WO2021166230A1 - 画像処理装置および実装装置、画像処理方法 - Google Patents

画像処理装置および実装装置、画像処理方法 Download PDF

Info

Publication number
WO2021166230A1
WO2021166230A1 PCT/JP2020/007121 JP2020007121W WO2021166230A1 WO 2021166230 A1 WO2021166230 A1 WO 2021166230A1 JP 2020007121 W JP2020007121 W JP 2020007121W WO 2021166230 A1 WO2021166230 A1 WO 2021166230A1
Authority
WO
WIPO (PCT)
Prior art keywords
pitch
image processing
cavity
image
tape
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/007121
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
秀一郎 鬼頭
貴紘 小林
一也 小谷
水谷　豊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Corp
Original Assignee
Fuji Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuji Corp filed Critical Fuji Corp
Priority to EP20919743.3A priority Critical patent/EP4110031A4/en
Priority to JP2022501562A priority patent/JP7423741B2/ja
Priority to PCT/JP2020/007121 priority patent/WO2021166230A1/ja
Priority to US17/904,493 priority patent/US12376275B2/en
Priority to CN202080094559.9A priority patent/CN115004877B/zh
Publication of WO2021166230A1 publication Critical patent/WO2021166230A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
    • H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/40—Analysis of texture
    • G06T7/41—Analysis of texture based on statistical description of texture
    • G06T7/42—Analysis of texture based on statistical description of texture using transform domain methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/50—Extraction of image or video features by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis
    • G06V10/507—Summing image-intensity values; Histogram projection analysis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/60—Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0417—Feeding with belts or tapes
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0417—Feeding with belts or tapes
    • H05K13/0419—Feeding with belts or tapes tape feeders
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection

Definitions

  • This specification discloses an image processing device, a mounting device, and an image processing method.
  • Patent Document 1 a device for detecting the pitch of a cavity or the like of a tape provided with a cavity for storing parts has been proposed (see, for example, Patent Document 1).
  • this device light is transmitted through the tape, the amount of transmitted light is detected by a photo sensor, etc., and the detected amount of transmitted light is compared with the threshold value to create an empty cavity without parts or a tape part. Is supposed to be detected.
  • the change in the brightness of the detected transmitted light amount may be small. In that case, there is a risk of erroneous detection if the device that detects the amount of transmitted light simply by comparing it with the threshold value, such as the above-mentioned device.
  • the main purpose of the present disclosure is to accurately recognize the pitch of the cavity even if the tape has little change in brightness.
  • the first image processing apparatus of the present disclosure is An image processing device that processes an image of a tape provided with a plurality of cavity for storing parts along a predetermined feeding direction.
  • a generation unit that extracts the brightness of the pixels of the line along the feed direction from the image and generates a brightness waveform of the line.
  • a recognition unit that performs periodic analysis of the luminance change from the luminance waveform and recognizes the pitch of the cavity based on the wavelength obtained by the periodic analysis. The gist is to prepare.
  • the first image processing apparatus of the present disclosure extracts the brightness of the pixels of the line along the feeding direction from the image of the tape and generates the brightness waveform of the line. Then, periodic analysis of the luminance change is performed from the luminance waveform, and the pitch of the cavity is recognized based on the wavelength obtained by the periodic analysis. As a result, even if the tape has little change in the brightness of the image, the wavelength can be obtained with relatively high accuracy by periodic analysis, so that the pitch of the cavity can be recognized with high accuracy.
  • the perspective view which shows the outline of the feeder part 25 of the feeder 20.
  • the top view which shows the outline of the feeder part 25 of the feeder 20.
  • the block diagram which shows the structure concerning the control of the mounting apparatus 10 and the management apparatus 40.
  • the flowchart which shows an example of the tape feed related processing.
  • Explanatory drawing which shows an example of a plurality of lines L in image G.
  • Explanatory drawing which shows an example of the luminance waveform in line L.
  • Explanatory drawing which shows an example of the waveform calculated by the normalized square error function.
  • Explanatory drawing which shows an example of how to recognize the center of a cavity 24.
  • the flowchart which shows an example of the pitch recognition process of 2nd Embodiment.
  • Explanatory drawing which shows an example of line L of 2nd Embodiment.
  • Explanatory drawing which shows an example of pitch B of magnitude change of brightness
  • FIG. 1 is a configuration diagram showing an outline of the configuration of the mounting device 10.
  • FIG. 2 is a perspective view showing an outline of the feeder portion 25 of the feeder 20.
  • FIG. 3 is a top view showing an outline of the feeder portion 25 of the feeder 20.
  • FIG. 4 is a block diagram showing a configuration related to control of the mounting device 10.
  • the left-right direction in FIG. 1 is the X-axis direction
  • the front-back direction is the Y-axis direction
  • the up-down direction is the Z-axis direction.
  • the mounting apparatus 10 attracts the component P by the feeder 20 that supplies the component P housed in the tape, the substrate transfer device 12 that conveys the flat plate-shaped substrate S, and the suction nozzle 15.
  • a head 14 mounted on the substrate S and a moving mechanism 16 for moving the head 14 in the XY directions are provided.
  • the mounting device 10 includes a mark camera 18 capable of capturing various marks attached to the substrate S and the upper surface of the tape of the feeder 20, and a parts camera 19 capable of capturing the component P adsorbed on the suction nozzle 15 from below.
  • a control device 30 (see FIG. 4) that controls the entire mounting device 10 is provided.
  • the head 14 has one or a plurality of suction nozzles 15, and these suction nozzles 15 are moved up and down in the vertical direction by a Z-axis motor (not shown).
  • the feeder 20 includes a reel portion 21 around which the tape 22 (see FIG. 2) is wound, and a feeder portion 25 that pulls out the tape 22 from the reel portion 21 and sends it out, and is detachably attached to the mounting device 10.
  • the feeder unit 25 includes a feed motor 26 (see FIG. 4) such as a stepping motor for rotating a sprocket (not shown).
  • the tape 22 has a plurality of concave cavities 24 for accommodating the component P formed along the feeding direction (longitudinal direction) of the tape 22. Further, the tape 22 is formed with a feed hole 23 that engages with the sprocket teeth formed on the outer periphery of the sprocket of the feeder portion 25.
  • the feeder 20 drives the feed motor 26 of the feeder unit 25 to intermittently rotate the sprocket to intermittently feed the tape 22 in a predetermined amount backward in the Y direction (feed direction), and the head 14 (suction nozzle).
  • the component P is supplied to the component supply position where 15) can be picked up.
  • the feeder portion 25 includes a guide frame 27 that guides the movement of the tape 22.
  • the guide frame 27 extends along the front-rear direction on both the left and right sides of the feeder 20, and is provided so as to partially straddle the upper part of the tape 22.
  • a reference mark 28 as a reference position is formed on the guide frame 27.
  • the circular reference mark 28 is shown, but any shape can be used as long as the reference position can be grasped.
  • the mounting device 10 can determine the amount of misalignment of the feed of the tape 22 based on the positional relationship between the feed hole 23 of the tape 22 and the reference mark 28.
  • the feeder 20 includes a control unit including a CPU, a ROM, a RAM, and the like. When the feeder 20 is attached to the mounting device 10, the control unit is communicatively connected to the control device 30.
  • a plurality of cavities 24 of the tape 22 are formed along the feed direction at a constant pitch of the plurality of pitches.
  • the plurality of pitches include, for example, 1 mm, 2 mm, 4 mm, 8 mm, and the like, and are formed at any pitch according to the size of the component P to be accommodated.
  • the feeder 20 can sequentially supply the component P in the cavity 24 to the component supply position by intermittently feeding an amount corresponding to the pitch of the cavity 24 as a predetermined amount of the tape 22 to be fed.
  • the tape 22 is formed so that the cavity 24 of 1 is located on the side (right side in FIG. 3) of the center position of the feed hole 23.
  • the control device 30 includes a CPU, ROM, RAM, HDD, etc. (not shown). As shown in FIG. 3, the control device 30 includes a drive control unit 32 that drives each unit and an image processing unit 34 that processes an image captured by the mark camera 18 and the parts camera 19 as a functional block.
  • the drive control unit 32 outputs control signals to the feeder 20, the substrate transfer device 12, the head 14, the moving mechanism 16, the mark camera 18, the parts camera 19, and the like.
  • Various information about the component P from the control unit of the feeder 20, an image signal from the mark camera 18, an image signal from the parts camera 19, and the like are input to the drive control unit 32.
  • the image signals from the mark camera 18 and the parts camera 19 are processed by the image processing unit 34.
  • the image signal may be directly input to the image processing unit 34.
  • the control device 30 is connected to the management device 40 that manages information related to the mounting process so as to be capable of bidirectional communication via a communication network, and exchanges data and control signals with each other.
  • the management device 40 is a general-purpose computer, and as shown in FIG. 4, includes a management control unit 42, an input device 44 such as a keyboard and a mouse, a display 46, and a storage device 48 such as an HDD and an SSD. ..
  • the management control unit 42 is composed of a CPU, ROM, RAM, etc., inputs an input signal from the input device 44, and outputs an image signal to the display 46.
  • the storage device 48 stores the production plan of the substrate S.
  • the production plan for the board S is a plan that defines which component P is mounted in what order on the mounting surface of the board S in the mounting device 10, and how many boards S on which the component P is mounted are manufactured. be.
  • the management device 40 outputs a command signal to the control device 30 so that the component P is mounted according to the production plan.
  • FIG. 5 is a flowchart showing an example of tape feeding related processing. This process is executed by the functions of the drive control unit 32 and the image processing unit 34.
  • the control device 30 first determines whether or not it is the pitch recognition timing of the cavity 24 of the tape 22 (S100). The control device 30 determines, for example, that it is the pitch recognition timing when a new feeder 20 is attached to the mounting device 10. Further, the control device 30 also performs a splicing operation of connecting the start end of the new tape 22 to the end of the tape 22 which is close to being cut off, and when the new tape 22 is sent to the vicinity of the component supply position. It is determined that it is the pitch recognition timing. When the control device 30 determines that the pitch recognition timing is reached, the mark camera 18 captures an image G of the tape 22 from above (see S110, FIG. 2), processes the captured image G, and determines the pitch of the cavity 24. Pitch recognition processing for recognition is performed (S120). FIG. 6 is a flowchart showing an example of pitch recognition processing. The pitch recognition process is executed by the image processing unit 34.
  • the image processing unit 34 extracts the brightness of each pixel of the plurality of lines L along the feeding direction (front-back direction) of the tape 22 from the image G captured in S110 (S200).
  • FIG. 7 is an explanatory diagram showing an example of a plurality of lines L in the image G.
  • the plurality of lines L may be set in the left-right direction, for example, at intervals of a predetermined number of pixels.
  • the positions of the pixels in the image G are shown in UV coordinates.
  • the U-axis corresponds to the X-axis direction
  • the V-axis corresponds to the Y-axis direction.
  • FIG. 8 is an explanatory diagram showing an example of the luminance waveform in the line L.
  • the horizontal axis is the coordinates of the V-axis corresponding to the tape feeding direction
  • the vertical axis is the brightness.
  • a relatively large peak having a luminance value of about 255 occurs every about 1000 ⁇ m
  • a relatively small peak having a luminance value of about 160 to 170 occurs between the peaks.
  • the waveform of the brightness change in the line L differs depending on the type of the tape 22 and the component P. Become.
  • the image processing unit 34 performs periodic analysis of the luminance waveform (S220).
  • the cavities 24 are provided at any one of a plurality of constant pitches. Therefore, the change in the brightness of the line L overlapping the row of the cavities 24 becomes a periodic waveform having a length corresponding to the pitch of the cavities 24 as one wavelength.
  • the change in brightness of the line L that does not overlap the row of the cavities 24 does not form such a periodic waveform.
  • the periodic analysis of the luminance waveform is performed using a function or an analysis method for evaluating such periodicity.
  • the image processing unit 34 uses a normalized square error function (NSDF: Normalized Square Difference Function).
  • the normalized square error function is defined by Eq. (1).
  • n'( ⁇ ) is a normalized squared error function for the delay ⁇ , and the larger the value of n'( ⁇ ), the stronger the periodicity of the luminance change.
  • r'( ⁇ ) is an autocorrelation function (ACF: Autocorrelation Function) defined by the equation (2).
  • m'( ⁇ ) is a square error function (SDF) function defined by the equation (3).
  • W is the initial value of the size of the window for waveform analysis
  • V is the V direction of the image, that is, the Y direction of the tape feed direction.
  • the normalized square error function evaluates the periodicity by detecting peaks with high correlation while shifting the luminance waveform in the V direction.
  • the image processing unit 34 recognizes the peak pitch A (wavelength) obtained in the periodic analysis of S220 as the pitch of the cavity 24 (S230).
  • FIG. 9 is an explanatory diagram showing an example of a waveform calculated by the normalized square error function.
  • the normalized squared error function has a characteristic that the value is close to 1.0 at a wavelength with high correlation, and a plurality of peaks (see the circles in FIG. 9) appear near the value 1.0.
  • the image processing unit 34 can obtain the pitch A from the pixel value of each peak generation location and the resolution of the mark camera 18.
  • FIG. 9 illustrates a case where the pitch A is about 1000 ⁇ m. In this case, the image processing unit 34 recognizes the pitch of the cavity 24 as 0.1 mm in S230. Further, in FIG. 9, since the relatively small peaks and the like generated in FIG. 8 are excluded, the image processing unit 34 can accurately recognize the pitch of the cavity 24.
  • the image processing unit 34 selects a line L among the plurality of lines L whose analysis result of S220 matches the pitch recognized in S230 (S240). Then, the image processing unit 34 recognizes the center of the selected line L in the left-right direction (U-axis direction, X-axis direction) as the center of the cavity 24 (S250), and ends the pitch recognition process.
  • FIG. 10 is an explanatory diagram showing an example of recognizing the center of the cavity 24. As shown in the figure, for example, three lines L1 to L3 are selected from the plurality of lines L. Since the number of selected lines L is an odd number, the image processing unit 34 recognizes the central line L2 as the center of the cavity 24.
  • the center positions of the lines L at both ends in the U-axis direction are recognized as the center of the cavity 24, and if the number of selected lines L is a value 1, the line L is recognized. Is recognized as the center of the cavity 24.
  • control device 30 when the control device 30 performs the pitch recognition process of S120 (FIG. 6) or determines in S100 that it is not the pitch recognition timing, it determines whether or not it is the feed timing of the tape 22 ( S130). The control device 30 determines that it is the feed timing when the component suction operation by the suction nozzle 15 of the head 14 is not in progress and the next component P is ready to be sent to the component supply position. When the control device 30 determines that the feed timing is reached, the control device 30 executes a tape feed process for feeding the tape 22 based on the pitch recognized in S120 (S140), and returns to S100.
  • S140 pitch recognized in S120
  • control device 30 determines in S130 that the feed timing is not reached, the control device 30 skips S140 and returns to S100. Since the control device 30 executes the tape feeding process based on the pitch recognized in the pitch recognition process, each cavity 24 can be correctly moved to the component supply position to appropriately supply the component P. Further, the control device 30 can more stably suck the component P at the component supply position by finely adjusting the suction position of the suction nozzle 15 in the left-right direction based on the recognized center of the cavity 24.
  • the tape 22 when the tape feed process is executed based on the pitch input by the operator via, for example, the management device 40 or an operation panel (not shown), the tape 22 has an incorrect pitch due to the operator's erroneous recognition or erroneous input. May be sent. If the tape 22 is fed at a pitch smaller than the actual one, a suction error of the suction nozzle 15 may occur frequently. Further, if the tape 22 is fed at a pitch larger than the actual one, the component P may pass through the component supply position without being adsorbed and the component P may be discarded. In the present embodiment, since the pitch is correctly recognized by the pitch recognition process, it is possible to prevent such a suction error and the risk of discarding the component P.
  • the image processing unit 34 of the present embodiment corresponds to the image processing apparatus of the present disclosure
  • the cavity 24 corresponds to the cavity
  • the tape 22 corresponds to the tape
  • the unit 34 corresponds to the generation unit
  • the image processing unit 34 that executes the pitch recognition processes S220 and S230 corresponds to the recognition unit.
  • the feeder 20 corresponds to the feeder
  • the mounting device 10 corresponds to the mounting device
  • the mark camera 18 corresponds to the imaging device
  • the drive control unit 32 corresponds to the control device.
  • an example of the image processing method of the present disclosure is also clarified by explaining the operation of the mounting device 10.
  • the image processing unit 34 extracts the brightness of the pixels of the line L along the feeding direction of the tape 22 from the image G to generate a brightness waveform. Then, the pitch A (wavelength) of the peak obtained by the periodic analysis is recognized as the pitch of the cavity 24. Therefore, even if the tape 22 or the like has a poor change in the brightness of the image G, the pitch of the cavity 24 can be recognized with high accuracy. Further, since the mounting device 10 executes the tape feeding process based on the recognized pitch, each cavity 24 can be correctly moved to the component supply position to appropriately supply the component P.
  • the image processing unit 34 selects the line L corresponding to the pitch recognized by the result of the periodic analysis among the plurality of lines L, and recognizes the center of the selected line L as the center of the cavity 24. Therefore, even with the tape 22 having little change in the brightness of the image G, the center of the cavity 24 in the orthogonal direction orthogonal to the feeding direction can be accurately recognized.
  • the image processing unit 34 performs periodic analysis by the normalized square error function, it is easier to detect peaks with high correlation by suppressing the influence of noise as compared with those performing periodic analysis by Fourier transform or the like.
  • the pitch of the cavity 24 can be recognized more accurately.
  • the periodic analysis is performed by the normalized squared error function, but the present invention is not limited to this, and any analysis processing of the periodicity of the luminance change may be performed.
  • an average amplitude difference function a Fourier transform, or the like may be used.
  • the average amplitude difference function is described in the international application of the applicant of the present application (international application number PCT / JP2014 / 065043).
  • the present invention is not limited to this, and the pitch may be recognized without recognizing the center of the cavity 24.
  • the analysis is not limited to the one that analyzes a plurality of lines L, and the analysis of one line L may be performed.
  • FIG. 11 is a flowchart showing an example of the pitch recognition process of the second embodiment
  • FIG. 12 is an explanatory diagram showing an example of the line L of the second embodiment.
  • the image processing unit 34 first detects the feed hole 23 from the image G (S300). Next, the image processing unit 34 sets a position separated from the center position of the detected feed hole 23 in the left direction (U-axis direction) in the image G by a predetermined distance D as a predetermined reference position RP, and sets the line L from the reference position RP. Is set (S310).
  • the line L is along the feeding direction of the tape 22, as in the first embodiment. Further, the predetermined distance D corresponds to the distance between the center of the feed hole 23 and the center of the cavity 24. Subsequently, the image processing unit 34 extracts the brightness of each pixel of the line L with the minimum pitch MP of the plurality of types (S320). For example, as described above, when there are a plurality of pitches such as 1 mm, 2 mm, 4 mm, and 8 mm, the minimum pitch MP is 1 mm. In that case, the image processing unit 34 extracts the brightness at a pitch of 1 mm in S320. Further, since the cavity 24 is located on the side of the center position of the feed hole 23 as described above, the image processing unit 34 extracts the brightness at the minimum pitch MP with the position of the cavity 24 as the reference position RP. It will be.
  • the image processing unit 34 determines the magnitude of the luminance by comparing each luminance with a predetermined threshold value and calculates the pitch B of the magnitude change (S330).
  • FIG. 13 is an explanatory diagram showing an example of pitch B in which the magnitude of the brightness changes. As shown in the figure, each brightness is compared with a predetermined threshold value (for example, a value of 190), and the magnitude of the determined brightness changes alternately in small, large, small, large, and small. That is, in this example, the pitch B of the magnitude change of the brightness is twice the minimum pitch MP.
  • a predetermined threshold value for example, a value of 190
  • the image processing unit 34 recognizes the pitch B of the magnitude change among the plurality of types of pitches as the pitch of the cavity 24 (S340), and ends the pitch recognition process.
  • the image processing unit 34 determines that the pitch is 2 mm, which is twice the minimum pitch MP.
  • the pitch to be recognized may not be an integral multiple of the minimum pitch MP, for example, the minimum pitch MP is 2 mm and the recognition target pitch is 3 mm. Even in that case, since the pitch B appears at the common multiple of the minimum pitch MP and the pitch to be recognized, the image processing unit 34 can recognize the pitch of the cavity 24.
  • the image processing unit 34 obtains a pitch B in which the magnitude of the brightness changes based on the comparison between the brightness extracted from the line L at the minimum pitch MP and a predetermined threshold value, and a plurality of pitches.
  • the one corresponding to the obtained pitch B is recognized as the pitch of the cavity 24.
  • the pitch of the cavity 24 can be recognized more accurately than in the case of the tape 22 in which the pitch is simply recognized from the change in the magnitude of the brightness.
  • the control device 30 sends the tape 22 based on the recognized pitch, each cavity 24 can be correctly moved to the component supply position and the component P can be appropriately supplied as in the first embodiment.
  • the image processing unit 34 may be capable of executing both the pitch recognition process of the first embodiment and the pitch recognition process of the second embodiment. In such a case, the image processing unit 34 may perform both pitch recognition processes, may perform any pitch recognition process selected and instructed by an operator or the like, and may perform the tape 22 or the component P. More appropriate pitch recognition processing may be selectively performed according to the type of.
  • the image processing device of the present disclosure may be configured as follows.
  • the generation unit generates the luminance waveforms of the plurality of lines parallel to each other in the orthogonal direction orthogonal to the feed direction
  • the recognition unit generates a plurality of luminance waveforms.
  • the lines one or more of the lines corresponding to the recognized pitch by the result of the periodic analysis are selected, and the center of the selected line in the orthogonal direction is recognized as the center of the cavity in the orthogonal direction. May be good. In this way, the center of the cavity can be accurately recognized even with a tape having little change in the brightness of the image.
  • the recognition unit may perform the periodic analysis by the normalized square error function. By doing so, it becomes easier to detect peaks with high correlation by suppressing the influence of noise as compared with the case where periodic analysis is performed by Fourier transform or the like, so that the pitch of the cavity can be recognized more accurately.
  • the second image processing apparatus of the present disclosure is An image processing device that processes an image of a tape provided with a cavity for storing parts at a fixed pitch of a plurality of pitches along a predetermined feeding direction.
  • An extraction unit that extracts the brightness of pixels of a line along the feed direction from the image at the smallest pitch among the plurality of pitches from a predetermined reference position in the feed direction.
  • a recognition unit that obtains a pitch in which the magnitude of the brightness changes based on a comparison between the brightness and a predetermined threshold value, and recognizes a plurality of pitches corresponding to the obtained pitch as the pitch of the cavity.
  • the gist is to prepare.
  • the second image processing apparatus of the present disclosure extracts the brightness of the pixels of the line along the feed direction from the image of the tape at the smallest pitch among a plurality of pitches from a predetermined reference position in the feed direction. Then, the pitch at which the magnitude of the brightness changes is obtained based on the comparison between the brightness and the predetermined threshold value, and the pitch corresponding to the obtained pitch among the plurality of pitches is recognized as the pitch of the cavity.
  • the pitch of the cavity can be recognized more accurately than a tape that simply recognizes the pitch from the change in the magnitude of the brightness.
  • the mounting device of the present disclosure is A mounting device to which a feeder for feeding the tape is attached and for mounting the component supplied from the cavity of the tape.
  • An image pickup device that captures an image of the tape and With any of the image processing devices mentioned above, A control device that controls the feeder to feed the tape based on the pitch of the cavity recognized by the image processing device. The gist is to prepare.
  • the mounting device of the present disclosure controls the feeder so as to feed the tape based on the pitch of the cavity recognized by any of the above-mentioned image processing devices, the pitch of the cavity can be adjusted even if the tape has a poor brightness change. It can be recognized accurately and the tape can be sent correctly. Therefore, it is possible to prevent a supply error of parts due to an excess or deficiency of the feed amount of the tape, a collection error of the supplied parts, and the like, and it is possible to prevent a decrease in productivity.
  • the first image processing method of the present disclosure is An image processing method for processing an image of a tape provided with a plurality of cavity for storing parts along a predetermined feeding direction.
  • B A step of performing a periodic analysis of the luminance change of the luminance waveform and recognizing the pitch of the cavity based on the wavelength obtained by the periodic analysis.
  • the gist is to include.
  • the wavelength can be obtained relatively accurately by periodic analysis.
  • the pitch of the cavity can be recognized accurately.
  • various aspects of the above-mentioned first image processing device may be adopted, or a step for realizing each function of the above-mentioned first image processing device is added. You may.
  • the second image processing method of the present disclosure is An image processing method for processing an image of a tape provided with a cavity for storing parts at a fixed pitch among a plurality of pitches along a predetermined feeding direction.
  • B A step of obtaining a pitch in which the magnitude of the brightness changes based on a comparison between the brightness and a predetermined threshold value, and recognizing a plurality of pitches corresponding to the obtained pitch as the pitch of the cavity.
  • the gist is to include.
  • the pitch of the cavity is simply recognized from the change in the magnitude of the brightness. Therefore, the pitch of the cavity can be recognized accurately.
  • the present invention can be used in a feeder that sends parts contained in tape, a mounting device that mounts parts supplied from the feeder on a substrate, and the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Manufacturing & Machinery (AREA)
  • Multimedia (AREA)
  • Software Systems (AREA)
  • Operations Research (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Quality & Reliability (AREA)
  • Probability & Statistics with Applications (AREA)
  • Supply And Installment Of Electrical Components (AREA)
PCT/JP2020/007121 2020-02-21 2020-02-21 画像処理装置および実装装置、画像処理方法 Ceased WO2021166230A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP20919743.3A EP4110031A4 (en) 2020-02-21 2020-02-21 Image processing device, mounting device, and image processing method
JP2022501562A JP7423741B2 (ja) 2020-02-21 2020-02-21 画像処理装置および画像処理方法
PCT/JP2020/007121 WO2021166230A1 (ja) 2020-02-21 2020-02-21 画像処理装置および実装装置、画像処理方法
US17/904,493 US12376275B2 (en) 2020-02-21 2020-02-21 Image processing device, mounting device, and image processing method
CN202080094559.9A CN115004877B (zh) 2020-02-21 2020-02-21 图像处理装置、安装装置及图像处理方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/007121 WO2021166230A1 (ja) 2020-02-21 2020-02-21 画像処理装置および実装装置、画像処理方法

Publications (1)

Publication Number Publication Date
WO2021166230A1 true WO2021166230A1 (ja) 2021-08-26

Family

ID=77390555

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/007121 Ceased WO2021166230A1 (ja) 2020-02-21 2020-02-21 画像処理装置および実装装置、画像処理方法

Country Status (5)

Country Link
US (1) US12376275B2 (https=)
EP (1) EP4110031A4 (https=)
JP (1) JP7423741B2 (https=)
CN (1) CN115004877B (https=)
WO (1) WO2021166230A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023152382A (ja) * 2022-04-04 2023-10-17 株式会社Fuji 画像処理装置および部品実装機並びに画像処理方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014072409A (ja) * 2012-09-28 2014-04-21 Juki Corp 部品検査方法及び装置
JP2017220623A (ja) 2016-06-10 2017-12-14 富士機械製造株式会社 テープの自動検知装置
WO2019123527A1 (ja) * 2017-12-19 2019-06-27 株式会社Ｆｕｊｉ 実装装置、検出装置及び検出方法
WO2019207763A1 (ja) * 2018-04-27 2019-10-31 株式会社Ｆｕｊｉ キャリアテープ搬送装置およびキャリアテープ搬送方法

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4744241B2 (ja) * 2005-08-31 2011-08-10 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
JP5047031B2 (ja) * 2008-03-28 2012-10-10 富士機械製造株式会社 電子部品装着装置における部品認識方法
JP5443894B2 (ja) * 2009-08-21 2014-03-19 Ｊｕｋｉ株式会社 電子部品実装装置及びその吸着位置補正方法
JP4922460B2 (ja) * 2011-02-02 2012-04-25 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
EP3071007B1 (en) * 2013-11-11 2018-06-06 Fuji Machine Mfg. Co., Ltd. Component mounting device
US10102426B2 (en) * 2014-06-06 2018-10-16 Fuji Corporation Lead image recognition method and lead image recognition device, and image processing-use component data creation method and image-processing-use component data creation device
EP3232757B1 (en) * 2014-12-12 2022-08-31 FUJI Corporation Apparatus and method for automatically detecting tape
EP3280237B1 (en) * 2015-03-31 2021-01-06 FUJI Corporation Automatic splicing apparatus
JP6647049B2 (ja) 2016-01-18 2020-02-14 ヤマハ発動機株式会社 ピッチ測定装置、ピッチ測定方法および部品実装装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014072409A (ja) * 2012-09-28 2014-04-21 Juki Corp 部品検査方法及び装置
JP2017220623A (ja) 2016-06-10 2017-12-14 富士機械製造株式会社 テープの自動検知装置
WO2019123527A1 (ja) * 2017-12-19 2019-06-27 株式会社Ｆｕｊｉ 実装装置、検出装置及び検出方法
WO2019207763A1 (ja) * 2018-04-27 2019-10-31 株式会社Ｆｕｊｉ キャリアテープ搬送装置およびキャリアテープ搬送方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023152382A (ja) * 2022-04-04 2023-10-17 株式会社Fuji 画像処理装置および部品実装機並びに画像処理方法
JP7807286B2 (ja) 2022-04-04 2026-01-27 株式会社Fuji 画像処理装置および部品実装機並びに画像処理方法

Also Published As

Publication number Publication date
EP4110031A1 (en) 2022-12-28
CN115004877A (zh) 2022-09-02
US12376275B2 (en) 2025-07-29
JP7423741B2 (ja) 2024-01-29
CN115004877B (zh) 2023-09-05
EP4110031A4 (en) 2023-06-28
US20230108672A1 (en) 2023-04-06
JPWO2021166230A1 (https=) 2021-08-26

Similar Documents

Publication Publication Date Title
JP6752272B2 (ja) 対基板作業機
JP6484335B2 (ja) 部品実装装置及び吸着位置設定方法
CN106255402B (zh) 部件安装系统以及部件安装系统的部件安装方法
JP7298017B2 (ja) 画像処理装置および実装装置、画像処理方法
JPWO2016020975A1 (ja) 実装装置
JP5158686B2 (ja) 吸着部品表裏判定装置及び吸着部品表裏判定方法
US10932401B2 (en) Component mounting machine
JP7423741B2 (ja) 画像処理装置および画像処理方法
JPWO2016174763A1 (ja) 部品検査機及び部品装着機
CN109085795B (zh) 一种基于手指位置识别的美甲彩绘机控制方法
CN110291852B (zh) 对基板作业装置及图像处理方法
JP6999422B2 (ja) 実装装置及び実装方法
JP4744241B2 (ja) 電子部品装着装置
JP2010282536A (ja) 画像処理方法及び画像処理装置
JP4707607B2 (ja) 部品認識データ作成用画像取得方法及び部品実装機
JP7562858B2 (ja) 認識装置及び認識方法
WO2017017788A1 (ja) 部品実装機
JP7124126B2 (ja) 部品実装装置
JP4922460B2 (ja) 電子部品装着装置
WO2022107286A1 (ja) 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
JP7384916B2 (ja) 情報処理装置及び実装装置
JP7807286B2 (ja) 画像処理装置および部品実装機並びに画像処理方法
JP2020136599A (ja) データ作成装置、決定装置、装着作業機、及び、装着作業実行方法
JP2004063867A (ja) 部品搭載装置及び部品搭載方法
WO2025187041A1 (ja) 実装装置および実装方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20919743

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2022501562

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2020919743

Country of ref document: EP

Effective date: 20220921

WWG Wipo information: grant in national office

Ref document number: 17904493

Country of ref document: US