JP2012222102A - Component orientation determining device and component orientation determining method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a component orientation determining device which shortens processing time required for determining an orientation of a square-shaped component.SOLUTION: A component orientation determining device determines an orientation of a square-shaped component having a feature point indicating an orientation thereof by means of image processing. The component orientation determining device performs steps of: pre-storing standard data of an aspect ratio of the component in a storage device 14; taking an image of the component from bottom thereof by putting the whole figure thereof into one viewing field of a component-recognizing camera 12, when the component in production is sucked onto a suction nozzle; recognizing periphery of the component based on the taken image to calculate two aspect ratios when the component is viewed from two directions different 90-degree each other; comparing the two calculated values of aspect ratio with the standard data thereof stored in the storage device 14 to select two directional candidates corresponding to two calculated values of aspect ratio with smaller difference; and applying image processing on two of the images of the component, respectively, corresponding to the selected two directional candidates to identify an orientation of the component based on the direction from which the feature is recognized.

Description

  The present invention relates to a component direction determination device and a component direction determination method that determine the direction (direction) of a component by image processing.

  For example, among feeders that supply components to a component mounting machine, there are bulk feeders and bowl feeders in which the direction of the components to be supplied is not constant. In a component mounter using these feeders, the component sucked by the suction nozzle is imaged from below by a camera, the direction of the component is determined by image processing, and the determined component direction is different from the mounting direction on the circuit board. In this case, the suction nozzle is rotated so that the component direction matches the mounting direction.

  As described in Patent Document 1 (Japanese Patent Application Laid-Open No. 2003-318599), a conventional component direction determination method is provided with a polarity display unit at one corner of a component, and the four corners of the component are captured by a camera. In this case, images are picked up one by one in order and processed, and the direction of the component is specified by the position of the corner where the polarity display portion can be recognized by the image processing.

JP 2003-318599 A

  However, in the component direction determination method of Patent Document 1 described above, four corners of a component are sequentially captured and imaged one by one with a camera, and thus imaging and image processing must each be performed a maximum of four times. There is a problem that the part direction determination processing takes time and productivity is lowered.

  Therefore, the entire part sucked by the suction nozzle is imaged within the field of view of the camera, and after recognizing the outer edge of the part based on the image of the part, the corners in the four directions of the part image are sequentially displayed. It is considered that the direction of the component is specified by the position of the corner where the polarity display portion can be recognized by the image processing.

  In this component direction determination method, although the number of times of imaging is only one, the image processing has to be performed a maximum of four times, and there is still a problem that the image processing takes time. In general, component mounting machines perform imaging and image processing to determine the direction of a component immediately after the component is picked up by a suction nozzle. If image processing takes time, the mounting of the component on the board is delayed accordingly. As a result, productivity decreases.

  Therefore, the problem to be solved by the present invention is to provide a component direction determination device and a component direction determination method that can shorten the processing time required for component direction determination and improve productivity.

  In order to solve the above-described problem, the invention according to claim 1 is configured such that an entire rectangular part having a characteristic point indicating a direction is captured within the field of view of the camera, and the captured image is processed to process the part. In the component direction determination apparatus for determining the direction, the storage means that stores the standard data of the aspect ratio of the component in advance and the outer edge of the component by recognizing the outer edge of the component based on the image of the component captured by the camera The aspect ratio calculating means for calculating the ratio, the calculated value of the aspect ratio of the part obtained by the aspect ratio calculating means and the standard data stored in the storage means are compared, and the direction of the part The feature point can be recognized by performing image processing on a part corresponding to the candidate for two directions selected by the direction candidate selecting unit in the part image and a direction candidate selecting unit for selecting a candidate in two directions. Depending on the direction It is obtained by a structure in which a direction specifying means for specifying a direction of the goods. Here, the “feature point indicating the direction” may be, for example, an image recognizable direction display mark provided at one corner or the like of the component, or the image of the component is recognizable and indicates the direction. An identifiable portion (for example, a character or a symbol attached to a terminal, a lead, or a component) may be used as a feature point.

  If the aspect ratio of the part (ratio between the vertical dimension and the horizontal dimension) is known, candidates for possible directions as the direction of the part can be narrowed down to two directions. In view of this point, in the invention according to claim 1, standard data of the aspect ratio of the part is stored in advance in the storage means, the entire part is captured within the field of view of the camera, and the image is taken from the image. Recognize the outer edge of the component, calculate the aspect ratio of the component, and compare the calculated value of the aspect ratio with the standard data of the aspect ratio stored in the storage means in two possible directions of the component. A candidate is selected, and the part corresponding to the selected candidate in two directions in the image of the part is subjected to image processing, and the direction of the part is specified by the direction in which the feature point can be recognized. In this way, since the image processing area can be halved, the processing time required for determining the direction of the part can be shortened, and the productivity can be improved.

  However, when the shape of the component is a square (aspect ratio = 1), candidates for possible directions as the direction of the component cannot be narrowed down to two directions. In consideration of this point, when it is determined that the part is a square based on the calculated value of the aspect ratio of the part obtained by the aspect ratio calculation unit as in claim 2, candidates for four directions are selected, It is preferable to specify the direction of the component based on the direction in which the feature points can be recognized by performing image processing on the parts corresponding to the candidates in the four directions in the component image. In this way, even when the shape of the component is a square, the direction of the component can be accurately specified.

By the way, when the shape of the component is rectangular, two aspect ratios can be obtained for one component when the component image is viewed from a direction different by 90 °.
Therefore, as in claim 3, the two aspect ratios of the part image viewed from 90 ° different directions are calculated, and the calculated values of the two aspect ratios are compared with the standard data of the aspect ratio stored in the storage means. Then, a candidate in two directions corresponding to the calculated value of the aspect ratio with the smaller difference may be selected.

  Alternatively, as in claim 4, the storage means stores in advance standard data of two aspect ratios when the parts are viewed from 90 degrees different directions, and the aspect ratio of the parts obtained by the aspect ratio calculation means is stored. The calculated value may be compared with the two aspect ratio standard data stored in the storage means, and the two-way candidates corresponding to the standard data having the smaller aspect ratio may be selected.

  The inventions according to the first to fourth aspects of the present invention can be implemented by being applied to various apparatuses that need to determine the direction of a component. For example, a feeder in which the direction of a component to be supplied is not a fixed direction (for example, a bulk feeder, a bowl) You may apply to the component mounting machine which mounted | worn the feeder etc.).

  When the present invention is applied to such a component mounting machine, as in claim 5, the component sucked by the suction nozzle of the component mounting machine is imaged with a camera from below, and the direction of the component specified by the direction specifying means is determined. When the mounting direction is different from the mounting direction on the circuit board, the suction nozzle may be rotated so that the component direction matches the mounting direction. In this way, even when the direction of the component supplied to the component mounting machine is not a fixed direction, the direction of the component sucked by the suction nozzle can be determined efficiently and the component can be efficiently mounted on the circuit board.

  In addition, claim 6 describes the technical concept substantially the same as the invention of the “component direction determination device” described in claim 1 as a “component direction determination method”.

FIG. 1 is a block diagram showing a configuration of a component mounter in Embodiment 1 of the present invention. 2A to 2D are diagrams for explaining the relationship between the rotation angle of the component and the aspect ratio. FIG. 3 is a flowchart (part 1) illustrating the flow of processing of the component direction determination program according to the first embodiment. FIG. 4 is a flowchart (part 2) illustrating the flow of processing of the component direction determination program according to the first embodiment. FIG. 5 is a flowchart (part 1) illustrating the flow of processing of the component direction determination program according to the second embodiment. FIG. 6 is a flowchart (part 2) illustrating the flow of processing of the component direction determination program according to the second embodiment.

  Hereinafter, two embodiments 1 and 2, which are embodied by applying the mode for carrying out the present invention to a component mounter, will be described.

A first embodiment of the present invention will be described with reference to FIGS.
First, based on FIG. 1, the structure of the whole component mounting machine is demonstrated roughly.
The control device 11 of the component mounting machine includes a component recognition camera 12 that images the entire component sucked by a suction nozzle (not shown) from below, a reference position mark of a circuit board on which the component is mounted, a component mounting state, and the like. And a storage device 14 (storage means) that stores a production job (production program), image processing component data, component direction candidate data to be described later, and the like.

  During operation of the component mounting machine, the control device 11 includes an X-axis motor 15 that drives a mounting head (not shown) that holds the suction nozzle in the X-axis direction, the Y-axis direction, the Z-axis direction, and the θ-direction, and the Y-axis. By controlling the operation of the motor 16, the Z-axis motor 17 and the rotary motor 18, the parts supplied from the parts feeder such as the tape feeder 19, the bulk feeder 20 and the bowl feeder are sucked by the suction nozzle, and the parts are moved downward. The image is picked up by the component recognition camera 12, the outer edge (edge) of the suction component is detected based on the captured image, the external shape of the component is recognized, the type, the suction posture, etc. are determined, and the suction nozzle (mounting) The head is moved onto the circuit board, and the component is mounted on the circuit board.

  At this time, in the bulk feeder 20 and the bowl feeder, since the direction of the component to be supplied is not a fixed direction, the entire component sucked by the suction nozzle is captured in the field of view of the component recognition camera 12 from below and imaged. The captured image is processed to determine the direction of the component. If the determined direction of the component is different from the mounting direction on the circuit board, the suction nozzle is rotated to match the direction of the component with the mounting direction.

Hereinafter, the component direction determination method of the first embodiment will be described.
2A to 2D show the relationship between the rotation angle of the component imaged by the component recognition camera 12 and the aspect ratio (ratio between the vertical dimension and the horizontal dimension). Here, the part subjected to the direction determination is a rectangular part having a feature point 21 indicating the direction. The feature point 21 indicating the direction may be, for example, an image recognizable direction display mark provided at one corner or the like on the lower surface of the component, or the image of the component can be recognized and the direction can be specified. A portion (for example, a terminal, a lead, or a character / symbol attached to the lower surface of the component) may be used as a feature point.

  If the aspect ratio of the component is known, the possible direction candidates as the component direction can be narrowed down to two directions. In the example of FIG. 2, if the aspect ratio of the component is a / b, the possible directions of the component are the two directions (A) and (C), and the aspect ratio of the component is If b / a, there are two possible directions of the component direction (B) and (D).

  In consideration of this point, in the first embodiment, standard data of the aspect ratio of a part is used in advance for a part that requires direction determination (hereinafter referred to as “direction determination target part”) among parts used in production. Stored in the storage device 14, when the direction determination target part is sucked by the suction nozzle during production, the entire part is captured from below in the field of view of the part recognition camera 12, and from the captured image By recognizing the outer edge of the part, two aspect ratios of the image of the part viewed from 90 ° different directions are calculated, and the calculated values of the two aspect ratios are stored in the storage device 14 as standard aspect ratio data. In comparison, a candidate in two directions corresponding to the calculated value of the aspect ratio with the smaller difference is selected, and a part corresponding to the selected candidate in the two directions in the image of the component is subjected to image processing, and a feature point This part depending on the direction in which 21 was recognized And so as to identify the direction of.

  The component direction determination process according to the first embodiment described above is executed by the control device 11 of the component mounter according to the component direction determination program shown in FIGS. This program is executed every time the direction determination target component is sucked to the suction nozzle during production.

  When this program is started, first, in step 101, standard data of the aspect ratio of the part specified in the production job (the direction determination target part sucked by the suction nozzle) is read from the storage device. Thereafter, the process proceeds to step 102, where the entire part sucked by the suction nozzle is captured from below in the field of view of the part recognition camera 12, and in the next step 103, the outer edge of the part is recognized from the captured image.

  Thereafter, the process proceeds to step 104 to determine whether or not there is an error. Here, the cause of the error is, for example, (1) When the outer edge of the component fails to be recognized, (2) When the component is not attracted to the suction nozzle, (3) The captured image is caused by the displacement position of the component. If the part of the part protrudes from (4), the recognition result of the outer edge of the part is other than a square. If it is determined in step 104 that an error has occurred, the process proceeds to step 105 to execute error processing. In this error processing, for example, the operation of the component mounting machine is stopped, or the operator is notified of the occurrence of the error by displaying an error or an alarm sound.

  On the other hand, if it is determined in step 104 that there is no error, the process proceeds to step 106, and the vertical and horizontal dimensions of the component are measured assuming that the rotation angle between the direction of the component in the captured image and the correct direction is 0 °. Then, the aspect ratio (0 °) is calculated, and in the next step 107, the aspect ratio (90 °) of the component is calculated assuming that the rotation angle between the direction of the component in the captured image and the correct direction is 90 °. By the processing of these steps 106 and 107, two aspect ratios when the part image is viewed from a direction different by 90 ° are calculated. The processes in steps 103 to 107 described above serve as aspect ratio calculation means in the claims.

  Thereafter, the process proceeds to step 108, where it is determined whether or not the shape of the component is a square depending on whether the aspect ratio (0 °) and the aspect ratio (90 °) are within the range of “1 ± recognition error”. If it is determined that the shape is a square, the process proceeds to step 109 to determine whether or not the shape of the part designated in the production job is a square. As a result, if it is determined that the shape of the part specified in the production job is not a square, it means that the part specified in the production job is not picked up by the suction nozzle. Execute.

  On the other hand, if it is determined in step 109 that the shape of the part specified in the production job is a square, the shape (square) of the part sucked by the suction nozzle is changed to the shape of the part specified in the production job (square). (Square) is determined to match, and the process proceeds to Step 110, where the four directions are set as candidates for the component direction, and in the next Step 111, the four-direction determination process is executed. As a result, the direction of the part is specified by the direction in which the part corresponding to the candidate in the four directions in the part image is image-processed and the feature point 21 can be recognized. At this time, when the feature point 21 is recognized, the image processing of the portion corresponding to the remaining direction candidates may not be performed.

  On the other hand, in step 108, it is determined that the aspect ratio (0 °) and the aspect ratio (90 °) are out of the range of “1 ± recognition error”, and the shape of the component is not a square (that is, a rectangle). Then, the process proceeds to step 112 in FIG. 4 to determine whether or not the shape of the part designated in the production job is a rectangle. As a result, if it is determined that the shape of the part specified in the production job is not rectangular, it means that the part specified in the production job is not picked up by the pick-up nozzle. Execute.

  On the other hand, if it is determined in step 112 that the shape of the part specified by the production job is a rectangle, the shape of the part (rectangle) sucked by the suction nozzle is changed to the shape of the part specified by the production job ( The process proceeds to step 114, and the absolute value of the difference between the calculated value of the aspect ratio (0 °) at the rotation angle 0 ° calculated in step 106 and the standard data is set to the difference (0 °). In the next step 115, the absolute value of the difference between the calculated value of the aspect ratio (90 °) at the rotation angle 90 ° calculated in step 107 and the standard data is obtained as a difference (90 °).

Difference (0 °) = | Calculated aspect ratio (0 °)-Standard data |
Difference (90 °) = | Calculated aspect ratio (90 °)-Standard data |

  Thereafter, the process proceeds to step 116, where the calculated value of the aspect ratio (0 °) is closer to the standard data than the calculated value of the aspect ratio (90 °) depending on whether or not the difference (0 °) is smaller than the difference (90 °). If the difference (0 °) is determined to be smaller than the difference (90 °), that is, the calculated value of the aspect ratio (0 °) is the standard data than the calculated value of the aspect ratio (90 °). If it is determined that the difference is close to, the process proceeds to step 117, where it is determined whether or not the difference (0 °) is smaller than the allowable error of image recognition. As a result, if the difference (0 °) is determined to be greater than or equal to the image recognition tolerance, it is determined that a part having an aspect ratio different from that specified in the production job is sucked by the suction nozzle, and step 113 is performed. Proceed to Execute error handling.

  On the other hand, if it is determined in step 117 that the difference (0 °) is smaller than the image recognition tolerance, it is determined that the part having the aspect ratio specified in the production job is sucked to the suction nozzle, and the step Proceeding to 118, two directions corresponding to the calculated value of the aspect ratio (0 °) with the smaller difference, that is, two directions of 0 ° and 180 ° are set as candidates. Thereafter, the process proceeds to step 119, where the part corresponding to the two candidate directions of 0 ° and 180 ° in the image of the component is subjected to image processing, and the direction of the component is specified by the direction in which the feature point 21 can be recognized. .

  Further, when it is determined in the above-described step 116 that the difference (90 °) is smaller than the difference (0 °), that is, the calculated value of the aspect ratio (90 °) is more standard than the calculated value of the aspect ratio (0 °). If it is determined that the data is close to the data, the process proceeds to step 120, where it is determined whether or not the difference (90 °) is smaller than an allowable error of image recognition. As a result, if the difference (90 °) is determined to be greater than or equal to the image recognition tolerance, it is determined that a part having an aspect ratio different from that specified in the production job is sucked to the suction nozzle, and step 113 is performed. Proceed to Execute error handling.

  On the other hand, if it is determined in step 120 that the difference (90 °) is smaller than the image recognition tolerance, it is determined that the part having the aspect ratio specified in the production job is sucked by the suction nozzle. Proceeding to 121, two directions corresponding to the calculated value of the aspect ratio (90 °) with the smaller difference, that is, two directions of 90 ° and 270 ° are set as candidates. Thereafter, the process proceeds to step 122, where the parts corresponding to the 90 ° and 270 ° candidates in the two directions of the part are subjected to image processing, and the direction of the part is specified by the direction in which the feature point 21 can be recognized. .

  The processing in steps 108 to 110, 112, 114 to 118, 120, and 121 serves as direction candidate selection means in the claims, and the processing in steps 119 and 122 in the claims. It serves as a direction identification means.

  In the first embodiment described above, the standard data of the aspect ratio of the part whose direction is to be determined is stored in the storage device 14 in advance, and when the part is sucked to the suction nozzle during production, the entire part is stored. Is captured within the field of view of the component recognition camera 12 from below, the outer edge of the component is recognized from the captured image, and two aspect ratios of the component image viewed from 90 ° different directions are calculated, The calculated values of the two aspect ratios are compared with the standard data of the aspect ratio stored in the storage device 14, the candidate in the two directions corresponding to the calculated value of the aspect ratio with the smaller difference is selected, and the component Since the part corresponding to the selected two-direction candidates in the image is image-processed and the direction of the part is specified by the direction in which the feature point 21 can be recognized, the area to be image-processed can be halved. Processing time required to determine the direction And it can be shortened, the productivity can be improved. In addition, since the aspect ratio of the recognized part is selected so that the aspect ratio of the part specified in the production job is closer to the two-way determination process, the possibility of being influenced by the background of the part is reduced. Excellent in robustness.

  In the first embodiment, the two aspect ratios of the part image viewed from 90 ° different directions are calculated, and the calculated values of the two aspect ratios are compared with the standard data of the aspect ratio stored in the storage device 14. In the second embodiment of the present invention shown in FIGS. 5 and 6, the direction determination is made in advance in the storage device 14 in the second embodiment corresponding to the calculated value of the aspect ratio with the smaller difference. Two aspect ratio standard data obtained by viewing the target component from 90 ° different directions are stored, and the calculated aspect ratio value of the recognized component is stored in the storage device 14 as two aspect ratio standard data. As compared with the above, candidates in two directions corresponding to standard data having a smaller aspect ratio are selected.

  5 and 6 executed in the second embodiment omits the processing in step 107 of the component direction determination program in FIGS. 3 and 4 executed in the first embodiment, and performs steps 114 and 115. Only the processing is changed to the processing of steps 114a and 115a, and the processing of the other steps is the same.

  In the part orientation determination program shown in FIGS. 5 and 6, in step 106, the aspect ratio (0 °) assumed to be a rotation angle of 0 ° is only calculated, and the aspect ratio (90 °) assumed to be a rotation angle of 90 ° is Do not calculate.

  In step 114a, the absolute value of the difference between the calculated value of the aspect ratio (0 °) at the rotation angle of 0 ° and the standard data (0 °) of the aspect ratio at the rotation angle of 0 ° is set as the difference (0 °). In the next step 115a, the absolute value of the difference between the calculated value of the aspect ratio (0 °) at the rotation angle of 0 ° and the standard data (90 °) of the aspect ratio at the rotation angle of 90 ° is calculated as a difference (90 As °).

Difference (0 °) = | Calculated aspect ratio (0 °)-Standard data (0 °) |
Difference (90 °) = | calculated value of aspect ratio (0 °) −standard data (90 °) |

  Thereafter, the process proceeds to step 116, where the calculated value of the aspect ratio (0 °) is changed from the standard data (90 °) to the standard data (0 °) depending on whether or not the difference (0 °) is smaller than the difference (90 °). If the difference (0 °) is determined to be smaller than the difference (90 °), that is, the calculated aspect ratio (0 °) is greater than the standard data (90 °) than the standard data (0 If it is determined that the difference is close to (°), the process proceeds to step 117, where it is determined whether or not the difference (0 °) is smaller than an allowable error of image recognition. As a result, if the difference (0 °) is determined to be greater than or equal to the image recognition tolerance, it is determined that a part having an aspect ratio different from that specified in the production job is sucked by the suction nozzle, and step 113 is performed. Proceed to Execute error handling.

  On the other hand, if it is determined in step 117 that the difference (0 °) is smaller than the image recognition tolerance, it is determined that the part having the aspect ratio specified in the production job is sucked to the suction nozzle, and the step Proceeding to 118, two directions corresponding to the standard data (0 °) of the aspect ratio with the smaller difference, that is, two directions of 0 ° and 180 ° are set as candidates. Thereafter, the process proceeds to step 119, where the part corresponding to the two candidate directions of 0 ° and 180 ° in the image of the component is subjected to image processing, and the direction of the component is specified by the direction in which the feature point 21 can be recognized. .

  If it is determined in step 116 that the difference (90 °) is smaller than the difference (0 °), that is, the calculated aspect ratio (0 °) is greater than the standard data (0 °) than the standard data (90 °). If it is determined that the difference (90 °) is close to (°), the process proceeds to step 120, where it is determined whether or not the difference (90 °) is smaller than an allowable error of image recognition. As a result, if the difference (90 °) is determined to be greater than or equal to the image recognition tolerance, it is determined that a part having an aspect ratio different from that specified in the production job is sucked to the suction nozzle, and step 113 is performed. Proceed to Execute error handling.

  On the other hand, if it is determined in step 120 that the difference (90 °) is smaller than the image recognition tolerance, it is determined that the part having the aspect ratio specified in the production job is sucked by the suction nozzle. Proceeding to 121, two directions corresponding to the standard data (90 °) of the aspect ratio with the smaller difference, that is, two directions of 90 ° and 270 ° are set as candidates. Thereafter, the process proceeds to step 122, where the parts corresponding to the 90 ° and 270 ° candidates in the two directions of the part are subjected to image processing, and the direction of the part is specified by the direction in which the feature point 21 can be recognized. . Other matters are the same as those in the first embodiment.

  Also in the second embodiment described above, the same effect as in the first embodiment can be obtained. In the first and second embodiments, the entire component sucked by the suction nozzle is captured from below in the field of view of the component recognition camera 12, and the direction of the component is determined. The whole component to be supplied may be stored in the field of view of the camera such as the board recognition camera 13 from above and imaged to determine the direction of the component.

  In addition, the present invention is not limited to the component mounting machine, and can be implemented by applying various modifications within a range not departing from the gist, such as being applicable to various apparatuses having a function of determining the direction of a rectangular component. Needless to say, you can.

  DESCRIPTION OF SYMBOLS 11 ... Control apparatus (Aspect ratio calculation means, Direction candidate selection means, Direction specification means), 12 ... Component recognition camera, 13 ... Board recognition camera, 14 ... Storage device (storage means), 20 ... Bulk feeder, 21 ... Feature points that indicate the direction of the part

Claims (6)

In a component direction determination device that captures and captures an entire rectangular component having a feature point indicating a direction within the field of view of the camera, and processes the captured image to determine the direction of the component.
Storage means for storing standard data of the aspect ratio of the parts in advance;
An aspect ratio calculating means for recognizing an outer edge of the component based on an image of the component imaged by the camera and calculating an aspect ratio of the component;
The calculated value of the aspect ratio of the part obtained by the aspect ratio calculating means is compared with the standard data of the aspect ratio stored in the storage means to select two possible candidates for the direction of the part. Direction candidate selection means;
Direction specifying means for specifying the direction of the component according to the direction in which the part corresponding to the candidate for the two directions selected by the direction candidate selecting means in the part image is image-processed and the feature points can be recognized. A component direction determining device comprising: The direction candidate selecting means selects candidates in four directions when it is determined that the part is square based on the calculated value of the aspect ratio of the part obtained by the aspect ratio calculating means,
The direction specifying unit specifies the direction of the component based on the direction in which the feature points can be recognized by performing image processing on each of the parts corresponding to the candidates for the four directions in the image of the component. Item direction determining apparatus according to Item 1. The aspect ratio calculating means calculates two aspect ratios when the image of the part is viewed from a direction different by 90 °,
The direction candidate selection means compares the calculated values of the two aspect ratios obtained by the aspect ratio calculation means with the standard data of the aspect ratio stored in the storage means, and has the aspect ratio with the smaller difference. The component direction determination apparatus according to claim 1, wherein candidates for two directions corresponding to the calculated value are selected. The storage means stores standard data of two aspect ratios when the component is viewed from a direction different by 90 °,
The direction candidate selection means compares the calculated aspect ratio value of the component obtained by the aspect ratio calculation means with the standard data of the two aspect ratios stored in the storage means, and the aspect ratio with the smaller difference is compared. The component direction determination apparatus according to claim 1 or 2, wherein candidates for two directions corresponding to the ratio standard data are selected. The component is supplied to the component mounting machine by a feeder in which the direction of the component to be supplied is not a fixed direction
The camera picks up an image of the component sucked by the suction nozzle of the component mounting machine from below, and the component mounting machine has a case where the direction of the component specified by the direction specifying unit is different from the mounting direction on the circuit board. 5. The component direction determination device according to claim 1, wherein the suction nozzle is rotated to make the direction of the component coincide with the mounting direction. 6. In the component direction determination method in which the entire rectangular part having a feature point indicating the direction is captured and captured within the field of view of the camera, and the captured image is processed to determine the direction of the part.
The standard data of the aspect ratio of the parts is stored in the storage means in advance,
Based on the image of the component imaged by the camera, the outer edge of the component is recognized to calculate the aspect ratio of the component, and the calculated value of the aspect ratio is stored as standard data of the aspect ratio stored in the storage means. The candidate of the two directions which are possible as the direction of the part is selected by comparison, and the part corresponding to the candidate of the two directions selected by the direction candidate selecting unit in the part image is subjected to image processing, respectively. A component direction determination method, wherein the direction of the component is specified by a direction in which a feature point can be recognized.

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