JP6075912B2 - Image processing apparatus and image processing method - Google Patents

Description

  The present invention relates to an image processing apparatus and method for processing in parallel image data already input during image capturing.

As a conventional technique, for example, in an image processing apparatus applied to a component mounting apparatus, imaging is continuously performed for a plurality of components, and image data obtained by imaging is recognized in parallel according to priority. A component recognition method for executing processing has been proposed (see, for example, Patent Document 1).
In this image processing apparatus, with the end of imaging as a trigger, image data to be recognized is selected again according to a preset priority, and the recognition process is switched to image data with a higher priority. The priority order at this time is the order of mounting the electronic components on the circuit board or the order of the size of the inspection object.

FIG. 18 shows a time chart of processing performed by the image processing apparatus.
First, when receiving a request for imaging, a conventional image processing apparatus executes a bus connection process for a predetermined memory from time t1 in order to store the image data in the predetermined memory.
Thereafter, imaging of the first image data is started from time t2. Then, at time t3, image capturing is terminated, and an interrupt signal is sent from the controller provided in the memory to the CPU for controlling the apparatus and performing image processing.
As a result, the CPU executes settings for capturing the second image data, secures a storage area for the image data, and the like in the interrupt process. Then, after the interrupt process, the CPU executes a first image recognition process on the already stored first image data.

On the other hand, in parallel with the first image recognition process, the camera captures the second image data. The imaging of the second image data is started at time t4, the imaging of the image is finished at time t5, and an interrupt signal is sent from the controller of the memory to the CPU.
Accordingly, the CPU temporarily interrupts the first image recognition process that was being processed. Further, the CPU executes setting for capturing the third image data by interrupt processing. Then, for the first image data and the second image data that are already stored, the priority of the image recognition process set in advance is determined, and the image recognition process with the higher priority is executed. If the priority order of the image recognition processing is, for example, the order of the third image data, the second image data, and the first image data, the CPU completes the image capturing operation and is in the unprocessed state. For the second image data, the image recognition process is executed by giving priority to the second image data having a higher priority than the first image data.
As a result, the image recognition process for the first image data is temporarily suspended until all the image recognition processes for image data having a higher priority than the image recognition process for the first image data are completed.

After the interruption process is completed, the camera captures the third image data. The imaging of the third image data is started at time t6, the imaging of the image is terminated at time t7, and an interrupt signal is sent from the memory controller to the CPU. The CPU suspends the second image recognition process and determines the priority order as described above.
As described above, since the priority order of the third image data is the highest, the image recognition process for the third image data is executed first, and when this is finished, at time t8, the second image data after the temporary interruption is next. The image recognition process is performed on the remaining data, and when this is completed, the image recognition process is performed on the remaining data after the temporary interruption in the first image data at time t9, and ends at time t10. .
In this way, when the image recognition processing is completed for all the image data, a series of image capturing and image recognition processing operations are completed.
Note that such an image data changing function for executing image recognition processing can be easily realized if the operation system of the CPU supports the multitask function.

Japanese Patent No. 3762519

However, in the image processing method in the conventional image processing apparatus, when a plurality of cameras are mounted, and these cameras individually and continuously capture images and perform image processing on the captured image data. Was unsuitable.
That is, when a plurality of cameras are mounted, combinations of asynchronous processing requests from a plurality of systems increase, and it becomes difficult to set an appropriate priority order in advance. For example, depending on the degree of overlap of processing requests, the multiplicity of processing in a certain time increases and the load becomes heavy, and the load state of the CPU fluctuates every time, for example, processing that requires processing time is mixed. In such an environment, if the processing is advanced according to the priorities decided in advance, the order will not come to the low-priority processing, a delay more than expected may occur, and an error due to timeout may occur. there were.

Furthermore, each recognition process is temporarily interrupted every time image capturing is completed, the priority is evaluated, and the overhead that is the load of the dispatch process for determining the recognition process to be executed preferentially also contributes to the reduction in work efficiency. In particular, when a plurality of cameras are installed, dispatch processing increases and the overhead load increases.
Also, for CPUs that have been speeded up by cache control in recent years, it is advantageous in terms of speed to keep the cache hit rate by minimizing task switching.
As described above, in the conventional method, depending on the priority setting, there is a possibility that wasteful dispatch processing may occur, and the processing can be performed in the expected order according to the priority, but the total work efficiency is reduced. Was supposed to occur.

The invention according to claim 1 is an arithmetic processing unit;
An image input unit capable of parallel processing with the arithmetic processing unit and connected to a plurality of cameras;
An image memory for storing image data;
The arithmetic processing unit includes:
An imaging requesting unit for performing an imaging request to be captured by the camera in response to a plurality of requests for executing imaging and recognition processing of the captured image;
Task assignment means for assigning recognition processing tasks to the plurality of requests,
In the image processing apparatus for processing a plurality of image data obtained by continuously imaging the plurality of cameras asynchronously,
Setting means for setting or updating the priority order of the recognition processing task when each imaging based on the plurality of requests is completed;
A progress management means for selecting a recognition processing task to be executed next in accordance with the priority every time recognition of the recognition processing task is completed, and shifting to the next recognition processing task;
A priority setting unit that further determines the priority of the recognition process within the priority order and rearranges the connection order of the recognition process task to the executable queue that stores the execution order of the recognition process task according to the priority; ,
The priority setting means determines whether the recognition processing task includes a hardware operation when rearranging the connection order of the recognition processing task to the executable queue, includes a hardware operation, and includes the arithmetic processing unit and The recognition processing tasks that can be processed in parallel are rearranged with higher priority as the hardware operation occupancy is higher.

The invention according to claim 2 includes an arithmetic processing unit;
An image input unit capable of parallel processing with the arithmetic processing unit and connected to a plurality of cameras;
An image memory for storing image data;
The arithmetic processing unit includes:
An imaging requesting unit for performing an imaging request to be captured by the camera in response to a plurality of requests for executing imaging and recognition processing of the captured image;
Task assignment means for assigning recognition processing tasks to the plurality of requests,
In the image processing apparatus for processing a plurality of image data obtained by continuously imaging the plurality of cameras asynchronously,
Setting means for setting or updating the priority order of the recognition processing task when each imaging based on the plurality of requests is completed;
A progress management means for selecting a recognition processing task to be executed next in accordance with the priority every time recognition of the recognition processing task is completed, and shifting to the next recognition processing task;
A connection order correction means for rearranging the connection order of the recognition processing tasks to the executable queue for storing the execution order of the recognition processing tasks;
The connection order correction means includes:
Based on the image recognition processing time required for the recognition processing of each captured image based on the plurality of requests and the target image recognition processing end time for the recognition processing of each captured image based on the plurality of requests, A delay time of recognition processing of each captured image based on the request is obtained, and the recognition processing tasks are rearranged so that the total of the delay times is reduced.

The invention according to claim 3 has the same configuration as that of the invention according to claim 2, and the connection order correction means includes:
The rearrangement of the recognition processing tasks is executed with the completion of the exposure of the first imaging in the continuous imaging of the cameras that perform continuous imaging in the second and subsequent orders among the plurality of cameras as a trigger.

The invention according to claim 4 is an arithmetic processing unit;
An image input unit capable of parallel processing with the arithmetic processing unit and connected to a plurality of cameras;
An image memory for storing image data;
In an image processing method performed by an image processing apparatus that processes a plurality of image data obtained by continuously imaging the plurality of cameras asynchronously,
An imaging request step for making an imaging request for imaging by the camera in response to a plurality of requests for executing imaging and recognition processing of the captured image;
A task assignment step for assigning recognition processing tasks to the plurality of requests;
A setting step for setting or updating the priority order of the recognition processing task at the time of completion of each imaging based on the plurality of requests,
A progress management step of selecting a recognition processing task to be executed next in accordance with the priority every time recognition of the recognition processing task is finished, and shifting to the next recognition processing task;
A priority setting step for further determining the priority of the recognition process within the priority order, and rearranging the connection order of the recognition process task to the executable queue storing the execution order of the recognition process task according to the priority. Prepared,
The priority setting step determines whether the recognition processing task includes a hardware operation when rearranging the connection order of the recognition processing task to the executable queue, includes a hardware operation, includes the arithmetic processing unit, The recognition processing tasks that can be processed in parallel are rearranged with higher priority as the hardware operation occupancy is higher.

The invention according to claim 5 is an arithmetic processing unit;
An image input unit capable of parallel processing with the arithmetic processing unit and connected to a plurality of cameras;
An image memory for storing image data;
In an image processing method performed by an image processing apparatus that processes a plurality of image data obtained by continuously imaging the plurality of cameras asynchronously,
An imaging request step for making an imaging request for imaging by the camera in response to a plurality of requests for executing imaging and recognition processing of the captured image;
A task assignment step for assigning recognition processing tasks to the plurality of requests;
A setting step for setting or updating the priority order of the recognition processing task at the time of completion of each imaging based on the plurality of requests,
A progress management step of selecting a recognition processing task to be executed next in accordance with the priority every time recognition of the recognition processing task is finished, and shifting to the next recognition processing task;
A connection order correction step for rearranging the connection order of the recognition processing tasks to the executable queue for storing the execution order of the recognition processing tasks;
The connection order correction step includes:
Based on the image recognition processing time required for the recognition processing of each captured image based on the plurality of requests and the target image recognition processing end time for the recognition processing of each captured image based on the plurality of requests, A delay time of recognition processing of each captured image based on the request is obtained, and the recognition processing tasks are rearranged so that the total of the delay times is reduced.

The invention according to claim 6 has the same configuration as that of the invention according to claim 5, and the connection order correction step includes:
The rearrangement of the recognition processing tasks is executed with the completion of the exposure of the first imaging in the continuous imaging of the cameras that perform continuous imaging in the second and subsequent orders among the plurality of cameras as a trigger.

In claim 1, 2, 4, or 5, when performing imaging and recognition processing of the captured image based on a plurality of requests, the priority order of the recognition processing task is updated at the end of imaging, and recognition processing task recognition ends Each time, a recognition processing task to be executed next is selected according to the priority order, and the process proceeds to the next recognition processing task.
As a result, when one recognition process is completed, if there is a recognition process task that can be executed next, it can be connected to the next recognition process without going through the interrupt process, reducing the frequency of occurrence of the interrupt process. In addition, it is possible to speed up by eliminating the delay of the entire process.
Furthermore, since the process proceeds to the next recognition process task every time the recognition process task is completed, it is possible to prevent the completion of one recognition process from being excessively delayed by a plurality of interrupt processes. Therefore, even in the case of a recognition processing task with a low priority, it is possible to reduce the occurrence of a timeout due to an excessively long waiting time.

  Further, in claim 1 or 4, when a recognition processing task includes a hardware operation, the higher the hardware operation occupation ratio, the higher the priority of the connection processing order of the recognition processing task to the executable queue. Thus, the next recognition processing task can effectively use the free time of the arithmetic processing unit obtained by the hardware calculation, and the total processing time of the plurality of recognition processes can be further shortened.

The image recognition processing time required for the recognition processing of each captured image based on a plurality of requests and the target image recognition processing end time for each of the captured image recognition processing based on the plurality of requests are known. Alternatively, when acquisition is possible, the end time of the recognition processing of each captured image can be calculated from the time when the continuous imaging of each camera is started and the image recognition processing time required for the recognition processing of each captured image. . Then, for each image pickup, it is possible to determine the occurrence of delay and the delay time by comparing the calculated end time of the image recognition process with the target end time of the image recognition process.
When performing continuous imaging with the above-mentioned plurality of cameras, any of the individual imaging may cause a margin time with respect to the target image recognition processing end time. Any recognition processing task may eliminate the delay by changing the connection order of the recognition processing tasks of the imaging that occurs.
By appropriately searching for a combination of recognition processing tasks that eliminate the delay by such replacement and rearranging the connection order of the recognition processing tasks to the executable queue, the delay of the recognition processing of each imaging is reduced or eliminated, It is possible to shorten the total processing time of the recognition processing for continuous imaging of a plurality of cameras.

  The recognition processing task for reducing the total delay time triggered by completion of exposure of the first imaging in continuous imaging of a camera that performs continuous imaging in the second and subsequent orders among a plurality of cameras. Therefore, the process of searching for a combination of recognition processing tasks to be rearranged without waiting for the completion of imaging can be started, and the total processing time of the recognition process can be further shortened.

It is a top view of an electronic component mounting apparatus. It is an operation | movement flowchart of mounting operation | movement of an electronic component mounting apparatus. It is an image processing apparatus mounted in the electronic component mounting apparatus and its peripheral apparatus configuration diagram. It is explanatory drawing which showed the main structures regarding the imaging of an electronic component. 5A and 5B are explanatory diagrams of the imaging method, in which FIG. 5A is a plan view in the stop imaging of the electronic component, FIG. 5B is a plan view in the stop imaging of the board mark, and FIG. FIG. 5D is a plan view for non-stop imaging of a substrate mark. It is a task block diagram of the program which control CPU of an image processing apparatus performs for image recognition. It is a graph which shows an example of the priority for every process classification which a recognition process task performs. It is explanatory drawing which shows the management method of the recognition processing task which the imaging | photography recognition command was input and became an executable state. It is a timing chart of the operation | movement at the time of non-stop imaging in the component mounting operation | movement by one axis | shaft. It is a flowchart of the process by a recognition process task. It is a flowchart of a timer process. The timing chart of non-stop imaging at the time of two axes is shown. A timing chart in a case where the mounting time (the shortest arrival time to each mounting point) is known in non-stop imaging at the time of biaxial is shown. The timing chart when the low-priority stop imaging command and continuous imaging overlap is shown when priority is set only by the imaging method and processing type. A timing chart in the case of incorporating a timer process for dynamically changing the priority of a low priority task according to the accumulated waiting time is shown. A timing chart in the case where non-stop imaging is performed with one axis and the recognition process is executed by reflecting the mounting order of three electronic components is shown. The timing chart at the time of performing a hardware calculation in the non-stop imaging at the time of biaxial is shown. The time chart of the process which the conventional image processing apparatus performs is shown.

[Overall Configuration of Embodiment of Invention]
An embodiment of the present invention will be described with reference to FIGS. In this embodiment, an image processing device 19 that performs image processing to detect the center position and inclination of the electronic component C in the captured image is mounted on the electronic component mounting apparatus 100, and positioning for mounting the electronic component C on the substrate K is performed. The example in the case of using for control is shown.

[Electronic component mounting equipment]
FIG. 1 is a plan view of the electronic component mounting apparatus 100. The electronic component mounting apparatus 100 mounts various electronic components C on a substrate K. As shown in FIG. 1, a plurality of electronic components C are mounted as means for mounting the electronic components C. An electronic component feeder 101, a feeder bank 102 as an electronic component supply unit that holds a plurality of electronic component feeders 101 side by side, a substrate transport unit 103 that transports a substrate K in a certain direction, and a substrate transport path by the substrate transport unit 103 A mounting operation unit 104 for performing an electronic component mounting operation on a substrate K provided in the middle, and a head 106 as a component holding means for holding the electronic component C by holding the suction nozzle 108 for sucking the electronic component C; , It is adsorbed by an XY gantry 107 as a head moving means for driving and conveying the head 106 to an arbitrary position within a predetermined range, and an adsorption nozzle 108. Illumination light is emitted to the imaging position of the component camera 6 that images the electronic component C, the substrate camera 4 that images the substrate mark M attached to the substrate K of the mounting work unit 104, and the component camera 6. An illumination device (not shown), an illumination device (not shown) that irradiates illumination light to an imaging position by the board camera 4, and a machine control device 13 that controls each component of the electronic component mounting apparatus 100 (FIG. 3). Reference), a man-machine interface (not shown) for inputting various settings and commands by the operator to the machine control device 13, and an electronic component to be searched from a captured image of the camera 4 or 6 And an image processing device 19 (see FIG. 3) that performs position recognition processing of C or the substrate mark M.
The electronic component mounting apparatus 100 includes an electronic component feeder 101, a feeder bank 102, a head 106, an XY gantry 107, a component camera 6 and a substrate camera 4 on both sides of the substrate conveying unit 103, respectively. It is set as the structure provided one by one.
The image processing device 19 obtains accurate position information from the captured image of the board mark M or the electronic component C by the camera 4 or 6 and outputs it to the machine control device 13 to reflect it in the positioning operation of the head 106. Used.
The cameras 4 and 6 are both CCD cameras or CMOS cameras. The component camera 6 images the electronic component C sucked by the suction nozzle 108 from below at a fixed position, and the substrate camera 4 is mounted on the head 106. The board | substrate mark M of the board | substrate K conveyed to the mounting operation part 104 from upper direction is imaged.

In the following description, the case where the electronic component C is imaged mainly by the component camera 6 will be described as an example, but the imaging target is not limited to the electronic component C, and the substrate mark M by the substrate camera 4 is described. Needless to say, the configuration and processing described later can also be applied during imaging.
In the following description, one direction orthogonal to each other along the horizontal plane is referred to as an X-axis direction, the other direction is referred to as a Y-axis direction, and a vertical vertical direction is referred to as a Z-axis direction.

The substrate transport unit 103 includes a transport belt (not shown), and transports the substrate along the X-axis direction by the transport belt.
Further, as described above, the mounting operation unit 104 for mounting the electronic component on the substrate K is provided in the middle of the substrate transfer path by the substrate transfer means 103. The substrate transport means 103 transports and stops the substrate K to the mounting work unit 104 and holds the substrate K by a holding mechanism (not shown). That is, a stable mounting operation of the electronic component C is performed while the substrate K is held by the holding mechanism.

Each head 106 has six suction nozzles 108 that hold the electronic component C by air suction at the tip thereof, a Z-axis motor that is a drive source for driving the suction nozzles 108 in the Z-axis direction, and the suction nozzle 108. And a θ-axis motor, which is a rotational drive source for rotating the electronic component C held via the Z axis about the Z-axis direction.
Further, the suction nozzle 108 is connected to a negative pressure generator, and suction and holding of the electronic component C is performed by performing suction suction at the tip of the suction nozzle 108.
That is, due to these structures, during the mounting operation, the electronic component C is sucked from the predetermined electronic component feeder 101 at the tip of the suction nozzle 108, and the suction nozzle 108 is lowered toward the substrate at the predetermined position. The mounting operation is performed while adjusting the orientation of the electronic component C by rotating it.
Each component camera 6 described above is fixedly supported on the base frame 114.

Each XY gantry 107 includes an X-axis guide rail 107a that guides the movement of the head 106 in the X-axis direction, and two Y-axis guide rails 107b that guide the head 106 in the Y-axis direction together with the X-axis guide rail 107a. And an X-axis motor that is a drive source that moves the head 106 along the X-axis direction, and a Y-axis motor that is a drive source that moves the head 106 in the Y-axis direction via the X-axis guide rail 107a. Yes. Then, by driving each motor, the head 106 can be transported to almost the entire region between the two Y-axis guide rails 107b.
Each XY gantry 107 shares two Y-axis guide rails 107b.
In addition, each motor is equipped with an encoder that detects the amount of rotation of each motor, and the rotation angle is recognized by the machine control device 13 and controlled so as to have a desired amount of rotation. The suction nozzle 108 is positioned and moved to the camera 6 via the head 106.

Each feeder bank 102 is equipped with a plurality of electronic component feeders 101 arranged in a row along the X-axis direction.
Each electronic component feeder 101 holds a reel (not shown) of a component tape in which electronic components C are sealed in a row at the rear end, and the component tape is transferred from the reel to the leading end of the electronic component feeder 101 ( The electronic component C is picked up by the suction nozzle 108 at the component delivery position 101a.

In the machine control device 13, a list of electronic components C to be mounted on the substrate K, a mounting order, a component suction position (which electronic component feeder 101 receives) of each electronic component C, a mounting position on the substrate K, and the like are determined. The mounting program is recorded, and the X-axis motor, Y-axis motor, and Z-axis motor of each XY gantry 107 are controlled according to the mounting program, and the head 106 is positioned. Further, the machine control device 13 drives the θ-axis motor for the electronic component C at the time of suction to rotate the suction nozzle 108 to perform angle correction control, and performs position correction control by the X-axis motor and the Y-axis motor. Do.
In addition, the machine control device 13 makes a request for imaging control of the electronic component C by each camera 6 and recognition of the position and orientation of the electronic component C in order to perform angle correction control and position correction control of the electronic component C. This is executed for the image processing device 19.

The electronic component mounting apparatus 100 configured as described above mounts electronic components according to the operation flowchart of FIG.
That is, the machine control device 13 controls the X-axis motor and the Y-axis motor of the XY gantry 107 to move the head 106 to the suction position of the electronic component C with respect to the predetermined electronic component feeder 101 (step S101). The electronic motor C is sucked by lowering the predetermined suction nozzle 108 by controlling the shaft motor (step S102).
Note that the operations of steps S101 and S102 are repeatedly executed according to the number of sucked electronic components C in order to suck the plurality of electronic components C to the plurality of suction nozzles 108, respectively.
Thereafter, the head 106 starts to move toward the imaging position of the component camera 6 (step S103).
In such movement, first, the X-axis motor and Y-axis motor of the XY gantry 107 are accelerated to a predetermined target speed (step S104), and when the target speed is reached, each electron is maintained while maintaining the target speed. The part C is passed through the imaging position of the camera 6 (step S105). At this time, the image processing device 19 executes imaging by controlling the component camera 6.
After imaging each electronic component C, the machine control device 13 controls the X-axis motor and Y-axis motor of the XY gantry 107 to decelerate until a predetermined low speed state is reached (step S106). The head 106 is moved to the mounting position (step S107). At that time, if necessary, the head 106 is moved to the imaging position of the substrate mark M and imaging of the substrate mark M is executed.
After that, when the head 106 is positioned at the mounting position, the suction nozzle 108 is lowered by controlling the Z-axis motor, and the electronic component C is mounted (step S108).
Further, it is determined whether or not the mounting of all the electronic components C to which the head 106 is sucked is completed (step S109), and the operations of steps S107 and S108 are performed until the mounting of all the electronic components C is completed. Repeatedly executed.
Then, when the mounting of all the electronic components C is completed, the mounting operation control ends.
In the above-described operation control, the case of non-stop imaging, which will be described later, is illustrated. However, in the case of stop imaging, the motor 106 is accelerated to decelerated in step S104, and the head 106 is positioned at the imaging position in step S105. In step S107, imaging is performed from acceleration to deceleration of each motor, and positioning is stopped at the mounting position in step S108.
Further, in the above-described operation control, only one head 106 has been described, but actually, the control from steps S101 to S109 is individually executed for each head 106 asynchronously.
In addition, the image processing device 19 executes the recognition process of the position and orientation of the electronic component C between step S103 and step S108.

[Image processing device]
FIG. 3 is a configuration diagram of the image processing device 19 mounted on the electronic component mounting apparatus 100 and its peripheral devices.
The image processing apparatus 19 includes board cameras 4 and 4 (not shown in FIG. 3) that perform asynchronous imaging, component cameras 6 and 6 that perform asynchronous imaging, and board cameras 4 and 4. From the illumination device (not shown), the illumination device 8 of each component camera 6 (see FIG. 4), the imaging control of each camera 4 and 6, and the image input unit 15 for storing image data by imaging, and the image data And an arithmetic processing unit 18 that performs recognition processing for recognizing the position of the board mark M, identifying the type, and recognizing the position and orientation of the electronic component C.
The image input unit 15 includes a LAN port 20 and an image memory 7 connected to the LAN port 20, and an additional component camera 6 can be added to the LAN port 20.
For example, when an image is transferred from the camera 6 by UDP (User Datagram Protocol), it is necessary to consider that there is no packet dropout at the LAN port 20 and to convert the packet to an image with the highest priority over any processing. .
The board camera 4 may also be provided with a LAN port and can be expanded.

The image input unit 15 can operate in parallel with the control CPU 11 of the arithmetic processing unit 18.
Each component camera 6 (including the added component camera 6, hereinafter the same) can take images asynchronously and store image data in individual image memories 7 via the respective input circuits 3. .
Although not shown, the board cameras 4 and 4 can also take images asynchronously and store image data in individual image memories via respective input circuits.
Each image memory 7 is connected to the monitor 16 via the output circuit 5 and can display image data captured by the cameras 4 and 6.
In addition to the imaging process, the image input unit 15 uses the calculation control circuit 9 to control a large number of repeated calculation processes such as filter calculation and matching calculation on the image data stored in the image memory 7. Can be operated in parallel with high speed. In other words, these repetitive calculation processes do not place a load on the control CPU 11.

The arithmetic processing unit 18 includes a work memory 10 for the control CPU 11 to perform image processing, and an interface 12 that connects the control CPU 11 to a machine control device 13 that controls the entire electronic component mounting apparatus 100. The control CPU 11 and the image input unit 15 are connected by an internal bus (PCIe).
The data from each camera 6 is subjected to data processing in the arithmetic control circuit 9 in parallel with being stored in each image memory 7 and transferred to the work memory 10 accessible by the control CPU 11. It has become so.
The control CPU 11 issues a command for image capturing. After issuing an imaging request to cause each camera 6 to capture an image, the control CPU 11 can perform another operation during the above-described imaging and data transfer processing.
Data processing performed by the arithmetic control circuit 9 can be performed on the data in each image memory 7 at any time, not only at the time of imaging, but by a command from the control CPU 11.
Even during data processing in the work memory 10, the control CPU 11 can work efficiently by controlling the arithmetic control circuit 9 to perform parallel processing.
A processing request from the machine control device 13 is transmitted as a command to the image processing device 19 via the interface 12, and a processing result in the image processing device 19 is returned to the machine control device 13 as a response.

[Imaging control]
4 is an explanatory diagram showing a main configuration relating to imaging of the electronic component C, FIG. 5 is an explanatory diagram of an imaging method, FIG. 5A is a plan view in stop imaging of the electronic component, and FIG. FIG. 5C is a plan view of non-stop imaging of an electronic component, and FIG. 5D is a plan view of non-stop imaging of a substrate mark.
An illuminating device 8 is provided above the component camera 6 connected to the image processing device 19 and is controlled by the image processing device 19 so that it is turned on during imaging.
The machine control device 13 picks up the electronic component C to be imaged from the electronic component feeder 101 to each suction nozzle 108 and holds the suction, and then controls the head 106 including each suction nozzle 108 to control the component camera 6. Move it up and take an image.

[Imaging method]
Two imaging methods are supported: stop imaging as still imaging and non-stop imaging as moving imaging.
As shown in FIG. 5A, in stop imaging, the electronic component C that is an object is stopped on the component camera 6, the illumination device 8 is turned on, and the image processing device 19 is instructed to perform imaging.
For non-stop imaging, an X-axis motor encoder counter value indicating imaging timing is set in the image processing device 19 in advance, and encoder pulses are input to the image processing device 19 as shown in FIG. 5C. When the count value set by the movement of the head 106 is reached, the image processing device 19 turns on the lighting device 8 and performs imaging by the component camera 6.

The same applies to the imaging of the substrate mark M.
That is, in stop imaging, as shown in FIG. 5B, the substrate camera 4 is stopped on the substrate mark M, the illumination device is turned on, and the image processing device 19 is instructed to perform imaging.
In non-stop imaging, an X-axis motor encoder counter value indicating imaging timing is set in the image processing device 19 in advance, and encoder pulses are input to the image processing device 19 as shown in FIG. When the count value set by the movement of the head 106 is reached, the image processing device 19 turns on the lighting device and performs imaging by the substrate camera 4.

In the non-stop imaging, the head 106 uses a plurality of electronic components held by a plurality of suction nozzles 108 provided in the head 106 (here, only three nozzles 108 and electronic components C are shown). When moving up nonstop, images are continuously captured, and each image data is sequentially stored in a separate memory space.
The image processing device 19 gives top priority to image capturing so that a desired image is not missed in accordance with the movement of the machine.
In non-stop imaging, a recognition command is issued from the machine control device 13 to the image processing device 19 individually for a plurality of electronic components C, and the recognition command sequence indicates the mounting order of each electronic component C.
Thereby, for example, when the arrangement order of the suction nozzles 108 and the mounting order of the electronic components C match, the image processing device 19 sequentially captures a plurality of electronic components C to be processed in sequence. The order of mounting of the individual electronic components C can be identified. For example, when the priority order of recognition is determined according to the order of mounting, recognition processing corresponding to this is executed. Can do.

If the moving speed of the head 106 is known in non-stop imaging, the X-axis motor encoder counter value indicating the imaging timing is set in the image processing device 19 in advance. If the timing of completion of the first imaging (imaging of the first electronic component) can be detected, the timing of completion of the subsequent imaging (imaging of the remaining electronic components) can be predicted.
Further, the image processing device 19 can predict the image recognition processing time required for the recognition processing of the captured image by the control CPU 11 from the data such as the type of recognition object and the number of terminals.
At this time, the image processing device 19 not only has the order of mounting from the machine control device 13 for a plurality of electronic components C that are continuously processed, but also from the completion of imaging of the last electronic component to the mounting position of each electronic component C. By passing the relative timing information such as the movement time, it is possible to schedule a task with a margin that does not hinder the movement of the head. Also, with regard to the processing of a plurality of image input systems by a plurality of cameras, the processing of the plurality of image input systems can be arranged on one time axis when all the first imaging of each system is completed. .
That is, the time (target image recognition end time) at which each electronic component C reaches its mounting position can be calculated based on the time when the last electronic component C has completed image capturing and the relative timing information. Is possible.
As a result, as shown in FIG. 3, when a plurality of image input systems are asynchronously overlapped or close in time and a plurality of recognition processes must be performed, scheduling of the recognition process on the previous side is performed. The recognition process on the later side can be interrupted without affecting the margin time as much as possible, and the recognition process can be efficiently executed for a plurality of image input systems. This efficient recognition process will be described later with reference to the example of FIG.

Task configuration
Next, FIG. 6 shows a task configuration of a program executed by the control CPU 11 for image recognition in the image processing device 19. Thus, the task configuration will be described.
The task configuration shown in FIG. 6 mainly includes a command reception task 34 as “task assignment means” for managing commands, three recognition processing tasks 37 to 39 for performing recognition processing, and an image input API ( Application Program Interface) 35, a timer process 46 that is a body part of a handler that processes a timer interrupt, and an interrupt process 36 that is a body part of a handler that processes an imaging end interrupt. The number of recognition processing tasks can be increased or decreased according to the number of processes.
In FIG. 6, reference numeral 45 denotes a command management block, and 47 denotes an image input status management block.

Further, the task configuration shown in FIG. 6 includes a UDP image conversion task 50 and a UDP image recognition task 51. The image data 32 is taken into the UDP conversion task 50 by a synchronization signal input using an encoder pulse or the like as a trigger. At this time, assuming that the image data 32 is transmitted by a plurality of continuous packets by UDP, since UDP does not perform a handshake, the UDP conversion task 50 needs to be careful not to miss a plurality of continuous packets. It becomes. It is desirable that the UDP conversion task 50 be executed with the highest priority over any processing so that a large number of packets are missed and unnecessary packet retransmission requests from the image processing device 19 do not occur frequently.
When the capture is completed, the UDP image recognition task 51 is called, and after executing image processing, the recognition result is acquired.

[Task structure: Command reception task]
A request for executing imaging from the machine control device 13 of FIG. 3 to the image processing device 19 and recognition processing of the captured image is notified as a command 30 shown in FIG.
When receiving the command 30, the command reception task 34 refers to the command management block 45, acquires task resources, and registers the received command.
Then, the command 30 is transmitted to the acquired recognition processing task 37 (or 38 or 39) to wake up. Then, the command reception task 34 enters a next command waiting state.
Thereby, the command reception task 34 functions as “task assignment means for assigning recognition processing tasks to the plurality of requests”, and the “task assignment step” is executed by executing the function.

  The recognition processing task 37 (or 38 or 39) analyzes the content of the command, calls the image input API 35 as the imaging request unit, makes an image imaging request, and when the imaging is completed, the non-stop component recognition 40, the stop component recognition. 41, the module corresponding to the command 30 is called out of the command modules in the six categories of the non-stop board mark M recognition 48, the stop board mark M recognition 49, the maintenance command 43, and the teaching 44, and the command processing is executed.

Further, in each command process, it is determined whether or not the hardware calculation process using the calculation control circuit 9 of the image input unit 15 in FIG. 3 is to be performed, and held in the command management block 45 in the work memory 10 (FIG. 3). Keep it.
When performing a hard calculation process, a hard calculation occupation ratio, which is a ratio of an estimated value of the hard calculation process time to the command processing time, may be obtained at the same time. The command processing time, the estimated value of the hardware operation processing time, and the hardware operation occupancy rate are similarly held in the command management block 45 in the work memory 10 (FIG. 3).

  Further, the priority order of the recognition processing tasks 37 to 39 is set lower than that of the command reception task 34. If the next command is received during the execution of the recognition processing task 37, the command reception task 34 is set again. The user wakes up, receives the command 30, references the command management block 45, acquires free resources, and registers the accepted command. Then, the command 30 is transmitted to the acquired recognition processing task 38 (or 39) to wake up. The command reception task 34 again waits for the next command.

[Task structure: Recognition task]
FIG. 7 is a chart showing an example of the priority order for each processing type executed by the recognition processing tasks 37 to 39.
Priorities for each processing type executed by the recognition processing tasks 37 to 39 are defined stepwise at three levels of high, medium, and low, and priorities are assigned according to the processing type and the type of imaging method. The priority level and the allocation rules can be freely set in accordance with the specifications of the RTOS (real time operation system) to be used and the specifications of the application to be implemented, but here, they are adopted in the image processing device 19. An example will be described.

In the image processing device 19 mounted on the electronic component mounting apparatus 100, when component recognition or mark recognition processing is performed by non-stop imaging, the next command is immediately input, and high-speed processing at tight intervals is performed. Since it is often requested, the highest priority is set to “high”. In contrast, when performing component recognition or mark recognition processing with stop imaging in which imaging is performed with the head stopped, the priority is set to “medium” because there is a time margin over non-stop imaging. In addition, a process related to a maintenance command that is not a process that requires a tact during production, such as part recognition or mark recognition, has a low priority.
When there are a plurality of tasks having the same priority, the tasks are executed in the order in which processing is possible. For example, in the case of non-stop imaging, tasks are executed in the order in which corresponding imaging is completed.

In FIG. 8, a plurality of imaging recognition commands as “a plurality of requests for executing imaging and recognition processing of the captured images” are input, and the recognition processing tasks 37 to 39 in which the respective commands are registered and become executable. The management method is shown.
According to the priority order setting shown in FIG. 7, the switching of execution tasks is realized by using the RTOS function.
When each of the recognition processing tasks 37 to 39 transitions from the sleep state to the executable state, each of the recognition processing tasks 37 to 39 is connected to a queue according to priority as shown in FIG. 8 and managed. Tasks with the same priority order are basically connected in the order in which they are first executable. That is, in this example of the image processing device 19, the queues are queued according to the order in which imaging is completed, and the priority within the same priority is further determined.

In the process shown in FIG. 8, the highest priority process by the UDP image conversion task 50 is executed. The UDP image conversion task 50 is executed prior to any recognition task. Basically, the UDP image recognition task 51 is called in the order in which the images are completed by the UDP image conversion task 50, and is put into an executable state and connected to the queue.
Although FIG. 8 illustrates a case where the priority order of the UDP image recognition task 51 is “high”, the present invention is not limited to this. For example, a new priority is newly set between the priority “high” of the component or mark recognition task by non-stop imaging and the priority “highest priority” of the UDP image conversion task 50, and the UDP image recognition is performed to the priority. The task 51 queue may be connected to perform processing in a higher order than other recognition tasks (not shown in FIG. 8).

  However, when there is an instruction for the mounting order for a plurality of consecutive recognition processes, the insertion position into the queue can be controlled, and a finer priority can be determined for tasks of the same priority. That is, the priority based on this mounting order is registered in advance in the command management block 45 of FIG. 6, and the mounting order is compared by referring to the recognition processing tasks 37 to 39 when connected to the queue. Determine the insertion position in the queue and connect them. In this way, time can be used efficiently, and processing can be efficiently advanced as a whole mounting apparatus.

Further, the information on whether or not to perform the hardware operation held in the command management block 45 (FIG. 6) is referred to when the recognition processing tasks 37 to 39 are connected to the queue, and the recognition processing for performing the hardware operation. By connecting the task to the queue so that the task is executed first, the control processing by the control CPU 11 of the subsequent recognition processing task can be performed during the hardware operation, and the total processing of the two recognition processing tasks is compared to the case where it is connected to the rear as it is. You can save time. At the same time, hardware computation is performed using the hardware computation occupancy held in the command management block 45 (FIG. 6), and hardware computation occupancy (ratio at which the computation control circuit 9 performs hardware computation in the recognition process). The higher the recognition processing task, the higher the priority and the more accurate control can be performed by rearranging the queue.
For example, it is possible not only to change the order of the queues but also to differentiate the priorities within the same priority level.
As a result, the control CPU 11 determines that “the priority of the recognition process within the priority order is further determined, and the connection order of the recognition process task to the executable queue that stores the execution order of the recognition process task according to the priority. Priority setting means for reordering and determining whether or not the recognition processing task includes a hardware operation when the connection order of the recognition processing task to the executable queue is rearranged. The recognition processing tasks that can be processed in parallel with the arithmetic processing unit are rearranged with higher priority as the hardware operation occupation ratio is higher. Further, by executing these, the “priority setting step” is executed.
When there is a dispatch request, the RTOS has the highest priority, and among them, the task connected to the head of the queue (for example, the upper left task in FIG. 8) transitions to the execution state.

Here, the recognition processing tasks 37 to 39 will be described with reference to FIG. 9 showing a timing chart of the operation at the time of non-stop imaging in one axis (component mounting operation by one head) which is a basic operation pattern.
When three imaging recognition command requests in non-stop imaging are successively input, the command reception task 34 repeats the process of referring to the command management block 45, acquiring task resources, and registering the received command (time t1). ~ T2).
As a result, the recognition processing tasks 37, 38, and 39 become executable in the order in which the imaging recognition commands are received, and the task that is in the execution state is determined according to the priority order based on the execution content of each task. If all tasks have the same priority, the task that is ready to be executed first is given priority. That is, the recognition processing tasks 37 to 39 are processed in the order in which the image capturing is completed.

  When multiple electronic components are recognized continuously with non-stop imaging, the first electronic component recognition processing task is connected to the top of the executable task queue of the same priority and processed with the highest priority. However, if the task connected to the head of the executable task queue is already being executed, if the next connection is made, the currently executing task is not interrupted, and the image processing apparatus As a whole, the processing can proceed efficiently.

Further, the priority of the recognition processing tasks 37 to 39 is set to the highest priority for all the recognition processing tasks until the end of the first image capturing so that image capturing can be performed in real time. As a result, when the recognition processing task 37 issues an image capturing request, imaging is started with the highest priority, and a situation in which imaging is delayed due to other processing being executed first is eliminated, and at an appropriate timing. Imaging is executed. Then, the recognition processing task 37 which has been in the execution state first issues an image capturing request (time t2), and subsequently issues an imaging request in the order of the recognition processing tasks 38 and 39.
As described above, the highest priority is initially set for each of the recognition processing tasks 37 to 39. However, when the image data of the recognition processing task 37 is acquired, the priority determined by the processing type and the imaging method is used. Will be reset to Such resetting of the priority order is similarly performed when a plurality of cameras are used. That is, the control CPU 11 functions as “setting means for setting or updating the priority order of the recognition processing task when each imaging based on the plurality of requests is completed”. In addition, the “first setting step” is executed by the function.
Further, when the image capturing request is continuously issued in this way, when the first image data capturing that is the first image capturing is performed (time t3 to t4), an interrupt notification request is set only at the end (time t4). The interrupt notification request is not set at the end of the second and subsequent imaging (time t7, t10).

An image input API 35 is provided as a module for calling functions supported by the hardware of the image input unit 15 shown in FIG. 3 such as image capturing and image data transfer. The image input API 35 hides the hardware-dependent part, and implements highly independent applications.
The processing in the image input API 35 is a hardware kick and a response waiting. Since the image input API 35 is called as a subroutine, it operates as a recognition processing task.
If image capturing has already been completed when the image input API 35 is called, the processing is continued as it is. However, when image capturing is performed, the recognition processing task is in a pause state until image capturing ends.

  For example, in FIG. 9, after three recognition processing tasks issue imaging requests, all tasks are waiting for completion of imaging. When the first image data imaging ends at time t4, an imaging notification interrupt 33 is activated and the interrupt process 36 is executed (time t4). The interrupt process 36 analyzes the cause of the interrupt and wakes up the recognition process task 37 waiting for the end of imaging of the corresponding image (first image data) (time t5).

The recognition processing task 37 is dynamically switched to an appropriate priority order according to the processing type when the image data is acquired and the processing shifts to the recognition processing.
When the task dispatch process operates at this timing and a plurality of recognition processing tasks can be executed, the task is switched to a task with a higher priority.
In the case of FIG. 9, since there is no other executable task at time t5 (because the recognition processing tasks 38 and 39 have not acquired image data), these processes are not performed and the recognition processing task is left as it is. 37 is executed.
On the other hand, since the image input unit 15 can perform parallel processing with the control CPU 11, the second image data imaging processing is executed during the first image recognition processing (time t6 to t7).
If a response indicating the recognition processing result is generated, the response 31 is transmitted to the command reception task 34, and the response 31 is delivered from the image processing device 19 in FIG. 3 to the machine control device 13.

Thus, when the recognition processing task 37 is finished, the control is transferred to the recognition processing task 38 having the same priority and the second image data imaging is finished (time t8). Then, through the same processing, the third image data imaging processing is executed during the second image recognition processing (time t9 to t10), the response of the recognition processing result is returned, and the recognition processing task 38 is completed (time t11), the control shifts to the recognition processing task 39 (time t11 to t12).
In these processes, unless the image recognition process is completed earlier than the completion of the next image data imaging, the imaging notification interrupt does not occur at the end of the imaging of the second image data and the third image data. No transition occurs.

In this image processing device 19, during the recognition processing with high priority, task control is performed so that inadvertent interrupt processing and dispatch processing due to system calls do not occur as much as possible, and the result of image recognition can be obtained at the fastest speed. I am considering.
As will be described later in FIG. 11, as a mechanism for preventing a timeout error by lowering the priority of a low priority task as the wait time elapses, a command elapsed time and a command elapsed time for each command registered in the command management block 45 are described. The waiting time is managed, the time is updated by the timer processing, each time is evaluated, and a priority resetting and task switching request is issued as necessary.

[Processing by recognition processing task]
Now, the operation of each task and processing module will be described step by step. FIG. 10 illustrates a flowchart of processing by the recognition processing tasks 37 to 39.
The recognition processing tasks 37 to 39 operate the command analysis in step S1 and the image capturing request in step S2 with the highest priority after the command receiving task 34 so that the image capturing can be performed quickly.

First, in the command analysis, the passed command character string is analyzed, and the priority order according to the processing type is acquired (step S1).
As described above, the arithmetic processing unit 18 predetermines and stores a priority for each processing type (see FIG. 7), and this is referred to.

Next, in the image capturing request process, the imaging start I / F of the image input API 35 in FIG. 6 is called to kick the hardware (step S2). Thereby, the imaging of the electronic component C or the board mark M is started. As a result, the image input API 35 functions as an “imaging request unit that makes an imaging request for the camera to perform imaging in response to a plurality of requests for performing imaging and recognition processing of the captured image”. As a result, the “imaging request process” is executed.
In the image capturing status acquisition process, the image capturing status I / F of the image input API 35 is called (step S3).
Then, it is determined whether or not imaging has been completed (step S4). If imaging has not been completed, imaging is waited for (step S5), and a pause state is entered. Further, when the imaging is finished, the user is woken up by the interruption process 36 shown in FIG. If the imaging has been completed by checking whether imaging has been completed (step S4), the processing is continued as it is.

Then, when the control shifts to the recognition processing task in the imaging completed state, the task priority order is reset (step S6). The priority order to be set is a value acquired in the command analysis (step S1).
That is, the control CPU 11 performs processing as “a setting unit that sets or updates the priority order of the recognition processing task when each imaging based on a plurality of requests is completed”.
Here, a task switching request is once issued (step S7), followed by recognition processing (step S8). After the recognition processing is completed, a task switching request is issued again (step S9). Note that the processing in steps S1 to S9 is basically the same when a plurality of cameras are used. Then, by performing the process of step S9, the control CPU 11 selects “the recognition processing task to be executed next according to the priority every time the recognition processing task is recognized, and shifts to the next recognition processing task. It functions as "progress management means" and executes "progress management process".
Further, when a task switching request is made (steps S7 and S9), the command management block 45 in FIG. 6 is referred to, and the task switching occurs whether the registered command is only itself or has the highest priority. If it is clear that the situation is not possible, avoid calling system calls.

[Timer processing]
The timer process 46 shown in FIG. 6 will be described based on the flowchart of FIG. In the timer process 46, for a task that does not turn indefinitely due to a low priority, a process for increasing the priority is performed when the waiting time exceeds a preset time.
This timer process 46 is registered in a periodic timer handler and called at regular intervals. For example, in the image processing device 19, when processing by the first recognition processing task 37 is started, it is called every 1 [ms] thereafter.

First, referring to the command management block 45 in FIG. 6, the ID of the recognition processing task being executed is acquired (step S11).
Next, it is determined whether or not the loop processing of steps S13 to S20 has been performed by the number of times of command registration in the command management block 45 (step S12). When the process for the number of command registrations is completed, the timer process 46 is terminated.

On the other hand, if the process corresponding to the number of command registrations has not been completed, the task IDs of the assigned recognition processing tasks 37 to 39 are acquired for the registered command (step S13).
And it compares with ID acquired at step S11, and it is determined whether it is in execution (step S14).
If not executing, the waiting time is updated (step S15), the preset determination time is compared with the updated waiting time, and the priority order is also taken into account the elapsed time since the command was received. It is determined whether resetting is necessary (step S16).

If the elapsed time since the command is received exceeds the determination time and the priority order needs to be reset, the task priority order is reset (step S17).
Further, the set priority order is checked (step S18). If the priority order has increased to “high” as a result of the resetting, it is determined that the urgency level of the task is high, and this A task switching request is issued at the time (step S19).
Finally, the current position is advanced to the next entry (step S20), and the process returns to step S12 at the top of the loop.
That is, the control CPU 11 functions as a “timer that measures the elapsed time since receiving a request to execute imaging and recognition processing of the captured image” by the processes of steps S13 to S15. Note that the processing as the “timer” may be configured to measure the waiting time from completion of imaging until the start of recognition processing of the captured image.
In addition, the control CPU 11 performs the processing of the above steps S16 and S17 so that “when the elapsed time or waiting time exceeds a specified time, the priority of the recognition processing task waiting for the start of the recognition processing of the captured image is increased. It functions as a “task resetting means for setting”.

[Explanation of timing chart of non-stop imaging for 2 axes]
Next, an example in which non-stop imaging is performed when the electronic component C is mounted in parallel by the two heads 106 will be described. FIG. 12 shows a timing chart of non-stop imaging for two axes.
The two heads 106 and 106 each hold three electronic components, and describe the movement when a command is transmitted for each of them so that imaging is performed almost simultaneously. In FIG. 12, one head 106 is described as a front head, and the other head 106 is described as a rear head.

First, the transmitted command is received in real time by the command receiving task 34 between times t1 and t2 and t2 to t3, recognition processing tasks 37 to 39 are assigned, and imaging requests are issued in the order of command transmission. When the settings related to all imaging requests are completed, the machine control device 13 is notified of this and movement of the heads 106 and 106 is started.
At the time t4 when the heads 106 and 106 pass over the component cameras 6 and 6, the respective images are captured. As shown in FIG. 3, the image input unit 15 includes two systems of input circuits 3 and 3 and image memories 7 and 7, so that simultaneous imaging in each system is possible. Further, since the image input unit 15 is a hardware module independent of the control CPU 11, image capturing and recognition processing can be performed in parallel.

Also in this case, it is set to issue an imaging notification interrupt only when the first image data imaging is completed (time t4).
These two systems of imaging are executed at times t4 to t5, t7 to t9, and t10 to t12 at the same time.
The recognition process is triggered by an imaging notification interrupt at time t5 when the first imaging ends.
Since there are two axes, a total of six recognition processing tasks are prepared, each having the same priority.
First, the first image recognition process of the front head that has received the interrupt notification is executed (time t5). In the image processing device 19, at the end of the recognition process (time t8), the image capturing state is checked, and control is passed to the recognition process task to be executed next.
Since only the rear head first image recognition process is in an executable state at time t8, this process is executed.
Meanwhile, the second image data of each head 106, 106 is captured (time t7 to t9), and the front and rear second image recognition processing can be executed at time t11 when the rear head 106 recognizes the first image. It is in a state. In the figure, the image capturing is completed at the same time, but the second image recognition process at the front (time t11 to t13) and the second second image recognition process (at the time t11 to t13) are given priority in favor of the one that is queued first. Processing is performed in the order of times t13 to t14). In the meantime, the third image data is captured by the heads 106 and 106 (time t10 to t12), and when the rear second image recognition process is completed, the front third image recognition process (time t14 to t15) is completed. The rear third image recognition process (time t15 to t16) is performed in this order.

FIG. 13 shows the mounting time (each head 106, 106) because the imaging time in the camera 6 and the time required for the head 106 to move from the camera 6 to each mounting position are known in the non-stop imaging at the time of two axes. The timing chart in the case where the shortest arrival time to each mounting point is known by prediction from the movement distance is shown.
For example, it is assumed that the mounting times of the second and third components are times to13, to14, to15, and to16 in each process of the front head and the rear head.
In FIG. 12, the times at which the second and third parts can be mounted in the processes of the front head and the rear head are times t13, t14, t15, and t16.

There is no problem because the times t13 and t15 at which the second and third parts of the front head can be mounted are earlier than the arrival time at the mounting point, but at the times t14 and t16 at which the second and third parts of the rear head can be mounted, A delay occurs with respect to the mounting times to14 and to16 at the mounting points.
As described above, even when the recognition tasks are processed efficiently in the order in which the image data has been captured and the total processing time of the image processing apparatus is scheduled to be minimized, the efficiency of the electronic component mounting apparatus is not necessarily improved. There is.

For example, if the image recognition processing time of each component is known together with the mounting times to13 to to16 of each component, in the above example, the mounting times to13 at the mounting points for the second and third components of the front head. The start of the process is delayed in a range in time for ~ to16, and the second and third image recognition processes of the rear head are allocated to the margin time of the CPU 11 that can be twisted out, and the delay that has occurred with respect to times to14 and to15 Can be resolved.
It is assumed that the mounting times to13 to to16 of each component are transferred from the machine control device 13 of FIG. 3 as command parameters. The mounting times to13 to to16 are expressed as relative times with the imaging start time of the first image data of each head as 0. These mounting times to13 to to16 are held for each command in the command management block 45 (FIG. 6) in the working memory 10 of FIG.

  The image recognition processing time of each component can be estimated from the component type and terminal count data. As described above, the image recognition processing time of each of these components can be held as an estimated value of the command processing time in the command management block 45 (FIG. 6) in the work memory 10 of FIG. For example, the image recognition processing time may be measured in advance, tabulated, and stored in the storage device of the machine control device 13 in FIG. When the image processing device 19 is turned on, the tabulated data is transferred from the machine control device 13 and developed in the work memory 10 of FIG. The command reception task 34 in FIG. 6 refers to this tabulated data every time a command is received, acquires the corresponding image recognition processing time (estimated value of command processing time), and stores it in the command management block 45. Thereafter, the control CPU 11 in FIG. 3 can easily acquire the image recognition processing time in a short time when the image recognition processing time is required.

  In addition, in such scheduling, it is rare that requests for a plurality of input systems (for example, requests for recognition processing by two heads) occur at the same time in an environment where the front head and the rear head operate asynchronously. Yes, you cannot complete all scheduling at once. First, for a previously generated input system (for example, a head for which a request has been previously made), for example, a schedule that can be processed in the shortest time as shown in the time chart of FIG. Rescheduling should be performed when it becomes clear that the mounting time cannot be observed with the shortest processing (for example, a head for which a request was made later).

For example, in the timing chart shown in FIG. 13, consider the case where the imaging of the first part of the front head is slightly earlier than the imaging of the first part of the rear head.
First, the recognition process scheduling on the front head side is completed at time t5 when imaging of the first part of the front head is completed. At this time, since it is not yet known whether or not the recognition processing at the rear head occurs, the scheduling is performed in the order in which the image capturing is completed as shown in the timing chart of FIG. After that, an event of completion of imaging of the first component of the rear head is received (in the figure, it is t5, but strictly a little behind t5), and it is understood that the front head and the rear head must operate in parallel. .

At this time, since the recognition processes of both heads can be viewed side by side on the same time axis for the first time, this event is set as the rescheduling timing. The target of rescheduling is a recognition task that has not been executed, that is, queued.
For each recognition task, a margin time that can delay the start of the process is determined from the image recognition processing time and the installation time.
As a result of delaying the start of processing by the determined margin time, if processing overlaps with other recognition tasks, the queue connection order is changed so that the delay time from the installation time is minimized, and further required Accordingly, the priority control is performed for the two tasks within the same priority level, and the schedule control is performed.
For example, in the example of FIG. 13, the processing of the second and third image processing of the front head is overlapped with the processing of the second and third image processing of the rear head only by delaying the start of the processing by the margin time. For each of the second image processing of the head, the second image processing of the rear head, the third image processing of the front head, and the third image processing of the rear head, the connection order of the queues is changed, and the priority is differentiated within the same priority level. Thus, by changing the order of processing, all the image processing is completed by each mounting time, and it becomes possible to eliminate or reduce the waiting time of the head.

  The control CPU 11 functions as “connection order correction means for rearranging the connection order of the recognition processing tasks to the executable queue that stores the execution order of the recognition processing tasks” by performing the schedule control described above. Based on the image recognition processing time required for the recognition processing of each captured image based on and the target image recognition processing end time (mounting time) for the recognition processing of each captured image based on the plurality of requests. A process of obtaining a delay time of recognition processing of each captured image based on the request and rearranging the recognition processing tasks so as to reduce the total of the delay times is performed. Further, the “connection order correction step” is executed by the above processing.

  Furthermore, when the margin time is short and the processing cannot be completed completely within that time, the task is switched so that the margin time is used effectively. First, the priority of the task with the later start time (hereinafter, the later task) is set higher than the task with the earlier start time (hereinafter, the preceding task). For the later task, an alarm is given to wake up at a time in time for the installation time, and the previous task is executed. When the alarm time comes and a later task wakes up, the recognition process task is switched because this one has higher priority. When the processing of the subsequent task is completed, it switches to the previous task again. Although the total processing time of the image processing apparatus increases due to task switching, the waiting time of the head is minimized, and the efficiency as an electronic component mounting apparatus is increased.

In addition, these rescheduling processes may be performed by adding an imaging exposure event instead of an imaging completion event and using this event as a trigger.
That is, as shown in FIG. 13, the first imaging (continuous imaging) of the camera (rear head side) that performs continuous imaging in the last order among a plurality (two) of cameras 6 and 6 corresponding to the rear head and the front head ( It is desirable to have a configuration in which an interruption is triggered by the completion of exposure of the rear head first image data imaging) and the recognition processing tasks are rearranged (rescheduling). When three or more cameras 6 are used, an interrupt is triggered by the exposure completion of the first imaging in the continuous imaging of the cameras that perform continuous imaging in the second and subsequent orders, and the recognition processing tasks are rearranged. It is desirable to execute (rescheduling).
Thereby, the waiting time of the control CPU 11 from the completion of exposure to the completion of data transfer can be effectively utilized, and rescheduling can be completed more quickly.

As shown in FIG. 13, an interrupt occurs during exposure in the first image data capture on the front head side, but at this time, it is impossible to determine the mounting time on the rear head side and whether or not a delay has occurred. Scheduling is not performed.
Also, when there are three or more cameras and these are continuously imaged (more strictly, when the recognition processing of the captured image data of each camera is overlapped in timing due to the close timing of imaging). Performs rescheduling at the time of exposure in the first image data imaging of the camera that performs imaging last.

[Timing chart for executing stop imaging and non-stop imaging with two axes (1)]
FIG. 14 shows a case where the priority order is set only by the imaging method / process type in the timing chart when the low-priority stop imaging command and the non-stop imaging overlap.
For example, the front head 106 holds three electronic components, a stop imaging command is executed at the rear head 106 at approximately the same time as non-stop imaging, and the end of imaging of stop imaging has ended earlier. Describes the movement of the case.

First, the transmitted command is received in real time by the command receiving task 34 between times t1 and t2 and t2 to t3, a recognition processing task is assigned, and imaging requests are issued in the order of command transmission.
Since the front head 106 is a non-stop imaging request, when the settings relating to the three imaging requests are completed, the machine control device 13 is notified of this and the movement of the front head 106 is started.
The rear head 106 is a request for stop imaging. At the time of command transmission, since the head 106 is already positioned on the component camera 6, imaging is started at time t4 earlier than the front head 106 following the imaging request.
On the other hand, the imaging of the front head is executed at times t5 to t8, t10 to t12, and t13 to t15 after the time t4.

The recognition process in the rear head 106 is triggered by an imaging notification interrupt at time t6 when the rear head 106 finishes imaging.
There are a total of four recognition processing tasks, and the priority is set to “high” for three of the front heads 106 and “medium” for one of the rear heads 106.
Further, the case where the image recognition process of the front head 106 in the example of FIG. 14 is completed earlier than the end of the next image capturing and a free time is available until the start of the next image recognition process is taken as an example.

At time t6, since there is only one recognition processing task in the executable state in the rear head 106, the recognition processing task for the rear head 106 is being executed from time t7.
Thereafter, the first image data imaging of the front head 106 is completed at time t8, and an imaging notification interrupt is input. At this time, the first image recognition processing task of the front head 106 is ready to be executed. The priorities are compared between the recognition processing tasks in the two executable states, and the execution task is switched to the recognition processing task for performing the first image recognition processing of the front head.
Then, during the execution of the first image recognition process, the second image data imaging starts at time t10, and the first image recognition process of the front head ends at time t11. At this time, the imaging of the second image data is completed. Is not finished. Therefore, an executable rear head recognition processing task becomes an execution task again.

In the non-stop imaging process, when the recognition process takes time, and image data for the next recognition process is already prepared at the end of the recognition process, an imaging notification interrupt does not occur in the middle.
However, as shown in FIG. 14, when the image data of the next image processing is not in time (when imaging has not been completed), when the image capturing status is checked at the end of the previous recognition processing, A request for generating an imaging notification interrupt is made for imaging of the next recognition process.
Then, an imaging notification interruption occurs at the time t12 when the second image data imaging ends, and the execution task can be switched from the rear head recognition processing task to the recognition processing task for performing the front head second image recognition processing.

With a similar mechanism, task switching occurs at time t14 when the second image recognition processing task for the front head ends, and the recognition processing task for the rear head becomes an execution task. Then, an imaging notification interrupt is generated at time t15 when the front head third image data imaging ends, the recognition processing task for performing the third image recognition processing of the front head becomes an execution task, and at the time t17 when the processing ends, the rear head Since the recognition processing task is the only task in the executable state, control is finally returned, the remaining processing is executed, and all processing ends at time t18.
In this way, when the priority is set to “medium”, the processing order does not turn unless all other recognition processing tasks are completed.

[Timing chart for executing stop imaging and non-stop imaging with two axes (2)]
FIG. 15 shows a timing chart in the case of incorporating a timer process for dynamically changing the priority of a low priority task according to the accumulated waiting time. In this process, the timer process shown in FIG. 11 is incorporated into the process shown in FIG. 14, and the operations of the heads 106 and 106 are the same as those in FIG.
The processing of FIG. 15 is performed when a periodically executed timer processing is entered during the waiting time from time t8 to t11, and when a waiting time of a predetermined time or more occurs in the recognition processing task of the rear head 106. The priority is reset and switched from “medium” to “high”.

Thereby, task switching is performed for the image recognition processing of the rear head 106 at time t11 when the first image recognition processing of the front head 106 ends.
At time t14 when the image recognition process of the rear head 106 ends, the recognition process task for executing the second image recognition process can be executed. Therefore, the task is switched to the recognition process task.
Furthermore, at time t16 at the end of the second image recognition process, since the recognition process task for executing the third image recognition process can be executed, the task is switched to the recognition process task.

As described above, the response time of the task having the priority “medium” is shortened and improved by raising the priority.
As a result, the occurrence frequency of interrupt processing is reduced and the overall processing time is also shortened.
In this process, a timer process that notifies the passage of time periodically is provided with a priority update function, which is contrary to the purpose of reducing the interrupt process, which is an object of the invention. It is not a thing.

[Explanation of timing chart for non-stop imaging in consideration of mounting order on one axis]
FIG. 16 shows a timing chart in the case where non-stop imaging is performed with one axis and the recognition process is executed by reflecting the mounting order of three electronic components.
In this non-stop imaging, the electronic component C of the third captured image is mounted first, the electronic component C of the second captured image is mounted second, and the electronic component C of the first captured image is mounted last. Recognition process. In this case, when the order is reflected in the mounting, the priority of the processing is “high”, but among these, the priority is the third captured image> the second captured image> the first captured image.
When the operation of the head 106 is controlled in the same manner as in the example of FIG. 11, when the above-described cut-out order is applied, first, an imaging request is made (time t1 to t2), and the first image according to the imaging order. Data imaging is performed (time t3 to t4).
At the end of imaging, an imaging notification interrupt is entered, and as a result of the interrupt process being performed, the process of the recognition process task for executing the first image recognition process in a processable state is started (time t5).
At this time, if the processing time of the first image recognition processing is long and the second image data imaging (time t6 to t7) and the third image data imaging (time t8 to t9) are completed during the execution, the third image In the update of the priority order at the end of data imaging, the recognition process task of the third image recognition process is connected to the task queue before the recognition process task of the second image recognition process.
Therefore, when the first image recognition process ends (time t10), the task is switched to the recognition process task of the third image recognition process.
Furthermore, when the third image recognition process ends (time t11), the task is switched to the recognition process task of the second image recognition process, and the entire process ends at time t12.

[Effects of the embodiment of the invention]
The image processing device 19 updates the priority of the recognition processing task at the end of imaging when performing imaging and recognition processing of the captured image based on a plurality of imaging recognition commands, and each time recognition processing task recognition ends. The recognition process task to be executed next is selected according to the priority order, and the process proceeds to the next recognition process task.
As a result, when one recognition process is completed, if there is a recognition process task that can be executed next, it can be connected to the next recognition process without an interrupt process, and interrupt notification and task switching can be minimized. It is possible to improve the work efficiency by reducing the OS overhead and cache replacement processing.

Further, in the image processing device 19, work efficiency can be improved by dynamically switching the priority order of the recognition processing tasks according to the processing type.
Further, by raising the priority of the recognition processing task as the processing wait time elapses, it is possible to prevent a time-out of low priority processing.
In addition, the object to be non-stop imaged is not limited to being recognized in the imaging order, but by providing a task management means that can control the recognition order, it is efficient in a range including the movement time to the axis mounting point, The recognition time of each part can be distributed, and the efficiency of the entire system can be improved. In this case, the order of recognition is not limited to the order of mounting for all the electronic components C, but priority is given to recognition for only some of the electronic components C, for example, only the electronic components that are mounted first. It is also possible to perform such correction.
In addition, when the order of recognition is made to follow the order of mounting for all the electronic components C, it becomes possible to control the order of recognition more finely, and theoretically, the travel time to the last mounting point is fully used. The recognition time of each part can be distributed, and the efficiency of the entire system can be improved.

Further, in the image processing device 19, when the recognition processing tasks 37 to 39 include hardware operations, the higher the hardware operation occupation ratio, the higher the priority of the recognition processing task connection order to the executable queue. Since the correction to be replaced is performed, the free time of the control CPU 11 of the arithmetic processing unit 18 obtained by the hardware calculation by the arithmetic control circuit 9 can be effectively used by the next recognition processing task, and the total processing of a plurality of recognition processes is performed. The time can be shortened.
For example, FIG. 17 shows a timing chart when the rear head first image recognition process of FIG. 12 is changed to include a hardware operation.
The hardware calculation execution section (t10 to t11) included in the rear head first image recognition process (t8 to t13) is a free time of the control CPU 11, and the front head second recognition process is executed during this time (t10 to t11). It is possible to shorten the end time of t18 by the time of t10 to t11.

Further, in the image processing device 19, the image recognition processing time required for the recognition processing of each captured image based on a plurality of requests and the target image recognition processing end time for the recognition processing of each captured image based on the plurality of requests are determined. When it is known or can be acquired, the end time of the recognition processing of each captured image is calculated from the time when the continuous imaging of each of the cameras 6 and 6 is started and the image recognition processing time required for the recognition processing of each captured image. can do. Then, for each image pickup, it is possible to determine the occurrence of delay and the delay time by comparing the calculated end time of the image recognition process with the target end time of the image recognition process.
When continuous imaging by the plurality of cameras 6 and 6 is performed, any of the individual imaging may cause a margin time with respect to the target image recognition processing end time (for example, the second in the front head of FIG. 13). And the third image recognition process), the connection order of the recognition process task of imaging that causes a margin time and the recognition process task of imaging that causes a delay (for example, the second and third image recognition processes in the rear head of FIG. 13) are switched. Any recognition processing task may eliminate the delay.

By appropriately searching for a combination of recognition processing tasks that eliminate the delay by such replacement and rearranging the connection order of the recognition processing tasks to the executable queue, the delay of the recognition processing of each imaging is reduced or eliminated, It is possible to shorten the total processing time of the recognition processing for continuous imaging of a plurality of cameras.
In particular, in the rescheduling described above, the exposure completion of the first imaging (first image data imaging) in the continuous imaging of the camera 6 (rear head side) that performs continuous imaging in the last order among the plurality of cameras 6 and 6 is used as a trigger. Since the recognition processing tasks are rearranged to reduce the total delay time, it is possible to start the process of searching for a combination of recognition processing tasks to be rearranged without waiting for the completion of imaging. This processing time can be further shortened.

4 Substrate camera 6 Component camera 7 Image memory 11 Control CPU
DESCRIPTION OF SYMBOLS 15 Image input part 18 Operation processing part 19 Image processing apparatus 34 Command reception task (task allocation means)
35 Image Input API (Imaging Request Unit)
37-39 Recognition processing task C Electronic component (object)

Claims (6)

An arithmetic processing unit;
An image input unit capable of parallel processing with the arithmetic processing unit and connected to a plurality of cameras;
An image memory for storing image data;
The arithmetic processing unit includes:
An imaging requesting unit for performing an imaging request to be captured by the camera in response to a plurality of requests for executing imaging and recognition processing of the captured image;
Task assignment means for assigning recognition processing tasks to the plurality of requests,
In the image processing apparatus for processing a plurality of image data obtained by continuously imaging the plurality of cameras asynchronously,
Setting means for setting or updating the priority order of the recognition processing task when each imaging based on the plurality of requests is completed;
A progress management means for selecting a recognition processing task to be executed next in accordance with the priority every time recognition of the recognition processing task is completed, and shifting to the next recognition processing task;
A priority setting unit that further determines the priority of the recognition process within the priority order and rearranges the connection order of the recognition process task to the executable queue that stores the execution order of the recognition process task according to the priority; ,
The priority setting means determines whether the recognition processing task includes a hardware operation when rearranging the connection order of the recognition processing task to the executable queue, includes a hardware operation, and includes the arithmetic processing unit and An image processing apparatus characterized in that the recognition processing tasks that can be processed in parallel are rearranged with a higher priority as the hardware operation occupancy is higher. An arithmetic processing unit;
An image input unit capable of parallel processing with the arithmetic processing unit and connected to a plurality of cameras;
An image memory for storing image data;
The arithmetic processing unit includes:
An imaging requesting unit for performing an imaging request to be captured by the camera in response to a plurality of requests for executing imaging and recognition processing of the captured image;
Task assignment means for assigning recognition processing tasks to the plurality of requests,
In the image processing apparatus for processing a plurality of image data obtained by continuously imaging the plurality of cameras asynchronously,
Setting means for setting or updating the priority order of the recognition processing task when each imaging based on the plurality of requests is completed;
A progress management means for selecting a recognition processing task to be executed next in accordance with the priority every time recognition of the recognition processing task is completed, and shifting to the next recognition processing task;
A connection order correction means for rearranging the connection order of the recognition processing tasks to the executable queue for storing the execution order of the recognition processing tasks;
The connection order correction means includes:
Based on the image recognition processing time required for the recognition processing of each captured image based on the plurality of requests and the target image recognition processing end time for the recognition processing of each captured image based on the plurality of requests, An image processing apparatus characterized by obtaining a delay time of recognition processing of each captured image based on a request and rearranging the recognition processing tasks so that a total of the delay times is reduced. The connection order correction means includes:
The recognition processing task is rearranged by using, as a trigger, exposure completion of the first imaging in continuous imaging of a camera that performs continuous imaging in the second and subsequent orders among the plurality of cameras. Image processing device. An arithmetic processing unit;
An image input unit capable of parallel processing with the arithmetic processing unit and connected to a plurality of cameras;
An image memory for storing image data;
In an image processing method performed by an image processing apparatus that processes a plurality of image data obtained by continuously imaging the plurality of cameras asynchronously,
An imaging request step for making an imaging request for imaging by the camera in response to a plurality of requests for executing imaging and recognition processing of the captured image;
A task assignment step for assigning recognition processing tasks to the plurality of requests;
A setting step for setting or updating the priority order of the recognition processing task at the time of completion of each imaging based on the plurality of requests,
A progress management step of selecting a recognition processing task to be executed next in accordance with the priority every time recognition of the recognition processing task is finished, and shifting to the next recognition processing task;
A priority setting step for further determining the priority of the recognition process within the priority order, and rearranging the connection order of the recognition process task to the executable queue storing the execution order of the recognition process task according to the priority. Prepared,
The priority setting step determines whether the recognition processing task includes a hardware operation when rearranging the connection order of the recognition processing task to the executable queue, includes a hardware operation, includes the arithmetic processing unit, An image processing method characterized in that the recognition processing tasks that can be processed in parallel are rearranged at a higher priority as the hardware computation occupancy is higher. An arithmetic processing unit;
An image input unit capable of parallel processing with the arithmetic processing unit and connected to a plurality of cameras;
An image memory for storing image data;
In an image processing method performed by an image processing apparatus that processes a plurality of image data obtained by continuously imaging the plurality of cameras asynchronously,
An imaging request step for making an imaging request for imaging by the camera in response to a plurality of requests for executing imaging and recognition processing of the captured image;
A task assignment step for assigning recognition processing tasks to the plurality of requests;
A setting step for setting or updating the priority order of the recognition processing task at the time of completion of each imaging based on the plurality of requests,
A progress management step of selecting a recognition processing task to be executed next in accordance with the priority every time recognition of the recognition processing task is finished, and shifting to the next recognition processing task;
A connection order correction step for rearranging the connection order of the recognition processing tasks to the executable queue for storing the execution order of the recognition processing tasks;
The connection order correction step includes:
Based on the image recognition processing time required for the recognition processing of each captured image based on the plurality of requests and the target image recognition processing end time for the recognition processing of each captured image based on the plurality of requests, An image processing method comprising: obtaining a delay time of recognition processing of each captured image based on a request, and rearranging the recognition processing tasks so that a total of the delay times is reduced. The connection order correction step includes:
6. The rearrangement of recognition processing tasks is executed by using the completion of exposure of the first imaging in a continuous imaging of a camera that performs continuous imaging in the second and subsequent orders among the plurality of cameras as a trigger. Image processing method.

Images