JP2023152382A - Image processing device, component mounting machine and image processing method - Google Patents

Abstract

To improve detection accuracy for detecting a pitch of a cavity.SOLUTION: An image processing device comprises: a storage unit which stores in advance storage possible size information about a size of a component that may be stored in a cavity provided at a corresponding pitch for each of plural types of pitches; an acquisition unit which acquires component size information about the size of the component stored in a tape; and a detection unit which sets a determination object by excluding an exclusion position where the cavity cannot exist on the basis of component size information and storage possible size information from a plurality of candidate positions where the cavity may exist at any pitch in the plural types of pitches with respect to an image of the tape, and detects the pitch of the cavity by determining whether or not the cavity exists in the determination object by comparing a luminance value of a pixel of the determination object with a reference value.SELECTED DRAWING: Figure 7

Description

This specification discloses an image processing device, a component mounting machine, and an image processing method.

Conventionally, an image processing device has been proposed that processes an image of a tape in which cavities for accommodating components are provided at a constant pitch along the feeding direction to recognize the pitch of the cavities (for example, see Patent Document 1). . This device extracts the brightness of pixels on a line along the feeding direction from the tape image, generates a brightness waveform for that line, performs periodic analysis of brightness changes from the generated brightness waveform, and obtains the results from the periodic analysis. The pitch of the cavity is recognized based on the wavelength detected.

International Publication No. 2021/166230

In the image processing apparatus described above, during image processing, a change in brightness may be detected at a portion other than the edge portion of the cavity due to disturbance or the like, and there is a possibility that the pitch of the cavity may be erroneously determined.

The main purpose of the present disclosure is to further improve the detection accuracy of detecting the pitch of a cavity.

The present disclosure has taken the following measures to achieve the above-mentioned main objective.

The image processing device of the present disclosure includes:
An image processing device that processes an image of a tape in which cavities for accommodating parts are provided in a feeding direction at one of a plurality of fixed pitches,
a storage unit that stores in advance accommodable size information regarding the sizes of components that can be accommodated in cavities provided at the corresponding pitches for each of the plurality of types of pitches;
an acquisition unit that acquires component size information regarding the size of components accommodated in the tape;
Based on the part size information and the accommodable size information, the cavity is located among a plurality of candidate positions where the cavity may exist at any one of the plurality of pitches with respect to the image of the tape. The determination target is set by excluding impossible exclusion positions, and the brightness value of the pixel of the determination target is compared with a reference value to determine whether a cavity exists in the determination target. a detection unit that detects pitch;
The purpose is to have the following.

The image processing device of the present disclosure stores in advance, in a memory, accommodable size information regarding the sizes of components that can be accommodated in cavities provided at the corresponding pitches for each of a plurality of types of pitches. Then, the image processing device sets judgment targets for the tape image by excluding excluded positions where no cavity can exist from among the plurality of candidate positions based on the component size information and the accommodable size information. , the pitch of the cavity is detected by determining whether a cavity exists in the determination target. As a result, the image processing device can suppress determining whether or not a cavity exists using a position where a cavity cannot exist as a determination target, thereby further reducing the possibility of misjudgment due to external disturbances, etc. I can do it. As a result, the detection accuracy for detecting the pitch of the cavity can be further improved.

FIG. 1 is a schematic configuration diagram of a component mounter system. It is a schematic block diagram of a feeder. FIG. 3 is a partially enlarged view of the vicinity of the component supply position of the feeder. FIG. 2 is a block diagram showing an electrical connection relationship between a component mounting machine and a management device. 3 is a flowchart illustrating an example of automatic feed pitch detection processing. FIG. 3 is an explanatory diagram showing an imaging position for reading a feeder mark on a tape and an imaging position for measuring a feed pitch. 3 is a flowchart illustrating an example of pitch detection processing. FIG. 3 is an explanatory diagram showing reference brightness measurement positions. It is an explanatory view showing an example of each measurement point of a 1 mm feed tape, a 2 mm feed tape, and a 4 mm feed tape. FIG. 3 is an explanatory diagram showing an example of accommodable component size information stored in a storage device.

Next, embodiments for carrying out the present disclosure will be described with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a component mounter system 1. As shown in FIG. FIG. 2 is a schematic diagram of the feeder 20. As shown in FIG. FIG. 3 is a partially enlarged view of the vicinity of the component supply position of the feeder 20. FIG. 4 is a block diagram showing the electrical connection relationship between the component mounter 10 and the management device 60. In addition, the left-right direction in FIG. 1 is the X-axis direction, the front (front) and rear (rear) directions are the Y-axis direction, which is approximately perpendicular to the X-axis direction, and the vertical direction is the X-axis direction and the Y-axis direction (horizontal plane). This is the Z-axis direction which is approximately perpendicular to .

The component mounter system 1 includes a component mounter 10 and a management device 60, as shown in FIG. A plurality of component mounting machines 10 are arranged side by side in the board transport direction to constitute a component mounting line.

Each component mounter 10 includes a housing 11, a substrate transport device 12, a feeder 20, a head moving device 30, a mounting head 40, and a mounting control device 50 (see FIG. 4). In addition to these, the component mounting machine 10 also includes a parts camera 14, a mark camera 16, and the like.

The substrate conveyance device 12 includes a pair of conveyor belts that are spaced apart from each other in the front and back (in the Y-axis direction) in FIG. 1 and spanned from side to side (in the X-axis direction). The substrate is conveyed by the conveyor belt of the substrate conveyance device 12 from left to right in the figure.

As shown in FIG. 1, the feeders 20 are attached to a feeder stand provided at the front of the housing 11 so as to be lined up in the left-right direction (X-axis direction). The feeder 20 is configured as a tape feeder including a reel 21, a feeder mark 23, a tape feeding mechanism 24, a connector 26, and a feeder control device 28, as shown in FIG. A tape 22 is wound around the reel 21. As shown in FIG. 3, cavities 22a and sprocket holes 22b are formed in the tape 22 at predetermined intervals along its longitudinal direction. A component P is accommodated in the cavity 22a. The size and pitch of the cavity 22a are determined depending on the size of the components to be accommodated. In this embodiment, the pitches of the cavities 22a are 1 mm pitch, 2 mm pitch, and 4 mm pitch.

The tape feeding mechanism 24 includes a motor 24a configured as a stepping motor, a drive gear 24b provided on the rotating shaft of the motor 24a, a transmission gear 24c that meshes with the drive gear 24b, and sprocket teeth that mesh with the transmission gear 24c. A sprocket 24d provided on the outer peripheral surface. The tape feeding mechanism 24 pulls out the tape 22 from the reel 21 by engaging the sprocket teeth of a sprocket 24d with a sprocket hole 22b formed in the tape 22 and intermittently rotating the sprocket 24d by driving the motor 24a. The parts are sequentially delivered to the parts supply position F (see Fig. 3). Note that the component P accommodated in the tape 22 is protected by a film covering the surface of the tape 22. The film is peeled off before the component supply position F, so that the component P is exposed at the component supply position F and can be sucked by the suction nozzle 44.

As shown in FIG. 4, the feeder control device 28 includes a microcomputer (hereinafter referred to as microcomputer) 28a that includes a built-in CPU, ROM, RAM, etc., and a motor driver 28b as a drive circuit for the motor 24a. The microcomputer 28a inputs a detection signal from the feed rate sensor 25 which detects the feed rate of the tape 22 by detecting the rotational displacement of the transmission gear 24c, and outputs a pulse signal to the motor driver 28b for driving the motor 24a. . The motor driver 28b generates a drive current based on the input pulse signal and outputs it to the motor 24a. As the sprocket 24d is rotated by the driving force from the motor 24a via the transmission gear 24c, the tape 22 that engages with the sprocket 24d is fed to the component supply position F at a predetermined feed pitch. The feeding pitch of the tape 22 is set in advance to match the pitch of the cavities 22a. Note that the feeding pitch can be set by an operator inputting it using an input device (not shown) or by reading the state of a setting switch provided on the feeder 20.

The head moving device 30 moves the mounting head 40 back and forth and left and right (XY axis directions). The head moving device 30 includes an X-axis slider 32 and a Y-axis slider 34, as shown in FIG. The X-axis slider 32 is supported by a pair of upper and lower X-axis guide rails 31 provided on the front surface of the Y-axis slider 34 so as to extend left and right (in the X-axis direction), and is moved left and right by the drive of an X-axis motor (not shown). It is movable. The Y-axis slider 34 is supported by a pair of left and right Y-axis guide rails 33 provided in the upper part of the housing 11 so as to extend back and forth (in the Y-axis direction), and is moved left and right by the drive of a Y-axis motor (not shown). It is movable. A mounting head 40 is attached to the X-axis slider 32. Therefore, the mounting head 40 can be moved along the XY plane (horizontal plane) by driving and controlling the head moving device 30 (X-axis motor and Y-axis motor).

The mounting head 40 includes a holder 42 that holds a suction nozzle 44, and a lifting device that lifts and lowers the holder 42. The suction nozzle 44 has a suction port at its tip, and can suction the component P using negative pressure supplied to the suction port from a negative pressure source (not shown).

The parts camera 14 is provided between the feeder 20 and the substrate transport device 12, and is used to image the parts P sucked by the suction nozzle 44 of the mounting head 40 from below. The image of the part captured by the parts camera 14 is used to detect the suction deviation of the part P.

The mark camera 16 is provided on the mounting head 40 and is capable of capturing an image of a mark made on a board (board mark) from above, or of a mark provided on a feeder 20 (feeder mark 23) or tape 22 from above. It is something to do. The image of the board mark taken by the mark camera 16 is used to recognize the position of the board. Further, the image of the tape 22 taken by the mark camera 16 is used to detect the pitch of the cavity 22a.

As shown in FIG. 4, the mounting control device 50 is configured as a microprocessor centered on a CPU 51, and in addition to the CPU 51, it also has a ROM 52, a RAM 53, a storage device 54 (hard disk drive, solid state drive, etc.), and input/output devices. It includes an interface 55 and the like. These are connected via a bus 56. The mounting control device 50 receives various detection signals from a position sensor (not shown) that detects the position of the mounting head 40, and inputs image signals from the parts camera 14 and mark camera 16. Further, the mounting control device 50 outputs various control signals to the feeder 20, the substrate transport device 12, the head moving device 30 (X-axis motor, Y-axis motor), the parts camera 14, the mark camera 16, and the like.

The management device 60 is a general-purpose computer including a CPU, ROM, RAM, storage device (hard disk drive, solid state drive, etc.), and is communicably connected to the mounting control device 50 of each component mounting machine 10. The management device 60 generates a production job that defines which components are to be mounted on which boards in each component mounting machine 10, and how many boards with the components mounted thereon are to be produced. The production job includes board information regarding the board to be produced, nozzle information regarding the suction nozzle 44 to be used, and component information (including component size) regarding the component to be mounted. The management device 60 instructs each component mounter 10 to perform production by transmitting the generated production job to each component mounter 10 (mounting control device 50).

When production is instructed, the mounting control device 50 of each component mounting machine 10 performs a mounting process of mounting components on a board according to a production job. That is, the mounting control device 50 first instructs the feeder 20 to feed the tape at a predetermined feeding pitch so as to feed the component to the component supply position F, and also causes the head moving device 30 to move the tape above the component supply position F of the feeder 20. The mounting head 40 is moved to. Subsequently, the mounting control device 50 lowers the suction nozzle 44 using the lifting device and causes the suction nozzle 44 to suction the component P. Next, the mounting control device 50 causes the head moving device 30 to move the component P that has been sucked into the suction nozzle 44 above the parts camera 14, and images the component with the parts camera 14. After capturing the image, the mounting control device 50 processes the captured image of the component P, measures the amount of adsorption deviation of the component P, and corrects the mounting position of the component on the board. Then, the mounting control device 50 uses the head moving device 30 to move the component P that has been sucked by the suction nozzle 44 above the corrected mounting position, and lowers the suction nozzle 44 using the lifting device to mount the component P on the board. let

Next, the operation for detecting the necessary feed pitch of the tape 22 when the feeder 20 feeds the tape 22 will be described. FIG. 5 is a flowchart illustrating an example of automatic feed pitch detection processing executed by the CPU 51 of the mounting control device 50. This process is executed when the feeder 20 is set on the feeder table. Although the feeder 20 is set on the feeder table manually by the operator in this embodiment, it may also be set automatically by an automatic exchange robot (not shown).

When the automatic feed pitch detection process is executed, the CPU 51 of the mounting control device 50 first moves the head moving device 30 so that the mounting head 40 moves to the feeder mark reading imaging position (see FIG. 6) in order to read the feeder mark 23. is controlled to take an image of the feeder mark 23 with the mark camera 16, and the obtained taken image is processed to read the feeder mark 23 appearing in the taken image (S100). Then, the CPU 51 determines whether or not the feeder mark 23 has been successfully read (S110). If the CPU 51 determines that the reading has failed, it determines that there is a failure (NG) in the setting of the feeder 20 (S120), and automatically feeds the tape 22 without detecting the feeding pitch (the pitch of the cavity 22a). End the pitch detection process.

On the other hand, if the CPU 51 determines that the feeder mark 23 has been successfully read in S110, it reads the sprocket hole 22b shown in the captured image obtained in S100 (S130). Then, the CPU 51 determines whether there is any deviation (pitch deviation) in the feeding direction of the tape 22 from the positional relationship between the read sprocket hole 22b and the feeder mark 23 read in S100 (S140). If the CPU 51 determines that there is a pitch deviation, it determines that the set of the feeder 20 is defective (NG) (S120), and automatically feeds the tape 22 without detecting the feeding pitch (the pitch of the cavity 22a). End the pitch detection process. Note that if the CPU 51 determines that there is a defect in the setting of the feeder 20, it displays an error on a display device (not shown) or emits a warning sound, instructing the operator to re-set the feeder 20. encourage. This makes it possible to check for mistakes in setting the feeder 20 (misalignment, etc.) by the operator before production, thereby reducing parts loss due to suction mistakes caused by misalignment of the feeder 20.

On the other hand, if the CPU 51 determines that there is no pitch deviation, the CPU 51 controls the head moving device 30 to move the mounting head 40 to the imaging position for measuring the feed pitch (see FIG. 6), and uses the mark camera 16 to measure the feed pitch. The tape 22 is imaged (S150). Next, the CPU 51 corrects the coordinates of each pixel of the captured image of the tape 22 obtained in S150 based on the position of the feeder mark 23 read in S100 (S160), and A feed pitch detection process for detecting the feed pitch (pitch of the cavity 22a) from the captured image is executed (S170). Then, the CPU 51 determines whether the detected pitch matches the set value (S180). If the CPU 51 determines that the detected pitch does not match the set value, the CPU 51 determines that the set of the feeder 20 is defective (NG) (S120), and ends the automatic feed pitch detection process. Thereby, it is possible to check before production whether the operator is incorrectly attaching the reel 21, etc., and it is possible to reduce parts loss caused by sending out the tape 22 at a pitch different from the pitch of the cavity 22a (pitch skipping).

On the other hand, if the CPU 51 determines that the detected pitch matches the set value, the CPU 51 determines that the setting of the feeder 20 is appropriate (OK) (S190), and ends the automatic feed pitch detection process. Thereby, the feeder 20 can feed out the tape 22 at a feeding pitch that matches the pitch of the cavities 22a.

The feed pitch detection process in S170 is performed by executing the feed pitch detection process illustrated in FIG.

In the feed pitch detection process of FIG. 7, the CPU 51 first reads the sprocket hole 22b shown in the captured image of the tape 22 obtained in S150 of the automatic feed pitch detection process (S200). Next, the CPU 51 determines the brightness value of the pixel at the standard brightness measurement position from the captured image of the tape 22, with the central position of the two sprocket holes 22b aligned in the feeding direction (Y-axis direction) of the tape 22 as the standard brightness measurement position. The brightness value is acquired (S210), and the acquired brightness value is set as the reference brightness S (S220). The reference brightness measurement position of this embodiment is shown in FIG. 8(a), and the reference brightness measurement position of the comparative example is shown in FIG. 8(b). The reference brightness measurement position of the comparative example is determined on a straight line passing through the center of the feeder mark 23 and extending in a direction (X-axis direction) orthogonal to the feeding direction of the tape 22, as shown in FIG. 8(b). To detect the feeding pitch, set a plurality of measurement points (7) in the tape feeding direction at the minimum pitch (1 mm pitch) of the existing tape 22, and compare the brightness value of each measurement point with the reference brightness S. This is carried out by determining the presence or absence of the cavity 22a at. Therefore, when measuring the reference brightness S, it is necessary to obtain the brightness value by setting the part of the tape 22 where nothing is formed as the reference brightness measurement position. In the comparative example, depending on the size of the cavity 22a, as shown in FIG. 8(b), the reference brightness measurement position falls on the edge portion of the cavity 22a. If the CPU 51 sets the brightness value of the edge portion to the standard brightness S, there is a risk that the feed pitch will be incorrectly determined due to the wrong standard brightness S. In this embodiment, the CPU 51 reads the sprocket holes 22b, and sets the reference brightness S from the brightness value of the pixel at the reference brightness measurement position by setting the center position between the two read sprocket holes 22b as the reference brightness measurement position. A more stable and accurate reference brightness S can be obtained than in the comparative example.

Next, the CPU 51 acquires the component size of the component accommodated on the tape 22 mounted on the feeder 20 (S230). The component size can be acquired from component information included in the production job received from the management device 60. Subsequently, the CPU 51 sets measurement points to be excluded from determination from among a plurality of measurement points for detecting the feed pitch based on the acquired component size and the accommodable component size information stored in advance in the storage device 54 ( S240). Determination exclusion is to exclude a measurement point where the cavity 22a cannot exist among the plurality of measurement points from the determination target of the presence or absence of a cavity, and the details thereof will be described later.

Then, the CPU 51 initializes the variable i to the value 1 (S250), and determines whether the variable i is less than or equal to a predetermined value (value 7). If the CPU 51 determines that the variable i is less than or equal to the predetermined value, the CPU 51 determines whether the measurement point i is set to be excluded from determination (S270).

When the CPU 51 determines that the measurement point i is not set to be excluded from determination, it acquires the brightness value of the pixel at the measurement point i in the captured image of the tape 22 (S280), and the acquired brightness value Li becomes the reference brightness S. It is determined whether or not it is smaller than a predetermined value α (S290). In the captured image of the tape 22, the portion of the cavity 22a appears darker than the portion where nothing is formed. Therefore, by determining whether the brightness value Li of the measurement point i is smaller than the reference brightness S by a predetermined value α or more, it is possible to determine whether the cavity 22a is present at the measurement point i. If the CPU 51 determines that the brightness value Li of the measurement point i is smaller than the reference brightness S by a predetermined value α or more, the CPU 51 determines that the cavity 22a exists at the measurement point i (S300), and increments the variable i by the value 1 ( S310), and returns to S260. On the other hand, if the CPU 51 determines that the brightness value Li of the measurement point i is not smaller than the reference brightness S by the predetermined value α, the CPU 51 determines that there is no cavity 22a at the measurement point i (S320), and increments the variable i ( S310), and returns to S260.

If the CPU 51 determines in S270 that the measurement point i is set to be excluded from determination, it determines that there is no cavity 22a without determining the presence or absence of the cavity 22a at the measurement point i (S320), and sets the variable i. is incremented (S310) and returns to S260.

If the CPU 51 determines in S260 that the variable i is not equal to or less than the predetermined value, the CPU 51 determines that the determination of the presence or absence of the cavity 22a has been completed at all measurement points, and determines the feed pitch of the tape 22 from the determination results of each measurement point. (S330), and the feed pitch detection process ends. FIG. 9 is an explanatory diagram showing an example of each measurement point of a 1 mm feed tape, a 2 mm feed tape, and a 4 mm feed tape. In the case where the minimum pitch of the existing tape 22 with multiple (1st to 7th) measurement points is determined to be 1 mm, if it is determined that there is a cavity at all of the 1st to 7th measurement points from the top. , the tape 22 is determined to be a 1 mm feed tape (see FIG. 9(a)). Additionally, if it is determined that there is a cavity at the first, third, fifth, and seventh measurement points, and that there is no cavity at the other measurement points, the tape 22 is determined to be a 2 mm feed tape. (See FIG. 9(b)). Furthermore, if it is determined that there is a cavity at the first and fifth measurement points, and it is determined that there is no cavity at the other measurement points, the tape 22 is determined to be a 4 mm feed tape (see FIG. 9). c).

Here, measurement points to be excluded from determination will be explained. FIG. 10 is an explanatory diagram showing an example of accommodable component size information. As shown in the figure, the sizes of components that can be accommodated are associated with each tape type. That is, a 1 mm feed tape can accommodate components of sizes "0402", "0603", and "1005". The 2 mm feeding tape can accommodate parts of sizes "0402", "0603", "1005", and "1608". Further, the 4 mm feeding tape can accommodate parts of sizes "1608", "2125", "3216", and "3225". For example, if the component size of the component accommodated in the tape 22 of the feeder 20 is "1608", according to the accommodable component size information, the tape 22 may be fed by 2 mm or 4 mm, but the tape 22 may be fed by 1 mm. There is no possibility of sending it. In this case, the CPU 51 determines and excludes the second, fourth, and sixth measurement points among the plurality of measurement points, where the cavity 22a may exist at 1 mm feed, but where the cavity 22a cannot exist at 2 mm feed or 4 mm feed. (see dotted line in Figure 9C). This makes it possible to reduce the number of measurement points to be determined and avoid as much as possible the risk of erroneous determination due to disturbances and the like. As a result, the detection accuracy of the feeding pitch of the tape 22 can be further improved. Although the accommodable component size information is stored in the storage device 54, it may be stored in the storage device of the management device 60.

Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure described in the claims will be explained. That is, the mounting control device 50 of the embodiment corresponds to the image processing device of the present disclosure, the tape 22 corresponds to the tape, the cavity 22a corresponds to the cavity, and the storage device 54 of the mounting control device 50 corresponds to the storage section. , the mounting head 40 corresponds to a head, the head moving device 30 corresponds to a moving device, the CPU 51 of the mounting control device 50 that executes the process of S230 of the pitch detection process corresponds to an acquisition unit, and the process of S240 to S240 of the pitch detection process corresponds to The CPU 51 of the mounting control device 50 that executes the process of S330 corresponds to the detection unit. Furthermore, the sprocket hole 22b corresponds to an engagement hole, and the CPU 51 of the mounting control device 50, which executes the processes of S200 to S220 of the pitch detection process, corresponds to a setting section.

It goes without saying that the present disclosure is not limited to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

As described above, the image processing device of the present disclosure stores in advance accommodable size information regarding the sizes of components that can be accommodated in cavities provided at the corresponding pitches for each of a plurality of types of pitches. . Then, the image processing device sets judgment targets for the tape image by excluding excluded positions where no cavity can exist from among the plurality of candidate positions based on the component size information and the accommodable size information. , the pitch of the cavity is detected by determining whether a cavity exists in the determination target. As a result, the image processing device can suppress determining whether or not a cavity exists using a position where a cavity cannot exist as a determination target, thereby further reducing the possibility of misjudgment due to external disturbances, etc. I can do it. As a result, the detection accuracy for detecting the pitch of the cavity can be further improved.

The image processing device of the present disclosure includes a setting unit that sets a luminance value of a pixel at a specified position specified in advance with respect to the image on the tape to the reference value, and the tape is arranged to be connected to the cavity in the feeding direction. It has a plurality of engagement holes arranged in parallel and engaged with sprockets for feeding the tape, and the designated position may be a position between two adjacent engagement holes in the feeding direction. good. In this way, the reference value can be appropriately set.

In the above-described embodiment, the image processing apparatus (mounting control apparatus 50) has been described, but it may also be an image processing method or a component mounting machine.

The present disclosure can be used in the manufacturing industry of image processing devices and component mounting machines.

1 component mounter system, 10 component mounter, 11 housing, 12 board transfer device, 14 parts camera, 16 mark camera, 20 feeder, 21 reel, 22 tape, 22a cavity, 22b sprocket hole, 23 feeder mark, 24 tape Feed mechanism, 24a motor, 24b drive gear, 24c transmission gear, 24d sprocket, 25 feed rate sensor, 26 connector, 28 feeder control device, 28a microcomputer, 28b motor driver, 30 head moving device, 31 X-axis guide rail, 32 Axis slider, 33 Y-axis guide rail, 34 Y-axis slider, 40 mounting head, 42 holder, 44 suction nozzle, 50 mounting control device, 51 CPU, 52 ROM, 53 RAM, 54 storage device, 55 input/output interface, 56 bus , 60 Management device, F Parts supply position, P Parts.

Claims (4)

An image processing device that processes an image of a tape in which cavities for accommodating parts are provided in a feeding direction at one of a plurality of fixed pitches,
a storage unit that stores in advance accommodable size information regarding the sizes of components that can be accommodated in cavities provided at the corresponding pitches for each of the plurality of types of pitches;
an acquisition unit that acquires component size information regarding the size of components accommodated in the tape;
Based on the part size information and the accommodable size information, the cavity is located among a plurality of candidate positions where the cavity may exist at any one of the plurality of pitches with respect to the image of the tape. The determination target is set by excluding impossible exclusion positions, and the brightness value of the pixel of the determination target is compared with a reference value to determine whether a cavity exists in the determination target. a detection unit that detects pitch;
An image processing device comprising: The image processing device according to claim 1,
comprising a setting unit that sets the luminance value of a pixel at a specified position specified in advance with respect to the image on the tape to the reference value,
The tape has a plurality of engagement holes arranged in parallel with the cavity in the feeding direction and engaged with sprockets for feeding the tape,
The specified position is a position between two adjacent engagement holes in the feeding direction,
Image processing device. A component mounting machine that is equipped with a feeder that feeds a tape in which cavities for accommodating components are provided in the feeding direction at one of a plurality of fixed pitches, and that takes out components from the cavities of the tape and mounts them on a target object. And,
an imaging unit that captures an image of the tape;
a storage unit that stores in advance accommodable size information regarding the sizes of components that can be accommodated in cavities provided at the corresponding pitches for each of the plurality of types of pitches;
an acquisition unit that acquires component size information regarding the size of components accommodated in the tape;
Based on the part size information and the accommodable size information, the cavity is located among a plurality of candidate positions where the cavity may exist at any one of the plurality of pitches with respect to the image of the tape. The determination target is set by excluding impossible exclusion positions, and the brightness value of the pixel of the determination target is compared with a reference value to determine whether a cavity exists in the determination target. a detection unit that detects pitch;
a control unit that controls the feeder to feed the tape based on the cavity pitch detected by the detection unit;
A component mounting machine equipped with An image processing method for processing an image of a tape in which cavities for accommodating parts are provided in the feeding direction at one of a plurality of fixed pitches, the method comprising:
For each of the plurality of types of pitches, accommodable size information regarding the sizes of components that can be accommodated in cavities provided at the corresponding pitches is stored in advance,
obtaining component size information regarding the size of components accommodated in the tape;
Based on the part size information and the accommodable size information, the cavity is located among a plurality of candidate positions where the cavity may exist at any one of the plurality of pitches with respect to the image of the tape. The determination target is set by excluding impossible exclusion positions, and the brightness value of the pixel of the determination target is compared with a reference value to determine whether a cavity exists in the determination target. detect pitch,
Image processing method.

Images