14D. Are selected and stored.
Next, the comparison means 13 calculates the intermediate value between the X coordinate value of the leftmost position 14A in the left-right direction and the X coordinate value of the rightmost position 14B, the Y coordinate value of the uppermost position 14C in the vertical direction, and the lowermost position. The intermediate value between the Y coordinate value of the position 14D and the intermediate value is obtained, and the coordinate value of the intermediate value of the X coordinate as the X coordinate value and the intermediate value of the Y seat as the Y coordinate value is the coordinate value of the center position of the work 2. Recognize as
When the center position is obtained as described above, the bonding apparatus 1 can operate the XY table 5 to align the center of the bonding head 5 with the obtained center position of the work 2. By lowering the bonding head 5 and holding the work 2 by suction, bonding can be performed at a predetermined position on the substrate 3 with high accuracy.
[0013]
As described above, for the left end and the right end of the work 2, only the X coordinate values in the left and right directions are used, except for the results in the circumferential direction, that is, the vertical direction, in which the pattern matching is likely to cause a shift. For the lower end and the lower end, only the Y coordinate value in the vertical direction is adopted except for the result in the horizontal direction that is likely to cause a shift. Therefore, the shift due to pattern matching is not included, and the center position of the work 2 can be accurately determined. It becomes detectable.
Furthermore, pattern matching is performed a plurality of times for each registered model, and the extreme end coordinate value in the X coordinate value and the Y coordinate value is selected, so that the registered model with the smallest deviation is adopted. In addition, the center position of the work 2 can be detected with higher accuracy.
[0014]
According to the embodiment of the image processing method, the shooting area A, the shooting area B, the shooting area C, and the shooting area D are respectively associated with the left end, the right end, the upper end, and the lower end of the work 2. The pattern matching is performed on an image photographed by setting the camera 6 in each area, and the left end, the right end, the upper end, and the lower end in the image photographed of the entire work 2 are set. An inspection area A, an inspection area B, an inspection area C, and an inspection area D may be set, and pattern matching may be performed on each of these inspection areas.
Further, in the above embodiment, four registered models are set corresponding to the left end, the right end, the upper end, and the lower end of the work 2, however, one registered model is set in common, By rotating the registered model 90 ° or 180 ° to the left or right, it is possible to correspond to the left end, the right end, the upper end, and the lower end of the work 2 respectively.
In this case, for example, when the pattern matching is completed by the registered model corresponding to the left end of the work 2, the registered model is rotated by 180 ° to correspond to the right end, and further rotated by 90 ° therefrom to the upper end or the lower end. The order in which pattern matching is performed is arbitrary, and the direction in which the registered model is rotated can be set freely.
Further, in the configuration of the bonding apparatus 1 of the illustrated embodiment, a case has been described in which the camera 6 is attached to the bonding head 5 and the workpiece 2 placed on the tray 9 is photographed and image-processed. May be placed on the XY table 5 to target the work 2 held by the bonding head 4, and further, the circular substrate 3 is photographed by the camera 6 attached to the bonding head 4, The center position of the circular portion can also be obtained.
[0015]
【The invention's effect】
By using the conventional pattern matching technique and considering that the registered model is shifted in the circumferential direction along the image of the circular portion, the center position of the circle can be detected with higher accuracy than in the past.
[Brief description of the drawings]
FIG. 1 is a schematic diagram illustrating a bonding apparatus according to an embodiment.
FIG. 2 is an explanatory diagram illustrating an image processing method according to the embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Bonding apparatus 2 Work 5 XY table 6 Camera 8 Image processing unit 11 Comparison means 12 Recognition means 13 Calculation means 14A Leftmost position 14B Rightmost position 14C Uppermost position 14D Lowermost positions A to D Photographing range

Claims (5)

物品の円形部分の画像からパターンマッチングにより円形の中心位置を求める画像処理方法において、
左右方向に伸びるＸ座標とこれに直交する上下方向に伸びるＹ座標とのＸ−Ｙ座標系を設定し、該Ｘ−Ｙ座標系における円形部分の左端部、右端部、上端部、下端部に対応させて、最左端位置、最右端位置、最上端位置、最下端位置を示した基準円弧からなる登録モデルを設定して、物品の円形部分の画像に対して上記登録モデルにより各々パターンマッチングを行って、画像上に最左端位置、最右端位置、最上端位置、最下端位置をそれぞれ定め、これら最左端位置、最右端位置、最上端位置、最下端位置を上記Ｘ−Ｙ座標系で認識して、最左端位置のＸ座標値と最右端位置のＸ座標値との中間値を求めるとともに、最上端位置のＹ座標値と最下端位置のＹ座標値との中間値を求め、これら中間値からなる座標値を円形の中心位置とすることを特徴とする画像処理方法。In an image processing method for obtaining a center position of a circle by pattern matching from an image of a circular portion of an article,
An XY coordinate system of an X coordinate extending in the left-right direction and a Y coordinate extending in the vertical direction perpendicular to the X-coordinate is set, and a left end portion, a right end portion, an upper end portion, and a lower end portion of a circular portion in the XY coordinate system are set. Correspondingly, a registration model consisting of a reference arc indicating the leftmost position, the rightmost position, the uppermost position, and the lowermost position is set, and pattern matching is performed on the image of the circular portion of the article using the registration model. Then, the leftmost position, the rightmost position, the uppermost position, and the lowermost position are determined on the image, and the leftmost position, the rightmost position, the uppermost position, and the lowermost position are recognized in the XY coordinate system. Then, an intermediate value between the X coordinate value at the leftmost position and the X coordinate value at the rightmost position is obtained, and an intermediate value between the Y coordinate value at the uppermost position and the Y coordinate value at the lowermost position is obtained. The coordinate value consisting of the values is used as the center position of the circle. Image processing method according to claim. 上記登録モデルによってパターンマッチングを各々複数回行い、その結果の中から、最小となる最左端位置のＸ座標値と、最大となる最右端位置のＸ座標値と、最大となる最上端位置のＹ座標値と、最小となる最下端位置のＹ座標値とを選択することを特徴とする請求項１に記載の画像処理方法。The pattern matching is performed a plurality of times by the above registered model. From the results, the X coordinate value of the minimum leftmost position, the X coordinate value of the maximum rightmost position, and the Y coordinate of the maximum uppermost position are obtained. 2. The image processing method according to claim 1, wherein a coordinate value and a minimum Y coordinate value at the lowermost position are selected. 上記登録モデルは、上記円形部分の左端部、右端部、上端部、下端部のそれぞれについて設定されていることを特徴とする請求項１又は請求項２のいずれかに記載の画像処理方法。The image processing method according to claim 1, wherein the registration model is set for each of a left end, a right end, an upper end, and a lower end of the circular portion. 上記登録モデルは、１つの登録モデルを回転させることにより、上記円形部分の左端部、右端部、上端部、下端部のそれぞれに対応させることを特徴とする請求項１又は請求項２のいずれかに記載の画像処理方法。3. The registration model according to claim 1, wherein one registration model is rotated to correspond to each of a left end, a right end, an upper end, and a lower end of the circular portion. 2. The image processing method according to 1., 物品の円形部分の画像からパターンマッチングにより円形の中心位置を求める画像処理装置において、
物品の円形部分を撮影する撮影手段と、撮影手段を物品の円形部分に対し同一平面内で相対移動させる移動手段と、撮影手段が相対移動する平面と平行に、左右方向に伸びるＸ座標とこれに直交する上下方向に伸びるＹ座標とのＸ−Ｙ座標系を設定して、撮影手段が撮影した画像上の位置を該Ｘ−Ｙ座標系の座標値として認識する認識手段と、該Ｘ−Ｙ座標系における円形部分の左端部、右端部、上端部、下端部に対応させて、最左端位置、最右端位置、最上端位置、最下端位置を示した基準円弧からなる登録モデルを備え、物品の円形部分の画像に対して各々パターンマッチングを行って、画像上に最左端位置、最右端位置、最上端位置、最下端位置を定める比較手段と、比較手段が定めた画像上の各位置を認識手段により座標値として認識して、各座標値に基づく円形の中心位置の座標値を求める計算手段を備え、
計算手段は、最左端位置のＸ座標値と最右端位置のＸ座標値との中間値を求めるとともに、最上端位置のＹ座標値と最下端位置のＹ座標値との中間値を求めて、これら中間値からなる座標値を円形の中心位置とすることを特徴とする画像処理装置。In an image processing apparatus that obtains a circular center position by pattern matching from an image of a circular portion of an article,
Photographing means for photographing a circular portion of an article; moving means for relatively moving the photographing means relative to the circular portion of the article in the same plane; and X-coordinates extending in the left-right direction parallel to the plane on which the photographing means relatively moves. A recognition unit that sets an XY coordinate system with a Y coordinate extending in the vertical direction perpendicular to the image and recognizes a position on the image captured by the imaging unit as a coordinate value of the XY coordinate system; A left end portion, a right end portion, an upper end portion, and a registration model including a reference arc indicating a lowermost end position, a rightmost end position, an uppermost end position, and a lowermost position corresponding to the lower end portion of the circular portion in the Y coordinate system, A comparing unit that performs pattern matching on the image of the circular portion of the article to determine the leftmost position, the rightmost position, the uppermost position, and the lowermost position on the image; and each position on the image determined by the comparing unit. Is recognized as a coordinate value by the recognition means. To include a calculating means which calculates the coordinate value of the center position of the circular based on each coordinate value,
The calculating means calculates an intermediate value between the X coordinate value at the leftmost position and the X coordinate value at the rightmost position, and calculates an intermediate value between the Y coordinate value at the uppermost position and the Y coordinate value at the lowermost position, An image processing apparatus characterized in that a coordinate value composed of these intermediate values is used as a center position of a circle.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06260527A (en) * 1993-03-05 1994-09-16 Rasuko Kk Image processing device and edge detection as well as position detection
JPH10153407A (en) * 1996-11-25 1998-06-09 Omron Corp Measuring and processing device
JP2002109537A (en) * 2000-09-28 2002-04-12 Seiko Epson Corp Medium with image detecting program recorded therein, and device and method for detecting image

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06260527A (en) * 1993-03-05 1994-09-16 Rasuko Kk Image processing device and edge detection as well as position detection
JPH10153407A (en) * 1996-11-25 1998-06-09 Omron Corp Measuring and processing device
JP2002109537A (en) * 2000-09-28 2002-04-12 Seiko Epson Corp Medium with image detecting program recorded therein, and device and method for detecting image

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