Apparatus for identifying scattered parts and system for holding scattered parts

Abstract

This identification device includes a plurality of color values set to identify colors of parts scattered on a stage and identifies types of the parts scattered on the stage according to the plurality of color values.

Description

[Technical field]

[0001] The present invention relates to a scattered part identification device for identifying the type of parts scattered on a stage. [Background technology]

[0002] The following Patent Document describes a technique for identifying the type of a part or the like based on imaging data or the like. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2000-346625 A [Patent Document 2] Japanese Patent Application Publication No. 7-198491 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to appropriately identify the type of part. [Means for solving the problem]

[0005] In order to solve the above problem, the present specification provides a method for detecting a plurality of parts having the same shape and different colors, which are scattered in various orientations on a stage irradiated with a stable amount of light by a lighting device fixedly disposed on the stage, using a camera positioned at a predetermined height and a predetermined position in the horizontal direction above the stage. Panoramic view The imaging data taken in Each of these can be set to any range by the operator through screen operations, A plurality of brightness values ​​are stored in a storage device, and the brightness values ​​are used to distinguish the colors of a plurality of parts having the same shape and different colors that are scattered on the stage in various positions. Number Based on the range, the same part is selected from a plurality of parts having the same shape and different colors scattered on the stage in various positions. Included in the brightness range A scattered part identification device for identifying parts is disclosed.

[0006] In order to solve the above problem, the present specification provides a component holding device for picking up and dropping a plurality of components having the same shape and different colors, which are scattered on a stage in various positions, in the same manner. Included in the brightness range A component holding system for holding components, comprising: an illumination device that is fixedly disposed relative to the stage and irradiates a stable amount of light onto a plurality of components having the same shape but different colors that are scattered in various orientations on the stage; and a light source that irradiates light from the illumination device onto a plurality of components having the same shape but different colors that are scattered in various orientations on the stage. At a glance The imaging device is positioned at a predetermined position in the horizontal direction at a predetermined height above the stage to be imaged, and a plurality of brightness sensors for identifying the colors of a plurality of parts having the same shape but different colors scattered in various positions on the stage. Number Range Through the operator's screen operation a determination item setting unit that can set a determination item, and image data of a plurality of parts having the same shape and different colors that are scattered on the stage in various postures and captured by the imaging device and a plurality of brightness values ​​set in the determination item setting unit are input to the determination item setting unit. Number Based on the range, the colors of the plurality of parts having the same shape but different colors scattered on the stage are identified, and the component holding device selects the same component from the plurality of parts having the same shape but different colors scattered on the stage in various positions. Included in the brightness range A scattered part retention system is disclosed that retains parts identified as: Effect of the Invention

[0007] According to the present disclosure, the type of a part is identified based on a plurality of brightness levels for identifying the type of the part, thereby making it possible to appropriately identify the type of the part. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a perspective view showing a component mounter. [Diagram 2] FIG. 2 is a perspective view showing a component mounting device of the component mounting machine. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. [Figure 6] FIG. [Figure 7] FIG. [Figure 8] FIG. [Figure 9] FIG. 2 is a perspective view showing a component holding head. [Figure 10] FIG. 4 is a diagram showing a component receiving member in a state in which an electronic circuit component is housed. [Figure 11] FIG. 2 is a block diagram showing a control device of the component mounter. [Figure 12] FIG. 13 is a diagram showing a state in which lead components are scattered on a stage. [Figure 13] FIG. 13 is a diagram showing a lead component recognized by pattern matching. [Figure 14] FIG. 13 is a diagram showing a state in which lead components are scattered on a stage. [Figure 15] FIG. 4 is a diagram showing a main screen displayed on a monitor of the information processing device. [Figure 16] FIG. 13 is a diagram showing a range setting screen displayed on a monitor of the information processing device. [Figure 17] FIG. 13 is a diagram showing a judgment condition setting screen displayed on a monitor of the information processing device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as modes for carrying out the present invention.

[0010] (A) Components mounting machine configuration 1 shows a component mounter 10. The component mounter 10 is a device for executing a mounting operation of components on a circuit board 12. The component mounter 10 includes a device main body 20, a board transport and holding device 22, a component mounting device 24, imaging devices 26, 28, a component supply device 30, a bulk component supply device 32, and a control device (see FIG. 11) 34. Examples of the circuit board 12 include a circuit board, a board with a three-dimensional structure, and the like, and examples of the circuit board include a printed wiring board, a printed circuit board, and the like.

[0011] The device body 20 is composed of a frame 40 and a beam 42 suspended on the frame 40. The substrate transport and holding device 22 is disposed in the center of the frame 40 in the front-rear direction, and includes a transport device 50 and a clamp device 52. The transport device 50 is a device for transporting the circuit substrate 12, and the clamp device 52 is a device for holding the circuit substrate 12. As a result, the substrate transport and holding device 22 transports the circuit substrate 12 and holds the circuit substrate 12 fixedly at a predetermined position. In the following description, the transport direction of the circuit substrate 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. In other words, the width direction of the component mounter 10 is the X direction, and the front-rear direction is the Y direction.

[0012] The component mounting device 24 is disposed on the beam 42 and has two work heads 60, 62 and a work head moving device 64. Each of the work heads 60, 62 has a suction nozzle (see FIG. 2) 66, and holds a component by the suction nozzle 66. The work head moving device 64 has an X-direction moving device 68, a Y-direction moving device 70, and a Z-direction moving device 72. The two work heads 60, 62 are moved integrally to any position on the frame 40 by the X-direction moving device 68 and the Y-direction moving device 70. The work heads 60, 62 are detachably attached to sliders 74, 76 as shown in FIG. 2, and the Z-direction moving device 72 moves the sliders 74, 76 individually in the vertical direction. That is, the work heads 60, 62 are moved individually in the vertical direction by the Z-direction moving device 72.

[0013] The imaging device 26 is attached to the slider 74 facing downward, and is moved together with the work head 60 in the X, Y, and Z directions. This allows the imaging device 26 to image an arbitrary position on the frame 40. The imaging device 28 is disposed between the base material conveying and holding device 22 and the component supplying device 30 on the frame 40 facing upward, as shown in Fig. 1. This allows the imaging device 28 to image a component held by the suction nozzle 66 of the work heads 60, 62.

[0014] The component supply device 30 is disposed at one end of the frame 40 in the front-rear direction. The component supply device 30 has a tray-type component supply device 78 and a feeder-type component supply device (not shown). The tray-type component supply device 78 is a device that supplies components placed on a tray. The feeder-type component supply device is a device that supplies components by a tape feeder (not shown) or a stick feeder (not shown).

[0015] The bulk component supplying device 32 is disposed at the other end of the frame 40 in the front-rear direction. The bulk component supplying device 32 is a device that aligns a plurality of components that are scattered randomly and supplies the components in the aligned state. In other words, it is a device that aligns a plurality of components in any posture in a predetermined posture and supplies the components in the predetermined posture. The configuration of the component supplying device 32 will be described in detail below. Note that, examples of components that are supplied by the component supplying device 30 and the bulk component supplying device 32 include electronic circuit components, components of solar cells, and components of power modules. Also, the electronic circuit components include components with leads and components without leads.

[0016] As shown in FIG. 3, the bulk component supplying device 32 includes a main body 80, a component supplying unit 82, an imaging device 84, two lighting devices 85, and a component delivery device 86.

[0017] (a) Parts supply unit The component supply unit 82 includes a component supplier 88, a component scattering device (see FIG. 4) 90, and a component returning device (see FIG. 4) 92, and these component supplier 88, component scattering device 90, and component returning device 92 are integrally configured. The component supply unit 82 is removably attached to a base 96 of the main body 80, and in the bulk component supply device 32, five component supply units 82 are positioned and removably arranged in a row in the X direction.

[0018] The component supplier 88 has a generally rectangular box shape, and is disposed so as to extend in the Y direction as shown in Figures 4 and 5. The Y direction is described as the front-to-rear direction of the component supplier 88, and in the component supply unit 82, the direction toward the side where the component returning device 92 is disposed is described as the front, and the direction toward the side where the component supplier 88 is disposed is described as the rear.

[0019] The component supply device 88 has openings on the top and front, with the opening on the top serving as a component inlet 97 and the opening on the front serving as a component outlet 98. In the component supply device 88, an inclined plate 104 is disposed below the inlet 97. The inclined plate 104 is disposed so as to incline downward from the end face on the rear side of the component supply device 88 toward the center.

[0020] 5, a conveyor device 106 is disposed on the front side of the inclined plate 104. The conveyor device 106 is disposed so as to be inclined upward from the front end of the inclined plate 104 toward the front of the component supplier 88. The conveyor belt 112 of the conveyor device 106 rotates counterclockwise in FIG. 5. In other words, the conveying direction of the conveyor device 106 is obliquely upward from the front end of the inclined plate 104 toward the front.

[0021] Also, an inclined plate 126 is disposed below the front end of the conveyor device 106. The inclined plate 126 is disposed from the front end face of the component supplier 88 toward the bottom of the conveyor device 106, with the rear end inclined diagonally downward. Furthermore, an inclined plate 128 is disposed below the inclined plate 126. The inclined plate 128 is inclined from below the center of the conveyor device 106 toward the discharge port 98 of the component supplier 88, with the front end positioned downward.

[0022] 4, a pair of side frames 130 are attached to the base 96. The pair of side frames 130 are erected facing each other and parallel to each other, and extending in the Y direction. The distance between the pair of side frames 130 is slightly larger than the width dimension of the component supplier 88, and the component supplier 88 is detachably attached between the pair of side frames 130.

[0023] The component scattering device 90 includes a component support member 150 and a component support member moving device 152. The component support member 150 is composed of a stage 156 and a pair of side walls 158. The stage 156 has a generally longitudinal plate shape and is disposed so as to extend forward from below the component feeder 88 mounted between the pair of side frames 130. The upper surface of the stage 156 is generally horizontal and disposed with a small clearance from the front end of the inclined plate 128 of the component feeder 88 as shown in FIG. 5. The pair of side walls 158 are fixed in an upright state on both sides of the stage 156 in the longitudinal direction as shown in FIG. 4, and the upper ends of the side walls 158 extend upward from the upper surface of the stage 156.

[0024] Furthermore, the component support member moving device 152 slides the component support member 150 in the Y direction by operating an air cylinder (see FIG. 11) 166. At this time, the component support member 150 moves between a stored state (see FIG. 6) in which it is stored below the component supply device 88 and an exposed state (see FIG. 5) in which it is exposed from below the component supply device 88.

[0025] As shown in Fig. 7, the component returning device 92 includes a component storage container 180 and a container swinging device 181. The component storage container 180 is generally box-shaped with an arc-shaped bottom. The component storage container 180 is held rotatably at the front end of the stage 156 of the component support member 150, and swings by the operation of the container swinging device 181. At this time, the component storage container 180 swings between a storage position (see Fig. 7) in which the opening faces upward and a return position (see Fig. 8) in which the opening faces the upper surface of the stage 156 of the component support member 150.

[0026] (b) Imaging device As shown in FIG. 3, the imaging device 84 includes a camera 290 and a camera moving device 292. The camera moving device 292 includes a guide rail 296 and a slider 298. The guide rail 296 is fixed to the main body 80 so as to extend in the width direction (X direction) of the bulk component supply device 32 above the component supply device 88. The slider 298 is slidably attached to the guide rail 296, and slides to an arbitrary position by the operation of an electromagnetic motor (see FIG. 11) 299. The camera 290 is attached to the slider 298 in a state facing downward. The camera 290 is a color camera and a two-dimensional camera. Therefore, the camera 290 captures two-dimensional color image data. The two lighting devices 85 are rod-shaped LED lights that emit a stable amount of light, and are fixedly disposed with respect to the stages 156 of the five component supply units 82.

[0027] (c) Parts delivery device As shown in FIG. 3, the component delivery device 86 includes a component holding head moving device 300, a component holding head 302, and two shuttle devices 304.

[0028] The component holding head moving device 300 includes an X-direction moving device 310, a Y-direction moving device 312, and a Z-direction moving device 314. The Y-direction moving device 312 has a Y slider 316 arranged above the component supply unit 82 so as to extend in the X direction, and the Y slider 316 is moved to an arbitrary position in the Y direction by the drive of an electromagnetic motor (see FIG. 11) 319. The X-direction moving device 310 has an X slider 320 arranged on a side of the Y slider 316, and the X slider 320 is moved to an arbitrary position in the X direction by the drive of an electromagnetic motor (see FIG. 11) 321. The Z-direction moving device 314 has a Z slider 322 arranged on a side of the X slider 320, and the Z slider 322 is moved to an arbitrary position in the Z direction by the drive of an electromagnetic motor (see FIG. 11) 323.

[0029] As shown in FIG. 9, the component holding head 302 includes a head body 330, a suction nozzle 332, a nozzle turning device 334, and a nozzle rotating device 335. The head body 330 is integrally formed with the Z slider 322. The suction nozzle 332 holds the component and is detachably attached to the lower end of the holder 340. The holder 340 is bendable at a support shaft 344, and the nozzle turning device 334 is operated to bend the holder 340 90 degrees upward. As a result, the suction nozzle 332 attached to the lower end of the holder 340 turns 90 degrees and is located at a turning position. That is, the suction nozzle 332 turns between a non-turning position and a turning position by the operation of the nozzle turning device 334. Of course, it is also possible to position and stop the suction nozzle 332 at an angle between the non-turning position and the turning position. The nozzle rotating device 335 rotates the suction nozzle 332 around its axis.

[0030] 3, each of the two shuttle devices 304 includes a component carrier 388 and a component carrier moving device 390, and is fixed to the main body 80, side-by-side in the horizontal direction on the front side of the component supply unit 82. Five component receiving members 392 are attached to the component carrier 388 and lined up in a horizontal direction, and components are placed on each of the component receiving members 392.

[0031] Bulk component supplying device 32 is capable of supplying a variety of components, and various component receiving members 392 are prepared according to the shapes of the components. Here, as an example of an electronic circuit component supplied by bulk component supplying device 32, a component receiving member 392 corresponding to a lead component 410 having leads, as shown in FIG. 10, will be described. Lead component 410 is composed of a block-shaped component body 412 and two leads 414 protruding from the bottom surface of component body 412.

[0032] Further, the component receiving member 392 is formed with a component receiving recess 416 having a shape corresponding to the lead component 410. The component receiving recess 416 is a stepped recess, and is composed of a main body receiving recess 418 that opens on the top surface of the component receiving member 392, and a lead receiving recess 420 that opens on the bottom surface of the main body receiving recess 418. The lead component 410 is inserted into the component receiving recess 416 with the leads 414 facing downward. As a result, the lead component 410 is placed inside the component receiving recess 416 with the leads 414 inserted into the lead receiving recess 420 and the component body 412 inserted into the main body receiving recess 418.

[0033] 3, the component carrier moving device 390 is a plate-shaped longitudinal member, and is disposed in front of the component supply unit 82 so as to extend in the front-rear direction. A component carrier 388 is disposed on the upper surface of the component carrier moving device 390 so as to be slidable in the front-rear direction, and is slid to any position in the front-rear direction by the drive of an electromagnetic motor (see FIG. 11) 430. When the component carrier 388 slides in a direction approaching the component supply unit 82, it slides to a component receiving position located within the movement range of the component holding head 302 moved by the component holding head moving device 300. On the other hand, when the component carrier 388 slides in a direction away from the component supply unit 82, it slides to a component supply position located within the movement range of the work heads 60, 62 moved by the work head moving device 64.

[0034] 11, the control device 34 includes a general control device 450, a plurality of individual control devices (only one of which is shown in the figure) 452, and an image processing device 454. The general control device 450 is mainly configured with a computer, and is connected to the base material conveying and holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the component supply device 30, and the bulk component supply device 32. As a result, the general control device 450 controls the base material conveying and holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the component supply device 30, and the bulk component supply device 32 in a general manner. The plurality of individual control devices 452 are mainly configured with a computer, and are provided corresponding to the base material conveying and holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the component supply device 30, and the bulk component supply device 32 (only the individual control device 452 corresponding to the bulk component supply device 32 is shown in the figure).

[0035] The individual control device 452 of the bulk component supplying device 32 is connected to the component scattering device 90, the component returning device 92, the camera moving device 292, the component holding head moving device 300, the component holding head 302, and the shuttle device 304. As a result, the individual control device 452 of the bulk component supplying device 32 controls the component scattering device 90, the component returning device 92, the camera moving device 292, the component holding head moving device 300, the component holding head 302, and the shuttle device 304. In addition, the image processing device 454 is connected to the imaging device 84, and processes the imaging data captured by the imaging device 84. The image processing device 454 is connected to the individual control device 452 of the bulk component supplying device 32. As a result, the individual control device 452 of the bulk component supplying device 32 acquires the imaging data captured by the imaging device 84. In addition, the individual control device 452 is also connected to the information processing device 500. The information processing device 500, which will be described in detail later, sets the color of a part used when identifying the type of part, and the color range information set by the information processing device 500 is acquired by the individual control device 452.

[0036] (B) Operation of the component mounter The component mounter 10 performs a component mounting operation on the circuit board 12 held by the substrate conveying and holding device 22 with the above-mentioned configuration. Specifically, the circuit board 12 is conveyed to the work position and fixedly held at that position by the clamp device 52. Next, the imaging device 26 moves above the circuit board 12 and captures an image of the circuit board 12. This provides information regarding an error in the holding position of the circuit board 12. Also, the component supply device 30 or the bulk component supply device 32 supplies components at a predetermined supply position. Note that the supply of components by the bulk component supply device 32 will be described in detail later. Then, one of the work heads 60, 62 moves above the component supply position and holds the component by the suction nozzle 66. Next, the work heads 60, 62 holding the component move above the imaging device 28, and the imaging device 28 captures an image of the component held by the suction nozzle 66. This provides information regarding an error in the holding position of the component. Then, the work heads 60, 62 holding the components move above the circuit board 12, and the components they are holding are mounted on the circuit board 12 after correcting any errors in the holding position of the circuit board 12, any errors in the holding position of the components, etc.

[0037] (C) Operation of bulk parts supply device In the bulk component supply device 32, a lead component 410 is inserted by an operator through the inlet 97 of the component supply device 88, and the inserted lead component 410 is supplied in a state in which it is placed on the component receiving member 392 of the component carrier 388 by operation of the component supply unit 82 and the component delivery device 86.

[0038] More specifically, the worker inserts lead components 410 through the insertion opening 97 on the top surface of the component supplyer 88. At this time, the component support member 150 has been moved to a position below the component supplyer 88 by the operation of the component support member moving device 152, and is in a stored state (see FIG. 6). Note that, when the component support member 150 is in the stored state, the component housing container 180 disposed at the front end of the component support member 150 is located in front of the component supplyer 88, and is in a position (housing position) in which the opening of the component housing container 180 faces upward.

[0039] The lead components 410 fed from the feed opening 97 of the component supply device 88 drop onto the inclined plate 104 of the component supply device 88 and roll down to the lower end of the front side of the inclined plate 104. At this time, the lead components 410 that have rolled down to the lower end of the front side of the inclined plate 104 are piled up between the lower end of the front side of the inclined plate 104 and the lower end of the rear side of the conveyor device 106. Then, the conveyor device 106 is operated, so that the conveyor belt 112 of the conveyor device 106 rotates counterclockwise in FIG. 6. As a result, the lead components 410 piled up between the inclined plate 104 and the conveyor belt 112 are transported obliquely upward by the conveyor belt 112.

[0040] Then, the lead components 410 transported by the conveyor belt 112 drop from the upper end on the front side of the conveyor device 106 onto the inclined plate 126. The lead components 410 that have fallen onto the inclined plate 126 roll backward along the inclined plate 126 and drop onto the inclined plate 128. The lead components 410 that have fallen onto the inclined plate 128 roll forward and are discharged from the discharge port 98 on the front side of the component supply device 88.

[0041] As a result, the lead components 410 discharged from the discharge port 98 of the component supply device 88 are accommodated inside the component storage container 180. Then, when a predetermined amount of lead components 410 have been discharged from the component supply device 88, that is, when the conveyor device 106 has operated a certain amount, the conveyor device 106 stops. Next, the component support member 150 is moved forward from the stored state by the operation of the component support member moving device 152.

[0042] Then, at the timing when the component support member 150 moves forward by a predetermined amount from the stored state, the container swinging device 181 of the component returning device 92 is activated, and the component housing container 180 swings. As a result, the attitude of the component housing container 180 changes vigorously from an attitude in which the opening faces upward (storage attitude) to an attitude in which the opening faces the stage 156 (return attitude). At this time, the lead components 410 accommodated in the component housing container 180 are released vigorously toward the stage 156. As a result, the lead components 410 are scattered from the component housing container 180 onto the stage 156.

[0043] When the lead components 410 are scattered on the stage 156 of the component support member 150, the lead components 410 are scattered on the stage 156 in roughly three positions as shown in FIG. 12. Specifically, in the first position, the lead components 410 are scattered in a position in which the extending surface of the lead 414 faces sideways and the two leads 414 are aligned roughly horizontally. In the second position, the lead components 410 are scattered in a position in which the extending surface of the lead 414 faces sideways and the two leads 414 are aligned roughly vertically. In the third position, the lead components 410 are scattered in a position in which two or more lead components 410 overlap each other. In addition, when the lead components 410 are distinguished according to the positions in which they are scattered, they are described as lead components 410a in the first position, lead components 410b in the second position, and lead components 410c in the third position.

[0044] When the lead components 410 are scattered on the stage 156 as described above, the camera 290 of the imaging device 84 is moved by the operation of the camera moving device 292 to a position above and near the center of one of the component support members 150. Then, while being irradiated with LED light, the multiple lead components 410 scattered on one of the stages 156 are imaged in a panoramic view using the field of view of the camera 290. Then, based on the imaging data captured by the camera 290, the lead components to be picked up (hereinafter sometimes abbreviated as "components to be picked up") are identified by pattern matching from among the multiple scattered lead components.

[0045] Specifically, the individual control device 452 identifies the outlines of the lead components 410 based on imaging data of the lead components 410 captured by the camera 290, and calculates the shape of the upper surface of the lead components 410, that is, the shape of the lead components 410 as viewed from above. Furthermore, the individual control device 452 also calculates the positions of the lead components 410 based on the imaging data. Meanwhile, the individual control device 452 stores image data of a shape corresponding to the outline of the lead component 410a in the first orientation (hereinafter referred to as "first orientation component image data"), as shown in FIG.

[0046] Then, individual control device 452 judges whether the shape of the upper surface of multiple lead parts 410 calculated based on the imaging data (hereinafter referred to as "imaged part shape") matches the shape of lead parts 410 based on the first orientation part image data (hereinafter referred to as "first stored part shape"). Then, when individual control device 452 judges that the imaged part shape matches the first stored part shape among the multiple lead parts imaged in a panoramic view, it recognizes lead parts 410 corresponding to the imaged part shape as the parts to be picked up.

[0047] That is, individual control device 452 recognizes lead component 410a in the first position as a component to be picked up, but does not recognize lead component 410b in the second position and lead component 410c in the third position as components to be picked up. This is because lead component 410b in the second position has a small area of ​​the surface facing upward, so lead component 410b cannot be appropriately held by suction nozzle 332. Also, lead component 410c in the third position cannot be appropriately held by suction nozzle 332 because the upper surface of lead component 410c is not horizontal, etc.

[0048] Then, the individual control device 452 calculates the position information of the lead component 410 recognized as the component to be picked up based on the image data. Next, the component holding head moving device 300 operates to move the component holding head 302 above one of the components to be picked up selected by the individual control device 452 based on the calculated position information of the multiple components to be picked up, and the one component to be picked up is sucked and held by the suction nozzle 332. Note that when the component to be picked up is sucked and held by the suction nozzle 332, the suction nozzle 332 is located at a non-rotation position.

[0049] Next, after one lead component 410 is held by the suction nozzle 332, the component holding head 302 moves above the component carrier 388. At this time, the component carrier 388 has been moved to a component receiving position by the operation of the component carrier moving device 390. In addition, when the component holding head 302 moves above the component carrier 388, the suction nozzle 332 is rotated to a turning position. The suction nozzle 332 is rotated by the operation of the nozzle rotating device 335 so that the leads 414 of the lead component 410 held by the suction nozzle 332 in the turning position face vertically downward.

[0050] When the component holding head 302 moves above the component carrier 388, the lead component 410 with its leads 414 facing vertically downward is inserted into the component receiving recess 416 of the component receiving member 392. As a result, the lead component 410 is placed on the component receiving member 392 with its leads 414 facing vertically downward, as shown in Fig. 10. The component receiving member 392 on which the lead component 410 is placed corresponds to the stage 156 from which the lead component 410 was supplied. In other words, a component picked up from a given stage 156 is placed on the component receiving member 392 corresponding to that stage 156.

[0051] Then, when the lead components 410 are placed on the component receiving member 392, the component carrier 388 is moved to the component supply position by the operation of the component carrier moving device 390. Since the component carrier 388 that has moved to the component supply position is located within the movement range of the working heads 60, 62, the bulk component supply device 32 supplies the lead components 410 to the component mounter 10 at this position. In this manner, the bulk component supply device 32 supplies the lead components 410 with the leads 414 facing downward and with the top surface opposite the bottom surface to which the leads 414 are connected facing upward. Therefore, the suction nozzles 66 of the working heads 60, 62 can properly hold the lead components 410.

[0052] In this manner, in the bulk component supply device 32, from among the multiple lead components 410 scattered on the stage 156, a lead component 410 that matches the first stored component shape stored in the individual control device 452 is identified, and one of the identified lead components 410 is held by the component holding head 302 and supplied to the work heads 60, 62 of the component mounter 10 through the component carrier 388. As a result, even if, for example, an operator mistakenly puts a component (hereinafter, referred to as an "irregularly shaped component") having a shape different from that of the lead component 410 into the component supply device 88, the irregularly shaped component will not be supplied to the next process by the bulk component supply device 32. In other words, even if an irregularly shaped component is put into the component supply device 88 together with the lead component 410 and the lead component 410 and the irregularly shaped component are scattered on the stage 156, the shape of the irregularly shaped component will not match the first stored component shape stored in the individual control device 452. For this reason, even if an odd-shaped component is fed into the component supply device 88, the odd-shaped component is not recognized as a component to be picked up, and is not supplied by the bulk component supply device 32. Note that a different shape means that at least one of the outer dimensions of the component, for example, the height, width, and length of the component body 412, the length and outer shape of the leads 414, etc., exceeds a certain dimensional range.

[0053] However, there are different types of components that have the same shape but are supplied by the bulk component supplying device 32. Specifically, for example, there is a lead component 600 (see FIG. 14) that has the same shape as the lead component 410 but has different performance and properties (e.g., resistance value, etc.) from the lead component 410. The surface of the component body 602 of this lead component 600 is colored red to distinguish it from the lead component 410. Note that in FIG. 14, the shaded area indicates the red color. Also, the component body 412 of the lead component 410 is, for example, white, and the leads 414 of the lead component 410 and the leads 604 of the lead component 600 are the same color, that is, silver.

[0054] If such lead components 600 are mistakenly input into one component supplier 88 together with lead components 410, the lead components 600 and 410 may be scattered on one stage 156 as shown in FIG. 14. In such a case, the shape of the lead components 600 also matches the first stored component shape stored in the individual control device 452, so that the lead components 600 may be recognized as the components to be picked up and supplied by the bulk component supply device 32. In other words, the lead components 600, which have different performance from the lead components 410, may be supplied as the lead components 410, and the lead components 600 may be mistakenly mounted at the mounting position of the lead components 410. In order to prevent such erroneous supply and mounting, in the bulk component supply device 32, not only the shapes of the components to be mounted are set in the individual control device 452, but also the colors of the components to be mounted, and the types of the components scattered on the stage 156 are identified using the set shapes and colors of the components.

[0055] Specifically, first, information on the color of the component to be mounted (hereinafter, referred to as the "target component") is input using the information processing device 500. In the information processing device 500, a main screen 650 shown in FIG. 15 is displayed on a monitor 652. The main screen 650 displays a component image 654, which is image data captured under imaging conditions when imaging a plurality of components scattered on one stage 156 in order to identify the target component, for example, the component to be picked up, and which is image data of one lead component 600 extracted from the image data of the plurality of components scattered on one stage 156 captured under those imaging conditions, and which has been adjusted in posture and enlarged. Incidentally, the component image 654 is a color image.

[0056] Then, by operating the color setting button 656 of the main screen 650, the range setting screen 660 shown in FIG. 16 is displayed on the monitor 652 instead of the main screen 650. The same component image 662 as the component image 654 on the main screen 650 is also displayed on the range setting screen 660. That is, the color component image 654 is also displayed on the range setting screen 660. Then, when the worker specifies the desired range of the component body 602 by operating the mouse for the component image 662, a specification frame 664 is displayed within that range. The color inside the specification frame 664 is the part that determines the color of the target component. That is, in the lead component 600, the component body 602 is red and the lead 604 is silver, as described above. Therefore, when an operator wishes to set the color of the lead component 600 to the color of the component body 602, i.e., red, the operator can specify an arbitrary range of the component body 602 by operating the mouse relative to the component body of the component image 662, and the information processing device 500 will display a specification frame 664 around the component body of the component image 662, as shown in FIG. 16 .

[0057] A display field 666 showing the coordinates of the upper left corner and the lower right corner of the designation frame 664 is displayed on the left side of the component image 662, and an operation button 668 is displayed on the right side of the display field 666. The position of the designation frame 664 specified by the mouse operation can be finely adjusted by the operator's operation of the operation button 668. In this way, when the designation frame 664 is designated as the range of an arbitrary component body 602 of the component image 662 by the operator's operation of the mouse or the operation button 668, the information processing device 500 analyzes the color inside the designation frame 664. That is, the image data inside the designation frame 664 of the component image 654 is analyzed, and the hue, saturation, and brightness of the image inside the designation frame 664 are specified. Then, information indicating the specified hue, saturation, and brightness (hereinafter referred to as "color information") and information for identifying the lead component 600 (hereinafter referred to as "component information") are associated with each other and stored in the information processing device 500. Since the component image 654 is an image displayed on the range setting screen 660 as the lead component 600, the component information is information for identifying the component indicated by the component image 654, that is, the lead component 600.

[0058] As a method for acquiring part image 654 for determining color information, one of the parts of the type to be acquired may be placed on stage 156 on which multiple parts of the type to be acquired are scattered, and image data may be acquired under the same imaging conditions as when imaging the multiple parts scattered on stage 156 to identify the part to be picked up. In this case, the same camera 290 and lighting device 85 are used when acquiring each image, and the position and exposure time of camera 290 and the position and light amount of lighting device 85 when capturing the image are the same.

[0059] Next, when the operator operates the judgment condition setting button 670 on the range setting screen 660, a judgment condition setting screen 680 shown in FIG. 17 is displayed on the monitor 652 instead of the range setting screen 660. A component image 682 that is the same as the component image 662 on the range setting screen 660 is also displayed on the judgment condition setting screen 680. Therefore, a designation frame 684 is displayed on the component image 682, similar to the component image 662 on the range setting screen 660. Then, on the left side of the component image 682, a color chart 686 indicating hue and saturation (hereinafter referred to as a "hue / saturation chart") and a color chart 688 indicating lightness (hereinafter referred to as a "lightness chart") are displayed.

[0060] The hue-saturation chart 686 is a chart composed of an X-axis and a Y-axis, and indicates the hue on the X-coordinate and the saturation on the Y-coordinate. Here, the hue is one of the three attributes of color, and indicates the nature, color tone, and color shade of a color such as red, blue, and yellow. The hue can be expressed, for example, by a number from 0 to 359 on the HSB hue wheel, and can be expressed by various hue wheels such as Munsell, Ostwald, and PCCS, without being limited to HSB. In addition, the saturation is one of the three attributes of color, and indicates the shade, intensity, vividness, and the like of a color. The saturation can be expressed, for example, by a number from 0 to 255, and the higher the number, the more vivid the color. In addition, since the hue and saturation determine the color tone, the hue-saturation chart 686 indicates the color tone on the XY coordinate. The hue / saturation chart 686 displays a pair of X sliders 690 that slide in the X direction by the operator, and a pair of Y sliders 692 that slide in the Y direction.

[0061] The X sliders 690 are for setting a range of hues in the hue-saturation chart 686, and the operator can slide each of the pair of X sliders 690 to any position in the X direction. However, the pair of X sliders 690 are not slid outside the hue included in the color information, that is, the hue of the target part analyzed by the information processing device 500 by the specification of the specification frame 664. In other words, the hue of the target part specified by the specification frame 664 is always positioned between the pair of X sliders 690. Thus, by sliding the X sliders 690, the operator sets the hue range sandwiched between the pair of X sliders 690 as the hue range of the target part. Note that a hue range display field 694 is displayed below the hue-saturation chart 686, and the hue range display field 694 displays the hue range of the target part set by operating the X sliders 690. Also, the operator can set the hue range within the range of hues of the target part analyzed by the information processing device by inputting a numerical value into the hue range display field 694. In such a case, the X-slider 690 slides according to the numerical value input into the hue range display field 694.

[0062] The Y slider 692 is for setting the range of saturation in the hue-saturation chart 686, and the operator can slide each of the pair of Y sliders 692 to any position in the Y direction. However, the pair of Y sliders 692 are not slid outside the saturation included in the color information, that is, the saturation of the target part analyzed by the information processing device 500 by the specification of the specification frame 664. In other words, the saturation of the target part specified by the specification of the specification frame 664 is always located between the pair of Y sliders 692. Thus, by sliding the Y slider 692, the operator sets the range of saturation sandwiched between the pair of Y sliders 692 as the saturation range of the target part. Note that a saturation range display field 696 is displayed below the hue range display field 694, and the saturation range display field 696 displays the saturation range of the target part set by operating the Y slider 692. Also, the operator can set the saturation range within the range of saturation of the target part analyzed by the information processing device 500 by inputting a numerical value into the saturation range display field 696. In such a case, the Y slider 692 slides according to the numerical value input into the saturation range display field 696.

[0063] The brightness chart 688 is a chart consisting of only a single Y axis, and indicates brightness in the Y coordinate. Brightness is one of the three attributes of color, and indicates the brightness and darkness of a color. Brightness can be expressed, for example, by a numerical value from 0 to 255, and the higher the numerical value, the brighter the color. The brightness chart 688 displays a pair of Y sliders 698 that slide in the Y direction by the operator's operation. The Y sliders 698 are for setting the range of brightness in the brightness chart 688, and the operator can slide each of the pair of Y sliders 698 to any position in the Y direction. However, the pair of Y sliders 698 are not slid outside the brightness included in the color information, that is, the brightness of the target part specified by the specification of the specification frame 664. In other words, the brightness of the target part analyzed by the information processing device 500 by the specification of the specification frame 664 is always located between the pair of Y sliders 698. Thereby, by sliding the Y sliders 698, the operator sets the lightness range sandwiched between a pair of Y sliders 698 as the lightness range of the target part. Note that a lightness range display field 700 is displayed below the saturation range display field 696, and the lightness range of the target part set by operating the Y sliders 698 is displayed in the lightness range display field 700. Also, the operator can set the lightness range within the lightness range of the target part analyzed by the information processing device 500 by inputting a numerical value into the lightness range display field 700. In such a case, the Y slider 698 slides according to the numerical value input into the lightness range display field 700.

[0064] In this way, the judgment condition setting screen 680 allows the user to set the hue range, saturation range, and brightness range of the target part by a user operation. Then, when the hue range, saturation range, and brightness range of the target part are set, information indicating the hue range, saturation range, and brightness range of the target part (hereinafter, referred to as "color range information"; how is this different from the above-mentioned "color information") is associated with the part information of the lead part 600 and stored in the information processing device 500. Note that, in the above description, the lead part 600 has been described, but for the lead part 410, color range information is set for each part information in the same way as for the lead part 600, and is associated with the part information of the lead part 410 and stored in the information processing device 500.

[0065] In this manner, the component information and color range information of lead components 600 are associated and stored in information processing device 500, and when the component information and color range information of lead components 410 are associated and stored in information processing device 500, these pieces of information are transmitted from information processing device 500 to individual control device 452. Then, by processing of individual control device 452, the type of components scattered on stage 156 is identified using the shape of the target component, that is, the first orientation component image data stored in individual control device 452 and the color range information received from information processing device 500.

[0066] When the lead components 410 are scattered on the stage 156 as described above, the camera 290 of the imaging device 84 is moved by the operation of the camera moving device 292 to a position above and near the center of one of the component support members 150. Then, while being irradiated with LED light, the multiple lead components 410 scattered on one of the stages 156 are imaged in a panoramic view using the field of view of the camera 290, as shown in Fig. 14. Then, based on the imaging data captured by the camera 290, the lead components to be picked up (hereinafter sometimes abbreviated as "components to be picked up") are identified by pattern matching from among the multiple scattered lead components.

[0067] Specifically, the individual control device 452 identifies the outlines of the lead components 410 based on imaging data of the lead components 410 captured by the camera 290, and calculates the shape of the upper surface of the lead components 410, that is, the shape of the lead components 410 as viewed from above. Furthermore, the individual control device 452 also calculates the positions of the lead components 410 based on the imaging data. Meanwhile, the individual control device 452 stores image data of a shape corresponding to the outline of the lead component 410a in the first orientation (hereinafter referred to as "first orientation component image data"), as shown in FIG.

[0068] Then, individual control device 452 judges whether the shape of the upper surface of multiple lead parts 410 calculated based on the imaging data (hereinafter referred to as "imaged part shape") matches the shape of lead parts 410 based on the first orientation part image data (hereinafter referred to as "first stored part shape"). Then, when individual control device 452 judges that the imaged part shape matches the first stored part shape among the multiple lead parts imaged in a panoramic view, it recognizes lead parts 410 corresponding to the imaged part shape as the parts to be picked up.

[0069] Specifically, first, as in the conventional method, a plurality of components scattered on one stage 156 are imaged in a panoramic view by a camera 290 positioned above the target stage and near the center of the stage while being irradiated with LED light, and a component in a first orientation is identified from among the scattered components by pattern matching based on the image data. Note that the description here is about a method of identifying components when lead components 410 are supplied from the bulk component supply device 32, as in the above description. For this reason, the individual control device 452 identifies the outline of the component to be judged based on the acquired image data, and calculates the shape of the upper surface of the component, that is, the shape of each component as viewed from above. In addition, as described above, the individual control device 452 stores image data of a shape corresponding to the outline of the lead component 410a in the first orientation, that is, first orientation component image data (see FIG. 13). Then, individual control device 452 determines whether or not the shape of the top surface of each component calculated based on the imaging data, i.e., the imaged component shape, matches the shape of lead component 410 based on the first orientation component image data stored in individual control device 452, i.e., the first stored component shape. At this time, individual control device 452 determines that a component for which it has determined that the imaged component shape calculated based on the imaging data matches the first stored component shape is a lead component in the first orientation.

[0070] However, the individual control device 452 cannot determine whether the part to be determined is the lead part 410 or the lead part 600 simply by matching the captured part shape with the first stored part shape. Therefore, the individual control device 452 uses the color range information of the multiple parts acquired from the information processing device 500 to identify the type of the part to be determined. First, the individual control device 452 calculates the hue, saturation, and brightness of the part body of the part determined to be a lead part in the first orientation based on the imaging data of the part determined to be a lead part in the first orientation captured by the camera 290. That is, the individual control device 452 calculates the hue, saturation, and brightness (hereinafter referred to as "actual hue, actual saturation, and actual brightness") of the target part based on the imaging data captured by the camera 290. Next, the individual control device 452 specifies the color range information stored in association with the lead part 410, which is the type of lead part to be identified, from the color range information of the multiple parts acquired from the information processing device 500. Next, the individual control device 452 judges whether or not each of the actual hue, actual saturation, and actual brightness of the lead component 410 to be imaged and identified by the camera 290 is included in the range of each of the hue, saturation, and brightness indicated by the color range information acquired from the information processing device. At this time, if each of the actual hue, actual saturation, and actual brightness is included in the range of each of the hue, saturation, and brightness indicated by the color range information, it is judged that the component to be judged and identified by the camera 290 is the lead component 410. In other words, if the combination of the actual hue, actual saturation, and actual brightness is included in the range of the hue, saturation, and brightness indicated by the color range information stored in the information processing device 500, it is judged that the component to be judged is the lead component 410. As a result, the individual control device 452 judges that the component to be judged and identified by the camera 290 is the lead component 410 in the first orientation, and is recognized as a pick-up target component. When the component being judged is recognized as a component to be picked up, the component is held by the component holding head 302 and placed on the component receiving member 392 , and is supplied from the bulk component supply device 32 to the component mounter 10 .

[0071] On the other hand, when any one of the actual hue, actual saturation, and actual brightness of the part to be judged and identified by the camera 290 is not included in the range of each of the hue, saturation, and brightness indicated by the color range information stored in the information processing device 500, the individual control device 452 judges that the part to be judged is not the lead part 410. In other words, when the combination of the actual hue, actual saturation, and actual brightness is not included in the range of the hue, saturation, and brightness indicated by the color range information, the individual control device 452 judges that the part to be judged and identified by the camera 290 is in the first orientation but is not the lead part 410, and does not recognize it as a part to be picked up by the working heads 60 and 62. When the individual control device 452 judges that the part to be judged is in the first orientation but is not the lead part 410, the individual control device 452 judges that the lead parts 600 are scattered on the stage 156. That is, the individual control device 452 judges that the lead component 600 has been mixed in with the component supply unit 82 that should have supplied the lead component 410. Therefore, in such a case, an error is notified and the component mounter 10 is brought to an emergency stop. The error notification may be, for example, an error screen displayed on a display device (not shown) or an alarm sound output from a speaker.

[0072] In this way, the individual control device 452 uses the first orientation component image data stored therein and the color range information acquired from the information processing device 500 to identify the type of components scattered on the stage 156 captured by the camera 290, and can distinguish the lead components 600, which are different in type from the lead components 410, which have the same shape but different colors, and can appropriately supply the lead components from the bulk component supply device 32 to the component mounter 10. Also, if there is a high possibility that the lead components 600 have been mixed in the component supply unit 82 that should supply the lead components 410, an error notification is issued, allowing the worker to recognize the presence of the lead components 600. This allows the worker to remove the mixed lead components 600 from the component supply unit 82, thereby preventing the lead components 600 from being erroneously supplied to the component mounter 10 and erroneously attached to the circuit board 12.

[0073] Furthermore, the color range information used in identifying the type of part can be set to any range by the operator's operation in the information processing device 500. For this reason, for example, when the colors of multiple types of parts of the same shape are similar, for example, when the color of part A is dark red and the color of part B of the same shape as part A is light red, the operator can set the brightness range narrowly when setting the color range information, thereby making it possible to appropriately distinguish between part A and part B. As a result, even when the colors of multiple types of parts of the same shape are similar, it becomes possible to appropriately identify the types of the multiple parts.

[0074] Basically, one stage 156 out of the multiple stages 156 has multiple parts of the same shape and type scattered thereon, and so one piece of data relating to color range information for identifying the types of parts scattered on one stage 156 is set for each stage. However, for example, when the same type of parts are scattered on the multiple stages 156, one piece of color range information may be set for the multiple stages 156 by capturing an image of the parts scattered on one stage 156, and the color range information may be shared and used to identify the types of parts scattered on each stage.

[0075] Furthermore, when different types of parts are scattered across multiple stages 156 and these scattered parts need to be identified, color range information is set for each stage on which multiple different types of parts are scattered. In other words, regardless of the number of stages 156, if color range information equal to the number of colors and types of parts scattered across the multiple stages 156 is set based on the number of these colors and types, color range information for identifying scattered parts of the same color or type can be shared and used, so that a small number of pieces of color range information need only be set.

[0076] Furthermore, when multiple types of parts are scattered on one stage 156, in order to identify those parts, color range information in the same number as the number of types of parts scattered on one stage 156 is set, and the types of the multiple types of parts scattered on that one stage are identified.

[0077] Incidentally, the bulk component supply device 32 is an example of a component holding system. The stage 156 is an example of a stage. The camera 290 is an example of an imaging device. The component holding head 302 is an example of a component holding device. The individual control device 452 is an example of an identification device and a judgment item setting unit.

[0078] The present invention is not limited to the above embodiment, and can be embodied in various forms with various modifications and improvements based on the knowledge of a person skilled in the art. Specifically, for example, in the above embodiment, when the individual control device 452 determines that the component to be judged is in the first orientation but is not the lead component 410, an error is notified. In such a case, the individual control device 452 may determine whether the component to be judged is the lead component 600, and if it is determined that it is the lead component 600, the lead component 600 may be mounted at the intended mounting position of the lead component 600. In other words, when the individual control device 452 determines that the component to be judged is in the first orientation but is not the lead component 410, the individual control device 452 also determines whether each of the actual hue, actual saturation, and actual lightness is included in the range of each of the hue, saturation, and lightness indicated by the color range information of the lead component 600. At this time, when the individual control device 452 determines that the combination of the actual hue, actual saturation, and actual lightness is included in the range of hue, saturation, and lightness indicated by the color range information of the lead component 600, it determines that the component to be determined is the lead component 600. As a result, the component to be determined is determined to be the lead component 600 in the first attitude, and is recognized as a component to be picked up. Then, the lead component 600 recognized as a component to be picked up is held by the component holding head 302 and placed on the component receiving member 392, and is supplied from the bulk component supply device 32 to the component mounting device 24 of the component mounter 10. At this time, the bulk component supply device 32 supplies the components to be supplied as the lead components 600 to the component mounting device 24 of the component mounter 10. As a result, the component mounter 10 recognizes that the lead components 600 have been supplied from the bulk component supply device 32, and performs the mounting operation of the lead components 600. That is, the working heads 60, 62 recognize that the components supplied from the bulk component supply device 32 are lead components 600, hold the lead components 600, and mount the lead components 600 in the intended mounting positions for the lead components 600. Therefore, even if the worker intentionally puts lead components 410 and 600 mixed together into the component supply device 88, it is possible to distinguish between the lead components 410 and 600 and mount them in their intended mounting positions.That is, in the past, different types of lead components 410 and 600 were supplied separately by two component supply units 82, one for supplying lead components 410 and the other for supplying lead components 600, but it is now possible to supply lead components 410 and lead components 600 simultaneously to component mounter 10 by one component supply unit 82. As a result, when supplying multiple types of lead components to component mounter 10, it is possible to reduce the number of component supply units 82 used by mixing and scattering multiple types of components in one component supply unit 82, and thus it is possible to prevent the purchase of extra component supply units 82.

[0079] In the above embodiment, a color camera is used as an imaging device for imaging the parts scattered on the stage 156, but a monochrome camera can also be used. However, with imaging data of an object imaged by a monochrome camera, it is possible to identify the brightness of the object, but it is not possible to identify the hue and saturation. However, achromatic colors such as white, gray, and black can be identified only by brightness. Therefore, when a monochrome camera is used as an imaging device for imaging the parts scattered on the stage 156, if the color of the part to be judged is achromatic, the type of the part can be identified only based on the brightness. In other words, even when a monochrome camera is used as an imaging device for imaging the parts scattered on the stage 156, the same effect as in the above embodiment can be obtained. Even when a color camera is used as an imaging device for imaging the parts scattered on the stage 156, the type of the part may be identified only based on the brightness, or may be identified only based on the hue and saturation.

[0080] Furthermore, in the above embodiment, the types of components scattered on stage 156 are identified based on the color range information, but the types of components at various locations may be identified based on the color range information, not limited to on stage 156. Specifically, for example, the types of components placed on component receiver 392, components held by component holding head 302, and components inserted into component supplyer 88 may be identified based on the color range information.

[0081] The color range information is set using image data captured by a camera 290 positioned above the stage 156 of the components scattered on the stage 156, but may be set using image data captured under different conditions using a different location or type of camera 290 or lighting. For example, a video camera or video may be used as the camera for capturing one of the image data, or a different type of lighting such as a ring light may be used as the lighting for capturing one of the image data. The camera or lighting may be moved relatively to capture the image data. In other words, the image data captured by capturing an image of a plurality of components scattered on the stage 156 and the image data for setting the color range information may be captured using the same camera, under the same capturing conditions, or under the same lighting or lighting conditions, that is, under different conditions.

[0082] Furthermore, when imaging parts scattered on a plurality of stages 156, the images do not have to be captured under the same conditions. For example, when imaging parts scattered on one stage 156 and parts scattered on another stage 156, the field of view or exposure time of the imaging camera may be changed, or the vertical or horizontal position of camera 290 may be changed depending on the stage 156 to be imaged.

[0083] In the above embodiment, the color range information is set by a user operation, but the color range information may be automatically set by the processing of the information processing device 500. That is, an arbitrary range of the component image 662 may be specified by the specification frame 664 on the range setting screen 660, and the information processing device 500 may set the hue range, saturation range, and brightness range so as to include the hue, saturation, and brightness indicated by the color information after calculating the color information. Specifically, for example, the information processing device 500 may automatically set a hue range whose lower limit is a numerical value obtained by subtracting a set number from the numerical value of the hue indicated by the color information, and whose upper limit is a numerical value obtained by adding the set number to the numerical value of the hue indicated by the color information. The color range information may be for components scattered near the center on the stage, and may also have a function of automatically selecting and automatically setting a predetermined range of the components.

[0084] In the above embodiment, the three attributes of color, that is, hue, saturation, and brightness, are used as indicators of color, but it is also possible to express color in three ways: "amount of white," "amount of black," and "amount of pure color." In this case, brightness corresponds to "black and white," and saturation corresponds to "pure color."

[0085] In the above embodiment, the type of lead component is identified based on the color range information, but various types of components may be identified based on the color range information. Specifically, for example, the types of components of a solar cell, components of a power module, electronic circuit components without leads, etc. may be identified based on the color range information.

[0086] In addition, color range information for identifying multiple types of parts and orientation part image data for identifying multiple orientations of scattered parts may be stored in various control devices, such as the overall control device 450, or may be stored in the information processing device 500.

[0087] Furthermore, the identification of these components held by the component holding heads 302 scattered across the stage 156 , which is performed by the individual control devices 452 , may be performed by the information processing device 500 or by the general control device 450 .

[0088] Furthermore, the identification of the type of scattered components may be utilized in an apparatus or component mounter in which the work heads 60, 62 of the component mounter 10 grasp the scattered components and mount them on the circuit board 12, or may be utilized in cases in which various types of robots, such as articulated robots, hold scattered components, regardless of the component holding head 302 or work heads 60, 62. [Explanation of symbols]

[0089] 32: Bulk part supply device (part holding system) 156: Stage 290: Camera (imaging device) 302: Part holding head (part holding device) 452: Individual control device (identification device) (determination item setting unit)

Claims

1. A plurality of parts having the same shape but different colors are scattered in various orientations on a stage illuminated with a stable amount of light by a lighting device fixedly disposed relative to the stage, and image data is captured in a panoramic view by a camera positioned at a predetermined height above the stage and at a predetermined position in the horizontal direction; a plurality of brightness ranges, each of which can be set to an arbitrary range by an operator through a screen operation and is set in a storage device, for identifying the colors of a plurality of parts having the same shape but different colors, which are scattered on the stage in various positions; Based on this, the scattered part identification device identifies parts that fall within the same numerical range of brightness from a plurality of parts of the same shape and different colors scattered in various orientations on the stage.

2. the imaging data is color imaging data, a plurality of hue value ranges and a plurality of saturation value ranges for identifying the colors of a plurality of parts having the same shape but different colors, which are scattered on the stage in various orientations, are also set in the storage device by an operator operating a screen; The scattered part identification device includes: The scattered part identification device of claim 1, which identifies parts that fall within the same numerical ranges of lightness, hue, and saturation from multiple parts of the same shape but different colors scattered in various orientations on the stage based on the color imaging data and the multiple numerical ranges of lightness, the multiple numerical ranges of hue, and the multiple numerical ranges of saturation stored in the memory device.

3. 3. The scattered part identification device according to claim 2, wherein each of the plurality of hue numerical ranges and each of the plurality of saturation numerical ranges can be set to any range by an operator through a screen operation.

4. The color imaging data; A scattered part identification device as described in claim 2 or claim 3, which identifies parts that fall within the same numerical ranges of lightness, hue, and saturation from multiple parts of the same shape but different colors scattered in various postures on the stage based on a combination of the numerical range of lightness, the numerical range of hue, and the numerical range of saturation stored in the memory device.

5. the storage device also stores a plurality of posture data for determining whether or not the posture data matches the posture of each of a plurality of parts having the same shape and different colors that are scattered on the stage in various postures; The scattered part identification device includes: The color imaging data; A plurality of posture data stored in the storage device; The scattered part identification device of claim 4, which identifies parts that have the same orientation and are within the same numerical ranges of brightness, hue, and saturation from a plurality of parts of the same shape and different colors scattered in various orientations on the stage based on a combination of the numerical range of brightness, the numerical range of hue, and the numerical range of saturation stored in the memory device.

6. A component holding system in which a component holding device holds components having the same brightness range from a plurality of components having the same shape and different colors scattered on a stage in various orientations, an illumination device that is fixedly disposed with respect to the stage and irradiates a stable amount of light onto a plurality of components having the same shape but different colors that are scattered on the stage in various orientations; an imaging device positioned at a predetermined height above the stage and at a predetermined position in the horizontal direction, for capturing images of a plurality of parts having the same shape but different colors scattered in various orientations on the stage illuminated with light by the illumination device, in a panoramic view; a judgment item setting unit that allows an operator to set a plurality of brightness ranges by operating a screen in order to distinguish the colors of a plurality of parts having the same shape but different colors that are scattered on the stage in various positions; Equipped with A scattered component holding system that identifies the colors of multiple parts of the same shape but different colors scattered on the stage based on image data of multiple parts of the same shape but different colors scattered in various orientations on the stage imaged by the imaging device and multiple numerical brightness ranges set in the judgment item setting unit, and holds components that the component holding device identifies as falling within the same numerical brightness range from the multiple parts of the same shape but different colors scattered in various orientations on the stage.

7. the imaging data is color imaging data, the judgment item setting unit is capable of setting, by an operator's screen operation, a plurality of hue value ranges and a plurality of saturation value ranges for identifying the colors of a plurality of parts having the same shape but different colors that are scattered on the stage in various orientations; The retention system for the interspersed parts comprises: The scattered part holding system of claim 6, wherein the part holding device holds parts identified as falling within the same numerical ranges of lightness, hue, and saturation from multiple parts of the same shape but different colors scattered in various orientations on the stage based on the color imaging data and the multiple numerical ranges of lightness, the multiple numerical ranges of hue, and the multiple numerical ranges of saturation set in the judgment item setting unit.

Images