CONTROL DEVICE AND IMAGE JUDGMENT PROCESSING METHOD

Abstract

A storage device that stores master data for one type of component, and that also stores an image determination process for determining whether or not one component of a plurality of scattered components of the one type overlaps another component using a captured image of the one component, wherein when the master data is updated, the image determination process is also updated.

Description

Technical Field

[0001] The present invention relates to a master data of one type of component and an image determination process for determining whether one component among a plurality of scattered components of the same type overlaps with other components by an image obtained by imaging one component. Image data used for and stores Control such as a device.

Background Art

[0002] Some storage devices store data indicating the posture of a component and data for determining whether the component overlaps with other components, as described in the following patent documents.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present invention is to appropriately execute an image determination process for determining whether a component overlaps with other components.

Means for Solving the Problems

[0005] To solve the above problems, this specification An information processing device that calculates component outline data, which is image data showing the outline of one type of component, and calculates component brightness data, which is image data showing the brightness inside the outline based on the calculated component outline data; and the stores master data of one type of component and By and Store the component outline data together with the date and time when the component outline data was stored, an image determination process for determining whether one component among a plurality of scattered components of the same type overlaps with other components by an image obtained by imaging one component As image data used for, store the component brightness data together with the date and time when the component brightness data was stored in a storage device And a control device comprising wherein The information processing device outputs the calculated component outline data to the storage device, and the storage device compares the date and time when the component outline data output from the information processing device was stored with the date and time when the component brightness data was stored. When the date and time when the component outline data was stored is newer than the date and time when the component brightness data was stored, the information processing device calculates the component brightness data and outputs it to the storage device, so that the storage device stores the component outline data when Component brightness data is updated, the above And perform control for the image determination process based on the updated component brightness data An apparatus is disclosed.

[0006] To solve the above problems, this specification includes master data corresponding to one posture when one type of component is scattered, and By , Store the first component outline data, which is image data showing the outline of the one type of component, the First component outline data date and time when the above is stored, and Together in a storage device, and as image data used for an image determination process to determine whether one of a plurality of scattered components of the one type of component overlaps with other components based on an image of the one component, store first component brightness data, which is image data showing the brightness inside the outline, in the storage device together with the date and time when the first component brightness data was stored; and in the information processing device, a step of calculating second component outline data as image data for updating the first component outline data; a step of outputting the calculated second component outline data from the information processing device to the storage device; a step of storing the second component outline data output from the information processing device in the storage device together with the date and time when the second component outline data was stored; the date and time when the second component outline data was stored in the storage device, and the first component brightness data the In the storage device date and time when the above is stored, a stored date and time comparison step of comparing them, and in the stored date and time comparison step, when the Second component outline data the In the storage device stored date and time is Earlier than the date and time when the first component brightness data was stored new, In the information processing device, the The outline specified by the second component outline data is used to Calculate the second component brightness data, and update the first component brightness data to the second component brightness data update, an update step; A step of outputting the updated second component brightness data from the information processing device to the storage device; the First component brightness data stored in the storage device is deleted, and the The second component brightness data output from the information processing device is stored in the storage device, an overwrite step; A step of performing the image determination process based on the overwritten second component brightness data, and An image determination method is disclosed. Processing method

Effect of the Invention

[0007] According to the present disclosure, when the master data is updated, the image determination process is also updated. Or, when the stored date and time of the master data is newer than the stored date and time of the image determination process, the image determination process is updated. Thereby, it becomes possible to appropriately update the image determination process and to appropriately execute the image determination process.

Brief Description of the Drawings

[0008]

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Mode for Carrying Out the Invention

[0009] Hereinafter, as a mode for carrying out the present invention, embodiments of the present invention will be described in detail with reference to the drawings.

[0010] FIG. 1 shows a component mounting machine 10. The component mounting machine 10 is a device for performing a component mounting operation on a circuit base material 12. The component mounting machine 10 includes a device main body 20, a base material conveyance and holding device 22, a component mounting device 24, imaging devices 26 and 28, a component supply device 30, a loose component supply device 32, and a control device (see FIG. 11) 34. Note that examples of the circuit base material 12 include a circuit board, a base material having a three-dimensional structure, and examples of the circuit board include a printed wiring board and a printed circuit board.

[0011] The apparatus main body 20 is composed of a frame 40 and a beam 42 mounted on the frame 40. The base material conveyance and holding device 22 is disposed at the center in the front-rear direction of the frame 40 and has a conveyance device 50 and a clamp device 52. The conveyance device 50 is a device for conveying the circuit board 12, and the clamp device 52 is a device for holding the circuit board 12. Thereby, the base material conveyance and holding device 22 conveys the circuit board 12 and fixedly holds the circuit board 12 at a predetermined position. In the following description, the conveyance direction of the circuit board 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. That is, the width direction of the component mounter 10 is the X direction, and the front-rear direction is the Y direction.

[0012] The component mounting device 24 is disposed on the beam 42 and has two work heads 60, 62 and a work head moving device 64. Each work head 60, 62 has a suction nozzle (see FIG. 2) 66 and holds components by the suction nozzle 66. The work head moving device 64 has an X-direction moving device 68, a Y-direction moving device 70, and a Z-direction moving device 72. Then, by the X-direction moving device 68 and the Y-direction moving device 70, the two work heads 60, 62 move integrally to an arbitrary position on the frame 40. Further, as shown in FIG. 2, each work head 60, 62 is detachably positioned and mounted on sliders 74, 76 without the operator using tools, and the Z-direction moving device 72 moves the sliders 74, 76 individually in the vertical direction. That is, the work heads 60, 62 move individually in the vertical direction by the Z-direction moving device 72.

[0013] The imaging device 26 is attached to the slider 74 in a state of facing downward on the vertical line, and moves in the X direction, Y direction, and Z direction together with the work head 60. Thereby, the imaging device 26 images an arbitrary position on the frame 40. As shown in FIG. 1, the imaging device 28 is disposed between the base material conveyance and holding device 22 and the component supply device 30 on the frame 40 in a state of facing upward on the vertical line. Thereby, the imaging device 28 images the components held by the suction nozzles 66 of the work heads 60 and 62.

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

[0015] The loose component supply device 32 is disposed at the other end of the frame 40 in the front-rear direction. The loose component supply device 32 is a device that aligns a plurality of components scattered in a scattered state and supplies the components in the aligned state. That is, it is a device that aligns a plurality of components in an arbitrary posture into a predetermined posture and supplies the components in the predetermined posture. Hereinafter, the configuration of the component supply device 32 will be described in detail. Examples of the components supplied by the component supply device 30 and the loose component supply device 32 include electronic circuit components, components constituting a solar cell, and components constituting a power module. Further, the electronic circuit components include components with leads and components without leads.

[0016] As shown in FIG. 3, the loose component supply device 32 has a main body 80, a component supply unit 82, an imaging device 84, and a component transfer device 86.

[0017] The component supply unit 82 includes a component feeder 88, a component scattering device (see FIG. 4) 90, and a component return device (see FIG. 4) 92, and the component feeder 88, the component scattering device 90, and the component return device 92 are integrally configured. The component supply unit 82 is detachably assembled to the base 96 of the main body 80. In the loose component supply device 32, five component supply units 82 are arranged side by side in a row in the X direction.

[0018] The component feeder 88 generally has a rectangular parallelepiped box shape and is arranged to extend in the Y direction as shown in FIGS. 4 and 5. Here, the Y direction is described as the front-rear direction of the component feeder 88. In the component supply unit 82, the direction toward the side where the component return device 92 is arranged is described as the front, and the direction toward the side where the component feeder 88 is arranged is described as the rear.

[0019] The component feeder 88 is open at the upper surface and the front surface. The opening at the upper surface is the component inlet 97, and the opening at the front surface is the component outlet 98. In the component feeder 88, an inclined plate 104 is arranged below the inlet 97. The inclined plate 104 is arranged to incline downward from the rear end surface of the component feeder 88 toward the central direction.

[0020] Also, as shown in FIG. 5, a conveyor device 106 is arranged on the front side of the inclined plate 104. The conveyor device 106 is arranged to incline upward from the front end side of the inclined plate 104 toward the front of the component feeder 88. Note that the conveyor belt 112 of the conveyor device 106 rotates counterclockwise in FIG. 5. That is, the conveying direction by the conveyor device 106 is obliquely upward from the front end of the inclined plate 104 toward the front.

[0021] Also, an inclined plate 126 is disposed below the front end of the conveyor device 106. The inclined plate 126 is disposed from the front end face of the component feeder 88 downward toward the conveyor device 106, and the rear end is inclined obliquely downward. Further, an inclined plate 128 is also disposed below the inclined plate 126. The inclined plate 128 is inclined such that the front end is positioned downward from below the central portion of the conveyor device 106 toward the discharge port 98 of the component feeder 88.

[0022] Also, as shown in FIG. 4, a pair of side frames 130 are assembled to the base 96. The pair of side frames 130 are erected in a parallel and opposed state to each other and extend in the Y direction. The distance between the pair of side frames 130 is slightly larger than the width dimension of the component feeder 88, and the component feeder 88 is detachably mounted between the pair of side frames 130.

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

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

[0025] As shown in FIG. 7, the component returning device 92 includes a component storage container 180 and a container rocking device 181. The component storage container 180 generally has a box shape, and the bottom surface thereof is formed in an arc shape. The component storage container 180 is held swingably at the front end of the stage 156 of the component support member 150, and swings by the operation of the container rocking device 181. At this time, the component storage container 180 swings between a storage posture with the opening facing upward (see FIG. 7) and a returning posture with the opening facing the upper surface of the stage 156 of the component support member 150 (see FIG. 8).

[0026] As shown in FIG. 3, the imaging device 84 includes a camera 290 and a camera moving device 292. The camera moving device 292 includes a guide rail 296 and a slider 298. The guide rail 296 is fixed to the main body 80 so as to extend in the width direction (X direction) of the loose component supply device 32 above the component feeder 88. The slider 298 is slidably attached to the guide rail 296 and slides to an arbitrary position by the operation of an electromagnetic motor (see FIG. 11) 299. Further, the camera 290 is attached to the slider 298 in a downward-facing state.

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

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

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

[0030] Also, as shown in FIG. 3, each of the two shuttle devices 304 includes a component carrier 388 and a component carrier moving device 390, and is fixed to the main body 80 side by side in the lateral direction on the front side of the component supply unit 82. Five component receiving members 392 are mounted on the component carrier 388 in a row in the lateral direction, and components are placed on each component receiving member 392.

[0031] Incidentally, the loose part supply device 32 can supply various parts, and various part receiving members 392 are prepared according to the shape of the parts. Here, as an electronic circuit part supplied by the loose part supply device 32, as shown in FIG. 10, a part receiving member 392 corresponding to a lead part 410 having leads will be described. The lead part 410 is composed of a block-shaped part body 412 and two leads 414 protruding from the bottom surface of the part body 412.

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

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

[0034] Further, as shown in FIG. 11, the control device 34 includes a general control device 450, a plurality of individual control devices (only one is shown in the figure) 452, and an image processing device 454. The general control device 450 is mainly configured by a computer and is connected to the base material transfer and holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the component supply device 30, and the loose component supply device 32. Thereby, the general control device 450 comprehensively controls the base material transfer and holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the component supply device 30, and the loose component supply device 32. The plurality of individual control devices 452 are mainly configured by a computer and are provided corresponding to the base material transfer and holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the component supply device 30, and the loose component supply device 32 (only the individual control device 452 corresponding to the loose component supply device 32 is shown in the figure).

[0035] The individual control device 452 of the loose component supply device 32 is connected to the component scattering device 90, the component return device 92, the camera moving device 292, the component holding head moving device 300, the component holding head 302, and the shuttle device 304. Thereby, the individual control device 452 of the loose component supply device 32 controls the component scattering device 90, the component return device 92, the camera moving device 292, the component holding head moving device 300, the component holding head 302, and the shuttle device 304. Further, the image processing device 454 is connected to the imaging device 84 and processes the imaging data captured by the imaging device 84. The image processing device 454 is connected to the individual control device 452 of the loose component supply device 32. Thereby, the individual control device 452 of the loose component supply device 32 acquires the imaging data captured by the imaging device 84.

[0036] In addition, the loose component supply device 32 has a storage device 458. The storage device 458 is connected to the individual control device 452 and stores various information according to commands from the individual control device 452. Furthermore, the individual control device 452 is also connected to the information processing device 460. The information processing device 460, which will be described in detail later, creates image data used to hold components scattered on the stage 156, and the individual control device 452 acquires the image data created by the information processing device 460.

[0037] With the above-described configuration, the component mounter 10 performs a component mounting operation on the circuit board 12 held by the substrate transfer and holding device 22. Specifically, the circuit board 12 is transferred to the working position and fixedly held at that position by the clamp device 52. Next, the imaging device 26 moves above the circuit board 12 and images the circuit board 12. Thereby, information regarding the error in the holding position of the circuit board 12 is obtained. Also, the component supply device 30 or the loose component supply device 32 supplies components at a predetermined supply position. Note that the supply of components by the loose component supply device 32 will be described in detail later. Then, either of the working heads 60, 62 moves above the component supply position and holds the component by the suction nozzle 66. Subsequently, the working head 60, 62 holding the component moves above the imaging device 28, and the imaging device 28 images the component held by the suction nozzle 66. Thereby, information regarding the error in the holding position of the component is obtained. Then, the working head 60, 62 holding the component moves above the circuit board 12, corrects the error in the holding position of the circuit board 12, the error in the holding position of the component, etc., and mounts the held component on the circuit board 12.

[0038] In the loose component supply device 32, the lead component 410 is inserted by the operator through the insertion port 97 of the component feeder 88, and the inserted lead component 410 is supplied in a state of being placed on the component receiving member 392 of the component carrier 388 by the operation of the component supply unit 82 and the component transfer device 86.

[0039] Specifically, the operator inserts the lead component 410 through the inlet 97 on the upper surface of the component feeder 88. At this time, the operator inserts one type of lead component. When one type of component is inserted through the inlet 97, the component support member 150 moves below the component feeder 88 by the operation of the component support member moving device 152 and is in a stored state (see FIG. 6). Also, when the component support member 150 is in the stored state, the component storage container 180 disposed at the front end of the component support member 150 is located in front of the component feeder 88, and the opening of the component storage container 180 is in an upward-facing posture (storage posture).

[0040] The lead component 410 inserted through the inlet 97 of the component feeder 88 falls onto the inclined plate 104 of the component feeder 88 and rolls down to the lower end on the front side of the inclined plate 104. At this time, the lead component 410 that has rolled down to the lower end on the front side of the inclined plate 104 accumulates between the lower end on the front side of the inclined plate 104 and the lower end on the rear side of the conveyor device 106. Then, when the conveyor device 106 is operated, the conveyor belt 112 of the conveyor device 106 rotates counterclockwise in FIG. 6. As a result, the lead components 410 accumulated between the inclined plate 104 and the conveyor belt 112 are conveyed obliquely upward by the conveyor belt 112.

[0041] Then, the lead component 410 conveyed by the conveyor belt 112 falls onto the inclined plate 126 from the upper end on the front side of the conveyor device 106. The lead component 410 that has fallen onto the inclined plate 126 rolls down backward on the inclined plate 126 and falls onto the inclined plate 128. The lead component 410 that has fallen onto the inclined plate 128 rolls down forward and is discharged from the discharge port 98 on the front side of the component feeder 88.

[0042] As a result, the lead component 410 discharged from the discharge port 98 of the component feeder 88 is accommodated inside the component storage container 180. Then, when a predetermined amount of lead components 410 is discharged from the component feeder 88, that is, when the conveyor device 106 operates by a certain amount, the conveyor device 106 stops. Next, the component support member 150 moves forward from the stored state by the operation of the component support member moving device 152.

[0043] Then, at the timing when the component support member 150 has moved forward by a predetermined amount from the stored state, the container shaking device 181 of the component return device 92 operates, and the component storage container 180 shakes. As a result, the posture of the component storage container 180 changes vigorously from the posture with the opening facing upward (accommodation posture) to the posture with the opening facing the stage 156 (return posture). At this time, the lead components 410 accommodated in the component storage container 180 are vigorously discharged toward the stage 156. As a result, the lead components 410 are scattered on the stage 156 from the component storage container 180.

[0044] When the lead components 410 are scattered on the stage 156 of the component support member 150, as shown in FIG. 12, among the scattered lead components 410, the components that only contact the upper surface of the stage and do not contact other scattered components or members are scattered on the stage 156 in generally three postures. Specifically, as the first posture, the lead component 410 is scattered in a state where the extending surface of the lead 414 faces sideways and the two leads 414 are generally arranged in the horizontal direction. Also, as the second posture, the lead component 410 is scattered in a state where the extending surface of the lead 414 faces sideways and the two leads 414 are generally arranged in the vertical direction. Also, as the third posture, the lead component 410 is scattered in a state where the extending surface of the lead 414 faces upward. When distinguishing by the posture in which the lead components 410 are scattered, they are described as the lead component 410a in the first posture, the lead component 410b in the second posture, and the lead component 410c in the third posture.

[0045] When the lead components 410 are scattered on the stage 156 as described above, the camera 290 of the imaging device 84 moves above the component support member 150 by the operation of the camera moving device 292. Then, the lead components 410 scattered on the stage 156 are imaged by the camera 290. Since the viewing angle of the camera 290, that is, the imaging range is wider than the stage 156, the entire stage 156, that is, all the lead components 410 scattered on the stage 156 are imaged by a single imaging. Then, based on the imaging data captured by the camera 290, the lead component to be picked up (hereinafter referred to as the "pick-up target component") is determined.

[0046] Specifically, based on the imaging data of all the lead components 410 scattered on the stage 156 by the camera 290, the outer contour line (outline) of the lead component 410 is specified, and the shape of the upper surface of the lead component 410, that is, the shape from the viewpoint above the lead component 410 is calculated. Further, the storage device 458 stores image data of components for pattern matching (hereinafter referred to as "pattern matching data") for specifying the pick-up target component by pattern matching. The pattern matching data is image data showing the outer contour line of the lead component 410. As shown in FIG. 13, the image data showing the outer contour line of the lead component 410a in the first posture (hereinafter referred to as the "first posture component outer contour line data") and the image data showing the outer contour line of the lead component 410b in the second posture (hereinafter referred to as the "second posture component outer contour line data") are stored as the pattern matching data.

[0047] Then, it is determined whether or not the shape of the outer contour line of all the lead components 410 scattered on the stage 156 calculated based on the imaging data (hereinafter referred to as the "imaged component shape") matches the shape of the outer contour line of the lead component 410 based on the first posture component outer contour line data (hereinafter referred to as the "first stored component shape") or the shape of the outer contour line of the lead component 410 based on the second posture component outer contour line data (hereinafter referred to as the "second stored component shape").

[0048] Note that the storage device 458 stores the allowable matching rate together with the pattern matching data. When the matching rate between the imaging component shape and the first storage component shape or the second storage component shape exceeds the allowable matching rate, it is determined that the imaging component shape of each lead component of all the lead components scattered on the stage 156 matches the first storage component shape or the second storage component shape. That is, for example, when the allowable matching rate is set to 90%, the individual control device determines that the lead components whose matching rate between the imaging component shape of each lead component of all the lead components scattered on the stage 156 and the first storage component shape or the second storage component shape exceeds 90% match the imaging component shape and the first storage component shape or the second storage component shape. Then, the individual control device recognizes the lead component 410 whose imaging component shape of each lead component of all the lead components scattered on the stage 156 is determined to match the first storage component shape or the second storage component shape as a component to be picked up.

[0049] That is, the individual control device recognizes the lead component 410a in the first posture and the lead component 410b in the second posture as components to be picked up, and does not recognize the lead component 410c in the third posture as a component to be picked up. This is because in the lead component 410c in the third posture, the lead 414 is disposed on the upper surface, and the lead 414 gets in the way and the lead component 410 cannot be properly held by the suction nozzle 332. As a result, among the plurality of components scattered on the stage 156, the lead component 410a in the first posture and the lead component 410b in the second posture, which can be held by the suction nozzle 332, are recognized as components to be picked up.

[0050] However, even when it is determined that the lead component 410a is in the first posture and the lead component 410b is in the second posture, if one of the components overlaps with another component, there is a risk that the component to be picked up cannot be properly held, or that the suction nozzle 332 may be damaged when holding the component to be picked up. That is, even if a component is determined to be a component to be picked up, if it overlaps with another component and the upper surface of the component to be picked up is not horizontal, there is a risk that the component cannot be properly held by the suction nozzle 332. Also, although the descending position of the suction nozzle 332 when the component is held by the suction nozzle 332 is preset, if the component to be picked up overlaps with another component, the upper surface of the component to be picked up becomes higher than the descending position of the suction nozzle 332, and when the suction nozzle 332 descends, the suction nozzle 332 may hit the component to be picked up forcefully, causing the suction nozzle 332 to be damaged.

[0051] Therefore, the storage device 458 also stores image data of components (hereinafter referred to as "data for overlap determination") for determining whether one component to be picked up overlaps with another component. The data for overlap determination is image data indicating the brightness of the lead component, and as shown in FIG. 14, image data indicating the brightness inside the outer contour line of the lead component 410a in the first posture (hereinafter referred to as "first-posture component brightness data") and image data indicating the brightness inside the outer contour line of the lead component 410b in the second posture (hereinafter referred to as "second-posture component brightness data") are stored as the data for overlap determination.

[0052] Then, based on the pattern matching data, the individual control device calculates, in the imaging data of the lead component identified as the component to be picked up, a line 500 (hereinafter referred to as "component expansion line") obtained by expanding the outer contour line of the imaging data of the lead component outward by a predetermined dimension, for example, 1 mm as shown in FIG. 15. Then, the individual control device also calculates the brightness inside the component expansion line 500 (hereinafter referred to as "brightness inside the component expansion line"). Further, the storage device 458 stores the brightness of the stage 156 (hereinafter referred to as "stage brightness"), and based on the stage brightness, the brightness inside the component expansion line, and the overlapping determination data, the overlapping determination process of the component is performed.

[0053] Specifically, for example, when the individual control device identifies the lead component 410a in the first posture as the component to be picked up, the brightness of the lead component based on the first posture component brightness data stored in the storage device (hereinafter referred to as "first stored component brightness") is compared with the brightness inside the component expansion line in the imaging data, and the brightness of the different parts between the first stored component brightness and the brightness inside the component expansion line is specified. The brightness of the different parts between the first stored component brightness and the brightness inside the component expansion line is the brightness of the part between the outer contour line of the lead component and the component expansion line 500, and is the brightness of the background of the lead component in the image based on the imaging data. Therefore, the brightness of the different parts between the first stored component brightness and the brightness inside the component expansion line is referred to as the component background brightness.

[0054] If the background brightness of the component is the same as the stage brightness stored in the storage device 458, then in the image based on the imaging data, the background of the lead component is the stage 156, and it is determined that the component to be judged does not overlap with other components. That is, when the lead component 410a among the plurality of scattered lead components as shown in FIG. 15 is the component to be judged, the background of the lead component 410a is only the stage 156, and the background brightness of the lead component 410a becomes the same as the stage brightness. For this reason, it is determined that the lead component 410a does not overlap with other components. On the other hand, when the background brightness of the component is different from the stage brightness stored in the storage device 458, it is determined that there is something other than the stage 156 in the background of the lead component in the image based on the imaging data, and it is determined that the component to be judged overlaps with other components. That is, when the lead component 410a' in FIG. 15 is the component to be judged, since not only the stage 156 but also other components are included in the background of the lead component 410a', the background brightness of the lead component 410a' does not become the same as the stage brightness. That is, the background brightness of the lead component 410a' is different from the stage brightness. For this reason, it is determined that the lead component 410a' overlaps with other components.

[0055] In this way, the individual control device executes the component overlap determination process based on the overlap determination data, and determines that the component determined not to overlap with other components in the overlap determination process is the component to be picked up. That is, the individual control device first identifies the component to be picked up based on the pattern matching data, and when the identified component to be picked up is determined not to overlap with other components based on the overlap determination data, it is determined as the component to be picked up.

[0056] Then, position information of the lead component 410 determined as the component to be picked up and the like is calculated based on the imaging data. Next, based on the calculated position information of the component to be picked up, above the component to be picked up, the component holding head 302 moves by the operation of the component holding head moving device 300, and the component to be picked up is adsorbed and held by the suction nozzle 332. Note that when the component to be picked up is adsorbed and held by the suction nozzle 332, the suction nozzle 332 is located at the non-rotating position.

[0057] Next, after the lead component 410 is held by the suction nozzle 332, the component holding head 302 moves above the component carrier 388. At this time, the component carrier 388 is moving to the component receiving position by the operation of the component carrier moving device 390. Also, when the component holding head 302 moves above the component carrier 388, the suction nozzle 332 is rotated to the rotating position. Note that the lead 414 of the lead component 410 held by the suction nozzle 332 at the rotating position is rotated by the operation of the nozzle rotating device 335 so that the lead 414 faces downward in the vertical direction.

[0058] When the component holding head 302 moves above the component carrier 388, the lead component 410 with the lead 414 facing downward in the vertical direction is inserted into the component receiving recess 416 of the component receiving member 392. Thereby, as shown in FIG. 10, the lead component 410 is placed on the component receiving member 392 with the lead 414 facing downward in the vertical direction.

[0059] Then, when the lead component 410 is placed on the component receiving member 392, the component carrier 388 moves to the component supply position by the operation of the component carrier moving device 390. Since the component carrier 388 that has moved to the component supply position is located within the moving range of the work heads 60, 62, the loose component supply device 32 supplies the lead component 410 to the component mounter 10 at this position. In this way, in the loose component supply device 32, the lead component 410 is supplied in a state where the lead 414 faces downward and the upper surface facing the bottom surface to which the lead 414 is connected faces upward. For this reason, the suction nozzles 66 of the work heads 60, 62 can appropriately hold the lead component 410.

[0060] In this way, in the loose component supply device 32, the pick-up target component is determined based on the pattern matching data and the overlap determination data from among the plurality of components scattered on the stage 156, and the determined pick-up target component is being supplied. However, if appropriate data is not stored in the storage device 458 as the pattern matching data and the overlap determination data, there is a possibility that an appropriate component cannot be supplied.

[0061] Specifically, the pattern matching data and the overlap determination data are created in the information processing device 460 connected to the individual control device. Specifically, first, at a timing when no work is being executed in the component mounter 10, components for creating the pattern matching data and the overlap determination data are placed on the stage 156. At this time, for example, when creating the pattern matching data and the overlap determination data for the lead component in the first posture, the operator places the lead component 410 on the stage 156 in the first posture. Then, the lead component in the first posture is imaged by the imaging device 84, and the imaging data created by the imaging is input to the information processing device 460.

[0062] Then, when a new creation button for creating new pattern matching data and overlap determination data is operated on the information processing apparatus 460, as shown in FIG. 16, a first creation screen 512 for creating pattern matching data is displayed on the monitor 510 of the information processing apparatus 460. Then, in the information processing apparatus 460, the outer contour line of the lead component 410 is calculated based on the imaging data, and an image 514 showing the outer contour line of the lead component 410 is displayed on the first creation screen 512. At this time, when the operator checks the image 514 displayed on the first creation screen 512 and registers the outer contour line of the lead component shown by the image 514 as pattern matching data for the lead component in the first posture, the operator operates the OK button 516. Thereby, the information processing apparatus 460 registers the data of the outer contour line of the lead component shown by the image 514. Further, on the first creation screen 512, the operator also inputs the allowable coincidence rate used when identifying the pick-up target component using the pattern matching data. For this reason, by the operator's input, the information processing apparatus 460 also registers the allowable coincidence rate together with the data of the outer contour line of the lead component.

[0063] Also, when the OK button 516 is operated, instead of the first creation screen 512, as shown in FIG. 17, a second creation screen 520 for creating overlapping determination data is displayed on the monitor 510. Then, in the information processing apparatus 460, the brightness inside the outer contour line of the lead component 410 is calculated based on the imaging data, and an image 522 showing the brightness inside the outer contour line of the lead component 410 is displayed on the second creation screen 520. At this time, when the operator checks the image 522 displayed on the second creation screen 520 and registers the brightness inside the outer contour line of the lead component shown in the image 522 as overlapping determination data for the lead component in the first posture, the operator operates the OK button 524. Thereby, the information processing apparatus 460 registers the data of the brightness inside the outer contour line of the lead component shown in the image 522. Then, the information processing apparatus 460 outputs the data of the outer contour line of the lead component registered on the first creation screen 512, the allowable coincidence rate input on the first creation screen 512, and the data of the brightness inside the outer contour line of the lead component registered on the second creation screen 520 to the storage device 458. Thereby, the storage device 458 stores the data of the outer contour line of the lead component as pattern matching data for the lead component in the first posture, and also stores the allowable coincidence rate in association with the pattern matching data. Further, the storage device 458 stores the data of the brightness inside the outer contour line of the lead component as overlapping determination data for the lead component in the first posture.

[0064] As a result, as shown in FIGS. 13 and 14, the pattern matching data and the overlap determination data for the lead components in the first posture are stored in the storage device 458. Then, based on the pattern matching data and the overlap determination data stored in the storage device 458, the component to be picked up is determined by the method described above. However, when creating the pattern matching data and the overlap determination data, an operator may place inappropriate lead components (hereinafter referred to as "defective components"), such as lead components with bent leads 414 or lead components with chips on the component body 412, on the stage 156, image the defective components with the imaging device 84, and input the imaging data to the information processing device 460. Then, images 514 and 522 based on the imaging data of the defective components are displayed on the first creation screen 512 and the second creation screen 520, but the operator may operate the OK buttons 516 and 524 without properly checking the images 514 and 522. In such a case, the pattern matching data and the overlap determination data created based on the imaging data of the defective components are stored in the storage device 458.

[0065] Specifically, for example, when an operator places a lead component with a bent lead 414 on the stage 156 and images it, pattern matching data is created based on the imaging data of the lead component with the bent lead 414, and as shown in FIG. 18, image data showing the outer contour line of the lead component with the bent lead 414 is stored in the storage device 458 as the pattern matching data for the first posture. Also, overlap determination data is created based on the imaging data of the lead component with the bent lead 414, and as shown in FIG. 19, image data showing the brightness inside the outer contour line of the lead component with the bent lead 414 is stored in the storage device 458 as the overlap determination data for the first posture. That is, the image data of the defective component is stored in the storage device 458 as the pattern matching data and the overlap determination data.

[0066] Thus, when the image data of defective parts is stored in the storage device 458 as pattern matching data and overlap determination data, there is a risk that the loose parts supply device 32 may not be able to supply appropriate parts. That is, when the pick-up target part is determined using the pattern matching data and overlap determination data shown in FIGS. 18 and 19, a lead part with a bent lead 414 may be determined as the pick-up target part, and there is a risk that the lead part with the bent lead 414 may be supplied in the loose parts supply device 32.

[0067] Therefore, in such a case, it is necessary to update the pattern matching data and overlap determination data of the lead parts in the first posture stored in the storage device 458 to the pattern matching data and overlap determination data of appropriate lead parts such as lead parts without bent leads and lead parts without chipping (hereinafter referred to as "normal parts"). Therefore, the operator places the normal parts on the stage 156 in the first posture. Then, the normal parts in the first posture are imaged by the imaging device 84, and the imaging data of the normal parts created by the imaging is input to the information processing device 460.

[0068] Then, when an update button for updating the data stored in the storage device 458 is operated in the information processing device 460, as shown in FIG. 16, a first creation screen 512 is displayed on the monitor 510, and an image 514 showing the outline of a normal component is displayed on the first creation screen 512. At this time, the operator checks the image 514 showing the outline of the normal component displayed on the first creation screen 512 and operates the OK button 516. Then, the information processing device 460 registers the data of the outline of the normal component indicated by the image 514 and outputs it to the storage device 458. Then, the storage device 458 stores the data of the outline of the normal component indicated by the image 514 in the storage device 458 as pattern matching data for the lead component in the first posture. At this time, the storage device 458 deletes the previously stored pattern matching data for the lead component in the first posture. That is, the storage device 458 deletes the previously stored pattern matching data for the defective component in the first posture and overwrites and stores the pattern matching data for the normal component in the first posture. As a result, the pattern matching data for the lead component in the first posture is updated, and as shown in FIG. 13, the data showing the outline of the normal component in the first posture is stored in the storage device 458 as pattern matching data.

[0069] However, in a conventional memory device, even when the data for pattern matching of the read component is updated, the data for overlap determination is not updated. Specifically, when the data for pattern matching is updated, it is possible to update the allowable matching rate as well. For example, on the first creation screen 512, when an operation is performed on the OK button 516, data indicating the outer contour line of a normal component is registered, and the allowable matching rate is also input. Then, by outputting the data indicating the outer contour line of the normal component and the allowable matching rate to the memory device, the allowable matching rate is updated together with the data for pattern matching. On the other hand, there may be a case where only the allowable matching rate is updated without updating the data for pattern matching. That is, there may be a case where the operator does not desire to update the data for pattern matching but only desires to update the allowable matching rate. In such a case, the imaging of the component for updating the data for pattern matching is not performed, and the update button is operated in a state where no imaging data is input to the information processing device 460. At this time, on the first creation screen 512, an image 514 indicating the outer contour line of the component is not displayed. For this reason, on the first creation screen 512, it is not possible to register the data for pattern matching, but it is possible to input the allowable matching rate. Thus, when only the allowable matching rate is input without registering the data for pattern matching on the first creation screen 512, the data for pattern matching is not output to the memory device, and only the allowable matching rate is output to the memory device. As a result, in the memory device, the data for pattern matching is not updated, and only the allowable matching rate is updated. In this way, depending on the operation of the update button on the information processing device 460, the data for pattern matching may be updated in the memory device, or only the allowable matching rate may be updated without updating the data for pattern matching. And when the data for pattern matching is updated in the memory device, it is desirable to update the data for overlap determination as well, but when only the allowable matching rate is updated without updating the data for pattern matching, the update of the data for overlap determination is unnecessary. That is, when the update button is operated on the information processing device 460, the update of the data for overlap determination is not essential, so even when the data for pattern matching is updated, the data for overlap determination is not updated.In such a case, in the storage device, the pattern matching data shown in FIG. 18 (data indicating the outer contour of the defective part in the first posture) is updated to the pattern matching data shown in FIG. 13 (data indicating the outer contour of the normal part in the first posture), but the overlap determination data shown in FIG. 19 (data indicating the brightness inside the outer contour of the defective part in the first posture) is maintained without being updated. Therefore, when determining the part to be picked up, the pattern matching data shown in FIG. 13 and the overlap determination data shown in FIG. 19 are used. However, since the overlap determination data shown in FIG. 19 includes data of defective parts, the overlap determination process cannot be performed appropriately.

[0070] Therefore, in the storage device 458, when the pattern matching data is updated, data indicating the creation date and time of each data is attached to the pattern matching data and the overlap determination data so that the overlap determination data is always updated. Specifically, as described above, the information processing device 460 is provided with a new creation button and an update button. When the new creation button is operated, the pattern matching data and the overlap determination data are newly created, and when the update button is operated, the pattern matching data is updated. On the other hand, in the information processing device 460 of the present invention, there is no distinction between the new creation button and the update button, and a creation button for creating the pattern matching data and the overlap determination data is provided. When the creation button is operated, new creation of the pattern matching data and the overlap determination data and update of the pattern matching data and the overlap determination data are executed.

[0071] Specifically, even when pattern matching data and overlap determination data are newly created by operating the creation button, the operator places the lead component 410 on the stage 156 in the first posture, similar to the conventional method. Then, the lead component in the first posture is imaged by the imaging device 84, and the imaging data created by the imaging is input into the information processing device 460. Further, when the creation button is operated in the information processing device 460, a first creation screen 512 shown in FIG. 16 is displayed on the monitor 510 of the information processing device 460. Then, in the information processing device 460, the outer contour line of the lead component 410 is calculated based on the imaging data, and an image 514 showing the outer contour line of the lead component 410 is displayed on the first creation screen 512. At this time, when the operator checks the image 514 displayed on the first creation screen 512 and operates the OK button 516, the information processing device 460 registers the data of the outer contour line of the lead component indicated by the image 514. Also, since the allowable matching rate is input on the first creation screen 512, the information processing device 460 registers the allowable matching rate together with the data of the outer contour line of the lead component.

[0072] Also, when the OK button 516 is operated on the first creation screen 512, data on the outer contour line of the lead component and the allowable matching rate are registered in the information processing apparatus, and instead of the first creation screen 512, the second creation screen 520 shown in FIG. 17 is displayed on the monitor 510. Then, in the information processing apparatus 460, the brightness inside the outer contour line of the lead component 410 is calculated based on the imaging data, and an image 522 showing the brightness inside the outer contour line of the lead component 410 is displayed on the second creation screen 520. At this time, when the operator checks the image 522 displayed on the second creation screen 520 and operates the OK button 524, the information processing apparatus 460 registers the data on the brightness inside the outer contour line of the lead component indicated by the image 522. Then, the information processing apparatus 460 outputs the data on the outer contour line of the lead component registered on the first creation screen 512, the allowable matching rate input on the first creation screen 512, and the data on the brightness inside the outer contour line of the lead component registered on the second creation screen 520 to the storage device 458. As a result, the storage device 458 stores the data on the outer contour line of the lead component as pattern matching data for the lead component in the first posture, and also stores the allowable matching rate in association with the pattern matching data. At this time, the storage device 458 stores the date and time when the pattern matching data was stored (hereinafter, "pattern matching storage date and time") together with the pattern matching data. In addition, the storage device 458 stores the data on the brightness inside the outer contour line of the lead component as overlapping determination data for the lead component in the first posture. At this time, the storage device 458 stores the date and time when the overlapping determination data was stored (hereinafter, "overlapping determination storage date and time") together with the overlapping determination data. For this reason, since the newly created pattern matching data and the overlapping determination data are stored in the storage device 458 at the same timing, the pattern matching storage date and time and the overlapping determination storage date and time are the same date and time.

[0073] Also, after pattern matching data and overlap determination data are newly created by operating the creation button, when the operator desires to update the pattern matching data and the overlap determination data, the operator operates the creation button. Also in this case, the operator places the part to be updated, that is, the normal part, on the stage 156 in the first posture, in the same manner as the conventional method. Then, the normal part is imaged by the imaging device 84, and the imaging data created by the imaging is input to the information processing device 460. Further, when the creation button is operated in the information processing device 460, a first creation screen 512 shown in FIG. 16 is displayed on the monitor 510 of the information processing device 460. Then, in the information processing device 460, the outer contour line of the normal part is calculated based on the imaging data, and an image 514 showing the outer contour line of the normal part is displayed on the first creation screen 512. At this time, when the operator confirms the image 514 displayed on the first creation screen 512 and operates the OK button 516, the information processing device 460 registers the data of the outer contour line of the normal part shown by the image 514 and outputs it to the storage device 458. Then, the storage device 458 overwrites and stores the data of the outer contour line of the normal part shown by the image 514 as pattern matching data for the lead part in the first posture. That is, the storage device 458 deletes the previously stored pattern matching data for the lead part in the first posture together with the pattern matching storage date and time, and stores the data of the outer contour line of the normal part in the first posture as pattern matching data for the lead part in the first posture. At this time, the storage device 458 stores the pattern matching storage date and time together with the pattern matching data. That is, the storage device 458 updates the previously stored pattern matching data for the lead part in the first posture to the pattern matching data for the normal part in the first posture, and stores the updated date and time as the pattern matching storage date and time together with the updated pattern matching data.

[0074] Then, the storage device 458 compares the pattern matching storage date and time stored together with the pattern matching data with the overlap determination storage date and time stored together with the overlap determination data. At this time, if the pattern matching data has been updated, the pattern matching storage date and time stored together with the pattern matching data is newer than the overlap determination storage date and time stored together with the overlap determination data. Therefore, when the pattern matching storage date and time stored together with the pattern matching data is newer than the overlap determination storage date and time stored together with the overlap determination data, the overlap determination data is also updated. That is, when the pattern matching storage date and time stored together with the pattern matching data is newer than the overlap determination storage date and time stored together with the overlap determination data, in the information processing device 460, the brightness inside the outer contour of the normal part is calculated based on the imaging data and output to the storage device 458. Then, the storage device 458 overwrites and stores the brightness inside the outer contour of the normal part as the overlap determination data of the lead part in the first posture. That is, the storage device 458 deletes the previously stored overlap determination data of the lead part in the first posture together with the overlap determination storage date and time, and stores the brightness inside the outer contour of the normal part as the overlap determination data of the lead part in the first posture. At this time, the storage device 458 stores the overlap determination storage date and time together with the overlap determination data. That is, the storage device 458 updates the previously stored overlap determination data of the lead part in the first posture to the overlap determination data of the normal part in the first posture, and stores the updated date and time as the overlap determination storage date and time together with the updated overlap determination data.

[0075] In this way, the pattern matching storage date and time and the overlap determination storage date and time are stored. When the pattern matching storage date and time is newer than the overlap determination storage date and time, by updating the data for overlap determination, it becomes possible to surely update the data for overlap determination together with the data for pattern matching. As a result, when the data for pattern matching is updated to the data indicating the outer contour line of a normal part, it also becomes possible to surely update the data for overlap determination to the data indicating the brightness inside the outer contour line of the normal part.

[0076] Note that the lead component 410 is an example of a component. The storage device 458 is an example of a storage device. The data for pattern matching is an example of master data. The data for overlap determination is Image data used for an example of the image determination process.

[0077] Furthermore, the present invention is not limited to the above-described embodiments, and can be implemented in various modes with various changes and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above embodiment, the data for pattern matching is adopted as the master data, but various data can be adopted as long as it is data related to the component. Specifically, for example, data indicating the lines, surfaces, colors, brightness, gradations, etc. of the component, data indicating the identification code of the component, and data indicating the type of the component can be adopted.

[0078] Also, in the above embodiment, the data for pattern matching and the data for overlap determination are created in the information processing device 460, but they may be created in the storage device 458. Also, the data for pattern matching and the data for overlap determination may be created or stored in one device, or the data for pattern matching and the data for overlap determination may be created or stored in different devices.

[0079] In the above-described embodiment, the data for pattern matching and the data for overlap determination are stored in the same storage device. However, they may be stored in different devices. In such a case, for example, data may be transmitted from the storage device storing the data for pattern matching or the data for overlap determination to the storage device storing the data for overlap determination or the data for pattern matching, and the transmitted data may be stored.

[0080] Also, in the above-described embodiment, each of the data for pattern matching and the data for overlap determination stored in the storage device 458 is used. However, only one of the data may be used to check the state of the scattered parts.

[0081] Also, in the above-described embodiment, the parts with a horizontal upper surface among the plurality of scattered parts are set as the parts to be picked up. However, it is not limited to this posture. For example, by using either the data for pattern matching or the data for overlap determination, parts with an inclined upper surface may be recognized as the parts to be picked up.

[0082] Also, in the above-described embodiment, the loose parts supply device includes the individual control device 452. However, the invention is not limited to this embodiment. For example, the invention may be applied to a device that picks up a plurality of parts scattered individually, that is, a so-called picking device to which various control devices for controlling it are connected. Similarly, in the above-described embodiment, the loose parts supply device includes the storage device 458. However, it is not limited to this embodiment. For example, it may be connectable to various control devices as described above.

[0083] Also, in the above-described embodiment, the storage device 458 and the information processing device 460 are different devices. However, the storage device 458 and the information processing device 460 may be in one device. That is, for example, the storage device 458 may be built in the information processing device 460.

[0084] Also, in the above-described embodiment, the overlapping determination data is updated as the pattern matching data is updated. That is, as the pattern matching data is updated, the determination criteria for performing the overlapping determination process are updated. On the other hand, as a method in which the determination criteria for performing the overlapping determination process are updated as the pattern matching data is updated, the algorithm, program, processing method, etc. for performing the overlapping determination process may be updated. That is, as the pattern matching data is updated, the process for performing the overlapping determination may be updated. Determination The process for performing the overlapping determination may be updated.

[0085] Also, in the above-described embodiment, when the pattern matching data and the overlapping determination data are updated, the updated pattern matching data and overlapping determination data are overwritten and saved. However, together with the pattern matching data and the overlapping determination data before the update, the updated pattern matching data and overlapping determination data may be saved cumulatively. That is, without deleting the pattern matching data and the overlapping determination data before the update, the storage of the pattern matching data and the overlapping determination data before the update is maintained, and each time the pattern matching data and the overlapping determination data are updated, the updated pattern matching data and overlapping determination data may be saved cumulatively.

[0086] Also, in the above-described embodiment, the pattern matching data and the overlapping determination data before the update are deleted, and the updated pattern matching data and overlapping determination data are stored. At this time, after the pattern matching data and the overlapping determination data before the update are deleted, the updated pattern matching data and overlapping determination data may be stored. Also, after the updated pattern matching data and overlapping determination data are stored, the pattern matching data and the overlapping determination data before the update may be deleted.

[0087] Also, in the above embodiment, the date and time when the pattern matching data and the overlap determination data are stored are stored in the storage device 458. However, any date and time indicating the timing at which the pattern matching data and the overlap determination data are updated may be used. Specifically, it may be the date and time when the pattern matching data and the overlap determination data are created, the date and time when the OK button is operated on the first creation screen 512 or the like to create the pattern matching data and the overlap determination data, the date and time when the pattern matching data and the overlap determination data are newly acquired, and the like.

[0088] Also, in the above embodiment, the pattern matching data of the lead component 410 is adopted as the master data, and as the pattern matching data, the data of the outer shape lines of a plurality of lead components according to the posture of the lead component 410 are stored. That is, a plurality of master data are stored for each type of component. These plurality of master data are not limited to the data of the outer shape lines of a plurality of components according to the posture of one type of component, and a plurality of master data may be stored for each type of component that are different in color, material, characteristics, etc., even though they are components of the same shape.

[0089] Also, in the above embodiment, due to the viewing angle of the camera to be imaged, all the lead components scattered on the stage are imaged by a single imaging. However, for example, the imaging area may be divided into a plurality of areas and imaged a plurality of times. As the camera used in this case, one with a viewing angle smaller than the stage or one with a larger viewing angle may be used.

[0090] Also, in the above embodiment, the present invention is applied to the lead component 410, but the present invention can be applied to various components. Specifically, for example, the present invention can be applied to components of a solar cell, components of a power module, electronic circuit components without leads, and the like.

Explanation of Reference Numerals

[0091] 410: Lead component (component) 458: Storage device

Claims

1. An information processing device that calculates part outline data, which is image data showing the outline of a type of part, and calculates part brightness data, which is image data showing the brightness inside the outline, based on the calculated part outline data; a storage device that stores the component outline data together with a date and time when the component outline data was stored as master data for the one type of component, and stores the component brightness data together with a date and time when the component brightness data was stored as image data used in an image determination process for determining whether or not one of a plurality of scattered components of the one type of component overlaps with another component based on an image of the one component; A control device comprising: the information processing device outputs the calculated component outline data to the storage device, the storage device compares the date and time when the component outline data output from the information processing device was stored with the date and time when the component brightness data was stored, and if the date and time when the component outline data was stored is newer than the date and time when the component brightness data was stored, the information processing device calculates the component brightness data and outputs it to the storage device, so that when the component outline data is updated, the storage device also updates the component brightness data; A control device that performs the image determination process based on the updated component lightness data.

2. The control device as described in Claim 1, wherein the memory device stores the part outline data in multiple different postures as multiple master data for each type of part.

3. a step of storing in a storage device first component outline data, which is image data showing the outline of one type of component, as master data corresponding to one posture when the one type of component is scattered, together with a date and time when the first component outline data was stored, and storing in the storage device first component brightness data, which is image data showing the brightness inside the outline, together with a date and time when the first component brightness data was stored, as image data used in an image determination process for determining whether one of a plurality of scattered components of the one type of component overlaps with another component based on an image of the one component; calculating, in an information processing device, second part outline data as image data for updating the first part outline data; outputting the calculated second part outline data from the information processing device to the storage device; storing the second part outline data output from the information processing device in the storage device together with a date and time when the second part outline data was stored; a storage date comparison step of comparing a date and time when the second part outline data was stored in the storage device with a date and time when the first part brightness data was stored in the storage device; an updating step of, in the information processing device, calculating second component lightness data using the outer shape specified by the second component outer shape data, and updating the first component lightness data to the second component lightness data, if the date and time when the second component outer shape data was stored in the storage device is newer than the date and time when the first component lightness data was stored in the storage device in the storage date and time comparison step; outputting the updated second part lightness data from the information processing device to the storage device; an overwriting step of erasing the first part lightness data stored in the storage device and storing in the storage device the second part lightness data output from the information processing device; performing the image determination process based on the overwritten second component lightness data; An image assessment processing method comprising:

Images