JP4565465B2 - Component suction posture identification method and component suction posture identification system - Google Patents

Description

  The present invention relates to a component suction posture identification method and a component suction posture identification system for imaging a component sucked by a suction nozzle with a camera and identifying whether the suction posture of the component is “normal suction” or “oblique suction” by image processing technology. It is invention regarding.

  In general, in an electronic component mounting machine, a component is sucked by a suction nozzle, and the component is transferred onto a circuit board and mounted at a predetermined position on the circuit board. Furthermore, a camera that captures an image of the component picked up by the suction nozzle is installed, and the type of the component is confirmed based on the component image picked up by the camera, or the shift of the suction position of the component with respect to the suction nozzle is corrected.

Normally, as shown in FIG. 7A, the component 2 is horizontally attracted to the suction nozzle 1, but as shown in FIG. 7B, the component is attached to the suction nozzle 1 for some reason. 2 may be in a state of being adsorbed diagonally. Such “oblique suction” causes a mounting failure. Therefore, as shown in Patent Document 1 (Japanese Patent Laid-Open No. 6-216484), an optical sensor is used as means for detecting “oblique suction”, and the suction nozzle 1 The light-emitting element 3 and the light-receiving element 4 of the optical sensor are arranged on both sides of the component 2 adsorbed on the surface so that the optical axis 5 passes through a position slightly lower than the lower surface of the component 2 in the normal adsorption posture. is there. As shown in FIG. 7 (a), if the suction posture of the component 2 is "normal suction", the optical axis 5 is not blocked by the component 2, but as shown in FIG. 7 (b) 2 is “oblique adsorption”, the “oblique adsorption” is detected by blocking the optical axis 5 at the lower part of the component 2.
JP-A-6-216484 (first page, etc.)

  However, in the above prior art, it is necessary to provide an optical sensor (light emitting element 3 and light receiving element 4) as means for detecting "oblique adsorption", and there is a disadvantage that the cost increases accordingly. In addition, since the thickness dimension (height dimension) of the parts that can detect oblique suction is determined by the height position of the optical sensor (the height position of the optical axis 5), the parts are sequentially selected from a plurality of types of parts having different thickness dimensions. The oblique suction detection method using this optical sensor cannot be applied to the electronic component mounting machine that is selectively picked up. Further, even when only one type of component is picked up, it is necessary to adjust the height position of the optical sensor in accordance with the thickness dimension of the component, and there is a drawback that the height adjustment work is troublesome.

  The present invention has been made in view of such circumstances. Therefore, the object of the present invention is to be able to configure a system for detecting oblique suction of a component at low cost only by changing or adding software, and the thickness dimension of the component ( An object of the present invention is to provide a component suction posture identification method and a component suction posture identification system that can automatically detect oblique suction of components of various thickness dimensions without requiring adjustment work even if the height dimensions are different.

  In general, an electronic component mounting machine is provided with a camera that captures an image of a component sucked by a suction nozzle, and the present invention performs image processing on an output signal of the camera so that the suction posture of the component is at least “normal suction” "Or" diagonal adsorption ".

Specifically, as in claims 1 and 5, a plurality of seek lines that intersect with the outline of the component image in the normal suction posture assumed in advance in each of the four directions of the component image in the normal suction posture. The intersection of the outline image of the component image in the normal suction posture and each seek line is stored as an ideal edge position, and the outline line of the actual component image captured by the camera and each seek line are stored. Is recognized as a measurement edge position, and the amount of deviation between the measurement edge position of each seek line and the ideal edge position (hereinafter referred to as “measurement−ideal edge deviation amount”) has directionality (+/−). The total of the measurement of each seek line-ideal edge deviation amount, and whether this part is below the judgment threshold value, whether the part's suction posture is "normal suction" or "oblique suction" To identify May be. This method detects diagonal suction by utilizing the fact that the component image of the diagonal suction and the component image of the normal suction posture are different in size. This diagonal suction detection method does not require the addition of an optical sensor or the like, and can be handled by changing or adding software to the current electronic component mounting machine. Can be configured. Moreover, even if the thickness dimensions (height dimensions) of the parts are different, it is not necessary to adjust the height position of the camera, and it is possible to automatically detect oblique suction of parts having various thickness dimensions.

In this case, Ru used search lines as means for recognizing the external size of the component image taken by the camera. Specifically, it sets the search lines intersecting the outline of the part image of normal suction attitude envisioned pre Me by each of the plurality present in the four directions of the component image of the normal sucking posture, the normal adsorption The intersection of the outline of the component image of the posture and each seek line is stored as an ideal edge position, and the intersection of the outline of the actual part image captured by the camera and each seek line is recognized as the measurement edge position. The amount of deviation between the measured edge position of each seek line and the ideal edge position (hereinafter referred to as “measurement—ideal edge deviation amount”) is given directionality (+/−), and the measurement of each seek line—the ideal edge deviation amount. It is preferable to identify whether the suction posture of the component is “normal suction” or “oblique suction” based on whether the total value is equal to or less than the determination threshold value .

  Even if the suction position of the component with respect to the suction nozzle is deviated in the XY direction, if the suction posture is normal, the external size of the component image does not change, so the total value of the measurement-ideal edge deviation amount becomes small. On the other hand, in the case of oblique suction, the total size of the measurement-ideal edge deviation amount increases because the external size of the component image changes. Therefore, whether the suction posture of the component is “normal suction” or “oblique suction” can be identified based on whether or not the total value of the measurement-ideal edge deviation amount is equal to or less than the determination threshold value.

In addition, as described in claims 2 and 6, a luminance change pattern on the seek line (hereinafter referred to as a “reference luminance change pattern”) that intersects the outline of a component image in a normal suction posture assumed in advance is calculated. and advance, that both the luminance change pattern on search lines intersecting the outline of the actual component image taken by the camera as compared to the reference luminance change pattern to determine whether it is substantially the same in actual or luminance change pattern on search lines of the part images correspond to the luminance change pattern in only one side of the component, the two surfaces of the components to determine corresponding to the change pattern of the straddle luminance Te, suction attitude of the parts may be made to identify or "normal adsorption" or "oblique adsorption". If it is a normal suction posture, the component image captured by the camera is an image of only one surface (lower surface) of the component, but if it is oblique suction, the component image captured by the camera is two surfaces of the component. The above is a shadowed image. Therefore, the luminance change pattern on the seek line that intersects the outline of the component image corresponds to the luminance change pattern of only one surface of the component, or corresponds to the luminance change pattern straddling two surfaces of the component. Can be discriminated whether the suction posture of the component is “normal suction” or “oblique suction”.

In this case, as in claims 3 and 7 , a plurality of seek lines intersecting the outline of the component image in the normal suction posture assumed in advance are set at symmetrical positions with respect to the center line of the component image. By comparing the brightness change patterns on the seek line that are in the proper positional relationship, the brightness change pattern on the seek line corresponds to the brightness change pattern of only one surface of the component, It is preferable to discriminate whether the suction posture of the component is “normal suction” or “oblique suction” by determining whether it corresponds to a luminance change pattern . As described above, in the case of oblique suction, a component image captured by the camera is a shaded image in which two or more surfaces of the component are captured, and therefore two seek lines having a symmetrical positional relationship are considered. Then, the other seek line may overlap with a surface different from the surface of the component image where one seek line overlaps, or one seek line may overlap across two surfaces of the component. Therefore, by comparing the change patterns of luminance on seek lines that are in a symmetrical positional relationship and determining whether or not the two are substantially the same, the suction posture of the component is “normal suction” or “oblique suction” Can be identified.

Further, the component suction posture identification method by checking the external size of the component image described above (Claims 1 and 5 ) and the component suction posture identification method by checking the luminance change pattern on the seek line (Claims 2, 3, 6, and 6 ) . 7 ) may be carried out in combination (claims 4, 8 ).

  For example, if it is determined that there is a possibility of “oblique suction” (primary diagnosis) by checking the external size of the component image, the presence / absence of “oblique suction” is confirmed by checking the luminance change pattern on the seek line. A method is conceivable (the order of primary diagnosis and confirmed diagnosis may be reversed).

  In this case, by slightly tightening the criteria for checking the external size of the component image, the detection sensitivity of “diagonal suction” by checking the external size of the component image is increased, and “normal suction” is checked by checking the external size of the component image. Can be prevented by checking the luminance change pattern on the seek line, and there is an advantage that it is possible to achieve both prevention of erroneous determination of “oblique adsorption” and improvement of detection sensitivity.

  Alternatively, using the above-described two types of component suction posture identification methods, when “diagonal suction” is determined by any one of the methods, it may be determined as “oblique suction” as it is.

  In this case, the criteria for checking the external size of the component image and the criteria for checking the luminance change pattern on the seek line are all relaxed so that “normal suction” is not erroneously determined as “oblique suction”. , While preventing "normal suction" from being erroneously determined as "oblique suction", "diagonal suction" that cannot be detected by one component suction posture identification method can be detected by the other component suction posture identification method. There is an advantage that both the prevention of misjudgment and improvement of detection sensitivity can be achieved.

  Hereinafter, two Examples 1 and 2, which embody the best mode for carrying out the present invention, will be described.

  A first embodiment of the present invention will be described with reference to FIGS. First, a schematic configuration of the entire electronic component mounting machine will be described with reference to FIG. The X-axis slide 11 is provided so as to be slidable in the X-axis direction (left-right direction in FIG. 1) by the X-axis ball screw 12, and the Y-axis slide 13 is moved by the Y-axis ball screw 14 relative to the X-axis slide 11. It is provided so as to be slidable in the Y-axis direction (perpendicular to the plane of FIG. 1).

  The Y-axis slide 13 is provided with a suction head 15, and a suction nozzle 17 is attached downward to a suction holder 16 provided on the suction head 15 so as to be movable up and down. On the lower surface of the suction holder 16, a backlight 19 is provided for brightening the background of the component 18 sucked by the suction nozzle 17.

  The X-axis slide 11 is provided with a camera 22, such as a CCD camera, that faces the part 18 sucked by the suction nozzle 17 through a pair of reflecting mirrors 20 and 21. The deviation of the suction position of the component 18 with respect to the suction nozzle 17 is corrected based on the component image captured by the camera 22.

  One reflecting mirror 20 is provided below the component 18 sucked by the suction nozzle 17, and below this reflecting mirror 20 is a front for illuminating the component 18 sucked by the suction nozzle 17 from below. A light 23 is provided. The reflecting mirror 20 is subjected to a half mirror process so that the light from the front light 23 is transmitted upward.

  The control device of the electronic component mounting machine takes an image of the component 18 sucked by the suction nozzle 17 with a camera 22 and identifies whether the suction posture of the component 18 is at least “normal suction” or “oblique suction” by image processing technology. . In the present embodiment, two oblique suction detection methods (checking the external size of the component image and checking the luminance change pattern on the seek line) are combined to determine whether the suction posture of the component 18 is “normal suction” or “oblique suction”. Is identified. Hereinafter, these two oblique adsorption detection methods will be described.

[Checking the external size of part images]
This check method is a method of detecting oblique suction by utilizing the fact that the component image has a different external size between the oblique suction component image and the normal suction posture component image.
As shown in FIG. 2, the seek line S is used as means for recognizing the external size of the component image captured by the camera 22. A plurality of seek lines S intersecting at right angles to the outline of the component image in a normal suction posture assumed in advance are set at positions symmetrical with respect to the center line of the component image. The length of each seek line S is the same, and each seek line S is arranged so that the intersection of the outline of the part image in the normal suction posture and each seek line S is located at the midpoint of each seek line S. To do. The intersection between the outline of the component image in the normal suction posture and each seek line S is stored as an “ideal edge position”.

  As shown in FIG. 3, the actual part image captured by the camera 22 is superimposed on the seek line S and displayed on the display screen, and the intersection of the actual part image outline and each seek line S is defined as a “measurement edge”. Recognize as “position”. In this process, the seek line S is finely divided at a constant pitch, the luminance at each division point is calculated, and the division point at which the luminance greatly changes is determined as the “measurement edge position”.

  Then, a deviation amount between the measurement edge position and the ideal edge position of each seek line S (hereinafter referred to as “measurement—ideal edge deviation amount”) is calculated. At this time, the direction of the measurement of each seek line S-ideal edge deviation amount is given directionality (+/-), the measurement of all seek lines S-ideal edge deviation amount is summed, and the total value is determined. Compared with the value, whether the suction posture of the component 18 is “normal suction” or “oblique suction” is identified.

  Even if the suction position of the component 18 with respect to the suction nozzle 17 is shifted in the X and Y directions, if the suction posture is normal, the outer size of the component image does not change, so the total value of the measurement-ideal edge shift amount becomes small. On the other hand, in the case of oblique suction, the total size of the measurement-ideal edge deviation amount increases because the external size of the component image changes. Therefore, whether the suction posture of the component 18 is “normal suction” or “oblique suction” can be identified based on whether or not the total value of the measurement-ideal edge deviation amount is equal to or less than the determination threshold value.

[Check brightness change pattern on seek line]
This check method is a method for discriminating whether the suction posture of the component 18 is “normal suction” or “oblique suction” based on the luminance change pattern on the seek line S that intersects the outline of the component image captured by the camera 22. It is. The luminance change pattern on the seek line S is created by dividing the seek line S finely at a constant pitch and calculating the luminance at each division point (see FIG. 4).

  As shown in FIG. 2, in the normal suction posture, the component image captured by the camera 22 is an image of only one surface (lower surface) of the component. However, as shown in FIG. For example, the component image captured by the camera 22 is a shaded image in which two or more surfaces of the component 18 are captured. Therefore, the luminance change pattern on the seek line S that intersects the outline of the component image corresponds to the luminance change pattern of only one surface of the component 18, or the luminance change pattern across the two surfaces of the component 18. It is possible to identify whether the suction posture of the component 18 is “normal suction” or “oblique suction”.

  In the first embodiment, a plurality of seek lines S intersecting with the outline of the component image in the normal suction posture assumed in advance are set at symmetrical positions with respect to the center line of the component image, and FIG. As shown in (b), by comparing the luminance change patterns on the seek line S having a symmetrical positional relationship, it is identified whether the suction posture of the component 18 is “normal suction” or “oblique suction”. As described above, in the case of oblique suction, the component image captured by the camera 22 is a shaded image in which two or more surfaces of the component 18 are captured (see FIG. 3). Considering the book seek line S, the other seek line S overlaps a surface different from the surface of the component image where one seek line S overlaps, or one seek line S overlaps the two surfaces of the component 18. Sometimes. Therefore, if the luminance change patterns on the seek line S having a symmetrical positional relationship are compared to determine whether or not the two are substantially the same, whether the suction posture of the component 18 is “normal suction” or “ It is possible to identify whether it is “oblique adsorption”. FIGS. 4A and 4B show examples in which the luminance change patterns on the seek line S having a symmetrical positional relationship are different.

  Note that a luminance change pattern (hereinafter referred to as a “reference luminance change pattern”) on each seek line S of a part image of a normal suction posture assumed in advance is calculated and stored, and an actual image captured by the camera 22 is stored. The luminance change pattern on each seek line S in the component image is calculated, and the luminance change pattern on each seek line S in the actual component image is compared with the reference luminance change pattern. By determining whether or not there is, it is possible to identify whether the suction posture of the component 18 is “normal suction” or “oblique suction”.

  In the first embodiment, the control device of the electronic component mounting machine executes the component suction posture identification program shown in FIG. 5, thereby performing the above two diagonal suction detection methods (checking the external size of the component image and the luminance on the seek line). In combination with the change pattern check), it is identified whether the suction posture of the component 18 is “normal suction” or “oblique suction”. The function of this control device serves as image processing means in the claims.

  When the component suction posture identification program of FIG. 5 is started, first, in step 101, the component image outer size check program is executed, whereby the outer size (measurement edge position) of the component image captured by the camera 22 by the method described above. Is recognized and compared with the external size (ideal edge position) of the component image in the normal suction posture, it is determined whether or not the suction posture of the component 18 has a possibility of diagonal suction (primary Diagnosis).

  At this time, if the criteria for checking the external size of the component image is tightened in order to improve the detection sensitivity of “oblique suction”, “normal suction” is erroneously determined as “oblique suction” due to the dimensional variation or shape variation of the component 18. (That is, even if it is determined as “oblique adsorption”, it may actually be “normal adsorption”). Therefore, in the first embodiment, the judgment criteria for checking the external size of the part image are slightly stricter, so that the possibility of “diagonal adsorption” is primarily diagnosed. As a result, there is a possibility of “diagonal adsorption”. If it is determined, the presence / absence of “oblique suction” is confirmed by checking the luminance change pattern on the seek line.

  After checking the external size of the component image, the process proceeds to step 102, where it is determined whether or not the check result of the external size of the component image is “diagonal suction”. Proceed to 106 and finally determine “normal adsorption”.

  On the other hand, if it is determined in step 102 that the check result of the external size of the component image may be “oblique suction”, the process proceeds to step 103 to execute the luminance change pattern check program on the seek line. Thus, it is identified whether the suction posture of the component 18 is “normal suction” or “oblique suction” based on the luminance change pattern on the seek line that intersects the outline of the component image captured by the camera 22 by the method described above.

  In the next step 104, it is determined whether or not the check result of the luminance change pattern on the seek line is “normal adsorption”. If “Yes” is determined, the process proceeds to step 106 and finally “normal adsorption” is obtained. judge. On the other hand, if it is determined as “oblique adsorption” in the check of the luminance change pattern on the seek line, the process proceeds to step 105 and finally it is determined as “oblique adsorption”.

  In the first embodiment described above, the electronic component mounting machine includes the camera 22 that images the component 18 sucked by the suction nozzle 17 as means for correcting the displacement of the suction position of the component 18 with respect to the suction nozzle 17. Focusing on this, the output signal of the camera 22 is subjected to image processing to provide a function for discriminating whether the suction posture of the component 18 is “normal suction” or “oblique suction”, so that an additional optical sensor or the like is required. In addition, the current electronic component mounting machine can be dealt with only by changing / adding software, and a system for detecting oblique suction of the component 18 can be configured at low cost. In addition, even if the thickness dimension (height dimension) of the part 18 is different, it is not necessary to adjust the height position of the camera 22, and it is possible to automatically detect oblique suction of parts having various thickness dimensions.

  Further, in the first embodiment, the presence / absence of “diagonal adsorption” is primarily diagnosed by checking the external size of the component image. As a result, if it is determined that there is the possibility of “diagonal adsorption”, the seek line By checking the brightness change pattern above, the existence of “diagonal suction” is confirmed and diagnosed. By making the criteria for checking the size of the component image a little stricter, While increasing the detection sensitivity of “diagonal suction”, it is possible to prevent erroneous determination of “normal suction” as “oblique suction” by checking the external size of the component image by checking the luminance change pattern on the seek line. There is an advantage that it is possible to achieve both prevention of erroneous determination of “adsorption” and improvement of detection sensitivity.

  In addition, by checking the change pattern of the luminance on the seek line for the primary diagnosis of the possibility of “diagonal adsorption”, if it is determined that there is a possibility of “diagonal adsorption”, the external size of the component image The presence or absence of “oblique adsorption” may be confirmed by checking the above.

  In the second embodiment of the present invention, by executing the component suction posture identification program of FIG. 6, the two oblique suction detection methods (check of the external size of the component image and check of the luminance change pattern on the seek line) are performed. When it is determined as “oblique adsorption” by any one of the methods, it is determined as “oblique adsorption” as it is.

  When the component suction posture identification program of FIG. 5 is started, first, in step 201, the component image outer size check program is executed, and in the next step 202, the check result of the outer size of the component image is “oblique suction”. If “Yes” is determined, the process proceeds to step 206 to finally determine “oblique suction”.

  On the other hand, if the result of checking the external size of the component image is “normal suction”, the process proceeds to step 203 to execute the luminance change pattern check program on the seek line. It is determined whether or not the check result of the luminance change pattern is “diagonal adsorption”. If “Yes” is determined, the process proceeds to step 206 as it is, and finally “diagonal adsorption” is determined. If the check result of the luminance change pattern on the seek line is “normal adsorption”, the process proceeds to step 205 and finally “normal adsorption” is determined.

  In the second embodiment described above, it is determined as “oblique suction” by one of the two oblique suction detection methods (checking the external size of the component image and checking the luminance change pattern on the seek line). At that time, it was judged as “diagonal suction” as it is, so the judgment criteria for checking the external size of the component image and the judgment criteria for checking the luminance change pattern on the seek line were set to “normal suction”. By relaxing so as not to misdetermine “diagonal adsorption”, “normal adsorption” is prevented from being misidentified as “diagonal adsorption”, while “diagonal adsorption” that cannot be detected by one diagonal adsorption detection method is reduced. It can be detected by the oblique adsorption detection method, and there is an advantage that both the prevention of erroneous determination of “oblique adsorption” and the improvement of detection sensitivity can be achieved.

  The present invention is not limited to the first and second embodiments described above, and uses only one of two oblique suction detection methods (checking the external size of a component image and checking the luminance change pattern on the seek line), You may make it identify whether the adsorption | suction attitude | position of components is "normal adsorption | suction" or "oblique adsorption".

It is a longitudinal cross-sectional view which shows the structure of the electronic component mounting machine used in Example 1 of this invention. It is a figure explaining the relationship between the component image of a normal adsorption | suction attitude | position, and a seek line. It is a figure explaining the relationship between the component image of diagonal adsorption | suction, and a seek line. (A) And (b) is a figure explaining the change pattern of the brightness | luminance on the seek line which has a symmetrical positional relationship, respectively. 6 is a flowchart illustrating a processing flow of a component suction posture identification program according to the first embodiment. It is a flowchart which shows the flow of a process of the components adsorption | suction attitude | position identification program of Example 2. FIG. It is a figure explaining the structure of the conventional components adsorption | suction attitude | position identification system, (a) is a figure explaining normal adsorption | suction, (b) is a figure explaining diagonal adsorption | suction.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 11 ... X-axis slide, 13 ... Y-axis slide, 17 ... Adsorption nozzle, 18 ... Parts, 19 ... Back light, 20, 21 ... Reflector, 22 ... Camera, 23 front light, S ... Seek line

Claims (8)

In a component suction posture identification method for imaging a component sucked by a suction nozzle with a camera and identifying whether the suction posture of the component is at least “normal suction” or “oblique suction” by image processing technology, A plurality of seek lines intersecting the outline of the component image in the suction posture are set in each of the four directions of the component image in the normal suction posture, and the outline of the component image in the normal suction posture and each seek line are set. Is stored as an ideal edge position,
The intersection between the outline of the actual part image captured by the camera and each seek line is recognized as a measurement edge position, and the amount of deviation between the measurement edge position of each seek line and the ideal edge position (hereinafter referred to as “measurement− (Referred to as “ideal edge deviation amount”), the direction of each of the seek lines is summed up—the ideal edge deviation amount is summed, and whether or not the total value is below the judgment threshold value A component suction posture identification method for identifying whether the posture is “normal suction” or “oblique suction”. The adsorbed component suction nozzle captured by the camera, suction attitude of the component by image processing techniques in component suction posture identifying method for identifying whether at least "normal suction" or "oblique adsorption", previously, the normal envisaged A luminance change pattern on the seek line (hereinafter referred to as “reference luminance change pattern”) that intersects the outline of the component image in the suction posture is calculated, and intersects with the outline of the actual component image captured by the camera. The actual part image is determined by setting the seek line and comparing the luminance change pattern on the seek line of the actual part image with the reference luminance change pattern to determine whether or not the two are substantially the same. or luminance change pattern on Sea Klein corresponds to the luminance change pattern in only one plane of the part, corresponding to the change pattern straddles luminance two faces of the component To determine a component suction posture identifying how the suction posture of the component is characterized in that identifying whether "normal suction" or "oblique adsorption". In a component suction posture identification method for imaging a component sucked by a suction nozzle with a camera and identifying whether the suction posture of the component is at least “normal suction” or “oblique suction” by image processing technology, Set multiple seek lines that intersect the outline of the component image in the suction orientation to a symmetrical position with respect to the center line of the component image,
Whether the luminance change pattern on the seek line corresponds to the luminance change pattern of only one surface of the component by comparing the luminance change patterns on the seek line having a symmetrical positional relationship, or two surfaces of the component part products suction attitude identifying how to characterized in that the suction attitude of the component to determine whether corresponding to the change pattern of straddles brightness to identify or "normal suction" or "obliquely adsorbed" to. Identifying whether the component suction posture is “normal suction” or “oblique suction” using the component suction posture identification method according to claim 1;
Identifying whether the component suction posture is “normal suction” or “oblique suction” using the component suction posture identification method according to claim 2;
And finally identifying whether the component suction posture is “normal suction” or “oblique suction” based on a combination of the identification results of the two steps. A component that includes a camera that captures an image of a component adsorbed by the adsorption nozzle, and an image processing unit that performs image processing on the output signal of the camera and identifies whether the component adsorption posture is at least “normal adsorption” or “oblique adsorption” In the suction posture identification system,
The image processing means sets a plurality of seek lines that intersect with the contour line of the component image in the normal suction posture assumed in advance, and the contour line of the component image in the normal suction posture and each seek line Is stored as an ideal edge position,
The intersection between the outline of the actual part image captured by the camera and each seek line is recognized as a measurement edge position, and the amount of deviation between the measurement edge position of each seek line and the ideal edge position (hereinafter referred to as “measurement− (Referred to as “ideal edge deviation amount”), the direction of each of the seek lines is summed up—the ideal edge deviation amount is summed, and whether or not the total value is below the judgment threshold value A component suction posture identification system that identifies whether the posture is “normal suction” or “oblique suction”. A component that includes a camera that captures an image of a component adsorbed by the adsorption nozzle, and an image processing unit that performs image processing on the output signal of the camera and identifies whether the component adsorption posture is at least “normal adsorption” or “oblique adsorption” In the suction posture identification system,
The image processing means calculates in advance a luminance change pattern (hereinafter referred to as “reference luminance change pattern”) on a seek line that intersects an outline of a component image in a normal suction posture that is assumed. in setting the search lines intersecting the outline of the actual component image captured, it is substantially the same both in comparison with the actual part image search lines on the brightness said reference luminance change patterns change pattern By determining whether or not the luminance change pattern on the seek line of the actual component image corresponds to the luminance change pattern of only one surface of the component, or the luminance across the two surfaces of the component to determine whether the corresponding to the change pattern, the component suction posture identification system the suction posture of the component is characterized in that identifying whether "normal suction" or "oblique adsorption". A component that includes a camera that captures an image of a component adsorbed by the adsorption nozzle, and an image processing unit that performs image processing on the output signal of the camera and identifies whether the component adsorption posture is at least “normal adsorption” or “oblique adsorption” In the suction posture identification system,
The image processing means sets a plurality of seek lines that intersect with the outline of the component image of a normal suction posture assumed in advance at positions symmetrical with respect to the center line of the component image,
Whether the luminance change pattern on the seek line corresponds to the luminance change pattern of only one surface of the component by comparing the luminance change patterns on the seek line having a symmetrical positional relationship, or two surfaces of the component part products suction attitude identification system that is characterized in that suction attitude of the component to determine whether corresponding to the change pattern of straddles brightness to identify or "normal suction" or "obliquely adsorbed" to. Means for identifying whether the component suction posture is "normal suction" or "oblique suction" using the component suction posture identification system according to claim 5;
Means for identifying whether the suction posture of the component is “normal suction” or “oblique suction” using the component suction posture identification system according to claim 6 or 7;
And a means for finally identifying whether the suction posture of the component is “normal suction” or “oblique suction” based on a combination of the identification results of the two means.

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