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

Abstract

To speed up the measurement processing of the 3D shape of at least part of a component.SOLUTION: A 3D measurement device comprises: a model point cloud data memory unit for memorizing model point cloud data that represent the 3D point cloud data of a model of a protruding part from the body part of a component; a computing range determination unit for determining the computing range of detected point cloud data by comparing the detected point cloud data, which represent the 3D point cloud data of the component detected by a 3D sensor, against the model point cloud data; and a 3D shape computing unit for computing the 3D shape of the protruding part based on the detected point cloud data in the computing range.SELECTED DRAWING: Figure 8

Description

[Technical field]

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

[0002] 2. Description of the Related Art In the technical field relating to component mounting apparatuses, an electronic component mounting apparatus equipped with a three-dimensional measuring device, as disclosed in Patent Document 1, is known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-144137 A Summary of the Invention [Problem to be solved by the invention]

[0004] In order to efficiently produce electronic devices using component mounting apparatus, it is desirable to increase the speed of measurement processing for the three-dimensional shapes of at least a portion of the components to be mounted on a board. [Means for solving the problem]

[0005] This specification discloses a three-dimensional measuring device that includes a model point cloud data storage unit that stores model point cloud data indicating three-dimensional point cloud data of a model of a protrusion protruding from a body part of a part, a calculation range determination unit that compares the model point cloud data with detection point cloud data indicating three-dimensional point cloud data of the part detected by a three-dimensional sensor to determine a calculation range of the detection point cloud data, and a three-dimensional shape calculation unit that calculates the three-dimensional shape of the protrusion based on the detection point cloud data of the calculation range. Effect of the Invention

[0006] The techniques disclosed in this specification speed up the process of measuring the three-dimensional shape of at least a portion of a part. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a perspective view showing a component mounting apparatus according to an embodiment. [Diagram 2] FIG. 2 is a side view showing the component mounting apparatus according to the embodiment. [Diagram 3] FIG. 3 is a perspective view showing a robot hand according to the embodiment. [Figure 4] FIG. 4 is a side view showing a part held by the robot hand according to the embodiment. [Diagram 5] FIG. 5 is a bottom view of the component according to the embodiment. [Figure 6] FIG. 6 is a perspective view showing the three-dimensional measuring apparatus according to the embodiment. [Figure 7] FIG. 7 is a diagram for explaining the operation of the robot manipulator according to the embodiment. [Figure 8] FIG. 8 is a block diagram showing a component mounting apparatus according to an embodiment. [Figure 9] FIG. 9 is a flowchart showing a three-dimensional measurement method of a lead portion according to the embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of model point cloud data according to the embodiment. [Figure 11] FIG. 11 is a diagram illustrating an example of the detection point cloud data according to the embodiment. [Figure 12] FIG. 12 is a diagram for explaining a method for determining a calculation range according to the embodiment. [Figure 13] FIG. 13 is a diagram illustrating an example of partial point cloud data according to the embodiment. [Figure 14] FIG. 14 is a block diagram illustrating a computer system according to an embodiment. [Figure 15] FIG. 15 is a flowchart showing a three-dimensional measurement method of a lead portion according to the embodiment. [Figure 16] FIG. 16 is a diagram for explaining the relationship between the size of the lead portion and the resolution according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiment. The components of the embodiments described below can be appropriately combined. In addition, some components may not be used.

[0009] In the embodiment, a local coordinate system is set in the component mounting device 1, and the positional relationship of each part will be described with reference to the local coordinate system. An XYZ Cartesian coordinate system is set as the local coordinate system. The direction parallel to the X axis in a predetermined plane is defined as the X axis direction. The direction parallel to the Y axis perpendicular to the X axis in the predetermined plane is defined as the Y axis direction. The direction parallel to the Z axis perpendicular to each of the X axis and the Y axis is defined as the Z axis direction. The direction of rotation or tilt around the X axis is defined as the θX direction. The direction of rotation or tilt around the Y axis is defined as the θY direction. The direction of rotation or tilt around the Z axis is defined as the θZ direction. The predetermined plane is the XY plane. The Z axis is perpendicular to the predetermined plane. In the embodiment, the predetermined plane is parallel to a horizontal plane. The Z axis direction is vertical. The predetermined plane may be tilted with respect to the horizontal plane.

[0010] First embodiment. A first embodiment will be described. [Component mounting equipment] Fig. 1 is a perspective view showing a component mounting apparatus 1 according to an embodiment. Fig. 2 is a side view showing the component mounting apparatus 1 according to an embodiment. The component mounting apparatus 1 mounts a component 100 on a board 200.

[0011] As shown in FIGS. 1 and 2, the component mounting apparatus 1 includes a base 2, a component supplying member 3, a board supporting member 4, a robot hand 5, a robot manipulator 6, and a three-dimensional measuring device .

[0012] The base 2 supports a component supply member 3, a substrate support member 4, a robot manipulator 6, and a three-dimensional measuring device 7.

[0013] The component supplying member 3 supplies the components 100. In the embodiment, the component supplying member 3 includes a tray on which the components 100 are placed. A plurality of components 100 are placed on the component supplying member 3. The types of the plurality of components 100 may be the same or different.

[0014] The board support member 4 supports the board 200 on which the component 100 is mounted. The board support member 4 supports the board 200 so that the top surface of the board 200 is parallel to the XY plane.

[0015] The robot hand 5 holds the part 100. The robot hand 5 is provided at the tip of a robot manipulator 6.

[0016] The robot manipulator 6 moves the robot hand 5. The robot manipulator 6 holds the component 100 via the robot hand 5. The robot manipulator 6 is driven while holding the component 100 to be mounted on the board 200. The robot manipulator 6 includes a multi-joint robot. In the embodiment, the robot manipulator 6 is a vertical multi-joint robot. The robot manipulator 6 may be a horizontal multi-joint robot. The robot manipulator 6 has a base member 6A fixed to the base 2, a rotating member 6B supported by the base member 6A, a first arm 6C connected to the rotating member 6B, a second arm 6D connected to the first arm 6C, and a third arm 6E connected to the second arm 6D.

[0017] The rotating member 6B is supported by the base member 6A so as to be rotatable around a rotation axis TX. The rotation 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 a first rotation axis AX1. The first rotation axis AX1 is perpendicular to the Z axis. The second arm 6D is connected to the first arm 6C so as to be rotatable around a second rotation axis AX2. The second rotation axis AX2 is parallel to the first rotation axis AX1. The third arm 6E is connected to the second arm 6D so as to be rotatable around a third rotation axis AX3. The third rotation axis AX3 is parallel to the second rotation axis AX2. The robot hand 5 is attached to the third arm 6E.

[0018] The robot manipulator 6 has a rotation actuator that rotates the rotation 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.

[0019] The three-dimensional measuring device 7 measures the part 100 held by the robot manipulator 6 via the robot hand 5. The three-dimensional measuring device 7 measures the three-dimensional shape of the part 100 based on the phase shift method. The three-dimensional measuring device 7 also detects the position and angle of the part 100 in the local coordinate system based on the phase shift method.

[0020] [Robot Hand] 3 is a perspective view showing a robot hand 5 according to an embodiment. The robot hand 5 has a connecting member 5A attached to a 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.

[0021] The rotating member 5B is supported by the connecting member 5A so as to be rotatable around a rotation axis RX. The rotation axis RX is perpendicular to the third rotation axis AX3. The pair of moving members 5C move in a direction toward and away from each other. A grip portion 5D is provided at the lower end of the moving member 5C. The pair of grip portions 5D move toward and away from each other.

[0022] The robot hand 5 has a rotation actuator that rotates the rotation member 5B, and a grip actuator that moves the pair of moving members 5C closer to or farther away from each other.

[0023] With the part 100 disposed between the pair of grip parts 5D, the pair of grip parts 5D approaches each other, thereby holding the part 100 in the grip parts 5D. When the pair of grip parts 5D moves away from each other, the part 100 is released from the grip parts 5D.

[0024] A force sensor 8 is disposed on one of the movable members 5C. The force sensor 8 can detect the load applied to the grip portion 5D.

[0025] [parts] Fig. 4 is a side view showing the part 100 held by the robot hand 5 according to the embodiment. Fig. 5 is a view of the part 100 according to the embodiment as viewed from below.

[0026] The component 100 has a body portion 101 and a plurality of lead portions 110 protruding from the body portion 101. The lead portions 110 are an example of protruding portions protruding from the body portion 101.

[0027] The body portion 101 includes a housing made of synthetic resin. An element such as a coil is disposed in the internal space of the body portion 101. The lead portion 110 is a metal protruding portion protruding from the body portion 101. The lead portion 110 is connected to an element disposed in the internal space of the body portion 101, for example.

[0028] Lead portion 110 protrudes downward from the lower surface of body portion 101. When component 100 is mounted on substrate 200, the lower surface of body portion 101 and the upper surface of substrate 200 face each other.

[0029] The robot hand 5 holds a body portion 101 of the part 100. The pair of grip portions 5D holds the part 100 by clamping the body portion 101 therebetween.

[0030] [3D measuring device] 6 is a perspective view showing a three-dimensional measuring device 7 according to an embodiment. As shown in FIG 6, the three-dimensional measuring device 7 measures the three-dimensional shape of at least a part of a part 100 in a state in which a body part 101 is held by a robot hand 5.

[0031] The three-dimensional measuring device 7 includes a projection device 7A, an imaging device 7B, and a calculation device 7C. In the embodiment, the projection device 7A and the imaging device 7B are each housed in a housing 7D. The projection device 7A and the imaging device 7B are each fixed to the housing 7D. A transparent member 7E is disposed in an opening at the upper end of the housing 7D. An example of the transparent member 7E is a glass plate.

[0032] The projection device 7A irradiates stripe pattern light onto the part 100 while the body part 101 is held by the robot hand 5. The projection device 7A has a light source, a light modulation element that optically modulates the 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 modulation element. Examples of the light modulation element include a digital mirror device (DMD), a transmissive liquid crystal panel, or a reflective liquid crystal panel.

[0033] The imaging device 7B captures an image of the component 100 illuminated with the stripe pattern light from a predetermined viewpoint. The viewpoint of the imaging device 7B refers to the imaging position and imaging angle of the imaging device 7B relative to the component 100. The imaging device 7B has an imaging optical system that forms an image of the stripe pattern light reflected by the component 100, and an imaging element that obtains image data of the component 100 via the imaging optical system. Examples of the imaging element include a CMOS image sensor (Complementary Metal Oxide Semiconductor Image Sensor) and a CCD image sensor (Charge Coupled Device Image Sensor).

[0034] 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 detection data of the component 100 detected by the three-dimensional sensor.

[0035] The arithmetic device 7C performs measurement processing of at least a part of the three-dimensional shape of the part 100 based on the imaging data of the part 100 captured by the imaging device 7B. The arithmetic device 7C performs measurement processing of at least a part of the three-dimensional shape of the part 100 based on the phase shift method. The measurement processing of the arithmetic device 7C includes image processing of the imaging data of the part 100 captured by the imaging device 7B. The arithmetic device 7C includes a computer system. The arithmetic device 7C has 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.

[0036] The projection device 7A irradiates the component 100 with, for example, stripe pattern light having a sinusoidal brightness distribution while shifting the phase. The component 100 held by the robot hand 5 is placed above a transparent member 7E. The stripe pattern light emitted from the projection device 7A is irradiated onto the component 100 through the transparent member 7E.

[0037] The imaging device 7B images the part 100 illuminated with the stripe pattern light. The imaging device 7B images the part 100 through the transparent member 7E. The imaging device 7B images the part 100 from below the part 100. The viewpoint of the imaging device 7B is set below the part 100. When the robot manipulator 6 is operated and the position and angle of the part 100 held by the robot hand 5 change, the relative position and relative angle between the part 100 and the imaging device 7B change. When the relative position and relative angle between the part 100 and the imaging device 7B change, the viewpoint of the imaging device 7B relative to the part 100 changes.

[0038] The computing device 7C processes the image data of the component 100 captured by the imaging device 7B based on a phase shift method to calculate three-dimensional data indicating the three-dimensional shape of the lead 110. The three-dimensional data of the lead 110 includes the amount of bending of the lead 110 and the coordinates of the tip of the lead 110 in a three-dimensional space defined by a local coordinate system. If the angle of the lead 110 relative to the body 101 based on the design value is defined as an ideal angle, and the actual angle of the lead 110 relative to the body 101 is defined as an actual angle, the amount of bending of the lead 110 refers to the difference between the ideal angle and the actual angle.

[0039] The three-dimensional sensor may be, for example, a LiDAR (Light Detection And Ranging). The LiDAR irradiates laser light onto the part 100 while the body part 101 is held by the robot hand 5. The LiDAR outputs three-dimensional point cloud data of the part 100 as detection data of the part 100 to the calculation device 7C.

[0040] [Robot manipulator movement] 7 is a diagram for explaining the operation of the robot manipulator 6 according to the embodiment. The component mounting apparatus 1 includes a control device 9 that controls the robot manipulator 6. The control device 9 includes a computer system. As shown in FIG. 7, a hole 210 into which the lead portion 110 of the component 100 is inserted is provided in the substrate 200. The control device 9 controls the robot manipulator 6 based on the image processing result of the calculation device 7C of the three-dimensional measuring device 7 so that the lead portion 110 of the component 100 is inserted into the hole 210 of the substrate 200.

[0041] [Arithmetic device] 8 is a block diagram showing a component mounting apparatus 1 according to an embodiment of the present invention. As shown in FIG. 8, the component mounting apparatus 1 includes a calculation device 7C and a control device 9.

[0042] The calculation device 7C has a model point cloud data storage unit 11, a detection point cloud data generation unit 12, a calculation range determination unit 13, a three-dimensional shape calculation unit 14, and an output unit 15.

[0043] The model point cloud data storage unit 11 stores model point cloud data Da that indicates three-dimensional point cloud data of a model of the lead portion 110. The model point cloud data Da is known data. The model point cloud data Da is three-dimensional point cloud data that indicates an ideal three-dimensional shape of the lead portion 110. The model point cloud data Da indicates the three-dimensional shape of the model of the lead portion 110. The model point cloud data Da is a collection of multiple measurement points on the surface of the model of the lead portion 110. The position of each of the multiple measurement points is defined by an X coordinate, a Y coordinate, and a Z coordinate.

[0044] 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 body portion 101 (ideal position), the angle of the lead portion 110 with respect to the body portion 101 (ideal angle), and the spacing between multiple lead portions 110 (ideal spacing).

[0045] The model point cloud data Da may be generated from design data of the lead portion 110. The design data of the lead portion 110 includes three-dimensional CAD (Computer Aided Design) data.

[0046] The model point cloud data Da does not have to be generated from design data. When the lead portion 110 having an ideal three-dimensional shape, which is a shape based on design values, is measured by the three-dimensional measuring device 7, the model point cloud data Da may be generated from the three-dimensional data of the lead portion 110 having the ideal three-dimensional shape.

[0047] The detection point cloud data generation unit 12 generates detection point cloud data Db indicating three-dimensional point cloud data of the part 100 based on a plurality of pieces of imaging data of the part 100 captured from a plurality of viewpoints by the imaging device 7B. The detection point cloud data generation unit 12 performs arithmetic processing on the imaging data of the part 100 acquired from the imaging device 7B based on a phase shift method to generate three-dimensional image data of the part 100. The detection point cloud data generation unit 12 converts the generated three-dimensional image data into detection point cloud data Db, which is three-dimensional point cloud data. The detection point cloud data Db indicates the three-dimensional shape of the part 100. The detection point cloud data Db is a collection of a plurality of measurement points measured by the three-dimensional measuring device 7 on the surface of the part 100. The position of each of the plurality of measurement points is defined by an X coordinate, a Y coordinate, and a Z coordinate.

[0048] The detected point cloud data generator 12 may be provided in a computer (processor) separate from the arithmetic device 7C. That is, the process of generating the detected point cloud data Db does not have to be performed in the arithmetic device 7C.

[0049] When the three-dimensional sensor is a LIDAR, the detection data of the part 100 detected by the LIDAR includes detected point cloud data Db indicating three-dimensional point cloud data of the part 100. Therefore, when the three-dimensional sensor is a LIDAR, the detected point cloud data generator 12 may be omitted.

[0050] The calculation range determination unit 13 compares the model point cloud data Da of the lead portion 110 with the detected point cloud data Db of the part 100 to determine a calculation range CS of the detected point cloud data Db.

[0051] In the embodiment, collating the model point cloud data Da with the detection point cloud data Db includes matching the model point cloud data Da with the detection point cloud data Db. Matching the model point cloud data Da with the detection point cloud data Db includes searching for a relative position between the model point cloud data Da and the detection point cloud data Db at which the degree of agreement between the model point cloud data Da and the detection point cloud data Db is high. The calculation range determination unit 13 determines the calculation range CS based on the degree of agreement between the model point cloud data Da and the detection point cloud data Db. The calculation range determination unit 13 performs a search process to search for a relative position between the model point cloud data Da and the detection point cloud data Db at which the degree of agreement between the model point cloud data Da and the detection point cloud data Db is high.

[0052] The calculation range determination unit 13 performs a search process based on a specified algorithm. The search process includes a movement amount ΔX of the model point cloud data Da in the X-axis direction, a movement amount ΔY of the model point cloud data Da in the Y-axis direction, a movement amount ΔZ of the model point cloud data Da in the Z-axis direction, a rotation amount ΔθX of the model point cloud data Da in the θX direction, a rotation amount ΔθY of the model point cloud data Da in the θY direction, and a rotation amount ΔθZ of the model point cloud data Da in the θZ direction, in order to align the model point cloud data Da with the detection point cloud data Db.

[0053] Examples of the prescribed algorithm include an ICP (Iterative Closest Point) algorithm, an NDT (Normal Distributions Transform) scan matching, and a FAST (Features from Accelerated Segment Test) feature point matching. The calculation range determination unit 13 performs matching between the model point cloud data Da and the detection point cloud data Db based on an existing algorithm.

[0054] Based on the comparison result between the model point cloud data Da and the detection point cloud data Db, the calculation range determination unit 13 determines a calculation range CS that does not include the body portion 101 but includes the lead portion 110. In other words, the calculation range determination unit 13 determines, as the calculation range CS, a portion of the detection point cloud data Db that has been aligned with the model point cloud data Da so as to increase the degree of match between the model point cloud data Da and the detection point cloud data Db. Determining the portion of the detection point cloud data Db of the part 100 as the calculation range CS includes extracting partial point cloud data Dc that indicates the detection point cloud data Db of only the lead portion 110 from the detection point cloud data Db of the entire part 100.

[0055] The three-dimensional shape calculation unit 14 calculates three-dimensional data indicating the three-dimensional shape of the lead 110 based on the partial point cloud data Dc, which is the detection point cloud data Db of the calculation range CS. As described above, the three-dimensional data of the lead 110 includes the amount of bending of the lead 110 and the coordinates of the tip of the lead 110 in a three-dimensional space defined by the local coordinate system.

[0056] The output unit 15 outputs the three-dimensional data of the lead portion 110 calculated by the three-dimensional shape calculation unit 14 to the control device 9. The measurement processing results of the arithmetic unit 7C include three-dimensional data indicating the three-dimensional shape of the lead portion 110 calculated by the three-dimensional shape calculation unit 14. The three-dimensional data of the lead portion 110 includes the amount of bending of the lead portion 110 and the coordinates of the tip portion of the lead portion 110. The control device 9 controls the robot manipulator 6 based on the three-dimensional data of the lead portion 110 so that the lead portion 110 is inserted into the hole 210 of the substrate 200.

[0057] [3D measurement method for lead parts] FIG. 9 is a flowchart showing a three-dimensional measurement method of a lead portion 110 according to an embodiment. In order to mount the component 100 on the board 200, the control device 9 controls the robot manipulator 6 so that the robot hand 5 approaches the component supply member 3. The robot hand 5 that has moved to the component supply member 3 holds the body portion 101 of the component 100 arranged on the component supply member 3. After the body portion 101 of the component 100 is held by the robot hand 5, the control device 9 controls the robot manipulator 6 so that the component 100 held by the robot hand 5 is measured by the three-dimensional measuring device 7. That is, the control device 9 controls the robot manipulator 6 so that the component 100 held by the robot hand 5 is placed above the three-dimensional measuring device 7, as described with reference to FIG. 6.

[0058] In the embodiment, the control device 9 controls the robot manipulator 6 so that the part 100 is imaged by the imaging device 7B from each of a plurality of viewpoints. That is, the control device 9 controls the robot manipulator 6 so that the position and angle of the part 100 held by the robot hand 5 changes above the three-dimensional measuring device 7. The imaging device 7B images the part 100 from each of a plurality of different viewpoints.

[0059] The calculation range determination unit 13 acquires model point cloud data Da indicating three-dimensional point cloud data of the model of the lead portion 110 from the model point cloud data storage unit 11 (step S10).

[0060] Fig. 10 is a diagram showing an example of model point cloud data Da according to an embodiment. As shown in Fig. 10, in the model point cloud data Da, measurement points are provided on the entire surface of the lead portion 110. In the model point cloud data Da, there are no missing measurement points. In the model point cloud data Da, the measurement points are ideally arranged.

[0061] The detection point cloud data generator 12 acquires a plurality of pieces of imaging data of the part 100 captured from each of a plurality of viewpoints by the imaging device 7B. The detection point cloud data generator 12 generates detection point cloud data Db of the part 100 based on the plurality of pieces of imaging data of the part 100 captured from each of the plurality of viewpoints (step S20).

[0062] 11 is a diagram illustrating an example of the detection point cloud data Db according to the embodiment. When the part 100 is imaged from a plurality of viewpoints, the detection point cloud data generating unit 12 generates a plurality of detection point cloud data Db of the part 100 seen from each of the plurality of viewpoints. For example, when the part 100 is imaged from three viewpoints, the detection point cloud data generating unit 12 generates a first detection point cloud data Db1 of the part 100 seen from the first viewpoint, a second detection point cloud data Db2 of the part 100 seen from the second viewpoint, and a third detection point cloud data Db3 of the part 100 seen from the third viewpoint. Note that two detection point cloud data Db seen from each of the two viewpoints may be generated, or a plurality of detection point cloud data Db seen from each of four or more arbitrary viewpoints may be generated.

[0063] Depending on the imaging position and imaging angle of the imaging device 7B relative to the part 100, the imaging device 7B may not be able to image the whole part 100. That is, depending on the viewpoint of the imaging device 7B, a blind spot may occur in the part 100, and a range of the part 100 may be generated that cannot be imaged by the imaging device 7B. In the detection point cloud data Db, the measurement points may not be provided on at least a part of the surface of the body part 101. In addition, in the detection point cloud data Db, the measurement points may not be provided on at least a part of the surface of the lead part 110. That is, there is a possibility that the measurement points may be missing in the detection point cloud data Db. The detection point cloud data generating unit 12 may generate one detection point cloud data Db of the part 100 by integrating multiple detection point cloud data (Db1, Db2, Db3) generated from each of the imaging data of the part 100 imaged from multiple viewpoints.

[0064] Note that the detected point cloud data generation unit 12 does not need to integrate multiple detected point cloud data (Db1, Db2, Db3). Furthermore, when the three-dimensional sensor is a LIDAR, the detection data of the part 100 detected by the LIDAR includes detected point cloud data Db indicating three-dimensional point cloud data of the part 100. Therefore, when the three-dimensional sensor is a LIDAR, the processing of the detected point cloud data generation unit 12 may be omitted.

[0065] The detection point cloud data Db shown in FIG. 11 shows an example in which one of the nine lead portions 110 is slightly bent.

[0066] The calculation range determination unit 13 compares the model point cloud data Da of the lead portion 110 with the detected point cloud data Db of the part 100 to determine a calculation range CS of the detected point cloud data Db (step S30).

[0067] FIG. 12 is a diagram for explaining a method of determining a calculation range CD according to an embodiment. In the embodiment, collating the model point cloud data Da with the detection point cloud data Db includes matching the model point cloud data Da with the detection point cloud data Db. Matching the model point cloud data Da with the detection point cloud data Db includes searching for a relative position between the model point cloud data Da and the detection point cloud data Db at which the degree of agreement between the model point cloud data Da and the detection point cloud data Db is high. The calculation range determination unit 13 determines the calculation range CS based on the degree of agreement between the model point cloud data Da and the detection point cloud data Db. The calculation range determination unit 13 performs a search process to search for a relative position between the model point cloud data Da and the detection point cloud data Db at which the degree of agreement between the model point cloud data Da and the detection point cloud data Db is high.

[0068] The calculation range determination unit 13 performs a search process based on a specified algorithm. Examples of the specified algorithm include an ICP (Iterative Closest Point) algorithm, an NDT (Normal Distributions Transform) scan matching, and a FAST (Features from Accelerated Segment Test) feature point matching. The calculation range determination unit 13 performs matching between the model point cloud data Da and the detection point cloud data Db based on an existing algorithm.

[0069] Based on the comparison result between the model point cloud data Da and the detection point cloud data Db, the calculation range determination unit 13 determines a calculation range CS that does not include the body portion 101 but includes the lead portion 110. In other words, the calculation range determination unit 13 determines, as the calculation range CS, a portion of the detection point cloud data Db that has been aligned with the model point cloud data Da so as to increase the degree of match between the model point cloud data Da and the detection point cloud data Db. Determining the portion of the detection point cloud data Db of the part 100 as the calculation range CS includes extracting partial point cloud data Dc that indicates the detection point cloud data Db of only the lead portion 110 from the detection point cloud data Db of the entire part 100.

[0070] Fig. 13 is a diagram showing an example of partial point cloud data Dc according to the embodiment. As shown in Fig. 13, partial point cloud data Dc indicating detection point cloud data Db including only the lead portion 110 and not the body portion 101 is extracted from the detection point cloud data Db of the entire part 100 by comparing the model point cloud data Da of the lead portion 110 with the detection point cloud data Db of the entire part 100. The calculation range determination unit 13 may delete the detection point cloud data Db of the body portion 101 by, for example, a pass-through filter.

[0071] The three-dimensional shape calculation unit 14 calculates three-dimensional data indicating the three-dimensional shape of the lead 110 based on the partial point cloud data Dc, which is the detected point cloud data Db in the calculation range CS (step S40). As described above, the three-dimensional data of the lead 110 includes the amount of bending of the lead 110 and the coordinates of the tip of the lead 110 in a three-dimensional space defined by the local coordinate system.

[0072] 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 measuring device 7 (step S50).

[0073] The control device 9 controls the robot manipulator 6 based on the three-dimensional data of the lead portion 110 output from the output unit 15 so that the component 100 is mounted on the board 200. The three-dimensional data of the lead portion 110 includes the amount of bending of the lead portion 110 and the coordinates of the tip portion of the lead portion 110. The control device 9 controls the robot manipulator 6 based on the three-dimensional data of the lead portion 110 so that the lead portion 110 is inserted into the hole 210 of the board 200.

[0074] [Computer System] FIG. 14 is a block diagram showing a computer system 1000 according to an embodiment. Each of the above-mentioned arithmetic device 7C and the control device 9 includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a central processing unit (CPU), a main memory 1002 including a non-volatile memory such as a read only memory (ROM) and a volatile memory such as a random access memory (RAM), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the arithmetic device 7C and the control device 9 are stored in the storage 1003 as computer programs. The processor 1001 reads the computer program from the storage 1003, expands it in the main memory 1002, and executes the above-mentioned processing according to the computer program. The computer program may be distributed to the computer system 1000 via a network.

[0075] According to the above-described embodiment, the computer program enables the computer system 1000 to acquire model point cloud data Da indicating three-dimensional point cloud data of a model of the lead portion 110 protruding from the body portion 101 of the part 100, compare the model point cloud data Da with detection point cloud data Db indicating three-dimensional point cloud data of the part 100 detected by a three-dimensional sensor to determine a calculation range CS of the detection point cloud data Db, and calculate the three-dimensional shape of the lead portion 110 based on the partial point cloud data Dc, which is the detection point cloud data Db of the calculation range CS.

[0076] [effect] As described above, the three-dimensional measuring device 7 includes a model point cloud data memory unit 11 that stores model point cloud data Da indicating three-dimensional point cloud data of a model of the lead portion 110, which is a protrusion that protrudes from the body portion 101 of the part 100, a calculation range determination unit 13 that compares the model point cloud data Da with detection point cloud data Db indicating three-dimensional point cloud data of the part 100 detected by the three-dimensional sensor to determine a calculation range CS of the detection point cloud data Db, and a three-dimensional shape calculation unit 14 that calculates the three-dimensional shape of the lead portion 110 based on partial point cloud data Dc, which is the detection point cloud data Db of the calculation range CS.

[0077] According to the embodiment, partial point cloud data Dc indicating the detection point cloud data Db including only the lead portion 110 and not the body portion 101 is extracted from the detection point cloud data Db of the entire part 100 by comparing the model point cloud data Da of the lead portion 110 with the detection point cloud data Db of the entire part 100. The three-dimensional shape calculation unit 14 calculates the three-dimensional shape of the lead portion 110 from the partial point cloud data Dc. In the embodiment, the process of calculating the three-dimensional shape of the body portion 101 is omitted. When the lead portion 110 of the part 100 is inserted into the hole 210 of the board 200, it is sufficient to know the three-dimensional data of the lead portion 110 (the bending amount of the lead portion 110 and the coordinates of the tip portion of the lead portion 110), and it is highly likely that the three-dimensional data of the body portion 101 is unnecessary. In the embodiment, the three-dimensional data indicating the three-dimensional shape of the lead portion 110 is calculated, and the three-dimensional data indicating the three-dimensional shape of the body portion 101 is not calculated. This reduces the amount of calculation (computational load) performed by the computing device 7C. Because the amount of calculation is reduced, the measurement process for the three-dimensional shape of at least a part of the component 100 mounted on the board 200 can be performed at high speed.

[0078] Second embodiment. A second embodiment will be described below. In the following description, the same or equivalent components as those in the above-described embodiment are denoted by the same reference numerals, and the description of those components will be simplified or omitted.

[0079] 15 is a flowchart showing a three-dimensional measurement method for the lead portion 110 according to the embodiment. As in the first embodiment described above, the calculation range determination unit 13 acquires model point cloud data Da indicating three-dimensional point cloud data of the model of the lead portion 110 from the model point cloud data storage unit 11 (step S10).

[0080] The detection point cloud data generator 12 acquires a plurality of pieces of imaging data of the part 100 captured from each of a plurality of viewpoints by the imaging device 7B. The detection point cloud data generator 12 generates detection point cloud data Db of the part 100 based on the plurality of pieces of imaging data of the part 100 captured from each of the plurality of viewpoints (step S20).

[0081] The calculation range determination unit 13 reduces the resolution of the detection point cloud data Db of the part 100. The calculation range determination unit 13 reduces the initial resolution of the detection point cloud data Db generated by the detection point cloud data generation unit 12 in step S20 to a predetermined resolution lower than the initial resolution (step S21).

[0082] As described above, the detection point cloud data Db is a collection of multiple measurement points measured by the three-dimensional measuring device 7 on the surface of the part 100. Reducing the resolution of the detection point cloud data Db includes thinning out the measurement points. In other words, reducing the resolution of the detection point cloud data Db includes reducing the number of measurement points per unit volume. Reducing the resolution of the detection point cloud data Db includes reducing the density of the measurement points.

[0083] When lowering the resolution of the detection point cloud 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 lowers the resolution as the outer size of the lead portion 110 becomes larger.

[0084] Fig. 16 is a diagram for explaining the relationship between the size and resolution of the lead portion 110 according to the embodiment. In the graph shown in Fig. 16, the horizontal axis represents the size of the lead portion 110, and the vertical axis represents the resolution. When the initial resolution of the detection point cloud data Db is reduced to a predetermined resolution, if the external size of the lead portion 110 is a first size, the calculation range determination unit 13 reduces the initial resolution to the first predetermined resolution. If the external size of the lead portion 110 is a second size smaller than the first size, the calculation range determination unit 13 reduces the initial resolution to a second predetermined resolution larger than the first predetermined resolution.

[0085] 16, in the embodiment, table data indicating the relationship between the size and resolution of the lead portion 110 is determined in advance. The size of the lead portion 110 is known data that can be determined from the specifications of the part 100. The calculation range determination unit 13 determines how much to lower the initial resolution of the detection point cloud data Db based on the table data and the size of the lead portion 110.

[0086] The calculation range determination unit 13 determines the resolution to be equal to or less than half the minimum value of the width, height, and length of the lead portion 110, for example, using a voxel grid filter technique.

[0087] After lowering the resolution of the detected point cloud data Db, the calculation range determination unit 13 compares the model point cloud data Da of the lead portion 110 with the detected point cloud data Db of the part 100 to determine a calculation range CS of the detected point cloud data Db (step S30).

[0088] As in the first embodiment described above, the calculation range determination unit 13 performs a search process based on a specified algorithm. The calculation range determination unit 13 performs matching between the model point cloud data Da and the detection point cloud data Db based on an existing algorithm.

[0089] After the calculation range CS that does not include the body portion 101 but includes the lead portion 110 is determined, the three-dimensional shape calculation unit 14 increases the resolution of the detection point cloud data Db. The three-dimensional shape calculation unit 14 increases the predetermined resolution of the detection point cloud data Db determined in step S21 to an initial resolution that is higher than the predetermined resolution. In other words, the three-dimensional shape calculation unit 14 returns the resolution of the detection point cloud data Db that was lowered in step S21 to the original resolution.

[0090] After increasing the resolution of the detection point cloud data Db, the three-dimensional shape calculation unit 14 calculates three-dimensional data indicating the three-dimensional shape of the lead portion 110 based on the partial point cloud data Dc, which is the detection point cloud data Db in the calculation range CS (step S40).

[0091] 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 measuring device 7 (step S50).

[0092] As described above, in the embodiment, in determining the calculation range CS, the resolution of the detection point cloud data Db is reduced from the initial resolution to a predetermined resolution, thereby reducing the time required for the calculation process when determining the calculation range CS.

[0093] The calculation range determination unit 13 reduces the resolution of the detection point cloud data Db as the size of the lead portion 110 increases. When the size of the lead portion 110 is large, the time required for calculation processing when determining the calculation range CS is reduced by reducing the resolution of the detection point cloud data Db. When the size of the lead portion 110 is small, if the resolution of the detection point cloud data Db is reduced too much, the absolute number of measurement points constituting the lead portion 110 becomes too small, and as a result, it may be difficult to match the model point cloud data Da of the lead portion 110 with the detection point cloud data Db of the part 100. When the size of the lead portion 110 is small, the calculation range determination unit 13 can match the model point cloud data Da of the lead portion 110 with the detection point cloud data Db of the part 100 by not reducing the resolution of the detection point cloud data Db too much.

[0094] In the calculation of the three-dimensional data of the lead portion 110, the predetermined resolution of the detection point cloud data Db is returned to the initial resolution. In the calculation of the three-dimensional data, the resolution of the detection point cloud data Db is increased, so that the three-dimensional data of the lead portion 110 is calculated with high accuracy.

[0095] Other embodiments. In the above-described embodiment, the three-dimensional sensor is the imaging device 7B that captures the part 100 onto which the stripe light pattern is projected by the projection device 7A. The three-dimensional sensor only needs to be able to detect the three-dimensional shape (three-dimensional point cloud data) of the part 100. As described above, the three-dimensional sensor may be, for example, a LIDAR. The three-dimensional sensor may be a stereo camera.

[0096] In the above-described embodiment, the protruding portion of component 100 is lead portion 110 made of metal. The protruding portion may be made of synthetic resin. For example, as the protruding portion, a boss portion made of synthetic resin may protrude from body portion 101, and the boss portion may be inserted into hole 210 of substrate 200. [Explanation of symbols]

[0097] Reference Signs List 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...grip portion, 6...robot manipulator, 6A...base member, 6B...rotating member, 6C...first arm, 6D...second arm, 6E...third arm, 7...three-dimensional measuring device, 7A...projection device, 7B...imaging device, 7C...computing device, 7D...housing, 7E...transparent member, 8...force sensor, 9...control device, 11...model point cloud data storage unit, 12...detected point cloud data storage unit formation unit, 13...calculation range determination unit, 14...3D shape calculation unit, 15...output unit, 100...component, 101...body unit, 110...lead unit (protrusion), 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 cloud data, Db...detected point cloud data, Dc...partial point cloud data, CS...calculation range, RX...rotation axis, TX...swivel axis.

Claims

1. a model point cloud data storage unit that stores model point cloud data indicating three-dimensional point cloud data of a model of a protrusion protruding from a body portion of a part; a calculation range determination unit that compares the model point cloud data with detection point cloud data indicating three-dimensional point cloud data of the part detected by a three-dimensional sensor, and determines a calculation range of the detection point cloud data; a three-dimensional shape calculation unit that calculates a three-dimensional shape of the protrusion based on the detection point cloud data of the calculation range, 3D measuring device.

2. the calculation range determination unit determines the calculation range based on a degree of coincidence between the model point cloud data and the detection point cloud data. The three-dimensional measuring apparatus according to claim 1 .

3. the calculation range determination unit determines the calculation range not including the body portion but including the protruding portion based on a comparison result between the model point cloud data and the detection point cloud data. The three-dimensional measuring apparatus according to claim 2 .

4. the calculation range determination unit reduces the resolution of the detection point cloud data, and then collates the model point cloud data with the detection point cloud data to determine the calculation range. The three-dimensional measuring apparatus according to claim 1 .

5. the calculation range determination unit reduces the resolution as the size of the protrusion increases, The three-dimensional measuring apparatus according to claim 4.

6. the three-dimensional shape calculation unit increases a resolution of the detection point cloud data, and then calculates a three-dimensional shape of the protrusion. The three-dimensional measuring apparatus according to claim 4.

7. a robot manipulator that holds and drives the component to be mounted on the board; The three-dimensional measuring apparatus according to claim 1 , which measures a three-dimensional shape of the part; a control device that controls the robot manipulator so that the component is mounted on a board based on a measurement processing result of the three-dimensional measuring device. Component mounting equipment.

8. Obtaining model point cloud data representing three-dimensional point cloud data of a model of a protrusion protruding from a body portion of a part; Collating the model point cloud data with detection point cloud data indicating three-dimensional point cloud data of the part detected by a three-dimensional sensor to determine a calculation range of the detection point cloud data; calculating a three-dimensional shape of the protrusion based on the detection point cloud data of the calculation range, 3D measurement method.

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