Component mounting system and generating device

Abstract

The component mounting system includes: an imaging device equipped with a component mounting machine for mounting components onto a substrate, which captures images of a predetermined area within the component mounting machine; and a generation device that generates shape data of the components based on the images captured by the imaging device. The generation device includes: a first acquisition unit that acquires an image without components from the imaging device, the image being an image of the predetermined area in a state where no components are placed; a second acquisition unit that acquires an image with components from the imaging device, the image being an image of the predetermined area in a state where components are placed; and a data generation unit that generates shape data of the components using the difference between the image without components acquired by the first acquisition unit and the image with components acquired by the second acquisition unit.

Description

Technical Field

[0001] The technology disclosed in this specification relates to techniques for generating shape data of elements based on images. Background Technology

[0002] Patent Document 1 discloses a pick-and-place machine that includes an imaging device for taking images of components adsorbed onto a nozzle from below. The pick-and-place machine calculates, for example, the coordinates of the leading edge of a lead extending from the component by using scan lines set in the image captured by the imaging device.

[0003] Existing technical documents

[0004] Patent Document 1: Japanese Patent Application Publication No. 8-340194 Summary of the Invention

[0005] The problem that the invention aims to solve

[0006] In the pick-and-place machine of Patent Document 1, scan lines are set in an image obtained by photographing a component attached to a nozzle from below. For example, if a portion of the nozzle is reflected in the image, the scan lines are set to that portion of the nozzle, potentially obtaining the coordinates of the end of that portion of the nozzle instead of the coordinates of the tip of the lead. That is, if an object is present in the background of the component, it may be impossible to generate accurate shape data of the component based on the image. In this specification, a technique is provided that enables the generation of accurate shape data of a component independent of its background.

[0007] Methods for solving problems

[0008] The component mounting system disclosed in this specification includes: an imaging device equipped with a component mounting machine for mounting components onto a substrate, for imaging a predetermined area within the component mounting machine; and a generation device for generating shape data of the component based on the image captured by the imaging device. The generation device includes: a first acquisition unit for acquiring an image without components from the imaging device, the image being an image of the predetermined area in a state where no components are mounted; a second acquisition unit for acquiring an image with components from the imaging device, the image being an image of the predetermined area in a state where components are mounted; and a data generation unit for generating the shape data of the component using the difference between the image without components acquired by the first acquisition unit and the image with components acquired by the second acquisition unit.

[0009] If an object that is not a component exists within a predetermined area, that object is included in both the image without a component and the image with a component. In contrast, a component is only included in the image with a component. In the component mounting system described above, the shape data of the component is generated using the difference between the image without a component and the image with a component. Therefore, the shape data of the component can be generated regardless of objects contained in either image. Consequently, accurate shape data of the component can be generated regardless of the component's background.

[0010] The manufacturing apparatus constituting the above-mentioned component mounting system, the control method for controlling the manufacturing apparatus, and the computer program for the manufacturing apparatus are also novel and useful. Attached Figure Description

[0011] Figure 1 This is a side view of the component mounting machine in the embodiment.

[0012] Figure 2 It is along Figure 1 Sectional view of line II-II.

[0013] Figure 3 It is a flowchart of the shape data generation process performed by the control device.

[0014] Figure 4 This is an example of an image used in shape data generation and processing.

[0015] Figure 5 This is a flowchart of the scan line setting process performed by the control device.

[0016] Figure 6 This is an example of an image used in scan line setting processing. Detailed Implementation

[0017] The main features of the embodiments described below are listed. Furthermore, the technical elements described below are independent technical elements that exert their technical usefulness individually or in various combinations, and are not limited to the combinations described in the claims at the time of application.

[0018] (Feature 1) In the component mounting system described above, the generating apparatus may also include an image generating unit that generates a differential image representing the difference. In this case, the data generating unit may generate the shape data based on the differential image generated by the image generating unit.

[0019] Even when an object exists within a predetermined area, that object is included in both the image without elements and the image with elements. In the differential image, the object can be removed. Therefore, accurate shape data of the elements can be generated based on the differential image.

[0020] (Feature 2) In the above-described component mounting system, the imaging device may also capture an image of the predetermined area by irradiating at least one monochromatic light onto the predetermined area and obtaining the brightness of the monochromatic light reflected from the predetermined area for each pixel. In this case, the image generation unit may also generate a difference image for each corresponding pixel using the difference between a first brightness (as the brightness of the image without components) and a second brightness (as the brightness of the image with components).

[0021] Based on such a structure, for example, compared to a structure that compares colors for each corresponding pixel by using the difference between a first brightness and a second brightness, it is possible to generate a difference image through simpler image processing.

[0022] (Feature 3) In the above-described component mounting system, the data generation unit may generate the shape data of the component by excluding the brightness of the region where the first brightness is greater than the second brightness.

[0023] Typically, the brightness of a component is greater than the brightness of a predetermined area in a state where no component is placed. Therefore, in the case where there is a region where the first brightness of the image without a component is greater than the second brightness of the image with a component, it is presumed that the brightness difference between the two images is caused by factors other than the component in that region. Based on this structure, shape data is generated by excluding the brightness of regions where the first brightness is greater than the second brightness, thus enabling the generation of accurate shape data unaffected by factors other than the component.

[0024] (Feature 4) In the above-described component mounting system, the generating apparatus may further include: a display unit for displaying the differential image; and a selection unit for accepting a user's selection of a specific region in the differential image displayed on the display unit. In this case, if the selection unit accepts the selection of the specific region, the data generating unit may generate the shape data of the component after excluding the brightness of the specific region.

[0025] Based on this structure, shape data can be generated based on user instructions, such as excluding areas that are clearly determined not to be used in the generation of shape data for components.

[0026] (Feature 5) In the above-described component mounting system, the at least one monochromatic light may comprise three colors of monochromatic light. In this case, the imaging device may capture images of three predetermined areas by illuminating the predetermined areas with the three colors of monochromatic light respectively, and obtaining the brightness of each of the three colors of monochromatic light reflected from the predetermined areas for each pixel. Furthermore, the image generation unit generates three difference images for each corresponding pixel in each of the three images of the predetermined areas using the difference between the first brightness and the second brightness, and the data generation unit generates three shape data based on the three difference images generated by the image generation unit. Alternatively, the generation device may also include a determination unit that determines one of the shape data from the three shape data generated by the data generation unit.

[0027] Depending on the type of component, the color of the monochromatic light that is easily reflected may vary. Based on this structure, three shape data points corresponding to the three colors of monochromatic light are generated, and a shape data point can be determined from these three. Therefore, for example, it is possible to determine the shape data point that best reflects the shape of the component among the three shape data points.

[0028] (Feature 6) In the above-described component mounting system, the determining unit may determine one of the three shape data selected by the user.

[0029] This structure allows users to select shape data from three shape data sets.

[0030] (Feature 7) In the component mounting system described above, the predetermined area may also include the mounting area on the substrate where the component is mounted. In this case, the image without components may be an image of the mounting area before the component is mounted, and the image with components may be an image of the mounting area after the component is mounted.

[0031] In addition to components, various objects are arranged around the mounting area of ​​the substrate. Based on this structure, the shape data of the components can be generated using images before and after mounting, regardless of the various objects arranged around the mounting area on the substrate.

[0032] (Feature 8) In the above-described component mounting system, the above-described imaging device may also include a marking camera that can photograph the substrate from above.

[0033] With this structure, shape data can be generated based on the difference between a component-free image and a component-containing image captured from above by a marker camera. Therefore, for example, shape data can be generated with a simpler structure compared to a structure that includes a dedicated imaging device for generating shape data.

[0034] (Feature 9) In the component mounting system described above, the shape data generated by the data generation unit may represent the outline of the component. In this case, the generation apparatus may further include: a setting unit that sets a plurality of scan lines orthogonal to the outline; and a first extraction unit that, for each of the plurality of scan lines set by the setting unit in the component image, extracts at least one first edge that serves as the boundary between the component and the background based on the brightness variation of a pixel group along the scan line.

[0035] Based on this structure, the first edge can be extracted using the generated shape data.

[0036] (Feature 10) In the above-described component mounting system, the above-described generating apparatus may also include: a second extraction unit that extracts a second edge in the above-described componentless image that generates a predetermined brightness difference on the plurality of scan lines set by the above-described setting unit; and a determination unit that determines whether the second edge is the same as the first edge when the second extraction unit extracts the second edge from the above-described componentless image.

[0037] When extracting a second edge from a component-free image, where the second edge is located at a position corresponding to a first edge in a component-containing image, the first edge may not be the boundary between the component and the background. Based on this structure, it is possible to determine, using both the component-free and component-containing images, whether the extracted first edge accurately captures the boundary between the component and the background.

[0038] (Feature 11) In the above-described component mounting system, the above-described generating device may also include a deletion unit, which deletes the scan line of the first edge that was extracted by the second extraction unit when the determination unit determines that the second edge extracted by the second extraction unit is the same as the first edge.

[0039] With this structure, inaccurate extraction of the first edge can be prevented by removing scan lines that do not properly extract the boundary between the element and the background.

[0040] Example

[0041] Referring to the accompanying drawings, the component mounting system 100 of an embodiment will be described. The component mounting system 100 includes a component mounting machine 10 and a control device 22. The component mounting machine 10 is a device for mounting components 4 on the surface 3 of a circuit board 2. The component mounting machine 10 is also referred to as an electronic component mounting apparatus or a pick-and-place machine. The board 2 is a circuit board, and the components 4 are electronic components. Typically, the component mounting machine 10 is arranged side-by-side with other devices such as a solder printer and a board inspection machine to form a series of mounting lines. The control device 22 is disposed outside the component mounting machine 10 and controls the operation of the component mounting machine 10. Alternatively, in a modified embodiment, the control device 22 may be disposed inside the component mounting machine 10.

[0042] Reference Figure 1 and Figure 2 The structure of the component mounting machine 10 will be described below. The component mounting machine 10 includes: a touch screen 11, a component feeder unit 12, a feeder holding unit 14, a head unit 15 consisting of a mounting head 16 and a head moving device 18, a bottom camera 21, a marking camera 30, and a substrate conveyor 20. The touch screen 11 displays information related to the component mounting machine 10, for example, and receives operations from the user. Alternatively, in a modification, the component mounting machine 10 may replace the touch screen 11 with a display and an operation unit (e.g., a mouse and keyboard).

[0043] Especially as Figure 2 As shown, the component feeder unit 12 has a feeder along the +X direction (i.e., Figure 2 Multiple feeders are arranged in the direction shown on the paper, and each feeder contains multiple components 4. Each feeder of the component feeder unit 12 is detachably mounted to the feeder holding part 14 and supplies components 4 to the mounting head 16.

[0044] like Figure 1 As shown, the mounting head 16 of the head unit 15 has a cylindrical suction nozzle 6 for the suction element 4. The mounting head 16 enables the suction nozzle 6 to move along the Z-axis (i.e., Figure 1 The nozzle 6 moves (up and down) relative to the surface 3 of each feeder or substrate 2 of the component feeder unit 12, bringing it closer to and away from the surface 3. Furthermore, the mounting head 16 is not limited to having a single nozzle 6, but may have multiple nozzles 6.

[0045] The head moving device 18 of the head unit 15 moves the mounting head 16 and the marking camera 30 between each feeder of the component feeder unit 12 and the substrate 2. As an example, the head moving device 18 in this embodiment is an XY robot that moves the moving base 18a along the XY plane, with the mounting head 16 and the marking camera 30 fixed relative to the moving base 18a. In addition, the mounting head 16 is not limited to being fixed to the moving base 18a, but can also be detachably mounted to the moving base 18a.

[0046] like Figure 2 As shown, a mark 2M and a plurality of mounting areas 40 are disposed on the surface 3 of the substrate 2. The mark 2M has a circular shape and is used as a reference for alignment when mounting the component 4 onto the surface 3 of the substrate 2 from above. The mounting areas 40 are areas where the component 4 is fixed by solder, and for example, have a conductor portion 44 that electrically connects the circuit contained in the substrate 2 to the component 4 (see reference). Figure 4 ).

[0047] A lower camera 21 is disposed between the component feeder unit 12 and the substrate conveyor 20. The lower camera 21 has an upwardly facing lens. The lower camera 21 captures an adsorption image of the component 4 adsorbed onto the suction nozzle 6 from below. The lower camera 21 is configured to communicate with a control device 22. Based on a shooting instruction sent from the control device 22, the lower camera 21 captures the adsorption image and sends the image data of the captured adsorption image to the control device 22. Based on the sent adsorption image, the control device 22 can, for example, determine whether the component 4 is properly adsorbed onto the suction nozzle 6.

[0048] like Figure 1 As shown, the marking camera 30 is fixed to the movable base 18a and moves integrally with the movable base 18a. The marking camera 30 includes an illumination light source 32 and a prism (not shown). The marking camera 30 captures images of the surface 3 of the substrate 2 (e.g., a marking image of the mark 2M on the substrate 2) from above. The marking camera 30 is, for example, a CCD camera. The illumination light source 32 is, for example, composed of LEDs, and includes a red (R) light source, a green (G) light source, and a blue (B) light source. Therefore, the marking camera 30 can acquire a color image of the substrate 2 by adjusting the intensity of each color light source. In addition, the marking camera 30 can capture individual monochromatic images of R, G, and B by illuminating the mark 2M with the illumination light source 32 and obtaining the brightness of each monochromatic light. The prism aligns the optical axis of the marking camera 30 with the object being photographed. For example, the illumination light source 32 illuminates the mark 2M on the substrate 2 through a filter, and the reflected light is reflected by the prism and guided to the marking camera 30, thereby capturing the mark 2M on the substrate 2. The marking camera 30 is configured to communicate with the control device 22, and the image data captured by the marking camera 30 is sent to the control device 22. Alternatively, the marking camera 30 may not be able to move together with the mounting head 16; for example, it may be fixed at a position where it can capture images of the surface 3 of the substrate 2.

[0049] The substrate conveyor 20 is a device for loading, positioning, and unloading the substrate 2. As an example, the substrate conveyor 20 in this embodiment has a pair of belt conveyors and a support device for supporting the substrate 2 from below (not shown).

[0050] The control device 22 is configured to communicate with the head unit 15 and the substrate conveyor 20, in addition to the cameras 21 and 30 mentioned above. For example... Figure 1 As shown, the control device 22 includes a CPU 24 and a memory 26. The memory 26 consists of volatile memory and non-volatile memory. The memory 26 stores a program 28 and a brightness threshold Th1. The program 28 may include, for example, a program that prepares to determine whether the element 4 is accurately mounted in the mounting area 40 of the substrate 2. For example, during the operation of mounting the element 4 onto the substrate 2, the CPU 24 determines whether the mounting position of the element 4 is within a predetermined area based on an image obtained by capturing the element 4 already mounted in the mounting area 40 of the substrate 2. At this time, the CPU 24 performs the scan line setting process described later (see [reference]). Figure 5 The mounting position of component 4 is obtained using scan lines set through scan line setting processing. Furthermore, during scan line setting processing, CPU 24 performs shape data generation processing (see below). Figure 3 The scan lines are set based on the shape data of the outline of the representation element 4 generated through shape data generation processing. The CPU 24 executes the shape data generation processing and scan line setting processing according to program 28. The brightness threshold Th1 is used to extract the first edge of the outline of the representation element 4 (refer to...). Figure 5 and Figure 6 Program 28 and brightness threshold Th1 are pre-stored in memory 26 at the time of manufacture of component mounting machine 10. Alternatively, in a modified example, program 28 and brightness threshold Th1 may be subsequently installed in memory 26 from an external server.

[0051] Reference Figure 3 and Figure 4 The shape data generation process performed by the CPU 24 of the control device 22 will be described below. As described above, the shape data generation process is a process for generating shape data for the element 4. For example, the CPU 24 executes the shape data generation process upon startup of program 28. Figure 3 This is a flowchart illustrating the shape data generation process. Figure 4 This represents the components used in shape data generation processing: the componentless image I1, the component-containing image I2, and the difference image I3. Figure 2 An enlarged view of the area enclosed by the dashed line IV.

[0052] In step S2, the CPU 24 sets the illumination color used to generate shape data. In this embodiment, the CPU 24 generates shape data in the order of illumination colors R, G, and B. Therefore, the CPU 24 first sets the illumination color R. Hereinafter, the illumination color set in step S2 among illumination colors R, G, and B will sometimes be referred to as "set illumination color".

[0053] In S4, CPU 24 sends a shooting instruction to the marker camera 30 and receives a componentless image (e.g., I1) from the marker camera 30. Thus, CPU 24 obtains the componentless image. Figure 4 As shown, the component-free image I1 is an image of the mounting area 40 in a state where no component 4 is configured. The component-free image I1 includes: the surface 3 of the substrate 2, a plurality of terminals 42, and conductor portions 44 electrically connecting the terminals 42 to each other. When capturing the component-free image, the marking camera 30 illuminates the surface 3 of the substrate 2 with monochromatic light of a set illumination color (e.g., R) through an illumination light source 32. Thus, the monochromatic light of the set illumination color illuminates the surface 3 of the substrate 2, and its reflected light is reflected from the surface 3 of the substrate 2. The marking camera 30 captures the brightness of the reflected monochromatic light for each pixel P1, thereby capturing the component-free image.

[0054] In S10, CPU24 mounts component 4 onto mounting area 40 of substrate 2 via head unit 15. For example... Figure 4 As shown in component image I2, component 4 is fixed to mounting area 40 by solder 46. Thus, component 4 is electrically connected to terminal 42.

[0055] In S12, CPU 24 sends a shooting instruction to marker camera 30 and receives an image (e.g., I2) of the component from marker camera 30. The image of the component is an image of the mounting area 40 in the state where component 4 is configured. Figure 4 As shown, image I2 with components is an image I1 without components with components 4 and solder 46 added. Multiple bump electrodes 5 are arranged on the surface of component 4.

[0056] In S14, CPU 24 generates a differential image (e.g., I3) and displays it on touchscreen 11. CPU 24 generates the differential image for each pixel P1 by subtracting the brightness of the non-elemental image from the brightness of the image with elements. Therefore, for example, as... Figure 4 As shown, the pixel P1 representing surface 3 of substrate 2 in differential image I3 has zero brightness because the corresponding pixels in both images I1 and I2 have the same brightness. As a result, in differential image I3, the brightness of pixels P1 representing the same object in each of images I1 and I2 is displayed lower than the brightness of pixels P1 representing objects only in the component-containing image I2. Similarly, the pixel P1 representing terminal 42 is also displayed with low brightness in differential image I3. Conversely, the brightness of pixel P1 representing component 4 and solder 46, which are only included in component-containing image I2, is different from the brightness of the corresponding pixel P1 in the component-free image I1.

[0057] In S20, CPU24 determines whether the difference image generated in S14 contains negative regions. Here, a negative region is a region where the difference between the brightness of the image with components and the brightness of the image without components is negative. That is, a negative region contains pixels where the brightness of the image without components is greater than the brightness of the image with components. For example, in... Figure 4 In the example shown, the brightness of pixel P1 representing component 4 in the component image I2 is greater than the brightness of the corresponding pixel P1 in the componentless image I1, and the brightness of pixel P1 representing solder 46 in the component image I2 is less than the brightness of the corresponding pixel P1 in the componentless image I1. Therefore, the difference obtained by subtracting the brightness of the componentless image I1 from the brightness of the component image I2 is a positive value in pixel P1 representing component 4 and a negative value in pixel P1 representing solder 46. If the difference image I3 contains a negative region (e.g., pixel P1 representing solder 46) (yes in S20), CPU 24 proceeds to S22; if the difference image I3 does not contain a negative region (no in S20), it skips S22 and proceeds to S30.

[0058] In S22, CPU24 sets the negative regions determined in S20 to be included in the differential image as exclusion ranges. These exclusion ranges are regions excluded when generating the shape data (described later). That is, when generating shape data, CPU24 does not utilize the brightness of pixels included in the exclusion ranges in the differential image. As described above, the brightness of component 4 is, for example, greater than the brightness of the surface 3 of substrate 2 and the conductor portion 44. Therefore, negative regions in the component-free image with greater brightness than those in the component-containing image are presumed to be caused by factors other than component 4 (e.g., solder 46). If factors other than component 4 are used in generating shape data, accurate shape data for component 4 cannot be generated. Because CPU24 generates shape data by excluding negative regions, it can generate accurate shape data unaffected by factors other than component 4.

[0059] In S30, the CPU24 determines whether a selection of a specific area has been received from the user. Here, the specific area is the area in the differential image displayed on the touchscreen 11 in S14 that has been selected by the user. Figure 4 The differential image I3 shown includes bump electrodes 5 disposed on the surface of element 4. The bump electrodes 5 are circular electrodes disposed on the surface of element 4; therefore, accurate shape data cannot be generated if shape data representing the outline of element 4 is used. In this case, the user selects, for example, a specific area containing the bump electrodes 5 in the differential image. If the CPU 24 receives a selection of a specific area (yes in S30), it proceeds to S32; if no selection is received (no in S30), it skips S32 and proceeds to S40.

[0060] In S32, similar to S22 described above, CPU24 sets an exclusion range for the specific region selected in S30. Thus, CPU24 can, based on user instructions, exclude specific regions (e.g., bump electrode 5) that should not be used for generating the shape data of component 4, and generate the correct shape data.

[0061] In S40, CPU24 generates shape data based on the difference image. For example, CPU24 applies various known edge filters to the difference image to calculate the shape data. Figure 4 As shown in the differential image I3, shape data D1 represents the outline of element 4. If an exclusion range (e.g., bump electrode 5) is set in S22 or S32, CPU24 excludes that exclusion range and applies an edge filter. Thus, shape data after excluding the exclusion range is generated.

[0062] In S42, CPU24 determines whether shape data for three illumination colors (e.g., R, G, B) has been generated. If CPU24 does not store the three shape data in memory 26 (no in S42), it returns to S2, sets a monochromatic light of another illumination color (e.g., G), and executes the processing of S4~S40 again to generate shape data for that other illumination color. If CPU24 stores the three shape data in memory 26 (yes in S42), it proceeds to S50. Thus, in this embodiment, by utilizing the difference image between the image in the mounting area 40 of the substrate 2 when the component 4 is not mounted (i.e., the image without component) and the image in the mounting area 40 when the component 4 is mounted (i.e., the image with component), for example, even if the component 4 on the surface 3 of the substrate 2 includes a terminal 42 around it, accurate shape data for the component 4 can be generated.

[0063] In S50, CPU24 receives from the user a shape data set selected from the three shape data sets generated through the above processing. The shape data is then used in conjunction with a reference... Figure 5 and Figure 6This is utilized in the scan line setting process described later. The user selects the shape data that most accurately represents the outline of element 4 from the three shape data sets as the shape data to be used. For example, the user can also determine which shape data is most accurate by rotating and moving the three shape data sets individually. As mentioned above, the marking camera 30 can illuminate three monochromatic colors of light. For example, depending on the type of element 4, the color of light that is easily reflected may vary. The CPU 24 uses the three monochromatic colors of light from the marking camera 30 to generate three shape data sets, and determines the shape data selected by the user from these shape data sets as the shape data to be used. That is, the user selects the shape data that most accurately represents the outline of element 4 from the three shape data sets displayed on the touch screen 11, thereby enabling the CPU 24 to determine the shape data to be used. In this embodiment, by utilizing the marking camera 30, shape data can be generated with a simpler structure compared to a structure with a dedicated camera for generating shape data. Furthermore, the marking camera 30 can capture an image of the element 4 from above, so the shape data generated by the difference between the image without the element and the image with the element captured by the marking camera 30 can be used to determine the installation position of the element 4.

[0064] Reference Figure 5 and Figure 6 This section explains the scan line setting process. CPU24, based on... Figure 3 After the shape data generation process is completed, the scan line setting process is executed. Figure 5 This is a flowchart illustrating the scan line setting process. Figure 6 This indicates that the setting image I4 uses shape data (e.g., D2) generated during the shape data generation process to set the scan lines for the component image. Additionally, for ease of understanding, in Figure 6 In the diagram, dashed lines represent the shape data D2, and solid lines represent the outline of element 4 inside the shape data D2.

[0065] In S60, CPU24 sets scan lines based on shape data. For example, CPU24 sets a predetermined number of scan lines at equal intervals on each side using the shape data. Figure 6 In the example shown, CPU 24 sets three scan lines C1-C3 and C6-C8 on the pair of opposing long sides of shape data D2, and two scan lines C4-C5 and C9-C10 on the pair of short sides. As a result, scan lines C1-C10 are set along shape data D2. Scan lines C1-C10 represent the range of brightness variation measured along a direction orthogonal to shape data D2. Furthermore, in a modified example, CPU 24 can set scan lines at a predetermined distance from the ends of each side of the shape data, or at a position proportional to the length of each side.

[0066] In S62, the first edge is extracted from the image I2 using the scan lines set in S60. As shown in the set image I4, the CPU 24 measures the brightness at predetermined intervals along scan line C1, and extracts edge E1 at the position where the brightness change exceeds the brightness threshold Th1 in the memory 26. The CPU 24 similarly extracts edge E2 along scan line C2 and edge E3 along scan line C3. The CPU 24 also similarly extracts edges E4 to E10 along scan lines C4 to C10. In this way, the CPU 24 can utilize the image I2 to extract the first edge. Figure 4 The shape data generation process generates shape data D2, sets multiple scan lines (e.g., C1~C10), and extracts multiple edges E1~E10. As described above, the shape data represents the contour line of element 4 generated by the difference between the image without elements and the image with elements. By using shape data to set the scan lines, the brightness change around the contour line of element 4 can be measured, thus reducing the measurement range. Therefore, for example, compared to a structure that sets the scan lines along the entire range of the set image I4, the image processing time can be shortened.

[0067] In S70, CPU24 determines whether the second edge has been extracted from the componentless image I1 using the scan lines set in S60. If the second edge has not been extracted (not in S70), CPU24 skips S80 and S82 and terminates. Figure 5 The CPU24, upon extracting the second edge (as is the case in S70), proceeds to S80.

[0068] In S80, CPU24 determines whether the second edge extracted in S70 is contained within the first edge extracted in S62 (e.g., E1~E10). If the second edge is not contained within the first edge (which is not the case in S80), CPU24 skips S82 and terminates the process. Figure 5 The CPU24 proceeds to S82 if the second edge is contained within the first edge (as is the case in S80).

[0069] In S82, CPU24 deletes the scan lines (e.g., C1~C10) set in S60 that extracted the first edge, which was determined to be the same as the second edge. Here, the component-free image I1 does not contain component 4. Therefore, the scan lines in the component-free image I1 that extracted the second edge extracted the second edge based on the brightness variation of the shape that is not that of component 4. Therefore, when extracting the first edge using these scan lines, it is presumed that an edge different from the actual shape of component 4 is extracted. Since CPU24 deletes the scan lines that extracted the second edge, which is the same as the first edge, it can prevent the erroneous extraction of the first edge the next time it extracts the first edge. CPU24 terminates the process when S82 ends. Figure 5 The CPU24, when component 4 is installed, utilizes the process via... Figure 5 The scanning line is set by the processing to detect the shape and position of the component 4 mounted in the mounting area 40 of the substrate 2, and to determine whether the position of the component 4 is appropriate.

[0070] (Effect of this embodiment)

[0071] In the component mounting system 100 described above, the shape data (e.g., D1) of a component is generated by using the difference (e.g., differential image I3) between a component-free image (e.g., I1) and a component-containing image (e.g., I2). Therefore, accurate shape data of the component can be generated without being affected by objects (e.g., terminals 42) contained in the images of both sides.

[0072] The correspondence in this embodiment is as follows. The control device 22 is an example of a "generating device".

[0073] Figure 3 The S4 process is an example of a process performed by the "first acquisition unit," and the S12 process is an example of a process performed by the "second acquisition unit." The S40 process is an example of a process performed by the "data generation unit." The S14 process is an example of a process performed by the "image generation unit." The area where solder 46 is applied is an example of an area where "the first brightness is greater than the second brightness." The S30 process is an example of a process performed by the "selection unit." The S50 process is an example of a process performed by the "determination unit." Figure 5 The S60 process is an example of a process performed by the "setting unit". The S62 process is an example of a process performed by the "first extraction unit". The S70 process is an example of a process performed by the "second extraction unit". The S80 process is an example of a process performed by the "determination unit". The S82 process is an example of a process performed by the "deletion unit".

[0074] The following points are noted in relation to the component mounting system 100 described in the embodiments. In the above embodiments, the CPU 24 of the control device 22 executes... Figure 3The shape data generation and scan line setting processes are performed, but in a modified example, these processes can also be performed by a management device configured to communicate with a component mounting machine. In this modified example, the management device is an example of a "generation device".

[0075] In the above embodiment, CPU 24 executes the following commands for the illumination colors R, G, and B respectively. Figure 3 The processing of S2~S40. Instead, in this modified example, CPU24 can also obtain element-free images for the illumination colors R, G, and B respectively (see reference). Figure 3 After S4), the element 4 is mounted in the mounting area 40 (see S10), and then images with the element are obtained for each of the illumination colors R, G, and B (see S12). In this case, the CPU 24 can also generate three shape data using the image without the element and the image without the element for each of the illumination colors R, G, and B (see S14~S40), and receive a selection to use the shape data (see S50). According to this modified example, three shape data can be generated using one element 4.

[0076] CPU24 can also be omitted. Figure 3 S14. For example, after generating shape data for both the componentless image and the component-containing image, the CPU24 may delete the portion of the component-containing image's shape data that is identical to the componentless image's shape data, thereby generating the shape data for component 4. In this modified example, the "image generation unit" can be omitted.

[0077] The marker camera 30 can also capture elementless images containing multiple colors and element-containing images containing multiple colors.

[0078] CPU24 can also be omitted. Figure 3 The processing in S20 and S22. In this variant, CPU24 can also generate shape data in S40 without excluding negative regions.

[0079] CPU24 can also be omitted. Figure 3 The processing in S30 and S32. In this variant, CPU24 can also generate shape data in S40 without excluding specific regions.

[0080] The marker camera 30 may, for example, only be able to illuminate white monochromatic light. In this variation, the CPU 24 may also generate one shape data. In a further variation, the marker camera 30 may also illuminate monochromatic light of four colors—cyan, magenta, yellow, and green—instead of the aforementioned three colors (R, G, B). In this case, the CPU 24 may also generate four shape data.

[0081] CPU24 can also be replaced Figure 3The processing of S50, for example, determines the shape data among the three shape data that is closest to the predetermined data pre-stored in memory 26, and sets the determined shape data as the used shape data. That is, in this variant example, the CPU 24 may also not receive the selection of shape data from the user.

[0082] The image without components and the image with components may not include the mounting area 40 of the substrate 2. In this variation, for example, the image without components and the image with components may also be an image obtained by taking a picture of the component 4 adsorbed on the nozzle 6 from below. In this variation, the lower camera 21 is an example of an "image capturing device". In a further variation, the image without components and the image with components may also be an image obtained by taking a picture of the component 4 adsorbed on the nozzle 6 from the side. In this variation, the side camera is an example of an "image capturing device".

[0083] CPU24 can also be omitted. Figure 5 The CPU24 can also compare the shape of the component 4 mounted on the substrate 2 with the shape data used, and determine that the component 4 is accurately mounted on the substrate 2 if the two are more than the same in a predetermined proportion. In this modified example, the "setting unit" and the "first extraction unit" can be omitted.

[0084] CPU24 can also be omitted. Figure 5 The processing of S70~S80. In this modified example, the "second extraction unit" and the "determination unit" can be omitted.

[0085] CPU24 can also be omitted. Figure 5 The processing in S82. In this variation, the "deletion section" can be omitted. In this variation, for example, if it is determined to be yes in S80, the scan line that has extracted the first edge, which is the same as the second edge, can be moved by a predetermined distance.

[0086] The technical elements illustrated in this specification or drawings exert their technical usefulness individually or in various combinations, and are not limited to the combinations recited in the claims at the time of application. Furthermore, the technologies illustrated in this specification or drawings simultaneously achieve multiple objectives, and achieving one of these objectives is itself technically useful.

[0087] For example, this specification also discloses the technical idea of ​​changing "the component mounting system of claim 3" to "the component mounting system of claim 3 or 4" in claim 5. Similarly, it also discloses the technical idea of ​​changing "the component mounting system of claim 3" to "the component mounting system of any one of claims 3 to 5" in claim 6, changing "the component mounting system of claim 1" to "the component mounting system of any one of claims 1 to 7" in claim 8, and changing "the component mounting system of claim 1" to "the component mounting system of any one of claims 1 to 9" in claim 10.

Claims

1. A component mounting system, comprising: An imaging device is equipped with a component mounting machine for mounting components onto a substrate, and for imaging a predetermined area within the component mounting machine; and The generating device generates shape data of the element based on the image captured by the capturing device. The generating apparatus includes: The first acquisition unit acquires a componentless image from the imaging device, the componentless image being an image of the predetermined area in a state where the component is not configured; The second acquisition unit acquires an image with a component from the imaging device. The image with a component is an image of the predetermined area in a state where the component is arranged. and The data generation unit generates the shape data of the element by using the difference between the elementless image obtained by the first acquisition unit and the element-containing image obtained by the second acquisition unit.

2. The component mounting system according to claim 1, wherein, The generating apparatus further includes an image generating unit that generates a difference image representing the difference. The data generation unit generates the shape data based on the difference image generated by the image generation unit.

3. The component mounting system according to claim 2, wherein, The imaging device captures an image of the predetermined area by illuminating the predetermined area with at least one monochromatic light and obtaining the brightness of the monochromatic light reflected from the predetermined area for each pixel. The image generation unit generates a difference image for each corresponding pixel by using the difference between a first brightness, which is the brightness of the elementless image, and a second brightness, which is the brightness of the element-containing image.

4. The component mounting system according to claim 3, wherein, The data generation unit generates the shape data of the element by excluding the brightness of the region where the first brightness is greater than the second brightness.

5. The component mounting system according to claim 3, wherein, The generating apparatus also includes: The display unit displays the differential image; and The selection unit accepts the user's selection of a specific region in the differential image displayed on the display unit. When the selection unit accepts the selection of the specific region, the data generation unit generates the shape data of the element after excluding the brightness of the specific region.

6. The component mounting system according to claim 3, wherein, The at least one monochromatic light comprises monochromatic light of three colors. The imaging device captures images of the three predetermined areas by illuminating the predetermined areas with monochromatic light of the three colors respectively, and by obtaining the brightness of each of the three colors of monochromatic light reflected from the predetermined areas for each pixel. The image generation unit generates three difference images for each pixel in each of the three predetermined regions using the difference between the first brightness and the second brightness. The data generation unit generates three shape data based on the three difference images generated by the image generation unit. The generating apparatus further includes a determining unit that determines one of the shape data from the three shape data generated by the data generating unit.

7. The component mounting system according to claim 6, wherein, The determining unit determines one of the three shape data selected by the user.

8. The component mounting system according to claim 1, wherein, The predetermined area includes a mounting area on the substrate on which the component is mounted. The component-free image is an image of the mounting area before the component is installed. The component image is an image of the mounting area after the component has been installed.

9. The component mounting system according to claim 8, wherein, The imaging device includes a marking camera that captures images of the substrate from above.

10. The component mounting system according to claim 1, wherein, The shape data generated by the data generation unit represents the outline of the element. The generating apparatus also includes: The setting unit sets a plurality of scan lines orthogonal to the contour line; and The first extraction unit extracts at least one first edge, which serves as the boundary between the element and the background, for each of the plurality of scan lines set by the setting unit in the image containing the element, based on the change in brightness of a group of pixels along the scan line.

11. The component mounting system according to claim 10, wherein, The generating apparatus also includes: The second extraction unit extracts, from the component-free image, a second edge that generates a predetermined brightness difference on the plurality of scan lines set by the setting unit; and The determination unit determines whether the second edge is the same as the first edge when the second extraction unit extracts the second edge from the elementless image.

12. The component mounting system according to claim 11, wherein, The generating apparatus further includes a deletion unit, which deletes the scan line that extracted the first edge when the determination unit determines that the second edge extracted by the second extraction unit is the same as the first edge.

13. A manufacturing apparatus for generating shape data of components mounted onto a substrate by a component mounting machine. The component mounting machine has a camera device for capturing images of a predetermined area within the component mounting machine. The generating apparatus includes: The first acquisition unit acquires a componentless image from the imaging device, the componentless image being an image of the predetermined area in a state where the component is not configured; The second acquisition unit acquires an image with a component from the imaging device. The image with a component is an image of the predetermined area in a state where the component is arranged. and The data generation unit generates the shape data of the element by using the difference between the elementless image obtained by the first acquisition unit and the element-containing image obtained by the second acquisition unit.

Images