WO2024142164A1 - ライン設定装置及びそれを備えた部品実装機 - Google Patents

ライン設定装置及びそれを備えた部品実装機 Download PDF

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Publication number
WO2024142164A1
WO2024142164A1 PCT/JP2022/047981 JP2022047981W WO2024142164A1 WO 2024142164 A1 WO2024142164 A1 WO 2024142164A1 JP 2022047981 W JP2022047981 W JP 2022047981W WO 2024142164 A1 WO2024142164 A1 WO 2024142164A1
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WO
WIPO (PCT)
Prior art keywords
line
component
unit
captured image
temporary
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/JP2022/047981
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
賢志郎 西田
勇太 横井
雄哉 稲浦
幹也 鈴木
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 DE112022008131.7T priority Critical patent/DE112022008131T5/de
Priority to JP2024566953A priority patent/JPWO2024142164A1/ja
Priority to PCT/JP2022/047981 priority patent/WO2024142164A1/ja
Priority to CN202280101484.1A priority patent/CN120051797A/zh
Publication of WO2024142164A1 publication Critical patent/WO2024142164A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
    • 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
    • H05K13/0813—Controlling of single components prior to mounting, e.g. orientation, component geometry
    • 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
    • G06T2207/30141—Printed circuit board [PCB]

Definitions

  • the head moving device 18 moves the head 16 between the component feeder 12 and the board 2.
  • the head moving device 18 is an XY robot that moves a moving base 18a in the X and Y directions, and the head 16 is fixed to the moving base 18a.
  • the head moving device 18 enables the nozzle 6 to move in parallel on a plane (XY plane) parallel to the surface of the board 2.
  • a seek line 38 is set at a desired portion of the part 4 (e.g., an electrode 36), and the position of the desired portion of the part 4 is detected using the seek line 38. Note that image processing using the seek line 38 will be described in detail later.
  • the seek line setting device 50 includes a calculation device 52 and various devices (input device 60, storage device 62, display device 64) connected to the calculation device 52.
  • the calculation device 52 is configured using a computer including a CPU 54 and a memory 56.
  • the CPU 54 executes a seek line setting process (described in detail later) for setting a seek line 38 on the part 4 based on a program stored in the memory 56.
  • the calculation device 52 also includes an input/output circuit for inputting image data of the part 4 captured by the part camera 23, CAD data of the part 4 stored in the management device 8, and the like.
  • the memory 56 is configured of a flash memory or the like, and stores various programs executed by the CPU 54 and various data (e.g., image data, CAD data of the part 4) transmitted to the calculation device 52 from the part camera 23 or the management device 8.
  • the CPU 54 reads the image data of the component 4 for which the seek line is to be set into the calculation device 52 via the input/output circuit (step S12).
  • image processing is performed using the seek line on the image data obtained by capturing an image of the component 4 with the part camera 23. Therefore, the image data input to the calculation device 52 in S12 is also image data obtained by capturing an image of the component 4 with the part camera 23. In other words, it is image data captured from below the component 4.
  • the image data input in S12 may be input directly from the part camera 23, or the image data obtained by capturing an image with the part camera 23 may be stored in an external device (e.g., the management device 8) and input to the calculation device 52 from this external device.
  • provisional search lines 42 are also set for the mark 35 formed on the body 34.
  • the four provisional search lines 42 extend radially with respect to the center of the mark 35 and are arranged at 90° intervals in the circumferential direction.
  • the provisional search line 42 is set across the inside and outside of the mark 35, and is intended to detect the boundary (edge) between the inside and outside of the mark 35.
  • the image 32a of the part 4 is smaller than the bottom view 32b of the part 4 based on the CAD data, and some of the tentative seek lines 40 (i.e., the two tentative seek lines 40 located at both ends of the four tentative seek lines 40 set on the long side of the body 34) are not positioned at the desired positions (on the body 34). Therefore, the operator can review the settings of the temporary search lines 40 that are not placed in the desired position, such as changing the position or canceling them. Note that such temporary search lines are not adopted as actual search lines, as described below, because the boundaries (edges) cannot be detected in such temporary search lines. Therefore, in S18, the operator only needs to confirm, and does not need to review the settings of the temporary search lines.
  • the CPU 54 judges whether an edge (boundary) can be detected by the edge detection process of S22 (step S24). If an edge (boundary) can be detected in S22 (YES in S24), the provisional seek line (38, 40, or 42) selected in S20 is determined to be an appropriate seek line, and the provisional seek line selected in S20 is determined to be the actual seek line (step S26), and the parameters used for edge detection (i.e., the threshold value set in S16) are adjusted (step S28). As a result, the provisional seek line (38, 40, or 42) set at a position where edge detection is possible is determined to be the actual seek line, and the parameters (threshold value) for edge detection are adjusted to a more appropriate value based on the actual image data.
  • the provisional search line 38 (shown in solid black lines) has a large difference in brightness between the electrode 36 and the background portion 37, so edge detection has been successful and the provisional search line 38 has been determined as the actual search line. That is, the electrode 36 is made of metal, so it is a high-brightness area, and the brightness difference with the background portion 37 is large. Therefore, edge detection has been successful for the provisional search line 38.
  • the provisional search line 40 (shown in solid white lines)
  • the ones located at both ends of the long side are inappropriately positioned, so no brightness difference occurs, and the remaining ones have a small brightness difference between the body 34 and the background portion 37. Therefore, edge detection has failed for all the provisional search lines 40 (shown in solid white lines), so the provisional search lines 40 are deleted and shown in solid white lines.
  • the provisional seek line 42 (shown as a solid white line) was also deleted due to a failure in edge detection due to a small difference in brightness between the inside and outside of the mark 35 on the body 34.
  • only the seek line 38 set in the electrode 36 portion is set as the valid real seek line.
  • the seek line 38 set by the seek line setting process is sent to the control device 26 of the component mounter 10 and is used in the image processing executed by the control device 26.
  • the temporary search lines 38, 40, 42 are set based on the CAD data of the part 4, and edge detection is performed on the image data of the part 4 captured by the part camera 23 using the set temporary search lines 38, 40, 42. Then, the temporary search lines 40, 42 for which edge detection has failed are deleted, and only the temporary search line 38 for which edge detection has succeeded is determined as the actual search line. Therefore, the operator only needs to set the temporary search lines 38, 40, 42 based on the CAD data, and does not need to judge whether each of the temporary search lines 38, 40, 42 is an appropriate search line or not. In addition, for the determined actual search line, the parameters (thresholds) used for edge detection are automatically adjusted based on the results of edge detection performed on the actual image data. As a result, the load of the search line setting work by the operator can be greatly reduced.
  • the arithmetic device 52 that executes S12 is an example of a "first captured image input unit”
  • the arithmetic device 52 that executes S14 is an example of a "temporary line setting unit”
  • the arithmetic device 52 that executes S22 and S24 is an example of a "first judgment unit”
  • the arithmetic device 52 that executes S26 and S30 is an example of a "main line determination unit”
  • the arithmetic device 52 that executes S28 is an example of a "parameter adjustment unit”.
  • the search line setting device 50 sets the tentative search lines 38, 40, 42 for the image read in step S12, and executes the process of determining the real search line 38 from the set tentative search lines 38, 40, 42, but the use of the search line setting device 50 is not limited to this method.
  • the real search line when the real search line is set for a part, it can also be used as a device that further judges whether the set real search line is appropriate.
  • the calculation device 52 further reads other image data (image data of the part 4), and executes edge detection processing for this read image data using the real search line set by the search line setting process.
  • the display device 64 displays the fact that the edge detection is successful.
  • the display device 64 displays the fact that the edge detection is unsuccessful. This allows the operator to make necessary corrections to the real search line set by the search line setting process.
  • a seek line setting device 50 is provided separately from the component mounter 10, but the technology disclosed in this specification is not limited to such an example.
  • the control device 26 of the component mounter 10 may be equipped with the functions of the seek line setting device 50, so that the control device 26 of the component mounter 10 can set the seek line.
  • the touch panel 24 can be used to set the tentative seek line in S14 and the parameters in S16.

Landscapes

  • Engineering & Computer Science (AREA)
  • Operations Research (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Image Processing (AREA)
PCT/JP2022/047981 2022-12-26 2022-12-26 ライン設定装置及びそれを備えた部品実装機 Ceased WO2024142164A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE112022008131.7T DE112022008131T5 (de) 2022-12-26 2022-12-26 Liniensetzvorrichtung und ein damit versehener Bauteilbestücker
JP2024566953A JPWO2024142164A1 (https=) 2022-12-26 2022-12-26
PCT/JP2022/047981 WO2024142164A1 (ja) 2022-12-26 2022-12-26 ライン設定装置及びそれを備えた部品実装機
CN202280101484.1A CN120051797A (zh) 2022-12-26 2022-12-26 线设定装置及具备该线设定装置的元件安装机

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/047981 WO2024142164A1 (ja) 2022-12-26 2022-12-26 ライン設定装置及びそれを備えた部品実装機

Publications (1)

Publication Number Publication Date
WO2024142164A1 true WO2024142164A1 (ja) 2024-07-04

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PCT/JP2022/047981 Ceased WO2024142164A1 (ja) 2022-12-26 2022-12-26 ライン設定装置及びそれを備えた部品実装機

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JP (1) JPWO2024142164A1 (https=)
CN (1) CN120051797A (https=)
DE (1) DE112022008131T5 (https=)
WO (1) WO2024142164A1 (https=)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08180191A (ja) * 1994-10-25 1996-07-12 Fuji Mach Mfg Co Ltd 画像処理装置および画像処理方法
JP2010118030A (ja) * 2008-11-15 2010-05-27 Keyence Corp 検出候補の近傍排除処理機能を有する画像処理装置及び画像処理プログラム並びにコンピュータで読み取り可能な記録媒体

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08180191A (ja) * 1994-10-25 1996-07-12 Fuji Mach Mfg Co Ltd 画像処理装置および画像処理方法
JP2010118030A (ja) * 2008-11-15 2010-05-27 Keyence Corp 検出候補の近傍排除処理機能を有する画像処理装置及び画像処理プログラム並びにコンピュータで読み取り可能な記録媒体

Also Published As

Publication number Publication date
JPWO2024142164A1 (https=) 2024-07-04
CN120051797A (zh) 2025-05-27
DE112022008131T5 (de) 2025-10-16

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