JP5908351B2 - Drilling position determination device, drilling position determination method, and program - Google Patents

Description

  The present invention relates to a punching position determination device, a punching position determination method, and a program.

For manufacturing a circuit board (printed board), a method of printing a large number of circuit patterns on a single large-area substrate and then cutting and separating the circuit patterns to obtain a large number of circuit boards is performed. At the time of this cutting, at least one pair of guide holes is provided in the substrate, and the guide holes are positioned by inserting them into guide pins provided in the processing apparatus, and then sequentially cut. Therefore, the guide hole is a basis for determining the cutting position, and needs to be formed at an accurate position.
As a drilling device for forming this guide hole, when a circuit pattern is printed, a mark indicating a drilling position is printed at the same time, and the mark is obtained by imaging with an X-ray camera or the like provided in the drilling device. An image is processed, and a drill is moved to a position obtained as a result to make a hole. Patent Document 1 discloses an example of this type of punching device.

  The mark on the printed circuit board is, for example, a printed circuit board in which a glass fiber core material is impregnated with a glass epoxy resin, and a copper foil is stretched only on one surface of the resin member formed into a plate shape. It is formed by etching so as to remain. When X-rays transmitted through such a printed circuit board are observed through an X-ray camera, a resin member having a high X-ray transmittance is imaged white, and a mark portion having a low X-ray transmittance is imaged black.

  When forming a guide hole for a mark, after obtaining an image, obtain a luminance value for each image sensor of the X-ray camera, and select the obtained luminance value as white or black based on a predetermined threshold value. The image is binarized. Next, the outer shape of the mark is specified by detecting the part that changes from white to black in the binarized image, that is, the edge portion, and the coordinates for forming the guide hole are determined from the specified outer shape of the mark. Open a guide hole at the position.

JP-A-9-57695

  The glass fibers that are the main material of the resin member of the printed board are not evenly distributed over the entire surface of the printed board. For this reason, the X-ray transmittance varies depending on the location of the printed wiring board. In addition, there are variations in the sensitivity of the imaging elements of the X-ray camera. Due to these factors, for example, even in an image obtained by imaging only the resin member, the luminance varies depending on the location.

  For example, the resin member is basically imaged white, but the luminance value takes various values. That is, the value varies depending on the location, for example, the value of the luminance value (255) at a certain location takes the value of the luminance value (250) at a different location. A similar phenomenon occurs in the mark portion.

  When the contrast difference between the outer shape of the mark in the photographed image and the printed board is large, such a variation is eliminated by appropriately setting the threshold value, so that the outer shape of the mark can be correctly specified. Therefore, the guide hole can be opened at the correct position.

  However, as shown in FIGS. 3A and 3B, when the brightness of the entire image has a gradient and the contrast difference between the photographed mark and the resin portion of the printed circuit board is not uniform, it is based on the brightness value. It is difficult to determine the threshold value. In such a case, it is difficult to specify the edge portion that is the outer shape of the mark, and thus the position accuracy of the processing coordinates of the guide hole determined by image processing may be deteriorated. Alternatively, an edge may not be detected and the mark outline may not be specified, resulting in an error.

  As described above, there are cases where the conventional method of setting a threshold value based on a luminance value for an image captured cannot be dealt with. Therefore, there is a need for a new technique that can appropriately determine the position for opening the guide hole in the printed circuit board.

  The present invention has been made in view of the above points, and provides a drilling position determination device, a drilling position determination method, and a program capable of appropriately determining a position for opening a guide hole in a printed circuit board. Objective.

In order to achieve the above object, a punching position determination device according to a first aspect of the present invention is provided.
An image pickup means for picking up an image including a mark attached to a planned position for opening a guide hole in a printed circuit board;
Determining a luminance value of an image captured by the imaging unit, and a determination unit that determines the edge position of the mark when a differential value obtained by applying a differential filter to the calculated luminance value exceeds a predetermined threshold;
Storage means for storing coordinates indicating the edge position determined by the determination means;
Setting means for setting a region having a predetermined number of pixels around each edge position for all edge positions stored by the storage means;
For each region set by the setting means, a central luminance value at the center position of the region and an average luminance value of the region are obtained, and a comparing means for comparing the obtained central luminance value with the average luminance value;
As a result of comparison by the comparison means, when the central luminance value is less than the average luminance value, the color at the center position of the region is attached to the first color, and when the central luminance value is equal to or higher than the average luminance value, Coloring means for attaching the color of the center position of the area to the second color and attaching the color of the area not set by the setting means to the second color;
A determination unit that determines an area assigned to the first color by the coloring unit as a planned position for opening the guide hole;
It is characterized by that.

  The determination unit may determine that the image captured by the image capturing unit is an unclear image when the differential value does not exceed the predetermined threshold.

  The area having the predetermined number of pixels may be an area having 5 × 5 pixels.

  The determining means determines the color of an adjacent area adjacent to the area assigned to the second color by the coloring means, and when the determined colors of all adjacent areas are the first color, the predetermined color It is also possible to reduce the threshold value.

  It is also possible that the first color is black and the second color is white.

  The differential filter may be a Sobel filter.

The drilling position determination method according to the second aspect of the present invention is:
An imaging step of capturing an image including a mark attached to a planned position for opening a guide hole in the printed circuit board;
Determining the luminance value of the image captured by the imaging step, and determining the edge position of the mark when a differential value obtained by applying a differential filter to the determined luminance value exceeds a predetermined threshold;
A storage step of storing coordinates indicating the edge position determined by the determination step;
A setting step for setting an area composed of a predetermined number of pixels around each edge position, with respect to all edge positions stored in the storing step;
For each region set by the setting step, a central luminance value of the central position of the region and an average luminance value of the region are obtained, and a comparison step for comparing the obtained central luminance value and the average luminance value;
As a result of the comparison in the comparison step, when the central luminance value is less than the average luminance value, the color at the center position of the region is attached to the first color, and when the central luminance value is equal to or higher than the average luminance value, A coloring step of attaching the color of the center position of the region to the second color and attaching the color of the region not set by the setting step to the second color;
A determination step of determining the region attached to the first color by the coloring step as a planned position for opening the guide hole,
It is characterized by that.

The program according to the third aspect of the present invention is:
Computer
An image pickup means for picking up an image including a mark attached to a planned position for opening a guide hole in a printed circuit board;
Determining means for determining a luminance value of an image imaged by the imaging means and determining an edge position of the mark when a differential value obtained by applying a differential filter to the calculated luminance value exceeds a predetermined threshold;
Storage means for storing coordinates indicating the edge position determined by the determination means;
Setting means for setting a region having a predetermined number of pixels around each edge position for all edge positions stored by the storage means;
For each area set by the setting means, a central brightness value at the center position of the area and an average brightness value of the area are compared, and a comparison means for comparing the calculated central brightness value with the average brightness value;
As a result of comparison by the comparison means, when the central luminance value is less than the average luminance value, the color at the center position of the region is attached to the first color, and when the central luminance value is equal to or higher than the average luminance value, Coloring means for attaching the color at the center position of the region to the second color and attaching the color of the region not set by the setting means to the second color;
A determining unit that determines an area assigned to the first color by the coloring unit as a planned position for opening the guide hole;
It is made to function as.

  According to the present invention, it is possible to appropriately determine the position where the guide hole is formed in the printed circuit board.

(A) is a top view of the principal part of the drilling position determination apparatus which concerns on embodiment of this invention, (b) is sectional drawing in the II line | wire of (a). It is a functional block diagram of a control part. (A) is an image including a mark imaged by the imaging means, (b) is a diagram showing a luminance value (luminance gradient) on the AA ′ line passing through the coordinate Y1 in the image of (a), and (c). It is a figure which shows the differential value which gave the differential filter to the luminance value of (b). It is a figure for demonstrating the coloring method of an area | region in case a center luminance value is less than an average luminance value. It is a figure for demonstrating the coloring method of an area | region when a center luminance value is more than an average luminance value. (A) is a figure which shows the image containing the mark imaged with the X-ray camera, (b) is a figure which shows the image which image-processed (a). It is a flowchart for demonstrating the operation | movement which determines a punching position. (A) is an image with a small luminance difference including a mark imaged by the imaging means, (b) is a diagram showing a luminance value (luminance gradient) on the line AA ′ passing through the coordinate Y1 in the image of (a), (C) is a figure which shows the differential value which gave the differential filter to the luminance value of (b). It is a figure which shows having changed the threshold value in order to detect the edge position of a mark. It is a figure for demonstrating the modification of the coloring method.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  As shown in the plan view of FIG. 1A and the cross-sectional view taken along the line II in FIG. 1B, the punching position determination device 10 according to the present embodiment includes a work table 11 and a pair of X A line irradiation source 12R, 12L, a pair of X-ray cameras 13R, 13L, a pair of drilling drills 14R, 14L, a substrate detection sensor 15, and a control unit 16 are provided.

  The work table 11 is disposed substantially horizontally on the table 17. On the work table 11, the processing target printed circuit board 101 is placed, and the processing region 11a for performing X-ray irradiation and punching operations and the processing target printed circuit board 101 are placed, and the processing region 11a is placed in the processing region 11a. The conveyance path 11b for conveying is provided. The printed circuit board 101 is transported and carried out in the Y-axis direction in FIG.

  The pair of X-ray irradiation sources 12R and 12L are respectively arranged on the upper side of the work table 11, generate X-rays under the control of the control unit 16, and irradiate downward (the printed circuit board 101 on the work table 11).

  The pair of X-ray cameras 13 </ b> R and 13 </ b> L receive X-rays irradiated from the corresponding X-ray irradiation sources 12 </ b> R and 12 </ b> L and transmitted through the printed circuit board 101 to be processed according to the control of the control unit 16. An image of the upper alignment mark is taken.

  The pair of drilling drills 14R, 14L is moved in the vertical direction (Z-axis direction) by an air cylinder or the like under the control of the control unit 16 and rotated by a motor or the like to open a hole at a predetermined position on the printed circuit board 101. .

  The X-ray irradiation source 12R, the X-ray camera 13R, and the drill 14R are configured to be movable in the X-axis direction and the Y-axis direction as a set by an X / Y stage or the like. Similarly, the X-ray irradiation source 12L, the X-ray camera 13L, and the drilling drill 14L are configured to be movable in the X-axis direction and the Y-axis direction as a set by an X / Y stage or the like.

  The substrate detection sensor 15 includes an optical sensor, a micro switch, and the like, detects the printed circuit board 101 conveyed along the conveyance path 11b, and transmits a detection signal to the control unit 16.

  The control unit 16 includes a CPU (central processing unit), a storage device, and the like, and operates according to a control program stored in the storage device to control each unit. As shown in FIG. 2, the control unit 16 functions as an imaging unit 161, a determination unit 162, a storage unit 163, a setting unit 164, a comparison unit 165, a coloring unit 166, and a determination unit 167. Next, the function of each means will be described.

  When the imaging unit 161 receives the detection signal transmitted from the substrate detection sensor 15, the imaging unit 161 controls the pair of X-ray irradiation sources 12R and 12L and the pair of X-ray cameras 13R and 13L, as shown in FIG. Then, an image 200 of an alignment mark 201 previously attached on the printed circuit board 101 is taken. The alignment mark 201 is used to determine the position at which the guide hole is to be formed in the printed circuit board 101, and the guide hole is formed by a process described later based on the position to which the mark 201 imaged by the imaging unit 161 is attached. The position to open is determined. Further, here, as described above, the mark 201 is formed by etching so that the copper foil remains in a circular shape on the printed board in which the copper foil is stretched only on one surface of the resin member formed in a plate shape. Shall. Therefore, when the mark 201 is imaged with an X-ray camera, the resin member is imaged white and the mark 201 is imaged black.

  The determination unit 162 obtains the luminance value (luminance gradient) of the image 200 of the mark 201 imaged by the imaging unit 161 and applies a differential filter to the luminance value (luminance gradient) to determine whether the obtained differential value exceeds a predetermined threshold value. Based on whether or not, the edge 202 of the mark 201 on the image 200 is determined. Here, the differential filter is an arbitrary filter used for extracting the edge 202 of the mark, such as a Sobel filter, a Previt filter, and a Laplacian filter. Further, the predetermined threshold varies depending on the differential filter used and the differential value, and is arbitrary. The mark edge is the edge or boundary position of the mark 201 on the image 200. Specifically, as a result of the determination unit 162 scanning the image 200 to obtain the luminance value, for example, the luminance value as shown in FIG. Is obtained.

  When a differential filter is obtained by applying a differential filter to the luminance value of the image 200, for example, a result as shown in FIG. 3C is obtained on the A-A 'line passing through the coordinate Y1 in the Y direction of the image 200. Next, the determination means 162 determines whether the differential value in each pixel exceeds a predetermined threshold value. When the differential value exceeds a predetermined threshold value, as shown in FIG. 3C, the determination unit 162 determines the position of the pixel from which the differential value is obtained when the differential value exceeds the predetermined threshold value. The position of the edge 202 of the mark 201 is determined.

  In the case of FIG. 3C, pixels in the range from the left end side edge XL1 to the left end side edge XL2 in the mark 201 are detected as edges, and pixels in the range from the right end side edge XR1 to the right end side edge XR2 are detected. Is detected as an edge. Therefore, the determination unit 162 determines the coordinates of all the pixels within the range from the coordinates (XL1, Y1) to (XL2, Y1) and all the pixels within the range from (XR1, Y1) to (XR2, Y1). The coordinates are stored as the coordinates of the edge 202 on the line AA ′.

  In FIG. 3C, a range from the left end side edge XL1 to the left end side edge XL2 is defined as a right end side edge range b1 on the A-A 'line. A range from the right end side edge XR1 to the right end side edge XR2 is defined as a right end side edge range b2 on the A-A ′ line.

  When the differential value does not exceed the predetermined threshold value, the determination unit 162 determines an error by assuming that the position of the pixel for which the differential value has been obtained is an unclear image position in the image 200.

  The storage unit 163 stores all the coordinates indicating the pixels determined by the determination unit 162 as the edge 202 of the mark 201 in the process of scanning the image 200.

  The control unit 16 performs an adaptive binarization process on only the pixel existing at the coordinates indicating the edge 202 stored in the storage unit 163 in the image 200. For example, on the A-A ′ line shown in FIG. 3C, the adaptive binarization process is performed only for pixels existing in the edge range b <b> 1 and the edge range b <b> 2.

  Specifically, first, the setting unit 164 includes, for example, 5 × 5 pixels centering on a pixel (referred to as a target pixel) existing at coordinates (XL1, Y1) indicating the left end edge XL1 on the line AA ′. Set the area.

  Next, the comparison unit 165 obtains an average luminance value (average luminance value) from the luminance value of the target pixel at the center position of the region (center luminance value) and the luminance value of each pixel forming the region. Here, the central luminance value refers to the luminance value of the pixel at the center of the region composed of a plurality of pixels (the luminance value of the target pixel). The average luminance value is an average of the luminance values of the pixels composed of a plurality of pixels. As shown in FIG. 4, when the region is composed of 5 × 5 pixels, the setting unit 164 obtains the luminance value of the pixel at the center of the 5 × 5 pixels as the central luminance value, and calculates the luminance value of each of the 25 pixels. The average is obtained as the average luminance value. Then, the comparison unit 165 obtains a magnitude relationship between the central luminance value and the average luminance value by comparing the central luminance value and the average luminance value in each region.

  As a result of the comparison by the comparison unit 165, the coloring unit 166 has a central luminance value (50) less than the average luminance value (85 = (255 × 5 + 80 × 5 + 50 × 5 + 20 × 10) / 25) as shown in FIG. In some cases, the color of the central luminance value is set to the first color (for example, black). Further, as shown in FIG. 5, the coloring means 166 has a central luminance value when the central luminance value (150) is equal to or higher than the average luminance value (144.8 = (255 × 10 + 150 × 5 + 50 × 4 + 20 × 6) / 25). The color of the value is set to the second color (for example, white).

  Next, the control unit 16 determines a pixel that is within the edge range b1 and is adjacent to the coordinate (XL1, Y1) for which the adaptive binarization processing is performed this time as a new pixel of interest, For example, an area composed of 5 × 5 pixels is set. And the control part 16 sets the color of a new attention pixel based on the result of having compared the new center luminance value and the new average luminance value using the comparison means 165. FIG.

  The control unit 16 performs the same process on all the pixels in the edge range b1 until reaching the coordinate (XL2, Y1) on the + X end side of the edge range b1. When the control unit 16 determines that the adaptive binarization processing for all the pixels in the edge range b1 is completed, the adaptive binarization processing for the edge range b1 is completed, and the adaptive binarization processing for the edge range b2 is performed. Start.

  In this way, the control unit 16 performs the above-described adaptive binarization process on all edge ranges based on the coordinates of the edge 202 stored in the storage unit 163.

Further, the coloring unit 166 adds the color of the region other than the edge range stored in the storage unit 163 to the second color. The coloring means 166 adds the color within the edge range including the edge 202 of the mark 201 to the first color, and adds the color other than this region to the second color, so that the image 200 with the mark 201 is added. Change the color.
The image 200 whose color has been changed has a hollow ring shape as shown in FIG.

  The determining unit 167 identifies the position of the mark 201 attached to the first color from the image 200 shown in FIG. 6B in which the color has been changed, and determines the position of the mark 201 as the position for opening the guide hole. And decide.

Next, operation | movement of the punching position determination apparatus 10 which has the said structure and function is demonstrated.
When punching holes in the printed circuit board 101, the operator places the printed circuit board 101 on the work table 11 as shown in FIG. 1 and, for example, manually moves the printed circuit board 101 along the conveyance path 11b. It is conveyed in the Y-axis direction and inserted into the processing area 11a from the carry-in entrance 18.

  When the printed circuit board 101 reaches the substrate detection sensor 15, the substrate detection sensor 15 transmits a detection signal to the control unit 16. In response to the detection signal, the control unit 16 starts the process shown in FIG.

  First, the control unit 16 functioning as the imaging unit 161 turns on the X-ray irradiation sources 12R and 12L and the X-ray cameras 13R and 13L, and as shown in FIG. A transmission image 200 of the printed board 101 with the alignment mark 201 is taken (step S101).

  Subsequently, the operator performs an approximate alignment of the printed circuit board 101. At this stage, as described above, the X-ray irradiation sources 12R and 12L generate X-rays by the processing of the control unit 16, and the X-ray cameras 13R and 13L respectively acquire transmission images of the printed circuit board 101. doing. The control unit 16 displays the acquired images of the X-ray cameras 13R and 13L on the monitor.

  The operator moves the printed circuit board 101 back and forth (Y-axis direction) and laterally (X-axis direction) so that the alignment mark 201 is positioned at the center of the monitor, for example, while watching the display on the monitor.

  When the control unit 16 detects that the alignment mark 201 is located at substantially the center of the monitor and has stopped, the control unit 16 presses and fixes the printed board 101 to the work table 11 by a pressing member (not shown).

  Next, the control unit 16 functioning as the determination unit 162 scans the captured image 200 and obtains a luminance value (a luminance gradient of each scanning line) of each pixel of the image 200 as illustrated in FIG. The differential value in each pixel is obtained by applying a differential filter to the luminance value (luminance gradient) (step S102). And the control part 16 determines whether the differential value of all the pixels was calculated | required (step S103).

  When the differential values of all the pixels have not been determined (step S103; No), the control unit 16 determines whether or not the obtained differential value exceeds a predetermined threshold as shown in FIG. (Step S104). The control unit 16 determines the position of the pixel for which the differential value is obtained in the image 200 by determining whether or not the differential value exceeds a predetermined threshold value.

  When the differential value exceeds a predetermined threshold (step S104; Yes), the control unit 16 determines (identifies) the position of the pixel corresponding to the obtained differential value as the edge 202 of the mark 201 on the image 200. (Step S105), scanning of the image is continued, and a differential value of another pixel is obtained (Step S102).

  When the differential value does not exceed the predetermined threshold (step S104; No), the control unit 16 determines (identifies) the position of the pixel corresponding to the obtained differential value as an unclear image position on the image 200 ( In step S106, scanning of the image is continued, and a differential value of another pixel is obtained (step S102). The control unit 16 determines whether or not the differential values of all the pixels of the image 200 exceed a predetermined threshold value by repeating the processing of steps S102 to S106.

  When the differential values of all the pixels are determined (Step S103; Yes), the control unit 16 functioning as the storage unit 163 stores the coordinates of all the edges 202 on the image 200 identified in Step S105 (Step S103). S107).

  Next, as shown in FIGS. 3 and 4, the control unit 16 that functions as the setting unit 164 performs adaptive binarization processing using the pixel located at the edge 202 in which the coordinates in the image 200 are stored as the target pixel. Then, an area consisting of 5 × 5 pixels centered on the target pixel is set (step S108). For example, the control unit 16 is an area composed of 5 × 5 pixels centering on all the pixels existing in the edge range b1 on the line AA ′ shown in FIG. 3C and all the pixels existing in the edge range b2. Set.

  Next, the control unit 16 functioning as the comparison unit 165 obtains the central luminance value of the target pixel at the center of the region and the average luminance value of each pixel forming the region (step S109). And the control part 16 determines whether a center luminance value is more than an average luminance value in each area | region (step S110). The control unit 16 performs adaptive binarization processing by obtaining a magnitude relationship between the central luminance value and the average luminance value only for each region including the edge 202 of the mark 201. By limiting the range for performing the adaptive binarization processing to the pixels specified as the edge 202 of the mark 201, it is possible to reduce the burden of image processing and shorten the image processing time.

  When it is determined that the central luminance value is not equal to or greater than the average luminance value, that is, the central luminance value is less than the average luminance value (step S110; No), the control unit 16 functioning as the coloring means 166 determines the color ( (Center luminance value) is set to the first color (step S111). Specifically, as shown in FIG. 4, for example, when the central luminance value is 50 and the average luminance value is an average luminance value (85 = (255 × 5 + 80 × 5 + 50 × 5 + 20 × 10) / 25), the central luminance value is Since the luminance value is less than the average luminance value, the control unit 16 sets the luminance value of the pixel of interest at the center of the 5 × 5 pixels for which the magnitude relationship of the luminance values is determined to the first color (for example, black (luminance value 0)). To do.

  When it is determined that the central luminance value is equal to or higher than the average luminance value (step S110; Yes), the control unit 16 sets the color of the target pixel (central luminance value) to the second color. (Step S112). Specifically, as shown in FIG. 5, for example, when the central luminance value is 150 and the average luminance value is the average luminance value (144.8 = (255 × 10 + 150 × 5 + 50 × 4 + 20 × 6) / 25), the central luminance value Since the value is equal to or greater than the average luminance value, the control unit 16 sets the luminance value of the target pixel serving as the center of the 5 × 5 pixels for which the magnitude relationship between the luminance values is determined to the second color (for example, white (luminance value 255)). Set to.

  Next, the control unit 16 determines whether or not the magnitude relationship between the center luminance value and the average luminance value has been determined for all the pixels stored as the edge 202 in step S107 (step S113).

  When the magnitude relationship between the central luminance value and the average luminance value has not been determined for all the pixels stored as the edge 202 (step S113; No), the control unit 16 determines the center for the pixels for which the magnitude relationship has not been determined. It is determined whether the luminance value is equal to or higher than the average luminance value (step S110). The controller 16 determines the magnitude relationship between the central luminance value and the average luminance value for all the pixels stored as the edge 202 in step S107 by repeating the processing of steps S110 to S113.

  When the magnitude relationship between the central luminance value and the average luminance value is determined for all the pixels stored as the edge 202 (step S113; Yes), the control unit 16 determines that the pixel does not include the edge 202, that is, in step S107. The colors of all the pixels not stored as the edge 202 and not set in step S108 are added to the second color (step S114).

  And the control part 16 which functions as the determination means 167 specifies the area | region attached with the 1st color from the image 200 containing the mark 201 colored by step S111, S112, S114, and is based on the specified result. The specific coordinates of this region are determined as the drilling position for opening the guide hole (step S115).

  When the drilling position of the guide hole is determined by the above-described processing, the control unit 16 moves the drilling drills 14R and 14L in the X-axis direction and the Y-axis direction, so that the drilling drill 14R, 14L is aligned, and when the alignment is completed, the drilling drills 14R and 14L are lowered while rotating to open guide holes in the printed circuit board 101.

  When the drilling is completed, the control unit 16 raises the drilling drills 14R and 14L, stops them, performs post-processing such as measurement of the drilling position, and then releases the pressing by the pressing member. The irradiation sources 12R and 12L and the X-ray cameras 13R and 13L are turned off.

  As described above, according to the punching position determining apparatus 10 according to this embodiment, the position of the alignment mark 201 previously attached to the printed circuit board 101 can be accurately specified. Further, by adaptively binarizing the region including the edge 202, the position of the mark 201 can be specified even when the contrast difference of the image 200 is small and not uniform. Further, by performing the adaptive binarization process only for the pixel determined to be the edge 202, it is possible to reduce the load of the image processing and shorten the time for performing the image processing.

  The present invention is not limited to the above-described embodiment, and various modifications and applications are possible.

  As shown in FIGS. 8A to 8C, since the change in the luminance value (luminance gradient) of the image 200 is small, the differential value may not exceed a predetermined threshold value. In such a case, as shown in FIG. 9, the determination unit 162 automatically corrects the threshold value to be small based on the maximum differential value of the edge range b1 and the edge range b2 so that there exists a differential value exceeding the threshold value. By doing so, the edge 202 of the mark 201 can also be determined.

  Further, as shown in FIG. 10, all the pixels that exist within the edge range and are adjacent to the pixel assigned to the second color (white) are assigned to the first color (black). In this case, the coloring means 166 can also color the pixels assigned to the second color (white) to the first color (black). When the printed board 101 is imaged, the mark 201 is imaged as black, and thus the pixels existing in the edge range should be originally given the first color. However, when noise is included in the captured image 200, the comparison unit 165 may make an erroneous determination, and an incorrect color may be added. Therefore, the coloring means 166 is a pixel existing in the edge range, and when the color of all the adjacent areas adjacent to the white area is black, the coloring area 166 The color can also be black. At this time, the determination unit 162 determines the color of the adjacent region adjacent to the region given white by the coloring unit 166. And the determination means 162 can also make a predetermined | prescribed threshold value small, as shown in FIG. 9, when the color of all adjacent adjacent areas is black.

  When the determination unit 162 determines that the image position is unclear in the image 200, the imaging unit 161 can re-image the image at the position where the error is determined. The control unit 16 can also warn the worker that the image is unclear. The determination unit 162 can also determine whether or not the predetermined threshold value is reduced and the differential value exceeds the predetermined threshold value.

  The area set by the setting unit 164 is not limited to an area composed of 5 × 5 pixels, but is an area where a central luminance value and an average luminance value are obtained (for example, an area composed of 3 × 5 pixels and 3 × 10 pixels). Area, etc.) is arbitrary.

  The central luminance value is not limited to the luminance value of the pixel at the center of the region, but includes a wide range of luminance values of pixels near the center of the region, average values of luminance values of a plurality of pixels near the center, and the like. Further, the average luminance value is not limited to the arithmetic average value of the luminance values of each pixel, but includes a wide range such as a geometric average value and a harmonic average value.

  The first color and the second color are not limited to black and white as long as they are different from each other, and are arbitrary.

  In addition, the X-rays in this specification are not limited to X-rays having an ordinary meaning (electromagnetic waves having a wavelength of about 1 pm to 10 nm), but widely include electromagnetic waves and radiation harmful to the human body such as gamma rays, α rays, and β rays. It is a waste. Moreover, visible light may be sufficient.

  The configuration described above can be widely applied to apparatuses that perform some processing (imaging, irradiate energy, analyze) using X-rays in addition to the punching position determination apparatus.

In the above embodiment, the program to be executed is stored and distributed in a computer-readable recording medium such as a flexible disk, a CD-ROM (Compact Disc Read-Only Memory), a DVD, or an MO (Magneto-Optical Disc). Then, the above-described processing may be executed by installing the program.
Further, the program may be stored in a disk device or the like included in a predetermined server device on a communication network such as the Internet, and may be acquired by being superimposed on a carrier wave, for example.

  As mentioned above, although preferable embodiment of this invention was described, this invention is not limited to the specific embodiment which concerns, This invention includes the invention described in the claim, and its equivalent range It is.

DESCRIPTION OF SYMBOLS 10 Hole position determination apparatus 11 Work table 11a Processing area 11b Transport path 12R, 12L X-ray irradiation source 13R, 13L X-ray camera 14R, 14L Hole drill 15 Substrate detection sensor 16 Control part 17 Stand 18 Carry-in port 161 Imaging means 162 Determination means 163 Storage means 164 Setting means 165 Comparison means 166 Coloring means 167 Determination means 200 Image 201 Mark 202 Edge

Claims (8)

An image pickup means for picking up an image including a mark attached to a planned position for opening a guide hole in a printed circuit board;
Determining a luminance value of an image captured by the imaging unit, and a determination unit that determines the edge position of the mark when a differential value obtained by applying a differential filter to the calculated luminance value exceeds a predetermined threshold;
Storage means for storing coordinates indicating the edge position determined by the determination means;
Setting means for setting a region having a predetermined number of pixels around each edge position for all edge positions stored by the storage means;
For each region set by the setting means, a central luminance value at the center position of the region and an average luminance value of the region are obtained, and a comparing means for comparing the obtained central luminance value with the average luminance value;
As a result of comparison by the comparison means, when the central luminance value is less than the average luminance value, the color at the center position of the region is attached to the first color, and when the central luminance value is equal to or higher than the average luminance value, Coloring means for attaching the color of the center position of the area to the second color and attaching the color of the area not set by the setting means to the second color;
A determination unit that determines an area assigned to the first color by the coloring unit as a planned position for opening the guide hole;
A hole-determining device characterized by that. The determination unit determines that the image captured by the imaging unit is an unclear image when the differential value does not exceed the predetermined threshold.
The perforation position determining device according to claim 1. The region composed of the predetermined number of pixels is a region composed of 5 × 5 pixels.
The punching position determination device according to claim 1 or 2, characterized in that The determining means determines the color of an adjacent area adjacent to the area assigned to the second color by the coloring means, and when the determined colors of all adjacent areas are the first color, the predetermined color Reduce the threshold of
The perforation position determining apparatus according to any one of claims 1 to 3. The first color is black and the second color is white;
The punching position determination device according to any one of claims 1 to 4, characterized in that: The differential filter is a Sobel filter.
The punching position determination device according to any one of claims 1 to 5, characterized in that: An imaging step of capturing an image including a mark attached to a planned position for opening a guide hole in the printed circuit board;
Determining the luminance value of the image captured by the imaging step, and determining the edge position of the mark when a differential value obtained by applying a differential filter to the determined luminance value exceeds a predetermined threshold;
A storage step of storing coordinates indicating the edge position determined by the determination step;
A setting step for setting an area composed of a predetermined number of pixels around each edge position, with respect to all edge positions stored in the storing step;
For each region set by the setting step, a central luminance value of the central position of the region and an average luminance value of the region are obtained, and a comparison step for comparing the obtained central luminance value and the average luminance value;
As a result of the comparison in the comparison step, when the central luminance value is less than the average luminance value, the color at the center position of the region is attached to the first color, and when the central luminance value is equal to or higher than the average luminance value, A coloring step of attaching the color of the center position of the region to the second color and attaching the color of the region not set by the setting step to the second color;
A determination step of determining the region attached to the first color by the coloring step as a planned position for opening the guide hole,
A method for determining a drilling position. Computer
An image pickup means for picking up an image including a mark attached to a planned position for opening a guide hole in a printed circuit board;
Determining means for determining a luminance value of an image imaged by the imaging means and determining an edge position of the mark when a differential value obtained by applying a differential filter to the calculated luminance value exceeds a predetermined threshold;
Storage means for storing coordinates indicating the edge position determined by the determination means;
Setting means for setting a region having a predetermined number of pixels around each edge position for all edge positions stored by the storage means;
For each area set by the setting means, a central brightness value at the center position of the area and an average brightness value of the area are compared, and a comparison means for comparing the calculated central brightness value with the average brightness value;
As a result of comparison by the comparison means, when the central luminance value is less than the average luminance value, the color at the center position of the region is attached to the first color, and when the central luminance value is equal to or higher than the average luminance value, Coloring means for attaching the color at the center position of the region to the second color and attaching the color of the region not set by the setting means to the second color;
A determining unit that determines an area assigned to the first color by the coloring unit as a planned position for opening the guide hole;
Program to function as.