Wire setting device and component mounting machine provided with same

Abstract

The line setting device includes: a temporary line setting unit that sets temporary lines at a plurality of locations of a component on the basis of a design value of the component; a first captured image input unit that inputs a captured image of the element; a first determination unit that determines, for each temporary line of the plurality of locations set by the temporary line setting unit, whether or not a boundary between a high-luminance pixel and a low-luminance pixel can be detected for a pixel group on the temporary line in the captured image input by the first captured image input unit; and an official line determination unit that does not determine, as an official line, the temporary line for which the boundary is determined to be undetectable by the first determination unit, but determines, as an official line, the temporary line for which the boundary is determined to be detectable by the first determination unit.

Description

Technical Field

[0001] The technology disclosed in this specification relates to a component mounting machine for mounting components on a substrate, and particularly to an image processing technology for setting a line in an image obtained by imaging a component and detecting a boundary between high-brightness pixels and low-brightness pixels for a pixel group on the set line. Background Art

[0002] In a component mounting machine, in order to mount components at a specified position on a substrate with high precision, the components are sometimes photographed by a photographing device. The captured image is subjected to image processing, and the component is mounted on the substrate based on the image processing result. For example, Japanese Patent Publication No. 8-180191 discloses a technique for performing image processing on a captured image. In this image processing technique, a process is performed to detect the boundary (edge) between high-brightness pixels and low-brightness pixels on a pixel group set on a line of the captured image. And, when the boundary between the high-brightness pixel and the low-brightness pixel is detected, the position is determined as the boundary between the detection object area (for example, the electrode of the component) and the background area. Summary of the invention

[0003] Problems to be solved by the invention

[0004] In the above-mentioned image processing technology, in order to detect the detection object area, it is necessary to set lines in the detection object area. As a prior art, a method of setting lines in the area that the user wants to detect based on the design value of the element is proposed. In this method, regardless of whether the edge can be detected, the line is set for the area (for example, an electrode, a mark, a main body, etc.) that the user wants to detect. Therefore, the set lines sometimes include inappropriate lines where the brightness difference is insufficient and the edge cannot be detected. As a result, the user must confirm whether the edge can be detected at each set line, and the inappropriate lines need to be deleted.

[0005] The present specification provides a technology that allows a user to easily set a line for detecting a detection target area.

[0006] Means for solving problems

[0007] The line setting device disclosed in this specification sets lines in a captured image obtained by capturing a component mounted by a component mounting machine. The device comprises: a temporary line setting unit that sets temporary lines at multiple locations of a component based on a design value of the component; a first captured image input unit that inputs a captured image of the component; a first determination unit that determines, for each of the multiple locations of the temporary lines set by the temporary line setting unit, whether a boundary between high-brightness pixels and low-brightness pixels can be detected for a pixel group on the temporary line in the captured image input by the first captured image input unit; and a formal line determination unit that does not determine as a formal line a temporary line determined by the first determination unit as a boundary that cannot be detected, but determines as a formal line a temporary line determined by the first determination unit as a boundary that can be detected.

[0008] In the above-mentioned line setting device, a plurality of temporary lines are set based on the design value of the component, and a captured image of the component is input. Then, it is determined whether the boundary can be detected for each of the plurality of temporary lines. And, when it is determined that the boundary can be detected, the temporary line is determined as the formal line, and when it is determined that the boundary cannot be detected, the temporary line is not determined as the formal line. The line setting device determines whether the boundary can be detected for the temporary line, so the user can easily set the line.

[0009] In addition, the component mounting machine disclosed in this specification includes: a component supply unit that supplies components; a camera that photographs the components supplied by the component supply unit; the above-mentioned line setting device that sets the line in the image of the component photographed by the camera; and a component mounting unit that mounts the component supplied by the component supply unit on a substrate. The component mounting unit mounts the component to the mounting position calculated based on the image of the component photographed by the camera and the line set by the line setting device. According to the component mounting machine, the user can easily set the production line in the component mounting machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a cross-sectional view showing a schematic structure of a component mounting machine.

[0011] Figure 2 This is a block diagram showing the structure of a search line setting device (an example of a line setting device) according to an embodiment.

[0012] Figure 3 This is a flowchart showing a procedure for setting a search line (an example of a line) by a search line setting device.

[0013] Figure 4 This is an image displayed on a display device of a search line setting device, and is an image in which a temporary search line (an example of a temporary line) set based on a design value is superimposed on an image of a component.

[0014] Figure 5This is an image displayed on the display device of the search line setting device, and is a screen that displays the results of edge detection processing performed on each of the provisional search lines.

[0015] Figure 6 This is an image displayed on a display device of a search line setting device, and is an image in which a final set formal search line (an example of a formal line) is superimposed on an image of a component and displayed. DETAILED DESCRIPTION

[0016] In the line setting device disclosed in the present specification, the line setting device may further include a parameter adjustment unit that adjusts, for each formal line determined by the formal line determination unit, a parameter for detecting a boundary between high-brightness pixels and low-brightness pixels for a pixel group on the formal line in the captured image input by the first captured image input unit. According to such a configuration, the adjustment of the parameter for detecting a boundary between high-brightness pixels and low-brightness pixels can be automatically performed, and the setting of the line by the user can be further simplified.

[0017] In the line setting device disclosed in the present specification, the line setting device may further include: a second captured image input unit that inputs another captured image different from the captured image input from the first captured image input unit; a second determination unit that determines, for each formal line set by the formal line setting unit, whether a boundary between high-brightness pixels and low-brightness pixels can be detected for a pixel group on the formal line in the captured image input from the second captured image input unit; and an output unit that outputs a determination result of the second determination unit. According to such a configuration, it is possible to confirm whether the formal line set using the captured image input from the first captured image input unit is valid in another captured image input from the second captured image input unit.

[0018] (Example)

[0019] The search line setting device 50 of the embodiment will be described with reference to the drawings. The search line setting device 50 sets a search line for a captured image (image data) obtained by capturing a component mounted by a component mounting machine. Before describing the search line setting device 50, first, an example of a component mounting machine will be briefly described.

[0020] like Figure 1 As shown, the component mounting machine 10 is a device for mounting components 4 on a substrate 2. The component mounting machine 10 is also called an electronic component mounting device or a chip mounter. Usually, the component mounting machine 10 is arranged in parallel with other substrate working machines such as a solder printer and a substrate inspection machine to form a series of mounting lines.

[0021] The component mounting machine 10 includes a component feeder 12, a feeder holding portion 14, a component mounting unit (16, 18), a substrate conveyor 20, a parts camera 23, a control device 26, and a touch panel 24. A management device 8 is arranged outside the component mounting machine 10 and is connected to the component mounting machine 10 in a communicable manner.

[0022] The component feeder 12 accommodates a plurality of components 4. The component feeder 12 is detachably mounted on the feeder holding portion 14, and supplies the components 4 to the component mounting unit (16, 18). The feeder holding portion 14 has a plurality of slots, and the component feeder 12 can be detachably mounted in each of the plurality of slots. That is, a plurality of component feeders 12 can be mounted in the component mounting machine 10.

[0023] The component mounting unit (16, 18) includes a head 16 and a head moving device 18 for moving the head 16. A plurality of suction nozzles 6 are detachably mounted on the head 16. The plurality of suction nozzles 6 are capable of sucking components 4. The suction nozzles 6 are capable of moving along the Z direction (vertical direction) relative to the lower surface 28 of the head 16, so that the suction nozzles 6 are brought close to and separated from the component feeder 12 or the substrate 2. Thus, the head 16 can suck the components 4 supplied from the component feeder 12 through the suction nozzles 6, and place the components 4 sucked by the suction nozzles 6 on the substrate 2.

[0024] The head moving device 18 moves the head 16 between the component feeder 12 and the substrate 2. The head moving device 18 is an XY robot that moves a moving base 18a in the X direction and the Y direction, and the head 16 is fixed to the moving base 18a. The head moving device 18 can move the suction nozzle 6 in parallel in a plane (XY plane) parallel to the surface of the substrate 2.

[0025] The substrate conveyor 20 is a device that carries out carrying in, positioning, and carrying out of the substrate 2. The substrate conveyor 20 includes a pair of belt conveyors and a support device (not shown) that supports the substrate 2 from below.

[0026] The part camera 23 is a digital imaging device for imaging the component 4. The part camera 23 is arranged so that the optical axis is in the vertical direction (Z-axis direction), and is configured to be able to image the component 4 from below the component mounting unit (16, 18). More specifically, the part camera 23 is configured to be able to image the lower surface of the component 4 held by the suction nozzle 6.

[0027] The control device 26 is configured using a computer having a CPU and a memory. The control device 26 controls the operation of each part 12, 16, 18, 20, 23 of the component mounting machine 10 based on the production program sent from the management device 8. Thus, the substrate 2 is carried into the component mounting machine 10 by the substrate conveyor 20, and the component mounting unit (16, 18) mounts the component 4 on the carried-in substrate 2. The substrate 2 with the component 4 mounted thereon is carried out of the component mounting machine 10 by the substrate conveyor 20. The touch panel 24 is a display device that provides various information of the component mounting machine 10 to the operator, and is an input device that receives instructions and information from the operator.

[0028] In addition, the control device 26 functions as an image processing device that performs analysis processing on the image data of the component 4 photographed by the part camera 23. That is, the image data obtained by photographing by the part camera 23 is input to the control device 26. The control device 26 analyzes the image data input from the part camera 23 using the search line set by the search line setting device 50. The analysis of the image data using the search line will be described later.

[0029] Next, the element 4 for setting the search line will be described. In this embodiment, the element 4 for setting the search line may be any element as long as it performs edge detection using the search line, and for example, a surface mount element mounted on the surface of the substrate 2 may be mentioned. Figure 4 An example of the element 4 for setting the search line is shown. Figure 4 The image captured by the part camera 23 is displayed, so Figure 4 The bottom surface of the display element 4 is shown in FIG. Figure 4 As shown, the element 4 includes a rectangular body 34 and three electrodes 36 provided on the upper and lower sides of the body 34. Two circular marks 35 are provided on the bottom surface of the body 34 at intervals in the x direction. The three electrodes 36 provided on the upper side are arranged at intervals in the x direction and extend from the body 34 in the +y direction. Similarly, the three electrodes 36 provided on the lower side are arranged at intervals in the x direction and extend from the body 34 in the -y direction. The electrodes 36 are formed of a metal material and therefore reflect light more strongly than the body 34. Therefore, in Figure 4 In the image data 30 shown (ie, image data obtained by imaging by the parts camera 23 ), the electrode 36 portion is a high-brightness pixel portion, and the main body 34 and the background portion 37 are low-brightness pixel portions.

[0030] As described above, the component 4 has six electrodes 36, and these electrodes 36 need to be joined to the pads printed on the surface of the substrate 2. That is, the component 4 needs to be mounted at the mounting position (the position of the pad) of the substrate 2 with high precision. However, the size and shape of the component 4 (for example, the position of the electrode 36) may deviate from the design value due to tolerance, so even if the component 4 is mounted at the mounting position calculated based on the design value, it may be impossible to join the electrode 36 of the component 4 to the pad of the substrate 2. Therefore, in this embodiment, the lower surface of the component 4 is photographed by the parts camera 23, and the image is processed to detect the size and shape of the component 4 (for example, the position of the electrode 36). And, based on the detected size and shape of the component 4, the position of mounting the component 4 is corrected, and the component 4 is mounted to the corrected position. Thus, the electrode 36 of the component 4 is reliably joined to the pad of the substrate 2.

[0031] Here, the components 4 are mostly small components, and the size and shape of the components 4 may not be detected with high accuracy due to the clarity of the image data captured by the parts camera 23. Figure 6 As shown, a search line 38 is set at a desired location (for example, electrode 36) of the element 4, and the position of the desired location of the element 4 is detected using the search line 38. Image processing using the search line 38 will be described in detail later.

[0032] Next, the search line setting device 50 is described. Figure 2 As shown, the search line setting device 50 includes a computing device 52 and various devices (input device 60, storage device 62, display device 64) connected to the computing device 52. The computing device 52 is configured using a computer including a CPU 54 and a memory 56. The CPU 54 executes a search line setting process (described in detail later) for setting the search line 38 for the component 4 based on the program stored in the memory 56. In addition, the computing device 52 includes an input-output circuit that inputs image data of the component 4 captured by the part camera 23 and CAD data of the component 4 stored in the management device 8. The memory 56 is configured of a flash memory, etc., and stores various programs executed by the CPU 54 and various data (for example, image data, CAD data of the component 4) sent from the part camera 23 and the management device 8 to the computing device 52.

[0033] The input device 60 is a device for the operator to input and set information required for the search line setting process, and is composed of, for example, a keyboard, a mouse, a touch panel, etc. The storage device 62 is a device for storing image data obtained by shooting with the parts camera 23, CAD data of the component 4 input from the management device 8, and results obtained by the search line setting process. The storage device 62 is composed of an optical drive device such as a hard disk device. The display device 64 is a device for displaying image data obtained by shooting with the parts camera 23, results obtained by the search line setting process, etc.

[0034] Next, the search line setting process performed by the CPU 54 of the computing device 52 will be described. Figure 3 As shown, the CPU 54 first reads the CAD data of the component 4 to be set as the target of the search line from the management device 8 (step S10). Specifically, the CPU 54 requests the management device 8 to send the CAD data of the component 4, and the management device 8 sends the requested CAD data of the component 4 to the computing device 52. The sent CAD data of the component 4 is input into the computing device 52 via the input / output circuit.

[0035] Next, the CPU 54 reads the image data of the component 4 to be set as the object of the search line into the computing device 52 via the input-output circuit (step S12). As described above, in the component mounting machine 10, the image data obtained by photographing the component 4 by the part camera 23 is subjected to image processing using the search line. Therefore, the image data input to the computing device 52 in S12 also becomes image data obtained by photographing the component 4 by the part camera 23. That is, it becomes image data of the component 4 photographed from below. In addition, the image data input in S12 can be directly input from the part camera 23, or the image data obtained by photographing by the part camera 23 can be stored in an external device (for example, the management device 8) and input to the computing device 52 from the external device.

[0036] Next, the CPU 54 sets a temporary search line for the component 4 based on the CAD data of the component 4 input in S10 (step S14). Specifically, the CPU 54 first creates a bottom view of the component 4 based on the CAD data input in S12, and displays the created bottom view on the display device 64. Next, the CPU 54 displays a screen on the display device 64 urging the operator to set a temporary search line. Thus, the operator sets the temporary search line through the input device 60. When the CPU 54 sets the temporary search line through the input device 60, it causes the temporary search line to overlap with the bottom view of the component 4 and is displayed on the display device 64. Figure 4 In addition, the image displayed on the display device 64 in S14 does not overlap the image data read in S12 and does not include Figure 4The image of the element 4 shown by the reference numeral 32a. Figure 4 In S14, a bottom view 32b of the component 4 based on the CAD data is indicated by a dotted line. As already described, the component 4 includes a main body 34 and a plurality of electrodes 36 extending upward and downward from the main body 34. In addition, two marks 35 are formed on the main body 34. In S14, first, only the bottom view 32b indicated by the dotted line is displayed on the display device 64. Then, a display such as "Please set a temporary search line" is performed on the display device 64. Therefore, the operator sets a temporary search line at a desired position on the display device 64. For example, the operator sets a temporary search line by specifying the start and end points of the temporary search line using an input device 60 (such as a mouse). The position of the temporary search line set by the operator can be set to an arbitrary position.

[0037] exist Figure 4 In the example shown, three temporary search lines 38 are set for each electrode 36 (i.e., two extending in the x-direction and one extending in the y-direction). The temporary search lines 38 set for the electrode 36 are set so as to span the electrode 36 and the background portion 37. That is, the temporary search lines 38 are set in order to detect the boundary (edge) between the electrode 36 and the background portion 37. For the rectangular body 34, three temporary search lines 40 are set on the short sides extending along the y-direction, and four temporary search lines 40 are set on the long sides extending along the x-direction. The temporary search lines 40 are set so as to span the body 34 and the background portion 37, with the intention of detecting the boundary (edge) between the body 34 and the background portion 37. In addition, in Figure 4 In the example shown, four temporary search lines 42 are also set for the mark 35 formed on the body 34. The four temporary search lines 42 extend in the radial direction relative to the center of the mark 35 and are arranged at intervals of 90° in the circumferential direction. The temporary search lines 42 are set across the inside of the mark 35 and the outside of the mark 35, and are intended to detect the boundary (edge) between the inside and the outside of the mark 35.

[0038] Next, the CPU 54 sets the parameters used when edge detection is performed using the search line (step S16). In the analysis process (i.e., edge detection process) using the search line, first, the brightness value of each pixel on the search line is obtained, and the difference in brightness values ​​between adjacent pixels (hereinafter referred to as brightness difference) is calculated. Next, the pixel with the maximum brightness difference is determined from the calculated brightness difference, and the maximum brightness difference is compared with the threshold value (i.e., the parameter set in S16). And, when the maximum brightness difference is greater than the threshold value, it is assumed that the edge is detected, and when the maximum brightness difference is less than the threshold value, it is assumed that the edge is not detected. In the case of detecting an edge, the pixel with the maximum brightness difference becomes the position of the boundary (edge). Therefore, in S16, the threshold value is set as the parameter when edge detection is performed using the search line. In addition, the parameter set in S16 can be set based on the operator's experience, or it can be a default value prepared in advance by the search line setting device 50.

[0039] Next, the CPU 54 displays an image obtained by superimposing the image data of the component 4 read in S12 and the temporary search lines 38, 40, 42 set in S14 on the display device 64 (step S18). Thus, the operator can confirm whether the temporary search lines 38, 40, 42 set in S14 are set at the desired positions of the image data. For example, Figure 4 In the process, the image 32a of the component 4 based on the image data read in S12, the bottom view 32b of the component 4 based on the CAD data read in S10, and the temporary search lines 38, 40, 42 set in S14 are displayed on the display device 64. Figure 4 It can be seen that the image 32a of the component 4 is smaller than the bottom view 32b of the component 4 based on the CAD data, and a part of the temporary search line 40 (that is, two temporary search lines 40 located at both ends of the four long sides set on the main body 34) is not configured at the desired position (on the main body 34). Therefore, the operator can modify the setting of the temporary search line 40 that is not configured at the desired position, such as changing the position or canceling it. In addition, since the boundary (edge) cannot be detected by such a temporary search line, it is not adopted as a formal search line as described later. Therefore, in S18, the operator can also only confirm and not modify the setting of the temporary search line.

[0040] Next, the CPU 54 selects one temporary search line from the plurality of temporary search lines 38, 40, 42 set in S14 (step S20), and performs edge detection processing on the selected temporary search line (38 or 40 or 42) (step S22). As described above, in the edge detection processing, the brightness values ​​of the pixels on the search line are obtained, and it is determined whether the maximum value of the brightness difference between adjacent pixels is greater than a threshold value. Therefore, in S22, for the image data of the element 4 read in S12, it is determined whether the maximum value of the brightness difference between adjacent pixels on the temporary search lines 38, 40, 42 set in S14 is greater than the threshold value set in S16 (S22).

[0041] Next, the CPU 54 determines 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 (S24: Yes), the temporary search line (38 or 40 or 42) selected in S20 is considered to be an appropriate search line, and the temporary search line selected in S20 is determined as a formal search line (step S26), and the parameters used for edge detection (i.e., the threshold value set in S16) are adjusted (step S28). Thus, the temporary search line (38 or 40 or 42) set at a position where edge detection can be performed is determined as a formal search line, and the parameter (threshold value) used for edge detection is adjusted to a more appropriate value based on the actual image data. The adjustment of the parameters can be performed by various methods. For example, when the difference between the maximum value of the brightness difference between adjacent pixels and the threshold value set in S16 is small, the threshold value set in S16 is adjusted to increase the difference. Thus, edge detection can be performed stably. Alternatively, the average value of the brightness differences between all adjacent pixels on the temporary search line may be calculated, and the threshold value may be set to be greater than the average value.

[0042] On the other hand, when an edge (boundary) cannot be detected by the temporary search line selected in S20 (S24: No), it is considered that the temporary search line (38 or 40 or 42) selected in S20 is not an appropriate search line, and the temporary search line selected in S20 is deleted (step S30). Thus, the inappropriate temporary search line is automatically deleted.

[0043] Next, the CPU 54 determines whether the processing of S22 to S28 has been executed for all the temporary search lines 38, 40, 42 set in S14 (step S32). If the processing of S22 to S28 has not been executed for all the temporary search lines 38, 40, 42 (No in S32), the CPU 54 returns to S20 and repeats the processing from step S20. Thus, the processing of S22 to S28 is executed for all the temporary search lines 38, 40, 42 set in S14. And, if the processing of S22 to S28 has been executed for all the temporary search lines 38, 40, 42 (S32: Yes), the CPU 54 returns the result of the search line setting processing ( Figure 5 and Figure 6 ) is displayed on the display device 64, and the search line setting process is ended.

[0044] exist Figure 5 In FIG. 1 , temporary search lines 38, 40, 42 after the search line setting process is completed are displayed overlapping with the image data 30. Figure 5 As shown, since the brightness difference between the electrode 36 and the background part 37 is large, the edge detection is successful, and the temporary search line 38 (displayed with a black solid line) is determined to be the formal search line. That is, the electrode 36 is formed of metal, and thus becomes a region with higher brightness, and the brightness difference between it and the background part 37 is large. Therefore, the edge detection performed by the temporary search line 38 is successful. On the other hand, in the temporary search line 40 (displayed with a hollow solid line), the positions of the temporary search lines 40 located at both ends of the long side are inappropriate and do not produce a brightness difference. In addition, the brightness difference between the main body 34 of the remaining temporary search line 40 and the background part 37 is small. Therefore, the edge detection fails in all the temporary search lines 40 (displayed with a hollow solid line), and the temporary search line 40 is deleted and displayed as a hollow solid line. In the temporary search line 42 (displayed with a hollow solid line), since the brightness difference between the inside and the outside of the mark 35 of the main body 34 is small, the edge detection fails and is deleted. As a result, as shown in FIG. Figure 6 As shown, the search line 38 set only in the electrode 36 is set as a valid formal search line. The search line 38 set by the search line setting process is sent to the control device 26 of the component mounting machine 10 and used in the image processing executed by the control device 26.

[0045] In addition, the adjustment of the parameter (threshold) of S28 is performed for all the temporary search lines 38. Different parameters (thresholds) may be used for each temporary search line 38, or a common parameter (threshold) may be used for all the temporary search lines 38. That is, a suitable parameter (threshold) range (that is, condition) may be obtained for all the temporary search lines 38, and a value satisfying all these suitable conditions may be determined as the parameter (threshold).

[0046] According to the above description, in the search line setting device 50 of the present embodiment, temporary search lines 38, 40, 42 are set based on the CAD data of the component 4, and the image data of the component 4 photographed by the part camera 23 is edge detected using the set temporary search lines 38, 40, 42. In addition, the temporary search lines 40, 42 that failed the edge detection are deleted, and only the temporary search line 38 that succeeded in the edge detection is determined as the formal search line. Therefore, the operator only needs to set the temporary search lines 38, 40, 42 based on the CAD data, and it is not necessary to judge whether the temporary search lines 38, 40, 42 are appropriate search lines. In addition, for the determined formal search lines, the parameters (thresholds) used in the edge detection are automatically adjusted based on the results of edge detection on the actual image data. As a result, the load of the search line setting operation performed by the operator can be greatly reduced.

[0047] In the above-mentioned embodiments, the computing device 52 executing S12 is an example of a “first captured image input unit”, the computing device 52 executing S14 is an example of a “temporary line setting unit”, the computing device 52 executing S22 and S24 is an example of a “first judgment unit”, the computing device 52 executing S26 and S30 is an example of a “formal line determination unit”, and the computing device 52 executing S28 is an example of a “parameter adjustment unit”.

[0048] In addition, in the above-mentioned embodiment, the image data captured by the part camera 23 of the component mounting machine 10 is input to the search line setting device 50, but the technology disclosed in this specification is not limited to such an example. For example, the component 4 may be photographed by a camera supported by a camera bracket, and the obtained image data may be input to the search line setting device 50. In this case, the shooting environment and shooting conditions when the component 4 is photographed by the camera supported by the camera bracket may be the same as the shooting environment and shooting conditions of the component mounting machine 10.

[0049] In addition, in the search line setting device 50 of the above-mentioned embodiment, the temporary search lines 38, 40, 42 are set for the image read in step S12, and the formal search line 38 is determined from the set temporary search lines 38, 40, 42. However, the search line setting device 50 is not limited to such a method of use. For example, it can also be used as a device for further judging whether the set formal search line is appropriate when the formal search line is set for the component. For example, when the formal search line is set by the above-mentioned search line setting process, the operation device 52 also reads other image data (image data of the component 4), and performs edge detection processing on the read image data using the formal search line set by the search line setting process. Then, if the edge detection is successful, the fact that the edge detection is successful is displayed on the display device 64. On the other hand, if the edge detection fails, the fact that the edge detection fails is displayed on the display device 64. In this way, the operator can make necessary corrections to the formal search line set by the search line setting process.

[0050] In addition, in the above-mentioned embodiment, the search line setting device 50 is provided separately from the component mounting machine 10, but the technology disclosed in this specification is not limited to such an example. For example, the function of the search line setting device 50 may be provided in the control device 26 of the component mounting machine 10, and the search line setting can be performed by the control device 26 of the component mounting machine 10. In this case, the temporary search line setting of S14 and the parameter setting of S16 can be performed by using the touch panel 24.

[0051] In addition, in the above-mentioned embodiment, the boundary (edge) of two adjacent regions is detected by setting a straight search line across two adjacent regions, but the technology disclosed in this specification is not limited to such an example. The line used for edge detection can be set in any manner according to the position of the boundary (edge) to be detected. For example, a curved line can be set, or a plurality of lines can be set to branch from a line, or a line can be set across three or more adjacent regions to detect two or more boundaries (edges).

[0052] The specific examples of the present invention are described in detail above, but these are merely examples and do not limit the claims. The technology described in the claims includes technologies obtained by various deformations and changes to the specific examples illustrated above. The technical elements described in this specification or the drawings exert technical usefulness alone or in various combinations, and are not limited to the combinations recorded in the claims at the time of application. In addition, the technology illustrated in this specification or the drawings can achieve multiple purposes at the same time, and achieving one of the purposes itself has technical usefulness.

Claims

1. A line setting device that sets a line in a captured image obtained by capturing a component mounted by a component mounter, the line setting device comprising: A provisional line setting unit that sets provisional lines at a plurality of positions of the component based on the design values of the component; A first captured image input unit that inputs the captured image of the component; A first determination unit that determines, for each provisional line at the plurality of positions set by the provisional line setting unit, whether a boundary between a high-brightness pixel and a low-brightness pixel can be detected for a pixel group on the provisional line in the captured image input by the first captured image input unit; And A formal line determination unit that does not determine the provisional line determined by the first determination unit as unable to detect a boundary as a formal line, but determines the provisional line determined by the first determination unit as able to detect a boundary as a formal line.

2. The line setting device according to claim 1, wherein, The line setting device further comprises a parameter adjustment unit that adjusts, for each formal line determined by the formal line determination unit, a parameter for detecting a boundary between the high-brightness pixel and the low-brightness pixel for a pixel group on the formal line in the captured image input by the first captured image input unit.

3. The line setting device according to claim 1 or 2, wherein, The line setting device further comprises: A second captured image input unit that inputs a captured image different from the captured image input by the first captured image input unit; A second determination unit that determines, for each formal line set by the formal line setting unit, whether a boundary between a high-brightness pixel and a low-brightness pixel can be detected for a pixel group on the formal line in the captured image input by the second captured image input unit; And An output unit that outputs the determination result of the second determination unit.

4. A component mounter comprising: A component supply unit that supplies components; A capturing device that captures the components supplied by the component supply unit; The line setting device according to claim 1 that sets a line in the captured image of the component captured by the capturing device; and A component mounting unit that mounts the components supplied by the component supply unit onto a substrate, The component mounting unit mounts the component at a mounting position calculated based on the captured image of the component captured by the capturing device and the line set by the line setting device.

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