JP3061720B2 - Component placement method and board removal method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component arranging method and a component removing method for automatically and appropriately positioning components to be arranged or removed in a component arranging operation and a component removing operation. About.

[0002]

2. Description of the Related Art Conventionally, when arranging parts on a board, first, an operator uses a mouse and a keyboard to interactively display parts displayed on a screen of a computer display device (for example, a CRT). Thus, the parts are arranged by the judgment of the operator while moving and rotating on the screen so that the parts can be properly fitted in the empty area on the plate material on the screen.

[0003]

According to the above-mentioned conventional placement work, since the proper placement of parts on a plate depends on the judgment of the operator, the work efficiency and the optimum placement cannot be obtained. There was a problem.

Accordingly, an object of the present invention is to provide a component arranging method and a board removing method that can solve the above problems.

[0005]

In order to solve the above problems, a first means of the present invention is to divide a rectangular area surrounding an entire component into a plurality of small areas by dividing the rectangular area vertically and horizontally and dividing each of the small areas into a plurality of small areas. 2 for each pixel according to the presence or absence of the component in
Quantified data is detected, and the detected “Yes”
The small area array data of the data ratio is defined as the geometric feature of the part, a rectangular area and a small area having the same size as the above-described part are provided on the plate material, and the binary data in each of the small areas is not used. "The small area array data of the data ratio is regarded as the geometric feature of the plate material. Then, for each small area,
This is a component placement method in which the sum of the squares of the difference between the geometric feature values of the component and the plate is calculated, and the component is arranged on the plate such that the difference of the sum of the squares approaches zero.

Further, a second means of the present invention is a method according to the first means, wherein data stored in advance is used as part shape data. Further, a third means of the present invention is to divide a rectangular region surrounding the entire component into a plurality of small regions by dividing the rectangular region vertically and horizontally, and for each pixel corresponding to the presence or absence of the component in each of these small regions. In addition to obtaining the binarized data, the obtained small area array data having the ratio of “presence” data is used as the geometric feature of the component, and a rectangular area having the same size as A small area is provided, and the binarized data in each of these small areas is “absent”.
The small region array data of the data is regarded as the geometric feature of the plate material, and then, for each small region, the sum of squares of the difference between the geometric features of the part and the plate material is calculated, and the difference of the sum of squares is zero. This is a part boarding method for performing part boarding on a plate material so as to approach.

[0007]

According to the method of arranging parts and the method of removing boards, the geometrical feature of the empty area of the part and the board is extracted, and the evaluation value indicating the adjacent state is calculated based on the difference between the feature amounts. Then, by arranging or trimming the components on the plate material so that the evaluation value approaches zero, it is possible to automatically and efficiently arrange and trim the components on the plate material.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIG. The first embodiment of the present invention is an arrangement method for automatically and efficiently arranging components on a plate material.

In the arrangement method of this embodiment, a recognition device capable of numerically evaluating the recognition and arrangement state of components is used. This recognition device includes at least a camera device (for example, one using a CCD or the like) for photographing a surface of a component and a plate material over a predetermined range, and an image photographed by the camera device as binary information. It has an arithmetic processing unit (for example, composed of a computer or the like) for detecting and performing a predetermined operation to evaluate the arrangement state of the parts on the plate material.

When arranging parts, as described above, the parts and the plate material are recognized as binary data by the camera device. If the part exists, for example, "
1 (presence) data, and when no component exists, it is represented as "0 (absence)" data.

Next, a specific method of recognizing and evaluating components and plate materials will be described. FIG. 1 shows a state in which a part 2 with a hole 2a to be arranged is temporarily arranged on a plate material 1.

First, a rectangular area A surrounding the entire part 2 is defined as
A plurality of small areas B are divided vertically and horizontally. The number of divisions is increased or decreased according to the area ratio occupied by the component 2 with respect to the rectangular area A, and the proportion of the pixel (also referred to as a pixel), which is the minimum unit of recognition in the small area B, is increased apparently. Is considered so that the geometrical feature of is easily extracted.

Next, a rectangular area A having the same size as that described above and a small area B having the same size and the same number are formed on the plate 1. In each of these small areas B, the camera device recognizes whether or not there is another component. At this time, if there is another part, it is represented as, for example, “1 (present)” data, and if there is no part, “0” is present.
(None) ”data.

[0014] Then, the camera device is used. "
The number of arrays (small area array data) at the ratio of 0 "data is
It is regarded as a geometric feature of the shape of the empty area in the plate material 1.

Next, the ratio of the “1” data of the part 2 to the total area of the rectangular area A obtained above and the plate material 1
Based on the ratio of “0” data to the total area of the rectangular area A obtained on the side, whether or not the component 2 can be appropriately arranged on the plate material 1 is evaluated by an evaluation expression expressed by the following expression. That is, the evaluation degree q is obtained.

[0016]

(Equation 1) In the equation, B _i indicates the i-th small area, and w _i is a weight coefficient.

The above equation finds the sum of the squares of the differences between the geometric features of the part 2 and the plate 1 for each small area B. The closer the value (q) of this equation is to zero, the more the part 2 This indicates that the similarity between the shape and the empty area of the plate 1 is high. Therefore, when arranging the component 2, if the value (q) is made as close to zero as possible, efficient arrangement can be achieved. Can be done automatically.

In the above equation, if the difference between the geometrical feature of the part 2 and the geometrical feature of the plate 1 is a positive value, it means that there is less free space in the plate 1, that is, the space has already been placed. This indicates that the placed component and the newly placed component overlap.

[0019] Therefore, it is necessary to avoid that the parts overlap each other, the difference between the geometric features in the small regions B, summing and squaring the multiplied by a certain weight factor (w _i, for example, 8) By doing so, when a situation to be avoided as described above occurs, the evaluation value increases, and the inconvenience as described above can be avoided.

Conversely, when the difference between the geometrical feature of the component 2 and the geometrical feature of the plate 1 is zero or negative, there is an empty area in the plate 1. , and the in this case, the weighting factor (w _i) is a 1, the evaluation value is determined in the absence substantially.

Note that the rectangular area A to be determined includes the periphery of the component 2 (for example, FIG.
B _{1 to} B ₆ , B ₁₀ , B ₁₁ , B ₁₅ , B ₁₆ , B _{20 to} B ₂₅ ), and the part to be newly arranged is arranged at a place adjacent to the already arranged part. Then, the evaluation value (q) becomes smaller (improves) as compared with the case where it is not so, so that it is possible to prevent the components from being arranged alone in the empty area on the plate material. That is, when the component has irregularities, the component can be arranged in a state where the concave portion and the convex portion are properly engaged with each other, so that the component can be arranged extremely efficiently. Of course, a new part can be arranged even in the hole of the already arranged part.

In the above-described embodiment, the shape of the part to be arranged is recognized by the camera device. For example, the shape data of the part is stored in a computer in advance, and based on this data, The same operation as described above may be performed to arrange components.

In the above-described embodiment, the method of arranging parts using the evaluation formula has been described. However, by using the same method, even when the parts are cut off, the method is performed automatically. Efficient stripping can be performed.

That is, when a part is cut out, data such as the shape of the part and the size of the plate material are stored in a storage device of the computer in advance. Of course, at this time
In the part area, "1 (presence)" data is stored, and in the free area on the plate material side, "0 (no)" data is stored.

Then, as in the above embodiment, a rectangular area surrounding the entire component is divided into a plurality of small areas by dividing it vertically and horizontally. The number of divisions is increased or decreased according to the area ratio of the component to the rectangular area, and the apparent ratio of the pixel (also referred to as a pixel), which is the minimum unit of recognition in the small area, is increased, and the geometrical shape of the component is increased. It is considered so that features can be easily extracted.

Next, the same rectangular region A and small region are considered for the plate material region. In each of these small areas, it is checked whether or not there is data of another part that has already been removed. At this time, when another part is board-cut, this is indicated as, for example, "1 (existing)" data, and when the part is not board-cut, it is indicated as "0 (absent)" data.

The number of arrays (small area array data) at the ratio of "0" data is regarded as a geometric feature of the shape of the empty area on the plate material side. Next, the ratio of the part “1” data to the total area of the rectangular area obtained above and the ratio of the “1” data to the total area of the rectangular area obtained on the plate material side are described.
Based on the ratio of 0 ″ data, it is determined whether or not the component can be appropriately cut on the plate material by the evaluation formula (
Expression).

That is, based on the evaluation value, the quality of the part removal can be automatically and accurately determined.

[0029]

As described above, according to the method for arranging and removing parts according to the present invention, the geometrical features of the free areas of the parts and the sheet material are extracted, and based on the difference between these geometrical features, the mutual features are extracted. By calculating the evaluation value indicating the adjacent state of the calculation, and by arranging or trimming the parts on the plate material so that the evaluation value approaches zero, as in the related art,
Compared to the manual operation by the operator, the arrangement of the parts on the plate material and the plate removal can be performed automatically and efficiently.

[Brief description of the drawings]

FIG. 1 is a plan view illustrating a method for arranging components according to an embodiment of the present invention.

[Description of Signs] 1 Board 2 Parts A Rectangular area B Small area

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G06F 17/50 G06T 7/00

Claims (3)

(57) [Claims] 1. A rectangular area surrounding an entire component is divided vertically and horizontally into a plurality of small areas, and binary data is detected for each pixel according to the presence or absence of the component in each of the small areas. At the same time, the small area array data of the ratio of the detected "presence" data is used as the geometric feature of the part, and a rectangular area and a small area having the same size as the above part are provided on the plate material. The small region array data of the ratio of the “absence” data of the binarized data in the small region is defined as the geometric feature of the plate material. And arranging the components on a plate material such that the difference between the sums of squares approaches zero. 2. The method according to claim 1, wherein data stored in advance is used as the shape data of the component. 3. A rectangular area surrounding the entire part is divided vertically and horizontally into a plurality of small areas, and binary data is obtained for each pixel in accordance with the presence or absence of the part in each of these small areas. In addition, the obtained small area array data of the ratio of "presence" data is used as the geometric feature of the part, and a rectangular area and a small area of the same size as the above part are provided on the plate material. Of binary data in each small area
The small area array data of “no” data is used as the geometric feature value of the plate material, and then, for each small area, the sum of the squares of the difference between the geometric features of the component and the plate material is obtained. A method for removing parts from a plate material, wherein the parts are reduced to zero.