JPS63251863A - Recognizing device for position of base mounted parts - Google Patents

Abstract

PURPOSE:To recognize the position of the parts mounted into a base with high accuracy by correcting the error caused by a fact that a picture fetching vector has a tilt toward the X coordinate direction. CONSTITUTION:The pictures obtained through a CCD line image sensor camera 2 are supplied to a picture recognizing part 10 and the coordinate positions of the partspackaged into a base PB are detected. When a picture reading vector R has a tilt toward the X coordinates, the picture obtained by the camera 2 is recognized as a picture having a tilt opposite to the vector R. Thus no coincidence is obtained between the (y) direction data yalpha on a picture point 5' of a 1st standard point 5 and the (y) direction data ygamma on a picture point 7' of a 3rd reference point 7 (yalpha>ygamma). Thus the (x) and (y) direction data are converted into the X and Y coordinate positions with corrections added. Thus it is possible to recognize the coordinate positions of parts mounted into the base PB with high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a device for recognizing the position of components mounted on a board, and more particularly to a device that can detect the position of components mounted on a board with high accuracy.

Conventional technology Conventionally, the board is Y! There is a known device that scans in the X direction with a -dimensional image sensor while moving in the key direction, thereby obtaining an image of the components mounted on the board, and recognizing the position of each mounted component on the board.

Problems with the Prior Art In the conventional device described above, as shown in FIG.
The substrate is being scanned by the image capture vector R, which is a combination of the two images.

This image capture vector R is not parallel to the direction of the XIIIE marker but is inclined, so it is lined up in the X coordinate direction as shown in Figure 4 (in other words, the Y coordinate position coincides with Y). As shown in FIG.
The position will shift in the direction opposite to the inclination with respect to the X coordinate direction, resulting in an error.

Therefore, there is a problem that the coordinate position of each mounted component cannot be obtained with high precision.

OBJECTS OF THE INVENTION It is an object of the invention to obtain an image capture vector R
An object of the present invention is to provide a board-mounted component position recognition device that can correct errors caused by tilting of the board-mounted components with respect to the X-coordinate direction and obtain the coordinate positions of each mounted component with high precision.

Structure of the Invention The board-mounted component position recognition device of the present invention comprises: an image sensor means for scanning a board in the X-coordinate direction; a board transport means for moving the board along the X-coordinate direction; a first reference point provided at a known position, a second reference point provided at a known position having a different Y coordinate position from the first reference point, and a third reference point provided at a known position different from the first reference point and an X coordinate position. a reference point and a first point obtained by the image sensor means;
Based on the X-direction data of the reference point and the third reference point, the X-direction data of the board-mounted component obtained by the image sensor means is
Based on the X-coordinate calculation means for converting into a coordinate position and the X-direction data of the first reference point and the second reference point obtained by the image sensor means, the X-direction data of the board mounted component obtained by the image sensor means is converted to Y The present invention is characterized in that it is equipped with an X-coordinate calculating means for converting the position into a Paw mark position and at the same time correcting the Y-coordinate position based on the X-direction data of the board-mounted component.

EMBODIMENT OF THE INVENTION Hereinafter, the present invention will be explained in more detail based on the embodiments shown in the drawings. Here, FIG. 1 is a perspective view of a board-mounted component position recognition device according to an embodiment of the present invention, FIG. 2 is a plan view of a board holding table, and FIG. FIG. 4 is a diagram explaining the principle of the embodiment shown in FIG. Figure (C1 is a conceptual diagram showing captured images of each mounted component.

Note that the present invention is not limited to the embodiments shown in the figures.

In the board-mounted component position recognition device 1 shown in FIG.
The CD line image sensor camera 2 performs one-dimensional scanning in the X coordinate direction.

The constant speed transfer device 3 moves the substrate holding table 4 along the X coordinate direction, and transfers the substrate PB placed thereon to the CC.
It passes under the field of view of the D-line image sensor camera 2.

For convenience of explanation, the positive direction of the Y coordinate is assumed to be the opposite direction to the moving direction of the substrate holding table 4.

As shown in detail in FIG. 2, the substrate holding table 4 includes:
A first reference point 5, a second reference point 6, and a third reference point 7 are provided.

The first reference point 5 and the second reference point 6 have the same X coordinate position Xl, and different Y coordinate positions Yl and Yβ.

The first reference point 5 and the third reference point 7 have different X coordinate positions Xa and x7, and have the same Y coordinate positions Y and L.

The image obtained by the CCD line image sensor camera 2 is input to the image recognition processing section 10, and the coordinate position of each component mounted on the board PB is detected.

Next, the coordinate position detection process in the image recognition processing unit IO will be explained.

The CCD line image sensor camera 2 scans in the X coordinate direction, and the substrate holding table 4 is moved along the X coordinate direction to locate at least the first reference point 5. Second reference point6.
The area including the third reference point 7 is read as an image.

The read reference points and position data of the mounted components are stored in the CO
It is represented by X-direction data based on bit numbers in the scanning direction of the D-line image sensor camera 2 and X-direction data based on scanning line numbers.

The detected positions of the first to third reference points 5 to 7 are the substrate PB.
It is clearly different from the mounted parts above, so it can be easily distinguished. Therefore, as each data of the first to third reference points 5 to 7, (x-2ya), (Xa, yfl)
, (Xy, yy) are obtained, and these points have coordinate positions (X,,Y,), (X,,Ya), (X,
,Y,).

Therefore, the interval xy-x in the X direction data between the first reference point 5 and the third reference point 7, and the distance x at the X coordinate position
There is a relationship of +11 formula with y−X.

CM-(XyXa)/CXyXa)
-+11 Similarly, the relationship in equation (2) exists between the interval ya)'m in the X direction data between the first reference point and the second reference point 6 and the distance jlIYa -Ya at the Y coordinate position. be.

Cy = (Ya - Y=1) / (Ya
-Yg) ... (2) By the way, Fig. 3 [a
As shown in 1, the first reference point 5 and the third reference point 7 have the same Y coordinate position Y3, but since the image reading vector R is tilted from the X coordinate direction, the COD line image sensor camera i obtained in 2! The li image is recognized as having an opposite inclination, and as shown in FIG. The y-direction data y, - of ' do not match, and Yg>3'y.

This inclination is expressed by S shown in equation (3) when the COD line image sensor camera 2 has from the θth bit to the Xth bit.

S −1・Cy / x−−C,−−+31 Therefore, X
The true coordinate position can be obtained by converting the direction data and the X-direction data into an X-coordinate position and a Y-coordinate position, and adding corrections as shown in FIG. 3 (tel). i
Therefore, any 1uIl1 point (x, y) is +41 +
It is converted into a coordinate position (x, y) using Equation 51.

X-Cx (x-xa)+ <xg)--+4+
Y-Cy (y-ya)+ (Ya)+ S-C
, (X − xa ) ·−・−・+5) Note that since the error in the X coordinate position can be ignored, no correction is applied.

As can be understood from the above description, according to this board-mounted component position recognition device 1, the coordinate position of a component mounted on the board PB can be recognized with high precision.

Effects of the Invention According to the present invention, there is provided an image sensor means for scanning a substrate in the X-coordinate direction, a substrate transport means for moving the substrate along the X-coordinate direction, and an image sensor provided at a known position of the substrate or the substrate transport means. a second reference point provided at a known position having a different Y coordinate position from the first reference point; a third reference point provided at a known position different from the first reference point and an X coordinate position; converting the X-direction data of the board-mounted component obtained by the image sensor means into an xi reference point based on the X-direction data of the first reference point and the third reference point obtained by the image sensor means;
converting the X-direction data of the board-mounted component obtained by the image sensor means into a Y-coordinate position based on the coordinate calculation means and the X-direction data of the first reference point and the second reference point obtained by the image sensor means; At the same time, there is provided a board-mounted component position recognition device comprising: It becomes possible to recognize the position of parts with high precision without error.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a board-mounted component position recognition device according to an embodiment of the present invention, FIG. 2 is a plan view of a board holding table, and FIG. An explanatory diagram of the principle of the example device, Fig. 4 ia) is a vector diagram showing the relationship between the scanning vector, the field of view movement vector, and the image capture vector, and Fig. 4 p) is a schematic diagram of the components mounted on the board. C1 is a conceptual diagram showing captured images of each mounted component. (Explanation of symbols) 1... Board mounted component position recognition device 2... COD line image sensor camera 3... Constant speed conveyance device, 4...Substrate holding table 5...First reference point 6...Second reference point 7...Third reference point 10...Image recognition processing unit PB...Substrate.

Claims (1)

[Claims] 1. an image sensor means for scanning the substrate in the X coordinate direction; a substrate transport means for moving the substrate along the Y coordinate direction;
a first reference point provided at a known position of the substrate or the substrate transport means; a second reference point provided at a known position different in Y coordinate position from the first reference point; Based on a third reference point provided at a different known position and the x-direction data of the first reference point and the third reference point obtained by the image sensor means, the x-direction data of the board-mounted component obtained by the image sensor means is obtained. X-coordinate calculation means for converting into an X-coordinate position, and y-direction data of the board-mounted component obtained by the image sensor means based on the y-direction data of the first reference point and the second reference point obtained by the image sensor means. An apparatus for recognizing the position of a board-mounted component, comprising an X-coordinate calculation means for converting the position into a Y-coordinate position and, at the same time, correcting the Y-coordinate position based on the x-direction data of the board-mounted component.