JPH07325042A - Inspection apparatus - Google Patents

Abstract

PURPOSE:To provide an inspection apparatus at low cost by which the transportation direction instructed on a screen and the transportation direction of an object to be inspected on the screen are made the same independently of the image taking direction. CONSTITUTION:A control part 20 instructs an image taking direction of an image taking head of an image taking part from a driving part 23 and changes the transportation direction instructed by a shift key of an operation part 22 to an actual transportation direction of an object to be inspected. The driving part 23 transports the object to be inspected relatively to the image taking head along the actual transportation direction obtained by the control part 20. Consequently, the object to be inspected is made to move on a screen in the transportation direction instructed by the shift key of the operation part 22 while the image on the screen of a monitor apparatus 21 being observed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inspection apparatus for picking up an image of an object to be inspected from an arbitrary direction and inspecting it on a screen.

[0002]

2. Description of the Related Art When an electronic device is constructed by using various electronic parts, after the electronic parts are arranged on a printed circuit board on which pattern wiring is formed, the lead wires of the electronic parts are patterned on the printed circuit board. Solder to. After mounting the electronic components, it is necessary to inspect the soldering state of the lead wires of each electronic component and the pattern wiring of the printed circuit board, the bending degree of the lead wires, and the like. Therefore, it is often difficult to perform a sufficient examination with the naked eye.

In such a case, an inspection device has been developed which is capable of taking an image of a printed circuit board on which electronic components are mounted and performing an inspection based on an enlarged image on the screen.
In such an inspection device, an arbitrary inspection of the inspection target is performed by moving the inspection target in the left-right direction (hereinafter referred to as the X direction) and the front-back direction (hereinafter referred to as the Y direction) with respect to the imaging device. The dots can be magnified and viewed on the screen for inspection.

Recently, an inspection apparatus has been developed which can program an inspection procedure by storing a plurality of inspection points of an inspection object. As a result, the work of the inspector moving the inspection object to the inspection point is automated.

Further, an inspection apparatus has been developed which can take an image of an object to be inspected not only from one direction but also from any direction. In this type of inspection device, FIG.
As shown in FIG. 15B, the inspection target 10 on the support table 9 is imaged by the imaging head 6 installed obliquely above 45 °, and the imaging head 6 is rotated in a horizontal plane, thereby ), The inspection object 10 is moved forward 30F, left 30L, rear 30B and right 30.
An image can be taken from any direction like R.

[0006]

Usually, a program creator who creates an inspection program observes the inspection object 10 from an arbitrary direction and moves the inspection object 10 relative to the imaging head 6 in the X direction or Y direction. The inspection object 10 is sequentially stored in the inspection device as an inspection program. When the inspection object 10 is small or when it is difficult to directly see the inspection object 10, the program creator moves the inspection object 10 in the X direction or the Y direction while watching the image displayed on the screen. It will be.

However, since the orientation of the image on the screen differs depending on the imaging direction of the inspection object 10, the relationship between the on-screen direction of the inspection object 10 and the actual moving direction of the inspection object 10 differs depending on the imaging direction. It will be.

The state of the screen when the inspection object 10 is imaged from the front 30F shown in FIG. 15B is shown in FIG. 16A, and when the inspection object 10 is imaged from the left direction 30L. The state of the screen is shown in FIG.

As shown in FIG. 16A, when the inspection object 10 is imaged from the front, the inspection object 10 is displayed on the screen 210 so that the circle mark is located at the upper left, whereas As shown in FIG. 16B, the inspection object 10
When the image is captured from the left, the inspection object 10 is displayed on the screen 210 so that the circle mark is located at the lower left.

When the left shift key L or the right shift key R of the operation panel is pressed while looking at the screen 210 shown in FIG. 16 (a), the inspection object 10 moves in the X direction, and the inspection object 10 is also displayed on the screen 210. Move left and right. When the upper shift key U or the lower shift key D on the operation panel is pressed, the inspection object 10 moves in the Y direction, and the inspection object 1 is displayed on the screen 210.
0 moves up and down. On the other hand, when the left shift key L or the right shift key R is pressed while looking at the screen 210 shown in FIG. 16B, the inspection object 10 moves in the X direction, and the inspection object 10 moves up and down on the screen 210. Move in the direction. When the up shift key U or the down shift key D is pressed, the inspection object 10 moves in the Y direction and the screen 210
The inspection object 10 moves to the left and right above.

As described above, the relationship between the direction designated by the shift key on the operation panel and the moving direction of the inspection object on the screen differs depending on the imaging direction. Therefore, it becomes very difficult for the program creator to move the inspection object while looking at the screen.

Therefore, it is conceivable to rotate the image pickup head itself according to the image pickup direction, but in this case, a large-scale rotation mechanism and a control device are required for the rotation of the image pickup head. Therefore, there is a problem that the inspection device becomes expensive.

Therefore, an object of the present invention is to provide an inspection apparatus at a low cost, in which the moving direction instructed on the screen and the moving direction of the inspection object match on the screen regardless of the imaging direction. That is.

[0014]

In the present specification, the movement of the inspection object means a relative movement with respect to the image pickup means, and when moving the inspection object itself or by moving the image pickup means. This includes both cases where the inspection object is moved relative to the imaging means.

(1) First Invention An inspection apparatus according to the first invention comprises an image pickup means, a display means, a direction indicating means, a moving direction converting means and a moving means.

The image pickup means picks up an image of the inspection object from any direction. The display means displays the image of the inspection object imaged by the imaging means on the screen. The direction indicating means indicates the moving direction of the inspection target on the screen of the display means. The moving direction converting means sets the moving direction instructed by the direction instructing means based on the imaging direction of the imaging means so that the inspection object on the screen of the display means moves in the direction instructed by the direction instructing means. Convert to the actual moving direction of the object. The moving means moves the inspection object relative to the imaging means along the moving direction obtained by the moving direction converting means.

(2) Second invention In the inspection apparatus according to the second invention, in the configuration of the inspection apparatus according to the first invention, the movement direction conversion means has the movement direction and the imaging means instructed by the direction instruction means. Each of the imaging directions is represented by an angle from the reference direction, and the actual moving direction of the inspection object is calculated by a trigonometric function relating to the sum of the respective angles.

(3) Third Invention An inspection apparatus according to the third invention comprises an image pickup means, an image rotation means and a display means. The imaging means images the inspection object from an arbitrary direction. The image rotation means rotates the image of the inspection object imaged by the imaging means based on the imaging direction of the imaging means. The display means displays the image rotated by the image rotation means on the screen.

(4) Fourth Invention In the inspection apparatus according to the fourth invention, in the configuration of the inspection apparatus according to the third invention, the image rotation means represents the image pickup direction of the image pickup means by an angle from the reference direction. The image obtained by the image pickup means is rotated by the angle.

[0020]

In the inspection apparatus according to the first and second aspects of the invention, when the moving direction of the inspection object is instructed on the screen of the display means, the moving direction instructed on the screen is based on the imaging direction. Is converted to the actual movement direction of the object, and the inspection target object moves relatively to the imaging means along the converted movement direction. As a result, the moving direction instructed by the operator while looking at the screen matches the moving direction of the inspection target on the screen regardless of the imaging direction. Therefore, it becomes easy to move the imaging position that is the inspection point.

In the inspection apparatus according to the third and fourth aspects of the invention, the image of the inspection object imaged by the image pickup means is rotated based on the image pickup direction, and the rotated image is displayed on the screen. As a result, the inspection object is displayed on the screen in a fixed orientation regardless of the imaging direction.
The moving direction designated by the operator while looking at the screen matches the moving direction of the inspection target on the screen. Therefore, it becomes easy to move the imaging position that is the inspection point.

[0022]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a block diagram showing the configuration of an inspection apparatus according to an embodiment of the present invention. The inspection device in FIG. 1 includes a control unit 20, a monitor device 21, an operation unit 22, a drive unit 23, a storage unit 24, and an imaging unit 25. The program creator and the inspector can give various commands to the control unit 20 by using various keys of the operation unit 22. Control unit 20
Is based on various commands from the operation unit 22.
1, the operation of the drive unit 23, the storage unit 24, and the imaging unit 25 is controlled, and calculation for moving direction conversion is performed.

The storage unit 24 stores the inspection program created by the program creator, and also controls the control unit 2.
The calculation result given from 0 is stored. The drive unit 23 is
The image pickup position and the image pickup direction of the image pickup unit 25 are controlled by an instruction from the control unit 20. The image capturing unit 25 captures an image of the inspection target in response to the control signal from the control unit 20, and provides the monitor device 21 with the image data obtained by the image capturing. The monitor device 21 displays the image data supplied from the image pickup unit 25 as an image on the screen.

FIG. 2 is a schematic perspective view mainly showing the structure of the image pickup section of the inspection apparatus of FIG. In FIG. 2, the X table 1 is movable in the X direction, and the inspection device main body (not shown).
Is attached to. A drive mechanism 2 for rotating and vertically moving the drive shaft 2a is attached to a lower portion of the X table 1. A support member 3 is attached to the lower end of the drive shaft 2 a, and an arcuate arm member 4 is slidably attached to the support member 3 at the lower end of the support member 3. A fixing member 5 is attached to one side surface of the arm member 4, and a cylindrical imaging head 6 is attached to the fixing member 5. The imaging head 6 has a lens and a CCD camera built therein. Further, a vibration absorbing damper 7 is attached to a side portion of the support member 3.

Below the support member 3, a Y table 8 is attached to an inspection apparatus body (not shown) so as to be movable in the Y direction. A support table 9 having a tilt adjusting mechanism is attached to the upper portion of the Y table 8. An inspection object 10 such as a printed circuit board on which electronic components are mounted is placed on the support table 9.

Two illuminators 11 made of, for example, white fluorescent lamps are arranged on both sides of the support table 9 and below the upper surface of the support table 9. Then, the measurement case 12 is installed so as to surround the support member 3 and the two illuminators 11. In the figure, the measurement case 12 is shown by a broken line for convenience. The front part 121 of the measurement case 12 is slidable up and down.
By sliding 1 upward, the inspection object 10 can be replaced from the front surface of the measurement case 12. In addition, a groove 123 is formed in the center of the upper surface 122 of the measurement case 12.
Is formed, and the drive shaft 2a is movable in the X direction in the groove 123.

A white paint is applied to the inner surface of the measuring case 12 as a diffusion paint. Thereby, the light emitted from the illuminator 11 is diffused on the inner surface of the measurement case 12, and the surface of the inspection object 10 is irradiated with the diffused light.

A drive motor (not shown) for moving the X table 1, a drive motor (not shown) for moving the Y table 8, a drive mechanism 2, an imaging head 6
The CCD camera and the two illuminators 11 built in the
It is connected to the controller 13 via a cable 15.

The controller 13 contains the control unit 20, the drive unit 23, the storage unit 24 and the power supply circuit shown in FIG. Various commands are given to the controller 13 by the operation unit 22. By operating the keys of the operation unit 22 by the program creator or the inspector, the illuminator 11 is turned on / off, the X table 1 is moved, the Y table 8 is moved,
It is possible to instruct the imaging by the imaging head 6 and the rotation and vertical movement of the drive shaft 2a. Controller 13
1 is connected to the monitor device 21, and the image obtained by the imaging head 6 is displayed on the monitor device 21.

Next, referring to FIGS. 3 to 6, the control unit 2
The movement direction conversion operation of 0 will be described. In this embodiment, FIG.
As shown in FIG. 3, centering on the inspection object 10, the positive direction of the x-axis is taken to the left, the positive direction of the y-axis is taken forward (front), and the positive direction of the z-axis is taken upward. The imaging direction of the imaging head 6 is represented by a clockwise angle φ with the y axis as a reference.

As shown in FIG. 4, when an image is taken from the front 30F of the inspection object 10, φ = 0 °, and the leftward direction 3
When imaged from 0L, φ = 90 °. Backward 30
When the image is taken from B, φ = 180 °, which is 3 to the right.
When imaged from 0R, φ = 270 °.

FIG. 5 shows shift keys in the operation unit 22. Here, the moving direction designated by the shift key is represented by an angle α. The down shift key D corresponds to α = 0 °, the left shift key L corresponds to α = 90 °, and the up shift key U corresponds to α.
= 180 °, and the right shift key R corresponds to α = 270 °. Further, the imaging head 6 and the inspection object 10
The relative movement distance d between and corresponds to the time when the shift key is pressed.

FIG. 6 shows the procedure of the movement direction changing operation of the control unit 20. The program creator uses the shift key of the operation unit 22 to instruct the moving direction of the inspection object 10 while looking at the screen of the monitor device 21.

First, the control unit 20 inputs the angle φ of the imaging head 6 from the drive unit 23 (step S1). Further, the control unit 20 receives a key input from the operation unit 22,
An angle α indicating the moving direction and a moving distance d are obtained (step S2). Then, the control unit 20 calculates the movement amount x in the X direction and the movement amount y in the Y direction by the following expressions (step S3).

X = dsin (φ + α) (1) y = dcos (φ + α) (2) Further, the control unit 20 sets the movement amounts x and y calculated by the equations (1) and (2) to the driving unit 23. Output to (step S
4).

The drive unit 23 moves the X table 1 and the Y table 8 in FIG. 2 to move the inspection object 10 relative to the imaging head 6 in the X direction and the Y direction, respectively, by the movement amount x and the movement amount. Move by the amount y.

FIG. 7 shows the state of the screen of the monitor device when the inspection object 10 is imaged from the front (φ = 0 °). In this state, press the down shift key D (α = 0
), X = 0 and y = d from the equations (1) and (2), and the inspection object 10 moves downward on the screen 210. When the left shift key L is pressed (α = 90 °), x = d, y = 0 from the equations (1) and (2), and the inspection object 1 is displayed on the screen 210.
0 moves to the left. Pressing the upper shift key U (α =
180 °), x = 0 and y = −d from the expressions (1) and (2), and the inspection object 10 moves upward on the screen 210. When the right shift key R is pressed (α = 270 °), x = −d, y = 0 from the equations (1) and (2), and the screen 21
The inspection object 10 moves to the right on 0.

FIG. 8 shows the state of the screen of the monitor device when the inspection object 10 is imaged from the left direction (φ = 90 °). In this state, press the down shift key D (α = 0
), X = d, y = 0 from the equations (1) and (2), and the inspection object 10 moves downward on the screen 210. When the left shift key L is pressed (α = 90 °), x = 0 and y = -d are obtained from the equations (1) and (2), and the inspection object 10 moves leftward on the screen 210. Pressing the upper shift key U ((α
= 180 °), and from the formulas (1) and (2), x = −d, y = 0.
Then, the inspection object 10 moves upward on the screen 210. When the right shift key R is pressed (α = 270 °), x = 0 and y = d are obtained from the equations (1) and (2), and the screen 210
The inspection object 10 moves to the right above.

FIG. 9 shows the state of the screen of the monitor device when the inspection object 10 is imaged from the rear (φ = 180 °). In this case as well, when the down shift key D is pressed (α = 0 °), the inspection object 10 moves downward on the screen 210, and when the left shift key L is pressed (α = 90 °), the screen 210 is displayed. The inspection object 10 moves to the left. When the up shift key U is pressed (α = 180 °), the inspection object 10 moves upward on the screen 210, and when the right shift key R is pressed (α = 270 °), the inspection object 10 moves right on the screen 210. Move in the direction.

FIG. 10 shows the state of the screen of the monitor device when the inspection object 10 is imaged from the right direction (φ = 270 °). Also in this case, when the down shift key U is pressed (α = 0 °), the inspection object 10 moves downward on the screen 210, and when the left shift key L is pressed (α = 90 °), the screen 210 is displayed. The inspection object 10 moves to the left. When the up shift key U is pressed (α = 180 °), the inspection object 10 moves upward on the screen 210, and when the right shift key R is pressed (α = 270 °), the inspection object 10 moves right on the screen 210. Move in the direction.

As described above, in the above embodiment, the operation unit 22
The moving direction instructed by the shift key and the moving direction of the inspection object 10 on the screen 210 match. Therefore, the program creator can easily store a plurality of inspection points in the storage unit 24 as an inspection program by operating the shift key while looking at the image on the screen 210.

The inspection object 10 is obliquely displayed on the screen 210.
To move, either the down shift key D or the up shift key U and the left shift key L or the right shift key R may be pressed at the same time.

In the above embodiment, the angle φ indicating the image pickup direction of the image pickup head 6 is set as shown in FIG. 3, and the angle α assigned to each shift key of the operation unit 22 is set as shown in FIG. However, the angle φ and the angle α may be set with any direction as a reference, and the angle may be set in any of the clockwise direction and the counterclockwise direction, and the formula ( It is sufficient to determine 1) and (2).

FIG. 11 is a block diagram showing the structure of an inspection apparatus according to another embodiment of the present invention. In the inspection apparatus of FIG. 11, the image pickup unit 25 gives the image data obtained by the image pickup to the control unit 20, the control unit 20 rotates the image data based on the image pickup direction of the image pickup unit 25, and the rotated image. The data is given to the monitor device 21. The configurations and operations of the other parts are similar to those of the corresponding parts of the inspection apparatus in FIG.

Next, the image rotation operation of the controller 20 will be described with reference to FIGS. 12 and 13. In this embodiment,
As shown in FIG. 12, with the inspection object 10 as the center, the positive direction of the y-axis is set forward (front side), the positive direction of the x-axis is set leftward, and the positive direction of the z-axis is set upward. To take. And
The imaging direction of the imaging head 6 is represented by a clockwise angle β with respect to the y axis.

FIG. 13 shows the procedure of the image rotation operation of the control unit 20. First, the control unit 20 inputs the angle β of the imaging head 6 from the drive unit 23 (step S11). Also,
The control unit 20 inputs image data from the imaging head 6 (step S12).

Next, the control unit 20 rotates the input image data by the angle β (step S13). Then, the control unit 20 outputs the rotated image data to the monitor device 21 (step S14). Monitor device 21
Displays the image data given from the control unit 20 as an image on the screen.

FIG. 14 shows the state of the screen of the monitor device 21. (A) shows the state of the screen 210 when the inspection object 10 is imaged from the front (β = 0 °), (b)
When the inspection object 10 is imaged from the left direction (β = 90
(C) shows the state of the screen 210, (c) shows the state of the screen 210 when the inspection object 10 is imaged from the rear (β = 180 °), and (d) shows the inspection object 10
The state of the screen 210 when the image is captured from the right direction (β = 270 °) is shown.

As shown in FIG. 14, no matter which direction the inspection target is imaged, the inspection target 10 is displayed on the screen 210.
Are displayed in the same direction. Therefore, the program creator can easily create the inspection program by operating the shift key of the operation unit 22 while looking at the image on the screen 210.

In the embodiment shown in FIGS. 1 and 11, the shift key of the operation section 22 is pressed to instruct the moving direction of the inspection object 10 on the screen. It may be configured to instruct the imaging position of the inspection object 10 on the screen by pressing, that is, the moving direction of the imaging head 6.

[0051]

According to the first and second aspects of the present invention, the moving direction instructed on the screen is converted into the actual moving direction of the inspection object based on the imaging direction. Therefore, regardless of the imaging direction. First, the moving direction instructed on the screen and the moving direction of the inspection object on the screen match. Therefore, the operator can easily move the imaging position while looking at the screen. Moreover, the cost of the inspection apparatus is reduced because a large-scale mechanism and control are not required.

According to the third and fourth aspects of the invention, since the image data is rotated based on the image pickup direction, the inspection object is displayed in a fixed direction on the screen regardless of the image pickup direction. Therefore, the operator can easily move the imaging position of the inspection object while looking at the screen. Moreover, the cost of the inspection apparatus is reduced because a large-scale mechanism and control are not required.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an inspection device according to an embodiment of the present invention.

FIG. 2 is a schematic perspective view mainly showing a configuration of an image pickup section of the inspection device of FIG.

FIG. 3 is a diagram showing an angle φ representing an imaging direction of an imaging head.

FIG. 4 is a plan view showing an imaging direction of an inspection target object by an imaging head.

FIG. 5 is a diagram showing a correspondence relationship between each shift key of the operation unit and an angle α.

FIG. 6 is a flowchart showing a movement direction conversion operation of the control unit in FIG.

FIG. 7 is a diagram showing a state of a screen of a monitor device when an image of an inspection object is picked up from the front.

FIG. 8 is a diagram showing a state of the screen of the monitor device when the inspection target is imaged from the left direction.

FIG. 9 is a diagram showing a state of a screen of the monitor device when an image of an inspection object is picked up from the rear.

FIG. 10 is a diagram showing a state of a screen of the monitor device when the inspection target is imaged from the right direction.

FIG. 11 is a block diagram showing a configuration of an inspection apparatus according to another embodiment of the present invention.

FIG. 12 is a diagram showing an angle β representing the imaging direction of the imaging head.

13 is a flowchart showing an image rotating operation of the control unit in FIG.

14 is a diagram showing the state of the screen of the monitor device when the inspection object is imaged from the front, left, rear, and right directions in the embodiment of FIG. 11, respectively.

15A and 15B are a front view and a plan view showing an image pickup direction of an inspection object by an image pickup head of a conventional inspection apparatus.

FIG. 16 is a diagram showing a state of the screen of the monitor device when the inspection object is imaged from the front and the left direction in the conventional inspection device, respectively.

[Explanation of symbols]

 6 imaging head 9 support table 10 inspection object 20 control unit 21 monitor device 22 operation unit 23 drive unit 24 storage unit 25 imaging unit 210 screen L left shift key R right shift key U upper shift key D lower shift key Indicates the same or a corresponding portion.

Claims (4)

[Claims] 1. An image pickup means for picking up an image of an inspection object from an arbitrary direction, a display means for displaying an image of the inspection object imaged by the image pickup means on a screen, and an inspection object on the screen of the display means. Direction instructing means for instructing the moving direction of the object, and the direction instructing means based on the imaging direction of the imaging means so that the inspection object on the screen of the display means moves in the direction instructed by the direction instructing means Moving direction converting means for converting the moving direction designated by the moving direction into the actual moving direction of the inspection object, and the inspection object with respect to the imaging means along the moving direction obtained by the moving direction converting means. An inspection apparatus having a moving means for relatively moving. 2. The moving direction converting means represents the moving direction instructed by the direction instructing means and the imaging direction of the imaging means by an angle from a reference direction, and the inspection is performed by a trigonometric function relating to the sum of the respective angles. The inspection apparatus according to claim 1, wherein the actual movement direction of the object is calculated. 3. An image pickup means for picking up an image of an inspection object from an arbitrary direction, an image rotating means for rotating an image of the inspection object picked up by the image pickup means based on an image pickup direction of the image pickup means, and the image. An inspection apparatus comprising: a display unit that displays an image rotated by a rotating unit on a screen. 4. The image rotating means represents the image capturing direction of the image capturing means by an angle from a reference direction, and rotates the image obtained by the image capturing means by the angle. Inspection device.