JPH0414184A - Parts inspection method - Google Patents

Parts inspection method

Info

Publication number
JPH0414184A
JPH0414184A JP2118309A JP11830990A JPH0414184A JP H0414184 A JPH0414184 A JP H0414184A JP 2118309 A JP2118309 A JP 2118309A JP 11830990 A JP11830990 A JP 11830990A JP H0414184 A JPH0414184 A JP H0414184A
Authority
JP
Japan
Prior art keywords
image
straight line
center position
dimensions
inclination
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2118309A
Other languages
Japanese (ja)
Other versions
JP3131977B2 (en
Inventor
Keizo Izumida
圭三 泉田
Masamichi Morimoto
正通 森本
Takashi Shimizu
隆 清水
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Holdings Corp
Original Assignee
Matsushita Electric Industrial Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Priority to JP02118309A priority Critical patent/JP3131977B2/en
Publication of JPH0414184A publication Critical patent/JPH0414184A/en
Application granted granted Critical
Publication of JP3131977B2 publication Critical patent/JP3131977B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Abstract

PURPOSE:To efficiently detect the difference of the dimension of parts caused by the supplyment of foreign parts or stand-absorption by measuring the dimensions of the four sides of an inspection subject and comparing them with the dimensions of the four sides instructed in advance. CONSTITUTION:In a normal parts picture, a picture center position and an inclination are calculated, lengths 21-24 of the lengths corresponding to the dimensions of the four sides + or - tolerance are retrieved by a scanning straight line, and distances 25-28 between the scanning straight line and the picture center position at that time are calculated. The picture center position and the inclination are calculated concerning a sample. Along the inclination, the scanning straight lines are designated to be 29=25a, 30=26a, 31=27a, and 32=28a (a<1) away from the picture center position. Thus, the calculated lengths are compared by taking acount of the lengths corresponding to the dimensions of the four sides of parts and the relation of position, and decided as noncompliant when even one of the four sides exceeds the dimensional tolerance. In the specimen, the figure (B) is good, but the figure (C) is not good because a length 38 exceeds the dimensional tolerance.

Description

【発明の詳細な説明】 産業上の利用分野 本発明は、電子部品実装設備における作業対象物である
電子部品の位置・姿勢の補正及び不良部品の検査等を目
的とした視覚認識装置の認識方法において、実装する電
子部品が指定された部品であるか否かを検査する方法に
関するものである。
DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a recognition method using a visual recognition device for purposes such as correcting the position and orientation of electronic components that are work objects in electronic component mounting equipment and inspecting defective components. The present invention relates to a method of inspecting whether an electronic component to be mounted is a specified component.

従来の技術 近年、回路形成分野における多品種少量生産や高密度実
装が進む中、電子部品実装設備の作業対象物である電子
部品も小型化が進み、その外観を注意深く観察しなけれ
ば、同一部品か異種部品が容易に操作者が判断しにぐく
なって来ている。電子部品実装設備に電子部品を供給す
る事はまだ操作者によるところが一般的であシ、操作者
が誤まった電子部品を供給してしまい、そのまま基板へ
誤まった電子部品を実装し、実装後に誤まった部品であ
ることが判明する例は珍しくないところである。
Conventional technology In recent years, as high-mix, low-volume production and high-density packaging have progressed in the field of circuit formation, electronic components, which are the workpieces of electronic component mounting equipment, have also become smaller. It is becoming increasingly difficult for operators to determine whether or not different parts are used. It is still common for the operator to supply electronic components to electronic component mounting equipment, and the operator may supply the wrong electronic component and then mount the wrong electronic component on the board. It is not uncommon for parts to later be found to be the wrong parts.

発明が解決しようとする課題 小型化した電子部品の供給iスを検出することに加え、
微細化した電子部品を部品供給部から移載してくること
も難しくなってきている。吸着ノズルにより電子部品を
部品供給部から移載してくる方法が一般化しているが、
微小な形状の電子部品においては部品が立ち上かった状
態で吸着される立吸着(第6図C9D)、及び完全に立
たないものの斜めになった状態の斜め吸着(第6図C9
D)といった現象が生じてしまう場合がある。視覚認識
部においては、透過光で部品画像を撮像し、位置・姿勢
を計測する方法が一般化しておシ、この方法の場合、部
品が微細な場合、吸着ノズルと部品の両方が撮像され、
従来からの面積、境界点等を利用したパターンマツチン
グでは立ち吸着。
Problems to be Solved by the Invention In addition to detecting the supply of miniaturized electronic components,
It is also becoming difficult to transfer miniaturized electronic components from component supply departments. The method of transferring electronic components from the component supply section using a suction nozzle has become common;
For micro-shaped electronic components, there is vertical suction in which the component is attracted while standing up (C9D in Figure 6), and oblique suction in which the component is not completely erect but is tilted (Figure 6C9).
D) may occur. In visual recognition units, it has become common to take an image of the part using transmitted light and measure its position and orientation.In this method, when the part is minute, both the suction nozzle and the part are imaged,
In conventional pattern matching using areas, boundary points, etc., standing adsorption is used.

斜め吸着を検出できない場合があった。There were cases where oblique adsorption could not be detected.

課題を解決するための手段 そこで本発明は、1)正常な電子部品を撮像した画像に
おいて、第2図に示す様に画像中心位置及び傾きをもと
に画像上に傾きに沿ったサーチ直線1.2,3.4を指
定し、これらを画像の外側から画像中心方向へ順次平行
移動しつつ電子部品の4辺寸法に相当する長さを検索し
、初めてその長さ検索できたサーチ直線位置と画像中心
位置との距離5,6,7.8を予め求めておき、2)対
象となる電子部品が長方形点対称物ならば(第3図参照
)、予め与えられる電子部品の縦横寸法のそれぞれ半分
を画像上の長さに変換しサーチ直線位置と画像中心位置
との距離9,10,11.12として予め求めておき、
3)検査対象となる電子部品を撮像した画像において(
第4図参照)、画像中心位置及び傾きを求め、画像中心
位置から上記1)。
Means for Solving the Problems Therefore, the present invention provides: 1) In an image taken of a normal electronic component, a search straight line 1 along the inclination is created on the image based on the image center position and inclination as shown in FIG. .2, 3.4, and search for the length corresponding to the four side dimensions of the electronic component while sequentially moving them in parallel from the outside of the image toward the center of the image, and find the search straight line position where the length can be searched for the first time. The distances 5, 6, and 7.8 between Convert half of each to the length on the image and calculate in advance the distances between the search straight line position and the image center position as 9, 10, 11.12,
3) In the image taken of the electronic component to be inspected (
(see Figure 4), find the image center position and inclination, and calculate the above 1) from the image center position.

もしくは2)で求めておいた距離に画像の傾きに沿った
サーチ直線13,14,15.16を指定し、これら直
線上で画像の長さを計測する。得られた4つの長さ17
.18,19.20と予め与えられている電子部品の4
辺寸法とを比較し、4辺とも一致しているならば正常部
品と判断する。
Alternatively, search straight lines 13, 14, 15, and 16 along the inclination of the image are specified at the distance determined in 2), and the length of the image is measured on these straight lines. The four lengths obtained17
.. 18, 19. 20 and 4 of the electronic components given in advance
The side dimensions are compared, and if all four sides match, the part is determined to be normal.

作用 本発明は上記の構成により、対象物である電子部品が微
細であっても画像上の寸法計測により検査を行なうため
、正確な同種、異種部品判断が実現できると共に、寸法
が短く見えることを利用して、立ち吸着の検出も可能と
することができる。
With the above-described configuration, the present invention inspects electronic components by measuring dimensions on images even if they are minute, so it is possible to accurately determine whether the components are of the same type or different types, and to prevent the dimensions from appearing short. Utilizing this, it is also possible to detect standing adsorption.

実施例 本発明の部品検査方法の一実施例を図を用いて説明する
。第1図は本発明の部品検査方法のフローチャート、第
6図は本実施例における電子部品の部品検査の画像例を
示した図である。
Embodiment An embodiment of the component inspection method of the present invention will be described with reference to the drawings. FIG. 1 is a flowchart of the component inspection method of the present invention, and FIG. 6 is a diagram showing an example of an image of component inspection of an electronic component in this embodiment.

まず予め第5図ムに示す通り正常な電子部品画像におい
て画像中心位置及び傾きを求め、サーチ直線によシ4辺
寸法相当の長さ±寸法公差分の長さ21.22,23.
24を検索し、その時のサーチ直線の位置と画像中心位
置との距離25゜26.27.28を求めておく。
First, as shown in Fig. 5, the image center position and inclination are determined in advance in a normal electronic component image, and a search straight line is determined to have a length equivalent to the four side dimensions ± a length of dimensional tolerance of 21.22, 23.
24, and find the distance 25°26.27.28 between the position of the search straight line and the image center position at that time.

検査を行なう電子部品画像(第6図C9D)において画
像中心位置と傾きを求める。求めた傾きに沿って画像中
心位置から29−=25Xa。
The image center position and inclination are determined in the image of the electronic component to be inspected (FIG. 6, C9D). 29-=25Xa from the image center position along the obtained inclination.

30=26Xa 、31 =27X& 、32=28X
a離れだ位置にサーチ直線を指定し、サーチ直線上の画
像長さを計測する。ここで予め求めていた画像中心位置
からサーチ直線までの距離に定数a(く1)を乗じてい
るのは、実際の電子部品が寸法公差の分、大きさが変動
することに対応するためである。
30=26Xa, 31=27X&, 32=28X
Specify a search straight line at a distant position and measure the image length on the search straight line. The reason why the distance from the image center position to the search straight line, which was determined in advance, is multiplied by a constant a (1) is to accommodate the fact that the size of actual electronic components varies due to dimensional tolerances. be.

サーチ直線により得られた長さはそれぞれ予め与えられ
る電子部品の4辺寸法相当の長さと位置関係(左右、上
下)を考慮して比較され、その結果4辺のうち一辺でも
寸法公差を越える差が検出された場合には不適格部品と
判断する。第5図B。
The length obtained by the search straight line is compared with the length equivalent to the four side dimensions of the electronic component given in advance, taking into account the positional relationship (left and right, top and bottom), and as a result, even one of the four sides exceeds the dimensional tolerance. If detected, it is determined that the part is ineligible. Figure 5B.

Cの例では、Bは合格であるが、Cは38の長さが寸法
公差分を越えたものとなったため不合格と判定したつ 以上の通り本発明の一実施例において同種部品。
In the example of C, B is passed, but C is judged to be rejected because the length of 38 exceeds the dimensional tolerance.As described above, in one embodiment of the present invention, B is the same type of part.

異種部品を正しく判定することができた。We were able to correctly identify dissimilar parts.

発明の効果 本発明によれば、検査対象物像の4辺の寸法を計測し予
め教示された4辺寸法と比較するだめ、異部品供給及び
立ち吸着による部品寸法の違いを効率よく検出すること
ができる。また、検査対象像において寸法計測位置は画
像中心位置から一定距離であり、寸法をサーチする動作
は前処理へ移項しているため、検査時の処理は短時間で
済ませることができろう
Effects of the Invention According to the present invention, it is possible to efficiently detect differences in part dimensions due to supply of different parts and standing suction by measuring the dimensions of the four sides of the image of the object to be inspected and comparing them with the dimensions of the four sides taught in advance. I can do it. In addition, the dimension measurement position in the image to be inspected is a fixed distance from the image center position, and the operation of searching for dimensions is moved to pre-processing, so the processing during inspection can be completed in a short time.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図は本発明の部品検査方法のフローチャート、第2
図から第4図は本発明の部品検査方法の動作過程を示し
た説明図、第5図は本発明の一実施例における電子部品
の検査の画像例を示した図、第6図は電子部品実装設備
において生じる異常吸着状態を示した説明図である。 代理人の氏名 弁理士 粟 野 重 孝 ほか1名第 図 Lt=L3. Lz=L4 9=ll=−!−!−(−♀) ? to = tz = 、 (= 7) 第 図 第 図 第 図 (B> (B) (ハ) (Q)
Figure 1 is a flowchart of the component inspection method of the present invention;
4 is an explanatory diagram showing the operation process of the component inspection method of the present invention, FIG. 5 is a diagram showing an example of an image for inspecting an electronic component in an embodiment of the present invention, and FIG. 6 is an explanatory diagram showing the operation process of the component inspection method of the present invention. FIG. 3 is an explanatory diagram showing an abnormal suction state occurring in the mounting equipment. Name of agent: Patent attorney Shigetaka Awano and one other person Figure Lt=L3. Lz=L4 9=ll=-! -! −(−♀)? to = tz = , (= 7) Figure Figure Figure (B> (B) (C) (Q)

Claims (2)

【特許請求の範囲】[Claims] (1)正常な対象物を撮像した画像上において、画像中
心位置及び傾きを求め、求めた傾きに沿ったサーチ直線
を指定し、画像の外側から内側へサーチ直線を順次移動
し、対象物の4辺寸法に相当する画像上の長さを検索す
る第1工程と、第1工程で4辺寸法相当の長さを初めて
検出したサーチ直線の位置と画像中心位置との距離を得
る第2工程から成る教示工程を持つ部品検査方法。
(1) Find the image center position and inclination on the image of a normal target object, specify a search straight line along the determined inclination, move the search straight line sequentially from the outside to the inside of the image, and A first step of searching for the length on the image corresponding to the four side dimensions, and a second step of obtaining the distance between the position of the search straight line where the length corresponding to the four side dimensions was first detected in the first step and the center position of the image. A component inspection method having a teaching process consisting of:
(2)長方形点対称物が対象物である場合には、予め与
えられる対象物の縦横寸法の半分をサーチ直線の位置と
画像中心位置との距離として用いる請求項1記載の部品
検査方法。(3)検査対象物を撮像した画像において、
画像中心位置及び傾きを求め、画像中心位置から、サー
チ直線の位置と画像中心との距離に、求めた傾きに沿っ
たサーチ直線を指定し、サーチ直線上で画像の長さを計
測して得られた4つの長さと予め与えられている対象物
の4辺寸法とを比較することで対象物の同種、異種を判
断する部品検査方法。
(2) The component inspection method according to claim 1, wherein when the object is a rectangular point-symmetrical object, half of the vertical and horizontal dimensions of the object given in advance is used as the distance between the position of the search straight line and the center position of the image. (3) In the image taken of the inspection object,
Find the image center position and tilt, specify a search straight line along the determined tilt from the image center position to the distance between the search straight line position and the image center, and measure the length of the image on the search straight line. A parts inspection method that determines whether an object is the same type or different type by comparing the four lengths given with the four side dimensions of the object given in advance.
JP02118309A 1990-05-07 1990-05-07 Parts inspection method Expired - Fee Related JP3131977B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP02118309A JP3131977B2 (en) 1990-05-07 1990-05-07 Parts inspection method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP02118309A JP3131977B2 (en) 1990-05-07 1990-05-07 Parts inspection method

Publications (2)

Publication Number Publication Date
JPH0414184A true JPH0414184A (en) 1992-01-20
JP3131977B2 JP3131977B2 (en) 2001-02-05

Family

ID=14733492

Family Applications (1)

Application Number Title Priority Date Filing Date
JP02118309A Expired - Fee Related JP3131977B2 (en) 1990-05-07 1990-05-07 Parts inspection method

Country Status (1)

Country Link
JP (1) JP3131977B2 (en)

Also Published As

Publication number Publication date
JP3131977B2 (en) 2001-02-05

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