Image processing apparatus, component mounting machine, and image processing method

Abstract

The present application provides an image processing device, a component mounting machine, and an image processing method, which further improve the detection accuracy of the pitch of a chamber. The image processing device includes a storage unit that stores, in advance, for each of a plurality of pitches, information on a receivable size of a component that can be accommodated in a chamber provided at the corresponding pitch, a retrieval unit that retrieves information on the size of a component accommodated in a tape, and a detection unit that, for an image of the tape, sets a determination target by excluding, from a plurality of alternative positions at which the chamber can exist at one of the plurality of pitches, an excluded position at which the chamber cannot exist, based on the information on the size of the component and the information on the receivable size of the component, compares the luminance value of a pixel of the determination target with a reference value, and determines whether the chamber exists in the determination target, thereby detecting the pitch of the chamber.

Description

Technical Field

[0001] This specification discloses an image processing apparatus, a component mounting machine, and an image processing method. Background Technology

[0002] Previously, an image processing apparatus was proposed to identify the spacing of a chamber by processing an image of a strip containing housing elements at fixed intervals along the feed direction (for example, see Patent Document 1). In this apparatus, the brightness of pixels along a line in the feed direction is extracted from the image of the strip to generate a brightness waveform of that line, and a periodic analysis of brightness changes is performed based on the generated brightness waveform. The spacing of the chambers is then identified based on the wavelength obtained through the periodic analysis.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: International Publication No. 2021 / 166230 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In the aforementioned image processing apparatus, during image processing, brightness changes are sometimes detected outside the edge of the chamber due to external interference, which may lead to misjudgment of the distance between the chambers.

[0008] The main purpose of this disclosure is to further improve the detection accuracy of the spacing between detection chambers.

[0009] Technical solutions for solving the problem

[0010] The following means are employed in this disclosure to achieve the aforementioned main objectives.

[0011] This disclosure discloses an image processing apparatus for processing an image of a strip, wherein the strip has chambers for housing elements at a fixed spacing among a plurality of spacings in the feed direction. The main feature of the apparatus is that it comprises: a storage unit that pre-stores, for each of the plurality of spacings, accommodating size information related to the size of an element that can be accommodated in a chamber provided at the corresponding spacing; an acquisition unit that acquires element size information related to the size of an element accommodated in the strip; and a detection unit that, for the image of the strip, based on the element size information and the accommodating size information, sets a determination object by excluding exclusion positions from a plurality of candidate positions where the chamber may exist at one of the plurality of spacings, thereby excluding positions where the chamber cannot exist; compares the brightness value of the pixel of the determination object with a reference value to determine whether a chamber exists in the determination object, thereby detecting the spacing of the chambers.

[0012] The image processing apparatus of this disclosure, for each of a variety of spacings, pre-stores in a storage unit information relating to the size of a component that can be housed in a cavity set at the corresponding spacing. Then, for an image of the tape, the image processing apparatus, based on the component size information and the housing size information, sets a determination object by excluding locations from a plurality of candidate locations where a cavity cannot exist, determines whether a cavity exists within the determination object, and thereby detects the spacing of the cavity. Thus, the image processing apparatus can suppress the situation where a location where a cavity cannot exist is used as a determination object to determine the presence of a cavity, further reducing the possibility of false determinations caused by external interference, etc. As a result, the detection accuracy of the cavity spacing can be further improved. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the component mounting machine system.

[0014] Figure 2 This is a schematic diagram of the feeder's structure.

[0015] Figure 3 This is a magnified view of a portion of the area near the component supply location of the feeder.

[0016] Figure 4 It is a block diagram showing the electrical connection between the component mounting machine and the management device.

[0017] Figure 5 This is a flowchart illustrating an example of automatic feed spacing detection processing.

[0018] Figure 6 This is an explanatory diagram showing the camera position for reading the feeder markings on the belt and the camera position for measuring the feed interval.

[0019] Figure 7 This is a flowchart illustrating an example of spacing detection processing.

[0020] Figure 8 This is an explanatory diagram showing the location for measuring the reference brightness.

[0021] Figure 9 This is an explanatory diagram showing an example of the measurement points for 1mm, 2mm, and 4mm feed belts.

[0022] Figure 10 This is an illustrative diagram showing an example of the size information of a removable element stored in a storage device. Detailed Implementation

[0023] Next, the manner in which this disclosure is carried out will be described with reference to the accompanying drawings.

[0024] Figure 1This is a schematic diagram of the component mounting machine system 1. Figure 2 This is a schematic diagram of the feeder 20. Figure 3 This is a magnified view of a portion of the area near the component supply position of the feeder 20. Figure 4 This is a block diagram showing the electrical connection between the component mounting machine 10 and the management device 60. Furthermore, Figure 1 The left and right directions are the X-axis directions, the front (near front) and back (depth) directions are the Y-axis directions which are roughly orthogonal to the X-axis directions, and the up and down directions are the Z-axis directions which are roughly orthogonal to both the X-axis and the Y-axis directions (horizontal plane).

[0025] like Figure 1 As shown, the component mounting machine system 1 includes component mounting machines 10 and a management device 60. Multiple component mounting machines 10 are arranged in the substrate transport direction to form a component mounting line.

[0026] Each component mounting machine 10 includes a housing 11, a substrate handling device 12, a feeder 20, a head moving device 30, a mounting head 40, and a mounting control device 50 (see reference). Figure 4 In addition to these, the component mounting machine 10 also includes a part camera 14, a marking camera 16, etc.

[0027] The substrate handling device 12 has a substrate handling device 12 having ... Figure 1 A pair of conveyor belts are arranged at intervals in the front and back (Y-axis direction) and erected in the left and right (X-axis direction) directions. The substrate is transported from left to right by the conveyor belts of the substrate transport device 12.

[0028] like Figure 1 As shown, the feeders 20 are mounted on a feeder platform located at the front of the housing 11, arranged in a left-right (X-axis) direction. Figure 2 As shown, the feeder 20 is configured as a belt feeder including a reel 21, a feeder mark 23, a belt feeding mechanism 24, a connector 26, and a feeder control device 28. A belt 22 is wound on the reel 21. Figure 3 As shown, chambers 22a and guide gear holes 22b are formed on the belt 22 at predetermined intervals along its length. A component P is housed in each chamber 22a. The size and spacing of the chambers 22a are determined according to the size of the component housed. In this embodiment, the spacing of the chambers 22a is 1 mm, 2 mm, and 4 mm.

[0029] The belt feeding mechanism 24 includes a motor 24a configured as a stepper motor, a drive gear 24b disposed on the rotation shaft of the motor 24a, a transmission gear 24c meshing with the drive gear 24b, and a guide gear 24d having guide gear teeth on its outer peripheral surface that mesh with the transmission gear 24c. The belt feeding mechanism 24 engages the guide gear teeth of the guide gear 24d with the guide gear hole 22b formed in the belt 22, and, driven by the motor 24a, causes the guide gear 24d to rotate intermittently, thereby pulling the belt 22 from the pulley 21 toward the component supply position F (see reference). Figure 3 The components are sequentially fed out. Furthermore, the component P housed in the belt 22 is protected by a film covering the surface of the belt 22. Then, by peeling off the film near the component supply position F, the component P is exposed at the component supply position F and can be adsorbed by the suction nozzle 44.

[0030] like Figure 4 As shown, the feeder control device 28 includes a microcomputer (hereinafter referred to as a microcomputer) 28a with a built-in CPU, ROM, RAM, etc., and a motor driver 28b as the drive circuit for the motor 24a. The microcomputer 28a inputs a detection signal from a feed sensor 25 that detects the feed amount of the belt 22 by detecting the rotational displacement of the transmission gear 24c, and outputs a pulse signal for driving the motor 24a to the motor driver 28b. The motor driver 28b generates a drive current based on the input pulse signal and outputs it to the motor 24a. By using the driving force from the motor 24a to rotate the guide gear 24d via the transmission gear 24c, the belt 22, which engages with the guide gear 24d, is fed towards the element supply position F at a predetermined feed distance each time. The feed distance of the belt 22 is preset to match the distance of the chamber 22a. Furthermore, the feed distance can be set by the operator using an input device (not shown) or by reading the state of a setting switch provided on the feeder 20.

[0031] The mounting head moving device 30 moves the mounting head 40 forward, backward, left, and right (XY axis direction). For example... Figure 1 As shown, the head moving device 30 includes an X-axis slider 32 and a Y-axis slider 34. The X-axis slider 32 is supported by a pair of upper and lower X-axis guide rails 31 extending horizontally (X-axis direction) on the front surface of the Y-axis slider 34, and can move horizontally by being driven by an X-axis motor (not shown). The Y-axis slider 34 is supported by a pair of left and right Y-axis guide rails 33 extending front-to-back (Y-axis direction) on the upper part of the housing 11, and can move horizontally by being driven by a Y-axis motor (not shown). A mounting head 40 is mounted on the X-axis slider 32. Therefore, by driving and controlling the head moving device 30 (X-axis motor and Y-axis motor), the mounting head 40 can move along the XY plane (horizontal plane).

[0032] The mounting head 40 includes a bracket 42 for holding the suction nozzle 44 and a lifting device for raising and lowering the bracket 42. The suction nozzle 44 has an adsorption port at its front end, which can adsorb the element P by negative pressure supplied to the adsorption port by a negative pressure source (not shown).

[0033] A component camera 14 is positioned between the feeder 20 and the substrate transporter 12 to capture images of the component P adsorbed by the nozzle 44 of the mounting head 40 from below. The images of the component captured by the component camera 14 are used to detect the adsorption offset of the component P.

[0034] A marking camera 16 is mounted on the mounting head 40 to capture images from above of markings attached to the substrate (substrate markings) or markings (feeder markings 23) on the feeder 20, and the tape 22. Images of the substrate markings captured by the marking camera 16 are used to identify the position of the substrate. Additionally, images of the tape 22 captured by the marking camera 16 are used to detect the spacing of the chambers 22a.

[0035] like Figure 4 As shown, the mounting control device 50 is configured as a microprocessor centered on a CPU 51. In addition to the CPU 51, it also includes a ROM 52, RAM 53, a storage device 54 (hard disk drive, solid-state drive, etc.), an input / output interface 55, etc. These are connected via a bus 56. The mounting control device 50 receives various detection signals from a position sensor (not shown) that detects the position of the mounting head 40, or image signals from the part camera 14 and the marking camera 16. Furthermore, the mounting control device 50 outputs various control signals to the feeder 20, the substrate handling device 12, the head movement device 30 (X-axis motor, Y-axis motor), the part camera 14, the marking camera 16, etc.

[0036] The management device 60 is a general-purpose computer including a CPU, ROM, RAM, and storage devices (hard disk drives, solid-state drives, etc.), and is connected to the mounting control device 50 of each component mounting machine 10 to communicate. The management device 60 generates production tasks that determine which component will be mounted on which substrate in each component mounting machine 10, and how many substrates with such mounted components will be produced. The production tasks include substrate information related to the substrates being produced, nozzle information related to the nozzle 44 used, and component information (including component dimensions) related to the mounted components. The management device 60 instructs each component mounting machine 10 to produce by sending the generated production tasks to each component mounting machine 10 (mounting control device 50).

[0037] When instructed to begin production, the mounting control device 50 of each component mounting machine 10 performs the mounting process of components onto the substrate according to the production task. Specifically, the mounting control device 50 first instructs the feeder 20 to feed at a predetermined feed interval to supply components to the component supply position F, and moves the mounting head 40 upwards from the component supply position F of the feeder 20 via the head moving device 30. Next, the mounting control device 50 lowers the suction nozzle 44 via the lifting device, causing the suction nozzle 44 to pick up the component P. Then, the mounting control device 50 uses the head moving device 30 to move the component P, which is picked up by the suction nozzle 44, upwards from the component camera 14, and uses the component camera 14 to photograph the component. During the photographing process, the mounting control device 50 processes the image of the component P to determine the amount of suction offset of the component P and corrects the mounting position of the component towards the substrate. Then, the installation control device 50 uses the head moving device 30 to move the component P adsorbed on the nozzle 44 toward the corrected installation position, and uses the lifting device to lower the nozzle 44 to install the component P onto the substrate.

[0038] Next, the operation for detecting the necessary feed interval of belt 22 when the feeder 20 feeds belt 22 will be explained. Figure 5 This is a flowchart illustrating an example of an automatic feed spacing detection process performed by the CPU 51 of the mounted control device 50. This process is performed when the feeder 20 is positioned on the feeder table. In this embodiment, the setting of the feeder 20 toward the feeder table is performed manually by the operator, but it can also be performed automatically by an automatic changing robot (not shown).

[0039] When performing automatic feed spacing detection processing, the CPU 51 of the mounting control device 50 first controls the head moving device 30 to move the mounting head 40 to the feeder mark reading position (see reference) in order to read the feeder mark 23. Figure 6 The CPU 51 uses the marker camera 16 to capture images of the feeder marker 23, processes the captured images, and reads the feeder marker 23 reflected in the captured images (S100). Then, the CPU 51 determines whether the reading of the feeder marker 23 was successful (S110). If the CPU 51 determines that the reading failed, it determines that there is a defect (NG) in the setting of the feeder 20 (S120), and terminates the automatic feed pitch detection process without detecting the feed pitch of the belt 22 (the pitch of the chambers 22a).

[0040] On the other hand, when the CPU 51 determines in S110 that the feeder mark 23 has been successfully read, it reads the guide gear hole 22b reflected in the captured image obtained in S100 (S130). Then, based on the positional relationship between the read guide gear hole 22b and the feeder mark 23 read in S100, the CPU 51 determines whether there is a deviation (pitch deviation) in the feed direction of the belt 22 (S140). If the CPU 51 determines that a pitch deviation exists, it determines that a defect (NG) has occurred in the setting of the feeder 20 (S120), and ends the automatic feed pitch detection process without detecting the feed pitch of the belt 22 (the pitch of the chambers 22a). Furthermore, when the CPU 51 determines that a defect has occurred in the setting of the feeder 20, it prompts the operator to reset the feeder 20 by displaying an error on a display device (not shown) or issuing a warning sound. Therefore, it is possible to check for operator-based setting errors (position offset, etc.) of the feeder 20 before production, thus reducing component losses caused by adsorption errors due to position offset of the feeder 20.

[0041] On the other hand, when the CPU51 determines that there is no gap offset, it controls the head moving device 30 to move the mounting head 40 to the feed gap measuring imaging position (see reference). Figure 6 The CPU 51 then performs a feed pitch detection process (S170) to detect the feed pitch (the spacing between chambers 22a) based on the feeder mark 23 position read in S100 and corrects the coordinates of each pixel in the captured image of the belt 22 obtained in S150 (feeder mark correction) (S160). Next, the CPU 51 determines whether the detected pitch matches the set value (S180). If the CPU 51 determines that the detected pitch does not match the set value, it determines that a defect (NG) has occurred in the setting of the feeder 20 (S120) and ends the automatic feed pitch detection process. This allows for the inspection of operator-related assembly errors such as those in the reel 21 before production, thus reducing component losses caused by feeding the belt 22 at a pitch different from the spacing between chambers 22a (pitch skipping).

[0042] On the other hand, when the CPU51 determines that the detection gap is consistent with the set value, it determines that the setting of the feeder 20 is appropriate (OK) (S190) and ends the automatic feed gap detection process. As a result, the feeder 20 can feed the belt 22 with a feed gap consistent with the gap of the chamber 22a.

[0043] The feed gap detection process of S170 is executed through... Figure 7 The example feed spacing detection process is performed.

[0044] exist Figure 7 In the feed pitch detection process, CPU 51 first reads the guide gear hole 22b reflected in the captured image of belt 22 obtained through automatic feed pitch detection process S150 (S200). Next, CPU 51 uses the center position of the two guide gear holes 22b arranged in the feed direction (Y-axis direction) of belt 22 as the reference brightness measurement position, obtains the brightness value of the pixel located at the reference brightness measurement position from the captured image of belt 22 (S210), and sets the obtained brightness value as the reference brightness S (S220). Figure 8 (a) shows the reference brightness measurement position of this embodiment. Figure 8 (b) shows the reference brightness measurement location for the comparative example. Figure 8 As shown in (b), the reference brightness measurement position for the comparative example is determined on a straight line extending in a direction orthogonal to the feed direction of the belt 22 (X-axis direction) through the center of the feeder mark 23. The feed pitch is detected as follows: multiple (7) measurement points are determined in the belt feed direction with the minimum existing belt pitch (1 mm pitch), and the brightness value of each measurement point is compared with the reference brightness S to determine whether a chamber 22a exists at each measurement point. Therefore, when measuring the reference brightness S, the portion of the belt 22 where nothing has formed needs to be used as the reference brightness measurement position to obtain the brightness value. In the comparative example, based on the size of the chamber 22a, as... Figure 8 As shown in (b), the reference brightness measurement position is located at the edge of chamber 22a. If the CPU 51 sets the brightness value of the edge portion as the reference brightness S, there is a risk of misjudging the feed spacing due to an incorrect reference brightness S. In this embodiment, the CPU 51 reads the guide belt gear hole 22b, takes the center position between the two guide belt gear holes 22b as the reference brightness measurement position, and sets the reference brightness S based on the brightness value of the pixel located at the reference brightness measurement position. Therefore, compared with the comparative example, the correct reference brightness S can be obtained stably.

[0045] Next, the CPU 51 obtains the component dimensions of the components housed in the belt 22 mounted on the feeder 20 (S230). The component dimensions can be obtained based on the component information included in the production task received from the management device 60. Next, based on the obtained component dimensions and the component size information that can be housed pre-stored in the storage device 54, the CPU 51 sets a determination exclusion point from a plurality of measurement points used to detect the feed pitch (S240). The determination exclusion excludes measurement points from the determination of whether or not the chamber 22a exists from the determination of whether or not the chamber exists, and the details of this will be described later.

[0046] Then, CPU51 initializes variable i to the value 1 (S250) and determines whether variable i is below a predetermined value (value 7). If CPU51 determines that variable i is below the predetermined value, it determines whether measurement point i is set as a exclusion point (S270).

[0047] When CPU51 determines that measurement point i is not set as an exclusion point, it acquires the brightness value of the pixel located at measurement point i in the captured image of band 22 (S280), and determines whether the acquired brightness value Li is reduced by a predetermined value α or more than the reference brightness S (S290). The portion of cavity 22a in the captured image of band 22 appears darker than the portion where nothing is formed. Therefore, by determining whether the brightness value Li of measurement point i is reduced by a predetermined value α or more than the reference brightness S, it is possible to determine whether there is cavity 22a at measurement point i. When CPU51 determines that the brightness value Li of measurement point i is reduced by a predetermined value α or more than the reference brightness S, it determines that there is cavity 22a at measurement point i (S300), increments variable i by 1 (S310), and returns to S260. On the other hand, when the CPU51 determines that the brightness value Li of the measurement point i is not reduced by a predetermined value α more than the reference brightness S, it determines that there is no chamber 22a at the measurement point i (S320), increments the variable i (S310), and returns to S260.

[0048] In S270, when CPU51 determines that measurement point i is set to be excluded, it does not determine whether there is chamber 22a at measurement point i, but determines that there is no chamber 22a (S320), increments variable i (S310), and returns to S260.

[0049] In S260, when CPU51 determines that variable i is not below the predetermined value, it determines that the determination of whether there is a chamber 22a has been completed at all measurement points. Based on the determination results of each measurement point, it determines the feed spacing of the belt 22 (S330) and ends the feed spacing detection process. Figure 9 This is an explanatory diagram showing an example of the measurement points for 1mm, 2mm, and 4mm feed belts. When the minimum spacing of belt 22, which has multiple existing measurement points (the first to the seventh), is determined to be 1mm, if chamber-based determinations are performed at all measurement points from the first to the seventh from the top, then belt 22 is determined to be a 1mm feed belt (see reference). Figure 9 (a)). Additionally, when chambered determinations were made at the first, third, fifth, and seventh measurement points, and chamberless determinations were made at the remaining measurement points, belt 22 was determined to be a 2mm feed belt (see [reference]). Figure 9 (b)). Furthermore, when a chamber was determined at the first and fifth measurement points and a chamberlessness was determined at the other measurement points, belt 22 was determined to be a 4mm feed belt (refer to...). Figure 9(c)).

[0050] Here, we will explain the measurement points that were excluded from the criteria. Figure 10 This is an explanatory diagram illustrating an example of the size information of the removable components. As shown, the size of the removable components is mapped to each type of belt. That is, a 1mm feed belt can accommodate components with sizes "0402", "0603", and "1005". A 2mm feed belt can accommodate components with sizes "0402", "0603", "1005", and "1608". Furthermore, a 4mm feed belt can accommodate components with sizes "1608", "2125", "3216", and "3225". For example, if the component size stored in belt 22 of feeder 20 is "1608", based on the removable component size information, belt 22 may be a 2mm feed or a 4mm feed, but it cannot be a 1mm feed. In this case, CPU51 sets the second, fourth, and sixth measurement points out of multiple measurement points as exclusion points, where chamber 22a may exist at 1 mm feed but not at 2 mm or 4 mm feed. (Refer to...) Figure 9 (dotted line in (c)). This reduces the number of measurement points for the target object, minimizing the risk of misjudgment caused by external interference. As a result, the detection accuracy of the feed pitch of the belt 22 can be further improved. Furthermore, the component size information can be stored in the storage device 54, but it can also be stored in the storage device of the management device 60.

[0051] Here, the correspondence between the main elements of the embodiments and the main elements of the present disclosure as described in the claims will be explained. Specifically, the mounting control device 50 of the embodiments corresponds to the image processing device of the present disclosure, the belt 22 corresponds to the belt, the chamber 22a corresponds to the chamber, the storage device 54 of the mounting control device 50 corresponds to the storage unit, the mounting head 40 corresponds to the head, the head moving device 30 corresponds to the moving device, the CPU 51 of the mounting control device 50 performing the spacing detection processing S230 corresponds to the acquisition unit, and the CPU 51 of the mounting control device 50 performing the spacing detection processing S240 to S330 corresponds to the detection unit. Furthermore, the guide belt gear hole 22b corresponds to the engagement hole, and the CPU 51 of the mounting control device 50 performing the spacing detection processing S200 to S220 corresponds to the setting unit.

[0052] Furthermore, this disclosure is not limited to any of the above-described embodiments. As long as it falls within the technical scope of this disclosure, it can of course be implemented in various ways.

[0053] As explained above, the image processing apparatus of this disclosure, for each of a variety of spacings, pre-stores in its storage unit information related to the size of a component that can be housed in a cavity set at the corresponding spacing. Then, for an image of the tape, the image processing apparatus, based on the component size information and the accommodateable size information, sets a determination object by excluding locations from a plurality of candidate locations where a cavity is unlikely to exist, determines whether a cavity exists within the determination object, and thereby detects the spacing of the cavity. Therefore, the image processing apparatus can suppress the situation where a location where a cavity is unlikely to exist is used as a determination object to determine whether a cavity exists, and can further reduce the possibility of false determinations caused by external interference, etc. As a result, the detection accuracy of the cavity spacing can be further improved.

[0054] In such an image processing apparatus of this disclosure, the image processing apparatus may also include a setting unit that sets the brightness value of a pixel at a predetermined position for an image of the belt as the reference value. The belt has a plurality of engaging holes arranged side-by-side with the chamber in the feed direction for engaging with a guide gear for feeding the belt. The predetermined position is the position between two adjacent engaging holes in the feed direction. In this way, the reference value can be set appropriately.

[0055] Furthermore, in the above embodiment, it has been described as an image processing apparatus (installation control device 50), but it can also be described as an image processing method or a component mounting machine.

[0056] Industrial applicability

[0057] This disclosure can be applied to industries such as the manufacturing of image processing devices and component mounting machines.

[0058] Explanation of reference numerals in the attached figures

[0059] 1: Component mounting machine system 10: Component mounting machine 11: Housing 12: Substrate handling device 14: Part camera 16: Marking camera 20: Feeder 21: Reel 22: Belt 22a: Chamber 22b: Guide belt gear hole 23: Feeder mark 24: Belt feeding mechanism 24a: Motor 24b: Drive gear 24c: Transmission gear 24d: Guide belt gear 25: Feed sensor 26: Connector 28: Feeder control device 28a: Microcomputer 28b: Motor driver 30: Head moving device 31: X-axis guide rail 32: X-axis slider 33: Y-axis guide rail 34: Y-axis slider 40: Mounting head 42: Bracket 44: Nozzle 50: Mounting control device 51: CPU 52: ROM 53: RAM 54: Storage device 55: Input / output interface 56: Bus 60: Management device F: Component supply position P: Component.

Claims

1. An image processing apparatus for processing an image of a strip, wherein the strip has a chamber for receiving elements at a fixed spacing of one of a variety of spacings in the feed direction, wherein, The image processing device includes: The storage unit, for each of the various pitches, pre-stores accommodability size information related to the size of the component that can be accommodated in the cavity set with the corresponding pitch; The acquisition unit acquires component size information related to the size of the component housed in the belt; as well as The detection unit, for the image of the strip, based on the element size information and the accommodating size information, excludes the impossible position of the cavity from multiple candidate positions where the cavity may exist with one of the multiple spacings, sets the determination object, compares the brightness value of the pixel of the determination object with the reference value, determines whether there is a cavity in the determination object, and thus detects the spacing of the cavity.

2. The image processing apparatus according to claim 1, wherein, The image processing apparatus includes a setting unit that sets the brightness value of a pixel at a predetermined position in the image of the image to the reference value. The belt has multiple engagement holes arranged side-by-side with the chamber in the feed direction for engagement with a guide gear used to feed the belt. The designated position is the position between two adjacent engagement holes in the feed direction.

3. A component mounting machine, equipped with a feeder, the feeder feeding a belt with chambers for receiving components located at a fixed interval of one of a variety of intervals in the feed direction, the component mounting machine removing components from the chambers of the belt and mounting them onto an object, wherein, The component mounting machine includes: The camera unit captures images of the belt; The storage unit, for each of the various pitches, pre-stores accommodability size information related to the size of the component that can be accommodated in the cavity set with the corresponding pitch; The acquisition unit acquires component size information related to the size of the component housed in the belt; The detection unit, for the image of the strip, based on the element size information and the accommodating size information, excludes the impossible position of the cavity from multiple candidate positions where the cavity may exist with one of the multiple spacings to set a judgment object, compares the brightness value of the pixel of the judgment object with a reference value, and determines whether there is a cavity in the judgment object, thereby detecting the spacing of the cavity; as well as The control unit controls the feeder to feed the belt based on the spacing of the chambers detected by the detection unit.

4. An image processing method for processing an image of a strip, wherein the strip has chambers for receiving elements at a fixed spacing of one of a variety of spacings in the feed direction, wherein, The image processing method includes the following steps: For each of the various pitches, accommodateable size information related to the size of the component that can be accommodated in the cavity set with the corresponding pitch is pre-stored; Obtain component size information related to the size of the component housed in the strip; and For the image of the strip, based on the element size information and the accommodating size information, a judgment object is set by excluding the impossible position of the cavity from multiple candidate positions where the cavity may exist with one of the multiple spacings. The brightness value of the pixel of the judgment object is compared with the reference value to determine whether there is a cavity in the judgment object, thereby detecting the spacing of the cavity.

Images