WO2004106851A1 - 電子部品実装機の撮像画像処理装置及び撮像画像処理方法 - Google Patents
電子部品実装機の撮像画像処理装置及び撮像画像処理方法 Download PDFInfo
- Publication number
- WO2004106851A1 WO2004106851A1 PCT/JP2004/007093 JP2004007093W WO2004106851A1 WO 2004106851 A1 WO2004106851 A1 WO 2004106851A1 JP 2004007093 W JP2004007093 W JP 2004007093W WO 2004106851 A1 WO2004106851 A1 WO 2004106851A1
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- WIPO (PCT)
- Prior art keywords
- electronic component
- parallax
- component
- data
- height
- Prior art date
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- 238000003672 processing method Methods 0.000 title claims description 5
- 238000012937 correction Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 4
- 230000004048 modification Effects 0.000 abstract 1
- 238000012986 modification Methods 0.000 abstract 1
- 238000001179 sorption measurement Methods 0.000 abstract 1
- 230000008569 process Effects 0.000 description 9
- 238000003384 imaging method Methods 0.000 description 5
- 230000009467 reduction Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
Definitions
- the present invention relates to a captured image processing device and a captured image processing method of an electronic component mounting device including a camera that captures an electronic component adsorbed on a suction nozzle.
- a plurality of electronic components sucked by a plurality of suction nozzles are put in the field of view of one camera and imaged, thereby obtaining a plurality of images.
- the external appearance information and suction position information of electronic components are collectively detected by a single imaging.
- the height of the plurality of electronic components to be imaged is different, or the center of the camera's field of view and the horizontal direction of each electronic component are different.
- the distance is the phase differences, and the reduction degree and the difference in the deformation degree and an image size of the captured image for each electronic component, there s a problem force can not be accurately detected the appearance information and the suction position information of each electronic component.
- Patent Document 1 In order to solve such a problem due to parallax of a camera, as shown in Patent Document 1 below, a telecentric lens for parallax correction is arranged in front of the camera to image electronic components. By doing so, it has been proposed that, even if the position of the electronic component changes, the captured image of the electronic component does not basically change.
- Patent Document 1 JP 2001-217599 A
- the telecentric lens does not have a diaphragm, so there is a problem that it is difficult to adjust the brightness.
- the price of the telecentric lens is expensive, there is a problem that the manufacturing cost of the electronic component mounting machine is increased.
- an object of the present invention is to provide a software (program) to an existing electronic component mounting machine without using a telecentric lens. It is an object of the present invention to provide a captured image processing device and a captured image processing method of an electronic component mounting machine, which can have a function of correcting parallax of a captured image of a camera only by adding or changing the above.
- the present invention preliminarily stores disparity data representing a relationship between the height of an electronic component to be imaged and a component size per one pixel or an image magnification of each pixel of a captured image.
- the parallax of the captured image of the electronic component is corrected by correcting the component size or image magnification per pixel for each pixel of the captured image of the component. That's what I did.
- parallax data when generating parallax data, the height between the maximum and minimum values of the electronic component is finely divided, and one pixel for each pixel of the captured image is obtained for each of a large number of component heights.
- the actual component size or image magnification is measured or calculated and stored as parallax data in the storage means, and when capturing an electronic component with a camera, the parallax data with the height closest to the actual component height data is selected.
- the parallax may be corrected by correcting the parallax data.
- the number of pixels (the number of pixels) of the image captured by one camera is very large, when the parallax data is created for each of a large number of component heights, the parallax data is corrected. It becomes a huge amount of data, and a storage means with a huge storage capacity is required to store this.
- the component size or image magnification per pixel of each pixel of the captured image is actually measured or calculated for the two heights (for example, the maximum value and the minimum value) of the electronic component.
- the parallax data is stored in the storage unit as parallax data, and the parallax of the captured image of the electronic component is corrected by interpolating and correcting the parallax data for each pixel of the captured image of the electronic component based on the actual component height data. It is better to do it. In this way, it is possible to correct the parallax for all the heights of the electronic components using the parallax data created for the two heights of the electronic component, and to prevent the parallax data from becoming enormous. Avoiding ability S can.
- the present invention can be applied to a case where one camera captures an image of one electronic component.
- the present invention captures a plurality of electronic components sucked by a plurality of suction nozzles within the field of view of one camera. It can also be applied when In this case, the captured images of the plurality of electronic components are determined from the field of view of the camera, and the parallax of the captured images of the electronic components is determined using the component height data corresponding to each electronic component and the parallax data. It is better to make corrections individually.
- a calibration jig formed in a plate shape from a light transmitting material is used, and calibration calibration marks are previously formed on one surface of the calibration jig in a matrix at a predetermined pitch.
- the surface of the calibration jig on the side of the calibration mark is suctioned by a suction nozzle and imaged by a camera to recognize the position of each calibration mark, thereby reducing the minimum height of the electronic component.
- a component size or an image magnification per pixel of each captured image is calculated, and the calculated value is stored in storage means as parallax data at the minimum height of the electronic component.
- the surface opposite to the calibration mark is suctioned with suction nozzles, imaged with a camera, and By recognizing the position of the calibration mark, the component size or image magnification per pixel of each pixel of the captured image at the same electronic component height as the height of the calibration jig is calculated. It is good to store the value in the storage means as parallax data at the same height of the electronic component as the height of the calibration jig. In this way, it is possible to easily create parallax data for the two large and small heights of the electronic component using the calibration jig.
- the computer that controls the electronic component mounter sucks the electronic components A and B on the suction nozzle 11 and then mounts the electronic components A and B on the circuit board.
- the electronic components A and B are captured by the camera, and the captured image data is captured.
- the camera captures a plurality of electronic components A and B sucked by the plurality of suction nozzles 11 in the same field of view and captures an image.
- the electronic components A and B to be imaged move away from the camera. It has the characteristic that the smaller the image is, the smaller the image magnification becomes, and the further away from the center in the camera's field of view, the smaller the image is. For this reason, as shown in FIG. 1B, even if the electronic components A and B to be imaged are actually rectangular, the shape of the captured images of the electronic components A and B is transformed into a trapezoidal shape due to the parallax of the camera. Or the distance between the camera and the electronic components A and B changes depending on the height (thickness) of the electronic components A and B, and the size of the captured image of the electronic components A and B changes. There are characteristics.
- the heights of the plurality of electronic components A and B to be imaged are different or the center of the field of view of the camera is different from each other. Since the horizontal distance from the electronic components A and B is different, the degree of deformation of the captured image and the degree of reduction of the image size are different for each of the electronic components A and B, and the appearance of each of the electronic components A and B is different.
- Information eg, size, etc.
- suction position information eg, center position of component, tilt angle, etc.
- an existing electronic component mounter is provided with a function of correcting the parallax of a captured image of a camera only by adding or changing software (program) without using a telecentric lens. Like that.
- parallax data used for correcting parallax is created as follows. First, the calibration jig 12 shown in Fig. 2 is sucked by the suction nozzle 11 and is picked up by a camera, so that the maximum and minimum heights of the electronic components that can be sucked by the suction nozzle 11 are captured. Measure the part size per pixel for each pixel.
- the calibration jig 12 used for this measurement is formed of a light transmitting material (for example, transparent glass, transparent plastic, or the like) in a plate shape larger than the field of view of the camera, and the thickness thereof can be suctioned by the suction nozzle 11. It is formed to have the same maximum height (maximum thickness) of various electronic components.
- white circular calibration marks 13 are formed by printing or the like in a matrix at an accurate pitch (for example, 5 mm pitch). Since this calibration jig 12 is formed of a light transmitting material, In addition, the camera can recognize the calibration mark 13 on the back side.
- the reason for making the calibration mark 13 white is that all the members on the upper side of the suction nozzle 11 serving as the background of the image captured by the camera are colored black, so that the calibration mark 13 is made white. By doing so, the contrast between the background (black) of the captured image and the calibration mark 13 (white) is increased so that the calibration mark 13 can be easily recognized. Therefore, the color is not limited to white as long as the calibration mark 13 can be easily recognized, and may be another color.
- the camera picks up an image from the back side of the calibration jig 12. Since the jig 12 is formed of a light-transmitting material, the thickness of the jig 12 is ignored, and an image that is exactly the same as that obtained by using the calibration jig having the minimum (0) thickness can be obtained. .
- the position (X, Y) of a pixel corresponding to the center position of each calibration mark 13 shown in a matrix on the captured image is recognized, and the pitch between marks on the captured image is determined.
- the component size per pixel can be calculated by the following equation.
- the pitch between marks (P) on the calibration jig 12 is known, the number of pixels (N) of the pitch between marks on the captured image is counted to obtain the component size per pixel. Can be calculated.
- the calibration jig 12 is turned upside down, the back surface of the calibration jig 12 is sucked by the suction nozzle 11 and imaged by a camera, and each of the captured images is captured in the same manner as described above. Calculating the component size per pixel for each pixel allows calibration The component size per pixel of each pixel of the captured image at the height of the jig 12 (at or near the maximum height of the electronic component that can be sucked) can be obtained.
- the maximum value and the minimum value of the height of the electronic component that can be suctioned by the suction nozzle 11 are previously determined using the calibration jig 12 for each pixel of the captured image.
- the part size per hit is measured, and the measured data is stored as parallax data in a storage device (storage means) of a computer.
- the computer executes the captured image processing program shown in FIG. 3 or FIG. 4 stored in the storage device (storage means), and uses the parallax data to generate each pixel of the captured image of the electronic component. Then, the parallax of the captured image of the electronic component is corrected by correcting the component size per pixel.
- the captured image processing program in FIG. 3 is a program that performs parallax correction when a camera captures only one electronic component, and the captured image processing program in FIG. 4 is within the field of view of one camera.
- This is a program for performing parallax correction in a case where a plurality of electronic components are stored and imaged.
- step 101 component height data relating to the height of the electronic component to be imaged by the camera is read from a storage device (storage means) of the computer.
- component height data relating to the heights of all the electronic components that can be sucked by the suction nozzle 11 are stored in advance in the storage device of the computer, and in step 101, the height of the electronic components to be imaged this time is stored.
- the component height data to be retrieved is retrieved from the storage data of the storage device and read.
- the processing of this step 101 plays a role as a part height data taking-in means in the claims.
- the process proceeds to step 102, where the electronic component sucked by the suction nozzle 11 is imaged by the camera, and then the process proceeds to step 103, where the parallax data is read from the storage device.
- the parallax data is data created by measuring the component size per pixel of each pixel of the captured image with respect to the maximum value and the minimum value of the height of the electronic component that can be suctioned by the suction nozzle 11. It is.
- step 104 the parallax data is linearly interpolated for each pixel of the captured image of the electronic component based on the component height data read in step 101 above.
- the parallax of the captured image of the electronic component is corrected.
- This parallax correction is specifically performed as follows. For example, as shown in Fig. 5, the disparity data of the maximum component height at any pixel position (X, Y) is Ml, the disparity data of the minimum component height is M2, and the height of the electronic component to be imaged. Assuming that (thickness) is H, the component size S per pixel at the position (X, Y) of the pixel is calculated by the following linear interpolation formula.
- Hmax is the maximum value of the component height (the height of the calibration jig 12).
- the parallax of the captured image of the electronic component is corrected.
- the processing in step 104 serves as a parallax correction means in the claims.
- step 105 component recognition processing is performed based on the captured image data after parallax correction, and appearance information (eg, size, etc.) and suction position information (eg, component center) of the electronic component. Position, inclination, etc.).
- the captured image processing program shown in FIG. 4 is executed.
- a plurality of component height data relating to the height of the computer is read from a storage device (storage means) of the computer.
- the processing in step 201 plays a role as a part height data fetching means referred to in the claims.
- step 202 in which a plurality of electronic components sucked by the plurality of suction nozzles 11 are imaged within the field of view of one camera, and then, to step 203, the parallax data is stored in the storage device. Read from.
- step 204 the picked-up images of the plurality of electronic components are discriminated, and the process proceeds to step 205, where component height data and parallax data corresponding to each electronic component are determined.
- the parallax of the captured image of each electronic component is individually corrected by the same linear interpolation as in step 104. In this manner, by performing parallax correction for each electronic component, there is no parallax as in the case of imaging a plurality of electronic components using a telecentric lens. Image data of a plurality of electronic components can be obtained.
- the processing of step 205 plays a role as a parallax correcting means referred to in the claims.
- step 206 a component recognition process is performed for each electronic component based on the captured image data after parallax correction, and appearance information (eg, size, etc.) of each electronic component. And position information (for example, the center position of the component, inclination ⁇ , etc.).
- the parallax of the captured image of the camera is corrected for the existing electronic component mounting machine only by adding or changing software (program) without using a telecentric lens. Functions can be provided. As a result, the above-described problems that occur when parallax correction is performed using a telecentric lens can be solved at once.
- the calibration jig 12 is used to determine the maximum and minimum heights of the electronic components that can be sucked by the suction nozzle 11 per pixel of each pixel of the captured image.
- the measured data is stored as parallax data in a storage device (storage means) of a computer, and the parallax data is stored for each pixel of a captured image of an electronic component based on actual component height data. Since the parallax of the captured image of the electronic component is corrected by interpolation correction, the height of all the electronic components is calculated using the parallax data created for the two heights of the electronic component. There is an advantage that the parallax can be corrected by using this method, and the parallax data can be prevented from being enlarged.
- the method for generating parallax data is not limited to generating parallax data for the maximum value and the minimum value of the height of an electronic component that can be sucked by the suction nozzle 11.
- the parallax data may be created by actually measuring or calculating the component size per pixel for each pixel of the captured image at two different heights of the component.
- the height of the electronic component that can be sucked by the suction nozzle 11 is divided into a fine and fine range. Then, the component size per pixel of each pixel of the captured image is measured and stored in a storage device as parallax data, and the electronic component is imaged by a camera. At this time, it is acceptable to select the parallax data having the height closest to the actual component height data and correct the parallax.
- a plurality of electronic components sucked by the plurality of suction nozzles 11 are When capturing an image within the field of view of the camera, the captured images of a plurality of electronic components are determined from the field of view of the camera, and the component height data corresponding to each electronic component and the parallax data are used. In this way, the parallax of the captured image of each electronic component is corrected individually, so that the height of multiple electronic components in the field of view of the camera differs, or the horizontal direction between the center of the camera's field of view and each electronic component. Even if the distances are different, it is possible to accurately and individually correct the parallax of the captured images of a plurality of electronic components.
- the component size per pixel of each pixel of the captured image is corrected, but the image magnification of each pixel of the captured image may be corrected. ,.
- the present invention can be applied to various types of electronic component mounting machines provided with cameras for imaging the electronic components sucked by the suction nozzle.
- FIG. 1A is a front view showing an electronic component suction state of a suction nozzle.
- FIG. 1B is a diagram illustrating an imaging screen.
- FIG. 2 is an external perspective view of a calibration jig used in an embodiment of the present invention.
- FIG. 3 is a flowchart showing the flow of processing of a captured image processing program executed when a camera captures only one electronic component.
- FIG. 4 is a flowchart showing a flow of processing of an image processing program executed when a plurality of electronic components are placed in the field of view of one camera and an image is taken.
- FIG. 5 is a diagram illustrating linear interpolation.
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
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- Supply And Installment Of Electrical Components (AREA)
- Length Measuring Devices By Optical Means (AREA)
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Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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US10/558,283 US7428329B2 (en) | 2003-05-28 | 2004-05-25 | Pickup image processing device of electronic part mounting device and pickup image processing method |
JP2005506476A JP4623657B2 (ja) | 2003-05-28 | 2004-05-25 | 電子部品実装機の撮像画像処理装置及び撮像画像処理方法 |
Applications Claiming Priority (2)
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JP2003150939 | 2003-05-28 | ||
JP2003-150939 | 2003-05-28 |
Publications (1)
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WO2004106851A1 true WO2004106851A1 (ja) | 2004-12-09 |
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PCT/JP2004/007093 WO2004106851A1 (ja) | 2003-05-28 | 2004-05-25 | 電子部品実装機の撮像画像処理装置及び撮像画像処理方法 |
Country Status (4)
Country | Link |
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US (1) | US7428329B2 (ja) |
JP (1) | JP4623657B2 (ja) |
CN (1) | CN100374816C (ja) |
WO (1) | WO2004106851A1 (ja) |
Cited By (4)
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JP2009175147A (ja) * | 2008-01-21 | 2009-08-06 | Texmag Gmbh Vertriebsgesellschaft | カメラの結像倍率を校正するための校正体およびカメラのための校正方法 |
JP2011082506A (ja) * | 2009-09-09 | 2011-04-21 | Juki Corp | 部品検査装置及び部品実装装置 |
JP2011528800A (ja) * | 2008-07-21 | 2011-11-24 | ヴィトロックス コーポレーション ビーエイチディー | 電子部品の接点素子の位置を測定するための方法および手段 |
WO2022107286A1 (ja) * | 2020-11-19 | 2022-05-27 | 株式会社Fuji | 画像処理装置、実装装置、実装システム、画像処理方法及び実装方法 |
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US7483186B2 (en) * | 2006-07-03 | 2009-01-27 | Xerox Corporation | Pitch to pitch online gray balance calibration |
JP4538766B2 (ja) * | 2008-08-21 | 2010-09-08 | ソニー株式会社 | 撮像装置、表示装置および画像処理装置 |
JP5457665B2 (ja) * | 2008-12-22 | 2014-04-02 | 株式会社日立ハイテクインスツルメンツ | 電子部品装着装置 |
JP5780712B2 (ja) * | 2009-05-29 | 2015-09-16 | 富士機械製造株式会社 | 撮像システムおよび電子回路部品装着機 |
EP2903406B1 (en) * | 2012-09-28 | 2023-10-25 | FUJI Corporation | System for correcting image processing data, and method for correcting image processing data |
DE102013207598A1 (de) * | 2013-04-25 | 2014-10-30 | Finetech Gmbh & Co.Kg | Platziervorrichtung und Platzierverfahren |
US10250815B2 (en) * | 2013-05-13 | 2019-04-02 | Fuji Corporation | Component mounter including a nozzle, camera, and a transfer device |
JP6373984B2 (ja) * | 2014-06-03 | 2018-08-15 | 株式会社Fuji | ばら部品供給装置、ばら部品供給方法 |
JP6823594B2 (ja) * | 2015-07-08 | 2021-02-03 | 株式会社Fuji | 部品実装機、部品実装ライン、および部品供給装置 |
CN108240793A (zh) * | 2018-01-26 | 2018-07-03 | 广东美的智能机器人有限公司 | 物体尺寸测量方法、装置和系统 |
CN110243287A (zh) * | 2019-07-08 | 2019-09-17 | 深圳市杰普特光电股份有限公司 | 飞拍定位设备、方法、装置及存储介质 |
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Also Published As
Publication number | Publication date |
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US7428329B2 (en) | 2008-09-23 |
JPWO2004106851A1 (ja) | 2006-07-20 |
CN100374816C (zh) | 2008-03-12 |
JP4623657B2 (ja) | 2011-02-02 |
US20070013803A1 (en) | 2007-01-18 |
CN1795364A (zh) | 2006-06-28 |
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