JP2006226748A - Imaging recognition device of transparent body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To recognize image of transparent parts accurately, without having to use a special illumination. <P>SOLUTION: The recognition device is provided with an illumination part, comprising a CCD camera 14 photographing transparent parts 12 held by a nozzle 10 from a specific position on the front side facing the nozzle 10, an illumination means having a diffusion reflecting plate 16 arranged on the back side of the transparent parts 12, and a side illumination part 18 for illuminating with a light from the side of the transparent parts 12 facing the reflecting plate 16, a means of extracting the outline of the transparent body from the photographed and input image data, a means of operating circumscribed circle or inscribed circle to the extracted outline and a means of recognizing the position of the transparent body from the obtained circumscribed circle or the inscribed circle. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention provides a transparent image recognition apparatus, particularly an electronic component mounting apparatus in which a transparent component such as a lens is held by a nozzle and mounted at a predetermined position on a substrate, when the mounting position of the component is corrected by image processing. The present invention relates to a transparent image recognition apparatus suitable for application.

  In general, in an electronic component mounting apparatus that mounts electronic components on a wiring board, an electronic component is picked up and held at the tip of a suction nozzle, and imaged under a predetermined illumination by a recognition camera installed at a predetermined position. The position of the component on the apparatus is recognized based on the input image data.

  However, in the conventional image recognition apparatus, when position recognition is performed on a transparent part (transparent body) such as a lens in the same manner, the light emitted from the reflective illumination such as ring illumination is emitted from the part. Therefore, an accurate image cannot be input, and as a result, highly accurate mounting position correction by image recognition has been difficult.

  For a transparent body having such a property, Patent Document 1 discloses a technique that enables rough position recognition using reflected light of only a plane portion by using, for example, reflective coaxial illumination. .

  Patent Document 2 discloses a technique for detecting an accurate shape by using special illumination light such as a laser.

JP 2003-329415 A JP 7-280530 A

  However, with general reflection type coaxial illumination as disclosed in Patent Document 1, image recognition using only reflected light from the flat surface is limited by the shape of the component, or there is a difference in density from the background. Due to the shortage, the position of the transparent part could not be recognized with high accuracy.

  Further, the technique disclosed in Patent Document 2 has a problem that special illumination must be prepared although a more accurate shape can be detected.

  The present invention has been made to solve the above-described conventional problems, and provides a transparent body image recognition apparatus capable of recognizing a transparent body with high accuracy without using special illumination. Let it be an issue.

  The present invention relates to an imaging means for imaging a transparent body held by a nozzle from a predetermined position on the front side facing the nozzle, a means for extracting the contour of the transparent body from the image data input by imaging, and extraction A means for calculating a predetermined figure circumscribing or inscribed with respect to the contour, and a means for recognizing the position of the transparent body from the obtained circumscribed or inscribed predetermined figure. It is a thing.

  Further, in the present invention, as an illuminating means for imaging the transparent body, a reflecting plate disposed on the back side of the transparent body, and a side on which light is irradiated from the side of the transparent body toward the reflecting plate It is preferable to include an illumination unit.

  According to the present invention, the transparent body is imaged by the imaging means at a predetermined position, the contour of the transparent body is extracted from the input image data, and the transparent body held by the nozzle from the circumscribed circle or the inscribed circle Since the position can be recognized, it is possible to accurately recognize the position of the transparent body by adjusting the illumination condition so that the edge of the transparent body can be imaged.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a schematic diagram illustrating a state in which an image is input by the transparent image recognition apparatus according to an embodiment of the present invention, and FIG. 2 is a block diagram illustrating an outline of the configuration.

  In this embodiment, as shown in FIG. 1, a transparent component (transparent body) 12 held at the tip of a suction nozzle 10 that can move in a planar direction and a vertical direction in an electronic component mounting apparatus (not shown) is provided. Then, an image is input by taking an image with a CCD camera (image pickup means) 14 for component recognition installed at a predetermined position.

  Further, here, as the illumination means used when imaging the transparent component 12 by the CCD camera 14, the diffuse reflector 16 attached above the nozzle 10 on the back side of the transparent component 12, and the reflector And a ring illumination (side illumination unit) 18 that irradiates light from the side of the transparent component 12 toward the side 16, and diffused light uniformly illuminates the back surface of the transparent component 12 from the diffuse reflector 16. ing.

  The diffuse reflector 16 can be formed, for example, by roughening the surface of a flat acrylic plate. The ring illumination 18 has a configuration in which a number of LEDs 18A are attached as light sources to a ring-shaped substrate.

  As shown in FIG. 2, the image recognition apparatus of this embodiment includes an image storage unit 22 that stores image data input from the CCD camera 14 via the A / D conversion unit 20, and the image storage unit 22. An extracted data storage unit 24 that extracts and stores main part image data from the image data, an image recognition calculation unit 26 that executes various calculations using the main part image data read from the extracted data storage unit 24, and the calculation A contour extracting unit for extracting the contour of the transparent body from the image data input via the unit.

  The image recognition calculation unit 26 calculates a circumscribed circle or an inscribed circle for the contour extracted by the contour extracting unit 28, and performs an operation for recognizing the position of the transparent body from the obtained circumscribed circle or inscribed circle. It is supposed to run.

  The image recognition calculation unit 26 is connected to a control unit 30 having a built-in CPU, RAM, ROM, etc. for controlling the image recognition apparatus. The control unit 30 controls the entire electronic component mounting apparatus. The main control unit 32 is connected.

  The control unit 30 is connected to an illumination switching unit 34 so that, together with the ring illumination 18, a lower illumination unit 36 and a coaxial illumination unit 38 which are not explicitly shown can be selected and used.

  The extracted data storage unit 24 applies a window to a portion necessary for image processing in the image data stored in the image storage unit 22 and extracts and captures only the main image data in the window. ing. This reduces the amount of unnecessary image data and increases the efficiency of image processing.

  In the image recognition apparatus of the present embodiment having the above-described configuration, in order to accurately recognize the position of the transparent component 12, an image from which the contour information of the component 12 can be extracted is captured.

  Therefore, instead of the general reflected illumination, as shown in FIG. 1, the diffuse reflector 16 is obtained by irradiating the diffuse reflector 16 with the ring illumination 18 in which the light source is arranged on the entire periphery of the transparent component 12. The background portion of the component 12 is illuminated with appropriate brightness. Thereby, it can be set as the transmission type illumination which the transparent component 12 becomes a shadow.

  By adopting such an illumination method, it is possible to cause a shadow on the contour of the component due to the properties of light and a transparent object, and obtain contour information of the component.

  The reason for this is that the edge portion of the part has a shape having a curved surface as a matter of fact, whether it is a thin part or a part whose edge is almost a right angle. Therefore, of the light irradiated from the back side, the light that has reached the flat part of the component passes through the component as it is. However, in the curved surface portion near the edge, the traveling direction of light changes depending on the properties of light reflection and refraction as shown. As a result, the light of the outer portion of the component 12 is blocked, and as a result, the shadow of the contour of the component can be imaged.

  By adopting the illumination described above in FIG. 3, it is possible to obtain an annular contour (cross-hatched component) as shown in the image of the image obtained when a disk-shaped transparent component such as a lens is imaged. it can.

  In the present embodiment, the image data as shown in FIG. 3 is stored in the image storage unit 22 by imaging the transparent component 12 with the CCD camera 14. Next, only the minimum image data necessary for calculation is extracted from the image data in FIG. 3 and stored in the extracted data storage unit 24.

  Next, only the outermost edge portion of the image in FIG. 3 is extracted by the contour extracting unit 28, and although not shown, a contour image corresponding to the outermost circle is acquired, and then the circle (some irregularities) is obtained. The position of the transparent component 12 with respect to the image area of the CCD camera 14 can be accurately recognized by obtaining a circumscribed or inscribed circle and further obtaining the center coordinates of the circle.

  Note that the contour extraction performed here can be performed according to a conventional method such as processing the image data with a differential filter after clarifying the edge portion by binarizing the image data, and the circumscribed circle and inscribed circle are: The center of gravity position of the extracted contour image can be obtained, and the center of gravity position can be finely adjusted to find a circumscribed or inscribed circle.

  According to this embodiment described above, the following effects can be obtained.

  (1) The contour information of a transparent part such as a lens can be accurately obtained without using special illumination such as a laser.

  (2) Therefore, the position of a transparent component such as a lens can be recognized with high accuracy based on the circumscribed circle or inscribed circle obtained from the contour.

  In the above-described embodiment, the lens is shown as the transparent part. However, the present invention is not limited to this, and it is needless to say that the present invention can be applied to a transparent body other than a circle. That is, it is possible to recognize a position of the transparent body by calculating a predetermined figure (for example, a circle, a square, a rectangle, etc.) circumscribing or inscribed in the annular contour.

  The specific configuration of the image recognition apparatus according to the present invention is not limited to that shown in the above embodiment.

  Also, the illumination means for imaging the transparent part is not particularly limited as long as the image can be input with the edge portion as a shadow. Therefore, the effect is inferior to that of the combination of the ring illumination and the diffusive reflector as in the above embodiment, but for example, the coaxial incident illumination may be adjusted and used.

The schematic diagram which shows a mode that the components are imaged with the image recognition apparatus of one Embodiment which concerns on this invention. The block diagram which shows the outline | summary of a structure of the said image recognition apparatus. Explanatory drawing which shows the image of the image data obtained by imaging a transparent component by this embodiment

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Adsorption nozzle 12 ... Transparent part 14 ... CCD camera (imaging means)
16 ... Diffuse reflector 18 ... Ring illumination (side illumination part)
26 ... Image recognition calculation unit 28 ... Outline extraction unit

Claims (2)

An imaging means for imaging the transparent body held by the nozzle from a predetermined position on the front side facing the nozzle;
Means for extracting the contour of the transparent body from the image data input by imaging;
Means for calculating a predetermined figure circumscribing or inscribed with respect to the extracted contour;
And a means for recognizing the position of the transparent body from the circumscribed or inscribed predetermined figure.   As a lighting means for imaging the transparent body, a reflecting plate disposed on the back side of the transparent body and a side lighting unit that irradiates light from the side of the transparent body toward the reflecting plate are provided. The transparent image recognition apparatus according to claim 1.

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