JPH09285906A - Camera type reference hole drilling machine correcting method and camera type reference hole drilling machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To highly accurately correct a relationship between a camera position coordination system and a spindle position coordination system without placing any burdens on an operator. SOLUTION: An operator sets first to nth calibration positions within the visual field of a CCD camera (S1). A printed circuit board is mounted on a machining base (S2). Initialization is made to calibration position number (i)=1 (S3). The image of the printed circuit board is picked up, and the printed circuit board is carried such that a first reference mark portion (i) comes to the position (i) within the visual field (S4). A spindle is positioned by using the position (i) as a correction hole center instruction position and a calibration hole is drilled (S5). The center position of the drilled calibration hole (i) is measured, and a difference between this hole and the calibration hole center instruction position is calculated (S6). This operation is repeated until the position number (i) reaches the set number (n) of a calibration position (S7 and S8). Based on the difference, the coordinate conversion factor for converting a CCD camera position coordination system into the position of a spindle position coordination system (R, θ) is set (S9). Thus, an operation is automated, and a time for calibration is shortened without placing any burdens on the operator. Calibrating accuracy is improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for calibrating a camera-type reference hole drilling machine and a camera-type reference hole drilling machine, and more specifically, with high precision and without operator's effort.
The present invention relates to a calibration method for a camera-type reference drilling machine and an improved camera-type reference drilling machine that are capable of calibrating the relationship between the camera position coordinate system and the spindle position coordinate system.

[0002]

2. Description of the Related Art FIG. 7 is a block diagram showing an example of a conventional camera type reference drilling machine. The basic structure of this type of camera-type reference drilling machine is disclosed in, for example, Japanese Patent Laid-Open No. 6-246520. In this camera-type reference drilling machine 500, the CCD camera 1 has a substrate K ′ mounted on the processing table 3.
It is installed above the processing table 3 so that the surface of the can be imaged. A ring-shaped light source 14 is installed around the CCD camera 1. Below the processing table 3,
Drill 5 and spindle 4 for rotating the drill 5
An arm 7 that supports the spindle 4, a θ-axis servomotor 8 that rotates the arm 7, a support 9 that supports the θ-axis servomotor 8, and a Z-axis servo that moves the support 9 up and down. A motor 10, a support 11 that supports the Z-axis servo motor 10, an R-axis servo motor 12 that horizontally moves the support 11, and a support that supports the R-axis servo motor 12 and fixes it to the processing table 3. And 13 are installed. A ring-shaped light source 6 is provided around the drill 5.

Further, the camera type reference drilling machine 500 includes an A / D converter 15 for converting an analog image captured by the CCD camera 1 into a digital image, and a binary image for converting the digital image into a binary image. It comprises a converter 16 and a binary image memory 17 for storing the binary image. Further, an arithmetic controller 59 for measuring the center position (Xih, Yih) of the calibration hole opened in the substrate K ′ by analyzing the binary image, and for calibration in the position coordinate system of the CCD camera 1 The memory 21 that stores the hole center command position (Xi, Yi) and the error (Δ between the calibration hole center command position (Xi, Yi) and the opened center position (Xih, Yih) of the calibration hole.
An error calculator 20 for calculating Xih, ΔYih), a memory 22 for storing the error (ΔXih, ΔYih),
The coordinate conversion coefficient for converting the position of the position coordinate system of the CCD camera 1 into the position (R, θ) of the position coordinate system of the spindle 4 and giving it to the R-axis servomotor 12 and the θ-axis servomotor 8 is the error ( The coordinate converter 23 calibrates based on ΔXih, ΔYih).

FIG. 8 shows the above-mentioned camera type reference drilling machine 500.
FIG. 6 is a flowchart showing a calibration process according to FIG. In step U1, the operator prepares the substrate K ′ and searches for a blank portion having a size of 6 mm × 8 mm or more. In step U2, the substrate K'is placed on the processing table 3. In step U3, the calibration position number i = 1 is initialized.

At step U4, the spindle 4 is set as the calibration hole center command position (Xi, Yi), which is the i-th position of the nine calibration hole defining positions defined in the field of view of the CCD camera 1.
Position and drill the calibration hole. For example, as shown in FIG. 9, calibration hole defining positions P′1, P′2, ..., P′9 are defined in the visual field of the CCD camera 1. The surface area of the substrate K'corresponding to the visual field has, for example, a vertical length Sy of 6 mm and a horizontal length Sx of 8 mm. Calibration hole prescribed positions P'1, P'2, ...,
An interval L'on the substrate K'corresponding to the lateral interval of P'9.
x is, for example, 2 mm, and the distance Ly on the substrate K ′ corresponding to the vertical distance is, for example, 2 mm. The dash-dotted line is
It is a virtual view of a calibration hole having a hole diameter φ = 1 mm centered on the calibration hole defining positions P′1, P′2, ..., P′9. When i = 1, as shown in FIG. 10A, the spindle 4 is positioned at the calibration hole defining position P′1 to open the calibration hole H′1 having a hole diameter φ = 2 mm, but there is an error. Therefore, it is displaced from the virtual calibration hole C′1.

Returning to FIG. 8, in step U5, the error calculator 20 measures the center position (Xih, Yih) of the opened i-th calibration hole H'i, and the calibration hole center command position (Xi). , Yi), the error (ΔXih, ΔYih) is calculated.

In step U6, it is determined whether or not the calibration position number i = 9. If the calibration position number i = 9, the process proceeds to step U8, and if not, the process proceeds to step U7.

In step U7, the calibration position number i is incremented by 1. Then, the process returns to step U4. When returning to step U4, for example, as shown in FIG.
As shown in (b) to (i) of 0, calibration holes H′2, ..., H′9 are opened in step U4.

In step U8, the error (ΔXih,
The coordinate conversion coefficient of the coordinate converter 23 is calibrated based on ΔYih).

[0010]

The conventional camera-type reference drilling machine 500 has the following problems. (1) In order to open the calibration holes H′1 to H′9, the operator has to search for a blank portion of the substrate K ′, which is troublesome and requires a working time of, for example, about 10 minutes. (2) Nine calibration holes H′1 to H′9 are opened in a relatively small substrate area of about 6 mm long × 8 mm wide, but adjacent calibration holes must not partially overlap. The upper limit of the hole diameter is limited to about 1 mm. This allows
The influence of burrs etc. becomes relatively large. Further, since it is necessary to make holes so that all the calibration holes H'1 to H'9 are included in the field of view of the CCD camera 1, it is necessary to use even a field corner area where the optical aberration of the lens of the CCD camera 1 is large. I have to. As a result, the measurement error of the center positions (Xih, Yih) of the calibration holes H′1 to H′9 becomes large, and the calibration accuracy deteriorates.

Therefore, an object of the present invention is to improve a camera type reference hole so that the relationship between the position coordinate system of the camera and the position coordinate system of the spindle can be calibrated with high precision and without the operator's trouble. (EN) Provided is a method of calibrating a lighting machine and a camera-type reference drilling machine.

[0012]

SUMMARY OF THE INVENTION In a first aspect, the present invention relates to an i-th fiducial mark portion (M1-M9) of a substrate (K) at a calibration position (P1-P9) in the field of view of a camera (1). ) And the spindle (4).
Of the calibration holes (H1 to H9), and measuring the center position of the drilled calibration holes (H1 to H9) is performed by i =
Repeated for 1 to n [≧ 2], and calibrating the relationship between the position coordinate system of the camera (1) and the position coordinate system of the spindle (4) based on the obtained n center positions. A method for calibrating a reference drilling machine is provided. In the calibration method for the camera-type reference drilling machine according to the first aspect, the substrate (K) is placed at the calibration positions (P1 to P9) in the visual field of the camera (1).
Position the i-th fiducial mark portion (M1 to M9) of
At the position of the reference mark portion, the i-th calibration hole (H1 to H
Since it is the calibration process that reveals 9), it has the following effects. (1) Searching the reference mark portions (M1 to M9) and drilling the calibration holes (H1 to H9) at the positions is the same process as the normal drilling work, and is technically easy. , Convenient for automating a series of calibration processes. Therefore, it is not necessary to search for a blank portion of the substrate, and the burden on the operator can be reduced. (2) The drilling area of the calibration holes (H1 to H9) is not restricted to a narrow area in the field of view of the camera (1), and the hole diameter can be made larger than that of the conventional one. For this reason, it becomes possible to reduce the influence of a puncture defect such as burr. As a result, the calibration accuracy can be improved. Further, since all the calibration holes (H1 to H9) can be accommodated in the region near the center of the visual field where the optical aberration of the lens of the camera (1) is relatively small, the calibration accuracy can be improved in this respect as well.

According to a second aspect of the present invention, in the present invention, the position of the reference mark (M) provided on the substrate (K) is captured by the camera (1), and the spindle (4) is placed at the center position of the reference mark (M). ) Is positioned and a reference hole is drilled in the camera type reference hole drilling machine (100), when i = 1 to n [≧ 2], the substrate is placed at the calibration position (P1 to P9) in the visual field of the camera (1). The substrate positioning means (19) for positioning the i-th reference mark portion (M1 to M9) of (K) and the spindle (4) are positioned at the calibration positions (P1 to P9), and the i-th calibration hole ( H1 to H9) to open the spindle control means (19, 23) and the opened i-th calibration hole (H1).
~ H9) center position measuring means for measuring the center position (1)
9) and calibration means (20, 23) for calibrating the relationship between the position coordinate system of the camera (1) and the position coordinate system of the spindle (4) based on the n center positions. A camera-based reference drilling machine (100) is provided. The second
According to the camera type reference drilling machine (100) of the above aspect, the calibration method of the camera type reference drilling machine of the first aspect can be suitably implemented.

According to a third aspect of the present invention, according to the present invention, the position of the reference mark (M) provided on the substrate (K) is captured by the camera (1), and the spindle (4) is placed at the center position of the reference mark (1). ) Is positioned and a reference hole is drilled in the camera-type reference hole drilling machine (100).
Calibration position setting means (18) for setting the n-th [≧ 2] calibration position (P1 to P9), and the i-th [1 ≦ i ≦ of the substrate (K).
[n] reference mark portions (M1 to M9) are positioned at the i-th calibration positions (P1 to P9), and a spindle (4) is positioned at the i-th calibration positions (P1 to P9). , The i-th calibration hole (H1 to
H9) to open the spindle control means (19, 23),
The center position measuring means (19) for measuring the center position of the opened i-th calibration hole, and the position coordinate system of the camera (1) and the position coordinate system of the spindle (4) based on the n center positions. Provided is a camera type reference drilling machine (100), which comprises a calibration means (20, 23) for calibrating a relationship. The camera type reference drilling machine (100) according to the third aspect.
Then, by the calibration position setting means (18), the first to n-th [≧ 2] calibration positions (P1 to P9) associated with the i-th reference mark portion (M1 to M9) of the substrate (K) are It can be freely set in the field of view of the camera (1).

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described in more detail below with reference to an embodiment shown in the drawings. Note that the present invention is not limited by this. FIG. 1 is a configuration diagram showing a camera-type reference drilling machine according to an embodiment of the present invention.
In this camera-type reference drilling machine 100, the CCD camera 1 is installed above the processing table 3 so that the surface of the printed circuit board K (K in FIG. 4) placed on the processing table 3 can be imaged. There is. A ring light source 14 is provided around the CCD camera 1. Below the processing table 3, a drill 5, a spindle 4 for rotating the drill 5, an arm 7 for supporting the spindle 4, a θ-axis servo motor 8 for rotating the arm 7, and a θ-axis servo for the same. A support 9 that supports the motor 8, a Z-axis servomotor 10 that moves the support 9 up and down, a support 11 that supports the Z-axis servomotor 10, and a support 11 thereof.
R-axis servo motor 12 for horizontally moving the workpiece, and a support 13 for supporting the R-axis servo motor 12 and fixing it to the processing table 3.
And is installed. In addition, around the drill 5,
A ring-shaped light source 6 is installed.

Further, the camera type reference drilling machine 100 includes an A / D converter 15 for converting an analog image captured by the CCD camera 1 into a digital image, and a binary image for converting the digital image into a binary image. It comprises a converter 16 and a binary image memory 17 for storing the binary image. Further, a calibration position setter 18 for setting an i-th (i = 1 to n) calibration position in the field of view of the CCD camera 1 and the reference image portion of the printed circuit board K by analyzing the binary image. Calculation controller 19 for searching and calculating the calibration hole center command position (Xi, Yi) in the position coordinate system of the CCD camera 1 and measuring the center position (Xih, Yih) of the drilled calibration hole. It has and. The operations of the calibration position setter 18 and the arithmetic controller 19 will be described in detail later.

Further, a memory 21 for storing the calibration hole center command position (Xi, Yi), and a calibration hole center position (Xih, Yih) which is opened as the calibration hole center command position (Xi, Yi). Error calculator 20 for calculating the error (ΔXih, ΔYih), and the error (ΔXih, ΔY)
ih) and the position of the position coordinate system of the CCD camera 1 in the position coordinate system of the spindle 4 (R,
and a coordinate converter 23 for calibrating the coordinate conversion coefficient for converting to θ) and giving it to the R-axis servomotor 12 and the θ-axis servomotor 8 based on the error (ΔXih, ΔYih).

FIG. 2 is a flow chart showing a calibration process by the camera type reference drilling machine 100. In step S1, the operator uses the calibration position setting device 18 to set the first to nth calibration positions in the field of view of the CCD camera 1. For example, as shown in FIG. 3, calibration positions P1, P2, ..., P
Set 9. The surface area of the printed circuit board K corresponding to the field of view has, for example, a vertical length Sy of 6 mm,
The lateral length Sx is, for example, 8 mm. Calibration position P
An interval Lx on the printed circuit board K corresponding to the horizontal interval of 1, P2, ..., P9 is, for example, 1.5 mm, and an interval Ly on the printed circuit board K corresponding to the vertical interval is, for example, 1 mm. The alternate long and short dash lines indicate the calibration positions P1, P2, ...
It is a virtual representation of a calibration hole with a hole diameter φ = 2 mm centered on P9. As will be described later, since the calibration positions P1, P2, ..., P9 are associated with different portions (reference mark portions) of the printed board K, it is inconvenient even if some of the virtual calibration holes overlap. There is no.

Returning to FIG. 2, in step S2, the processing table 3
The printed circuit board K is placed on. The printed circuit board K is continuously placed by a multi-axis robot (not shown). As shown in FIG. 4, on the surface of the printed circuit board K, the printed surfaces of four small printed circuit boards KB are arranged in the vertical direction and the horizontal direction (a total of 16) (generally, 1
It is possible to cut out about 2-36 small printed boards from one printed board K). Each small printed circuit board KB
A reference mark (M, M in FIG. 5) that serves as an index for making a reference hole is provided diagonally across the print pattern. M1 to M9 are first to ninth reference marks. The length T1 in the vertical direction and the length W1 in the horizontal direction of the printed circuit board K are, for example, 600 mm (generally, 2
It is about 50 to 610 mm). As shown in FIG. 5, a hole pattern portion Q1 is formed on the surface of the small printed board KB.
~ Q9 and contact pattern part are attached. The length T in the vertical direction and the length W in the horizontal direction of the small printed board KB are, for example, 150 mm. Returning to FIG. 2, in step S3, the calibration position number i = 1 is initialized.

In step S4, the printed circuit board K is imaged by the CCD camera 1 and the i-th fiducial mark M within its field of view.
The printed circuit board K is transported under the control of the arithmetic controller 19 so that the portion i (see FIG. 4) comes to the i-th calibration position Pi (see FIG. 3). In step S5, the spindle 4 is positioned with the i-th calibration position Pi as the calibration hole center command position (Xi, Yi), and the calibration hole is opened. For example, as shown in FIG. 6A, the spindle 4 is positioned at the calibration position P1 to open the calibration hole H1 having a hole diameter φ = 2 mm. However, since there is an error, the virtual calibration hole C1 is not provided. , It will shift. Returning to FIG. 2, in step S6, the error calculator 20 measures the center position (Xih, Yih) of the opened i-th calibration hole Hi to determine the calibration hole center command position (Xi, Yi). The error (ΔXih, ΔYih) is calculated.

In step S7, it is determined whether the calibration position number i has reached the set number n of calibration positions. If the calibration position number i reaches the set number n of calibration positions, the process proceeds to step S9, and if not, the process proceeds to step S8.

In step S8, the calibration position number i is incremented by 1. Then, the process returns to step S4. When returning to the step S4, for example, as shown in FIG.
(B) to (i) of FIG. 6, the above step S
At 5, the calibration holes H2, H3, ..., H9 are opened. In step S9, the coordinate conversion coefficient of the coordinate converter 23 is calibrated based on the error (ΔXih, ΔYih).

[0023]

According to the method of calibrating the camera-type reference hole drilling machine and the camera-type reference hole drilling machine of the present invention, it is not necessary to search for a blank portion of the substrate and automation can be performed, so that the operator does not have to take the trouble. The time required for calibration can be greatly reduced (for example, about 1 minute). Moreover, since the center position of the calibration hole opened in the substrate can be accurately measured, the calibration accuracy can be improved.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a camera-type reference drilling machine according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a calibration process by the camera-type reference drilling machine of FIG.

FIG. 3 is a calibration position P set in the field of view of the CCD camera.
It is explanatory drawing of 1, P2, ..., P9.

FIG. 4 is an explanatory diagram of a surface of a printed circuit board.

FIG. 5 is an explanatory diagram showing a print pattern of a small printed circuit board.

FIG. 6: Calibration holes H1 and H opened in the printed circuit board
It is explanatory drawing which shows 2, ..., H9.

FIG. 7 is a block diagram showing an example of a conventional camera-type reference drilling machine.

8 is a flowchart showing a calibration process by the camera-type reference drilling machine of FIG. 7. FIG.

FIG. 9 is an explanatory diagram of calibration hole defining positions P′1, P′2, ..., P′9 defined in the visual field of the CCD camera.

FIG. 10: Calibration holes H′1, opened in the printed circuit board
It is explanatory drawing which shows H'2, ..., H'9.

[Explanation of symbols]

 100 camera type reference drilling machine 1 CCD camera 3 processing table 4 spindle 5 drill 6,14 ring-shaped light source 7 arm 8 θ-axis servo motor 9 support 10 Z-axis servo motor 11 support 12 R-axis servo motor 13 support 15 A / D converter 16 Binary image converter 17 Binary image memory 18 Calibration position setter 19 Calculation controller 20 Error calculator 21,22 Memory 23 Coordinate converter C1 to C9 Virtual calibration holes H1 to H9 For calibration Hole K Printed circuit board KB Small printed circuit board M1 to M9 Reference marks P1 to P9 Calibration position

Claims (3)

[Claims] 1. A calibration position (P1) in the field of view of a camera (1).
To P9), the i-th fiducial mark portion (M1 to
M9) is positioned, the spindle (4) is positioned, the i-th calibration hole (H1 to H9) is drilled, and the center position of the drilled calibration hole (H1 to H9) is measured. = 1 to n [≧ 2], and the relationship between the position coordinate system of the camera (1) and the position coordinate system of the spindle (4) is calibrated based on the obtained n center positions. Method for calibration of reference drilling machine. 2. The position of a reference mark (M) provided on a substrate (K) is captured by a camera (1), and a spindle (4) is positioned at the center position of the reference mark (M),
In a camera-type reference hole drilling machine (100) for making a reference hole, when i = 1 to n [≧ 2], a board (K) is placed at a calibration position (P1 to P9) in the visual field of the camera (1). The substrate positioning means (19) for positioning the reference mark portions (M1 to M9) of i and the spindle (4) are set at the calibration position (P1).
~ P9), and the i-th calibration hole (H1 to H9)
A spindle control means (19, 23) for exposing the camera, a center position measuring means (19) for measuring the center position of the exposed i-th calibration hole (H1 to H9), and a camera based on n center positions. A camera-type reference drilling machine (10) comprising: a calibration means (20, 23) for calibrating the relationship between the position coordinate system of (1) and the position coordinate system of the spindle (4).
0). 3. A camera (1) captures the position of a reference mark (M) provided on a substrate (K), and the spindle (4) is positioned at the center position of the reference mark (1),
In a camera-type reference hole drilling machine (100) for making a reference hole, a calibration position setting means (18) for setting first to nth [≧ 2] calibration positions (P1 to P9) in the field of view of the camera (1).
A substrate positioning means (19) for positioning the i-th [1 ≦ i ≦ n] reference mark portion (M1 to M9) of the substrate (K) at the i-th calibration position (P1 to P9), and the spindle ( 4) Positioning the i-th calibration position (P1 to P9) to open the i-th calibration hole (H1 to H9), spindle control means (19, 23), and the opened i-th calibration hole. Center position measuring means (19) for measuring the center position of the
A camera-type reference drilling characterized by comprising calibration means (20, 23) for calibrating the relationship between the position coordinate system of the camera (1) and the position coordinate system of the spindle (4) on the basis of the center position of each. Machine (100).