JP2010107249A - Device of inspecting inspection object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perceive the height of a component on a board while suppressing costs of an image pickup device. <P>SOLUTION: In a board inspection system, a mirror angle control part switches an image pickup angle so that a line sensor scans an image of a board 2 seen from image pickup angles having different absolute values of the angles with respect to a normal line of a surface to be inspected. The mirror angle control part switches the image pickup angle so that an optical path length from the line sensor to the board 2 is not varied. The mirror angle control part switches the image pickup angle by changing the angle of a semi-transparent mirror 42 reflecting the light from the board 2 to the line sensor so that the optical path length from the line sensor to the board 2 is not varied. The mirror angle control part switches a perpendicular image pickup angle perpendicular to the surface of the board 2 and an inclination image pickup angle inclined with respect to the surface of the board 2. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an inspection apparatus for an inspection object, and more particularly to an inspection apparatus for an inspection object that inspects an inspection object using an image of the inspection object obtained by imaging.

An electronic component may have a foot, and a foreign object may be caught between the foot and the substrate. In order to determine whether or not such foreign matter is sandwiched, it is required to accurately grasp the height of the component on the board. For this reason, for example, an automatic inspection system that acquires a substrate profile using stereo images captured by two camera arrays has been proposed (see, for example, Patent Document 1).
JP-T-2003-522347

  When providing a plurality of cameras capable of scanning an image of an object to be inspected viewed from a plurality of different imaging angles as in the above-described automatic inspection system, it is difficult to suppress an increase in cost required for the cameras.

  The present invention has been made in view of such circumstances, and an object of the present invention is to grasp the height of components on a substrate while suppressing the cost required for an imaging apparatus.

  In order to solve the above-described problems, an inspection apparatus for an object to be inspected according to an aspect of the present invention includes an object to be inspected as viewed from imaging angles in which the absolute value of the angle with respect to the line-shaped sensor array and the perpendicular to the surface to be inspected is different from each other. Imaging angle switching means for switching the imaging angle so that the line-shaped sensor array can scan the video. The imaging angle switching means switches the imaging angle so that the optical path length from the linear sensor array to the object to be inspected does not change.

  According to this aspect, it is possible to switch the imaging angle while keeping the focus on the inspection object. For this reason, compared with the case where imaging angle and focusing are performed in separate processes, the number of inspection steps for acquiring a stereo image can be reduced. Note that the line-shaped sensor array may be a line sensor or a line-shaped sensor array included in the area sensor.

  The imaging angle switching means changes the angle of the mirror that reflects the light from the inspected object toward the line-shaped sensor array so that the optical path length from the line-shaped sensor array to the inspected object does not change. May be switched. According to this aspect, the imaging angle with respect to the object to be inspected can be switched with a simple configuration in which the angle of the mirror is changed.

  The imaging angle switching means may switch between a vertical imaging angle for viewing the inspection object perpendicular to the surface to be inspected and a tilted imaging angle for viewing the inspection object while being inclined with respect to the inspection surface. According to this aspect, an image obtained by scanning an image viewed perpendicularly to the surface to be inspected of the object to be inspected can be acquired. It becomes possible to carry out the inspection easily.

を中心としてミラーを回転させることにより垂直撮像角度と傾斜撮像角度とを切り替えてもよい。 The imaging angle switching means uses the mirror reflection point when scanning the image of the object to be inspected from the vertical imaging angle as seen in the main scanning direction as the origin, the horizontal axis including the origin as the x axis, and the vertical axis including the origin as the origin. When the y-axis is assumed, the distance from the origin to the object to be inspected is A1, and the rotation angle of the mirror is θ1, the following coordinates:

The vertical imaging angle and the tilted imaging angle may be switched by rotating the mirror around the center.

  According to this aspect, the angle of the mirror can be appropriately changed with a simple configuration of rotating the mirror.

  You may further provide the moving means to relatively reciprocate the scanning position by a line-shaped sensor row | line | column, and the position of to-be-inspected object. The imaging angle switching means switches the imaging angle so that the line-shaped sensor array can scan the image of the inspected object viewed from the imaging angle in which the absolute value of the angle with respect to the normal of the surface to be inspected is different between the forward path and the return path. Also good. According to this aspect, it is possible to acquire the image data of the inspected object viewed from a plurality of different imaging angles in one step of reciprocating movement, and to suppress the inspection man-hours.

  The line-shaped sensor array may scan an image of the inspection object through an optical system that collects reflected light from the inspection object in parallel to the lens optical axis. According to this aspect, since a stereo image with little influence of parallax can be used, the three-dimensional shape of the surface to be inspected in the object to be inspected can be grasped at high speed and with high accuracy.

  According to the inspection apparatus for an object to be inspected according to the present invention, it is possible to grasp the height of components on a substrate while suppressing the cost required for the imaging apparatus.

  Hereinafter, embodiments of the present invention (hereinafter referred to as “embodiments”) will be described with reference to the drawings.

  FIG. 1 is a diagram illustrating a configuration of a substrate inspection system 10 according to the present embodiment. The substrate inspection system 10 includes a substrate transport mechanism 12 and an imaging system 14. The substrate transport mechanism 12 includes a support plate 18 and two transport rails 20 supported by the support plate 18.

  The transport rail 20 has a transport belt (not shown) for transporting the substrate 2 by driving a motor (not shown), and transports the substrate 2 placed on the transport belt to the approximate center of the substrate transport mechanism 12. To do. A conveyance sensor (not shown) such as an optical sensor for detecting the conveyance of the substrate 2 is provided above the conveyance rail 20 and substantially in the center of the inspection table. When this transport sensor detects the end face of the substrate 2 or a detection hole provided in the substrate 2, the substrate inspection system 10 determines that the substrate 2 has been transported to the approximate center of the substrate transport mechanism 12, and the substrate 2 by the transport rail 20. Stop the transport of.

  A ball screw 22 extending in a direction perpendicular to the extending direction of the transport rail 20 is provided below the substrate transport mechanism 12. The ball screw 22 is driven by a transport motor (not shown). As the ball screw 22 rotates, the support plate 18 is moved in a direction perpendicular to the extending direction of the transport rail 20. At this time, the substrate transport mechanism 12 is also moved together with the support plate 18. In this way, the substrate inspection system 10 conveys the substrate 2 below the imaging system 14.

  When the substrate 2 moves to a predetermined position, the substrate inspection system 10 reverses the conveyance motor and reversely rotates the ball screw 22 to move the substrate conveyance mechanism 12 to the original position. The substrate inspection system 10 transports the substrate 2 moved to the original position to the next process by the transport rail 20. When there is a substrate 2 to be inspected next, the substrate inspection system 10 again conveys the substrate 2 to the approximate center of the substrate conveyance mechanism 12 by the conveyance rail 20 and repeats the above-described operation. The transport rail 20 on the front side of the figure is provided with a clamp that presses the substrate 2 placed on the transport rail 20 from above to correct the shape of the substrate 2. The substrate 2 transported to the approximate center of the substrate transport mechanism 12 is transported to the imaging system 14 with the distortion corrected by this clamp.

  The imaging system 14 includes an imaging unit 24 and a rotation mechanism 26. The imaging unit 24 irradiates the substrate 2 with light and images the substrate 2 to generate image data. The rotation mechanism 26 has a transmission mechanism (not shown) including a unit rotation motor (not shown) and gears. The rotation mechanism 26 rotates the imaging unit 24 around an axis perpendicular to the surface to be inspected of the substrate 2 via the transmission mechanism by the operation of the unit rotation motor, so that the conveyance direction of the substrate 2 and the scanning by the imaging unit 24 are performed. The main scanning angle which is an angle formed by the direction is changed.

  FIG. 2 is a perspective view showing an internal configuration of the imaging unit 24 according to the present embodiment. The imaging unit 24 includes a scanning unit 30 and an illumination unit 50. The scanning unit 30 includes a line sensor 38, a lens 39, a telecentric lens 40, and a half mirror 42 on a support plate 36.

  FIG. 3 is a diagram schematically illustrating the configuration of the imaging unit 24 according to the present embodiment. In FIG. 3, the imaging process of the substrate 2 is performed by the imaging unit 24 while the substrate 2 is being conveyed from the left side to the right side. In the following description, the right direction in FIG. 3 is the first direction, and the left direction in FIG. 3 is the second direction. Note that the imaging unit 24 may perform an imaging process for the substrate 2 while the substrate 2 is being transported in the second direction.

  The line sensor 38 includes a line-shaped sensor array inside, and scans an image on a scanning line on the substrate 2 that is reflected by the half mirror 42 and passes through the telecentric lens 40 and the lens 39. Hereinafter, the position of the imaging unit 24 when the scanning line is perpendicular to the conveyance direction of the substrate 2 is referred to as “unit initial position”. “Scanning” refers to an operation in which a light receiving element in the line sensor 38 converts an amount of light indicating an image of an object into an electric signal and outputs the electric signal. “Imaging” means scanning one scanning unit. One scanning unit refers to a unit of scanning of the line sensor 38 such as one unidirectional scanning from one end of the substrate to the other end and one reciprocating scanning.

  Instead of the line sensor 38, an area sensor may be used. In this case, the inspection of the substrate 2 is performed using an image of a part imaged by one of the line-shaped sensor arrays included in the area sensor among the images imaged by the area sensor.

  The illumination unit 50 includes a first light source 52, a second light source 54, a third light source 56, and an acrylic sheet 58. The substrate transport mechanism 12 first transports the substrate 2 in the right direction in the figure, transports the substrate 2 in the left direction in FIG. 3 after transporting a predetermined length. Hereinafter, the right direction in FIG. 3 is described as a first direction, and the left direction is described as a second direction.

  The first light source 52 is configured by a group of LEDs (light emitting diodes) arranged in the scanning direction of the line sensor 38 so as to be longer than the length of the substrate 2 that is an object to be inspected. The first light source 52 is disposed directly above the scanning line in the substrate 2 scanned by the line sensor 38 so that the light incident on the substrate 2 can be irradiated. In the present embodiment, the first light source 52 is configured by an LED group provided on a substrate disposed in parallel with the imaging surface of the substrate 2. In order to efficiently project incident light onto the scanning line being inspected, the board to which the LED group is attached is divided into two sub-boards from the center, and the LED group is arranged on each sub-board in the scanning direction. Also good. By injecting incident light onto the substrate 2 by the first light source 52 and detecting this reflected light with the line sensor 38, it is possible to carry out an inspection regarding misalignment of components mounted on the substrate 2, solder scum, etc. it can.

  The second light source 54 is an LED group arranged on two substrates arranged in parallel with the imaging surface of the substrate 2 and arranged in the scanning direction of the line sensor 38 so as to be longer than the length of the substrate 2 that is an object to be inspected. Consists of. The two substrates to which the LEDs are attached are arranged on both sides of the vertical plane including the scanning line so that the first light source 52 does not interfere with the optical path that projects incident light on the scanning line.

  Similarly to the second light source 54, the third light source 56 is also composed of an LED group. This LED group is provided on two substrates arranged in parallel with the imaging surface of the substrate 2 and is arranged over the length in the scanning direction of the substrate 2 to be inspected. The two substrates to which the LEDs are attached are arranged on both sides of the vertical plane including the scanning line so that the first light source 52 and the second light source 54 do not interfere with the optical path for irradiating the scanning line with light. By injecting side light onto the substrate 2 by the second light source 54 and detecting this reflected light with the line sensor 38, it is possible to carry out inspections regarding the presence or absence of solder bridges on the substrate 2, errors in the mounted components, polarity reversal, etc. it can.

  The first light source 52 emits green light, the second light source 54 emits white light, and the third light source 56 emits blue light. Each light source irradiates light to the substrate 2 to be inspected at different incident angles. For this reason, the illumination unit 50 functions as a composite light source that irradiates light having a plurality of incident angles onto the substrate 2 that is an object to be inspected. The reason why the first light source 52 is green and the third light source 56 is blue is to obtain a clear image with a good SN ratio. Since the printed circuit board is often green, the first light source 52 is green in order to brightly illuminate the plain with incident light. In addition, since the characters laser-printed on the body of the IC or chip are easily recognized by applying blue light from a low angle, the third light source 56 is blue.

  A half mirror 42 is provided vertically below the first light source 52. Incident light from the first light source 52 passes through the half mirror 42 and is incident on the inspection surface of the substrate 2 with an incident angle of substantially zero. In the present embodiment, the first light source 52 has a width, and it is considered that there is an incident light component such that the incident angle becomes zero even when the substrate 2 is warped. The reflected light from the scanning line is reflected by the half mirror 42, passes through the telecentric lens 40 and the lens 39, and enters the line sensor 38.

  An acrylic sheet 58 is provided between the second light source 54 and the third light source 56 and the scanning line. The acrylic sheet 58 diffuses light from the second light source 54 and the third light source 56. Since the second light source 54 and the third light source 56 are aggregates of LEDs that are point light sources, if there is no diffusing action, spot-like light may be reflected in the image data and affect the inspection accuracy. It is.

  FIG. 4 is a diagram showing the optical path of the chief ray of the scanning unit 30. In FIG. 4, illustration of the reflection of the chief ray by the half mirror 42 is omitted.

  When trying to calculate the height of a component mounted on the board 2 using an image with distortion due to parallax, it is necessary to go through a complicated calculation process considering the distortion due to parallax, and to obtain a highly accurate calculation result. It is also difficult to expect. For this reason, the line sensor 38 scans the image of the substrate 2 through the telecentric lens 40. The telecentric lens 40 collects the reflected light from the substrate 2 in parallel with the lens optical axis. For this reason, between the telecentric lens 40 and the substrate 2, the principal ray is parallel to the optical axis, that is, the field angle is substantially zero degrees.

  Therefore, regardless of whether the subject image is at the center of the optical axis or at a peripheral position away from the optical axis, it is not affected by the parallax, and in principle, an image free from distortion due to the parallax can be taken. Therefore, it is possible to accurately calculate the height of components mounted on the substrate 2 by a simple calculation process.

  FIG. 5 is a view of the scanning unit 30 according to the present embodiment when viewed in the main scanning direction. Hereinafter, the position of the half mirror 42 when scanning the image of the object to be inspected from the vertical imaging angle perpendicular to the surface of the substrate 2 is referred to as “mirror initial position”. For this reason, the initial mirror angle θ0, which is the angle between the reflecting surface and the horizontal plane when the half mirror 42 is at the mirror initial position, is set to 45 degrees.

  The position of the reflection line on the reflection surface that reflects the light incident on the line sensor 38 when the half mirror 42 is at the mirror initial position is defined as an origin O. The horizontal axis including the origin O is defined as the x axis, and the vertical axis including the origin O is defined as the y axis. Further, a distance from the origin O to the surface of the substrate 2 is defined as a vertical optical path length A1, and a horizontal distance from the origin O to the telecentric lens 40 is defined as a first horizontal optical path length B1.

  Further, the scanning unit 30 is provided with a mirror angle switching mechanism 70 that rotates the half mirror 42. Hereinafter, the rotation angle of the half mirror 42 from the mirror initial position is θ1. When the half mirror 42 is rotated by the mirror angle switching mechanism 70, the line sensor 38 scans an image of the substrate 2 viewed from an inclined imaging angle that is inclined by 2 × θ1 with respect to the vertical imaging angle. That is, the vertical imaging angle is the direction in which the absolute value of the angle with respect to the perpendicular to the surface to be inspected is zero degrees, that is, the imaging angle when scanning an image when the surface to be inspected is viewed vertically. This is the imaging angle when scanning an image viewed from the direction in which the absolute value of the angle with respect to the normal of the inspection surface is 2 × θ1. At this time, the distance between the reflection line of the half mirror 42 that reflects the light incident on the line sensor 38 and the scanning line of the substrate 2 is defined as an inclined optical path length A2.

If the mirror angle switching mechanism 70 rotates the half mirror 42 around the origin O, the first horizontal optical path length B1 does not change, but the vertical optical path length A1 and the inclined optical path length A2 are different from each other. The length varies. Assuming that the amount of change in the optical path length at this time is λ, λ is
λ = A2−A1 = A1 × (1 / cos (2 × θ1) −1) Equation 1
Represented by

  When the optical path length changes, a configuration and a process for performing focusing separately are required, and it becomes difficult to reduce costs and inspection man-hours. Therefore, the mirror angle switching mechanism 70 rotates the half mirror 42 so that the optical path length from the line sensor 38 to the substrate 2 does not change, and switches between the vertical imaging angle and the tilt imaging angle. Thereby, the structure and process for performing focusing separately are unnecessary, and the cost and the number of inspection steps can be suppressed.

First, the reflection surface of the half mirror 42 when in the mirror initial position is
y = −x tan θ0 (2)
Represented by

In order not to change the optical path length even when the half mirror 42 is rotated from the mirror initial position, the coordinates of the reflection point by the half mirror 42 need to be (−λ, 0). For this reason, when the mirror rotation angle θ1 is rotated from the initial mirror position so as not to change the optical path length, the reflection surface of the half mirror 42 at that time is
y = −xtan (θ0−θ1) −λtan (θ0−θ1) Equation 3
Represented by

となる。 From Equations 2 and 3, the solution of x and y, that is, the rotation center of the half mirror 42 is obtained. First, if y is deleted from Equation 2 and Equation 3,

It becomes.

となる。 From the additive theorem, Equation 4 is

It becomes.

となる。 Since the initial mirror angle θ0 = 45 degrees, substituting tan θ0 = 1,

It becomes.

となる。 Multiplying this numerator denominator by (1 + tanθ1)

It becomes.

となる。 Substituting Equation 1 into λ of Equation 7,

It becomes.

となる。 Also, when substituting Equation 8 for x in Equation 2,

It becomes.

となる。 From the above, the coordinates of the rotation center of the half mirror 42 are

It becomes.

  FIG. 6 is a top view showing the imaging unit 24 when in the unit initial position and the imaging unit 24 when in the position rotated from the unit initial position by the rotation mechanism 26. In FIG. 5, the scanning line scanned by the scanning unit 30 when the imaging unit 24 is in the unit initial position is defined as a first main scanning line L1. The scanning line when the imaging unit 24 rotates from the unit initial position is defined as a second main scanning line L2. The angle formed by the first main scanning line L1 and the second main scanning line L2 is an angle obtained by rotating the imaging unit 24 from the unit initial position. Hereinafter, this angle is referred to as a main scanning angle α.

  Thus, the rotation mechanism 26 functions as an imaging angle changing unit that changes the angle between the transport direction of the substrate 2 and the scanning line on the substrate 2. By changing the angle between the transport direction of the substrate 2 and the scanning line on the substrate 2 in this way, directivity specific to line scanning can be suppressed and the entire shape of the substrate 2 to be inspected can be easily measured. it can. In the present embodiment, the main scanning angle α is preset to 45 degrees.

  FIG. 7 is a functional block diagram of the substrate inspection system 10 according to the present embodiment. The substrate inspection system 10 includes a PC 100 and a display 130 in addition to the substrate transport mechanism 12 and the imaging system 14. In FIG. 4, the PC 100 is realized by cooperation of hardware such as a CPU that executes various arithmetic processes, a ROM that stores various control programs, a RAM that is used as a work area for data storage and program execution, and software. The function block to be performed is drawn. Therefore, these functional blocks can be realized in various forms by a combination of hardware and software.

  The PC 100 includes a conveyance control unit 102, a rotation control unit 104, an illumination control unit 106, an imaging control unit 108, a mirror angle control unit 110, a storage unit 112, an image processing unit 114, a memory 116, an inspection unit 118, and a display control unit 120. Have

  A transport motor 72 that transports the substrate 2 in the first direction and the second direction is connected to the PC 100. The transport control unit 102 moves the substrate 2 in the first direction and the second direction by operating the transport motor 72 by supplying a drive signal to the transport motor 72 and moving the substrate transport mechanism 12. Therefore, the conveyance control unit 102 and the substrate conveyance mechanism 12 function as a moving unit that relatively moves the scanning position of the line sensor 38 and the position of the substrate 2.

  A unit rotation motor (not shown) provided in the rotation mechanism 26 is connected to the PC 100. The rotation control unit 104 controls the rotation angle of the imaging unit 24 by controlling a drive signal supplied to the unit rotation motor. The lighting unit 50 is connected to the PC 100. The illumination control unit 106 controls lighting of the first light source 52, the second light source 54, and the third light source 56. The imaging control unit 108 controls the imaging of each of the line sensors 38 so that the image of the substrate 2 is scanned at the timing when the illumination unit irradiates the substrate 2 with light.

  A mirror angle changing motor (not shown) included in the mirror angle switching mechanism 70 is connected to the PC 100. The mirror angle control unit 110 switches the imaging angle by changing the angle of the half mirror 42 by controlling the operation of the mirror angle changing motor. For this reason, the mirror angle switching mechanism 70 and the mirror angle control unit 110 function as an imaging angle switching unit that switches the imaging angle.

  The storage unit 112 is configured by a hard disk, and preliminarily stores determination criterion data used for substrate inspection. In addition, the inspection result by the inspection unit 118 is also stored in the storage unit 112. The image processing unit 114 performs image processing on image data captured and generated by the line sensor 38 of the scanning unit 30. The memory 116 holds image data subjected to image processing.

  The inspection unit 118 analyzes the image data held in the memory 116 and first acquires reference data. Here, the reference data includes, for example, the position data of the recognition mark indicating the position of the substrate 2 provided on the substrate 2, the substrate 2 serial number obtained by analyzing the identification mark such as a barcode provided on the substrate 2, and the like. Includes identification data such as date of manufacture.

  Further, the inspection unit 118 analyzes the image data held in the memory 116, and acquires position information data indicating the position of each component or solder location mounted on the board 2 using the acquired reference data. . The inspection unit 118 performs comprehensive inspection on the mounting state of the components on the board 2 using the determination reference data stored in the storage unit 112. The component mounting state is not only the presence / absence / position of a component such as an element mounted on the board 2 as an object to be inspected, whether it is a proper component, etc. Including the height of

  The inspection unit 118 calculates the height of the component mounted on the board 2 using the reference data and the position information data held in the storage unit 112. For this reason, the inspection unit 118 also functions as a height calculation unit.

  Specifically, since the scanning unit 30 scans the surface to be inspected of the substrate 2 viewed from different viewpoints, if the surface of the surface to be inspected is based on a plane having a height of zero, each portion having a height is The position of the image obtained by the scanning unit will be different. In the present embodiment, the angle at which the scanning unit 30 scans the substrate 2 at the tilted imaging angle is predetermined as 45 degrees with respect to the vertical direction of the surface of the substrate 2. The inspection unit 118 uses this to calculate the height of the component mounted on the board 2 based on the amount of displacement of each component position indicated by the position information data held in the storage unit 112. The storage unit 112 stores in advance inspection reference data relating to the height of components on the substrate 2. The inspection unit 118 uses the inspection reference data stored in the storage unit 112 to perform a height inspection to determine whether the height of each component is within the normal range height indicated by the inspection reference data, for example. carry out. As a result, for example, it is possible to detect whether a foreign object is sandwiched between the legs of the electronic component and the substrate.

  The display control unit 120 causes the display 130 to display a comprehensive inspection result of the substrate 2 by the inspection unit 118. At this time, using the image data stored in the memory 116, the display control unit 120 may cause the display 130 to display an image of the substrate 2 as viewed from vertically above while clearly indicating the position of the component having an abnormality. .

  FIG. 8 is a flowchart showing a substrate inspection processing process of the substrate inspection system 10 according to the present embodiment. The processing in this flowchart starts when a start button provided in the substrate inspection system 10 is pressed by the user.

  The user can input an instruction to change the main scanning direction using an input device such as a mouse or a keyboard. The rotation control unit 104 determines whether an instruction to change the main scanning direction has been input (S10).

  When an instruction to change the main scanning direction is input by the user (Y in S10), the rotation control unit 104 supplies a drive signal to the unit rotation motor of the rotation mechanism 26 and sets it as the main scanning angle α from the unit initial position. The imaging unit 24 is rotated by 45 degrees (S12). Thereby, the range which becomes a blind spot of a test | inspection, such as between the components mounted along with the width direction or the length direction of the board | substrate 2, can be reduced. The main scanning angle α may be input using an input device. When the main scanning angle α is input, the rotation control unit 104 rotates the imaging unit 24 by the main scanning angle α input from the unit initial position. When an instruction to change the main scanning direction is input (N in S10), S12 is skipped.

  Next, the imaging control unit 108 and the conveyance control unit 102 perform normal imaging processing in the forward path (S14). In this normal imaging process, the rotation control unit 104 maintains the mirror angle θ at 45 degrees, and the transport control unit 102 transports the substrate 2 in the first direction.

  When the substrate 2 is carried below the imaging system 14, the imaging control unit 108 causes the line sensor 38 to start imaging the substrate 2. Specifically, the illumination control unit 106 turns on the second light source 54 to make white light fall on the upper surface of the substrate, and the imaging control unit 108 causes the line sensor 38 to capture the reflected light from the substrate 2 at this timing. . Next, the illumination control unit 106 turns on the first light source 52 to cause the green light to fall on the upper surface of the substrate, and the imaging control unit 108 causes the line sensor 38 to image the reflected light from the substrate at this timing. Next, the illumination control unit 106 turns on the third light source 56 to make blue light fall on the upper surface of the substrate, and the imaging control unit 108 causes the line sensor 38 to image the reflected light from the substrate 2 at this timing. As described above, the illumination control unit 106 projects incident light of different colors three times per scanning unit on the substrate, and the imaging control unit 108 causes the line sensor 38 to capture reflected light of the incident light of each color by the substrate. Hereinafter, this is referred to as 1-line first imaging.

  When the first imaging of one line is completed, the conveyance control unit 102 moves the substrate in the conveyance direction by a predetermined scanning line interval, and the illumination control unit 106 and the line sensor 38 again perform the first imaging of one line. The illumination control unit 106, the imaging control unit 108, and the conveyance control unit 102 repeat this operation in the imaging process of the substrate, thereby imaging the entire upper surface of the substrate to be inspected.

  Here, when the imaging unit 24 is rotated and the main scanning direction is changed, the conveyance control unit 102 conveys the substrate 2 so that the interval between the scanning lines in the conveyance direction becomes L × cos α. In this embodiment, since α is set to 45 degrees, the transport control unit 102 transports the substrate 2 so that the interval between the scanning lines in the transport direction is L × √2. This L indicates the interval between the scanning lines on the surface to be inspected of the substrate 2 when the substrate 2 is in the unit initial position. Accordingly, the resolution in the transport direction can be increased to 1 / cos α, that is, 1 / √2, compared to when the substrate 2 is at the unit initial position. Further, by adjusting the transport speed of the substrate 2 in this way, the resolution in the transport direction can be matched with the resolution in the substrate width direction.

  In the board inspection system 10 according to the present embodiment, the user can alternatively select the stereo imaging mode or the normal imaging mode for the PC 100 using the input device. When the first imaging process in the forward path is finished, the mirror angle control unit 110 determines whether or not the stereo imaging mode is selected by the user (S16). When the stereo imaging mode is selected (Y in S16), the mirror angle control unit 110 operates the mirror angle switching mechanism 70 to rotate the half mirror 42 by the mirror rotation angle θ1 and change the angle (S18). ).

  When the angle change of the half mirror 42 is completed, the imaging control unit 108 and the conveyance control unit 102 execute the tilt imaging process in the return path (S20). In the tilt imaging process, the transport control unit 102 transports the substrate 2 in the second direction.

  In the tilt imaging process, the illumination control unit 106 turns on the second light source 54 and causes white light to fall on the upper surface of the substrate, and the imaging control unit 108 causes the line sensor 38 to capture the reflected light from the substrate 2 at this timing. . Hereinafter, this is referred to as one-line second imaging. When the second imaging of one line is completed, the conveyance control unit 102 moves the substrate in the conveyance direction by a predetermined scanning line interval, and the illumination control unit 106 and the line sensor 38 again perform the second imaging of one line. The illumination control unit 106, the imaging control unit 108, and the conveyance control unit 102 repeat this operation in the imaging process of the substrate, thereby imaging the entire upper surface of the substrate to be inspected. The scanning line interval and the conveyance speed are the same as those in the forward path.

  As described above, when the stereo imaging mode is selected, the mirror angle control unit 110 changes the angle of the half mirror 42, thereby changing the vertical imaging angle and the tilt imaging angle in which the absolute values of the angles with respect to the two perpendiculars of the substrate are different from each other. And switch. As described above, by acquiring the image data of the board 2 viewed from the vertical imaging angle even in the stereo imaging mode, various items other than the height of the components on the board 2 are used to perform inspection using the image data. Is possible.

  The mirror angle control unit 110 not only switches between the vertical imaging angle and the tilt imaging angle, but the line sensor 38 displays an image of the substrate 2 viewed from imaging angles having different absolute values with respect to the normal of the surface to be inspected. You may switch an imaging angle so that it can scan. Also in this case, the mirror angle control unit 110 switches the imaging angle so that the optical path length from the line sensor 38 to the substrate 2 does not change.

  In addition, the mirror angle control unit 110 alternatively scans the image of the inspected object viewed from a plurality of imaging angles in which the absolute value of the angle with respect to the normal of the inspected surface is different between the forward path and the return path. The imaging angle with respect to the substrate 2 is switched so that Thereby, the image data of the board | substrate 2 seen from the mutually different several imaging angle is acquirable in 1 process to reciprocate.

  When the tilt imaging process is thus completed and the entire imaging process of the substrate 2 is completed, the inspection unit 118 calculates the height of each component (S22). When the normal imaging mode is selected (N in S16), S18 to S22 are skipped. Next, the inspecting unit 118 performs comprehensive inspection regarding misplaced parts of components mounted on the board 2, solder slip, presence / absence of solder bridge, wrong mounting components, polarity reversal, and the like (S24). When the stereo imaging mode is selected, the inspection unit 118 uses the calculated height of each component to determine whether a foreign object is sandwiched between the substrate and the electronic component is floating. The inspection is also carried out as part of the overall judgment. When the comprehensive inspection is finished, the display control unit 120 displays the comprehensive inspection result on the display 130 (S26).

  The present invention is not limited to the above-described embodiments, and an appropriate combination of the elements of each embodiment is also effective as an embodiment of the present invention. Various modifications such as design changes can be added to each embodiment based on the knowledge of those skilled in the art, and embodiments to which such modifications are added can also be included in the scope of the present invention. Here are some examples.

  In a modification, a turntable is provided on the transport rail 20. The turntable is configured to rotate when the motor operates. When the user inputs the main scanning angle α to the PC 100 and then presses the start button, the rotation control unit 104 operates the motor to rotate the turntable by the main scanning angle α. Thus, the main scanning angle α can also be changed by rotating the substrate 2 instead of rotating the imaging unit 24.

It is a figure showing composition of a substrate inspection system concerning this embodiment. It is a perspective view which shows the internal structure of the imaging unit which concerns on this embodiment. It is the figure which represented typically the structure of the imaging unit which concerns on this embodiment. It is a figure which shows the optical path of the chief ray of a 1st scanning unit. It is the figure which looked at the 1st scanning unit concerning this embodiment in the main scanning direction. It is a top view which shows the imaging unit when it exists in a unit initial position, and the imaging unit when it exists in the position rotated from the unit initial position by the rotation mechanism. It is a functional block diagram of the board | substrate inspection system which concerns on this embodiment. It is a flowchart which shows the board | substrate inspection process process of the board | substrate inspection system which concerns on this embodiment.

Explanation of symbols

  2 substrates, 10 substrate inspection system, 12 substrate transport mechanism, 14 imaging system, 24 imaging unit, 26 rotating mechanism, 30 scanning unit, 36 support plate, 38 line sensor, 39 lens, 40 telecentric lens, 42 half mirror, 50 illumination Unit 52 first light source 54 second light source 56 third light source 70 mirror angle switching mechanism 72 transport motor 100 PC 102 transport control unit 104 rotation control unit 106 illumination control unit 108 imaging control unit 110 mirror angle control unit, 112 storage unit, 118 inspection unit, 120 display control unit, 130 display.

Claims (6)

A line-shaped sensor array;
An imaging angle switching means for switching the imaging angle so that the line-shaped sensor array can scan the image of the inspected object viewed from imaging angles having different absolute values with respect to the normal of the surface to be inspected;
With
The inspection apparatus for inspecting an object to be inspected, wherein the imaging angle switching means switches an imaging angle so that an optical path length from the linear sensor array to the inspection object does not change.   The imaging angle switching means changes the angle of the mirror that reflects the light from the inspected object toward the line-shaped sensor array so that the optical path length from the line-shaped sensor array to the inspected object does not change. The inspecting device for an object to be inspected according to claim 1, wherein the imaging angle is switched.   The imaging angle switching means switches between a vertical imaging angle for viewing the object to be inspected perpendicular to the surface to be inspected and a tilted imaging angle for viewing the object to be inspected with respect to the surface to be inspected The inspection apparatus for an object to be inspected according to claim 1 or 2. The imaging angle switching means has a mirror reflection point when scanning an image of the object to be inspected from a vertical imaging angle as viewed in the main scanning direction, and the horizontal axis including the origin is the x axis and the vertical axis including the origin Is the y axis, the distance from the origin to the object to be inspected is A1, and the rotation angle of the mirror is θ1, the following coordinates:

The inspection apparatus for an object to be inspected according to any one of claims 1 to 3, wherein the vertical imaging angle and the tilt imaging angle are switched by rotating a mirror around the center. A moving unit that reciprocally moves the scanning position of the line-shaped sensor array and the position of the object to be inspected;
The imaging angle switching means sets the imaging angle so that the line-shaped sensor array can scan the image of the inspected object viewed from the imaging angle in which the absolute value of the angle with respect to the normal of the inspection surface is different between the forward path and the return path. 5. The inspection object inspection apparatus according to claim 1, wherein the inspection object inspection apparatus is switched.   6. The line-shaped sensor array scans an image of an object to be inspected through an optical system that collects reflected light from the object to be inspected in parallel with a lens optical axis. An inspection apparatus for an object to be inspected according to any one of the above.

Images