JP7454975B2 - Image processing device and image processing method - Google Patents

Description

The present invention relates to an image processing device and an image processing method.

In a production system that produces electronic devices, a production line is constructed using a plurality of mounting devices. A board is carried into a production line, and components are mounted on the board by a mounting device.

Patent Document 1 discloses a technique in which a lens for diffusing light emitted by an LED element is mounted on a substrate. According to the technology described in Patent Document 1, the position of the protrusion is grasped based on the result of recognition processing of a captured image of the protrusion formed on the lower surface of the lens, and the position of the protrusion is determined from the center of the lens and the center position of the protrusion. The angle is found.

Patent No. 6190172

Calculating the angle of the lens requires specifying the position of the protrusion. However, in the captured image, the edges of the protrusions are unclear compared to edges caused by the outer periphery of the lens, irregularities on the surface of the lens, etc. Therefore, since the protrusion is difficult to be extracted as a feature, the angle calculation accuracy becomes low.

Aspects of the present invention aim to calculate angles of parts with high accuracy.

According to an aspect of the present invention, a template image including feature points of the first part is created based on a first polar coordinate transformed image obtained by polar coordinate transformation of a first original image captured by the first part held by a nozzle. By comparing the template image with a second polar coordinate transformation image obtained by polar coordinate transformation of a second original image captured by the teaching processing unit and the second component after being held in the nozzle and before being mounted on the board. , a recognition processing unit that calculates an angle of the second component around the substrate and a direction perpendicular to the substrate.

According to aspects of the invention, angles of parts are calculated with high accuracy.

FIG. 1 is a diagram showing a production system according to an embodiment. FIG. 2 is a plan view schematically showing an example of the mounting apparatus according to the embodiment. FIG. 3 is a diagram schematically showing an example of the mounting head according to the embodiment. FIG. 4 is a diagram schematically showing an LED lighting device produced by the production system according to the embodiment. FIG. 5 is a block diagram showing a control device included in the mounting apparatus according to the embodiment. FIG. 6 is a diagram illustrating an example of an image displayed on the display device of the mounting apparatus according to the embodiment. FIG. 7 is a diagram illustrating an example of a polar coordinate transformation image generated by the mounting apparatus according to the embodiment. FIG. 8 is a diagram illustrating an example of a polar coordinate transformation image generated by the mounting apparatus according to the embodiment. FIG. 9 is a diagram illustrating an example of an image acquired by the mounting apparatus according to the embodiment. FIG. 10 is a diagram illustrating an example of a polar coordinate transformation image generated by the mounting apparatus according to the embodiment. FIG. 11 is a diagram illustrating an example of a polar coordinate transformation image and a template image generated by the mounting apparatus according to the embodiment. FIG. 12 is a flowchart showing the image processing method according to the embodiment. FIG. 13 is a flowchart showing the image processing method according to the embodiment. FIG. 14 is a block diagram showing a computer system according to an embodiment.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings, but the present invention is not limited to the embodiments.

<Embodiment>
[Production system]
FIG. 1 is a diagram showing a production system according to an embodiment. As shown in FIG. 1, the production system 1 includes an inspection device 2, a mounting device 3, an inspection device 4, and a management device 5. An electronic device production line 6 is constructed by the inspection device 2, the mounting device 3, and the inspection device 4.

In the embodiment, it is assumed that the production system 1 produces LED lighting devices, but the present disclosure is not limited thereto. In an LED lighting device, an LED light emitting element is mounted on a substrate, and a lens that diffuses light emitted from the LED light emitting element is further mounted on the substrate so as to cover the LED light emitting element. Although the lens is exemplified to be formed of a light-transmitting resin, the present disclosure is not limited thereto.

In the production line 6, a plurality of mounting devices 3 are provided. In the embodiment, the mounting apparatus 3 includes a mounting apparatus 3A, a mounting apparatus 3B, and a mounting apparatus 3C, but the present disclosure is not limited thereto. The number of mounting devices 3 may be two or less or four or more.

A substrate P is transported in the production line 6. By transporting the substrate P in the production line 6, electronic devices are produced. In the embodiment, the head device of the production line 6 is the inspection device 2. The rear device of the production line 6 is the inspection device 4. After the substrate P is carried into the inspection apparatus 2, it is sequentially conveyed to each of the plurality of mounting apparatuses 3 (3A, 3B, 3C). A plurality of mounting devices 3 (3A, 3B, 3C) sequentially mount components C onto a board P. The board P on which the component C is mounted in the mounting device 3 is carried out from the inspection device 4 .

In the embodiment, the component C includes an electronic component (including an LED light emitting element) and a lens that diffuses light emitted from the LED light emitting element, but the present disclosure is not limited thereto.

Before the board P is carried into the production line 6, cream solder is printed on the board P by a printing machine. A board P on which cream solder is printed is carried into the inspection device 2. Note that illustration of the printing machine is omitted.

The inspection device 2 includes a solder print inspection device (SPI: Solder Paste Inspection) that inspects the printing state of the board P before the component C is mounted.

The mounting device 3 mounts the component C on the board P on which cream solder is printed. The substrate P on which the component C is mounted is heated in a reflow oven. The cream solder melts as the substrate P is heated in the reflow oven. The component C is soldered to the board P by cooling the melted cream solder. Note that illustration of the reflow oven is omitted.

After the LED light emitting elements are soldered to the substrate P, the lens is bonded to the substrate P so as to cover the LED light emitting elements.

The inspection device 4 includes a board appearance inspection device (AOI: Automated Optical Inspection) that inspects the state of the board P after the component C is mounted.

Management device 5 includes a computer system. The management device 5 controls the production line 6.

[Mounting equipment]
FIG. 2 is a plan view schematically showing an example of the mounting apparatus according to the embodiment. The mounting device 3 mounts the component C onto the board P. The mounting device 3 includes a base member 31, a board transport device 32 that transports the board P, an electronic component supply device 33 that supplies the component C, a mounting head 35 having a nozzle 34, and a head moving device that moves the mounting head 35. The device 36 includes a nozzle moving device 37 that moves the nozzle 34, and an imaging device 39.

The base member 31 supports a substrate transport device 32 , an electronic component supply device 33 , a mounting head 35 , a head moving device 36 , a nozzle moving device 37 , and an imaging device 39 .

The board transport device 32 transports the board P to the mounting position DM. The mounting position DM is defined on the transport path of the substrate transport device 32. The substrate conveyance device 32 includes a conveyance belt 32B that conveys the substrate P, a guide member 32G that guides the substrate P, and a holding member 32H that holds the substrate P. The conveyance belt 32B is moved by the actuator and conveys the substrate P in the conveyance direction. Further, the holding member 32H, the substrate P, and the conveyor belt 32B are moved in the vertical direction by a lifting mechanism (not shown). After the substrate P moves to the mounting position DM, it is raised by the lifting mechanism and is held between the conveyor belt 32B and the guide member 32G. The mounting head 35 mounts the component C on the surface of the board P placed at the mounting position DM.

The electronic component supply device 33 supplies the component C to the supply position SM. The electronic component supply device 33 includes a plurality of tape feeders 33F. The tape feeder 33F holds a plurality of parts C. The electronic component supply device 33 supplies at least one component C among the plurality of components C to the supply position SM. The electronic component supply device 33 is arranged on both sides of the board transfer device 32. Note that the electronic component supply device 33 may be arranged only on one side of the board transfer device 32.

The mounting head 35 holds the component C supplied from the electronic component supply device 33 with the nozzle 34 and mounts it on the substrate P. The mounting head 35 has a plurality of nozzles 34. The mounting head 35 is movable between a supply position SM where the component C is supplied from the electronic component supply device 33 and a mounting position DM where the board P is arranged. The mounting head 35 holds the component C supplied to the supply position SM with the nozzle 34, moves to the mounting position DM, and then mounts the component C on the board P placed at the mounting position DM.

The head moving device 36 can move the mounting head 35. The head moving device 36 includes a first axis moving device 36X that moves the mounting head 35 in a first axis (X-axis) direction in a horizontal plane, and a first axis moving device 36X that moves the mounting head 35 in a second axis ( A second axis moving device 36Y that moves in the (Y-axis) direction. Each of the first axis moving device 36X and the second axis moving device 36Y includes an actuator. The first axis moving device 36X is connected to the mounting head 35. The mounting head 35 moves in the first axis direction by the operation of the first axis moving device 36X. The second axis moving device 36Y is connected to the mounting head 35 via the first axis moving device 36X. When the first axis moving device 36X moves in the second axial direction due to the operation of the second axis moving device 36Y, the mounting head 35 moves in the second axial direction.

The component sensor 38 is provided in each of the plurality of tape feeders 33F. The component sensor 38 detects the remaining number indicating the number of components C remaining in the tape feeder 33F by detecting the components C supplied to the supply position SM. Furthermore, the component sensor 38 detects the absence of the component C in the tape feeder 33F by detecting the component C supplied to the supply position SM.

The imaging device 39 captures an image of the lens held by the nozzle 34 of the mounting head 35 in a normal posture. The imaging device 39 is provided on the base member 31. In the embodiment, the imaging device 39 is held by the nozzle 34 of the mounting head 35 along the third axis (Z-axis) direction perpendicular to the horizontal plane (along the direction from the back of the page to the front of the page in FIG. 2). Although the present disclosure is not limited to this, the present disclosure is not limited thereto. The imaging device 39 may take an image of the lens reflected by a mirror or the like. Moreover, the mounting apparatus 3 may further include a lighting device that illuminates the lens held by the nozzle 34. The illumination device may directly illuminate the lens held by the nozzle 34, or may illuminate the lens indirectly through a mirror or the like. When capturing an image of the lens held by the nozzle 34, the mounting head 35 passes over the imaging device 39. Note that the mounting head 35 may temporarily stop above the imaging device 39.

FIG. 3 is a diagram schematically showing an example of the mounting head according to the embodiment. As shown in FIG. 3, the mounting head 35 has a plurality of nozzles 34. The nozzle 34 removably holds the component C. The nozzle 34 is a suction nozzle that sucks and holds the component C. An opening is provided at the tip 34T of the nozzle 34. The opening of nozzle 34 is connected to a vacuum system. With the tip 34T of the nozzle 34 and the component C in contact, a suction operation is performed from the opening provided in the tip 34T of the nozzle 34, so that the component C is attracted and held by the tip 34T of the nozzle 34. be done. By canceling the suction operation from the opening, the component C is released from the nozzle 34.

The nozzle moving device 37 is capable of moving the nozzle 34 in each of a third axis (Z-axis) direction perpendicular to the horizontal plane and a rotation direction around the third axis. The nozzle moving device 37 is supported by the mounting head 35. Nozzle 34 is connected to the lower end of shaft 34S. A plurality of shafts 34S are provided. The plurality of nozzles 34 are connected to each of the plurality of shafts 34S. A plurality of nozzle moving devices 37 are provided. The plurality of nozzle moving devices 37 are connected to each of the plurality of shafts 34S. The nozzle 34 is supported by the mounting head 35 via a shaft 34S and a nozzle moving device 37. The nozzle moving device 37 moves the nozzle 34 by moving the shaft 34S in the third axis (Z-axis) direction and in the direction of rotation around the third axis.

The nozzle 34 is moved in the first axis (X axis) direction, second axis (Y axis) direction, third axis (Z axis) direction, and centered on the third axis by the head moving device 36 and the nozzle moving device 37. It is movable in the rotational direction. As the nozzle 34 moves, the component C held by the nozzle 34 can also move in the first axial direction, the second axial direction, the third axial direction, and the rotation direction around the third axis.

Note that the nozzle 34 may be a gripping nozzle that holds the component C on both sides.

[LED lighting device]
FIG. 4 is a diagram schematically showing an LED lighting device produced by the production system according to the embodiment. On the substrate P, an LED light emitting element 100 is mounted. Furthermore, a lens 101 that diffuses light emitted from the LED light emitting element 100 is mounted on the substrate P so as to cover the LED light emitting element 100.

Before mounting the lens 101, adhesive is applied to the substrate P using a coating machine. Note that illustration of the coating machine is omitted.

The side of the lens 101 in the third axis (Z-axis) direction has a convex shape. The side (lower side in FIG. 4) opposite to the third axis (Z-axis) direction of the lens 101 is flat. One or more protrusions (bosses) 101a are formed on the plane. A bottomed hole 101b is formed in the center of the plane of the lens 101. The nozzle 34 mounts the lens 101 on the substrate P coated with adhesive so that the LED light emitting element 100 is housed in the bottomed hole 101b. Thereby, the protrusion 101a is adhered to the substrate P. That is, the lens 101 is bonded to the substrate P.

[Control device]
FIG. 5 is a block diagram showing a control device included in the mounting apparatus according to the embodiment.

The control device 50 corresponds to the "image processing device" of the present disclosure.

Note that although a case will be described below in which the component C is a lens, the present disclosure is not limited thereto. Component C may be an electronic component.

The control device 50 includes an image acquisition section 51, a teaching processing section 52, a storage section 53, a recognition processing section 54, and a mounting control section 55. The teaching processing section 52 includes a feature point position acquisition section 52a, a polar coordinate transformation image generation section 52b, a feature point position calculation section 52c, and a template image generation section 52d. The recognition processing section 54 includes a polar coordinate transformation image generation section 54a and a component angle calculation section 54b.

The image acquisition unit 51 acquires an image of the lens held by the nozzle 34 from the imaging device 39.

The teaching processing unit 52 performs a teaching process to create a template image of the teaching lens 101 (see FIG. 6 later) held in the nozzle 34 before the production line 6 starts operating, that is, before the production of LED lighting devices starts. Execute.

The lens 101 corresponds to the "first component" of the present disclosure.

The feature point position acquisition unit 52a receives an image 150 (see FIG. 6 later) of the teaching lens 101 held by the nozzle 34 from the image acquisition unit 51, and displays it on the display device 61. Although the display device 61 is exemplified by a liquid crystal display device or an organic EL display device, the present disclosure is not limited thereto. An operator (teaching worker) inputs the position of the feature point of the lens 101 into the input device 62 while viewing the image 150 displayed on the display device 61 . Examples of the input device 62 include a keyboard and a mouse, but the present disclosure is not limited thereto.

Image 150 corresponds to the "first original image" of the present disclosure.

FIG. 6 is a diagram illustrating an example of an image displayed on the display device of the mounting apparatus according to the embodiment. In the example of FIG. 6, the lens 101 includes three protrusions 101a1, 101a2, and 101a3.

In the embodiment, the feature points of the lens 101 are three protrusions 101a1, 101a2, and 101a3, but the present disclosure is not limited thereto. The characteristic point of the lens 101 may be a stamp formed on the lens 101 or the like. Furthermore, in the embodiment, the lens 101 includes three feature points: protrusions 101a1, 101a2, and 101a3, but the present disclosure is not limited thereto. The lens 101 may include two or less feature points, or four or more feature points.

The operator sets the window cursor 111 surrounding the protrusion 101a1. The operator also sets the window cursor 112 surrounding the protrusion 101a2. The operator also sets the window cursor 113 surrounding the protrusion 101a3.

The feature point position acquisition unit 52a acquires window cursors 111, 112, and 113 as the positions of feature points from the input device 62.

Note that in the embodiment, the operator sets the window cursors 111, 112, and 113, but the present disclosure is not limited thereto. The feature point position acquisition unit 52a may acquire the positions of the protrusions 101a1, 101a2, and 101a3 by image recognition processing.

Referring again to FIG. 5, the polar coordinate transformed image generation unit 52b receives the image 150 of the teaching lens 101 held by the nozzle 34 from the image acquisition unit 51, and generates a polar coordinate transformed image 160 (later shown in FIG. reference). The polar coordinate converted image 160 is an image obtained by converting the image 150 of the two-dimensional orthogonal coordinate system (X, Y) to a polar coordinate system (r, θ).

The polar coordinate transformed image 160 corresponds to the "first polar coordinate transformed image" of the present disclosure.

FIG. 7 is a diagram illustrating an example of a polar coordinate transformation image generated by the mounting apparatus according to the embodiment. Specifically, FIG. 7A is a diagram showing an example of an image 150 before polar coordinate transformation, and FIG. 7B is a diagram showing an example of a polar coordinate transformation image 160 obtained by polar coordinate transformation of the image 150. In the polar coordinate conversion image 160, the first axis (horizontal right direction in FIG. 7(b)) is an angle θ, and the second axis intersecting the first axis (vertical downward direction in FIG. 7(b)) is a radius r. This is an image expressed in a coordinate system. For example, the first axis (θ axis) and the second axis (r axis) are orthogonal to each other, but the present disclosure is not limited thereto.

For example, the polar coordinate transformation image generation unit 52b calculates the center 101c of the lens 101 in the image 150, and generates the polar coordinate transformation image 160 based on the center 101c and the external size (for example, radius) of the lens 101. However, the present disclosure is not limited thereto. The polar coordinate conversion image generation unit 52b can calculate the center 101c by, for example, the center of gravity of the outer peripheral contour of the lens 101, or by approximating the outer peripheral contour in a circle, but the present disclosure is limited to this. Not done. Although the polar coordinate conversion image generation unit 52b uses a line 102 extending from the center 101c in a predetermined direction (horizontal right direction in FIG. 7A) as a reference for the angle θ, the present disclosure is not limited thereto. Although the polar coordinate conversion image generation unit 52b regards the clockwise direction from the line 102 as the positive direction of the angle θ, the present disclosure is not limited thereto.

Note that in the polar coordinate transformed image 160, when the protrusion 101a1, which is one of the feature points, overlaps the boundary line of θ=0°, the polar coordinate transformed image generation unit 52b generates a polar coordinate transformed image 160 in the reference direction (the line in FIG. 102 direction) by a predetermined angle in the direction opposite to the angle θ. For example, the polar coordinate conversion image generation unit 52b shifts the reference direction (the direction of the line 102) by −45°, but the present disclosure is not limited thereto. Thereby, the polar coordinate conversion image generation unit 52b can prevent the protrusion 101a1, which is one of the feature points, from overlapping the boundary line of θ=0°.

Referring again to FIG. 5, the feature point position calculation unit 52c calculates the positions of the protrusions 101a1, 101a2, and 101a3, which are feature points, in the polar coordinate transformed image 160. For example, the feature point position calculation unit 52c converts the two-dimensional coordinates (X, Y) of the center of the window cursor 111 (see FIG. 6) into polar coordinates (r, θ), thereby converting the center of the window cursor 111 into polar coordinates. The position within the image 160, that is, the position of the center of the protrusion 101a1 within the polar coordinate transformed image 160 can be calculated.

The template image generation unit 52d generates a partial image within the polar coordinate transformed image 160, including the protrusions 101a1, 101a2, and 101a3, which are feature points, as a template image 170 (see FIG. 8 later), and stores it in the storage unit 53. let

FIG. 8 is a diagram illustrating an example of a polar coordinate transformation image generated by the mounting apparatus according to the embodiment. The feature point position calculation unit 52c calculates a rectangular portion in the polar coordinate transformed image 160 from angle θ ₁ to angle θ ₂ and from radius r ₁ to radius r ₂ , including protrusions 101a1, 101a2, and 101a3, which are feature points. The image is cut out, generated as a template image 170, and stored in the storage unit 53.

FIG. 9 is a diagram illustrating an example of an image acquired by the mounting apparatus according to the embodiment. Specifically, FIG. 9 is a diagram showing a partial image 151 corresponding to the template image 170 in the image 150. The partial image 151 is C-shaped from angle θ ₁ to angle θ ₂ and from radius r ₁ to radius r ₂ .

Referring again to FIG. 5, after the production line 6 starts operating, that is, after the production of LED lighting devices starts, the recognition processing unit 54 detects the mounting lens after it is held in the nozzle 34 and before it is mounted on the substrate P. 201 (see FIG. 10 later) performs recognition processing on the image. The recognition processing unit 54 executes recognition processing each time the mounting lens 201 is mounted on the substrate P.

The lens 201 corresponds to the "second component" of the present disclosure.

The polar coordinate conversion image generation unit 54a receives an image 180 (see FIG. 10 later) of the lens 201 after being held by the nozzle 34 and before being mounted on the substrate P from the image acquisition unit 51, and performs polar coordinate conversion by polar coordinate conversion. An image 190 (see FIG. 10 later) is generated. The polar coordinate conversion image generation unit 54a performs polar coordinate conversion on a circular partial image within the image 180 corresponding to the radial range (from radius r ₁ to radius r ₂ ) of the template image 170, and generates a polar coordinate conversion image 190. .

Image 180 corresponds to the "second original image" of the present disclosure. The polar coordinate transformed image 190 corresponds to the "second polar coordinate transformed image" of the present disclosure.

FIG. 10 is a diagram illustrating an example of a polar coordinate transformation image generated by the mounting apparatus according to the embodiment. Specifically, FIG. 10A is a diagram showing an example of an image 180 before polar coordinate transformation, and FIG. 10B is a diagram showing an example of a polar coordinate transformation image 190 obtained by polar coordinate transformation of the image 180. The lens 201 includes protrusions 201a1, 201a2, and 201a3.

The polar coordinate conversion image generation unit 54a calculates the center 201c of the lens 201 in the image 180, performs polar coordinate conversion on the annular partial image 181 from an angle of 0° to an angle of 360° and from a radius _r1 to a radius _r2 , and converts the annular partial image 181 into polar coordinates. A converted image 190 is generated. Although the polar coordinate conversion image generation unit 52b uses a line 182 extending from the center 201c in a predetermined direction (horizontal right direction in FIG. 10A) as a reference for the angle θ, the present disclosure is not limited thereto.

Note that in the polar coordinate transformed image 190, the protrusion 201a1, which is one of the feature points, may overlap the boundary line of θ=0°. Therefore, the polar coordinate transformed image generation unit 54a converts a partial image in a predetermined first angle range (for example, from 315° to 360°) at the end of the polar coordinate transformed image 190 to the beginning (0°) of the polar coordinate transformed image 190. You can also copy it before. Similarly, a case may occur in which the protrusion 201a3, which is one of the feature points, overlaps the boundary line of θ=360°. Therefore, the polar coordinate transformed image generation unit 54a converts a partial image in a predetermined second angle range (for example, from 0° to 45°) at the beginning of the polar coordinate transformed image 190 into a partial image at the end (360°) of the polar coordinate transformed image 190. It may also be copied after. Thereby, the polar coordinate transformed image generation unit 54a can prevent the feature points from overlapping the boundary line of the polar coordinate transformed image 190.

Referring again to FIG. 5, the component angle calculation unit 54b calculates the angle around the third axis (Z axis) of the lens 201 by comparing the polar coordinate transformed image 190 with the template image 170 stored in the storage unit 53. Calculate the angle of The component angle calculation unit 54b can use known pattern matching technology for verification.

FIG. 11 is a diagram illustrating an example of a polar coordinate transformation image and a template image generated by the mounting apparatus according to the embodiment. It has already been determined that the angular range of template image 170 is from angle θ ₁ to angle θ ₂ . Therefore, the component angle calculation unit 54b can calculate the angle of the lens 201 around the third axis (Z axis) by calculating the amount of deviation in the angle θ direction between the polar coordinate transformed image 190 and the template image 170. .

Note that the range of the polar coordinate transformed image 190 and the template image 170 in the r-axis direction is the same from the radius r ₁ to the radius r ₂ . Therefore, the component angle calculation unit 54b does not need to consider the deviation in the r-axis direction and only needs to calculate the deviation amount in the θ-axis direction. The time required to calculate angles around three axes (Z-axis) can be reduced. The recognition process is performed on an image of the lens 201 held by the nozzle 34 and before being mounted on the substrate P each time the lens 201 is mounted on the substrate P. Therefore, the control device 50 can suppress the time required to calculate the angle around the third axis (Z-axis) of the lens 201, thereby suppressing the mounting time of the lens 201. Thereby, the production system 1 can suppress the production time of the LED lighting device.

Referring to FIG. 5 again, the mounting control section 55 rotates the nozzle moving device 37 in the mounting head 35 around the third axis (Z axis) based on the angle calculated by the component angle calculation section 54b. Control. Thereby, the mounting apparatus 3 can mount the lens 201 on the substrate P at a predetermined angle.

[Image processing method]
(teaching process)
FIG. 12 is a flowchart showing the image processing method according to the embodiment. Specifically, FIG. 12 is a flowchart showing the teaching process executed by the teaching processing section 52.

When the nozzle 34 holds the teaching component C (lens 101) at the supply position SM and reaches above the imaging device 39, the imaging device 39 releases the teaching component C (lens 101) held by the nozzle 34. An image 150 is captured. The image acquisition unit 51 acquires an image 150 of the teaching component C (lens 101) held by the nozzle 34 from the imaging device 39 (step S1).

The feature point position acquisition unit 52a receives the image 150 of the teaching component C (lens 101) held by the nozzle 34 from the image acquisition unit 51, and displays it on the display device 61 (step S2).

The operator (teaching worker) inputs the position of the feature point of the component C (lens 101) into the input device 62 while viewing the image 150 displayed on the display device 61. The feature point position acquisition unit 52a acquires the position of the feature point from the input device 62 (step S3).

The polar coordinate transformed image generation unit 52b receives the image 150 of the teaching component C (lens 101) held by the nozzle 34 from the image acquisition unit 51, and generates a polar coordinate transformed image 160 by performing polar coordinate transformation (step S4).

The feature point position calculation unit 52c calculates the position of the feature point within the polar coordinate transformed image 160 (step S5).

The template image generation unit 52d generates a partial image including the feature points in the polar coordinate transformed image 160 as a template image 170, and stores it in the storage unit 53 (Step S6).

(recognition process)
FIG. 13 is a flowchart showing the image processing method according to the embodiment. Specifically, FIG. 13 is a flowchart showing the recognition process executed by the recognition processing unit 54.

When the nozzle 34 holds the component C (lens 201) for mounting at the supply position SM and reaches the top of the imaging device 39, the imaging device 39 removes the component C (lens 201) for mounting held by the nozzle 34. An image 180 is captured. The image acquisition unit 51 acquires an image 180 of the mounting component C (lens 201) held by the nozzle 34 from the imaging device 39 (step S11).

The polar coordinate transformed image generation unit 54a receives the image 180 of the mounting component C (lens 201) held by the nozzle 34 from the image acquisition unit 51, and generates a polar coordinate transformed image 190 through polar coordinate transformation (step S12).

The component angle calculation unit 54b calculates the angle around the third axis (Z axis) of the component C (lens 201) by comparing the polar coordinate conversion image 190 and the template image 170 stored in the storage unit 53. Calculate (step S13).

[Computer system]
FIG. 14 is a block diagram showing a computer system according to an embodiment. Each of the management device 5 and control device 50 described above includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), It has a storage 1003 and an interface 1004 including an input/output circuit. The respective functions of the management device 5 and the control device 50 are stored in the storage 1003 as a program. The processor 1001 reads the program from the storage 1003, expands it into the main memory 1002, and executes the above-described processing according to the program. Note that the program may be distributed to the computer system 1000 via a network.

According to the embodiment described above, the program causes the computer system 1000 to generate a polar coordinate transformed image 160 of a component C for teaching (lens 101), generate a template image 170, and create a component C for mounting (lens 101). 201), generating the polar coordinate conversion image 190, comparing the polar coordinate conversion image 190 with the template image 170, and calculating the angle around the third axis (Z axis) of the component C (lens 201) for mounting. You can make things happen.

[effect]
As described above, a polar coordinate transformed image 160 is generated by polar coordinate transformation of the image 150 of the teaching lens 101, and a partial image of the polar coordinate transformed image 160 including the feature points of the lens 101 is generated as the template image 170. A polar coordinate transformation image 190 is generated by polar coordinate transformation of the image 180 of the lens 201 for mounting. The polar coordinate transformed image 190 and the template image 170 are compared, and the angle around the third axis (Z axis) of the lens 201 for mounting is calculated. Therefore, even if the edges of the feature points in the image 180 are slightly unclear, the angle around the third axis (Z-axis) of the mounting lens 201 can be calculated with high accuracy.

In addition, the range in the r-axis direction of the polar coordinate conversion image 190 and the template image 170 is the same, from radius _r1 to radius _r2 . Therefore, since there is no need to consider the amount of deviation in the r-axis direction and only the amount of deviation in the θ-axis direction needs to be calculated, the amount of calculation processing for matching is suppressed, and the time required to calculate the angle of the lens 201 around the third axis (Z axis) is suppressed. The recognition process is performed on the image of the lens 201 after it is held by the nozzle 34 and before it is mounted on the substrate P every time the lens 201 is mounted on the substrate P. Therefore, the time required to calculate the angle of the lens 201 around the third axis (Z axis) is suppressed, and the mounting time of the lens 201 is suppressed. This suppresses the production time of the LED lighting device.

Further, in the polar coordinate transformed image 160, when the feature point overlaps the boundary line of θ=0°, the reference direction is shifted in the opposite direction to the θ direction. For example, the reference direction is shifted by -45°. Thereby, it is possible to prevent the feature points from overlapping the boundary line of θ=0°.

Furthermore, in the polar coordinate transformed image 190, there may be a case where a feature point overlaps the boundary line of θ=0°. Therefore, a partial image in a predetermined first angle range (for example, from 315° to 360°) at the end of the polar coordinate transformed image 190 is copied before the beginning (0°) of the polar coordinate transformed image 190. Similarly, a case may occur where a feature point overlaps the boundary line of θ=360°. Therefore, a partial image in a predetermined second angle range (for example, from 0° to 45°) at the beginning of the polar coordinate transformed image 190 is copied after the end (360°) of the polar coordinate transformed image 190. This prevents the feature points from overlapping the boundary line of the polar coordinate transformed image 190.

<Other embodiments>
The management device 5 (see FIG. 1) may perform one or both of the teaching process (see FIG. 12) and the recognition process (see FIG. 13). However, since the recognition process is performed on the image of the component C for mounting (lens 201) after being held by the nozzle 34 and before being mounted on the board P, it is preferable to perform it at high speed. Therefore, even if the management device 5 executes the teaching process, it is preferable that the control device 50 executes the recognition process. In this case, it is preferable that the management device 5 creates the template image 170 and sends it to the control device 50, and that the control device 50 stores the template image 170 received from the management device 5 in its own storage 1003.

1... Production system, 2... Inspection device, 3... Mounting device, 3A... Mounting device, 3B... Mounting device, 3C... Mounting device, 4... Inspection device, 5... Management device, 6... Production line, 34... Nozzle, 35 ...Mounting head, 37... Nozzle moving device, 51... Image acquisition section, 52... Teaching processing section, 52a... Feature point position acquisition section, 52b... Polar coordinate conversion image generation section, 52c... Feature point position calculation section, 52d... Template image Generation unit, 53... Storage unit, 54... Recognition processing unit, 54a... Polar coordinate conversion image generation unit, 54b... Component angle calculation unit, 55... Mounting control unit, 101... Lens, 1000... Computer system, 1001... Processor, 1002... Main memory, 1003... Storage, 1004... Interface, P... Board.

Claims (4)

a teaching processing unit that creates a template image including feature points of the first part based on a first polar coordinate transformed image obtained by polar coordinate transformation of a first original image taken of the first part held by the nozzle;
By comparing the template image with a second polar coordinate transformed image obtained by polar coordinate transformation of a second original image taken of the second component held by the nozzle and before being mounted on the board, the second part is perpendicular to the board. a recognition processing unit that calculates an angle of the second part around the direction;
Equipped with
The first part and the second part are circular in plan view, and have the characteristic points in an annular range from a first radius to a second radius,
The teaching processing unit converts an image corresponding to a C-shaped range that is a part of the annular range of the first part and includes the feature points out of the first polar coordinate transformed image into the template image. Create as,
The recognition processing unit compares an image obtained by polar coordinate conversion of the annular range of the second original image with the template image.
Image processing device. The teaching processing unit shifts the reference direction by a predetermined angle when the feature points of the first part overlap the reference direction of the angle in the first polar coordinate transformed image.
The image processing device according to claim 1 . The recognition processing unit copies a partial image in a predetermined first angle range at the end of the second polar coordinate transformed image before the beginning of the second polar coordinate transformed image, and copying a partial image of a predetermined second angular range after the end of the second polar coordinate transformed image;
The image processing device according to claim 1 or 2 . a teaching step of creating a template image including feature points of the first part based on a first polar coordinate transformed image obtained by polar coordinate transformation of a first original image taken of the first part held by the nozzle;
By comparing the template image with a second polar coordinate transformed image obtained by polar coordinate transformation of a second original image taken of the second component held by the nozzle and before being mounted on the board, the second part is perpendicular to the board. a recognition step of calculating an angle of the second part around the direction;
Equipped with
The first part and the second part are circular in plan view, and have the characteristic points in an annular range from a first radius to a second radius,
In the teaching step, an image corresponding to a C-shaped range that is a part of the annular range of the first part and includes the feature points, out of the first polar coordinate transformed images, is used as the template image. make,
The recognition step compares an image obtained by polar coordinate conversion of the annular range of the second original image and the template image.
Image processing method.

Images