JP4106301B2 - Component recognition method and apparatus - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a component recognition method and apparatus, and more particularly, to a component recognition method and apparatus for recognizing a suction posture of a component by imaging a component having a corner terminal and processing the image.
[0002]
[Prior art]
Conventionally, in order to accurately mount electronic components (hereinafter simply referred to as components) on a printed circuit board in a component mounting machine, the components are picked up by an image pickup device such as a CCD camera before the components sucked by the suction nozzle are mounted on the printed circuit board. Then, the component center and the component inclination are obtained, and the component is accurately mounted on the printed circuit board by calculating the suction deviation and correcting it. When recognizing a component in such a component mounting machine, since there is a lead terminal on each side of the component, the terminal is detected for each side where the lead terminal exists as in Patent Document 1, and the detection result Based on the above, the center of the part and the inclination are calculated. Also, when recognizing a part, it does not recognize anything that is not related to centering, such as a terminal that exists at the corner of the part, and only detects those necessary for centering such as lead terminals and ball terminals. , The calculation accuracy when finding the center and inclination of the parts is increased.
[0003]
In addition, when a component is mounted on a substrate, if the component has polarity (directionality), it must be mounted on the substrate with one side of the component facing in the direction corresponding to the polarity. Therefore, the orientation of one side of the component is specified as an adsorption angle of 0 ° (upward), 90 ° (rightward), 180 ° (downward), and 270 ° (leftward), and the component data is rotated according to the specified adsorption angle. Parts recognition.
[0004]
[Patent Document 1]
JP-A-6-223185 (Claim 1)
[0005]
[Problems to be solved by the invention]
However, the orientation of the actual part may differ from the specified orientation (suction angle) due to mistakes in the designation of the suction angle or mistakes during actual part pick-up. With the conventional recognition method, the lead terminals on each side Since it only recognizes whether or not the lead terminal information specified in the detection and the component data match, if the specified suction angle is different from the actually picked angle, an erroneous mounting or recognition error will occur. May cause.
[0006]
For example, as shown in FIG. 11A, the components 50 and 51 each have a lead terminal on each side and a corner terminal on the corner, and each component has a predetermined one side facing upward. Suppose there is a good direction. When a suction angle of 0 ° is specified for the component 50, component data is created with the component orientation shown on the left side of FIG. 11B. In this case, the corner terminal is ignored and only the lead terminal information is stored. Since it is described, the component data is as shown on the right side. In such a state, when an actual part is picked up, for example, when a part is mistakenly stored in the feeder that supplies the part in a direction different from the designated direction, the left side of FIG. In this way, the parts are attracted in a direction (for example, rightward) different from the designated direction. At the time of recognition, the lead terminal data coincides with the component data, so that it is recognized as normal, and as a result of being mounted on the board in that direction, it is erroneously mounted unlike the specified suction angle (direction).
[0007]
When the suction angle 0 ° is designated for the component 51, the component data is created with the component orientation as illustrated in FIG. In this state, when the actual component is picked up, as shown in FIG. 11E, if the component is picked up in a direction different from the specified direction (for example, rightward), the data of the lead terminal is recognized at the time of recognition. The data does not match the part data, and although it is the same part, a recognition error occurs.
[0008]
Accordingly, the present invention has been made in view of such problems, and can recognize an actual component suction angle, and can reliably detect a deviation from a specified suction angle. It is an object to provide a method and an apparatus.
[0009]
[Means for Solving the Problems]
  In order to solve the above problems, the present invention
  In the component recognition method for recognizing the suction posture of a component by processing the image of the sucked component,
  Which corner of a part has a corner terminal when the direction of one side of the part is at the reference angleMatching data indicatingIn advance,
  Parts drawingImage shopReasonBy scanning along the diagonal line connecting the component corners required byDetect corner terminals,
  Detected corner terminalIt is determined whether it is a corner terminal by detecting the center of gravity position of
  The shape of the corner terminal at the judged cornerAnd the corner where pre-recorded corner terminals existCorner terminal shapeAndWith template matchingMatch
  Based on the verification results,Determine the direction in 90 ° unitsThe structure to be adopted is adopted.
[0010]
  In the present invention,
  In the component recognition device that recognizes the suction posture of the component by processing the image of the sucked component,
  Which corner of a part has a corner terminal when the direction of one side of the part is at the reference angleMatching data indicatingStorage means for recording in advance,
  An imaging device for imaging a component;
  An image processing apparatus for processing an image of the imaged part;
  Image processing of the partsBy scanning along the diagonal line connecting the component corners required byA corner terminal detection means for detecting a corner terminal;
  Detected corner terminalMeans for determining whether or not it is a corner terminal by detecting the position of the center of gravity of
  The shape of the corner terminal at the judged cornerAnd the corner where pre-recorded corner terminals existCorner terminal shapeAndTemplate matching means to match,
  Based on the verification results,Determine the direction in 90 ° unitsDoDirection discriminationThe structure which provides a means is also employ | adopted.
[0011]
In such a configuration, the corner terminal is detected, and the corner portion where the detected corner terminal exists is collated with the corner portion where the pre-recorded corner terminal exists. When a component is sucked at an angle different from the angle, this can be reliably detected, and the component can be prevented from being mounted on the board by mistake in its orientation.
[0012]
Further, in the present invention, when a corner terminal exists, the shape of the corner terminal is recorded in advance, and what kind of corner terminal exists in which corner portion is detected. It is possible to detect the suction angle of various parts whose arrangement (presence / absence) or the shape thereof is asymmetric.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described in detail based on embodiments shown in the drawings.
[0014]
<Configuration of component mounting apparatus and image processing apparatus>
FIG. 1 is a block diagram showing a control configuration of a component mounting apparatus (component mounting machine) to which the present invention is applied. The component mounting apparatus is a component (electronic) supplied from a component supply apparatus (not shown) such as a feeder. The head portion 3 having the suction nozzle 3a for sucking the component) 20 is provided. The head unit 3 is driven by an X-axis motor 11 and a Y-axis motor 12 driven by a controller 10 constituted by a CPU, and is configured to be movable in the XY-axis direction. Further, the head unit 3 is driven in the Z-axis direction by the Z-axis motor 13 at the time of component suction and component mounting and is moved up and down, and the suction nozzle 3a is configured to be rotated around the nozzle axis by the θ-axis motor 14.
[0015]
The component mounting apparatus includes an imaging device 5 including a lens 5a such as a CCD camera that captures an image of the component 20. The head unit 3 moves to the imaging device 5 after component adsorption, and the illumination device 15 The illuminated component 20 is imaged by the imaging device 5. The captured image of the component is input to an image processing apparatus 7 that includes a CPU 7a, an image memory 7b, an A / D converter 7c, and a component data memory 7d. The image processing device 7 captures an image of a set area, processes it by a known algorithm, recognizes the suction posture of the component, and calculates a position shift between the component center and the suction center and a component tilt. The controller 10 corrects this misalignment when driving the X-axis, Y-axis, and θ-axis motors 11, 12, and 14, and mounts the component 20 on the board (not shown) being conveyed.
[0016]
In addition, the component mounting apparatus is provided with input devices such as a keyboard 21 and a mouse 22 for inputting component data, and the generated component data is stored in a storage device 23 including a hard disk, a flash memory, or the like, or image recognition. It can be stored in the component data memory 7d in the apparatus 7. In this way, component data supplied from a host computer (not shown) connected to the component mounting apparatus may be stored in the storage device 23 or the component data memory 7d without using the input device. . In addition, a monitor (display device) 24 is provided, and component data, calculation data, and a component image captured by the imaging device 5 can be displayed on this screen.
[0017]
FIG. 2 illustrates a state in which the component 20 sucked by the suction nozzle 3 a is illuminated by the illumination device 15 and is imaged by the imaging device 5. The imaging device 5 captures an image of the set area by the control line 7d from the CPU 7a. The captured image is input to the image processing device 7 through the signal line 7e, converted into a digital signal through the A / D converter 7c, stored in the image memory 7b, and subjected to image processing to obtain a component signal. Posture is recognized. Further, the image to be processed can be displayed on the monitor 24.
[0018]
<Flow of parts recognition>
In the following, the flow of component recognition by detecting the orientation of a component, that is, the suction angle will be described along the flow of FIG. 3 executed under the control of the CPU 7a of the image processing apparatus.
[0019]
In addition to lead terminals, some rectangular parts have corner terminals at the corners. In the part 20a shown in FIG. 4 (A), the corner terminals at all four corners are all shaped. They are different (the lower right corner terminal is not provided, but if there is no corner terminal, the shape of none (virtual) is assumed). In the parts 20b, 20c, and 20d shown in FIG. 4B, one of the four corner terminals has a different shape from the other, and in the parts 20e and 20f shown in FIG. 2 each have the same shape and different shapes at the diagonal corners. In the parts 20g and 20h shown in FIG. 4D, all the four corner terminals have the same shape, and FIG. In the components 20i and 20j shown in FIG. 2, two of the four corner terminals have the same shape and the same shape at the diagonal corner.
[0020]
In this way, the components shown in FIGS. 4A, 4B, and 4C can recognize the suction angle of the components by detecting the presence or absence and shape of the corner terminals present in the corner portion, and FIG. For the parts corresponding to D) and (E), the suction angle of the parts cannot be recognized only by the information of the corner terminals. Therefore, in the present invention, the suction angle of the component as shown in FIGS. 4A, 4B, and 4C is determined. Therefore, when creating part data, record the corner terminal in which the corner terminal exists together with the part dimensions and terminal information (number of terminals, terminal dimensions, terminal pitch, etc.), and the corner terminal exists. When doing so, the shape of the corner terminal is also recorded, the existence position and shape of the corner terminal are patterned, and the pattern is also designated.
[0021]
The corner terminal shape type is classified according to the shape as shown in FIG. 5A, and the classification codes (0), (1),. . . . . When the orientation of the component is a reference angle (for example, 0 °) and upward, the position of the corner terminal is specified by coordinates with the component center as the origin, and the shape of the terminal present there Specify the type by classification code. Further, the existence positions and shapes of the corner terminals are patterned as shown in FIG. 5B, and the classification codes (0), (1),. . . . . Is assigned code, and the pattern type is specified by classification code for each part. In that case, it is determined from the shape information of the corner terminals existing at each corner whether the part is capable of recognizing the suction angle or not, and is recorded. For example, in FIG. 5B, the components of the classification codes (0) to (3) shown in the upper part cannot recognize the suction angle because the corner terminals are axisymmetric, and are shown in the lower part. The classification codes (4) to (8) are components capable of recognizing the suction angle.
[0022]
In this way, data such as component dimensions, terminal information on each side, information on presence / absence of corner terminals, corner terminal shape data, corner terminal existence position and shape pattern classification code, and whether or not suction angle can be recognized Created for each part. These component data are created by input means such as the keyboard 21 and mouse 22 in FIG. 2 or are created by a host computer (not shown) and stored in the storage device 23. These component data are loaded into the component data memory 7d of the image processing apparatus 7 and managed for each component ID. This is the reception (loading) of the component data in step S1 of FIG.
[0023]
Subsequently, a recognition command is acquired in step S2. In the recognition command, a component ID, a component type, and an imaging condition (designation of camera / lighting) are designated. Normally, it is necessary to specify the suction angle, but it can be omitted only for parts that can recognize the suction angle. When designating the suction angle of a component, the specification at the time of component data creation is 0 °, and there are four designations of 0 °, 90 °, 180 °, and 270 °. The suction angle of 0 ° is a state in which a predetermined side of the rectangular part is in a predetermined direction, for example, upward, and the part data is created using this time as a reference angle. It is adsorbed and mounted on the substrate in that direction. At an adsorption angle of 90 °, the component is adsorbed with the predetermined one side facing right and mounted on the substrate in that direction. Similarly, at the suction angles of 180 ° and 270 °, the components are sucked with the predetermined one side facing downward and leftward, and are mounted on the substrate in that direction. If the part is supplied at a reference angle (upward) and cannot be picked up in any other direction, the part is picked up at the reference angle, and then the suction nozzle is rotated according to the pick-up angle so that the direction of the part is adjusted Change.
[0024]
Next, in step S3, recognition component data (hereinafter, recognition data) is created. If the suction angle is designated in step S2, recognition data corresponding to that is created. For example, when a suction angle of 90 ° is specified, the component is imaged with the predetermined side of the component facing right and recognized, so that the component data is also recognized by being rotated 90 ° clockwise. Data. If the suction angle is not specified, it is determined that the part has been sucked in the same direction as the creation of the part data (suction angle 0 °), and recognition data is created. Therefore, the recognition data is the same data as when creating the component data.
[0025]
Next, lead terminals are detected in step S4. As shown in FIG. 6A, there are corner terminals 30a, 30b, 30c at the corner and lead terminals 30d at each side (there are five lead terminals at each side, one of which is assigned a reference numeral). In the case of a rectangular part 30 having a part), scanning is performed from the outside to the inside of the part image to detect an external contact of the part, and from this result, a circumscribed window W indicating a rough position of the part is obtained. Set. Subsequently, lead row windows W1 to W4 are set for each side (FIG. 6B), and an inspection area is set in an area where terminals exist. Then, for each of the four sides, a DOG filter (Marr & Posio's Difference-Of-Gaussian filter) is applied in the lead row window to detect the edge of the lead terminal, and using that, the lead tip ("+" ”)) Is detected. Such detection of the lead terminal is known and is described in, for example, Japanese Patent Laid-Open No. 6-223185.
[0026]
Subsequently, in step S5, lead row straight lines L1 to L4 connecting the lead tips are obtained from the detected lead tip coordinates (FIG. 6D), and the coordinate values are obtained using the intersections C1 to C4 as component corner portions. To do. At this time, since the corner terminals 30a, 30b, and 30c reduce the accuracy of the lead row straight line, for example, the lead row straight line is obtained by excluding the detected edges at both ends.
[0027]
<Detection of corner terminal by diagonal scan>
Subsequently, in step S5, a diagonal line of the part is obtained from the corner coordinates of the obtained part, and it is detected whether or not a terminal exists at the corner by scanning the diagonal line. This flow is shown in FIG. 7, and is executed under the control of the CPU 7a of the image processing apparatus.
[0028]
First, since the corner coordinates of the corners C1 to C4 of the component image are acquired (FIG. 6D), a diagonal line connecting diagonal corners is acquired (step S21), and a scan for detecting a terminal is performed. Direction and range are set (step S22). As shown in FIG. 8A, the scanning direction is made different depending on the slope of the diagonal line and the corner position in order to increase the detection sensitivity. As shown in FIG. 8B, the scan ranges are defined as ranges M1 and M2 having a length of 1/4 of the inter-corner distance before and after the corner coordinates, and the scan start point m1 and end point m2 are set. .
[0029]
When the scan direction, the scan start point, and the end point are thus set, the scan is started (step S23). As shown in FIG. 8C, when the diagonal slope is gentler than 45 °, the diagonal point and the upper and lower points are scanned from the scan start point to the end point (y-direction scan), and the diagonal slope is obtained. When the angle is steeper than 45 °, the diagonal point and the left and right points are scanned in the x-axis direction.
[0030]
In step S24, the CPU 7a as the corner terminal detection means determines the scan result and detects the presence or absence of the corner terminal. When a point equal to or greater than a predetermined threshold value for the corner terminal can be detected, the diagonal scan ends, and the process proceeds to step S25 to acquire the terminal outline. On the contrary, if a point equal to or higher than the threshold value is not found even after scanning to the end point of scanning, it is determined that there is no corner terminal.
[0031]
If a terminal is detected in step S24, a contour is detected from the detection point (step S25). The state of acquiring this contour is shown in FIG. In FIG. 9A, Q1 is a point detected by the diagonal scan, and the surrounding eight neighborhoods excluding the detected point Q1 are examined in numerical order. Since the threshold is detected at Q2 and the contour is detected, this is set as the next contour point. Subsequently, as shown in FIG. 9B, an investigation of 8 neighborhoods starting from Q2 is started, and the same processing is repeated until the initial start point is returned. Note that the survey direction in the vicinity of 8 is determined by the direction of the diagonal scan.
[0032]
The contour points thus detected are shown in FIG. 9C, and the information is stored in the array in the order of detection. Subsequently, in steps S26 and S27, the edge pair coordinates in the X direction and the edge pair coordinates in the y direction are obtained from the contour point array (FIGS. 9D and 9E). In step S28, centroids Xg and Yg of the detection terminal are obtained from the edge pair coordinates (FIGS. 9F and 9G). The calculation of the center of gravity is obtained according to the following formula.
[0033]
Lsum (y) = Edge2 (y) −Edge1 (y) +1
Ladr_sum (y) = Lsum (y) × (Edge1 (y) + Edge2 (y)) / 2
SUM = ΣLsum (y)
Ymom = Σ (Lsum (y) × y)
Xmom = ΣLadr_sum (y)
Xg = Ymom / Sum
Yg = Xmom / Sum
If the center of gravity of the detected detection terminal exists near the diagonal line, the detected terminal is regarded as a corner terminal, and conversely, if the center of gravity is far from the diagonal line, the lead terminal may have been detected by mistake, It is considered that there is no corner terminal (step S29). In this way, for the corner terminal detected above the threshold value, the contour of the terminal is further detected, the center of gravity of the terminal is obtained, and whether the detected terminal is a corner terminal is also determined. Further, it is possible to prevent erroneous detection of a non-corner terminal as a corner terminal, such as noise existing on a diagonal line.
[0034]
In the example of the component 30 shown in FIG. 6, the corner terminals 30a and 30c are detected at the corner portions C1 and C3 by the diagonal scan shown in FIG. 6 and the corner portions C1 and C3 are detected. By scanning a diagonal line connecting C2 and C4, the corner terminal 30b is detected at the corner portion C4, and no corner terminal is detected at the corner portion C2. As a result, it is possible to detect in which corner portion the corner terminal exists, so that the CPU 7a as the suction angle detection means has the corner portion where the detected corner terminal exists and the corner terminal recorded in advance. It is possible to collate with a corner portion to be detected, and detect a deviation of the suction angle of the component from the reference angle based on the collation result.
[0035]
For example, in the component 30 of FIG. 6, when the component data is created at a reference angle (suction angle 0 °), there is no corner terminal in the upper right corner portion, and there are corner terminals in other corner portions. Since it is recorded in the data memory 7d, when the corner terminal C2 is not detected at the corner C2 and the corner terminal is detected at the other corner by the diagonal scan, it is the same as the component data, so the suction angle 0 ° is detected. If the corner C3 is detected as having no corner terminal and is detected at the other corner, the suction angle 90 ° is detected, and the corner C4 is detected as having no corner terminal and is detected at the other corner. When the suction angle of 180 ° is detected, the corner portion C1 has no corner terminal and the other corner portions are detected, the suction angle 27 ° is detected. Therefore, for example, when a part is sucked in a different orientation from the specified suction angle, such as when the orientation of some part is wrongly stored in the feeder, the difference in suction angle (part Therefore, when mounting must be performed in consideration of the polarity (mounting direction) at the time of component mounting, it is possible to prevent erroneous mounting by correcting the suction angle.
[0036]
The above is the step S9 in the process of FIG. The suction angle is such that at least the corner terminals (the presence or absence or shape thereof) at both corners of one side of the part, as in the parts classified in the classification codes (4) to (8) in FIG. This is possible when it is asymmetric with respect to the central vertical line. However, in the parts of classification codes (0) to (3) having the presence or absence of corner terminals or symmetry in the shape, the suction angle cannot be determined, and therefore the acquisition of the suction angle is skipped by the determination in step S6. In addition, in the case of a component that needs to determine not only the presence / absence of the corner terminal but also the shape of the corner terminal (such as the component 20b in FIG. 4), the shape of the corner terminal is also detected (step S7). , S8).
[0037]
FIG. 10 shows the flow of detection of the shape of the corner terminal. First, as shown in FIG. 10A, the outer tangent of the corner terminal is obtained from the contour of the corner terminal 40a of the component 40 acquired in step S25. To obtain a region 41 surrounded by its circumscribed tangent line. In addition, since the lead coordinates are acquired in step S4, as shown in FIG. 10B, the rough inclination θ of the component is acquired from the lead coordinates.
[0038]
Subsequently, in consideration of the size of the region 41 and the component inclination θ, templates 42 and 43 corresponding to the designated corner terminal shape are created (FIG. 10C). Subsequently, as shown in FIG. 10D, windows w1 to w4 including corner terminals are set on the outer periphery of each corner terminal of the image of the component 40, and template matching is performed using the created templates 42 and 43. As shown in FIG. 10 (E), the corner terminal 40a, 40c, 40d of the component 40 has a high correlation value during template matching by the template 42, and the corner terminal 40b uses the template 43. Since the correlation value increases, the corner terminal shape can be specified as the shape defined by each template.
[0039]
As a result, the CPU 7a can detect which shape of the corner terminal exists in which corner portion. Therefore, by comparing with the shape of the terminal of the corner portion specified by the component data, the suction angle of the component can be determined. It can be acquired how many times the component data is tilted (deviation from the reference angle) (step S9). If the actual suction angle and the specified suction angle are different, the error ends as a suction angle error. However, it is also possible to carry out recognition until the end without error end, and to mount the component after correcting the suction angle deviation.
[0040]
Subsequently, in step S10, the recognition data is corrected in accordance with the suction angle obtained in step S9. For example, if a 90 ° shift is detected in the suction angle, if the recognition data is not corrected, a recognition error may occur depending on the part (FIG. 11E, etc.). Rotate 90 ° to correct the recognition data.
[0041]
Subsequently, a lead inspection is performed using the corrected recognition data (step S11), and abnormalities such as a lead length abnormality, a number abnormality, a pitch abnormality, a lead bending abnormality and the like are detected. If the lead inspection is normal, the component center and inclination are calculated using the detected lead coordinates (step S12).
[0042]
When the component center and inclination are calculated, the suction center and inclination are corrected and the component is mounted on the board. At this time, if a shift in the suction angle as described above is detected, the shift in the suction angle is corrected and mounted. Accordingly, it is possible to prevent erroneous mounting when a deviation in the suction angle is detected when the component must be mounted on the board in a specified direction.
[0043]
In the above-described embodiment, a rectangular part is described. However, other polygonal parts have corner terminals at the corners, and the corner terminals are arranged asymmetrically so that the suction angle can be detected. Of course, it is also applicable.
[0044]
【The invention's effect】
As described above, in the present invention, the corner terminal existing in the corner portion of the component is detected, so the corner portion where the detected corner terminal exists and the corner where the corner terminal recorded in advance exists. By collating with the part, it is possible to reliably detect the suction angle of the component. Therefore, when a part is picked up at an angle different from the specified picking angle, this can be detected, it is possible to prevent erroneous mounting, and the specification of the picking angle specified at the time of recognition execution is omitted. be able to.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a schematic configuration of a component mounting apparatus.
FIG. 2 is a configuration diagram illustrating configurations of a component imaging device and an image processing device.
FIG. 3 is a flowchart showing a flow of component recognition.
FIG. 4 is an explanatory view showing types of lead terminals and corner terminals of various components.
FIG. 5 is an explanatory diagram showing a state where a shape type and an arrangement pattern are coded according to the corner terminals and their arrangement.
FIG. 6 is an explanatory diagram showing a flow for obtaining lead row straight lines and corner coordinates.
FIG. 7 is a flowchart illustrating a flow of detecting whether or not a corner terminal exists in a component by diagonal scan.
8A is a table for explaining a diagonal scan method, and FIGS. 8B and 8C are explanatory diagrams for explaining a diagonal scan method. FIG.
FIG. 9 is an explanatory diagram showing a flow for obtaining a contour of a detected corner terminal.
FIG. 10 is an explanatory diagram showing a flow of specifying a corner terminal shape by template matching.
FIG. 11 is an explanatory diagram illustrating a problem when the suction angle is different from a specified angle.
[Explanation of symbols]
5 Imaging device
7 Image processing device
7b Image memory
7d Component data memory
30 parts
30a, 30b, 30c Corner terminal
C1-C4 corner

Claims (2)

In the component recognition method for recognizing the suction posture of a component by processing the image of the sucked component,
When the direction of one side of the part is at the reference angle, the collation data indicating in which corner part of the part the corner terminal exists is recorded in advance,
The scanning along the diagonal line connecting the component corner determined by the part of the image Zosho sense detects corner terminals,
It is determined whether it is a corner terminal by detecting the center of gravity position of the detected corner terminal,
The shape of the corner terminal of the determined corner portion is compared with the shape of the corner terminal of the corner portion where the pre-recorded corner terminal exists by template matching ,
A component recognition method, comprising: discriminating a 90 ° unit direction of a component based on the collation result. In the component recognition device that recognizes the suction posture of the component by processing the image of the sucked component,
Storage means for pre-recording collation data indicating which corner portion of the component has a corner terminal when the direction of one side of the component is at the reference angle;
An imaging device for imaging a component;
An image processing apparatus for processing an image of the imaged part;
Corner terminal detection means for detecting a corner terminal by scanning along a diagonal line connecting component corners obtained by image processing of the component ;
Means for determining whether the terminal is a corner terminal by detecting the position of the center of gravity of the detected corner terminal;
A template matching means for collating the shape of the corner terminal of the determined corner portion with the shape of the corner terminal of the corner portion where the pre-recorded corner terminal exists;
Direction discriminating means for discriminating the 90 ° unit direction of the parts based on the collation result;
A component recognition device comprising:

Images