Component data creation device, component mounting system, component data creation method, and component data creation program

Abstract

To provide a component data creation device, a component mounting system, a component data creation method, and a component data creation program that enable the creation of highly accurate component data.SOLUTION: A component data creation device 3 includes a first mark portion 31 arranged so as to be in contact with a first portion P1 of a component P, a second mark portion 32 in which the component P is arranged such that the first portion P1 faces upward and the second portion P2 is in contact with the first portion P1, a camera 331 that images a first mark 311 of the first mark portion 31 and a second mark 321 of the second mark portion 32, and a data creation portion 3341 that creates component data PD using an image G captured by the camera 331.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a component data creation device, a component mounting system, a component data creation method, and a component data creation program for creating component data of components used in a mounting machine.

Background Art

[0002] A mounting machine for producing a mounting substrate on which components are mounted includes a mounting head that mounts the held components on the substrate. The holding state of the components by the mounting head is not necessarily constant. For this reason, before mounting the components on the substrate, a component recognition process is performed to recognize the holding state of the components based on a component image obtained by imaging the components held by the mounting head. Based on the recognition result of this component recognition process, the mounting operation of the components on the substrate by the mounting head is controlled. Thereby, the mounting accuracy of the components on the substrate is improved.

[0003] Patent Document 1 discloses a technique for creating component data including information such as the outer dimensions of components, which is used during component recognition processing. In the technique disclosed in Patent Document 1, a component is imaged by a portable terminal device, and the portable terminal device creates component data based on the image of the imaged component.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the technique disclosed in Patent Document 1 has room for improvement in terms of creating component data with higher accuracy.

[0006] An object of the present invention is to provide a component data creation device, a component mounting system, a component data creation method, and a component data creation program capable of creating highly accurate component data.

Means for Solving the Problems

[0007] A component data creation device according to an aspect of the present invention is a device that creates component data regarding dimensions between a first part and a second part in the component used in a mounter having a mounting head for mounting the held component on a substrate. This component data creation device includes a first mark portion having a first mark disposed at the first part of the component, a second mark portion having a second mark, where the component is disposed such that the first part faces upward and the second part is in contact, and a camera that images the first mark and the second mark from above, and a data creation unit that creates the component data based on the image imaged by the camera.

[0008] According to this component data creation device, the component is disposed on the second mark portion having the second mark such that the first part faces upward and the second part is in contact. The first mark of the first mark portion is disposed at the first part of the component that faces upward. In this state, the camera images the first mark and the second mark from above. Then, the data creation unit creates component data based on the image imaged by the camera. Thereby, the data creation unit can create component data regarding the dimensions between the first part and the second part in the component with high accuracy.

[0009] In the above component data creation device, the first part and the second part may be a part held by the mounting head or a part in contact with the substrate in the component when the component is mounted on the substrate by the mounting head. In this case, the component data is the thickness of the component corresponding to the height dimension protruding upward from the substrate in the component in a state where the component is mounted on the substrate.

[0010] In this aspect, the data creation unit can create, as component data, the thickness of a component that is the dimension between the part held by the mounting head and the part that contacts the substrate in the component assuming mounting on the substrate, and corresponds to the height dimension protruding upward from the substrate.

[0011] In the above component data creation apparatus, the camera may be configured to image the first mark and the second mark such that image regions of each of the first mark and the second mark are included in the same image.

[0012] In this aspect, the camera images such that image regions of each of the first mark and the second mark are included in the same image. In this case, the position of the camera when imaging the first mark and the position of the camera when imaging the second mark will coincide. Thereby, the data creation unit can create highly accurate component data based on the image captured by the camera.

[0013] In the above component data creation apparatus, the first mark and the second mark may have different mark shapes.

[0014] In this aspect, since the mark shapes of the first mark and the second mark are different, the data creation unit can accurately distinguish and recognize the image region corresponding to the first mark and the image region corresponding to the second mark on the image.

[0015] In the above component data creation apparatus, the second mark portion may have a plurality of the second marks, and a component placement region may be set in a region surrounded by the plurality of second marks where the component is placed.

[0016] In this aspect, when the component is placed in the component placement region of the second mark portion and the first mark portion is placed at a first site facing upward of the component, a plurality of second marks are arranged so as to surround the first mark. In this case, the data creation unit can accurately recognize the position of the first mark and the position of the second mark on the image.

[0017] In the above-described component data creation device, the second mark portion may be a calibration plate on which a plurality of the second marks are formed. In this aspect, the second mark portion can be realized by a flat calibration plate on which a plurality of second marks are formed.

[0018] In the above-described component data creation device, the first mark portion may be configured to be detachably disposed at the first portion of the component.

[0019] In this aspect, since the first mark portion is detachable from the first portion of the component, the first mark portion can be disposed at the first portion of the component when creating component data by the data creation unit. On the other hand, when using the component in, for example, a mounter other than when creating component data, the first mark portion can be removed from the component.

[0020] In the above-described component data creation device, the camera and the data creation unit may be included in a portable terminal device.

[0021] In this aspect, an imaging process for imaging the first mark and the second mark and a data creation process for creating component data can be performed by the portable terminal device.

[0022] In the above-described component data creation device, the data creation unit may be configured to calculate a camera position indicating the position of the camera at the time of imaging the image based on the image, and create the component data based on the camera position. In this aspect, the data creation unit can create component data regarding the dimension between the first portion and the second portion in the component with high accuracy based on the camera position at the time of imaging the image.

[0023] In the above-described component data creation device, the data creation unit may be configured to calculate the camera position by using a predetermined perspective projection conversion formula from the positions of the first mark and the second mark.

[0024] In this aspect, the data creation unit can calculate the camera position by using the perspective projection conversion formula based on the positions of the first mark and the second mark.

[0025] In the above-described component data creation apparatus, the data creation unit may be configured to calculate, as the positions of the first mark and the second mark, three-dimensional coordinates in a three-dimensional space coordinate system and two-dimensional coordinates in a two-dimensional image coordinate system on the image.

[0026] In this aspect, the data creation unit calculates, as the positions of each of the first mark and the second mark, three-dimensional coordinates in a three-dimensional space coordinate system and two-dimensional coordinates in an image coordinate system, and can calculate the camera position by using the perspective projection conversion formula. The perspective projection conversion formula is a conversion formula including camera parameters capable of converting three-dimensional coordinates in a three-dimensional space coordinate system into two-dimensional coordinates in an image coordinate system. The camera parameters are composed of internal parameters including the optical center and focal length represented in pixel units of the camera, and external parameters including the rotation matrix and translation matrix of the camera. The external parameters are parameters for converting the three-dimensional space coordinate system into a three-dimensional camera coordinate system, and the internal parameters are parameters for converting the three-dimensional camera coordinate system into a two-dimensional image coordinate system. The data creation unit can calculate the camera position by using the perspective projection conversion formula including the camera parameters.

[0027] In the above-described component data creation apparatus, the data creation unit may be configured to calculate the three-dimensional coordinates of the first mark based on the known information about the first mark preset in the first mark portion, and calculate the three-dimensional coordinates of the second mark based on the known information about the second mark preset in the second mark portion.

[0028] In this aspect, the data creation unit can accurately calculate the three-dimensional coordinates related to the first mark and the second mark based on known information such as the sizes of the first mark and the second mark.

[0029] A component mounting system according to another aspect of the present invention includes a mounting machine having a mounting head for mounting a held component on a substrate, and a component data creation device for creating component data regarding dimensions between a first part and a second part in the component used in the mounting machine.

[0030] Also, a component data creation method according to another aspect of the present invention is a method for creating component data regarding dimensions between a first part and a second part in the component used in a mounting machine having a mounting head for mounting a held component on a substrate. This component data creation method includes a first mark placement step of placing a first mark of a first mark portion at the first part of the component, a component placement step of placing the component on a second mark portion having a second mark such that the first part faces upward and the second part comes into contact, an imaging step of imaging the first mark and the second mark from above with a camera, and a data creation step of creating the component data based on the image imaged by the camera.

[0031] Also, a component data creation program according to another aspect of the present invention is a program for creating component data regarding dimensions between a first part and a second part in the component used in a mounting machine having a mounting head for mounting a held component on a substrate. This component data creation program causes an arithmetic processing device to execute an imaging process of imaging, from above with a camera, a first mark of a first mark portion disposed at the first part of the component and a second mark of a second mark portion on which the component is disposed such that the first part faces upward and the second part comes into contact, and a data creation process of creating the component data based on the image imaged by the camera.

Advantages of the Invention

[0032] As described above, according to the present invention, it is possible to provide a component data creation device, a component mounting system, a component data creation method, and a component data creation program capable of creating highly accurate component data.

Brief Description of the Drawings

[0033]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0034] Hereinafter, a component data creation device, a component mounting system, a component data creation method, and a component data creation program according to an embodiment of the present invention will be described with reference to the drawings. In the following, the direction relationship will be described using three-dimensional XYZ orthogonal coordinates.

[0035] [Overall Configuration of Component Mounting System] FIG. 1 is a diagram schematically showing the configuration of a component mounting system 1 according to an embodiment of the present invention. The component mounting system 1 includes a mounter 2 and a component data creation device 3. The mounter 2 is a device that produces a mounting substrate on which components are mounted. The component data creation device 3 is a device that creates component data PD regarding the outer dimensions of components used in the mounter 2. In the component mounting system 1, the mounter 2 produces a mounting substrate by mounting components on the substrate while using the component data PD created by the component data creation device 3.

[0036] [Regarding the Mounter] The mounter 2 will be described in detail with reference to FIG. 2. The mounter 2 includes a main body frame 21, a conveyor 23, a component supply unit 24, a head unit 25, and a substrate support unit 28.

[0037] The main body frame 21 is a structure in which each part constituting the mounter 2 is arranged, and is formed in a substantially rectangular shape in a plan view seen from the Z-axis direction orthogonal to both the X-axis direction and the Y-axis direction. The conveyor 23 extends in the X-axis direction and is arranged on the main body frame 21. The conveyor 23 conveys the substrate PP in the X-axis direction. The substrate PP conveyed on the conveyor 23 is positioned by the substrate support unit 28 at a predetermined working position (a component mounting position where components are mounted on the substrate PP). The substrate support unit 28 positions the substrate PP by supporting the substrate PP with push-up pins.

[0038] The component supply unit 24 is arranged on the +Y side and -Y side regions in the Y-axis direction of the main body frame 21, sandwiching the conveyor 23. The component supply unit 24 is a region in the main body frame 21 where a plurality of feeders 24F are mounted side by side, and for each component to be held by the mounting head 251 provided in the head unit 25 described later, the set positions of the respective feeders 24F are partitioned. The feeder 24F is detachably mounted on the component supply unit 24. The feeder 24F holds a plurality of components and supplies the held components to a predetermined component supply position set within the feeder. The component supply method of the feeder 24F is not particularly limited as long as it is configured to be able to supply components. As the feeder 24F, for example, a tape feeder that supplies components using a tape as a carrier, a tray feeder that supplies components by moving a tray on which components are placed, a stick feeder that supplies components while extruding the components stored in a cylindrical stick from the stick, etc. can be adopted.

[0039] The head unit 25 is held by the moving frame 27. On the main body frame 21, a fixed rail 261 extending in the Y-axis direction and a ball screw shaft 262 that is rotationally driven by a Y-axis servo motor 263 are arranged. The moving frame 27 is disposed on the fixed rail 261, and a nut portion 271 provided on the moving frame 27 is screwed onto the ball screw shaft 262. Further, on the moving frame 27, a guide member 272 extending in the X-axis direction and a ball screw shaft 273 that is driven by an X-axis servo motor 274 are arranged. The head unit 25 is movably held by the guide member 272, and a nut portion provided on the head unit 25 is screwed onto the ball screw shaft 273. Then, when the moving frame 27 moves in the Y-axis direction by the operation of the Y-axis servo motor 263, the head unit 25 moves in the X-axis direction with respect to the moving frame 27 by the operation of the X-axis servo motor 274. That is, the head unit 25 is movable in the Y-axis direction as the moving frame 27 moves, and is movable in the X-axis direction along the moving frame 27. The head unit 25 is movable over a predetermined working position of the substrate PP conveyed by the component supply unit 24 and the conveyor 23.

[0040] The head unit 25 includes a plurality of mounting heads 251. The mounting head 251 performs a component mounting operation of taking out and holding a component from the component supply unit 24 and mounting (mounting) the held component on the substrate PP.

[0041] As shown in FIG. 2, a component recognition camera C1 is installed between the component supply unit 24 and the conveyor 23 on the main body frame 21. The component recognition camera C1 is an imaging camera equipped with an imaging element such as a CMOS (Complementary metal-oxide-semiconductor) or a CCD (Charged-coupled device). While the head unit 25 is moving from the component supply position of the feeder 24F toward the working position of the substrate PP conveyed by the conveyor 23, the component recognition camera C1 captures an image of the component held by the mounting head 251 from below to obtain a component recognition image. In the mounter 2, a component recognition process is performed to recognize the holding state of the component by the mounting head 251 based on the component recognition image obtained by the component recognition camera C1. Based on the recognition result of this component recognition process, the component mounting operation on the substrate PP by the mounting head 251 is controlled. Thereby, the mounting accuracy of the component on the substrate PP is improved.

[0042] [Regarding the Component Data Creation Device] Next, with reference to FIGS. 3 to 9 in addition to FIG. 1, the component data creation device 3 will be described. The component data creation device 3 is a device that creates component data PD regarding the external dimensions of the component P used in the production of the mounting substrate in the mounter 2. The component data PD is referred to during the component recognition process and the like in the mounter 2.

[0043] Examples of the types of the component P include a chip component provided with terminals at one end and the other end of the component body, a transistor provided with terminals for an emitter, a base, and a collector, an SOP (Small Outline Package), a QFP (Quad Flat Package), a PLCC (Plastic Leaded Chip Carrier), a BGA (Ball Grid Array), and the like. There are also components without terminals provided on the component body. In the example shown in FIG. 3, the component P is a component having a plurality of (two rows) lead terminal rows in which a plurality of lead terminals are arranged in a predetermined arrangement direction with respect to the component body.

[0044] The component data PD is data regarding the dimension between the first part P1 and the second part P2 in the component P. When the first part P1 and the second part P2 are the holding surface that becomes the part held by the mounting head 251 or the lead terminal that becomes the part contacting the substrate PP in the component P assuming the mounting on the substrate PP by the mounting head 251, the component data PD is the thickness of the component P corresponding to the height dimension protruding upward from the substrate PP in the component P in the state of being mounted on the substrate PP. Further, when the first part P1 and the second part P2 are both end parts in the X-axis direction or the Y-axis direction of the component P, the component data PD is the outer dimension in the X-axis direction or the Y-axis direction of the component P. Further, when the first part P1 and the second part P2 are both end parts of the lead terminal of the component P, the component data PD is the height dimension of the lead terminal in the component P.

[0045] The component data creation device 3 includes a first mark part 31, a second mark part 32, and a portable terminal device 33.

[0046] The first mark part 31 has a first mark 311 disposed on the first part P1 of the component P. In the present embodiment, the first mark part 31 is a flat member having the first mark 311. The first mark part 31 is not particularly limited as long as it is a flat member having the first mark 311, and it may be a paper sheet on which the first mark 311 is printed, or a glass plate, a metal plate, etc. on which the first mark 311 is drawn.

[0047] The first mark portion 31 is arranged on the component P so as to contact the first part P1. As a result, the first mark 311 is arranged on the first part P1. As shown in FIGS. 3 and 4, when the first part P1 on the component P is a holding surface that is a portion held by the mounting head 251, the first mark portion 31 is arranged on the component P so as to contact the holding surface. On the other hand, as shown in FIG. 5, when the first part P1 on the component P is a lead terminal that is a portion contacting the substrate PP, the first mark portion 31 is arranged on the component P so as to contact the lead terminal. In addition, when characters or the like are printed on the first part P1 of the component P, the printing may be set as the first mark 311.

[0048] In the present embodiment, the first mark portion 31 is detachably arranged on the first part P1 of the component P. Since the first mark portion 31 is detachable from the first part P1 of the component P, the first mark portion 31 can be arranged on the first part P1 of the component P when creating the component data PD in the component data creation device 3. On the other hand, when using the component P in, for example, the mounter 2 other than when creating the component data PD, the first mark portion 31 can be removed from the component P.

[0049] The first mark 311 is exposed on the upper surface of the flat first mark portion 31. The first mark 311 has an outer shape of a known size and has a mark shape (mark pattern) in which bright portions and dark portions with different brightness are alternately arranged in a matrix. In the present embodiment, the first mark 311 is a mark having a square outer shape. In this case, the length d1 of the four sides of the first mark 311 is known. The size of the first mark 311 is appropriately set according to the size of the component P. In addition, the four vertices of the outer shape of the first mark 311 can be the plurality of first feature points PA11, PA12, PA13, PA14 on the first mark 311 (see FIG. 6). In this case, the length d1 of the four sides of the first mark 311 becomes the first feature point position information D1 indicating the positional relationship of each of the plurality of first feature points PA11, PA12, PA13, PA14 preset in the first mark portion 31. The first feature point position information D1 is known information regarding the first mark 311 such as the length d1 of the four sides indicating the size of the first mark 311.

[0050] The second mark portion 32 is a flat member having a second mark 321. The second mark portion 32 is not particularly limited as long as it is a flat member having the second mark 321, and it may be a paper sheet printed with the second mark 321, or a glass plate, a metal plate, etc. on which the second mark 321 is drawn. Further, the second mark portion 32 may have a structure in which the second mark 321 is installed on a horizontal desk or the like.

[0051] The second mark portion 32 is arranged such that the first part P1 faces upward and the second part P2 contacts the component P. As shown in FIGS. 3 and 4, when the second part P2 in the component P is a lead terminal that becomes a part that contacts the substrate PP, the second mark portion 32 is arranged such that the component P contacts the lead terminal. On the other hand, as shown in FIG. 5, when the second part P2 in the component P is a holding surface that becomes a part held by the mounting head 251, the second mark portion 32 is arranged such that the component P contacts the holding surface.

[0052] The second mark portion 32 can be realized by a rectangular flat calibration plate on which a plurality of second marks 321 are formed. The number and position of the second marks 321 in the second mark portion 32 are not particularly limited and are appropriately set according to the size of the component P, etc. In FIG. 3, a second mark portion 32 having four second marks 321 and a second mark portion 32 having six second marks 321 are illustrated.

[0053] In this embodiment, the second mark portion 32 has a structure in which second marks 321 are arranged at each of the four corners of the rectangular flat plate-shaped second mark portion 32. The plurality of second marks 321 are exposed on the upper surface of the rectangular flat plate-shaped second mark portion 32. And, in the second mark portion 32, a component placement area 322 having an upper surface on which the component P is placed is set in the area surrounded by the plurality of second marks 321. That is, in the second mark portion 32, in a plan view seen from above, the center of gravity position of the component placement area 322 exists inside the convex hull formed by the points of the center of gravity positions of the plurality of second marks 321. Note that in the second mark portion 32, each of the plurality of second marks 321 may be arranged on the same plane as the upper surface of the component placement area 322 (see FIG. 3), or if the difference in height between the plane different from the upper surface of the component placement area 322 and the component placement area 322 is known, it may be arranged on the different plane (see FIG. 4).

[0054] Each of the plurality of second marks 321 has a square outer shape and has a mark shape (mark pattern) in which light portions and dark portions with different brightness are alternately arranged in a matrix. The mark shapes of the respective second marks 321 are the same. The mark shape of each second mark 321 is different from the mark shape of the first mark 311. In the second mark portion 32, the interval d2 between the plurality of second marks 321 is known. Also, at least one vertex of the outer shape of each of the plurality of second marks 321 can be the plurality of second feature points PA21, PA22, PA23, PA24 on the second mark 321 (see FIG. 7). In this case, the interval d2 between the plurality of second marks 321 becomes second feature point position information D2 indicating the positional relationship of each of the plurality of second feature points PA21, PA22, PA23, PA24 preset in the second mark portion 32. The second feature point position information D2 is known information regarding the second marks 321 such as the interval d2 between the plurality of second marks 321.

[0055] When the component P is placed on the upper surface of the component placement area 322 of the second mark portion 32 and the first mark portion 31 is placed at the first site P1 facing upward of the component P, in a plan view seen from above, a plurality of second marks 321 are arranged so as to surround the first mark 311. That is, a plurality of second feature points PA21, PA22, PA23, PA24 on the second mark 321 are arranged so as to surround a plurality of first feature points PA11, PA12, PA13, PA14 on the first mark 311.

[0056] The portable terminal device 33 is a portable device such as a smartphone or a tablet terminal. That is, the portable terminal device 33 is configured to be portable by an operator who performs work on the mounting machine 2. The portable terminal device 33 has a function of performing an imaging process for imaging the first mark 311 and the second mark 321, and a function of performing a data creation process for creating component data PD. Note that the data creation process may be performed by a computer device such as a personal computer other than the portable terminal device 33.

[0057] As shown in FIG. 1, the portable terminal device 33 includes a camera 331, a touch panel 332, a memory 333, an arithmetic processing unit 334, and a communication unit 335.

[0058] The touch panel 332 includes a display unit 3321 and an operation unit 3322. The display unit 3321 includes a liquid crystal panel and a backlight, or an organic electroluminescence panel, and displays information and images. The operation unit 3322 includes a capacitance touch sensor and receives touch input operations.

[0059] The communication unit 335 is configured to be communicable with the mounting machine 2 via a network. The communication unit 335 can transmit the component data PD created in the arithmetic processing unit 334 to the mounting machine 2.

[0060] The camera 331 is an imaging camera equipped with an imaging device such as a CMOS or a CCD. The camera 331 performs an imaging process of imaging, from above, the first mark 311 of the first mark portion 31 disposed on the component P so as to contact the first portion P1, and the second mark 321 of the second mark portion 32 in which the component P is disposed such that the first portion P1 faces upward and the second portion P2 contacts. Note that the camera 331 imaging the first mark 311 and the second mark 321 from above is a concept including imaging from an obliquely upper direction.

[0061] The memory 333 stores the above-described first feature point position information D1 preset according to the length d1 of the four sides of the first mark 311, the above-described second feature point position information D2 preset according to the interval d2 between the plurality of second marks 321, and the component data creation program PG. The component data creation program PG is a program that causes the arithmetic processing unit 334 to execute the imaging process by the camera 331 and the data creation process described below for creating the component data PD.

[0062] Based on the component data creation program PG, the arithmetic processing unit 334 controls the camera 331 to perform an imaging process, and executes a data creation process for creating the component data PD using the image G captured by the camera 331. The arithmetic processing unit 334 includes a data creation unit 3341 as a functional configuration for performing the data creation process. That is, in the component data creation device 3, the camera 331 that performs the imaging process and the data creation unit 3341 that performs the data creation process are included in the mobile terminal device 33. Thereby, the component data creation device 3 can perform the imaging process and the data creation process by the mobile terminal device 33.

[0063] As described above, the camera 331 images the first mark 311 and the second mark 321 from above (see FIG. 3). The data creation unit 3341 creates component data PD based on the image G captured by the camera 331. The data creation unit 3341 calculates a camera position indicating the position of the camera 331 at the time of capturing the image G based on the image G, and creates the component data PD based on the camera position. Specifically, the data creation unit 3341 calculates a first camera position CP1 indicating the height position of the camera 331 at the time of imaging with respect to the first mark 311, and a second camera position CP2 indicating the height position of the camera 331 at the time of imaging with respect to the second mark 321, based on the image G. Then, the data creation unit 3341 creates the component data PD based on the first camera position CP1 and the second camera position CP2. The data creation unit 3341 calculates a difference in the Z-axis direction (vertical direction) between the first camera position CP1 and the second camera position CP2, and creates, as the component data PD, a value obtained by subtracting the thickness of the first mark portion 31 from the difference.

[0064] When the camera 331 images the first mark 311 and the second mark 321, the first mark portion 31 is in contact with the first part P1 of the component P, and the second mark portion 32 is in contact with the second part P2 of the component P. Therefore, the data creation unit 3341 can create, with high accuracy, the component data PD regarding the dimension between the first part P1 and the second part P2 in the component P, based on the first camera position CP1 with respect to the first mark 311 and the second camera position CP2 with respect to the second mark 321.

[0065] Further, as shown in FIGS. 6 and 7, the camera 331 images the first mark 311 and the second mark 321 from above so that the image area GA1 of the first mark 311, the image area GA2 of the second mark 321, and the image area GAP of the component P are included in the same image G. In this case, the height position of the camera 331 when imaging the first mark 311 and the height position of the camera 331 when imaging the second mark 321 will coincide. Thereby, the data creation unit 3341 can calculate the first camera position CP1 based on the first mark 311 and the second camera position CP2 based on the second mark 321 with high precision. For this reason, the component data PD created in the data creation unit 3341 based on the first camera position CP1 and the second camera position CP2 is high-precision data.

[0066] Also, the imaging by the camera 331 may be not only a single imaging but also multiple imagings. In this case, the data creation unit 3341 calculates all the first camera positions CP1 and the second camera positions CP2 for each of the multiple imagings by the camera 331, and creates component data PD based on all the calculated first camera positions CP1 and second camera positions CP2. Thereby, the measurement accuracy of the component data PD is further enhanced.

[0067] Also, when the first part P1 and the second part P2 of the component P are the holding surface that is the part held by the mounting head 251 or the lead terminal that is the part in contact with the substrate PP, the data creation unit 3341 can create, as the component data PD, the thickness of the component, which is the dimension between the part held by the mounting head 251 and the part in contact with the substrate PP and corresponds to the height dimension protruding upward from the substrate PP.

[0068] [Regarding the component data creation method] The component data creation method will be described with reference to the flowcharts of FIGS. 6 and 7 and FIGS. 8 and 9. The component data creation method can be implemented using the above-described component data creation apparatus 3. The component data creation method includes a first mark placement step S1, a component placement step S2, an imaging step S3, and a data creation step S4.

[0069] In the first mark placement step S1, the first mark portion 31 having the first mark 311 is placed on the component P so as to contact the first part P1. In the component placement step S2, the component P is placed in the component placement area 322 of the second mark portion 32 having the second mark 321 such that the first part P1 faces upward and the second part P2 contacts. The component placement step S2 may be performed after the first mark placement step S1, or the first mark placement step S1 may be performed after the component placement step S2. By performing the first mark placement step S1 and the component placement step S2, the component P is placed on the upper surface of the component placement area 322 of the second mark portion 32, and the first mark portion 31 is placed on the first part P1 facing upward of the component P. In this state, in a plan view seen from above, a plurality of second marks 321 are arranged so as to surround the first mark 311.

[0070] In the imaging step S3, the arithmetic processing device 334 controls the camera 331 so as to perform an imaging process of imaging the first mark 311 and the second mark 321 from above based on the component data creation program PG.

[0071] In the data creation step S4, the data creation unit 3341 of the arithmetic processing device 334 executes a data creation process of creating component data PD using the image G captured by the camera 331 based on the component data creation program PG. Hereinafter, the details of the data creation step S4 will be described.

[0072] As shown in FIG. 7, the data creation unit 3341 calculates three-dimensional coordinates in a three-dimensional space coordinate system as the position of the second mark 321. Specifically, the data creation unit 3341 calculates second feature point three-dimensional coordinates indicating the positions of the plurality of second feature points PA21, PA22, PA23, PA24 on the second mark 321 in the three-dimensional space coordinate system based on the second feature point position information D2 stored in the memory 333 (step S41).

[0073] At this time, the data creation unit 3341 sets at least one vertex of each of the second marks 321 arranged at the four corner portions of the second mark portion 32 as a plurality of second feature points PA21, PA22, PA23, PA24. In the example shown in FIG. 7, the data creation unit 3341 sets a total of four second feature points PA21, PA22, PA23, PA24, each being one vertex of each of the second marks 321 arranged at the four corner portions of the second mark portion 32.

[0074] Then, the data creation unit 3341 sets a three-dimensional space coordinate system with one of the plurality of second feature points PA21, PA22, PA23, PA24, i.e., the second feature point PA21, as the origin (0, 0, 0). The three-dimensional space coordinate system is a coordinate system in which, on the second mark 321 including the second feature point PA21 set as the origin, an axis extending along one of the two sides extending from the second feature point PA21 and passing through the second feature point PA22 is defined as the X-axis, an axis extending along the other side and passing through the second feature point PA23 is defined as the Y-axis, and an axis extending perpendicular to the second mark 321 is defined as the Z-axis. Although an example of setting a right-handed coordinate system as the three-dimensional space coordinate system is shown, a left-handed coordinate system may be set as the three-dimensional space coordinate system. The data creation unit 3341 calculates the coordinate of the second feature point PA21 as (0, 0, 0), the coordinate of the second feature point PA22 as (d2, 0, 0), the coordinate of the second feature point PA23 as (0, d2, 0), and the coordinate of the second feature point PA24 as (d2, d2, 0) for the three-dimensional coordinates of each of the plurality of second feature points PA21, PA22, PA23, PA24 based on the interval d2 between the plurality of second marks 321 included in the second feature point position information D2. The data creation unit 3341 can accurately calculate the three-dimensional coordinates of the second feature points based on the known second feature point position information D2 indicating the positional relationship of each of the plurality of second feature points PA21, PA22, PA23, PA24 on the second mark 321.

[0075] Next, the data creation unit 3341 calculates two-dimensional coordinates in the two-dimensional image coordinate system on the image G captured by the camera 331 as the position of the second mark 321. Specifically, as shown in FIG. 7, the data creation unit 3341 calculates the two-dimensional coordinates of the second corresponding points PB21, PB22, PB23, PB24 corresponding to the plurality of second feature points PA21, PA22, PA23, PA24 in the two-dimensional image coordinate system on the image G captured by the camera 331 (step S42). The data creation unit 3341 extracts the image region GA2 of the second mark 321 from the image G, and calculates the two-dimensional coordinates of the second corresponding points of each of the plurality of second corresponding points PB21, PB22, PB23, PB24 using an image processing method such as template matching. In the example shown in FIG. 7, the data creation unit 3341 calculates the coordinates of the second corresponding point PB21 corresponding to the second feature point PA21 as (B21X, B21Y), the coordinates of the second corresponding point PB22 corresponding to the second feature point PA22 as (B22X, B22Y), the coordinates of the second corresponding point PB23 corresponding to the second feature point PA23 as (B23X, B23Y), and the coordinates of the second corresponding point PB24 corresponding to the second feature point PA24 as (B24X, B24Y) for the two-dimensional coordinates of each of the plurality of second corresponding points PB21, PB22, PB23, PB24.

[0076] Next, the data creation unit 3341 considers the camera parameters of the camera 331 that can convert the three-dimensional space coordinate system into the two-dimensional image coordinate system, that is, convert the three-dimensional coordinates of the second feature points into the two-dimensional coordinates of the second corresponding points. The camera parameters are represented by the following formula (1).

[0077]

Equation

[0078] The above formula (1) is a perspective projection transformation formula. (u, v) represents the two-dimensional coordinates of the image coordinate system, and (X, Y, Z) represents the three-dimensional coordinates of the three-dimensional space coordinate system. The camera parameters are composed of internal parameters and external parameters. The internal parameters include (cx, cy) and (fx, fy) in formula (1). (cx, cy) represents the optical center expressed in pixel units of camera 331, and is usually the center of image G. (fx, fy) represents the focal length expressed in pixel units of camera 331. If necessary, such as when the aberration is large, the lens distortion coefficient may be included as an internal parameter. The external parameters include (r11~r33) and (t1, t2, t3) in formula (1). (r11~r33) represents the rotation matrix representing the rotation amount of camera 331, and (t1, t2, t3) represents the translation matrix representing the position of camera 331. "s" in formula (1) is the coefficient used for scaling. The external parameters are the parameters for converting the three-dimensional space coordinate system into the three-dimensional camera coordinate system, and the internal parameters are the parameters for converting the three-dimensional camera coordinate system into the two-dimensional image coordinate system.

[0079] The data creation unit 3341 determines whether the internal parameters of camera 331 are known (step S43). If the internal parameters are not known (NO in step S43), the data creation unit 3341 calculates the internal parameters and external parameters based on the three-dimensional coordinates of each of the plurality of second feature points PA21, PA22, PA23, PA24 and the two-dimensional coordinates of each of the plurality of second corresponding points PB21, PB22, PB23, PB24 while using the perspective projection transformation formula of the above formula (1) (step S431). Note that when the internal parameters are not known, the data creation unit 3341 calculates the internal parameters and external parameters based on the three-dimensional coordinates of at least 10 or more second feature points and the two-dimensional coordinates of at least 10 or more second corresponding points corresponding to those second feature points. Thereby, the data creation unit 3341 can accurately calculate the internal parameters and external parameters. The data creation unit 3341 uses the calculated internal parameters as known ones for subsequent processing.

[0080] On the other hand, when the internal parameters are known (YES in step S43), the data creation unit 3341 calculates the external parameters based on the known internal parameters, the three-dimensional coordinates of each of the plurality of second feature points PA21, PA22, PA23, PA24, and the two-dimensional coordinates of each of the plurality of second corresponding points PB21, PB22, PB23, PB24, while using the perspective projection transformation formula of the above formula (1) (step S44). When the internal parameters are known, the data creation unit 3341 calculates the external parameters based on the three-dimensional coordinates of at least three or more second feature points and the two-dimensional coordinates of at least three or more second corresponding points corresponding to those second feature points. Thereby, the data creation unit 3341 can accurately calculate the external parameters.

[0081] When the calculation of the external parameters constituting the camera parameters regarding the second mark 321 is completed, the data creation unit 3341 calculates a second camera position CP2 indicating the height position at the time of imaging of the camera 331 with respect to the second mark 321 based on the rotation matrix (r11 to r33) and the translation matrix (t1, t2, t3) of the external parameters (step S45). The data creation unit 3341 can calculate the second camera position CP2 based on the external parameters.

[0082] Next, the data creation unit 3341 calculates the three-dimensional coordinates in the three-dimensional space coordinate system as the position of the first mark 311. Specifically, as shown in FIG. 6, the data creation unit 3341 calculates the three-dimensional coordinates of each of the plurality of first feature points PA11, PA12, PA13, PA14 on the first mark 311 in the three-dimensional space coordinate system based on the first feature point position information D1 stored in the memory 333 (step S46).

[0083] At this time, the data creation unit 3341 sets the four vertices of the outer shape of the first mark 311 as a plurality of first feature points PA11, PA12, PA13, PA14, and sets a three-dimensional space coordinate system with one of the first feature points PA11 as the origin (0, 0, 0). In the three-dimensional space coordinate system, on the first mark 311, the axis extending along the side connecting the first feature point PA11 and the first feature point PA12 is the X axis, the axis extending along the side connecting the first feature point PA11 and the first feature point PA13 is the Y axis, and the axis extending perpendicular to the first mark 311 is the Z axis. In this case, based on the lengths d1 of the four sides of the first mark 311 included in the first feature point position information D1, for the three-dimensional coordinates of each of the plurality of first feature points PA11, PA12, PA13, PA14, the data creation unit 3341 calculates the coordinates of the first feature point PA11 as (0, 0, 0), the coordinates of the first feature point PA12 as (d1, 0, 0), the coordinates of the first feature point PA13 as (0, d1, 0), and the coordinates of the first feature point PA14 as (d1, d1, 0). Based on the known first feature point position information D1 indicating the positional relationship of each of the plurality of first feature points PA11, PA12, PA13, PA14 on the first mark 311, the data creation unit 3341 can accurately calculate the three-dimensional coordinates of the first feature points.

[0084] Next, the data creation unit 3341 calculates two-dimensional coordinates in the two-dimensional image coordinate system on the image G captured by the camera 331 as the position of the first mark 311. Specifically, as shown in FIG. 6, the data creation unit 3341 calculates the two-dimensional coordinates of the first corresponding points PB11, PB12, PB13, PB14 corresponding to the plurality of first feature points PA11, PA12, PA13, PA14 in the two-dimensional image coordinate system on the image G captured by the camera 331 (step S47). The data creation unit 3341 extracts the image area GA1 of the first mark 311 from the image G, and calculates the two-dimensional coordinates of the first corresponding points of each of the plurality of first corresponding points PB11, PB12, PB13, PB14 using an image processing method such as template matching. In the example shown in FIG. 6, the data creation unit 3341 calculates the coordinates of the first corresponding point PB11 corresponding to the first feature point PA11 as (B11X, B11Y), the coordinates of the first corresponding point PB12 corresponding to the first feature point PA12 as (B12X, B12Y), the coordinates of the first corresponding point PB13 corresponding to the first feature point PA13 as (B13X, B13Y), and the coordinates of the first corresponding point PB14 corresponding to the first feature point PA14 as (B14X, B14Y) for the two-dimensional coordinates of the first corresponding points of each of the plurality of first corresponding points PB11, PB12, PB13, PB14.

[0085] As described above, the first mark 311 in the first mark portion 31 and the second mark 321 in the second mark portion 32 have different mark shapes. Therefore, the data creation unit 3341 can accurately distinguish and calculate the two-dimensional coordinates of the first corresponding points of the first corresponding points PB11, PB12, PB13, PB14 corresponding to the first feature points PA11, PA12, PA13, PA14 on the first mark 311 and the two-dimensional coordinates of the second corresponding points of the second corresponding points PB21, PB22, PB23, PB24 corresponding to the second feature points PA21, PA22, PA23, PA24 on the second mark 321 in the two-dimensional image coordinate system on the image G.

[0086] Also, as described above, when the component P is arranged on the upper surface of the component arrangement area 322 of the second mark portion 32 and the first mark portion 31 is arranged at the first portion P1 facing upward of the component P, in a plan view seen from above, a plurality of second feature points PA21, PA22, PA23, PA24 on the second mark 321 are arranged so as to surround a plurality of first feature points PA11, PA12, PA13, PA14 on the first mark 311. In this case, the data creation unit 3341 can accurately calculate the two-dimensional image coordinates of the first corresponding points PB11, PB12, PB13, PB14 and the two-dimensional image coordinates of the second corresponding points PB21, PB22, PB23, PB24 in the two-dimensional image coordinate system on the image G.

[0087] Since the camera parameters represented by the perspective projection transformation formula of the above formula (1) are parameters for converting the three-dimensional space coordinate system into the two-dimensional image coordinate system, they are also parameters capable of converting the three-dimensional coordinates of the first feature points into the two-dimensional coordinates of the first corresponding points. The data creation unit 3341 calculates the external parameters based on the known internal parameters, the three-dimensional coordinates of each of the plurality of first feature points PA11, PA12, PA13, PA14, and the two-dimensional coordinates of each of the plurality of first corresponding points PB11, PB12, PB13, PB14 while using the perspective projection transformation formula of the above formula (1) (step S48).

[0088] When the calculation of the external parameters constituting the camera parameters regarding the first mark 311 is completed, the data creation unit 3341 calculates a first camera position CP1 indicating the height position at the time of imaging of the camera 331 with respect to the first mark 311 based on the rotation matrix (r11~r33) and the translation matrix (t1, t2, t3) of the external parameters (step S49). The data creation unit 3341 can calculate the first camera position CP1 based on the external parameters.

[0089] The data creation unit 3341 creates component data PD based on the calculated first camera position CP1 and second camera position CP2 (step S50). The data creation unit 3341 can calculate the difference in the Z-axis direction (vertical direction) between the first camera position CP1 and the second camera position CP2, and create, as the component data PD, a value obtained by subtracting the thickness of the first mark portion 31 from the difference.

Explanation of Signs

[0090] 1 Component mounting system 2 Mounter 251 Mounting head 3 Component data creation device 31 First mark portion 311 First mark 32 Second mark portion 321 Second mark 33 Mobile terminal device 331 Camera 334 Arithmetic processing unit 3341 Data creation unit

Claims

1. A component data creation device that creates component data regarding dimensions between a first part and a second part in the component used in a mounting machine having a mounting head for mounting the held component on a substrate, a first mark part having a first mark disposed at the first part of the component, a second mark part having a second mark, wherein the component is disposed such that the first part faces upward and the second part comes into contact therewith, a camera that images the first mark and the second mark from above, and a data creation part that creates the component data based on an image captured by the camera. A component data creation device comprising the above components.

2. The first part and the second part are parts held by the mounting head or parts that come into contact with the substrate in the component when the component is mounted on the substrate by the mounting head, wherein the component data is the thickness of the component corresponding to a height dimension protruding upward from the substrate in the component in a state where the component is mounted on the substrate. The component data creation device according to Claim 1.

3. The camera according to Claim 1 images the first mark and the second mark such that image regions of the first mark and the second mark are included in the same image.

4. The first mark and the second mark according to Claim 1 have different mark shapes.

5. The second mark part has a plurality of the second marks, and a component placement area is set in an area surrounded by the plurality of the second marks where the component is placed. The component data creation device according to Claim 1.

6. The second mark part according to Claim 5 is a calibration plate on which a plurality of the second marks are formed.

7. The first mark part according to Claim 1 is detachably disposed at the first part of the component.

8. The camera and the data creation part according to Claim 1 are included in a portable terminal device.

9. The data creation part according to Claim 1 calculates a camera position indicating the position of the camera at the time of imaging the image based on the image, and creates the component data based on the camera position.

10. The component data creation device according to claim 9, wherein the data creation unit calculates the camera position by using a predetermined perspective projection conversion formula from the positions of the first mark and the second mark.

11. The component data creation device according to claim 10, wherein the data creation unit calculates, as the positions of the first mark and the second mark, three-dimensional coordinates in a three-dimensional space coordinate system and two-dimensional coordinates in a two-dimensional image coordinate system on the image.

12. The component data creation device according to claim 11, wherein the data creation unit calculates the three-dimensional coordinates of the first mark based on known information regarding the first mark preset in the first mark portion, and calculates the three-dimensional coordinates of the second mark based on known information regarding the second mark preset in the second mark portion.

13. A mounter having a mounting head for mounting the held component on a substrate, A component mounting system comprising: the component data creation device according to any one of claims 1 to 12, which creates component data regarding dimensions between a first part and a second part in the component used in the mounter.

14. A component data creation method for creating component data regarding dimensions between a first part and a second part in the component used in a mounter having a mounting head for mounting the held component on a substrate, the method comprising: a first mark arrangement step of arranging a first mark of a first mark portion at the first part of the component; a component arrangement step of arranging the component on a second mark portion having a second mark such that the first part faces upward and the second part is in contact; an imaging step of imaging the first mark and the second mark from above with a camera; a data creation step of creating the component data based on an image captured by the camera.

15. A component data creation program for creating component data regarding dimensions between a first part and a second part in the component used in a mounter having a mounting head for mounting the held component on a substrate, the program comprising: an imaging process of imaging, from above with a camera, a first mark of a first mark portion arranged at the first part of the component and a second mark of a second mark portion on which the component is arranged such that the first part faces upward and the second part is in contact; A component data creation program that causes an arithmetic processing unit to execute: a data creation process for creating the component data based on an image captured by the camera.

Images