Three-dimensional measurement device, component mounting device, and three-dimensional measurement method

Abstract

Measurement processing of a three-dimensional shape of at least a portion of a component is accelerated. A three-dimensional measurement device is provided with: a model point group data storage unit that stores model point group data indicating three-dimensional point group data of a model of a protruding section protruding from a main body section of a component; a calculation range determination unit that compares the model point group data with detection point group data representing three-dimensional point group data of the component detected by the three-dimensional sensor, and determines a calculation range of the detection point group data; and a three-dimensional shape calculation unit that calculates the three-dimensional shape of the projection on the basis of the detection point group data of the calculation range.

Description

Technical Field

[0001] The technology disclosed in this specification relates to a three-dimensional measuring device, a component mounting device, and a three-dimensional measuring method. Background Art

[0002] In the technical field related to component mounting apparatuses, an electronic component mounting apparatus including a three-dimensional measuring apparatus as disclosed in Patent Document 1 is known.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2019-144137 Summary of the invention

[0004] In order to efficiently produce electronic devices using a component mounting apparatus, it is required to increase the speed of the measurement process of the three-dimensional shape of at least a part of a component mounted on a substrate.

[0005] The present specification discloses a 3D measuring device. The 3D measuring device comprises: a model point group data storage unit that stores model point group data, the model point group data representing 3D point group data of a model of a protruding part protruding from a main body of a component; a calculation range determination unit that compares the model point group data with detection point group data representing 3D point group data of a component detected by a 3D sensor to determine a calculation range of the detection point group data; and a 3D shape calculation unit that calculates the 3D shape of the protruding part based on the detection point group data of the calculation range.

[0006] Effects of the Invention

[0007] According to the technology disclosed in this specification, the measurement process of the three-dimensional shape of at least a part of a component is accelerated. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a perspective view showing the component mounting device involved in the embodiment.

[0009] Figure 2 It is a side view showing the component mounting device according to the embodiment.

[0010] Figure 3 It is a perspective view showing a robot hand involved in the embodiment.

[0011] Figure 4 It is a side view showing a component held by the robot hand according to the embodiment.

[0012] Figure 5 This is a diagram showing components according to the embodiment as viewed from below.

[0013] Figure 6 It is a perspective view showing a three-dimensional measuring device according to an embodiment.

[0014] Figure 7 It is a diagram for explaining the operation of the robot operating unit according to the embodiment.

[0015] Figure 8 It is a block diagram showing a component mounting device according to an embodiment.

[0016] Fig. 9 This is a flowchart showing a three-dimensional measurement method of a lead portion according to the embodiment.

[0017] Fig.10 It is a diagram schematically showing an example of model point cloud data according to the embodiment.

[0018] Fig.11 It is a diagram schematically showing an example of detection point group data according to the embodiment.

[0019] Fig.12 This is a diagram for explaining a method for determining a calculation range according to an embodiment.

[0020] Fig.13 It is a diagram schematically showing an example of partial point cloud data according to the embodiment.

[0021] Fig.14 This is a block diagram showing a computer system according to an embodiment of the present invention.

[0022] Fig.15 This is a flowchart showing a three-dimensional measurement method of a lead portion according to the embodiment.

[0023] Fig.16 This is a diagram for explaining the relationship between the size of the lead portion and the resolution according to the embodiment. DETAILED DESCRIPTION

[0024] Hereinafter, the embodiments of the present disclosure will be described with reference to the drawings, but the present invention is not limited to the embodiments. The structural elements of the embodiments described below can be combined as appropriate. In addition, some structural elements may not be used.

[0025] In an embodiment, a local coordinate system is set in the component mounting device 1, and the positional relationship of each part is described with reference to the local coordinate system. As a local coordinate system, an XYZ orthogonal coordinate system is set. The direction parallel to the X-axis in a specified plane is set as the X-axis direction. The direction parallel to the Y-axis orthogonal to the X-axis in a specified plane is set as the Y-axis direction. The direction parallel to the Z-axis orthogonal to the X-axis and the Y-axis is set as the Z-axis direction. The rotation direction or tilt direction centered on the X-axis is set as the θX direction. The rotation direction or tilt direction centered on the Y-axis is set as the θY direction. The rotation direction or tilt direction centered on the Z-axis is set as the θZ direction. The specified plane is an XY plane. The Z axis is orthogonal to the specified plane. In an embodiment, the specified plane is set to be parallel to the horizontal plane. The Z-axis direction is a vertical direction. In addition, the specified plane can be inclined relative to the horizontal plane.

[0026] The first implementation method.

[0027] The first embodiment will be described.

[0028] [Component mounting device]

[0029] Figure 1 It is a perspective view showing the component mounting device 1 according to the embodiment. Figure 2 1 is a side view showing a component mounting device 1 according to the embodiment. The component mounting device 1 mounts a component 100 on a substrate 200 .

[0030] like Figure 1 and Figure 2 As shown, the component mounting device 1 includes a base 2 , a component supply member 3 , a substrate support member 4 , a robot hand 5 , a robot operation part 6 , and a three-dimensional measurement device 7 .

[0031] The base 2 supports the component supply member 3 , the substrate support member 4 , the robot operation unit 6 , and the three-dimensional measurement device 7 , respectively.

[0032] The component supplying means 3 supplies the components 100. In the embodiment, the component supplying means 3 includes a tray on which the components 100 are arranged. A plurality of components 100 are arranged on the component supplying means 3. The plurality of components 100 may be of the same type or different types.

[0033] The substrate support member 4 supports the substrate 200 on which the component 100 is mounted. The substrate support member 4 supports the substrate 200 so that the upper surface of the substrate 200 and the XY plane are parallel to each other.

[0034] The robot hand 5 holds the component 100 . The robot hand 5 is provided at the front end portion of the robot operating unit 6 .

[0035] The robot operating part 6 moves the robot hand 5. The robot operating part 6 holds the component 100 via the robot hand 5. The robot operating part 6 is driven while holding the component 100 mounted on the substrate 200. The robot operating part 6 includes a multi-joint robot. In the embodiment, the robot operating part 6 is a vertical multi-joint robot. In addition, the robot operating part 6 may also be a horizontal multi-joint robot. The robot operating part 6 has: a base member 6A, which is fixed to the base 2; a rotating member 6B, which is supported by the base member 6A; a first arm 6C, which is connected to the rotating member 6B; a second arm 6D, which is connected to the first arm 6C; and a third arm 6E, which is connected to the second arm 6D.

[0036] The rotating member 6B is supported on the base member 6A so as to be rotatable around the rotating axis TX. The rotating axis TX is parallel to the Z axis. The first arm 6C is connected to the rotating member 6B so as to be rotatable around the first rotating axis AX1. The first rotating axis AX1 is orthogonal to the Z axis. The second arm 6D is connected to the first arm 6C so as to be rotatable around the second rotating axis AX2. The second rotating axis AX2 is parallel to the first rotating axis AX1. The third arm 6E is connected to the second arm 6D so as to be rotatable around the third rotating axis AX3. The third rotating axis AX3 is parallel to the second rotating axis AX2. The robot hand 5 is mounted on the third arm 6E.

[0037] The robot manipulator 6 includes a rotary actuator that rotates the rotary member 6B, a first rotation actuator that rotates the first arm 6C, a second rotation actuator that rotates the second arm 6D, and a third rotation actuator that rotates the third arm 6E.

[0038] The three-dimensional measuring device 7 measures the component 100 held by the robot operating part 6 via the robot hand 5. The three-dimensional measuring device 7 measures the three-dimensional shape of the component 100 based on the phase shift method. In addition, the three-dimensional measuring device 7 detects the position and angle of the component 100 in the local coordinate system based on the phase shift method.

[0039] [Robot Hand]

[0040] Figure 3 1 is a perspective view showing the robot hand 5 according to the embodiment. The robot hand 5 includes a connecting member 5A attached to the third arm 6E, a rotating member 5B supported by the connecting member 5A, and a pair of moving members 5C supported by the rotating member 5B.

[0041] The rotating member 5B is supported by the connecting member 5A so as to be rotatable around the rotating axis RX. The rotating axis RX is orthogonal to the third rotation axis AX3. The pair of moving members 5C move in a direction of approaching and separating from each other. A clamping part 5D is provided at the lower end of the moving member 5C. The pair of clamping parts 5D approach and separate from each other.

[0042] The robot hand 5 includes a rotary actuator that rotates the rotary member 5B and a clamp actuator that moves the pair of movable members 5C closer to or away from each other.

[0043] When the pair of clamps 5D are brought close to each other with the component 100 disposed between them, the component 100 is held by the clamps 5D. When the pair of clamps 5D are separated from each other, the component 100 is released from the clamps 5D.

[0044] The force sensor 8 is disposed on one of the moving members 5C. The force sensor 8 can detect the load applied to the clamping portion 5D.

[0045] [part]

[0046] Figure 4 It is a side view showing a component 100 held by the robot hand 5 according to the embodiment. Figure 5 This is a diagram of a component 100 according to the embodiment as viewed from below.

[0047] The component 100 includes a main body 101 and a plurality of lead portions 110 protruding from the main body 101. The lead portion 110 is an example of a protruding portion protruding from the main body 101.

[0048] The main body 101 includes a housing made of synthetic resin. A component such as a coil is arranged in the internal space of the main body 101. The lead 110 is a metal protrusion protruding from the main body 101. The lead 110 is connected to a component arranged in the internal space of the main body 101, for example.

[0049] The lead portion 110 protrudes downward from the lower surface of the main body portion 101. When the component 100 is mounted on the substrate 200, the lower surface of the main body portion 101 and the upper surface of the substrate 200 face each other.

[0050] The robot hand 5 holds the main body 101 of the component 100 . The pair of clamping parts 5D clamps the main body 101 , thereby holding the component 100 .

[0051] [3D measurement device]

[0052] Figure 6 1 is a perspective view showing a three-dimensional measuring device 7 according to an embodiment of the present invention. Figure 6 As shown, the three-dimensional measuring device 7 measures the three-dimensional shape of at least a portion of the component 100 in a state where the main body 101 is held by the robot hand 5 .

[0053] The three-dimensional measuring device 7 includes a projection device 7A, a camera 7B, and a computing device 7C. In the embodiment, the projection device 7A and the camera 7B are each accommodated in a housing 7D. The projection device 7A and the camera 7B are each fixed to the housing 7D. A transparent member 7E is disposed at the opening of the upper end of the housing 7D. A glass plate is exemplified as the transparent member 7E.

[0054] The projection device 7A irradiates the component 100 with stripe pattern light while the main body 101 is held on the robot hand 5. The projection device 7A includes a light source, a light modulator that modulates light emitted from the light source to generate stripe pattern light, and an emission optical system that emits the stripe pattern light generated by the light modulator. As the light modulator, a digital micromirror device (DMD), a transmissive liquid crystal panel, or a reflective liquid crystal panel is exemplified.

[0055] The imaging device 7B images the component 100 irradiated with the stripe pattern light from a predetermined viewpoint. The viewpoint of the imaging device 7B refers to the relative imaging position and imaging angle of the imaging device 7B with respect to the component 100. The imaging device 7B has an imaging optical system for imaging the stripe pattern light reflected by the component 100, and an imaging element for acquiring image data of the component 100 via the imaging optical system. As the imaging element, a CMOS image sensor (Complementary Metal Oxide Semiconductor Image Sensor) or a CCD image sensor (Charge Coupled Device Image Sensor) is exemplified.

[0056] In the embodiment, the imaging device 7B is an example of a three-dimensional sensor that detects the component 100. The imaging data of the component 100 imaged by the imaging device 7B is an example of the detection data of the component 100 detected by the three-dimensional sensor.

[0057] The computing device 7C performs a measurement process of the three-dimensional shape of at least a portion of the component 100 based on the imaging data of the component 100 captured by the imaging device 7B. The computing device 7C performs a measurement process of the three-dimensional shape of at least a portion of the component 100 based on the phase shift method. The measurement process of the computing device 7C includes image processing of the imaging data of the component 100 captured by the imaging device 7B. The computing device 7C includes a computer system. The computing device 7C includes a processor such as a CPU (Central Processing Unit), a memory such as a ROM (Read Only Memory) or a RAM (Random Access Memory), and an input / output interface including an input / output circuit capable of inputting and outputting signals and data.

[0058] The projection device 7A irradiates the component 100 with a stripe pattern light having a sinusoidal brightness distribution while shifting its phase. The component 100 held by the robot hand 5 is arranged above the transparent member 7E. The stripe pattern light emitted from the projection device 7A is irradiated onto the component 100 via the transparent member 7E.

[0059] The camera 7B photographs the component 100 irradiated with the stripe pattern light. The camera 7B photographs the component 100 via the transparent member 7E. The camera 7B photographs the component 100 from below the component 100. The viewpoint of the camera 7B is defined below the component 100. The robot operating unit 6 operates, and the position and angle of the component 100 held by the robot hand 5 change, thereby changing the relative position and relative angle between the component 100 and the camera 7B. The relative position and relative angle between the component 100 and the camera 7B change, thereby changing the relative viewpoint of the camera 7B relative to the component 100.

[0060] The computing device 7C performs image processing on the image data of the component 100 captured by the image capturing device 7B based on the phase shift method, and calculates the three-dimensional data representing the three-dimensional shape of the lead portion 110. The three-dimensional data of the lead portion 110 includes the bending amount of the lead portion 110 and the coordinates of the front end portion of the lead portion 110 in the three-dimensional space defined by the local coordinate system. When the angle of the lead portion 110 with respect to the main body 101 in the design value is set as the ideal angle and the actual angle of the lead portion 110 with respect to the main body 101 is set as the actual angle, the bending amount of the lead portion 110 refers to the difference between the ideal angle and the actual angle.

[0061] The three-dimensional sensor may be, for example, a laser radar (LiDAR). The laser radar irradiates the component 100 with laser light while the main body 101 is held by the robot hand 5. The laser radar outputs three-dimensional point group data of the component 100 to the computing device 7C as detection data of the component 100.

[0062] [Action of the robot operating unit]

[0063] Figure 7 1 is a diagram for explaining the operation of the robot operating unit 6 according to the embodiment. The component mounting device 1 includes a control device 9 for controlling the robot operating unit 6. The control device 9 includes a computer system. Figure 7 As shown, holes 210 for inserting lead portions 110 of component 100 are provided in substrate 200. Based on the image processing result of operation device 7C of 3D measuring device 7, control device 9 controls robot operation unit 6 so that lead portions 110 of component 100 are inserted into holes 210 of substrate 200.

[0064] [Computing device]

[0065] Figure 8 1 is a block diagram showing a component mounting device 1 according to an embodiment of the present invention. Figure 8 As shown, the component mounting device 1 includes a computing device 7C and a control device 9 .

[0066] The calculation device 7C includes a model point group data storage unit 11 , a detection point group data generation unit 12 , a calculation range determination unit 13 , a three-dimensional shape calculation unit 14 , and an output unit 15 .

[0067] The model point group data storage unit 11 stores model point group data Da representing 3D point group data of the model of the lead portion 110. The model point group data Da is known data. The model point group data Da is 3D point group data representing the ideal 3D shape of the lead portion 110. The model point group data Da represents the 3D shape of the model of the lead portion 110. The model point group data Da is a collection of a plurality of measurement points on the surface of the model of the lead portion 110. The positions of the plurality of measurement points are defined by the X coordinate, the Y coordinate, and the Z coordinate.

[0068] The ideal three-dimensional shape of the lead portion 110 includes the length of the lead portion 110 (ideal length), the relative position of the lead portion 110 with respect to the main body 101 (ideal position), the angle of the lead portion 110 with respect to the main body 101 (ideal angle), and the spacing between multiple lead portions 110 (ideal spacing).

[0069] The model point group data Da can be generated based on the design data of the lead portion 110. The design data of the lead portion 110 includes three-dimensional CAD (Computer Aided Design) data.

[0070] Furthermore, the model point group data Da may not be generated based on the design data. When the lead portion 110 having the design value shape, i.e., the ideal 3D shape, is measured by the 3D measuring device 7, the model point group data Da may be generated based on the 3D data of the lead portion 110 having the ideal 3D shape.

[0071] The detection point group data generating unit 12 generates detection point group data Db representing 3D point group data of the component 100 based on a plurality of image data of the component 100 captured by the image capturing device 7B from a plurality of viewpoints. The detection point group data generating unit 12 performs calculation processing on the image capturing data of the component 100 acquired from the image capturing device 7B based on the phase shift method to generate 3D image data of the component 100. The detection point group data generating unit 12 transforms the generated 3D image data into 3D point group data, i.e., detection point group data Db. The detection point group data Db represents the 3D shape of the component 100. The detection point group data Db is a collection of a plurality of measurement points obtained by the 3D measuring device 7 on the surface of the component 100. The positions of the plurality of measurement points are defined by the X coordinate, the Y coordinate, and the Z coordinate.

[0072] In addition, the detected point group data generating unit 12 may be provided in another computer (processor) separate from the computing device 7C. In other words, the processing of generating the detected point group data Db may not be performed in the computing device 7C.

[0073] When the 3D sensor is a laser radar, the detection data of the component 100 detected by the laser radar includes the detection point group data Db representing the 3D point group data of the component 100. Therefore, when the 3D sensor is a laser radar, the detection point group data generation unit 12 can be omitted.

[0074] The calculation range determination unit 13 compares the model point group data Da of the lead portion 110 with the detection point group data Db of the component 100 , and determines the calculation range CS of the detection point group data Db.

[0075] In an embodiment, the case of comparing the model point group data Da and the detection point group data Db includes matching the model point group data Da and the detection point group data Db. The case of matching the model point group data Da and the detection point group data Db includes searching for the relative position of the model point group data Da and the detection point group data Db with an improved consistency between the model point group data Da and the detection point group data Db. The operation range determination unit 13 determines the operation range CS based on the consistency between the model point group data Da and the detection point group data Db. The operation range determination unit 13 implements a search process for searching for the relative position of the model point group data Da and the detection point group data Db with an improved consistency between the model point group data Da and the detection point group data Db.

[0076] The calculation range determination unit 13 performs a search process based on a predetermined algorithm. The search process includes the movement amount ΔX of the model point group data Da in the X-axis direction, the movement amount ΔY of the model point group data Da in the Y-axis direction, the movement amount ΔZ of the model point group data Da in the Z-axis direction, the rotation amount ΔθX of the model point group data Da in the θX direction, the rotation amount ΔθY of the model point group data Da in the θY direction, and the rotation amount ΔθZ of the model point group data Da in the θZ direction for aligning the model point group data Da with the detection point group data Db.

[0077] As the predetermined algorithm, ICP (Iterative Closest Point) algorithm, NDT (Normal Distributions Transform) scan matching and FAST (Features from Accelerated Segment Test) feature point matching are exemplified. The calculation range determination unit 13 performs matching between the model point group data Da and the detection point group data Db based on an existing algorithm.

[0078] The calculation range determination unit 13 determines the calculation range CS that does not include the main body 101 but includes the lead portion 110 based on the comparison result of the model point group data Da and the detection point group data Db. That is, the calculation range determination unit 13 determines a part of the detection point group data Db aligned with the model point group data Da as the calculation range CS so that the consistency between the model point group data Da and the detection point group data Db is improved. The case where a part of the detection point group data Db of the component 100 is determined as the calculation range CS includes extracting the partial point group data Dc representing the detection point group data Db of only the lead portion 110 from the detection point group data Db of the entire component 100.

[0079] The 3D shape calculation unit 14 calculates 3D data representing the 3D shape of the lead portion 110 based on the detection point group data Db of the calculation range CS, i.e., the partial point group data Dc. As described above, the 3D data of the lead portion 110 includes the amount of bending of the lead portion 110 and the coordinates of the tip of the lead portion 110 in the 3D space defined by the local coordinate system.

[0080] The output unit 15 outputs the 3D data of the lead portion 110 calculated by the 3D shape calculation unit 14 to the control device 9. The measurement processing result of the operation device 7C includes the 3D data indicating the 3D shape of the lead portion 110 calculated by the 3D shape calculation unit 14. The 3D data of the lead portion 110 includes the bending amount of the lead portion 110 and the coordinates of the front end portion of the lead portion 110. The control device 9 controls the robot operation unit 6 based on the 3D data of the lead portion 110 so that the lead portion 110 is inserted into the hole 210 of the substrate 200.

[0081] [3D measurement method of lead part]

[0082] Fig. 9 1 is a flowchart showing a three-dimensional measurement method of the lead portion 110 according to the embodiment. In order to mount the component 100 on the substrate 200, the control device 9 controls the robot operation unit 6 so that the robot hand 5 approaches the component supply member 3. The robot hand 5 moved to the component supply member 3 holds the main body 101 of the component 100 arranged on the component supply member 3. After the main body 101 of the component 100 is held by the robot hand 5, the control device 9 controls the robot operation unit 6 so that the component 100 held by the robot hand 5 is measured by the three-dimensional measurement device 7. That is, the control device 9 controls the robot operation unit 6 as shown in FIG. Figure 6 As described above, the robot operating unit 6 is controlled so that the component 100 held by the robot hand 5 is arranged above the three-dimensional measuring device 7 .

[0083] In the embodiment, the control device 9 controls the robot operating unit 6 so that the imaging device 7B images the component 100 from multiple viewpoints. That is, the control device 9 controls the robot operating unit 6 above the three-dimensional measuring device 7 so that the position and angle of the component 100 held by the robot hand 5 change. The imaging device 7B images the component 100 from multiple different viewpoints.

[0084] The calculation range determination unit 13 acquires the model point group data Da representing the three-dimensional point group data of the model of the lead part 110 from the model point group data storage unit 11 (step S10 ).

[0085] Fig.10 Schematically shows an example of the model point group data Da involved in the embodiment. Fig.10 As shown, in the model point group data Da, the measurement points are set on the entire surface of the lead part 110. In the model point group data Da, there is no defect in the measurement point. In the model point group data Da, the measurement points are ideally arranged.

[0086] The detection point group data generator 12 acquires a plurality of imaging data of the component 100 captured by the imaging device 7B from a plurality of viewpoints. The detection point group data generator 12 generates the detection point group data Db of the component 100 based on the plurality of imaging data of the component 100 captured from a plurality of viewpoints (step S20).

[0087] Fig.11 1 is a diagram schematically showing an example of the detection point group data Db involved in the embodiment. When the component 100 is photographed from multiple viewpoints, the detection point group data generating unit 12 generates multiple detection point group data Db of the component 100 observed from the multiple viewpoints. For example, when the component 100 is photographed from three viewpoints, the detection point group data generating unit 12 generates the first detection point group data Db1 of the component 100 observed from the first viewpoint, the second detection point group data Db2 of the component 100 observed from the second viewpoint, and the third detection point group data Db3 of the component 100 observed from the third viewpoint. In addition, two detection point group data Db observed from two viewpoints may be generated, or multiple detection point group data Db observed from any multiple viewpoints greater than or equal to 4 may be generated.

[0088] Depending on the relative shooting position and shooting angle of the camera 7B with respect to the component 100, the camera 7B may not be able to shoot the entire component 100. That is, depending on the viewpoint of the camera 7B, a blind spot may occur in the component 100, and a range that cannot be shot by the camera 7B may occur in the component 100. In the detection point group data Db, sometimes the measurement point is not set on at least a part of the surface of the main body 101. In addition, in the detection point group data Db, sometimes the measurement point is not set on at least a part of the surface of the lead part 110. That is, in the detection point group data Db, there may be a defect in the measurement point. The detection point group data generation unit 12 merges a plurality of detection point group data (Db1, Db2, Db3) generated respectively based on the shooting data of the component 100 shot from a plurality of viewpoints, and generates one detection point group data Db of the component 100.

[0089] Furthermore, the detection point group data generating unit 12 may not merge the plurality of detection point group data (Db1, Db2, Db3). In addition, when the 3D sensor is a laser radar, the detection data of the component 100 detected by the laser radar includes the detection point group data Db representing the 3D point group data of the component 100. Therefore, when the 3D sensor is a laser radar, the processing of the detection point group data generating unit 12 may be omitted.

[0090] also, Fig.11 The detection point group data Db shown shows an example in which one lead portion 110 among the nine lead portions 110 is slightly bent.

[0091] The calculation range determination unit 13 compares the model point group data Da of the lead portion 110 with the detection point group data Db of the component 100, and determines the calculation range CS of the detection point group data Db (step S30).

[0092] Fig.12 It is a diagram for explaining a method for determining a calculation range CD involved in an implementation method. In an implementation method, the case of comparing the model point group data Da and the detection point group data Db includes matching the model point group data Da and the detection point group data Db. The case of matching the model point group data Da and the detection point group data Db includes searching for the relative position of the model point group data Da and the detection point group data Db with an improved degree of consistency between the model point group data Da and the detection point group data Db. The calculation range determination unit 13 determines the calculation range CS based on the degree of consistency between the model point group data Da and the detection point group data Db. The calculation range determination unit 13 implements a search process for searching for the relative position of the model point group data Da and the detection point group data Db with an improved degree of consistency between the model point group data Da and the detection point group data Db.

[0093] The calculation range determination unit 13 performs search processing based on a predetermined algorithm. Examples of the predetermined algorithm include ICP (Iterative Closest Point) algorithm, NDT (Normal Distributions Transform) scan matching, and FAST (Features from Accelerated Segment Test) feature point matching. The calculation range determination unit 13 performs matching of the model point group data Da and the detection point group data Db based on an existing algorithm.

[0094] The calculation range determination unit 13 determines the calculation range CS that does not include the main body 101 but includes the lead portion 110 based on the comparison result of the model point group data Da and the detection point group data Db. That is, the calculation range determination unit 13 determines a part of the detection point group data Db aligned with the model point group data Da as the calculation range CS so that the consistency between the model point group data Da and the detection point group data Db is improved. The case where a part of the detection point group data Db of the component 100 is determined as the calculation range CS includes extracting the partial point group data Dc representing the detection point group data Db of only the lead portion 110 from the detection point group data Db of the entire component 100.

[0095] Fig.13 FIG. 1 is a diagram schematically showing an example of partial point group data Dc involved in the embodiment. Fig.13 As shown, by comparing the model point group data Da of the lead portion 110 with the detection point group data Db of the entire component 100, partial point group data Dc representing the detection point group data Db including only the lead portion 110 and not including the main body 101 is extracted from the detection point group data Db of the entire component 100. The calculation range determination unit 13 may delete the detection point group data Db of the main body 101 by, for example, a pass filter or the like.

[0096] The 3D shape calculation unit 14 calculates 3D data representing the 3D shape of the lead portion 110 based on the detection point group data Db of the calculation range CS, i.e., the partial point group data Dc (step S40). As described above, the 3D data of the lead portion 110 includes the amount of bending of the lead portion 110 and the coordinates of the tip of the lead portion 110 in the 3D space defined by the local coordinate system.

[0097] The output unit 15 outputs the three-dimensional data indicating the three-dimensional shape of only the lead portion 110 calculated in step S40 to the control device 9. The three-dimensional data of only the lead portion 110 corresponds to the measurement processing result of the three-dimensional measurement device 7 (step S50).

[0098] The control device 9 controls the robot operation part 6 based on the 3D data of the lead part 110 output from the output part 15 so that the component 100 is mounted on the substrate 200. The 3D data of the lead part 110 includes the bending amount of the lead part 110 and the coordinates of the front end of the lead part 110. The control device 9 controls the robot operation part 6 based on the 3D data of the lead part 110 so that the lead part 110 is inserted into the hole 210 of the substrate 200.

[0099] [Computer System]

[0100] Fig.141 is a block diagram showing a computer system 1000 according to an embodiment of the present invention. The above-mentioned operation device 7C and control device 9 respectively include a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), a storage 1003, and an interface 1004 including an input and output circuit. The functions of the operation device 7C and the control device 9 are stored in the storage 1003 as a computer program. The processor 1001 reads the computer program from the storage 1003 and expands it in the main memory 1002, and executes the above-mentioned processing according to the computer program. In addition, the computer program can also be transmitted to the computer system 1000 via a network.

[0101] According to the above-mentioned implementation mode, the computer program can enable the computer system 1000 to execute: obtain model point group data Da, which represents 3D point group data of a model of the lead portion 110 protruding from the main body 101 of the component 100; compare the model point group data Da with the detection point group data Db representing the 3D point group data of the component 100 detected by a 3D sensor to determine the operation range CS of the detection point group data Db; and calculate the 3D shape of the lead portion 110 based on the detection point group data Db within the operation range CS, i.e., the partial point group data Dc.

[0102] [Effect]

[0103] As described above, the 3D measuring device 7 comprises: a model point group data storage unit 11, which stores model point group data Da, wherein the model point group data Da represents the 3D point group data of the model of the protruding portion protruding from the main body 101 of the component 100, namely, the lead portion 110; an operation range determination unit 13, which compares the model point group data Da with the detection point group data Db representing the 3D point group data of the component 100 detected by the 3D sensor, and determines the operation range CS of the detection point group data Db; and a 3D shape calculation unit 14, which calculates the 3D shape of the lead portion 110 based on the detection point group data Db of the operation range CS, namely, the partial point group data Dc.

[0104] According to the embodiment, by comparing the model point group data Da of the lead portion 110 with the detection point group data Db of the entire component 100, partial point group data Dc representing the detection point group data Db including only the lead portion 110 without including the main body 101 is extracted from the detection point group data Db of the entire component 100. The 3D shape calculation unit 14 calculates the 3D shape of the lead portion 110 based on the partial point group data Dc. In the embodiment, the process of calculating the 3D shape of the main body 101 is reduced. When the lead portion 110 of the component 100 is inserted into the hole 210 of the substrate 200, it is sufficient to know the 3D data of the lead portion 110 (the bending amount of the lead portion 110 and the coordinates of the front end of the lead portion 110), and it is likely that the 3D data of the main body 101 is not required. In the embodiment, the 3D data representing the 3D shape of the lead portion 110 is calculated, and the 3D data representing the 3D shape of the main body 101 is not calculated. As a result, the amount of calculation (calculation load) generated by the calculation device 7C is reduced. Since the amount of calculation is reduced, the measurement process of the three-dimensional shape of at least a part of the component 100 mounted on the substrate 200 is accelerated.

[0105] Second implementation method.

[0106] In the following description, the same reference numerals are used to designate the same or equivalent components as those in the above-described embodiment, and the description of the components will be simplified or omitted.

[0107] Fig.15 1 is a flowchart showing a three-dimensional measurement method of the lead portion 110 according to the embodiment. As in the first embodiment described above, the calculation range determination unit 13 obtains the model point group data Da representing the three-dimensional point group data of the model of the lead portion 110 from the model point group data storage unit 11 (step S10).

[0108] The detection point group data generator 12 acquires a plurality of imaging data of the component 100 captured by the imaging device 7B from a plurality of viewpoints. The detection point group data generator 12 generates the detection point group data Db of the component 100 based on the plurality of imaging data of the component 100 captured from a plurality of viewpoints (step S20).

[0109] The calculation range determination unit 13 reduces the resolution of the detection point group data Db of the component 100. The calculation range determination unit 13 reduces the initial resolution of the detection point group data Db generated by the detection point group data generation unit 12 in step S20 to a predetermined resolution lower than the initial resolution (step S21).

[0110] As described above, the detection point group data Db is a collection of a plurality of measurement points involved in the three-dimensional measurement device 7 on the surface of the component 100. The case of reducing the resolution of the detection point group data Db includes increasing the spacing of the measurement points. In other words, the case of reducing the resolution of the detection point group data Db includes reducing the number of measurement points per unit volume. The case of reducing the resolution of the detection point group data Db includes reducing the density of the measurement points.

[0111] When reducing the resolution of the detection point group data Db, the calculation range determination unit 13 determines the resolution based on the outer size of the lead portion 110. The calculation range determination unit 13 reduces the resolution as the outer size of the lead portion 110 increases.

[0112] Fig.16 1 is a diagram for explaining the relationship between the size of the lead portion 110 and the resolution according to the embodiment. Fig.16 In the graph shown, the horizontal axis is the size of the lead portion 110, and the vertical axis is the resolution. When the initial resolution of the detection point group data Db is reduced to the prescribed resolution, if the size of the outer shape of the lead portion 110 is the first size, the calculation range determination unit 13 reduces the initial resolution to the first prescribed resolution. If the size of the outer shape of the lead portion 110 is the second size smaller than the first size, the calculation range determination unit 13 reduces the initial resolution to the second prescribed resolution larger than the first prescribed resolution.

[0113] like Fig.16 As shown, in the embodiment, table data indicating the relationship between the size of the lead portion 110 and the resolution is predetermined. The size of the lead portion 110 is known data known from the specifications of the component 100. The calculation range determination unit 13 determines to what extent the initial resolution of the detection point group data Db is reduced based on the table data and the size of the lead portion 110.

[0114] The calculation range determination unit 13 determines the resolution to be less than or equal to 1 / 2 of the minimum value of the width, height, and length of the lead portion 110 using, for example, a voxel grid filter method.

[0115] After reducing the resolution of the detection point group data Db, the calculation range determination unit 13 compares the model point group data Da of the lead portion 110 with the detection point group data Db of the component 100 to determine the calculation range CS of the detection point group data Db (step S30).

[0116] Similar to the first embodiment described above, the calculation range determination unit 13 performs a search process based on a predetermined algorithm. The calculation range determination unit 13 performs matching between the model point group data Da and the detection point group data Db based on an existing algorithm.

[0117] After the calculation range CS including the lead portion 110 but not including the main body portion 101 is determined, the 3D shape calculation unit 14 increases the resolution of the detection point group data Db. The 3D shape calculation unit 14 increases the predetermined resolution of the detection point group data Db determined in step S21 to an initial resolution higher than the predetermined resolution. That is, the 3D shape calculation unit 14 restores the resolution of the detection point group data Db reduced in step S21 to the original resolution.

[0118] After increasing the resolution of the detected point group data Db, the 3D shape calculation unit 14 calculates 3D data representing the 3D shape of the lead portion 110 based on the detected point group data Db in the calculation range CS, that is, the partial point group data Dc (step S40 ).

[0119] The output unit 15 outputs the three-dimensional data indicating the three-dimensional shape of only the lead portion 110 calculated in step S40 to the control device 9. The three-dimensional data of only the lead portion 110 corresponds to the measurement processing result of the three-dimensional measurement device 7 (step S50).

[0120] As described above, in the embodiment, when determining the calculation range CS, the resolution of the detection point group data Db is reduced from the initial resolution to the predetermined resolution. Therefore, the time required for the calculation process when determining the calculation range CS is shortened.

[0121] The larger the size of the lead portion 110 is, the lower the resolution of the detection point group data Db is. When the size of the lead portion 110 is large, the resolution of the detection point group data Db is lowered, thereby shortening the time required for the calculation process when determining the calculation range CS. When the size of the lead portion 110 is small, if the resolution of the detection point group data Db is excessively lowered, the absolute number of measurement points constituting the lead portion 110 will be too small, and as a result, it may be difficult to compare the model point group data Da of the lead portion 110 with the detection point group data Db of the component 100. When the size of the lead portion 110 is small, the resolution of the detection point group data Db is not excessively lowered, thereby enabling the calculation range determination unit 13 to compare the model point group data Da of the lead portion 110 with the detection point group data Db of the component 100.

[0122] In the calculation of the 3D data of the lead part 110, the predetermined resolution of the detection point group data Db is restored to the initial resolution. In the calculation of the 3D data, the resolution of the detection point group data Db is improved, so the 3D data of the lead part 110 is calculated with high accuracy.

[0123] Other implementations.

[0124] In the above-mentioned embodiment, the 3D sensor is set as the imaging device 7B that images the component 100 on which the stripe pattern light is projected by the projection device 7A. The 3D sensor can be any one as long as it can detect the 3D shape (3D point group data) of the component 100. As mentioned above, the 3D sensor can be, for example, a laser radar. The 3D sensor can be a stereo camera.

[0125] In the above embodiment, the protruding portion of the component 100 is a metal lead portion 110. The protruding portion may also be made of synthetic resin. For example, the protruding portion may be a boss portion made of synthetic resin protruding from the main body 101, and the boss portion may be inserted into the hole 210 of the substrate 200.

[0126] Description of the label

[0127] 1…component mounting device, 2…base, 3…component supply member, 4…substrate support member, 5…robot hand, 5A…connecting member, 5B…rotating member, 5C…moving member, 5D…clamping part, 6…robot operation part, 6A…base member, 6B…rotating member, 6C…first arm, 6D…second arm, 6E…third arm, 7…3D measuring device, 7A…projection device, 7B…photographing device, 7C…calculation device, 7D…housing, 7E…transparent member, 8…force sensor, 9…control device, 11…model point group data storage unit, 12…detection point group data generation unit part, 13…operation range determination part, 14…three-dimensional shape calculation part, 15…output part, 100…component, 101…main body, 110…lead part (projection), 200…substrate, 210…hole, 1000…computer system, 1001…processor, 1002…main memory, 1003…storage, 1004…interface, AX1…first rotation axis, AX2…second rotation axis, AX3…third rotation axis, Da…model point group data, Db…detection point group data, Dc…partial point group data, CS…operation range, RX…rotation axis, TX…swivel axis.

Claims

1. A 3D measuring device, comprising: A model point group data storage unit that stores model point group data representing three-dimensional point group data of a model of a protruding portion protruding from a main body portion of a component; a calculation range determination unit that compares the model point group data with detection point group data representing three-dimensional point group data of the component detected by a three-dimensional sensor, and determines a calculation range of the detection point group data; and A three-dimensional shape calculation unit calculates the three-dimensional shape of the protrusion based on the detection point group data in the calculation range.

2. The 3D measuring device according to claim 1, wherein: The calculation range determination unit determines the calculation range based on a degree of coincidence between the model point group data and the detection point group data.

3. The 3D measuring device according to claim 2, wherein: The calculation range determination unit determines the calculation range excluding the main body portion and including the protruding portion based on a comparison result between the model point group data and the detection point group data.

4. The 3D measuring device according to claim 1, wherein: The calculation range determination unit compares the model point group data with the detection point group data after reducing the resolution of the detection point group data, and determines the calculation range.

5. The 3D measuring device according to claim 4, wherein: The calculation range determination unit lowers the resolution as the size of the protruding portion increases.

6. The 3D measuring device according to claim 4, wherein: The three-dimensional shape calculation unit calculates the three-dimensional shape of the protrusion after increasing the resolution of the detection point group data.

7. A component mounting device, comprising: a robot operating unit that drives the robot while holding a component to be mounted on the substrate; The three-dimensional measuring device according to claim 1, which measures the three-dimensional shape of the component; and A control device controls the robot operation unit based on a measurement processing result of the three-dimensional measurement device so that the component is mounted on a substrate.

8. A 3D measurement method, comprising: acquiring model point group data representing three-dimensional point group data of a model of a protruding portion protruding from a main body portion of a component; Comparing the model point group data with detection point group data representing 3D point group data of the component detected by a 3D sensor, and determining a calculation range of the detection point group data; and The three-dimensional shape of the protrusion is calculated based on the detection point group data in the calculation range.

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