JP2009130034A - Front/back discriminating apparatus for suction component and front/back discriminating method for suction component - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable discrimination of the front or back side of a suction component sucked to a suction nozzle of a component mounting machine through simple processing on the basis of an image photographed by a camera from the side surface direction of the component. <P>SOLUTION: A component sucked to a suction nozzle is photographed by a camera from a side surface direction (horizontal direction) of the component to obtain an image photographed from the side surface of the suction component, the image is captured and then processed. A height position of either one of right and left ends of the suction component, or height positions of both ends, and a height position of a lowermost end of the suction component, while displayed on the image, are measured, and a difference value between the height position of either one of the right and left ends of the suction component or the height positions of both end, and the height position of the lowermost end of the suction component is calculated. On the basis of whether the difference value is not smaller than a front/back discrimination threshold value, it is determined whether the sucked attitude of the suction component is reverse in the front and back sides. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a suction component front / back determination device and a suction component front / back determination method for determining whether the suction posture of a component sucked by a suction nozzle of a component mounting machine is opposite.

  The component mounter is a device that picks up components supplied from a feeder such as a tape feeder with a suction nozzle and mounts them on a circuit board. However, the front and back of the components supplied from the feeder are turned over for some reason. It may be adsorbed by the adsorption nozzle.

  Therefore, as described in Patent Document 1 (Japanese Patent Application Laid-Open No. 7-131196), for the purpose of determining the front and back of the component sucked by the suction nozzle, the component sucked by the suction nozzle is viewed from below with a camera. Some images are picked up, and the front and back surfaces of the suction component are determined by determining the color difference between the front and back surfaces of the component and the presence or absence of marks and characters (product name, manufacturing number, etc.) by image processing technology.

  However, with this method, it is not possible to determine the front and back of a component that does not have a color difference between the front and back sides of the component and has no mark or character that can be determined.

Moreover, as described in Patent Document 2 (Japanese Patent Laid-Open No. 2007-220770), a laser recognition device (laser alignment sensor) that measures the lateral width of the suction component from the side surface direction is provided, and the lateral width of the lower surface of the suction component is reduced. There is one in which the front and back of the suction component is determined by measuring and determining whether or not there is a lead protruding laterally from the lower surface of the suction component.
Japanese Patent Laid-Open No. 7-131196 JP 2007-220770 A

  Recently, as described in the specification of Japanese Patent Application No. 2006-307507, the present applicant images a part sucked by a suction nozzle of a component mounting machine (hereinafter referred to as “suction part”) with a camera from the side. We are researching and developing a system that determines the diagonal suction of the suction component based on the acquired image of the side of the suction component. The technique for judging the front and back is not described. If it is possible to determine the front and back of the suction component from the side image of the suction component, the number of types of suction failure that can be detected from the side image of the suction component will increase, and the conventional mounting failure rate due to suction failure will increase. In addition to being able to reduce further, it is possible to perform front / back determination without providing a laser recognition device (laser alignment sensor) for front / back determination.

  The present invention has been made in consideration of such circumstances. Therefore, the object of the present invention is to capture an image of a component sucked by a suction nozzle of a component mounting machine (hereinafter referred to as “sucking component”) with a camera from the side. An object of the present invention is to provide a suction component front / back determination apparatus and a suction component front / back determination method that can determine the front / back of the suction component based on simple processing.

  In order to achieve the above object, the invention according to claims 1 and 9 is characterized in that the suction is performed based on an image obtained by capturing a part sucked by a suction nozzle of a component mounting machine (hereinafter referred to as “sucking part”) with a camera from the side. A technical idea for determining whether or not the suction posture of a component is opposite to the front and back, wherein the side surface of the suction component represented in the image captured by the camera is recognized by image processing, and either left or right ends of the suction component Whether or not the suction posture of the suction component is opposite is determined based on the difference value between the height position of one end and the height position of the lowermost end of the suction component. If the height position of the left and right ends of the suction component is offset from the height position of the center of the suction component to the back side or the front side, if the front and back sides of the suction component are reversed, either the left or right end of the suction component or one of the ends The difference value between the height position of and the height position of the lowermost end of the suction component changes. Therefore, it is possible to determine whether or not the suction posture of the suction component is opposite to the front and back based on this difference value, and the suction component can be easily processed based on the image captured by the camera from the side surface direction of the suction component. The front and back of the part can be determined.

  In this case, as in claims 2 and 10, when the suction part to be subjected to front / back determination is a part with a lead whose lead protrudes sideways, the difference value is equal to or greater than the front / back determination threshold value. Whether or not the suction posture of the suction component is opposite is determined based on whether or not the suction component is opposite. Since the lead is provided on the bottom side of the component, if the front and back of the suction component are correct and normal suction, the height positions of the left and right ends of the suction component (lead height position) and the height of the lowest end of the suction component The difference value from the current position becomes smaller. From this relationship, if the difference value is greater than or equal to the front / back determination threshold, it can be determined that the suction orientation of the suction component is opposite, and if the difference value is less than the front / back determination threshold, the front / back of the suction component is correct. It can be determined that the adsorption is normal.

  For example, the average value of the height positions of the left and right ends of the suction component is calculated, and the suction of the suction component is based on the difference between the average value of the height positions of the left and right ends and the height position of the lowest end of the suction component. Although it may be determined whether the posture is opposite, the height position of the lower end of the left and right ends of the suction component and the highest position of the suction component as in claims 3 and 11. Based on the difference value from the height position of the lower end, it may be determined whether or not the suction posture of the suction component is opposite. In this way, the front and back of the suction component can be accurately determined even when the component is sucked and sucked by the suction nozzle.

  Further, as in claims 4 and 12, when only one of the left and right ends of the suction component can be recognized from the image captured by the camera, the height position of the one end that can be recognized Whether or not the suction posture of the suction component is opposite is determined based on a difference value between the height position of the suction component and the lowermost end of the suction component. In this way, even if one end of the suction component protrudes from the scan area of the image, the difference value between the height position of one end that can be recognized by image processing and the height position of the lowest end of the suction component The front and back of the suction component can be determined based on the above.

  Further, as in claims 5 and 13, when both the left and right ends of the suction component cannot be recognized from the image captured by the camera, the front / back determination of the suction component may be stopped. In this way, it is possible to prevent the front and back of the suction component from being erroneously determined when the left and right ends of the suction component protrude from the image scan area.

  Further, as in claims 6 and 14, the height positions of the edges located in a plurality of preset scan areas among the edges of the suction component represented in the image captured by the camera are measured and measured. The height position of each edge is compared with the value corresponding to the height position of the edge during normal suction stored in the storage means to determine whether the suction posture of the suction component is opposite. good. In this way, not only when the height position of the left and right ends of the suction component is offset from the height position of the center of the suction component to the back side or the front side (for example, a component with leads), but also including deformed parts It is possible to perform front / back determination of parts of various shapes with simple processing.

  In this case, as in claims 7 and 15, the sum of the absolute values of the difference values between the height positions of the edges located in the plurality of scan areas and the edge height position equivalent value during normal suction is the front and back sides. It may be determined whether or not the suction posture of the suction component is opposite, depending on whether or not the determination threshold value is exceeded.

  Depending on the individual error of each suction component, the lighting status of the suction component during shooting, the imaging state error such as camera aberration, and the camera resolution between the value corresponding to the height position of the edge that should be originally and the actual measurement value Errors due to various factors such as errors and errors at the time of edge detection by image processing are included, and the front / back determination threshold needs to comprehensively consider these multiple factors. For this reason, when the difference value is individually compared with the front / back determination threshold value, the front / back determination threshold is used to prevent erroneous determination that the suction is opposite to the front / back despite the normal suction state. The value must be a relatively large value.

  If the value obtained by summing the absolute values of the difference values is compared with the front / back determination threshold value as in claims 7 and 15, the front / back determination threshold value can be set relatively low, and the determination accuracy is improved. be able to. In addition, each difference value is compared with a relatively large value front / back determination threshold value, and the sum of the absolute values of the difference values is compared with a relatively small value front / back determination threshold value (as a percentage). If compared, the determination accuracy can be further increased.

  Further, as in claims 8 and 16, the positions of the plurality of scan areas may be set according to the horizontal distance from the center of the suction component. In this way, since a plurality of scan areas can be set with the center of the suction part shown in the image as the reference position, the determination of the suction part can be made even if the position of the suction part in the image is shifted in either the left or right direction. A plurality of scan areas can be accurately set at a plurality of height position measurement points, and the front and back of the suction component can be accurately determined.

  Hereinafter, two Examples 1 and 2, which embody the best mode for carrying out the present invention, will be described.

A first embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, the component mounting machine includes a revolver type (rotary type) mounting head 12, and a plurality of suction nozzles 13 are arranged at predetermined intervals in the circumferential direction on the lower surface side of the mounting head 12. Yes. Each suction nozzle 13 is suctioned and held downward by a suction holder 14 provided on the mounting head 12 so as to be movable up and down. Although not shown, the mounting head 12 is supported by a Y slide that moves in the Y direction of the XY slide mechanism, and the Y slide is mounted on the X slide that moves in the X direction.

  On the other hand, the imaging device 11 with an image processing function is attached to a mounting head 12 that is detachably supported by a Y slide, and moves integrally with the mounting head 12. The imaging device 11 with an image processing function includes a camera 15 such as a CCD camera, a display 16 such as a liquid crystal display (LCD), an illumination light source 17 such as an LED that illuminates an object to be imaged (suction nozzle 13 or suction component), A main control board 18 for controlling these operations and a prism 19 for aligning the optical axis of the camera 15 with the object to be imaged are provided. In the first embodiment, the illumination light source 17 is an LED for UV illumination that irradiates UV light. Below the center of the mounting head 12, fluorescence is generated by the UV light from the illumination light source 17 and an object to be imaged ( A cylindrical fluorescent reflector 21 that illuminates the suction nozzle 13 and the suction component) from the back side is provided.

  As shown in FIG. 2, a CPU 22 (image processing means), a ROM 23, a RAM 24, a control network IC 25, an LED driver 26 for driving an illumination light source 17 (UV illumination LED), and an output from the camera 15 are provided on the main control board 18. A binarization circuit 27 for binarizing the image data to be processed, an LCD driver 28 for driving the display 16 (LCD), and the like are mounted.

  The display 16 (LCD) is connected to the main control board 18 via a relay board 29 and a cable 30 such as a flexible flat cable (FFC). The relay board 29 is provided with push button switches 31 and 32 for operation. By operating the push button switches 31 and 32, the display mode of the display 16 is switched. In addition, the display mode of the display 16 can be switched by a display mode switching signal transmitted from a control computer (not shown) of the component mounter. The camera 15 and the illumination light source 17 (UV illumination LED) are also connected to the main control board 18 via cables 33 and 34 such as a flexible flat cable (FFC).

  The main control board 18 is connected to a control computer (not shown) of the component mounting machine via a harness 35, and transmits and receives signals between the main control board 18 and the control computer of the component mounting machine, and also mounts the component. DC power is supplied to the image pickup apparatus 11 from the control computer of the machine.

Next, the operation of the imaging apparatus 11 with an image processing function having the above configuration will be described.
The CPU 22 of the imaging device 11 with an image processing function receives information such as threshold data, various parameters, operation commands (imaging trigger) transmitted from the control computer of the component mounting machine. Then, when the operation command (imaging trigger) is received, the imaging operation of the camera 15 is started, and image processing of the imaged object (suction nozzle 13 or suction component) output from the camera 15 is performed and image processing is performed. Then, the processing result is transmitted to the control computer of the electronic component mounting machine.

At this time, the CPU 22 of the imaging device 11 performs image processing as follows.
When determining whether or not the suction posture of the suction component is opposite, while the component mounter is in operation, the CPU 22 of the imaging device 11 removes the component sucked by the suction nozzle 13 from the side surface (horizontal direction) from the camera 15. Then, the image of the side surface of the suction component (see FIGS. 3 and 4) is captured and processed. And the suction parts that are subject to front / back determination are parts whose left and right end heights are offset from the height position of the center of the suction part in the thickness direction (for example, with leads with leads protruding sideways). Component), the height position (Z coordinate data) of the left and right ends or any one of the suction parts represented in the image captured by the camera 15 and the lowest position of the suction part are measured. Then, the measurement data at each height position is transmitted to the control computer of the component mounting machine.

  The component mounter control computer has an image processing function, and the component mounter control computer recognizes the side surface of the suction component represented in the image transmitted from the imaging device 11 by image processing, and You may make it measure the height position of the left-right both ends or any one end of a suction component, and the height position of the lowest end of this suction component.

  In the first embodiment, in order to shorten the image processing time, a partial function for setting a scan area (scanning range) partially in an image captured by the camera 15 is mounted. The scan area is set assuming the presence range of the suction parts in the image, but if there is a margin for image processing time, the entire image captured by the camera 15 is set as the scan area, Needless to say, the whole may be scanned.

  As shown in FIGS. 3A and 3B, when the entire suction component is within the scan area set in the image captured by the camera 15, the height positions of the left and right ends (leads) of the suction component Can be measured. In this case, scan from the left and right edges of the scan area toward the center to detect the left and right ends of the suction component, measure the height positions of the left and right ends, and detect the bottom end of the suction component to detect its bottom end. Measure the height position.

  On the other hand, as shown in FIGS. 4A and 4B, since one end (lead) of the suction component protrudes from the scan area set in the image captured by the camera 15, both left and right ends of the suction component If only one end of the scan area can be recognized, scanning is performed from one end of the scan area toward the center. For example, if only the left end of the suction component is recognizable, scanning is performed from the left end of the scan area toward the center, and if only the right end of the suction component is recognizable, scanning is performed from the right end of the scan area toward the center. Thus, one end of the suction component and the lowermost end of the suction component are detected, and the height position of the one end and the height position of the lowermost end are measured. Here, the method of determining whether the left end or right end of the suction component protrudes from the scan area is to scan the left end or right end of the scan area, and whether the edge of the suction component exists at the left end or right end of the scan area What is necessary is just to determine.

  Further, as shown in FIG. 4C, when the left and right ends of the suction component protrude from the scan area set in the image captured by the camera 15, and both the left and right ends of the suction component cannot be recognized, Since neither of the left and right height positions can be measured, a height position measurement impossible signal is output.

  The control computer of the component mounting machine calculates the difference value between the height position of the left and right ends of the suction component or either one of the suction components and the height position of the lowest end of the suction component, and determines the front and back of the difference value. It is determined whether or not the suction posture of the suction component is opposite to the front and back compared with the threshold value. If the height position of the left and right ends of the suction component is offset from the height position of the center of the suction component to the back side or the front side, if the front and back sides of the suction component are reversed, either the left or right end of the suction component or one of the ends Since the difference value between the height position of the suction component and the height position of the lowest end of the suction component changes, it is possible to determine whether the suction posture of the suction component is opposite to the front or back based on this difference value It becomes.

  The suction component front / back determination processing of the first embodiment described above is executed according to the suction component front / back determination routine of FIG. 5 by the control computer of the component mounting machine and the CPU 22 of the imaging device 11. The processing contents of the suction component front / back determination routine of FIG. 5 will be described below.

  The suction component front / back determination routine of FIG. 5 is started in synchronization with the timing at which the camera 15 picks up the component sucked by the suction nozzle 13 from the side surface direction, and serves as front / back determination means in the claims. When this routine is started, first, in step 101, one scan area for scanning the left and right ends and the lowermost edge of the suction component is set, and in the next step 102, suction is performed on the suction nozzle 13. The part is imaged by the camera 15 from the side surface direction (horizontal direction). Note that the scan area may be set after the imaging of the camera 15.

  Thereafter, the process proceeds to step 103, and in order to determine whether or not the left and right ends of the suction component are within the scan area, the left end and the right end of the scan area are respectively scanned. In the next step 104, the scan result is displayed. Based on this, it is determined whether or not the edge of the suction component exists at both the left end and the right end of the scan area (that is, whether both the left and right ends of the suction component protrude from the scan area). As a result, as shown in FIG. 4C, if it is determined that the edge of the suction component exists at both the left end and the right end of the scan area, it is determined that any height position of the left and right ends of the suction component cannot be measured. Then, the process proceeds to step 105, and the front / back determination is stopped (a height position measurement impossibility signal is transmitted from the CPU 22 of the imaging device 11 to the control computer of the component mounting machine).

  On the other hand, if “No” is determined in step 104, the process proceeds to step 106, and whether or not there is an edge of the suction component on either the left end or the right end of the scan area (that is, the left end and the right end of the suction component). Whether or not one of them protrudes from the scan area). As a result, as shown in FIGS. 4A and 4B, if it is determined that the edge of the suction component exists at one of the left end and the right end of the scan area, the process proceeds to step 111, where the left end of the scan area Scan from the end of the right end where the edge of the suction component does not exist to the center, and based on the scan result, detect one recognizable end of the suction component and the bottom end of the suction component, Measure the height of the edge and the height of the bottom edge. Thereafter, the process proceeds to step 112, the difference value ΔZmin between the height position of one end of the suction component and the height position of the lowermost end is calculated, and the process proceeds to step 113 described later. This difference value ΔZmin is used as a difference value ΔZmin for front / back determination in step 114 described later.

  If “No” is determined in step 106, it is determined that the left and right ends of the suction component are within the scan area as shown in FIGS. 3A and 3B. Proceed to, scan from the left end of the scan area toward the center, detect the left end of the suction component based on the scan result, measure the height position of the left end, and from the right end of the scan area toward the center Scan, detect the right end of the suction component based on the scan result, measure the height position of the right end, and further detect the bottom end of the suction component based on the scan results from these two directions The height position of the lowermost end is measured.

  Thereafter, the process proceeds to step 108, and a difference value ΔZL between the height position of the left end of the suction component and the height position of the lowermost end is calculated. In the next step 109, the height position of the right end of the suction component and the lowermost end of the suction component are calculated. A difference value ΔZR from the height position is calculated. In the next step 110, the smaller one of these two difference values ΔZL and ΔZR is selected as the difference value ΔZmin for front / back determination.

  Alternatively, the difference between the height position of the lower end and the height position of the lowermost end may be calculated by comparing the left end height position and the right end height position of the suction component. The difference value is also the same difference value as the front / back determination difference value ΔZmin selected in step 110. In addition, an average value of the two difference values ΔZL and ΔZR may be used as the difference value ΔZmin for front / back determination.

Thereafter, the process proceeds to step 113, where the front / back determination threshold value β is calculated based on the thickness of the suction component. At this time, for example, α [%] of the thickness of the suction component may be used as the front / back determination threshold value β.
β = thickness of adsorbing part × α / 100
Here, the thickness of the suction component may be measured based on the scan result of the scan area. The front / back determination threshold value β may be a preset constant value.

  After calculating the front / back determination threshold value β, the process proceeds to step 114, and the front / back determination difference value ΔZmin selected or calculated in step 110 or step 112 is compared with the front / back determination threshold value β. If the difference value ΔZmin is equal to or greater than the front / back determination threshold value β, the process proceeds to step 115, where it is determined that the suction posture of the suction component is opposite, and the front / back determination difference value ΔZmin is less than the front / back determination threshold value β. If there is, the process proceeds to step 116, and it is determined that the front and back of the suction component is correct normal suction.

  According to the first embodiment described above, the height positions of the left and right ends or one of the ends of the suction component represented by the image captured by the camera 15 from the side surface of the component sucked by the suction nozzle 13 and the suction The difference value with the height position of the lowest end of the part is calculated, and the difference value is compared with the front / back determination threshold value to determine whether the suction posture of the suction part is opposite to the front / back side. Therefore, the front and back of the suction component can be determined by a simple process based on the image captured by the camera from the side surface direction of the suction component.

  Further, in the first embodiment, as shown in FIGS. 3A and 3B, when the left and right ends of the suction component are within the scan area and the height positions of the left and right ends of the suction component can be measured. Whether the suction posture of the suction component is opposite on the basis of the difference value ΔZmin between the height position of the lower end of the left and right ends of the suction component and the height position of the lowermost end of the suction component Since the determination is made, the front and back of the suction component can be accurately determined even when the component is sucked and sucked by the suction nozzle 13.

  Further, in the first embodiment, as shown in FIGS. 4A and 4B, since one end of the suction component protrudes from the scan area, either one of the left and right ends of the suction component is detected. If only the edge can be recognized, whether or not the suction posture of the suction component is opposite on the basis of the difference between the height position of the end of one end of the suction component and the height position of the lowest end Therefore, even if one end of the suction component protrudes from the scan area, the difference value between the height position of one end that can be recognized by image processing and the height position of the lowest end of the suction component The front and back of the suction component can be determined based on the above.

  Further, in the first embodiment, as shown in FIG. 4C, since both the left end and the right end of the suction component protrude from the scan area, it is impossible to measure the height positions of both the left and right ends of the suction component. In this case, since the front / back determination of the suction component is stopped, it is possible to prevent erroneous determination of the front / back of the suction component when both left and right ends of the suction component protrude from the scan area.

  In the second embodiment of the present invention shown in FIG. 6 and FIG. 7, a plurality of portions that are the geometric features of the part among the edges (lower end or upper end) of the suction part represented in the image captured by the camera 15. In order to measure the height position of the edge, a plurality of scan areas A, B, C, and D are set in the image. The positions of the scan areas A, B, C, and D are set by offset amounts La, Lb, Lc, and Ld that are horizontal distances from the center of the suction component, and the respective offset amounts La, Lb, Lc, and Ld The sizes of the scan areas A, B, C, and D are registered in advance for each type of component.

  The center of the suction component may be determined from the image of the side surface of the suction component imaged by the camera 15 from the side surface direction, but the suction component imaged by the parts camera (not shown) from the lower surface direction. If the center of the suction component determined from the image on the lower surface is used, the accuracy of the center of the suction component serving as the reference position for the offset amounts La, Lb, Lc, and Ld can be further increased. Further, the number of scan areas A, B, C, and D is not limited to four as shown in FIG. 6, and is set to an arbitrary number (however, two or more) according to the number of shape features of the suction component. Just do it.

  After setting the scan areas A, B, C, and D, the scan areas A, B, C, and D are located in the edges (lower end or upper end) of the suction component represented in the image captured by the camera 15. The suction position of the suction component is measured by measuring the height position of the edge and comparing the measured height position of each edge with the value corresponding to the height position of the edge during normal suction stored in the storage device (storage means). It is determined whether or not is opposite.

  At this time, for example, the absolute value | Zmes of the difference value between the edge height position Zmes (i) of each scan area i (i = A to D) and the edge height position equivalent value Zstd (i) at the time of normal suction (i) −Zstd (i) | is calculated, and the absolute value | Zmes (i) −Zstd (i) | of the difference values of all the scan areas i is summed, and the front / back determination parameter Zdiffsum = Σ | Zmes (i ) −Zstd (i) | is determined, and whether or not the suction posture of the suction component is opposite is determined by whether or not the front / back determination parameter Zdiffsum is equal to or larger than the front / back determination threshold value γ. Here, the front / back determination threshold value γ may be registered in advance for each type of component.

  The difference between the edge height position Zmes (i) located in the plurality of scan areas i and the edge height position equivalent value Zstd (i) during normal suction when the suction posture of the suction component is not opposite. Since the absolute value of the value becomes smaller, if the front / back determination parameter Zdiffsum obtained by summing up the absolute values of the difference values is equal to or greater than the front / back determination threshold γ, it is determined that the suction orientation of the suction component is opposite. If the front / back determination parameter Zdiffsum is less than the front / back determination threshold γ, it can be determined that the front / back of the suction component is correct normal suction.

  The suction component front / back determination processing of the second embodiment described above is executed according to the suction component front / back determination routine of FIG. 7 by the control computer of the component mounter and the CPU 22 of the imaging device 11. Hereinafter, processing contents of the suction component front / back determination routine of FIG. 7 will be described.

  The suction component front / back determination routine of FIG. 7 is started in synchronism with the timing at which the camera 15 picks up the component sucked by the suction nozzle 13 from the side surface direction, and serves as front / back determination means in the claims. When this routine is started, first, in step 201, the height positions of the edges of a plurality of portions that are the geometric features of the part among the edges of the suction part represented in the image captured by the camera 15 are determined. A plurality of scan areas i (i = A to D) for measurement are set by the method described above. Thereafter, the process proceeds to step 202, and the part sucked by the suction nozzle 13 is imaged by the camera 15 from the side surface direction (horizontal direction). Note that a plurality of scan areas i may be set after imaging by the camera 15.

Thereafter, the process proceeds to step 203, where each scan area i is scanned to detect an edge located in each scan area i among the edges (lower end or upper end) of the suction component represented in the image captured by the camera 15. Then, the height position Zmes (i) is measured. Then, in the next step 204, after reading the edge height position equivalent value Zstd (i) at the time of normal suction stored in the storage device (storage means), the process proceeds to step 205 and measured in step 203 above. The absolute value | Zmes (i) −Zstd (i) | of the difference value between the height position Zmes (i) of each scan area i and the height position equivalent value Zstd (i) at the time of normal suction is calculated. The absolute values | Zmes (i) −Zstd (i) | of the difference values of all the scan areas i are summed to obtain the front / back determination parameter Zdiffsum.
Zdiffsum = Σ | Zmes (i) −Zstd (i) |

  Thereafter, the process proceeds to step 206, where the front / back determination parameter Zdiffsum is compared with the front / back determination threshold value γ. If the front / back determination parameter Zdiffsum is equal to or greater than the front / back determination threshold value γ, the process proceeds to step 207, If the front / back determination parameter Zdiffsum is less than the front / back determination threshold γ, the process proceeds to step 208, where it is determined that the front / back of the suction component is correct normal suction.

  According to the second embodiment described above, the height position Zmes (i) of the edge located in a plurality of preset scan areas i among the edges of the suction component represented in the image captured by the camera 15. And the measured height position Zmes (i) of each edge is compared with the pre-registered edge height position equivalent value Zstd (i) for normal suction, and the suction posture of the suction component is opposite Since the height position of the left and right ends of the suction component is offset from the height position of the center in the thickness direction of the suction component to the back side or the front side (for example, a component with a lead) In addition, it is possible to perform front / back determination of parts of various shapes including irregularly shaped parts with simple processing.

  Moreover, in the second embodiment, a plurality of scan areas i are set by horizontal distances (offset amounts La, Lb, Lc, Ld) with the center of the suction component represented in the image captured by the camera 15 as a reference position. Since this is done, even if the position of the suction component in the image is shifted in either the left or right direction, it is possible to accurately set a plurality of scan areas i at a plurality of determined height position measurement locations of the suction component, The front and back of the suction component can be accurately determined.

  By the way, between the height position equivalent value Zstd (i) and the measured value of the actual height position Zmes (i) of the edge that should be, the individual error of each suction component, the lighting that irradiates the suction component during imaging Error due to various factors, such as the state and imaging state errors such as camera 15 aberration, error due to camera resolution, and edge detection error due to image processing are included. It is necessary to consider. Therefore, when the difference value (Zmes (i) −Zstd (i)) is individually compared with the front / back determination threshold value, it is erroneously determined that the front / back reverse adsorption is performed despite the normal adsorption state. In order to prevent this, the front / back determination threshold value needs to be a relatively large value.

  If the value | Zmes (i) −Zstd (i) |, which is the sum of the absolute values of the difference values, is compared with the front / back determination threshold value as in the second embodiment, the front / back determination threshold value is relatively low. It can be set, and the determination accuracy can be increased. In addition, each difference value (Zmes (i) −Zstd (i)) is compared with a relatively large value front / back determination threshold value, and a value obtained by adding the absolute values of the difference values | Zmes (i) −Zstd If (i) | is compared with a relatively small front / back determination threshold value, the determination accuracy can be further increased.

  Note that the present invention is not limited to the configuration using the imaging device 11 with an image processing function, and may be configured to have an image processing function in an image processing device (for example, a control computer of a component mounter) different from the imaging device. Various modifications can be made without departing from the spirit of the invention.

It is a figure which illustrates roughly the structure of the mounting head part of the imaging device with an image processing function in Example 1 of this invention, and an electronic component mounting machine. It is a block diagram which shows the electrical constitution of the imaging device with an image processing function. (A) is a figure which shows an example of the image in which the whole adsorption | suction component at the time of normal adsorption | suction is settled in a scan area, (b) is an example of the image in which the whole adsorption component opposite front and back is settled in a scan area. FIG. (A) is an example of an image showing an image in which one end (lead) of a component normally adsorbed to an adsorption nozzle protrudes from the scan area, and (b) is an illustration of a component adsorbed on the opposite side of the adsorption nozzle. It is a figure which shows an example of the image which one edge has protruded from the scanning area, (c) is an example of the figure which shows the image from which the right and left both ends of the components adsorb | sucked by the suction nozzle opposite to the front and back are protruding from the scanning area. is there. It is a flowchart which shows the flow of a process of the suction component front / back determination routine of Example 1. FIG. It is a figure which shows an example of the image for demonstrating the suction component front / back determination method of Example 2. FIG. It is a flowchart which shows the flow of a process of the suction component front / back determination routine of Example 2. FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 11 ... Imaging device with image processing function, 12 ... Mounting head, 13 ... Suction nozzle, 14 ... Suction holder, 15 ... Camera, 16 ... Display, 17 ... Illumination light source, 18 ... Main control board, 19 ... Prism, 20 ... Adsorption parts, 21 ... fluorescent reflector, 22 ... CPU (front / back determination means), 23 ... ROM, 24 ... RAM, 25 ... control network IC

Claims (16)

Whether or not the suction posture of the suction component is opposite on the basis of the camera that picks up the component sucked by the suction nozzle of the component mounting machine (hereinafter referred to as “suction component”) from the side surface direction and the image captured by the camera Front and back judging means for judging
The front / back determination means recognizes the side surface of the suction component represented in the image captured by the camera by image processing, and determines the height position of the left and right ends or either one of the suction component and the lowest end of the suction component. A suction component front / back determination apparatus, which determines whether or not the suction posture of the suction component is opposite to the front and back based on a difference value from the height position of the suction component. The adsorbing component is a component with a lead that protrudes laterally,
The front / back determination unit determines whether the suction posture of the suction component is opposite to the front / back depending on whether the difference value is equal to or greater than a front / back determination threshold value. Adsorption part front / back determination device.   The front / back determination means determines that the suction posture of the suction component is opposite to the front / back based on a difference value between the height position of the lower end of the suction component and the height position of the lowermost end of the suction component. 3. The suction component front / back determination apparatus according to claim 1, wherein the determination is made as to whether or not the suction component is in the reverse direction.   When the front and back determination means can recognize only one of the left and right ends of the suction component from the image captured by the camera, the height position of the one end that can be recognized and the suction 4. The suction component according to claim 1, wherein whether or not the suction posture of the suction component is opposite to the front and back is determined based on a difference value from a height position of a lowermost end of the component. Front / back determination device.   The said front / back determination means stops the front / back determination of the said suction component, when both the right and left ends of the said suction component cannot be recognized from the image imaged with the said camera. Adsorption parts front and back judgment device. Whether or not the suction posture of the suction component is opposite on the basis of the camera that picks up the component sucked by the suction nozzle of the component mounting machine (hereinafter referred to as “suction component”) from the side surface direction and the image captured by the camera Front and back judging means for judging
The front / back determination means measures the height position of an edge located in a plurality of preset scan areas among the edges of the suction component represented in the image captured by the camera, and measures the height of each measured edge. Comparing the position of the suction component with the height position equivalent value at the time of normal suction stored in the storage means to determine whether the suction posture of the suction component is opposite to the front or back Judgment device.   The front / back determination means has a front / back determination threshold value obtained by summing the absolute values of the difference values between the height positions of the edges located in the plurality of scan areas and the edge height position equivalent value during the normal suction. The suction part front / back determination apparatus according to claim 6, wherein whether or not the suction posture of the suction part is opposite is determined based on whether or not the above is true.   8. The suction component front / back determination apparatus according to claim 6, wherein the positions of the plurality of scan areas are set according to a horizontal distance from a center of the suction component. 9. A suction component front and back for determining whether the suction posture of the suction component is opposite to the front or back based on an image obtained by capturing the component sucked by the suction nozzle of the component mounting machine (hereinafter referred to as “suction component”) with a camera from the side surface direction. In the judgment method,
The side surface of the suction component represented in the image captured by the camera is recognized by image processing, and the height position of the left and right ends of either of the suction components or the height position of the lowest end of the suction component A suction component front / back determination method, wherein whether or not the suction posture of the suction component is opposite is determined based on the difference value. The adsorbing component is a component with a lead that protrudes laterally,
10. The suction component front / back determination method according to claim 9, wherein whether or not the suction posture of the suction component is opposite is determined based on whether the difference value is equal to or greater than a front / back determination threshold value.   Whether or not the suction posture of the suction component is opposite on the basis of the difference value between the height position of the lower end of the left and right ends of the suction component and the height position of the lowermost end of the suction component The method according to claim 9 or 10, characterized in that the determination is performed.   When only one of the left and right ends of the suction component can be recognized from the image captured by the camera, the height position of the one end that can be recognized and the height of the lowest end of the suction component 12. The suction component front / back determination method according to claim 9, wherein whether or not the suction posture of the suction component is opposite to the front and back is determined based on a difference value from the height position.   13. The apparatus according to claim 9, wherein if both the left and right ends of the suction component cannot be recognized from the image captured by the camera, it is not determined whether the suction posture of the suction component is opposite. The method for determining the front and back of a suction part as described in 1. A suction component front and back for determining whether the suction posture of the suction component is opposite to the front or back based on an image obtained by capturing the component sucked by the suction nozzle of the component mounting machine (hereinafter referred to as “suction component”) with a camera from the side surface direction. In the judgment method,
The height position of the edge located in a plurality of preset scan areas among the edges of the suction component represented in the image captured by the camera is measured, and the measured height position of each edge is stored in the storage means. A suction component front / back determination method, wherein the suction posture of the suction component is determined to be opposite to the front / back compared with a stored value corresponding to the height position of the edge during normal suction.   Whether the sum of absolute values of the difference values between the height positions of the edges located in the plurality of scan areas and the value corresponding to the height position of the edge during normal suction is equal to or greater than the front / back determination threshold value 15. The suction component front / back determination method according to claim 14, wherein whether or not the suction posture of the suction component is opposite is determined.   16. The suction component front / back determination method according to claim 14 or 15, wherein the positions of the plurality of scan areas are set according to a horizontal distance from a center of the suction component.

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