Mounting device and image processing device

Abstract

A mounting device according to this disclosure mounts components on a board. The mounting device includes a mounting head including multiple holders that are disposed at an end of the mounting head and hold the components; an imaging unit that captures an image including two or more of the holders from among the plurality of holders; and an image processing unit that, with an area surrounding the tip of at least one of the holders from among the captured images set as a target area, performs a compressed image generation process of replacing pixels of the captured image other than pixels in the target area with pixels having the same color and generating a compressed image by compressing the captured image after the replacement according to a predetermined compression format.

Description

[Technical field]

[0001] This specification discloses a mounting device and an image processing device. [Background technology]

[0002] Conventionally, a mounting device for mounting components on a board is known that includes an imaging unit that images multiple nozzles and the components held by the nozzles. For example, the side camera of the mounting device described in Patent Document 1 images the nozzles and components located at each of the multiple nozzle positions from the side, and obtains image data that represents one image in which the obtained images are arranged in the left-right direction in the image. This allows the side camera to simultaneously image the nozzles and components located at the multiple nozzle positions from the side. The captured image is used, for example, to determine whether or not the components are correctly held by the nozzles during the mounting process. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 179365 Brochure Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, images obtained by imaging may be stored in a storage device so that they can be used later, for example, to analyze an abnormality that occurs in a mounting device. However, when image data is obtained by imaging an object at multiple nozzle positions as in Patent Document 1, the image always includes images of multiple nozzle positions, and therefore the amount of image data becomes enormous, which may put a strain on the capacity of the storage device.

[0005] The present disclosure has been made to solve the above-mentioned problems, and has as its main object to reduce the amount of image data. [Means for solving the problem]

[0006] In order to achieve the above-mentioned main object, the present disclosure has adopted the following means.

[0007] A first mounting device of the present disclosure includes: A mounting apparatus for mounting components onto a substrate, comprising: a mounting head having a plurality of holders at the tip thereof for holding the components; An imaging unit that captures an image including two or more of the plurality of holders; an image processing unit that performs a compressed image generation process in which an area of ​​the captured image that includes a periphery of at least one of the tips of the holders is treated as a target area, pixels of the captured image other than the target area are replaced with pixels of the same color, and the replaced image is compressed in a predetermined compression format to generate a compressed image; It is equipped with the following:

[0008] In this first mounting device, the imaging unit captures an image including two or more of the multiple holders. The image processing unit then performs a compressed image generation process in which an area including the periphery of the tip of at least one of the holders in the captured image is treated as a target area, pixels in the captured image other than the target area are replaced with pixels of the same color, and the replaced image is compressed in a predetermined compression format to generate a compressed image. The compressed image thus generated is a compressed image in which the area other than the target area has been replaced with pixels of the same color, and therefore has an improved compression rate compared to when the image is compressed without replacement. Therefore, the amount of data in the image data (compressed image) can be reduced. [Brief description of the drawings]

[0009] [Figure 1] 1 is a configuration diagram showing a schematic configuration of a mounting system 1 including a mounting device 10. [Diagram 2] FIG. 2 is an explanatory diagram showing a schematic configuration of a mounting head 40. [Diagram 3] 4 is a plan view showing the arrangement of the nozzles 44 and a schematic configuration of a side camera 80. FIG. [Figure 4] FIG. 2 is an explanatory diagram showing the electrical connection relationship of the control device 90. [Diagram 5]FIG. 4 is an explanatory diagram showing an example of correspondence relationship information 93a stored in an HDD 93; [Figure 6] 11 is a flowchart showing an example of a mounting process routine. [Figure 7] 11 is a flowchart showing an example of a mounting process routine. [Figure 8] 11A and 11B are explanatory diagrams showing an example of an image captured after nozzle replacement and a post-compression image generation process for the image; [Figure 9] 11A and 11B are explanatory diagrams showing an example of an image captured after a part is picked up and a post-compression image generation process for the image; [Figure 10] FIG. 11 is an explanatory diagram showing an example of a modified example of a compressed image generating process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] An embodiment of the mounting device and image processing device of the present disclosure will be described below with reference to the drawings. Fig. 1 is a configuration diagram showing a schematic configuration of a mounting system 1 including a mounting device 10 of this embodiment, Fig. 2 is an explanatory diagram showing a schematic configuration of a mounting head 40, Fig. 3 is a plan view showing the arrangement of nozzles 44 and a schematic configuration of a side camera 80, and Fig. 4 is an explanatory diagram showing an electrical connection relationship of a control device 90. Note that the left-right direction in Fig. 1 is the X-axis direction, the front (front) back (rear) direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

[0011] As shown in Fig. 1, the mounting system 1 includes a mounting apparatus 10 and a management apparatus 100 that manages the mounting apparatus 10. The mounting system 1 includes a mounting line in which a plurality of mounting apparatuses 10 that mount components P on a board 12 are arranged along the transport direction (X-axis direction) of the board 12. For ease of explanation, Fig. 1 shows only one mounting apparatus 10 in the mounting line. Note that the mounting system 1 may also include a solder printer, an inspection machine, a reflow oven, and the like on the same mounting line as the mounting apparatus 10.

[0012] As shown in FIG. 1, the mounting apparatus 10 includes a component supply device 20, a board transport device 25, an XY robot 30, a mounting head 40, a nozzle stocker 24, a part camera 28, a mark camera 29, a side camera 80, and a control device 90 (see FIG. 4).

[0013] A plurality of component supply devices 20 are provided in front of the mounting apparatus 10, lined up in the left-right direction (X-axis direction). The component supply devices 20 are configured as tape feeders that pull out a tape 22 (see FIG. 3) containing components P from a reel 21 at predetermined intervals and feed it at a predetermined pitch. The components P contained on the tape 22 are protected by a film covering the surface of the tape 22. When the components P reach a predetermined component supply position, the film is peeled off and the components P are exposed.

[0014] As shown in Fig. 1, the substrate transport device 25 has a pair of conveyor belts 26, 26 (only one of which is shown in Fig. 1) that are spaced apart from each other and span the left-right direction. When the substrate 12 is transported by the conveyor belts 26, 26 and reaches a predetermined loading position, it is supported by a number of support pins 27 erected on the back side.

[0015] As shown in FIG. 1, the XY robot 30 includes a pair of left and right Y-axis guide rails 33, 33 provided along the front-rear direction (Y-axis direction) and a Y-axis slider 34 suspended between the pair of left and right Y-axis guide rails 33, 33. The XY robot 30 also includes X-axis guide rails 31, 31 provided along the left-right direction (X-axis direction) on the front side of the Y-axis slider 34, and an X-axis slider 32 attached to the X-axis guide rails 31, 31. The X-axis slider 32 can move in the X-axis direction by driving an X-axis motor 36 (see FIG. 4), and the Y-axis slider 34 can move in the Y-axis direction by driving a Y-axis motor 38 (see FIG. 4). A mounting head 40, a mark camera 29, and a side camera 80 are attached to the X-axis slider 32. The mounting head 40, the mark camera 29, and the side camera 80 are moved to any position on the XY plane by the movement of the XY robot 30.

[0016] As shown in FIG. 2, the mounting head 40 includes a head body 41, a nozzle holder 42, and a nozzle 44. The head body 41 is a disk-shaped rotating body. A cylindrical reflector 41a capable of reflecting light is attached to the center of the lower surface of the head body 41 (see FIG. 3). A plurality of nozzle holders 42 are provided at predetermined intervals in the circumferential direction of the head body 41, and the mounting head 40 is configured as a rotary head. The nozzles 44 are replaceably attached to the tip of each nozzle holder 42. The nozzles 44 are attached to the head body 41 via the nozzle holder 42 and are arranged along the circumferential direction of the head body 41. In FIG. 2, in order to make the nozzle holder 42 easier to see, the reflector 41a is omitted and eight nozzle holders 42 and eight nozzles 44 are shown, but in this embodiment, the number of nozzles 44 is twelve as shown in FIG. 3. Therefore, the number of nozzle holders 42 is also twelve. As shown in Fig. 3, the twelve nozzles 44 are referred to as nozzles 44A to 44L in order counterclockwise starting from the nozzle 44 at the 8 o'clock position in Fig. 3. The mounting head 40 also includes an R-axis driving device 50, a Q-axis driving device 60, and Z-axis driving devices 70, 70. For ease of explanation, in Fig. 2, the two nozzle holders 42 that are positioned to engage with the Z-axis driving devices 70, 70 are shown by solid lines, and the other nozzle holders 42 are shown by dashed and dotted lines.

[0017] The R-axis driving device 50 is a mechanism that rotates the head body 41 to revolve the nozzles 44. The R-axis driving device 50 includes an R-axis 51, an R-axis motor 54, and an R-axis position sensor 55 (see FIG. 4). The R-axis 51 extends in the vertical direction, and its lower end is attached to the central axis of the head body 41. The R-axis motor 54 rotates a gear 53 that meshes with an R-axis gear 52 provided at the upper end of the R-axis 51. The R-axis position sensor 55 detects the rotational position of the R-axis motor 54. The R-axis driving device 50 rotates the R-axis 51 via the gear 53 and the R-axis gear 52 by the R-axis motor 54, thereby rotating the head body 41. When the head body 41 rotates, the nozzle holders 42 and the nozzles 44 revolve (revolve) in the circumferential direction together with the head body 41. That is, by driving the R-axis driving device 50, the multiple nozzles 44 revolve along a revolution trajectory centered on the rotation axis of the head body 41. Note that the R-axis driving device 50 can intermittently revolve the nozzles 44 by a predetermined angle at a time by intermittently rotating the head body 41 by a predetermined angle (e.g., 30 degrees) at a time.

[0018] Here, on the revolution trajectory of the nozzle 44, there is one or more work positions where the nozzle 44 picks up the component P from the component supply device 20 and mounts the component P picked by the nozzle 44 on the board 12. In this embodiment, two nozzle positions N2 and N5 shown in FIG. 3 are the work positions. At the work positions, work such as replacing the nozzle 44 and disposing of the component P picked by the nozzle 44 can also be performed. The nozzle positions N2 and N5 are located opposite each other on the left and right sides of the central axis of the revolution trajectory of the nozzle 44. The nozzle position N2 is the left end position on the revolution trajectory of the nozzle 44 (the 9 o'clock position in FIG. 3), and the nozzle position N5 is the right end position on the revolution trajectory of the nozzle 44 (the 3 o'clock position in FIG. 3). In FIG. 3, the nozzle 44L is located at the nozzle position N2, and the nozzle 44F is located at the nozzle position N5. Also, when the nozzle 44 is located at the nozzle position N2 on the revolution trajectory of the nozzle 44, the position of the nozzle 44 immediately before the nozzle 44 (nozzle 44A in FIG. 3) is referred to as the nozzle position N1, and the position of the nozzle 44 immediately after the nozzle 44 (nozzle 44K in FIG. 3) is referred to as the nozzle position N3. Similarly, the position of the nozzle 44 immediately before the nozzle 44 (nozzle 44F in FIG. 3) located at the nozzle position N5 is referred to as the nozzle position N4, and the position of the nozzle 44 immediately after the nozzle 44 (nozzle 44E in FIG. 3) is referred to as the nozzle position N6. The nozzle positions N1 and N4 are also referred to as the immediately before position because they are the positions immediately before (immediately before) the working positions (nozzle positions N2 and N5) on the revolution trajectory of the nozzle 44. Also, the nozzle positions N3 and N6 are also referred to as the immediately after position because they are the positions immediately after (immediately after) the working positions (nozzle positions N2 and N5) on the revolution trajectory of the nozzle 44. Nozzle positions N1, N3, N4, and N6 are positions for the side camera 80 to capture an image of at least one of the nozzle 44 and the component P held by the nozzle 44, and are also referred to as imaging positions. In this embodiment, as described above, the imaging positions are positions different from the working positions, and the immediately preceding position and the immediately succeeding position are the imaging positions.

[0019] The Q-axis driving device 60 is a mechanism for synchronously rotating (rotating) the multiple nozzles 44. The Q-axis driving device 60 includes upper and lower two-stage Q-axis gears 61, 62, gears 63, 64, a Q-axis motor 65, and a Q-axis position sensor 66 (see FIG. 4). The upper and lower two-stage Q-axis gears 61, 62 are inserted coaxially and relatively rotatably with respect to the R-axis 51. The gear 63 is provided on the upper part of each nozzle holder 42, and meshes with the lower stage Q-axis gear 61 so as to be slidable in the vertical direction. The Q-axis motor 65 drives and rotates the gear 64 meshing with the upper stage Q-axis gear 62. The Q-axis position sensor 66 detects the rotational position of the Q-axis motor 65. The Q-axis drive device 60 rotates the Q-axis gears 61 and 62 using the Q-axis motor 65, thereby rotating the gear 63 meshing with the Q-axis gear 61, and rotates each nozzle holder 42 about its central axis in the same direction by the same amount of rotation (rotation angle). Accordingly, the multiple nozzles 44 also rotate synchronously with each other.

[0020] The Z-axis drive devices 70, 70 are provided at two locations on the orbit of the nozzle holder 42, and are configured to be able to raise and lower the nozzle holder 42 individually at the two locations. In this embodiment, the Z-axis drive devices 70, 70 are provided so as to face each other on the left and right sides of the center of the head body 41. The position of the nozzle holder 42 at which the Z-axis drive device 70 can raise and lower the nozzle holder 42 is referred to as the lifting position. The lifting position is the same position as the working position of the nozzle 44 in a top view, that is, the nozzle positions N2 and N5. The Z-axis drive device 70 includes a Z-axis slider 71, a Z-axis motor 73, and a Z-axis position sensor 74 (see FIG. 4). The Z-axis slider 71 is attached to a ball screw 72 extending in the vertical direction so as to be able to raise and lower the nozzle holder 42. The Z-axis slider 71 includes a clamping portion 71a that clamps an engagement piece 42a extending laterally from the nozzle holder 42. The Z-axis motor 73 rotates the ball screw 72 to raise and lower the Z-axis slider 71. The Z-axis position sensor 74 detects the vertical position of the Z-axis slider 71. The Z-axis drive device 70 drives the Z-axis motor 73 to raise and lower the Z-axis slider 71 along the ball screw 72, thereby raising and lowering the nozzle holder 42 and the nozzle 44 integrated with the Z-axis slider 71. When the nozzle holder 42 revolves together with the head body 41 and stops at the raised or lowered position where the Z-axis drive device 70 is arranged, the engagement piece 42a of the nozzle holder 42 is sandwiched by the clamping portion 71a of the Z-axis slider 71. Therefore, the Z-axis drive device 70 raises and lowers the nozzle holder 42 and the nozzle 44 at the raised or lowered position. When nozzle holder 42 revolves and moves from the elevated position, engaging piece 42 a of nozzle holder 42 comes out of clamping portion 71 a of Z-axis slider 71 .

[0021] The nozzle 44 is a member that picks up and holds the component P from the component supply device 20. When negative pressure is supplied to the nozzle 44 via a pressure regulating valve 46 (see FIG. 4), the nozzle 44 sucks and holds the component P at the tip (lower end) of the nozzle 44, and releases the component P when atmospheric pressure or positive pressure is supplied to the nozzle 44.

[0022] 1, the nozzle stocker 24 is provided between the component supply device 20 and the board transport device 25. The nozzle stocker 24 can stock multiple types of nozzles 44. By exchanging the nozzles 44 between the nozzle stocker 24 and the mounting head 40, it is possible to attach to the mounting head 40 a nozzle 44 suitable for the size of the component P to be mounted.

[0023] 1, part camera 28 is provided between component supply device 20 and board transport device 25. Part camera 28 images the posture of component P sucked by nozzle 44 from below.

[0024] Mark camera 29 is provided on the lower surface of X-axis slider 32. Mark camera 29 captures an image of a reference mark of component supplying device 20 and captures an image of a reference mark provided on board 12. Control device 90 identifies the position of component P stored on tape 22 and identifies the position of board 12 based on the position of the reference mark in the captured image.

[0025] The side camera 80 is a device for capturing an image including two or more of the multiple nozzles 44. In this embodiment, the side camera 80 captures an image of an object located at each of the above-mentioned four imaging positions (nozzle positions N1, N3, N4, and N6) from the side. The side camera 80 captures at least one of the nozzle 44 located at the imaging position and the component P held by the nozzle 44. The side camera 80 captures an image of the component P held by the nozzle 44 located at the imaging position. As shown in FIG. 3, the side camera 80 is composed of a camera body 82 provided behind the nozzle 44 and a housing 84 having an optical system unit that forms an optical path to the camera body 82. The housing 84 is disposed so as to surround the left, right, and rear of the multiple nozzles 44. The housing 84 has first to fourth inlet ports 86a to 86d formed at the left front, left rear, right rear, and right front positions of the head body 41. The first to fourth inlets 86a to 86d face the nozzle positions N1, N3, N4, and N6 in a one-to-one relationship, respectively. In addition, the housing 84 is provided with a plurality of light emitters 87 such as LEDs (four on each side in FIG. 3) that emit light toward the reflector 41a attached to the head body 41 on the outer peripheral surface on the side of the plurality of nozzles 44. The housing 84 is provided with a plurality of mirrors 88a to 88k that reflect light therein. The housing 84 may be provided with another optical system such as a prism that refracts light, instead of or in addition to one or more of the mirrors 88a to 88k. The mirrors 88a to 88e are disposed on the left side of the housing 84, and form an optical path indicated by a dashed line in the figure to guide the light that enters from the first and second inlets 86a and 86b to the mirror 88k in front of the camera body 82. For example, light incident from the first inlet 86a is reflected by mirrors 88a, 88c, 88d, and 88e in this order and reaches mirror 88k. Mirrors 88f-88j are disposed on the right side of the housing 84 and form optical paths indicated by dashed lines in the figure, guiding light incident from the third and fourth inlet ports 86c and 86d to mirror 88k. Mirror 88k reflects each of the light reaching from the first to fourth inlet ports 86a-86d and guides it to camera body 82.

[0026] The side camera 80 includes an optical system unit having the first to fourth inlets 86a to 86d, the light emitter 87, and the mirrors 88a to 88k as described above. As a result, the light from each of the nozzle positions N1, N3, N4, and N6 reaches different regions of the imaging element of the camera body 82 to form an image. Therefore, the camera body 82 can capture images of the objects located at the nozzle positions N1, N3, N4, and N6 in one imaging operation, and obtain a captured image in which the obtained images are arranged in one image. Therefore, the camera body 82 can simultaneously capture images of the nozzles 44 and the component P located at the nozzle positions N1, N3, N4, and N6 from the side. In this embodiment, the camera body 82 obtains image data representing one captured image in which the objects located at the nozzle positions N3, N1, N6, and N4 are arranged in this order from left to right, as shown in the upper part of FIG. 8 and the upper part of FIG. 9 described later. The first to fourth inlets 86a to 86d and mirrors 88a to 88k are arranged and shaped so that the direction in which the camera body 82 captures the images of the respective imaging positions is along the radial direction of the revolution locus of the nozzle 44, that is, toward the center of the revolution locus of the nozzle 44. The camera body 82 receives light emitted from the light emitter 87 and reflected by the reflector 41a. Therefore, in the captured image, the nozzle 44 and the component P, which block the light, are projected as black shadows.

[0027] As shown in Fig. 4, the control device 90 is configured as a microprocessor with a CPU 91 at its center, and in addition to the CPU 91, includes a ROM 92, a HDD 93, a RAM 94, an input / output interface 95, and the like. These are connected via a bus 96. The control device 90 receives, via the input / output interface 95, detection signals from the XY robot 30, detection signals from the mounting head 40 (R-axis position sensor 55, Q-axis position sensor 66, and Z-axis position sensors 74, 74), image signals from the parts camera 28, image signals from the mark camera 29, and image signals from the side camera 80. In addition, the control device 90 outputs, via the input / output interface 95, control signals to the component supply device 20, the board transport device 25, the XY robot 30 (X-axis motor 36 and Y-axis motor 38), the mounting head 40 (R-axis motor 54, Q-axis motor 65, and Z-axis motors 73, 73), the pressure adjustment valve 46, the parts camera 28, the mark camera 29, and the side camera 80, and the like. The control device 90 is also connected to the management device 100 so as to be capable of two-way communication, and exchanges data and control signals with each other.

[0028] The HDD 93 is an example of a non-volatile memory that retains information even when the power is off, and as shown in FIG. 5, the correspondence information 93a is stored in the HDD 93. The correspondence information 93a is information that indicates the correspondence between the imaging timing and the target area for the captured image acquired by the side camera 80. For example, in the correspondence information 93a shown in FIG. 5, the imaging timing includes after nozzle replacement, when the nozzle is abnormal, after the component is collected, when the collection is abnormal, before the component is discarded, after the component is discarded, before the component is mounted, and after the component is mounted, and information on the target area is associated with each of these timings. The target area is an area that is to be left as an image when the captured image is processed by performing a compressed image generation process described later. The target area is determined as an area that includes the periphery of the tip of at least one nozzle 44 in the captured image. In addition, the target area is set to include an area of ​​the captured image that is used for various abnormality determinations in the mounting process routine described later (an area of ​​the captured image that is the target of abnormality determination). For example, in the correspondence information 93a shown in FIG. 5, information on the target nozzle position and information on the target range are included as the target area. The information on the target nozzle position is information on which of the imaging positions (here, nozzle positions N1, N3, N4, and N6) is to be the target region. In this embodiment, it is set to include one or more of the multiple imaging positions for each imaging timing. The information on the target range is information on how much of the range of the target nozzle position is to be the target region. In this embodiment, either "whole" or "around the nozzle tip" is set for each imaging timing. For example, in the correspondence relationship information 93a shown in FIG. 5, "the whole image of the nozzle positions N3 and N6 among the captured images" is associated as the target region with the imaging timing "after nozzle replacement". Also, "around the tip of the nozzle 44 in each image of the nozzle positions N1 and N4 among the captured images" is associated as the target region with the imaging timing "before component mounting".

[0029] The management device 100 is a device that manages the entire mounting system 1. As shown in FIG. 4, the management device 100 includes a CPU 101, a ROM 102, a HDD 103, a RAM 104, and an input / output interface 105. These are electrically connected via a bus 106. The management device 100 also includes an input device 107 such as a keyboard or a mouse, and a display 108 such as an LCD. An input signal is input from the input device 107 to the management device 100 via the input / output interface 105. An image signal is output from the management device 100 to the display 108 via the input / output interface 105. The management device 100 transmits and receives information to and from the control device 90 of the mounting device 10 via the input / output interface 105. The HDD 103 of the management device 100 is an example of a non-volatile memory that retains information even when the power is off, and stores a production program for the board 12 and various data transmitted from the multiple mounting devices 10 in the mounting system 1. The production program for the boards 12 includes information regarding which components P are to be mounted in which order at which positions on which boards 12 by each of the multiple mounting devices 10 in the mounting system 1, as well as information regarding how many boards 12 thus mounted are to be produced. The production program also includes information regarding the height (thickness) of the components P.

[0030] Next, a detailed description will be given of the operation of the mounting system 1 thus configured, in particular the operation of the mounting device 10. Figures 6 and 7 are flowcharts showing an example of a mounting processing routine executed by the CPU 91 of the control device 90. This processing is executed when the control device 90 receives a production program from the management device 100 and is instructed to start production.

[0031] When the mounting process routine is started, the CPU 91 of the control device 90 first controls the board transport device 25 to perform a board transport process for transporting the board 12 and supporting the board 12 with the support pins 27 (S100). Next, the CPU 91 performs a nozzle exchange-related process (S110 to S170) for replacing the nozzles 44 attached to the mounting head 40 with appropriate types of nozzles 44. The CPU 91 performs this nozzle exchange-related process when no nozzles 44 are attached to the mounting head 40 or when it is determined that one or more nozzles 44 need to be replaced based on the production program received from the management device 100. When it is not necessary to replace the nozzles 44, the CPU 91 skips the nozzle exchange-related process and performs the component picking-related process (S210 to S270).

[0032] In the following, a nozzle exchange-related process in the case where all the nozzles 44 attached to the mounting head 40 are replaced will be described. In the nozzle exchange-related process, the CPU 91 first controls the XY robot 30 to move the mounting head 40 onto the nozzle stocker 24 (S110). Next, the CPU 91 performs the nozzle exchange process and the post-exchange image capture process in parallel (S120). The nozzle exchange process is a process for controlling the mounting head 40 to exchange the nozzle 44 located at the work position (nozzle positions N2 and N5). In the nozzle exchange process, the CPU 91 controls the XY robot 30 and the Z-axis motor 73 to store the nozzle 44 located at the work position in an empty area in the nozzle stocker 24 and remove it, and then attaches the appropriate nozzle 44 in the nozzle stocker 24 to the nozzle holder 42. The CPU 91 may replace the nozzles 44 located at the nozzle positions N2 and N5 simultaneously or sequentially. Furthermore, if the nozzle 44 is not attached to the nozzle holder 42 at the work position, the CPU 91 omits the removal operation of the nozzle 44 and performs the attachment operation of the nozzle 44. In the post-exchange imaging process, the CPU 91 controls the side camera 80 to image the nozzle 44 at a position immediately after the nozzle replacement process was performed in the previous S120 (nozzle positions N3 and N6). Therefore, in S120, which is executed for the first time after the start of the nozzle replacement-related process, the CPU 91 performs only the nozzle replacement process without performing the post-exchange imaging process.

[0033] Next, the CPU 91 performs a post-compression image generation process to generate a compressed image with a reduced amount of data based on the image acquired in the post-replacement imaging process (S130), and performs a nozzle abnormality determination process to determine whether or not there is an abnormality in the nozzle 44 after replacement based on the compressed image (S140). Note that since the post-replacement imaging process has not been performed in the state in which S120 has been executed once since the start of the nozzle replacement-related process, the CPU 91 omits the processes of S130 and S140 here and determines that there is no abnormality in the nozzle 44.

[0034] If no abnormality is found in S140, the CPU 91 determines whether or not the replacement and nozzle abnormality determination processing for all the nozzles 44 has been completed (S150), and if not, performs a holder revolution processing to control the R-axis drive device 50 to revolve the nozzles 44 (S160). In the holder revolution processing, the CPU 91 revolves the nozzles 44 by the amount of one nozzle (one pitch of the nozzles 44). That is, in this embodiment, the nozzles 44 are revolved clockwise by 30° (=360° / 12 nozzles) in a top view. As a result, the nozzles 44 for which the nozzle replacement processing has been performed in S120 are moved from the working position to the immediately preceding position. Also, the nozzle holder 42 that was located in the immediately preceding position is moved to the working position.

[0035] After performing the process of S160, the CPU 91 performs the processes of S120 and after. Therefore, the CPU 91 performs S120 for the second time. In the second S120, the CPU 91 performs the nozzle replacement process on the nozzle 44 located at the working position, and performs the post-replacement imaging process on the nozzle 44 located at the immediately succeeding position (the nozzle 44 for which the nozzle replacement process was performed in the first S120). For example, if the nozzles 44A and 44G are located at the working position in the first S120, the nozzle replacement process is performed on the nozzles 44A and 44G in the first S120, and in the second S120, the nozzle replacement process is performed on the nozzles 44B and 44H located at the working position, and the post-replacement imaging process is performed on the nozzles 44A and 44G located at the immediately succeeding position. Therefore, in the post-replacement imaging process at this time, a single image is captured, as shown in the upper part of Figure 8, i.e., an image of nozzle positions N3, N6 that includes the nozzles 44A, 44G after replacement, and an image of nozzle positions N1, N4 that includes the nozzles 44C, 44I before replacement.

[0036] Next, the CPU 91 performs a compressed image generating process of S130. In the compressed image generating process, the CPU 91 specifies a target area in the captured image based on the imaging timing of the captured image to be processed this time and the correspondence information 93a stored in the HDD 93. The compressed image generating process of S130 is performed on the image captured in the post-exchange imaging process of S120, that is, the image captured at the imaging timing after the nozzle replacement. Therefore, the CPU 91 refers to the correspondence information 93a to specify a target area corresponding to the imaging timing after the nozzle replacement, that is, the entire image of the nozzle positions N3 and N6 in the captured image as the target area. Note that information capable of specifying an area in the captured image where the images of the nozzle positions N3, N1, N6, and N4 are arranged (for example, the XY coordinates of each image in the captured image) is stored in advance in the HDD 93. Next, the CPU 91 replaces pixels in the captured image other than the specified target area with pixels of the same color. In this embodiment, pixels outside the target area are replaced with black pixels (for example, pixels with RGB gradation values ​​of (0,0,0) for pixels of a color image, and pixels with gradation value of (0) for pixels of a grayscale image). For example, if the captured image to be processed this time is the captured image shown in the upper part of FIG. 8, the CPU 91 sets the entire image of nozzle positions N3 and N6 in this captured image as the target area, replaces the other pixels with black pixels, and changes the captured image to the image shown in the lower part of FIG. 8. Note that the replacement is not limited to black, and it is sufficient if the pixels are replaced with pixels of the same color, for example, they may be replaced with white pixels or gray (intermediate value of gradation). Then, the CPU 91 generates a compressed image by compressing the replaced image in a predetermined compression format and stores it in the HDD 93. In this embodiment, the compression format is JPEG. In JPEG, the compression rate increases when pixels of the same color are continuous. Therefore, the compressed image generated as described above is a compressed image in which the parts outside the target area are replaced with pixels of the same color, and therefore the compression rate is improved and the amount of data is reduced compared to when the image is compressed without replacement. The compression format is not limited to JPEG, and may be any compression format that increases the compression rate by replacing pixels outside the target area with pixels of the same color. For example, the compression format may be PNG or GIF.As described above, since the post-replacement imaging process is a process for imaging the nozzle 44 at the immediately preceding position after nozzle replacement, the image at the immediately preceding position (nozzle positions N1, N4) among the captured images is unnecessary. Therefore, by not including the image at the immediately preceding position (nozzle positions N1, N4) in the target area and replacing it with pixels of the same color, the compression rate is improved and the amount of data in the image data (compressed image) is reduced while retaining the image of the necessary area (target area).

[0037] Next, the CPU 91 performs a nozzle abnormality determination process of S140 based on the compressed image. In the nozzle abnormality determination process, the CPU 91 acquires information about the shape of the nozzle 44, such as the position of the tip of the nozzle 44 in each image of the nozzle positions N3 and N6 and the width of the nozzle 44, based on the compressed image, for example. Then, the CPU 91 determines the presence or absence of a nozzle abnormality depending on whether or not a correct nozzle 44 is present at each of the nozzle positions N3 and N6 based on the acquired information.

[0038] If it is determined in S140 that there is no abnormality in the nozzle 44 at either of the nozzle positions N3 and N6, the CPU 91 determines in S150 that the replacement of the nozzle 44 and the nozzle abnormality determination process have not been completed for all the nozzles 44, and executes the process from S160 onwards. That is, the CPU 91 repeatedly executes S160 and S120 to S140. Then, if the CPU 91 determines in S150 that the replacement of the nozzle 44 and the nozzle abnormality determination process have been completed for all the nozzles 44, it ends the nozzle replacement-related process and starts the part collection-related process (S210 to S270). Note that in this embodiment, only the nozzle replacement process is performed in the first S120 after the start of the nozzle replacement-related process, the nozzle replacement process and the post-replacement imaging process are performed in the second to sixth S120, and only the post-replacement imaging process is performed in the seventh S120, and the replacement of the nozzle 44 and the post-replacement imaging process are completed for all the nozzles 44. By executing the nozzle replacement-related processing in this manner, each of the nozzles 44A-44L is replaced with an appropriate nozzle 44, and files of the compressed images (here, six compressed images) generated in S130 for the replaced nozzles 44A-44L are stored in the HDD 93.

[0039] If the CPU 91 determines in S140 that the nozzle 44 is abnormal at either the nozzle position N3 or N6, it performs a nozzle abnormality process including a process of replacing the nozzle 44 determined to be abnormal with a correct nozzle 44 (S170). In the nozzle abnormality process, the CPU 91 revolves the nozzle 44 so that the nozzle 44 determined to be abnormal is located at the work position. Then, the CPU 91 performs the above-mentioned nozzle replacement process, holder revolution process, post-replacement image capture process, post-compression image generation process, and nozzle abnormality determination process again in this order for the nozzle 44. Then, if it is determined that the nozzle 44 is not abnormal, it performs the processes from S150 onwards. If it is determined that the nozzle 44 is abnormal even after performing the nozzle abnormality process, the CPU 91 may notify the management device 100 of information that a nozzle replacement abnormality has occurred and end this routine. In this nozzle abnormality process, only the nozzle 44 determined to be abnormal in S140 is processed. 5, in the correspondence relationship information 93a, the target region is associated with "only abnormal nozzles among nozzle positions N3 and N6" and the target range is associated with "entire image" for the imaging timing of "when nozzle is abnormal". Therefore, in the compressed image generation process during the nozzle abnormality process, which is performed when it is determined in S140 that only the nozzle 44 at nozzle position N3 is abnormal, the CPU 91 sets only the entire image at nozzle position N3 as the target region, unlike S130 described above. Therefore, the CPU 91 generates a compressed image in which not only the images at nozzle positions N1 and N4 but also the image at nozzle position N6 of the captured image are replaced with black pixels, and stores the compressed image in the HDD 93.

[0040] The component picking-related process (S210 to S270) will be described. The component picking-related process is a process for making each of the nozzles 44A to 44L pick up and hold the component P, and similarly to the nozzle exchange-related process described above, the work at the work position (here, picking up the component P) and the image capture at the immediately following position are performed in parallel. In the component picking-related process, the CPU 91 first controls the XY robot 30 to move the nozzle 44 to the component supply position of the component supply device 20 (S210). As shown in FIG. 3, the CPU 91 controls the XY robot 30 to move the mounting head 40 so that the nozzle 44 located at the work position (nozzle positions N2 and N5) is located directly above the component P located at the component supply position. Next, the CPU 91 performs the component picking process and the post-picking image capture process in parallel (S220). In the component picking process, the CPU 91 lowers the nozzle 44 located at the work position, applies negative pressure to the suction port on the tip surface of the nozzle 44, and picks up the component P located at the component supply position of the component supply device 20 to the tip surface, and then raises the nozzle 44. The CPU 91 may pick up the component P with the nozzle 44 at the nozzle position N2 and the nozzle 44 at the nozzle position N5 simultaneously or sequentially. In the post-picking image taking process, the CPU 91 controls the side camera 80 to take an image of the nozzle 44 and the component P at the immediately following position (nozzle positions N3 and N6) after the component picking process was performed in the previous S220. Next, the CPU 91 performs a post-compression image generating process to generate a compressed image based on the image acquired in the post-picking image taking process (S230), and performs a picking abnormality determination process to determine whether or not there is an abnormality in the component P after picking based on the compressed image (S240). If no abnormality is found in S240, the CPU 91 determines whether or not the collection of components P and the collection abnormality determination process have been completed for all nozzles 44 (S250), and if not, performs a holder revolution process to revolve the nozzle 44 by one pitch of the nozzle 44 (S260), and executes the processes from S220 onwards. Then, when the CPU 91 determines in S250 that the collection of components P and the collection abnormality determination process have been completed for all nozzles 44, it ends the component collection-related process.By carrying out the part collection-related processing in this manner, only the part collection processing is carried out in the first S220 after the start of the part collection-related processing, the part collection processing and the post-collection imaging processing are carried out in the second to sixth S220, and only the post-collection imaging processing is carried out in the seventh S220, thereby completing the collection of parts P and the post-collection imaging processing for all nozzles 44.

[0041] In the compressed image generating process of S230 in the part picking related process, the CPU 91 refers to the correspondence information 93a and specifies the target area corresponding to the imaging timing after the part picking, that is, the periphery of the tip of the nozzle 44 in the image of the nozzle positions N3 and N6 in the captured image, as the target area. The position and size of the target area (periphery of the tip of the nozzle 44) in the image may be determined in advance, but in this embodiment, the CPU 91 specifies the target area based on information of each pixel in the captured image. For example, the CPU 91 first detects the outline of the nozzle 44 and the outline of the component P in the image by detecting a feature point of the pixel in the captured image (for example, an edge portion of the pixel brightness value), and specifies the tip of the nozzle 44 (the boundary between the nozzle 44 and the component P). Next, the CPU 91 sets the target area in the image as an area having a size and position that includes the tip of the nozzle 44 and the entire component P, based on the specified tip of the nozzle 44 and information on the height (thickness) of the component P included in the production program. Then, similar to S130, the CPU 91 generates a compressed image in which pixels outside the target region are replaced with black pixels, and stores the compressed image in the HDD 93. For example, if the captured image to be processed this time is the captured image shown in the upper part of Fig. 9, the CPU 91 identifies areas A3 and A6 around the tip of the nozzle 44 in each image based on the images of nozzle positions N3 and N6 in the captured image, and sets these areas A3 and A6 as the target region. The CPU 91 then changes the captured image to the image shown in the lower part of Fig. 9 by replacing pixels outside areas A3 and A6 with black pixels, and then generates a compressed image by compressing the changed image.

[0042] In the collection abnormality determination process of S240 in the part collection related process, the CPU 91 determines whether or not there is an abnormality in the part P in the target area in each image of the nozzle positions N3 and N6 based on the compressed image. For example, the CPU 91 recognizes the position of the part P (e.g., the lower end position of the part P) based on the compressed image, determines whether or not the recognized position is within an allowable range based on information about the shape of the part P (e.g., the thickness of the part P) included in the production program, and determines that there is no collection abnormality if it is within the allowable range. This allows the CPU 91 to determine that there is a collection abnormality, for example, when the part P is not held by the nozzle 44 in the first place, or when a part P of a different type than the correct part P is mistakenly held.

[0043] In this way, the collection abnormality determination process of S240 performs an abnormality determination on the component P collected and held by the nozzle 44 in the component collection process, so all that is required is an image of the area around the tip of the nozzle 44 at the immediately subsequent position (an image that should include the collected component P) among the captured images acquired in the post-collection imaging process of S220. Therefore, in the compressed image generation process of S230, the area around the tip of the nozzle 44 at the immediately subsequent position (nozzle positions N3, N6) is treated as a target area, and the other areas are replaced with pixels of the same color, thereby improving the compression rate and reducing the amount of data in the image data (compressed image) while retaining the image of the necessary area (target area).

[0044] If the CPU 91 determines in S240 that the nozzle 44 at either the nozzle position N3 or N6 has a collection abnormality, it performs a collection abnormality process including a process for making the nozzle 44 determined to have an abnormality collect the correct component P (S270). In the collection abnormality process, the CPU 91 revolves the nozzle 44 so that the nozzle 44 determined to have a collection abnormality is located at the work position. Then, the CPU 91 performs the above-mentioned component collection process, holder revolution process, post-collection image capture process, post-compression image generation process, and collection abnormality determination process again in this order for the nozzle 44. Then, if it is determined that there is no collection abnormality, it executes the processes from S250 onwards. If it is determined that there is a collection abnormality even after performing the collection abnormality process, the CPU 91 may notify the management device 100 of information that a collection abnormality has occurred and end this routine. Furthermore, when the CPU 91 determines in S240 that at least one of the nozzles 44 at the nozzle positions N3 and N6 is holding a component P of a different type from the correct component P by mistake, the CPU 91 may perform a disposal-related process for the nozzle 44 described later to discard the component P held by the nozzle 44 before performing the abnormal collection process in S270. In the abnormal collection process in S270, only the nozzle 44 determined to be abnormal in S240 is processed. Therefore, as shown in FIG. 5, in the correspondence information 93a, the target region is associated with "only abnormal nozzles among the nozzle positions N3 and N6" and the target range is associated with "around the nozzle tip" for the imaging timing in "abnormal collection". Therefore, in the compressed image generation process during the abnormal collection process, which is performed when the CPU 91 determines in S240 that only the nozzle 44 at the nozzle position N3 is abnormal, the target region is only the region around the tip of the nozzle 44 in the image at the nozzle position N3 (region A3 in the example in the upper part of FIG. 9), unlike the above-mentioned S230.

[0045] When it is determined in S250 that the collection of components P and the collection abnormality determination process have been completed for all nozzles 44, the CPU 91 moves the mounting head 40 above the part camera 28 and causes the part camera 28 to capture an image of the components P picked up by each nozzle 44 from below (S300). Then, a part abnormality determination process is performed in which the orientation of the components P is recognized based on the captured image captured by the part camera 28, and whether or not there is an abnormality in the orientation of each of the components P is determined (S305). When it is determined in S305 that there is an abnormality in the orientation of one or more of the components P held by the multiple nozzles 44, the CPU 91 performs disposal-related processes (S310 to S380) for disposing of the abnormal components P.

[0046] In the disposal-related process, the CPU 91 first moves the mounting head 40 to a disposal position (not shown) (S310). Next, the CPU 91 performs a pre-disposal imaging process in which the nozzle 44 holding the component P to be discarded is moved to a previous position (either nozzle position N1 or N4), and the side camera 80 is controlled to capture the component P (S320). Then, the CPU 91 performs a post-compression image generation process in which a compressed image is generated based on the captured image and stored in the HDD 93 (S330). Next, the CPU 91 performs a disposal process in which the nozzle 44 holding the component P to be discarded is moved to a working position, and the nozzle 44 releases the component P from its holding, and discards the component P (S340). After that, the CPU 91 performs a post-disposal imaging process in which the nozzle 44 holding the component P to be discarded is moved to a previous position (either nozzle position N3 or N6), and the side camera 80 is controlled to capture the nozzle 44 after the disposal process (S350). Then, the CPU 91 performs a post-compression image generation process in which a compressed image is generated based on the captured image and stored in the HDD 93 (S360). Then, the CPU 91 performs a disposal abnormality determination process (S370) to determine whether or not disposal is abnormal (whether or not disposal is performed normally) based on the compressed image before disposal and the compressed image after disposal generated in S330 and S360, and ends the disposal-related process if there is no disposal abnormality. Note that if there are multiple parts P to be disposed of, the disposal-related process may be repeated multiple times.

[0047] In this disposal-related process, only the nozzle 44 holding the part P to be disposed of is the processing target. Therefore, as shown in FIG. 5, in the correspondence information 93a, the imaging timing "before part disposal" is associated with "only the nozzle to be disposed of among the immediately preceding positions (nozzle positions N1, N4)" as the target area, and the "periphery of the nozzle tip" as the target range. Also, the imaging timing "after part disposal" is associated with "only the nozzle to be disposed of among the immediately succeeding positions (nozzle positions N3, N6)" as the target area, and the "periphery of the nozzle tip" as the target range. Therefore, in the compressed image generation process of S330 and S360, the CPU 91 specifies the periphery of the tip of the nozzle 44 of the nozzle to be disposed of as the target area based on the correspondence information 93a, and replaces pixels outside the target area with black to generate a compressed image. For example, if the nozzle 44A is a nozzle to be discarded, the CPU 91 specifies, in S330, the periphery of the tip of the nozzle 44 (nozzle 44A) in the image of the captured image at a position (nozzle position N1 or nozzle position N4) immediately before the nozzle 44A is present, as the target region, and in S360, specifies, in the captured image, the periphery of the tip of the nozzle 44 (nozzle 44A) in the image of the captured image at a position (nozzle position N3 or nozzle position N6) immediately after the nozzle 44A is present, as the target region. The CPU 91 may specify, in S330, the target region around the tip of the nozzle 44 in the image based on the tip of the nozzle 44 specified based on the image, and information on the height of the part P (the correct part P that should be held by the nozzle 44 to be discarded) included in the production program, as in S230. Alternatively, the CPU 91 may detect the outline of the nozzle 44 and the outline of the part P in the image by detecting a feature point (for example, an edge portion of the brightness value of a pixel) in the captured image, and specify the target region as a region including the entire part P in the image (and the tip of the nozzle 44). Furthermore, it is preferable that the CPU 91 sets the target region around the tip of the nozzle 44 in the image in S360 so as to include the same region as the target region in S330. For example, the CPU 91 may specify the position of the tip of the nozzle 44 in the image in S360, and, based on the position of this tip, specify an area having the same position and size as the target region specified in S330 as the target region in S360.This makes it possible to set target areas of the same position and size in the image before and after discarding, based on the position of the tip of the nozzle 44. This makes it easier to determine whether there is an abnormality using the compressed images before and after discarding in the discarding abnormality determination process.

[0048] In the disposal abnormality determination process of S370, the CPU 91 determines whether disposal of the part P has been performed normally based on the compressed image generated in S330 including the state before disposal and the compressed image generated in S360 including the state after disposal. For example, based on the difference in pixel values ​​between the compressed images before and after disposal, if the part P that existed in the target area before disposal no longer exists after disposal, the CPU 91 determines that disposal has been performed normally and that there is no disposal abnormality. On the other hand, if the part P remains after disposal, the CPU 91 determines that there is a disposal abnormality, performs error occurrence processing to notify the management device 100 of information that a disposal abnormality has occurred (S380), and ends this routine.

[0049] If it is determined in S370 that there is no discard abnormality, the CPU 91 performs a post-discard collection process to cause the nozzle 44 to be discarded to collect the correct component P (S400). In this embodiment, the post-discard collection process performs the same process as the above-mentioned collection abnormality process of S270 for the nozzle 44 to be discarded. This causes the nozzle 44 to be discarded to collect and hold the correct component P. In addition, the compressed image generated in this post-discard collection process is also stored in the HDD 93.

[0050] If it is determined in S305 that there is no abnormality in the posture of any of the components P held by the multiple nozzles 44, or after the post-disposal collection process of S400, the CPU 91 performs mounting-related processes (S420 to S470) for mounting the components P held by each of the nozzles 44A to 44L onto the board 12.

[0051] In the mounting-related processing, the CPU 91 first performs pre-mounting imaging processing, component mounting processing, and post-mounting imaging processing in parallel (S420). In the pre-mounting imaging processing, the CPU 91 controls the side camera 80 to image the nozzle 44 holding the component P before mounting the component P at the previous position (nozzle positions N1, N4). The component mounting processing is performed on the nozzle 44 that was previously subjected to the pre-mounting imaging processing at S420 and is located at the work position (nozzle positions N2, N5). In the component mounting processing, the CPU 91 moves the mounting head 40 so that the nozzle 44 at the work position is located directly above the mounting position of the component P on the board 12, lowers the nozzle 44 to release the holding of the component P, mounts (attaches) the component P on the board 12, and raises the nozzle 44. The CPU 91 may mount the component P held by the nozzle 44 at the nozzle position N2 and the component P held by the nozzle 44 at the nozzle position N5 simultaneously or sequentially. In the post-mounting imaging process, the CPU 91 controls the side camera 80 to image the nozzle 44 at the position immediately after the component mounting process in the previous S420 (nozzle positions N3 and N6). As described above, the side camera 80 simultaneously images the nozzle positions N1, N3, N4, and N6, so that the side camera 80 can simultaneously perform the pre-mounting imaging process and the post-mounting imaging process in S420 in one imaging session to obtain one captured image. Next, the CPU 91 performs a post-compression image generation process (S430) to generate a compressed image based on the images obtained in the pre-mounting imaging process and the post-mounting imaging process and store the compressed image in the HDD 93, and performs a mounting abnormality determination process (S440) to determine the presence or absence of an abnormality during mounting based on the compressed image. If no abnormality is found in S440, the CPU 91 determines whether or not the component mounting process and the mounting abnormality determination process have been completed for all the nozzles 44 (S450), and if not, performs a holder revolution process that revolves the nozzle 44 by one pitch of the nozzle 44 (S460), and executes the processes from S420 onwards. Then, when the CPU 91 determines in S450 that the component mounting process and the mounting abnormality determination process have been completed for all the nozzles 44, it ends the mounting-related processes.By performing the mounting-related processing in this manner, only the pre-mounting imaging processing is performed in the first S420 after the start of the mounting-related processing, the pre-mounting imaging processing and the component mounting processing are performed in the second S420, the pre-mounting imaging processing, the component mounting processing, and the post-mounting imaging processing are performed in the third to sixth S420, the component mounting processing and the post-mounting imaging processing are performed in the seventh S420, and only the post-mounting imaging processing is performed in the eighth S420. As a result, the pre-mounting imaging processing, the component mounting processing, the post-mounting imaging processing, and the mounting abnormality determination processing are performed for each of the multiple nozzles 44 in this order.

[0052] In the compressed image generation process of S430 in this mounting-related process, the CPU 91 refers to the correspondence information 93a to identify a target area corresponding to at least one of the imaging timings before and after component mounting, and replaces pixels outside the target area in the captured image in S420 with black to generate a compressed image. For example, in the first and second S420 after the start of the mounting-related process, the pre-mounting imaging process is performed but the post-mounting imaging process is not performed, so in the first and second S430, the target area corresponding to the imaging timing before component mounting, i.e., the periphery of the tip of the nozzle 44 in the image at the nozzle positions N1 and N4 in the captured image, is identified as the target area. In the third to sixth S420 after the start of the mounting-related process, both the pre-mounting imaging process and the post-mounting imaging process are performed, so in the third to sixth S430, the target area corresponding to the imaging timing before and after component mounting in the correspondence information 93a, i.e., the periphery of the tip of the nozzle 44 in the image at the nozzle positions N1, N4, N3, and N6 in the captured image, is identified as the target area. In the seventh and eighth S420 after the start of the mounting-related processing, the pre-mounting imaging process is not performed but the post-mounting imaging process is performed, so in the seventh and eighth S430, the target area corresponding to the imaging timing after the component is mounted, i.e., the area around the tip of the nozzle 44 in the images of the nozzle positions N3 and N6 in the captured images, is identified as the target area.

[0053] It is preferable that the target area corresponding to the imaging timing before component mounting (here, the periphery of the tip of the nozzle 44 in the image at the nozzle positions N1 and N4) is specified as an area including the tip of the nozzle 44 and the component P held by the nozzle 44. This target area can be specified in the same manner as the compressed image creation process of S230 or S330 described above. It is preferable that the target area corresponding to the imaging timing after component mounting (here, the periphery of the tip of the nozzle 44 in the image at the nozzle positions N3 and N6) is specified in the same manner as the compressed image creation process of S360. It is preferable that the CPU 91 sets the target area corresponding to the imaging timing after component mounting so as to include the same area as the target area set in the image at the imaging timing before component mounting for the same nozzle 44 as the nozzle 44 included in the target area. For example, if the nozzle 44A is located at the nozzle position N1 in the first S420 and an image including the nozzle 44A is captured, in the first S430, the area around the tip of the nozzle 44A located at the nozzle position N1 is specified as the target area corresponding to the imaging timing before component mounting. Then, in the third S420, the nozzle 44A is positioned at the nozzle position N3 and an image including the nozzle 44A is captured. In this case, in the third S430, the CPU 91 specifies the position of the tip of the nozzle 44 (nozzle 44A) in the image at the nozzle position N3 based on the image captured in the third S420, and specifies an area having the same position and size as the target area specified in the image at the nozzle position N1 in the first S430 as the target area in the image at the nozzle position N3 in the third S430, using the tip position as a reference. In this way, for the same nozzle 44 (for example, nozzle 44A), a target area having the same position and size can be set in the image before and after component mounting, using the tip position of the nozzle 44A as a reference. Therefore, it becomes easier to compare the compressed images before and after mounting in the mounting abnormality determination process, making it easier to determine abnormalities.

[0054] In the mounting abnormality determination process of S440, the CPU 91 determines whether or not the mounting of the component P held by the nozzle 44 has been performed normally based on the compressed image generated in S430 including the state of the nozzle 44 after the component is mounted and the compressed image generated in S430 for the same nozzle 44 including the state of the nozzle 44 before the component is mounted. For example, consider a case where the nozzles 44A and 44G are located at the nozzle positions N1 and N4 in the first S420 and the nozzles 44A and 44G are located at the nozzle positions N3 and N6 in the third S420. In this case, the CPU 91 determines whether or not the mounting of the component P held by the nozzle 44A has been performed normally based on the image of the nozzle position N3 in the compressed image generated in the third S430 (i.e., the image after the component is mounted by the nozzle 44A) and the image of the nozzle position N1 in the compressed image generated in the first S430 (i.e., the image before the component is mounted by the nozzle 44A). For example, based on the difference in pixel values ​​of the compressed images before and after mounting, if the component P held by the nozzle 44A that existed in the target area before mounting is no longer present after mounting, the CPU 91 determines that mounting has been performed normally and that there is no mounting abnormality. On the other hand, if the component P exists even after mounting, the CPU 91 determines that the component P has been taken away during mounting and that there is a mounting abnormality. Similarly, in the third S440, the CPU 91 determines whether or not mounting of the component P held by the nozzle 44G has been performed normally based on the image of the nozzle position N6 in the compressed image generated in the third S430 (i.e., the image after the component is mounted by the nozzle 44G) and the image of the nozzle position N4 in the compressed image generated in the first S430 (i.e., the image before the component is mounted by the nozzle 44G).

[0055] As described above, in this embodiment, in S430 executed two times before S430 in which a compressed image including the appearance of nozzle 44 after component mounting is generated, a compressed image of the same nozzle 44 before component mounting is generated. Therefore, in the first and second S440, a nozzle 44 for which both a compressed image before component mounting and a compressed image after component mounting have been generated does not yet exist, so the CPU 91 omits the determination based on the compressed image in the first and second S440 and determines that there is no mounting abnormality. In the third and subsequent S440, the CPU 91 determines the presence or absence of a mounting abnormality using the compressed images of nozzle 44 before and after component mounting as described above.

[0056] If it is determined in S440 that at least one of the nozzles 44 determined to be abnormal (the nozzles 44 located at nozzle positions N3 and N6) has a mounting abnormality (here, the taking away of a component P), the CPU 91 performs the same processing as the disposal-related processing (S310 to S380) described above to discard the component P that was taken away (S470), and then executes the processing from S450 onwards.

[0057] When it is determined in S450 that the component mounting process and the mounting abnormality determination process have been completed for all the nozzles 44, the CPU 91 performs a set file generation process for generating a set file by collecting the multiple compressed images generated in the compressed image generation processes (S130, S230, S330, S360, S430) executed so far in the mounting process routine into one file, and a set file transmission process for transmitting the generated set file to the management device 100 (S500). In this embodiment, the compressed image generation processes of S130 and S230 are each performed six times, and the compressed image generation process of S430 is performed eight times, so that a total of 20 compressed images are stored in the HDD 93. In addition, when the nozzle abnormality process of S170, the collection abnormality process of S270, the disposal-related processes of S310 to S380, the disposal-related process of S470, and the like are performed, even more compressed images are stored in the HDD 93. In the set file generation process, the CPU 91 combines these multiple compressed images and arranges the multiple compressed images in a row (for example, arranged from the top left to the bottom right in the order of capture) to generate a set file as an image file that is a single image. The set file is an image file compressed in a predetermined compression format like the compressed images, and in this embodiment, the file is in JPEG format. As a result, one set file is stored in the HDD 93 instead of multiple compressed images. In the set file transmission process, the CPU 91 transmits the created set file to the management device 100. As a result, the set file is stored in the HDD 103 of the management device 100. The CPU 91 may delete the set file from the HDD 93 after the set file transmission process. Note that in the set file generation process, the CPU 91 may add identification information to the set file that can identify each of the multiple compressed images in the set file. For example, the identification information may be pasted as an image in each area (image) of the multiple compressed images in the set file. Examples of the identification information include the image capture date and time, the image capture timing, an image capture number indicating which image is captured, and position information indicating which nozzle position the target area is at, and the identification information may include one or more of these.

[0058] When the collective file is generated and transmitted in S500, the CPU 91 determines whether the mounting process for the current board 12 is complete (S510), and if not, executes the processes from S110 onward. That is, the CPU 91 performs nozzle replacement-related processes as necessary, and then performs component picking-related processes and mounting-related processes to mount the components P on the board 12. On the other hand, when the mounting process for the current board 12 is completed in S510, the CPU 91 ejects the board 12 on which mounting has been completed to the board transport device 25 (S520), and ends this routine. When there is a board 12 on which mounting process should be performed next, the CPU 91 executes the mounting process routine again from S100.

[0059] Here, the correspondence between the components of this embodiment and the components of this disclosure will be clarified. The mounting device 10 of this embodiment corresponds to the mounting device and image processing device of this disclosure, the mounting head 40 corresponds to the mounting head, the side camera 80 corresponds to the imaging unit, and the control device 90 that executes the processes of S130, S230, S330, S360, and S430 of the mounting processing routine shown in Figures 6 and 7 corresponds to the image processing unit. Also, the control device 90 that executes the process of S500 of the mounting processing routine shown in Figure 7 corresponds to the collection file generation unit.

[0060] In the mounting device 10 described above, the side camera 80 captures an image (for example, the image in the upper part of FIG. 8 and the image in the upper part of FIG. 9) including two or more of the multiple nozzles 44 (44A to 44L) (here, the four nozzles 44 located at the nozzle positions N1, N3, N4, and N6). Then, the control device 90 performs a compressed image generation process in which an area including the periphery of the tip of at least one nozzle 44 in the captured image is set as a target area, pixels other than the target area in the captured image are replaced with pixels of the same color, and the replaced image (for example, the image in the lower part of FIG. 8 and the image in the lower part of FIG. 9) is compressed in a predetermined compression format to generate a compressed image. The compressed image generated in this way is a compressed image in which the parts of the captured image other than the target area are replaced with pixels of the same color, and therefore has an improved compression rate compared to a case where an image is compressed without replacement. Therefore, in this mounting device 10, the amount of data of image data (compressed image) can be reduced. This can also reduce the area used for storing image data in, for example, the HDD 93.

[0061] In addition, in the compressed image generation process, the control device 90 identifies the target area in the captured image based on the imaging timing of the captured image and a predetermined correspondence between the imaging timing and the target area (here, correspondence information 93a). This allows the control device 90 to appropriately identify the target area based on the imaging timing.

[0062] Furthermore, the control device 90 performs a set file generation process for generating a set file by collecting the multiple compressed images generated by performing a compressed image generation process on each of the multiple captured images into one file. As a result, the multiple compressed images are collected into one set file, so the number of files can be reduced compared to the case where the multiple compressed images are kept as separate files. In addition, in this embodiment, the multiple compressed images are arranged in a single image file to generate a set file, so the header information of the file can also be reduced. For example, if the multiple compressed images are kept as separate files, header information exists for each of these files. In contrast, in this embodiment, only the header information of one set file exists, so the data amount of the header information can be reduced. This also reduces the data amount of the image data.

[0063] Furthermore, the control device 90 performs a set file transmission process to transmit the generated set file to the management device 100. Here, as described above, the mounting system 1 includes a plurality of mounting devices 10, and a large number of set files transmitted from each of the plurality of mounting devices 10 are stored in the HDD 103 of the management device 100. Even in such a case, the compression rate of the image in the set file is improved and the amount of data is reduced by replacing pixels other than the target area in the captured image with the same color as described above, so that the area used for storing image data (set file) in the HDD 103 can be reduced. In addition, since the amount of data is reduced, the image data is less likely to put pressure on the storage capacity of the HDD 103, so that a large number of image data can be easily stored (stored) for a long period of time. Therefore, for example, past image data can be easily used to analyze an abnormality that has occurred in the mounting device 10, and the cause of the abnormality can be easily investigated and solved. Furthermore, the mounting device 10 does not transmit a plurality of compressed images to the management device 100 as separate image data, but rather combines them into one set file and then transmits it to the management device 100, so that the number of image data files stored in the HDD 103 can be reduced. This makes it possible to suppress fragmentation of the HDD 103. A similar effect can be obtained in the HDD 93 of the mounting device 10, but since image data is transmitted to the HDD 103 from a plurality of mounting devices 10, it is highly meaningful to reduce the amount of data and the number of files regarding the image data stored in the HDD 103.

[0064] It goes without saying that the present invention is not limited to the above-described embodiment, and can be embodied in various forms within the technical scope of the present invention.

[0065] For example, in the above-described embodiment, the CPU 91 replaces pixels of the captured image other than the target area with pixels of the same color in the compressed image generation process, and generates a compressed image by compressing the replaced image in a predetermined compression format, but the compressed image may be generated by other methods. FIG. 10 is an explanatory diagram showing an example of the compressed image generation process of the modified example. FIG. 10 is an example in which the entire image of the nozzle positions N3 and N6 is the target area, as in FIG. 8. When the captured image to be processed this time is the captured image shown in the upper part of FIG. 10, the CPU 91 generates a new image shown in the lower part of FIG. 10 by cutting out and arranging the entire image of the target area, i.e., the nozzle positions N3 and N6, from the captured image, and generates a compressed image by compressing the image. Even when performing the compressed image generation process in this way, the new image has fewer pixels than the image before cutting out, so the amount of data of the image data (compressed image) can be reduced compared to the case where the captured image is compressed as it is without cutting out. Note that when the CPU 91 generates a new image as shown in the lower part of FIG. 10, the data of the captured image in the upper part of FIG. 10 may be deleted.

[0066] In the above-described embodiment, the CPU 91 generates one image file as a set file by combining multiple compressed images in the set file generation process of S500, but this is not limited to the above. For example, the CPU 91 may generate a set file by combining multiple compressed images into one file while maintaining the state of multiple compressed images, rather than combining them into one image. For example, the CPU 91 may generate a set file in MNG format in which multiple compressed images are combined into one file. In this case, it is not possible to reduce the amount of data in the header information as in the set file of the above-described embodiment, but it is possible to reduce the number of files.

[0067] In the above embodiment, the CPU 91 generates a set file by collecting a plurality of compressed images generated in the compressed image generating process (S130, S230, S330, S360, S430) executed so far in the mounting process routine into one file in S500, but the timing of generating the set file and the unit of the collection of compressed images to be included in one set file can be changed as appropriate. For example, the CPU 91 may collect compressed images generated during each process into one set file at the end of each process for each of the nozzle replacement related process, the component collection related process, the disposal related process, and the mounting related process. The CPU 91 may collect a plurality of compressed images captured at the same timing, such as after the nozzle replacement or before the component disposal, into one set file. The CPU 91 may collect a plurality of compressed images generated during the process for one board 12 into one set file. For example, when the CPU 91 determines that the mounting process for the current board 12 is completed in S510, the CPU 91 may collect a plurality of compressed images generated so far in the mounting process routine into one set file. Furthermore, the timing at which CPU 91 transmits the collection file to management device 100 is not limited to the above embodiment. For example, CPU 91 may transmit a plurality of collection files collectively to management device 100 after they have been generated. Furthermore, CPU 91 may continue to store the collection file in HDD 93 without transmitting it to management device 100.

[0068] In the embodiment described above, CPU 91 generates a collection file in S500 and transmits it to management device 100, but it is also possible to transmit a plurality of compressed images to management device 100 as they are without generating a collection file, or to continue storing a plurality of compressed images in HDD 93 without transmitting them. Even in this case, since the data amount of the compressed images is small as described above, the effect of reducing the area used to store image data in HDD 93 and HDD 103 can be obtained.

[0069] In the above-described embodiment, the CPU 91 identifies the target area based on the correspondence information 93a, but the correspondence information 93a is not limited to the example shown in Fig. 5. The target area may be set to include a required area in the captured image (for example, an area used for abnormality determination in the nozzle abnormality determination process in S140 in the case of an image captured in the post-replacement imaging process in S120). For example, the target range associated with the imaging timing after part collection is not limited to the periphery of the nozzle tip, but may be the entire target nozzle position. Furthermore, the target nozzle position associated with the imaging timing when a nozzle abnormality occurs may always be both nozzle positions N3 and N6, rather than only the abnormal nozzle.

[0070] In the above embodiment, there are two work positions for the nozzle 44 and four image capturing positions for the side camera 80 (the immediately preceding position and the immediately following position), but the present invention is not limited to this and may have one or more work positions. Also, there may be two or more image capturing positions.

[0071] In the above-described embodiment, twelve nozzles 44 are disposed at equal intervals on a circumference, but the number of nozzles 44 is not limited to twelve and may be, for example, eight, twenty, or twenty-four. In addition, the number of nozzles 44 may be an even number or an odd number.

[0072] In the above-described embodiment, the side camera 80 captures one captured image in which the objects located at the nozzle positions N3, N1, N6, and N4 are arranged in this order from left to right as shown in the upper part of Fig. 8, but this is not limited to the above. For example, the side camera 80 may capture one captured image in which the objects located at the nozzle positions N3, N1, N6, and N4 are arranged at the upper left, upper right, lower left, and lower right, respectively. The position of the object in the captured image can be appropriately changed by changing the optical path of the optical system unit provided in the side camera 80.

[0073] In the above-described embodiment, the mounting head 40 is provided with the nozzle 44 that uses negative pressure to suck the component P, but it is sufficient if the mounting head 40 is provided with a holder that holds the component, not limited to the nozzle 44. For example, the mounting head 40 may be provided with a mechanical chuck that grasps and holds the component P, instead of the nozzle 44.

[0074] In the above-described embodiment, the mounting device 10 serves both as the mounting device and the image processing device of the present disclosure, but this is not limited thereto. For example, an image processing device other than the mounting device 10 may acquire captured images from the mounting device 10 and perform the above-described compressed image generation process and set file generation process. For example, the management device 100 may perform the compressed image generation process and set file generation process. In addition, the compressed image generation process and set file generation process may be performed by a plurality of devices working together. For example, when the mounting device 10 and the management device 100 work together to perform these processes, the mounting device 10 and the management device 100 correspond to the image processing device of the present disclosure.

[0075] In the above-described embodiment, the HDD 93 and HDD 103 store the compressed images and collection files, but they may be stored in any non-volatile storage unit that stores images, not limited to HDDs.

[0076] The present disclosure may be configured as follows.

[0077] A second mounting device of the present disclosure includes: A mounting apparatus for mounting components onto a substrate, comprising: a mounting head having a plurality of holders at the tip thereof for holding the components; An imaging unit that captures an image including two or more of the plurality of holders; an image processing unit that performs a compressed image generation process in which an area of ​​the captured image that includes at least one of the tips of the holders is treated as a target area, pixels of the target area are cut out from the captured image to create a new image, and a compressed image is generated by compressing the new image in a predetermined compression format; It is equipped with the following:

[0078] In this second mounting device, the imaging unit captures an image including two or more of the multiple holders. The image processing unit then performs a compressed image generation process in which an area including the periphery of the tip of at least one of the holders in the captured image is treated as a target area, pixels of the target area are cut out from the captured image to create a new image, and the new image is compressed in a predetermined compression format to generate a compressed image. In this way, the new image has fewer pixels than the image before it was cut out, so the amount of data in the image data (compressed image) can be reduced compared to when an image captured without cutting out is compressed as is.

[0079] In the first mounting device or the second mounting device of the present disclosure, the image processing unit may specify the target area in the captured image in the compressed image generation process based on the imaging timing of the captured image and a predetermined correspondence between the imaging timing and the target area. In this way, the image processing unit can appropriately specify the target area based on the imaging timing. Here, the imaging timing may include one or more of the following timings: after the mounting head holds a holder, after the holder holds a component, before mounting the component held by the holder, after mounting the component held by the holder, before discarding the component held by the holder, and after discarding the component held by the holder. The imaging timing may include an imaging order. In addition, the correspondence between the imaging timing and the target area may include a correspondence between the imaging timing and information that can specify a holder to be included in the target area among multiple holders in the captured image.

[0080] The first mounting device or the second mounting device of the present disclosure may include a set file generating unit that generates a set file by combining the multiple compressed images generated by the image processing unit by performing the compressed image generating process on each of the multiple captured images into one file. In this way, since the multiple compressed images are combined into one set file, the number of files can be reduced compared to the case where the multiple compressed images are kept as separate files. Here, the set file may be a single image file generated by combining the multiple compressed images, or may be a file in which the multiple compressed images are combined into one file without being combined into a single image.

[0081] A first image processing device according to the present disclosure includes: 1. An image processing device for processing a captured image including two or more of a plurality of holders in a mounting device that is equipped with a mounting head having a plurality of holders at the tip thereof and that mounts the components on a substrate, the image processing device comprising: an image processing unit that performs a compressed image generation process in which an area of ​​the captured image that includes a periphery of at least one of the tips of the holders is treated as a target area, pixels of the captured image other than the target area are replaced with pixels of the same color, and the replaced image is compressed in a predetermined compression format to generate a compressed image; It is equipped with the following:

[0082] In this first image processing device, the image processing unit performs the same processing as the image processing unit of the first mounting device of the present disclosure described above. Therefore, this image processing device can reduce the amount of image data (compressed image). In this first image processing device, various aspects of the mounting device of the present disclosure described above may be adopted, or a configuration that realizes each function of the mounting device of the present disclosure described above may be added.

[0083] A second image processing device of the present disclosure includes: 1. An image processing device for processing a captured image including two or more of a plurality of holders in a mounting device that is equipped with a mounting head having a plurality of holders at the tip thereof and that mounts the components on a substrate, the image processing device comprising: an image processing unit that performs a compressed image generation process, which sets an area of ​​the captured image that includes a periphery of at least one of the tips of the holders as a target area, cuts out pixels of the target area from the captured image to create a new image, and generates a compressed image by compressing the new image in a predetermined compression format; It is equipped with the following:

[0084] In this second image processing device, the image processing unit performs the same processing as the image processing unit of the second mounting device of the present disclosure. Therefore, this image processing device can reduce the amount of image data (compressed image). In this second image processing device, various aspects of the mounting device of the present disclosure may be adopted, or a configuration may be added to realize each function of the mounting device of the present disclosure. [Industrial Applicability]

[0085] The present invention can be used in various industries in which the work of mounting components on a board is carried out. [Explanation of symbols]

[0086] 1 Mounting system, 10 Mounting device, 12 Substrate, 20 Component supply device, 21 Reel, 22 Tape, 24 Nozzle stocker, 25 Substrate transport device, 26 Conveyor belt, 27 Support pin, 28 Parts camera, 29 Mark camera, 30 XY robot, 31 X-axis guide rail, 32 X-axis slider, 33 Y-axis guide rail, 34 Y-axis slider, 36 X-axis motor, 38 Y-axis motor, 40 Mounting head, 41 Head body, 41a Reflector, 42 Nozzle holder, 42a Engagement piece, 44, 44A to 44L Nozzle, 45 Tip surface, 46 Pressure regulating valve, 50 R-axis drive device, 51 R-axis, 52 R-axis gear, 53 Gear, 54 R-axis motor, 55 R-axis position sensor, 60 Q-axis drive device, 61 Q-axis gear, 62 Q-axis gear, 63, 64 Gear, 65 Q-axis motor, 66 Q-axis position sensor, 70 Z-axis drive device, 71 Z-axis slider, 71a clamping portion, 72 ball screw, 73 Z-axis motor, 74 Z-axis position sensor, 80 side camera, 82 camera body, 84 housing, 86a to 86d first to fourth entrances, 87 light emitters, 88a to 88k mirrors, 90 control device, 91 CPU, 92 ROM, 93 HDD, 93a correspondence information, 94 RAM, 95 input / output interface, 96 bus, 100 management device, 101 CPU, 102 ROM, 103 HDD, 104 RAM, 105 input / output interface, 106 bus, 107 input device, 108 display, N1 to N6 nozzle positions, P parts. A3, A6 area.

Claims

1. A mounting apparatus for mounting components onto a substrate, comprising: a mounting head having a plurality of holders at the tip thereof for holding the components; An imaging unit that captures an image including two or more of the plurality of holders; an image processing unit that performs a compressed image generation process in which an area of ​​the captured image that includes a periphery of at least one of the tips of the holders is treated as a target area, pixels of the captured image other than the target area are replaced with pixels of the same color, and the replaced image is compressed in a predetermined compression format to generate a compressed image; a set file generating unit that generates a set file by collecting the compressed images generated by the image processing unit by performing the compressed image generating process on each of the captured images into one file; A mounting device comprising:

2. A mounting apparatus for mounting components onto a substrate, comprising: a mounting head having a plurality of holders at the tip thereof for holding the components; An imaging unit that captures an image including two or more of the plurality of holders; an image processing unit that performs a compressed image generation process in which an area of ​​the captured image that includes a periphery of at least one of the tips of the holders is treated as a target area, pixels of the target area are cut out from the captured image to create a new image, and a compressed image is generated by compressing the new image in a predetermined compression format; a set file generating unit that generates a set file by collecting the compressed images generated by the image processing unit by performing the compressed image generating process on each of the captured images into one file; A mounting device comprising:

3. the image processing unit, in the compressed image generation process, specifies the target area in the captured image based on a capture timing of the captured image and a predetermined correspondence relationship between the capture timing and the target area; The mounting device according to claim 1 .

4. A mounting apparatus for mounting components onto a substrate, comprising: a mounting head having a plurality of holders at the tip thereof for holding the components; An imaging unit that captures an image including two or more of the plurality of holders; an image processing unit that performs a compressed image generation process in which an area of ​​the captured image that includes a periphery of at least one of the tips of the holders is treated as a target area, pixels of the captured image other than the target area are replaced with pixels of the same color, and the replaced image is compressed in a predetermined compression format to generate a compressed image; Equipped with The imaging unit images the holder located at each of two or more different imaging positions, the image processing unit, in the compressed image generation process, identifies the target area in the captured image based on a capture timing of the captured image and a predetermined correspondence relationship between the capture timing and the target area; The correspondence relationship includes, as information on the target region, information on which of the two or more different imaging positions is to be targeted, and information on what range of the target imaging positions is to be targeted. Mounting equipment.

5. A mounting apparatus for mounting components onto a substrate, comprising: a mounting head having a plurality of holders at the tip thereof for holding the components; An imaging unit that captures an image including two or more of the plurality of holders; an image processing unit that performs a compressed image generation process in which an area of ​​the captured image that includes a periphery of at least one of the tips of the holders is treated as a target area, pixels of the target area are cut out from the captured image to create a new image, and a compressed image is generated by compressing the new image in a predetermined compression format; Equipped with The imaging unit images the holder located at each of two or more different imaging positions, the image processing unit, in the compressed image generation process, identifies the target area in the captured image based on a capture timing of the captured image and a predetermined correspondence relationship between the capture timing and the target area; The correspondence relationship includes, as information on the target region, information on which of the two or more different imaging positions is to be targeted, and information on what range of the target imaging positions is to be targeted. Mounting equipment.

6. 1. An image processing device for processing a captured image including two or more of a plurality of holders in a mounting device that includes a mounting head having a plurality of holders at the tip of which the components are mounted on a substrate, the image processing device comprising: an image processing unit that performs a compressed image generation process in which an area of ​​the captured image that includes a periphery of at least one of the tips of the holders is treated as a target area, pixels of the captured image other than the target area are replaced with pixels of the same color, and the replaced image is compressed in a predetermined compression format to generate a compressed image; a set file generating unit that generates a set file by collecting the compressed images generated by the image processing unit by performing the compressed image generating process on each of the captured images into one file; An image processing device comprising:

7. 1. An image processing device for processing a captured image including two or more of a plurality of holders in a mounting device that includes a mounting head having a plurality of holders at the tip of which the components are mounted on a substrate, the image processing device comprising: an image processing unit that performs a compressed image generation process in which an area of ​​the captured image that includes a periphery of at least one of the tips of the holders is treated as a target area, pixels of the target area are cut out from the captured image to create a new image, and a compressed image is generated by compressing the new image in a predetermined compression format; a set file generating unit that generates a set file by collecting the compressed images generated by the image processing unit by performing the compressed image generating process on each of the captured images into one file; An image processing device comprising:

8. 1. An image processing device for processing a captured image including two or more of a plurality of holders in a mounting device that includes a mounting head having a plurality of holders at the tip of which the components are mounted on a substrate, the image processing device comprising: an image processing unit that performs a compressed image generation process in which an area of ​​the captured image that includes a periphery of at least one of the tips of the holders is treated as a target area, pixels of the captured image other than the target area are replaced with pixels of the same color, and the replaced image is compressed in a predetermined compression format to generate a compressed image; Equipped with Two or more of the plurality of holders included in the captured image are located at two or more different imaging positions, the image processing unit, in the compressed image generation process, identifies the target area in the captured image based on a capture timing of the captured image and a predetermined correspondence relationship between the capture timing and the target area; The correspondence relationship includes, as information on the target region, information on which of the two or more different imaging positions is to be targeted, and information on what range of the target imaging positions is to be targeted. Image processing device.

9. 1. An image processing device for processing a captured image including two or more of a plurality of holders in a mounting device that includes a mounting head having a plurality of holders at the tip of which the components are mounted on a substrate, the image processing device comprising: an image processing unit that performs a compressed image generation process, with an area of ​​the captured image including at least one of the periphery of the tip of the holder as a target area, cuts out pixels of the target area from the captured image to create a new image, and generates a compressed image by compressing the new image in a predetermined compression format; Equipped with Two or more of the plurality of holders included in the captured image are located at two or more different imaging positions, the image processing unit, in the compressed image generation process, identifies the target area in the captured image based on a capture timing of the captured image and a predetermined correspondence relationship between the capture timing and the target area; The correspondence relationship includes, as information on the target region, information on which of the two or more different imaging positions is to be targeted, and information on what range of the target imaging positions is to be targeted. Image processing device.

Images