Implementation system and implementation method

Abstract

To provide an implementation system capable of improving vibration suppression and positioning accuracy of a capturing part, and an implementation method.SOLUTION: An implementation system 1 includes a capture part 22, a drive unit 4, and a drive control unit 51. The capture part 22 captures a first object C1. The drive unit 4 drives the capture part 22. The drive control unit 51 controls the drive unit 4. The drive control unit 51 controls the drive unit 4 so that the predicted vibration that occurs in the capture part 22 is stable on the basis of a prediction result of predicted vibration, which is the vibration predicted to occur in the capture part 22.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a mounting system and a mounting method.

Background Art

[0002] In the component mounting apparatus of Patent Document 1, a nozzle picks up a component from a component supply unit and mounts the component onto a substrate.

[0003] Normally, a component mounting apparatus mounts components onto a substrate based on a production job. At this time, the component mounting apparatus executes servo control, which automatically operates to follow target values with controlled variables including the position, orientation, and posture of the nozzle.

[0004] Then, apart from the above-described normal operation, the component mounting apparatus executes an assembly diagnosis routine for diagnosing vibration caused by the assembly of the component mounting apparatus, and an environmental vibration diagnosis routine for diagnosing vibration caused by the surrounding environment.

[0005] In the diagnosis routines (the assembly diagnosis routine and the environmental vibration diagnosis routine), the component mounting apparatus moves the nozzle to an imaging position and turns off the servo control of the nozzle. That is, in the diagnosis routine, the component mounting apparatus performs an operation (the operation of the diagnosis routine) different from the above-described normal operation. Then, the component mounting apparatus images the tip end portion of the nozzle with an imaging means, obtains vibration data of the tip end portion of the nozzle from the captured image, determines whether the vibration data falls within a predetermined allowable range, and outputs an abnormality to the outside if the vibration data does not fall within the range.

Prior Art Literature

Patent Literature

[0006]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0007] As described in Patent Document 1, component mounting devices (mounting systems) that mount components (first objects) onto a substrate (second object) require vibration suppression of the nozzle (capture unit) and improved positioning accuracy.

[0008] The purpose of this disclosure is to provide an implementation system and implementation method that can suppress vibration of the capture unit and improve positioning accuracy. [Means for solving the problem]

[0009] An implementation system according to one aspect of the present disclosure implements a first object onto a second object. The implementation system includes a capture unit for capturing the first object, a drive unit for driving the capture unit, and a drive control unit for controlling the drive unit. An imaging unit capable of imaging the capture unit driven by the drive unit, and a prediction unit that predicts a vibration, which is a vibration that occurs in the capture unit at a timing t4 later than the timing t1, based on the image captured by the imaging unit at least at timing t1 of the capture unit. The drive control unit is equipped with Prediction Based on the vibration measurement prediction results, the drive unit is controlled so that the predicted vibration generated in the capture unit is stabilized.

[0010] An implementation method according to one aspect of this disclosure involves implementing a first object on a second object. The implementation method includes a drive control step of controlling a drive unit that drives a capture unit capable of capturing the first object. and , An imaging step for imaging the capture unit driven by the drive control step, and a prediction step for predicting a vibration that occurs in the capture unit at a timing t4 later than the timing t1, based on the image captured by the imaging step at least at timing t1 of the capture unit. Includes. The aforementioned The drive control step is, Prediction Based on the vibration measurement prediction results, the drive unit is controlled so that the predicted vibration generated in the capture unit is stabilized. [Effects of the Invention]

[0011] This disclosure offers the advantages of suppressing vibrations in the capture unit and improving positioning accuracy. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a configuration diagram showing the implementation system of the embodiment. [Figure 2] Figure 2 is a perspective view showing the main components of the implementation system described above. [Figure 3]FIG. 3 is a block diagram showing the mounting system described above. [Figure 4] FIG. 4 is a side view showing the vicinity of the capturing unit and the imaging unit of the mounting system described above. [Figure 5] FIGS. 5A to 5D are diagrams illustrating the operation of the mounting system described above. [Figure 6] FIG. 6 is a side view showing vibration of the capturing unit in the mounting system described above. [Figure 7] FIG. 7 is a graph showing temporal changes in displacement amount when control for suppressing vibration is not performed. [Figure 8] FIG. 8 is a graph showing temporal changes in displacement amount when a comparative technique is used. [Figure 9] FIG. 9 is a graph showing temporal changes in displacement amount that is suppressed when ideal position control is performed in real time. [Figure 10] FIG. 10 is a graph showing temporal changes in displacement amount suppressed in the mounting system according to the embodiment. [Figure 11] FIG. 11 is a block diagram showing a mounting system according to a sixth modification. [Figure 12] FIG. 12 is a graph showing temporal changes in displacement amount suppressed in the mounting system described above. [Figure 13] FIG. 13 is a flowchart showing a mounting method executed by the mounting systems according to the embodiment and the first modification to the fifth modification. [Figure 14] FIG. 14 is a flowchart showing a mounting method executed by the mounting systems according to the sixth modification to the eighth modification. [Figure 15] FIG. 15 is a side view showing a modification of the imaging unit of the mounting system described above. DESCRIPTION OF EMBODIMENTS

[0013] The following embodiments generally relate to a mounting system and a mounting method. More specifically, the embodiments relate to a mounting system and a mounting method for mounting a first object onto a second object.

[0014] The implementation system and implementation method according to the embodiments will be described in detail below with reference to Figures 1 to 15. However, the figures described in the embodiments below are schematic diagrams, and the ratios of the size and thickness of each component do not necessarily reflect the actual dimensional ratios. Furthermore, the configurations described in the embodiments below are merely examples of this disclosure. This disclosure is not limited to the embodiments below, and various modifications are possible depending on the design, etc., as long as the effects of this disclosure can be achieved.

[0015] Furthermore, in the following description, unless otherwise specified, the X, Y, and Z axes in Figures 1 and 2 are defined as mutually orthogonal. In this embodiment, the X and Y axes extend horizontally, and the Z axis extends vertically.

[0016] (1) Overview of the implemented system The following describes the outline of the implementation system 1 according to this embodiment.

[0017] As shown in Figures 1 and 5A to 5D, the mounting system 1 is a mounting device (mounting machine) that mounts a first object C1 onto a second object C2. The mounting system 1 is used, for example, in facilities such as factories, research institutes, offices, and educational institutions for the manufacturing of various products such as electronic equipment, automobiles, clothing, food products, pharmaceuticals, and handicrafts.

[0018] In this embodiment, we will describe the case in which the mounting system 1 is used in the manufacture of electronic equipment in a factory. Typical electronic equipment has various circuit blocks, such as power supply circuits and control circuits. In the manufacture of these circuit blocks, as an example, the following steps are performed in this order: solder application, mounting, and soldering. In the solder application step, paste solder is applied (or printed) onto the substrate (including printed wiring boards). In the mounting step, components (including electronic components) are mounted (placed) on the substrate. In the soldering step, for example, the substrate with the mounted components is heated in a reflow oven to melt the paste solder and perform soldering. In the mounting step, the mounting system 1 performs the operation of mounting the first object C1, which is component C10, onto the second object C2, which is substrate C20. That is, in the mounting system 1 according to this embodiment, the second object C2 is substrate C20, and the first object C1 is component C10 mounted on substrate C20.

[0019] As shown in Figure 1, the mounting system 1 used for mounting the first object C1 (component C10) onto the second object C2 (substrate C20) comprises a mounting head 2, an imaging unit 3, a drive unit 4, a control unit 5, a base 61, a transport device 62, a plurality of component supply devices 63, and a fixed camera 7.

[0020] The transport device 62 has a pair of conveyor mechanisms 62a extending in the X-axis direction on the base 61, and transports the substrate C20, which is the second object C2, in the X-axis direction to position it in a predetermined mounting space.

[0021] Multiple parts supply devices 63 have tape feeders mounted in a line along the X-axis direction on the feeder base 65 of a trolley 64 connected to a base 61. Each parts supply device 63 feeds a carrier tape 67 supplied from a reel 66 in a pitch manner and supplies parts C10, which are first objects C1 held on the carrier tape 67, to the parts supply port 63a. The reel 66 is held on the trolley 64.

[0022] The fixed camera 7 is mounted on the base 61 and captures images of the area above.

[0023] The mounting head 2 is movable along the XY plane and further has a capture unit 22 for capturing a second object C2. The capture unit 22 consists of a suction nozzle that can perform a stroke motion that moves vertically (up and down) along the Z axis, for example.

[0024] In the mounting process, the mounting system 1 uses a capture unit 22 to capture component C10 from the component supply port 63a and mounts component C10 onto the substrate C20. The position control of the capture unit 22 in the mounting process requires high positioning accuracy.

[0025] Therefore, the implementation system 1 of this embodiment comprises a capture unit 22, a drive unit 4, and a drive control unit 51. The capture unit 22 captures the component C10. The drive unit 4 drives the capture unit 22. The drive control unit 51 controls the drive unit 4. Based on the prediction result of the predicted vibration, which is the vibration that is expected to occur in the capture unit 22, the drive control unit 51 controls the drive unit 4 so that the predicted vibration that occurs in the capture unit 22 is stabilized.

[0026] The above-described implementation system 1 can suppress vibrations of the capture unit 22 and improve positioning accuracy.

[0027] (2) Details (2.1) Premise In this embodiment, as an example, the case in which the mounting system 1 is used to mount component C10 using surface mount technology (SMT) will be described. That is, component C10 is a surface mount device (SMD) and is mounted by being placed on the mounting surface C21 (surface) of the substrate C20. However, the mounting system 1 may also be used to mount component C10 using insertion mount technology (IMT), not limited to this example. In this case, component C10 is an insertion mount component having lead terminals and is mounted on the mounting surface C21 of the substrate C20 by inserting the lead terminals into holes in the substrate C20.

[0028] Furthermore, the term "imaging optical axis" as used in this disclosure refers to the optical axis of the image captured by the imaging unit 3 (the image captured by the imaging unit 3), and is determined by both the image sensor 31 (see Figure 3) and the optical system 32 (see Figure 3) of the imaging unit 3. In other words, the straight line connecting the center of the light-receiving surface of the image sensor 31 and the portion within the imaging region R1 (see Figure 4) that is imaged to the center of the light-receiving surface of the image sensor 31 through the optical system 32 becomes the imaging optical axis AX1 (see Figure 4) of the imaging unit 3.

[0029] Furthermore, in this disclosure, the images captured by the imaging unit 3 include still images and moving images. In addition, "moving images" include images composed of multiple still images obtained by stop-motion animation or the like. The images captured by the imaging unit 3 do not have to be the data output from the imaging unit 3 itself. For example, the images captured by the imaging unit 3 may be compressed as needed, converted to other data formats, or processed such as cropping a portion of the images captured by the imaging unit 3, adjusting the focus, adjusting the brightness, or adjusting the contrast. In this embodiment, as an example, the images captured by the imaging unit 3 are full-color moving images.

[0030] In the following example, we define three mutually orthogonal axes: the X, Y, and Z axes. The axes parallel to the mounting surface C21 of the substrate C20 are designated as the "X" and "Y" axes, and the axis parallel to the thickness direction of the substrate C20 is designated as the "Z" axis. Furthermore, one of the two directions along the Z axis is designated as the upward direction, and the other as the downward direction. For example, when the capture unit 22 faces the mounting surface C21 of the substrate C20, the substrate C20 is located below the capture unit 22. Note that the X, Y, and Z axes are all virtual axes, and the arrows indicating "X," "Y," and "Z" in the drawings are for illustrative purposes only and do not represent actual axes. Also, these directions are not intended to limit the direction in which the mounting system 1 can be used.

[0031] Furthermore, the implementation system 1 is connected to pipes for circulating cooling water, cables for power supply, and pipes for supplying pneumatics (including positive pressure and vacuum), but in this embodiment, these are omitted from the illustration as appropriate.

[0032] (2.2) Overall structure Next, the main components of the implementation system 1 according to this embodiment will be described with reference to Figures 1 to 4 and 5A to 5D.

[0033] The mounting system 1 according to this embodiment comprises a mounting head 2, an imaging unit 3, a drive unit 4, and a control unit 5. In addition, as shown in Figure 3, the mounting system 1 further comprises a transport device 62, a component supply device 63, and a fixed camera 7, in addition to the mounting head 2, imaging unit 3, drive unit 4, and control unit 5. However, the transport device 62, component supply device 63, and fixed camera 7 are not essential components of the mounting system 1. In other words, all or part of the transport device 62, component supply device 63, and fixed camera 7 may not be included as components of the mounting system 1. Also, in Figure 2, only the mounting head 2, imaging unit 3, and drive unit 4 are shown, and the other components of the mounting system 1 are omitted as appropriate. Also, in Figure 4, the area around the mounting head 2 is shown, and the other components of the mounting system 1 are omitted as appropriate.

[0034] The mounting head 2 has at least one capture unit 22. In this embodiment, the mounting head 2 has a head unit 21, and one capture unit 22 is attached to the head unit 21. The mounting head 2 then captures the component C10 from the component supply port 63a with the capture unit 22, moves the capture unit 22 holding the component C10 closer to the substrate C20, and mounts the component C10 onto the mounting surface C21 of the substrate C20. In other words, the mounting head 2 holds the capture unit 22 so that it can move toward the component supply port 63a and the substrate C20, respectively.

[0035] The imaging unit 3 is fixed to the head unit 21 of the mounting head 2. The imaging unit 3 has an image sensor 31 and an optical system 32. The imaging unit 3 is, for example, a video camera that captures moving images. The imaging unit 3 has an imaging region R1 that includes at least the tip 220 of the capture unit 22.

[0036] The aforementioned capture unit 22 and imaging unit 3 are attached to the head unit 21, and the capture unit 22 and imaging unit 3 move in synchronization with the head unit 21 (mounted head 2).

[0037] The control unit 5 controls each part of the implementation system 1. Preferably, the control unit 5 includes a computer system. That is, in the control unit 5, some or all of the functions of the control unit 5 are realized by a processor, such as a CPU (Central Processing Unit) or MPU (Micro Processing Unit), reading and executing a program stored in memory. The control unit 5 primarily includes a processor that operates according to the program as its hardware configuration. The type of processor is not limited as long as it can realize its functions by executing a program. The processor consists of one or more electronic circuits, including a semiconductor integrated circuit (IC) or an LSI (Large Scale Integration). Here, we refer to them as ICs and LSIs, but the terminology changes depending on the degree of integration; they may also be called system LSIs, VLSIs (Very Large Scale Integrations), or ULSIs (Ultra Large Scale Integrations). Field-programmable gate arrays (FPGAs), which are programmed after the LSI is manufactured, or reconfigurable logic devices that allow for the reconfiguration of internal junction relationships or the setup of internal circuit compartments within the LSI, can also be used for the same purpose. Multiple electronic circuits may be integrated onto a single chip, or they may be provided on multiple chips. Multiple chips may be arranged in a clustered manner, or they may be arranged in a distributed manner.

[0038] The control unit 5 may be implemented using either a single computer or multiple computer units working in conjunction with each other. Furthermore, the control unit 5 may be configured as a cloud computing system.

[0039] The control unit 5 is electrically connected to, for example, the mounting head 2, the imaging unit 3, the drive unit 4, the transport device 62, the component supply device 63, and the fixed camera 7. The control unit 5 outputs a control signal to the drive unit 4 and controls the drive unit 4 to mount the component C10 captured by the capture unit 22 onto the mounting surface C21 of the substrate C20. The control unit 5 also outputs control signals to the imaging unit 3 and the fixed camera 7 to control the imaging unit 3 and the fixed camera 7, and to acquire images captured by the imaging unit 3 and the fixed camera 7, respectively.

[0040] The drive unit 4 is a device that moves the head unit 21 and the capture unit 22 of the mounting head 2. In this embodiment, the drive unit 4 moves the head unit 21 horizontally in the XY plane and moves the capture unit 22 vertically along the Z axis. The "XY plane" here refers to a plane that includes the X and Y axes and is perpendicular to the Z axis. In other words, the drive unit 4 moves the head unit 21 in the X-axis direction and the Y-axis direction. In this embodiment, since the capture unit 22 and the imaging unit 3 are fixed to the head unit 21, the drive unit 4 also moves the capture unit 22 and the imaging unit 3 together with the head unit 21. In other words, in Figure 1, the mounting head 2 and the imaging unit 3 are moved by the drive unit 4 between above the substrate C20 positioned in the mounting space of the transport device 62 and above the component supply port 63a of the component supply device 63.

[0041] Specifically, as shown in Figure 2, the drive unit 4 includes a horizontal drive unit 41 and a vertical drive unit 42.

[0042] The horizontal drive unit 41 includes an X-axis drive unit 411 and a Y-axis drive unit 412. The X-axis drive unit 411 moves the head unit 21 in a straight line in the X-axis direction. The Y-axis drive unit 412 moves the head unit 21 in a straight line in the Y-axis direction. The Y-axis drive unit 412 moves the head unit 21 along the Y-axis together with the X-axis drive unit 411, thereby moving the head unit 21 in a straight line in the Y-axis direction. In this embodiment, as an example, each of the X-axis drive unit 411 and the Y-axis drive unit 412 includes a linear motor, and the head unit 21 is moved by the driving force generated by the linear motor after receiving power.

[0043] The vertical drive unit 42 moves the capture unit 22 linearly in the Z-axis direction. Furthermore, the vertical drive unit 42 rotates the capture unit 22 in a rotational direction (hereinafter referred to as the "θ direction") about an axis along the Z-axis direction. In other words, the vertical drive unit 42 is an actuator that moves the capture unit 22 linearly in the Z-axis direction and rotates the capture unit 22 in the θ direction. In this embodiment, as an example, the vertical drive unit 42 is driven by a driving force generated by a linear motor for the movement of the capture unit 22 in the Z-axis direction. The vertical drive unit 42 is driven by a driving force generated by a rotary motor for the movement of the capture unit 22 in the θ direction. Here, as described above, the head unit 21 moves linearly in the X-axis direction and the Y-axis direction by the horizontal drive unit 41. As a result, the capture unit 22 attached to the head unit 21 can move in the X-axis direction, Y-axis direction, Z-axis direction and θ direction by the horizontal drive unit 41 and the vertical drive unit 42.

[0044] The component supply device 63 supplies the components C10 that are captured by the capture unit 22 of the mounting head 2. For example, the component supply device 63 has a tape feeder that supplies components C10 contained on a carrier tape. Alternatively, the component supply device 63 may have a tray on which multiple components C10 are placed. The mounting head 2 captures the components C10 from such a component supply device 63 using the capture unit 22.

[0045] The transport device 62 is a device for transporting the substrate C20. The transport device 62 is implemented, for example, by a belt conveyor. The transport device 62 transports the substrate C20, for example, along the X-axis. The transport device 62 transports the substrate C20 to a mounting space at least below the mounting head 2, that is, in the Z-axis direction, opposite the capture unit 22. The transport device 62 then stops the substrate C20 in the mounting space until the mounting of components C10 onto the substrate C20 by the mounting head 2 is complete.

[0046] Figures 5A to 5D show an overview of the production operations performed in the mounting process. First, in Figure 5A, the capture unit 22, which has not yet captured component C10, is located above the component supply port 63a. The capture unit 22 then descends vertically, as indicated by arrow M1, and performs a capture operation to capture (hold) component C10 located at the component supply port 63a. Next, as shown in Figure 5B, the mounting head 2 moves horizontally, as indicated by arrow M2, to approach the substrate C20. That is, the capture unit 22, which has captured component C10, moves closer to the substrate C20. Then, as shown in Figure 5C, the mounting head 2 stops when the capture unit 22 has moved above the substrate C20. Finally, as shown in Figure 5D, the capture unit 22 descends vertically, as indicated by arrow M3, and performs a mounting operation to mount component C10 onto the mounting surface C21 of the substrate C20. In addition, in Figure 5B, the capture unit 22 may start descending when the mounting head 2 is moving horizontally.

[0047] In addition to the above configuration, the implemented system 1 may also include a backup device, a lighting device, and a communication unit.

[0048] The backup device backs up the substrate C20 that has been transported to the mounting space by the transport device 62. In other words, the substrate C20 that has been transported to the mounting space by the transport device 62 is held in the mounting space by the backup device.

[0049] The illumination device illuminates the imaging area R1 (see Figure 4) of the imaging unit 3. The illumination device only needs to be lit at the timing when the imaging unit 3 takes an image (imaging timing), for example, by emitting light in accordance with the imaging timing of the imaging unit 3. In this embodiment, since the image captured by the imaging unit 3 is a full-color video, the illumination device outputs light in the visible light wavelength range, such as white light. In this embodiment, as an example, the illumination device has multiple light sources such as LEDs (Light Emitting Diodes). The illumination device illuminates the imaging area R1 of the imaging unit 3 by emitting light from these multiple light sources. The illumination device is implemented using an appropriate illumination method, such as ring illumination or coaxial incident illumination. The illumination device is fixed to the mounting head 2 together with the imaging unit 3, for example.

[0050] The communication unit is configured to communicate with the higher-level system directly or indirectly via a network or relay. This allows the implemented system 1 to exchange data with the higher-level system.

[0051] (2.3) Mounting head A more detailed explanation of the configuration of the implementation head 2 will be provided with reference to Figures 2 to 4.

[0052] In this embodiment, the mounting head 2 comprises a head unit 21 as an outer shell, a capture unit 22 is attached to the lower surface of the head unit 21, and a vertical drive unit 42 is housed inside the head unit 21. In the mounting system 1 according to this embodiment, one capture unit 22 and one vertical drive unit 42 are attached to one head unit 21. As a result, the mounting head 2 can capture one component C10.

[0053] The capture unit 22 is, for example, a suction nozzle. The capture unit 22 is controlled by the control unit 5 and can switch between a capture state in which the part C10 is captured (held) and a release state in which the part C10 is released (captured). However, the capture unit 22 is not limited to a suction nozzle; for example, it may be configured to capture (hold) the part C10 by pinching (grabbing) it, like a robot hand.

[0054] Regarding the capture of component C10 by the capture unit 22, the mounting head 2 operates by receiving pneumatic (vacuum) power. In other words, the mounting head 2 switches between the capture state and the release state of the capture unit 22 by opening and closing a valve on the pneumatic (vacuum) supply path connected to the capture unit 22.

[0055] The head unit 21 is, for example, made of metal and formed in the shape of a rectangular parallelepiped. The head unit 21 holds the capture unit 22 and the vertical drive unit 42 by being assembled to the head unit 21. In this embodiment, the capture unit 22 is indirectly held by the head unit 21 via the vertical drive unit 42, in a state in which it can move in the Z-axis direction and the θ direction. The mounted head 2 moves in the XY plane as the head unit 21 is moved in the XY plane by the horizontal drive unit 41.

[0056] With the above configuration, the mounting head 2 moves the capture unit 22, which is not capturing component C10, closer to the component supply port 63a, enabling the component supply device 63 to perform a capture operation to capture (hold) component C10. Furthermore, with component C10 captured by the capture unit 22, the mounting system 1 moves the capture unit 22 closer to the substrate C20, enabling the mounting operation to mount component C10 onto the mounting surface C21 of the substrate C20.

[0057] (2.4) Imaging Unit A more detailed explanation of the imaging unit 3 will be provided with reference to Figures 2 to 4.

[0058] In this embodiment, the imaging unit 3 is composed of a single camera 3a that moves together with the mounting head 2, as shown in Figure 4, and has an image sensor 31 and an optical system 32, as shown in Figure 3. The optical system 32 forms an image of the imaging region R1 on the image sensor 31.

[0059] The image sensor 31 is, for example, an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal-Oxide Semiconductor). The image sensor 31 converts the image formed on the light-receiving surface into an electrical signal and outputs it.

[0060] The optical system 32 includes one or more lenses and mirrors, etc. In this embodiment, as an example, the optical system 32 is realized by a combination of multiple lenses (lens group). The optical system 32 forms an image of light from the imaging area R1 onto the light-receiving surface of the image sensor 31. Note that the optical system 32 is not limited to the above configuration.

[0061] The imaging unit 3 is positioned relative to the capture unit 22 such that at least the tip (lower end) 220 (see Figure 4) of the capture unit 22 is included in the imaging area R1. Therefore, at least the tip 220 of the capture unit 22 is captured in the image taken by the imaging unit 3.

[0062] Specifically, as shown in Figure 1, the imaging unit 3 is positioned below the head unit 21 and to the side of the capture unit 22 in a plan view from the Z-axis direction. In this way, the imaging unit 3 is attached to the head unit 21 together with the capture unit 22, and the imaging unit 3 moves in the XY plane together with the capture unit 22. The imaging unit 3 may also be configured to move relative to the capture unit 22. For example, the head unit 21 may have an axis for moving the imaging unit 3.

[0063] Furthermore, the imaging unit 3 has an imaging optical axis AX1 that intersects with the Z-axis (vertical direction). In other words, the imaging optical axis AX1 extends diagonally with respect to the vertical direction. That is, the imaging unit 3 is fixed to the head unit 21 so that the imaging direction of the imaging unit 3 intersects with the vertical direction, and the capture unit 22 is imaged from diagonally above.

[0064] Therefore, implementation system 1 can reduce the time required for implementation and improve productivity. Note that the horizontal direction is the direction along the XY plane, and the vertical direction is the direction perpendicular to the horizontal direction (the direction along the Z axis).

[0065] (2.5) Fixed camera A more detailed explanation of the fixed camera 7 will be provided with reference to Figure 1.

[0066] The fixed camera 7 captures images from below of the mounting head 2 as it moves between above the substrate C20 positioned in the mounting space and above the component supply port 63a of the component supply device 63. Therefore, the image captured by the fixed camera 7 shows the component C10 that is being captured by the capture unit 22. In other words, the image captured by the fixed camera 7 contains information about the relative positional relationship between the capture unit 22 and the component C10, or in other words, information about the displacement of the component C10 relative to the capture unit 22.

[0067] Furthermore, it is preferable that the fixed camera 7 captures images of the mounting head 2 moving from the component supply port 63a to the substrate C20 from below. In this case, the fixed camera 7 does not capture images continuously, but rather captures images at the timing when the capture unit 22 that is capturing component C10 passes above the fixed camera 7.

[0068] Additionally, the fixed camera 7 may be installed below the component supply port 63a.

[0069] Furthermore, it is preferable that the implementation system 1 further includes an illumination device for illuminating the imaging area of ​​the fixed camera 7.

[0070] (2.6) Control Unit The control unit 5 comprises a drive control unit 51, an image acquisition unit 52, and a prediction unit 53.

[0071] (2.6.1) Image acquisition unit The image acquisition unit 52 has a communication interface function that acquires (receives) captured image data from the imaging unit 3.

[0072] Communication between the imaging unit 3 and the image acquisition unit 52 may be either wireless or wired. Wireless communication is wireless communication conforming to standards such as Wi-Fi (registered trademark) or unlicensed low-power radio (specified low-power radio). Wired communication is wired communication via, for example, twisted-pair cable, dedicated communication line, or LAN (Local Area Network) cable.

[0073] (2.6.2) Prediction section The prediction unit 53 predicts predicted vibrations based on the captured image taken by the imaging unit 3 of the capture unit 22. Predicted vibrations are vibrations that are expected to occur in the capture unit 22. In other words, the prediction unit 53 predicts vibrations of the capture unit 22 that occur after the image acquisition timing of the captured image, based on the image taken by the imaging unit 3. In this case, the implementation system 1 can accurately predict predicted vibrations based on the captured image.

[0074] (2.6.3) Drive control unit The drive control unit 51 controls the drive unit 4 by outputting a control signal to the drive unit 4.

[0075] Specifically, the drive control unit 51 outputs a horizontal control signal to the horizontal drive unit 41 of the drive unit 4, and controls the horizontal drive unit 41 to move the mounting head 2 (head unit 21) and the imaging unit 3 in the XY plane. The horizontal control signal includes command information (horizontal command information) that commands at least one of the horizontal velocity, acceleration, and distance traveled.

[0076] Furthermore, the drive control unit 51 outputs a vertical control signal to the vertical drive unit 42 and controls the vertical drive unit 42 to move the capture unit 22 along the Z axis. The drive control unit 51 also outputs a rotation control signal to the vertical drive unit 42 and controls the vertical drive unit 42 to rotate the capture unit 22 in the θ direction. The vertical control signal includes command information (vertical command information) that commands at least one of the vertical velocity, acceleration, and distance traveled. The rotation control signal includes command information (rotation command information) that commands at least one of the rotational velocity, acceleration, and rotation angle.

[0077] Then, the drive control unit 51 controls the drive unit 4 in order to stabilize the predicted vibrations that occur in the capture unit 22, based on the prediction results of the predicted vibrations that are expected to occur in the capture unit 22 during the capture operation to capture the component C10 and the mounting operation to mount the component C10.

[0078] In this embodiment, the drive control unit 51 controls the drive unit 4 so that the predicted vibrations generated in the capture unit 22 are stabilized, based on the prediction results of the predicted vibrations by the prediction unit 53.

[0079] In this disclosure, "setting" includes at least one of the following: making the amplitude of the predicted vibration actually generated in the capture unit 22 smaller than the amplitude predicted by the prediction result of the predicted vibration; and making the decay time of the predicted vibration actually generated in the capture unit 22 shorter than the decay time predicted by the prediction result of the predicted vibration.

[0080] In other words, the drive control unit 51 can suppress vibrations of the capture unit 22 and improve positioning accuracy (capture accuracy in the capture operation and mounting accuracy in the mounting operation) by performing predictive control, which is control based on the predicted vibration results. The predictive control by the drive control unit 51 will be described in detail below.

[0081] (2.7) Predictive control (2.7.1) Vibration of the capture unit The capture unit 22 moves between the area above the substrate C20 and the area above the component supply port 63a of the component supply device 63. Specifically, the drive control unit 51 moves the head unit 21 of the mounting head 2 in the X-axis and Y-axis directions (horizontal direction), and moves the capture unit 22 in the Z-axis direction (vertical direction) and θ direction (rotational direction). When the capture unit 22 arrives at a target position (capture position or mounting position) determined by the X-axis, Y-axis, Z-axis, and θ coordinates, the drive control unit 51 stops the movement of the capture unit 22. The drive control unit 51 may move the head unit 21 horizontally and the capture unit 22 vertically and rotationally simultaneously, or it may move the capture unit 22 vertically and rotationally after the horizontal movement of the head unit 21 is completed.

[0082] The aforementioned capture position is the position where component C10 is captured at the component supply port 63a. The aforementioned mounting position is the position where component C10 is mounted on the second object C2, which is the substrate C20, or the position where component C10 is mounted on the cream-type solder applied to the substrate C20.

[0083] When the capture unit 22 stops moving, it vibrates due to inertia. Figure 6 shows the vibration V1 of the tip 220 of the capture unit 22, where the tip 220 swings with the base (upper) of the capture unit 22 as the pivot point. This swing of the tip 220 is a factor that reduces positioning accuracy.

[0084] The position of the tip 220 necessary for quantifying vibration is the position of the tip 220 as captured in the image taken when the tip 220 is vibrating. The vibration of the tip 220 is represented, for example, by the amount of deviation of the tip 220's position relative to the target position (capture position or mounting position) on the XY plane. The amount of deviation is represented, for example, by the relative position of the tip 220 as captured in the image taken by the imaging unit 3 and the capture position or mounting position. In this case, if the amount of deviation is 0, the position of the tip 220 coincides with the target position.

[0085] Furthermore, the deflection of the tip 220 may be expressed as the amount of deviation of the reference position of the tip 220 relative to the position of the tip 220 as seen in the captured image, or as the amount of deviation of the reference position of the tip 220 relative to the target position (capture position or mounting position) of the tip 220. The reference position of the tip 220 is a virtual position pre-stored in a memory unit (not shown), or the position of the tip 220 determined from an captured image of the tip 220 when it is not deflecting. The virtual position is, for example, a virtual position of the tip 220 taught in advance using a jig or the like.

[0086] Figure 7 shows the time change of the displacement amount W10 (time change of the position of the tip 220) when no vibration suppression control (vibration suppression control) is performed on the capture unit 22. At timing t0, the drive control unit 51 stops outputting a control signal to the drive unit 4, and after timing t0, the displacement amount W10 oscillates around 0 (target position) and gradually decays to approach 0 as time passes.

[0087] To suppress such vibrations of the capture unit 22, it is conceivable to perform feedback control, which detects vibrations of the capture unit 22 based on the captured image of the capture unit 22 and controls the position of the capture unit 22 based on the vibration detection result. Specifically, the feedback control creates correction information from the vibrations of the capture unit 22 detected based on the captured image, and suppresses vibrations of the capture unit 22 by correcting the control of the drive unit 4 using the correction information. This feedback control will be used as a comparative technique.

[0088] However, in this comparative technique, a delay occurs between capturing an image with the acquisition unit 22 and controlling the drive unit 4 based on the captured image. This delay includes the time required to generate the data for the captured image, the time required to create correction information through calculations using the captured image, the time required to correct the command information using the correction information, and the time required to output a control signal including the command information to the drive unit 4.

[0089] Figure 8 shows the time evolution of the displacement amount W20 when using the comparative technique. For example, if the delay time is T10, position control based on the image captured at timing t11 is performed at timing t12, after the delay time T10 has elapsed from timing t11. In this case, since the correction information is generated based on the image captured at timing t11, even if the control of the drive unit 4 is corrected at timing t12 using this correction information, it is difficult to suppress vibration of the capture unit 22. As a result, the displacement amount W20 may be larger than the displacement amount W10 when vibration suppression control is not performed.

[0090] Ideally, if the aforementioned delay time does not occur, it would be possible to control the position of the capture unit 22 based on the captured image in real time. If the position of the capture unit 22 could be controlled in ideal real time, the vibration of the capture unit 22 could be suppressed to the displacement amount W30 shown in Figure 9. However, in reality, delay time occurs, and it is difficult to eliminate this delay time.

[0091] (2.7.2) Specific examples of predictive control The control unit 5 of the implementation system 1 includes a drive control unit 51, an image acquisition unit 52, and a prediction unit 53.

[0092] The imaging unit 3 periodically images the capture unit 22 (for example, every 1 msec), and the image acquisition unit 52 acquires the data of the periodically captured images from the imaging unit 3.

[0093] The prediction unit 53 predicts predicted vibrations based on the captured image taken by the imaging unit 3 of the capture unit 22. Predicted vibrations are vibrations that are predicted to occur in the capture unit 22. The drive control unit 51 controls the drive unit 4 based on the prediction result of the predicted vibrations so that the predicted vibrations occurring in the capture unit 22 are stabilized.

[0094] Here, if we define T1 as the delay time from when the imaging unit 3 captures the capture unit 22 until the drive control unit 51 controls the drive unit 4 to settle the predicted vibration, it is preferable that the drive control unit 51 controls the drive unit 4 based on the delay time T1. In this case, the implementation system 1 can further suppress vibrations of the capture unit 22 and further improve positioning accuracy by performing predictive control that takes control delay into account.

[0095] Specifically, as shown in Figure 10, the prediction unit 53 predicts vibrations that are expected to occur in the capture unit 22 after a delay time T1 has elapsed from the capture timing t1, based on the captured image taken at least at the capture timing t1. More specifically, the prediction unit 53 predicts vibrations that are expected to occur in the capture unit 22 after the occurrence timing t4, which is after the delay timing t2. The drive control unit 51 then controls the drive unit 4 so that the predicted vibrations are settled before the occurrence timing t4. Specifically, at a control timing t3, which is after the delay timing t2 and before the occurrence timing t4, the prediction unit 53 controls the drive unit 4 so that the predicted vibrations that are expected to occur after the occurrence timing t4 are settled. The control timing t3 is set between the delay timing t2 and the occurrence timing t4. In this case, the implementation system 1 can further suppress vibrations in the capture unit 22 and further improve positioning accuracy by performing predictive control that takes control delay into account.

[0096] The prediction unit 53 predicts, as predicted vibrations that are expected to occur after the occurrence timing t4, the amount of displacement of the tip 220 of the capture unit 22 at the occurrence timing t4, or the time change of the amount of displacement of the tip 220 of the capture unit 22 during a predetermined period from the occurrence timing t4.

[0097] The imaging unit 3 periodically images the capture unit 22. Therefore, it is preferable that the prediction unit 53 uses not only the image captured at imaging timing t1, but also one or more images captured before imaging timing t1 (for example, images captured at the two imaging timings ta and tb in Figure 10) to detect the time change of vibration up to imaging timing t1, and predict the vibration based on the time change of vibration up to imaging timing t1. In this case, the implementation system 1 can predict the vibration with high accuracy.

[0098] For example, the prediction unit 53 detects the displacement amount W101 at imaging timing t1 based on the image captured at imaging timing t1, detects the displacement amount W102 at imaging timing ta based on the image captured at imaging timing ta, and detects the displacement amount W103 at imaging timing tb based on the image captured at imaging timing tb. Then, based on the displacement amounts W101, W102, and W103, the prediction unit 53 detects the time change of vibration up to imaging timing t1, and predicts the vibration that will occur from the occurrence timing t4 onwards based on the time change of vibration up to imaging timing t1. In other words, since the predicted vibration is expressed as a displacement amount, the implementation system 1 can quantitatively predict the predicted vibration.

[0099] The prediction unit 53 then periodically performs a prediction operation to predict the vibration. The drive control unit 51 acquires the prediction result from the prediction unit 53, creates correction information to correct the control of the drive unit 4 so that the predicted vibration settles, and controls the drive unit 4 using the correction information. The correction information is information for correcting the control signals (horizontal control signal, vertical control signal, rotation control signal) output to the drive unit 4.

[0100] Specifically, the control signal includes, as command information, at least one command value of speed (maximum speed), acceleration, distance traveled, and rotation angle. In this case, the correction information is information for correcting the command values ​​of the command information included in the control signal.

[0101] As described above, the implemented system 1 predicts the predicted vibration, generates correction information based on the predicted vibration, and performs predictive control by correcting the control signal based on the correction information. As a result of the predictive control, the implemented system 1 can reduce the vibration of the capture unit 22 to a displacement amount W1. In other words, the implemented system 1 can suppress the vibration of the capture unit 22 and improve the positioning accuracy.

[0102] (3) First modified example In the first modified example, a modified version of the prediction unit 53 will be described. In the first modified example, it is preferable that the prediction unit 53 predicts vibrations based on the captured image and command information representing the control content of the drive unit 4 by the drive control unit 51. The command information includes horizontal command information, vertical command information, and rotation command information.

[0103] For example, the prediction unit 53 uses the captured images at each of the imaging timings t1, ta, and tb in Figure 10, as well as the command information at each of the imaging timings t1, ta, and tb, to predict the vibrations that will occur from the generation timing t4 onward. In this case, the prediction unit 53 predicts the vibrations by taking into account the deviation amounts W101, W102, and W103 at each of the imaging timings t1, ta, and tb, as well as the input to the drive unit 4. As a result, the prediction unit 53 can improve its prediction accuracy.

[0104] (4) Second variation In the second modification, a modification of the prediction unit 53 will be described. In the second modification, it is preferable that the prediction unit 53 predicts vibrations based on the captured image and the position information of the capture unit 22. In this modification, the implementation system 1 is equipped with an encoder that detects the position (X coordinate, Y coordinate, Z coordinate, θ coordinate) of the capture unit 22, and the control unit 5 acquires the position information of the capture unit 22 from the encoder.

[0105] For example, the prediction unit 53 uses the captured images at each of the imaging timings t1, ta, and tb in Figure 10, as well as the position information of the capture unit 22 at each of the imaging timings t1, ta, and tb, to predict the vibrations that will occur after the occurrence timing t4. In this case, the prediction unit 53 predicts the vibrations by reflecting the output of the drive unit 4 in addition to the displacement amounts W101, W102, and W103 at each of the imaging timings t1, ta, and tb. As a result, the prediction unit 53 can improve its prediction accuracy.

[0106] (5) Third variation In the third modified example, a modified version of the prediction unit 53 will be described. In the third modified example, it is preferable that the prediction unit 53 predicts the vibration based on the captured image, command information, and the position information of the capture unit 22.

[0107] For example, the prediction unit 53 uses the captured images at each of the imaging timings t1, ta, and tb in Figure 10, as well as the command information at each of the imaging timings t1, ta, and tb, and the position information of the capture unit 22 at each of the imaging timings t1, ta, and tb, to predict the vibrations that will occur after the occurrence timing t4. In this case, the prediction unit 53 predicts the vibrations by taking into account the displacement amounts W101, W102, and W103 at each of the imaging timings t1, ta, and tb, as well as the input and output of the drive unit 4. As a result, the prediction unit 53 can improve its prediction accuracy.

[0108] (6) Fourth variation In the fourth modified example, a modified version of the prediction unit 53 will be described. In the fourth modified example, it is preferable that the prediction unit 53 detects the difference between the position of the tip 220 of the capture unit 22 and the capture position, or the difference between the position of the tip 220 and the mounting position, and predicts the vibration based on the detected difference.

[0109] For example, the prediction unit 53 detects the difference between the position of the tip 220 at each of the imaging timings t1, ta, and tb and the capture position where the component C10 is captured at the component supply port 63a, based on the images captured at each of the imaging timings t1, ta, and tb shown in Figure 10. Alternatively, the prediction unit 53 may detect the difference between the position of the tip 220 at each of the imaging timings t1, ta, and tb and the mounting position of the component C10 on the substrate C20, based on the images captured at each of the imaging timings t1, ta, and tb. Alternatively, the prediction unit 53 may detect the difference between the position of the tip 220 at each of the imaging timings t1, ta, and tb and the mounting position of the component C10 relative to the cream-like solder applied to the substrate C20, based on the images captured at each of the imaging timings t1, ta, and tb. Furthermore, the image captured by the imaging unit 3 may include the tip 220 of the capture unit 22, as well as the area where the component C10 is captured at the component supply port 63a, or the area on the substrate C20 where the component C10 is mounted.

[0110] The prediction unit 53 then detects the difference at each of the imaging timings t1, ta, and tb to detect the time change of vibration up to imaging timing t1, and predicts the difference that will occur from the occurrence timing t4 onwards as predicted vibration based on the time change of vibration up to imaging timing t1. In other words, since the predicted vibration is represented by the difference between the position of the tip 220 of the capture unit 22 and the position of component C10, the mounting system 1 can quantitatively predict the predicted vibration.

[0111] (7) Fifth variation In the fifth modified example, a modified version of the prediction unit 53 will be described. In the fifth modified example, it is preferable that the prediction unit 53 detects the difference between the position of the tip 220 of the capture unit 22 and a reference position, and predicts the vibration based on the detected difference.

[0112] For example, the imaging unit 3 pre-images the tip 220 in a non-vibrating state and stores the image in a storage unit (not shown). The prediction unit 53 detects the difference between the position of the vibrating tip 220 and the position of the non-vibrating tip 220 (reference position) at each of the imaging timings t1, ta, and tb in Figure 10, based on the images captured and the stored image. The prediction unit 53 then detects the time change of vibration up to imaging timing t1 by detecting the difference at each of the imaging timings t1, ta, and tb, and predicts the difference that will occur from the occurrence timing t4 onwards as the predicted vibration based on the time change of vibration up to imaging timing t1. In other words, since the predicted vibration is represented by the difference between the position of the tip 220 of the capture unit 22 and the reference position, the implementation system 1 can quantitatively predict the predicted vibration.

[0113] Furthermore, the memory unit may store a virtual position, which is a virtual position of the tip 220 that has been taught in advance using a jig or the like, as a reference position. The prediction unit 53 may then detect the difference between the position of the tip 220 in its swinging state at each of the imaging timings t1, ta, and tb in Figure 10 and the virtual position (reference position) of the tip 220, based on the captured images taken at each of the imaging timings t1, ta, and tb and the stored virtual position (reference position).

[0114] (8) Sixth variation The sixth modified example describes a modified version of the control unit 5. In the implementation system 1A of the sixth modified example shown in Figure 11, the control unit 5 comprises a drive control unit 51A, an image acquisition unit 52, a model storage unit 54, a model update unit 55, and a model creation unit 56. Components similar to those in implementation system 1 shown in Figure 3 are denoted by the same reference numerals and their descriptions are omitted.

[0115] (8.1) Image acquisition unit The image acquisition unit 52 has a communication interface function that acquires (receives) captured image data from the imaging unit 3.

[0116] (8.2) Model Creation Section The model creation unit 56 creates multiple correction models to correct the control of the drive unit 4 by the drive control unit 51. The correction models are models for correcting the control signals (horizontal control signal, vertical control signal, rotational control signal) output to the drive unit 4.

[0117] For example, the model creation unit 56 creates a correction model by performing teaching. The model creation unit 56, while performing teaching, actually operates the drive unit 4 to move the capture unit 22 by changing the command information (horizontal command information, vertical command information, and rotation command information) output to the drive unit 4. The imaging unit 3 captures images of the capture unit 22 as it moves according to each command information. The model creation unit 56 detects vibrations of the capture unit 22 as it moves according to each command information based on the images captured during the movement according to each command information. Then, based on the vibration detection results, the model creation unit 56 creates a correction model to settle the vibrations of the capture unit 22 as it moves according to each command information. The correction model is a model that corrects the control signals. The model creation unit 56 stores multiple sets in the model storage unit 54, each of which at least one command information and at least one captured image used in teaching are associated with each correction model.

[0118] As described above, the correction model created reflects the prediction results of predicted vibrations, which are vibrations that are expected to occur in the capture unit 22 during actual production operation. Therefore, by correcting the control signal output to the drive unit 4 using this prediction model, the drive unit 4 will be controlled so that the predicted vibrations occurring in the capture unit 22 are stabilized based on the prediction results of the predicted vibrations.

[0119] The correction model may also be a learning model created using machine learning, such as deep learning.

[0120] (8.3) Model Memory Unit The model storage unit 54 stores data for multiple correction models created by the model creation unit 56. In other words, the model storage unit 54 stores data for multiple correction models that correct the control of the drive unit 4 by the drive control unit 51. Specifically, the model storage unit 54 stores multiple sets, each of which at least one command information and at least one captured image are associated with each correction model.

[0121] Furthermore, the model storage unit 54 is preferably a rewritable non-volatile memory such as an EEPROM (Electrically Erasable Programmable Read Only Memory) or flash memory.

[0122] (8.4) Drive control unit The drive control unit 51A controls the drive unit 4 by outputting a control signal to the drive unit 4.

[0123] Specifically, the drive control unit 51A outputs a horizontal control signal to the horizontal drive unit 41 of the drive unit 4, and controls the horizontal drive unit 41 to move the mounting head 2 and the imaging unit 3 in the XY plane. The horizontal control signal includes command information (horizontal command information) that commands at least one of the horizontal velocity, acceleration, and distance traveled.

[0124] Furthermore, the drive control unit 51A outputs a vertical control signal to the vertical drive unit 42 and controls the vertical drive unit 42 to move the capture unit 22 along the Z axis. The drive control unit 51A also outputs a rotation control signal to the vertical drive unit 42 and controls the vertical drive unit 42 to rotate the capture unit 22 in the θ direction. The vertical control signal includes command information (vertical command information) that commands at least one of the vertical velocity, acceleration, and distance traveled. The rotation control signal includes command information (rotation command information) that commands at least one of the rotational velocity, acceleration, and rotation angle.

[0125] Then, in the capture operation for capturing component C10 and the mounting operation for mounting component C10, the drive control unit 51A selects at least one correction model as the applicable correction model from among the multiple correction models stored in the model storage unit 54. The drive control unit 51A controls the drive unit 4 using the applicable correction model so that the predicted vibration is settled.

[0126] Specifically, the operation of the drive control unit 51A will be explained using Figure 10. The drive control unit 51A selects, from among multiple correction models stored in the model storage unit 54, the correction model corresponding to each set of captured images at imaging timings t1, ta, and tb in Figure 10 as the applicable correction model. Then, the drive control unit 51A controls the drive unit 4 so that the predicted vibration is stabilized by correcting the control signals (horizontal control signal, vertical control signal, rotational control signal) output to the drive unit 4 using the applicable correction model.

[0127] (8.5) Model update section The model update unit 55 updates the correction model.

[0128] Specifically, the imaging unit 3 captures images of the capture unit 22 multiple times while the drive unit 4 is controlled using the applied correction model. The model update unit 55 detects vibrations of the capture unit 22 based on the multiple captured images taken while the drive unit 4 is controlled using the applied correction model. That is, the model update unit 55 detects vibrations of the capture unit 22 while the drive unit 4 is controlled using the applied correction model. The vibrations detected by the model update unit 55 are vibrations (residual vibrations) that could not be eliminated even with position control using the applied correction model. Therefore, the model update unit 55 updates the applied correction model based on the detected vibrations so that the residual vibrations can be suppressed. That is, the applied correction model updated by the model update unit 55 can further reduce residual vibrations. The model update unit 55 can update each of the multiple update models by updating the applied correction model as described above.

[0129] Figure 12 shows the amount of displacement W2 of the capture unit 22 that occurs when the updated correction model is used as the applied correction model. The amount of displacement W2 in Figure 12 is smaller than the amount of displacement W1 in Figure 10.

[0130] (9) Seventh variation The seventh modification describes a modification of the drive control unit 51A. In the seventh modification, the drive control unit 51A selects at least one correction model from a plurality of correction models as the applicable correction model based on command information representing the control content of the drive unit 4. The drive control unit 51A then controls the drive unit 4 using the applicable correction model so that the predicted vibration is settled. The command information includes horizontal command information, vertical command information, and rotation command information.

[0131] Specifically, the operation of the drive control unit 51A will be explained using Figure 10. The drive control unit 51A selects a correction model from among the multiple correction models stored in the model storage unit 54 that corresponds to each set of command information for the imaging timings t1, ta, and tb in Figure 10, as the applicable correction model. Then, the drive control unit 51A controls the drive unit 4 so that the predicted vibrations are stabilized by correcting the control signals (horizontal control signal, vertical control signal, rotational control signal) output to the drive unit 4 using the applicable correction model.

[0132] (10) Variation 8 The eighth modification describes a modification of the drive control unit 51A. In the eighth modification, the drive control unit 51A selects at least one correction model from a plurality of correction models as the applicable correction model based on the image captured by the imaging unit 3 capturing the capture unit 22 and command information representing the control content of the drive unit 4. The drive control unit 51A then controls the drive unit 4 using the applicable correction model so that the predicted vibration is settled. The command information includes horizontal command information, vertical command information, and rotation command information.

[0133] Specifically, the operation of the drive control unit 51A will be explained using Figure 10. The drive control unit 51A selects a correction model from among the multiple correction models stored in the model storage unit 54 that corresponds to the set of captured images and command information for each imaging timing t1, ta, and tb in Figure 10, as the applicable correction model. Then, the drive control unit 51A controls the drive unit 4 so that the predicted vibration is settled by correcting the control signals (horizontal control signal, vertical control signal, rotation control signal) output to the drive unit 4 using the applicable correction model. As a result, the prediction unit 53 can improve its prediction accuracy.

[0134] (11) Variation 9 Figure 15 shows a modified example of the imaging unit 3.

[0135] The imaging unit 3 in Figure 15 is equipped with two cameras 3b and 3c. Cameras 3b and 3c are so-called stereo cameras, arranged side by side along the Y-axis. Therefore, the imaging unit 3 can capture images of the behavior of the capture unit 22 in the horizontal direction and the behavior of the capture unit 22 in the vertical direction.

[0136] (12) Implementation method The implementation methods performed by the above-described embodiments and the implementation system 1 of the first to fifth modified examples (see Figure 3) are summarized in the flowchart of Figure 13.

[0137] This implementation method includes an imaging step S1, a prediction step S2, and a drive control step S3.

[0138] In imaging step S1, the imaging unit 3 periodically images the capture unit 22.

[0139] In prediction step S2, the prediction unit 53 predicts the vibration based on the captured image taken by at least the imaging unit 3 of the capture unit 22.

[0140] In the drive control step S3, the drive control unit 51 controls the drive unit 4 so that the predicted vibrations generated in the capture unit 22 are stabilized, based on the prediction results of the predicted vibrations created in the prediction step S2.

[0141] Furthermore, the implementation methods performed by the implementation system 1A (see Figure 11) of the above-mentioned modifications 6-8 are summarized in the flowchart in Figure 14.

[0142] This implementation method includes a model selection step S2a and a drive control step S3a.

[0143] In the model selection step S2a, the drive control unit 51A selects an applicable correction model from a plurality of correction models based on at least one of the captured image taken by the imaging unit 3 of the capture unit 22 and the command information.

[0144] In the drive control step S3a, the drive control unit 51A controls the drive unit 4 so that the predicted vibrations are settled by correcting the control signals (horizontal control signal, vertical control signal, rotational control signal) output to the drive unit 4 using an applicable correction model. That is, the drive control unit 51A controls the drive unit 4 so that the predicted vibrations generated in the capture unit 22 are settled using a correction model based on the prediction results of the predicted vibrations.

[0145] (13) Other variations The imaging unit 3 does not necessarily have to be fixed to the head unit 21 of the mounted head 2; it may be fixed to an imaging moving body that moves in synchronization (linkage) with the head unit 21. In other words, the imaging unit 3 moves in the same direction, distance, and speed as the mounted head 2.

[0146] Furthermore, the relative positions of the capturing unit 22 and the first object C1, such as the part C10, are not limited to a configuration where they face each other in the vertical direction along the Z-axis. In other words, the relative positions of the capturing unit 22 and the first object C1 may be in other configurations, such as a configuration where they face each other in the horizontal direction.

[0147] The embodiments described above, and the configurations described in each of the modified examples, can be combined and applied as appropriate.

[0148] (14) Summary An implementation system (1, 1A) according to the first embodiment implements a first object (C1) onto a second object (C2). The implementation system (1, 1A) includes a capture unit (22), a drive unit (4), and a drive control unit (51, 51A). The capture unit (22) captures the first object (C1). The drive unit (4) drives the capture unit (22). The drive control unit (51, 51A) controls the drive unit (4). Based on the prediction result of predicted vibration, which is vibration predicted to occur in the capture unit (22), the drive control unit (51, 51A) controls the drive unit (4) so ​​that the predicted vibration occurring in the capture unit (22) is stabilized.

[0149] The above-described implementation system (1, 1A) can suppress vibration of the capture unit (22) and improve positioning accuracy.

[0150] In the second embodiment of the implementation system (1), it is preferable that, in the first embodiment, the system further comprises an imaging unit (3) capable of imaging a capture unit (22) driven by a drive unit (4), and a prediction unit (53) that predicts vibrations based on an image captured by at least the imaging unit (3) of the capture unit (22).

[0151] The aforementioned implementation system (1) can accurately predict vibrations based on captured images.

[0152] In the third embodiment of the implementation system (1) according to the embodiment, in the second embodiment, it is preferable that the drive control unit (51) controls the drive unit (4) based on a delay time (T1), which is the time from when the imaging unit (3) captures an image of the capture unit (22) until the drive control unit (51) controls the drive unit (4) to settle the predicted vibration.

[0153] The above-described implementation system (1) can further suppress vibrations of the capture unit (22) and further improve positioning accuracy.

[0154] In the implementation system (1) of the fourth embodiment, in the third embodiment, it is preferable that the predicted vibration is a vibration that is predicted to occur after a delay time (T1) has elapsed since the imaging unit (3) captured an image of the capture unit (22).

[0155] The above-described implementation system (1) can further suppress vibrations of the capture unit (22) and further improve positioning accuracy.

[0156] In the fifth embodiment of the implementation system (1), in any one of the second to fourth embodiments, it is preferable that the drive control unit (51) controls the drive unit (4) so ​​that the predicted vibration settles before the predicted vibration occurrence timing (t4).

[0157] The above-described implementation system (1) can further suppress vibrations of the capture unit (22) and further improve positioning accuracy.

[0158] In the sixth embodiment of the implementation system (1) according to the embodiment, in any one of the second to fifth embodiments, it is preferable that the imaging unit (3) captures images multiple times using the capture unit (22) to generate multiple captured images. The prediction unit (53) predicts predicted vibrations based on at least multiple captured images.

[0159] The implementation system (1) described above can accurately predict predicted vibrations.

[0160] In the seventh embodiment of the implementation system (1), in any one of the second to sixth embodiments, it is preferable that the prediction unit (53) detects the amount of deviation between the position of the tip (220) of the capture unit (22) and the target position, and predicts the vibration based on the detected amount of deviation.

[0161] The implementation system (1) described above can quantitatively predict the predicted vibration.

[0162] In the implementation system (1) of the eighth embodiment, in any one of the second to sixth embodiments, it is preferable that the prediction unit (53) detects the difference between the position of the tip (220) of the capture unit (22) and a reference position stored in advance, and predicts the vibration based on the result of detecting the difference.

[0163] The implementation system (1) described above can quantitatively predict the predicted vibration.

[0164] In the ninth embodiment of the implementation system (1), in any one of the second to eighth embodiments, it is preferable that the prediction unit (53) predicts predicted vibrations based at least on the captured image and command information representing the control content of the drive unit (4) by the drive control unit (51).

[0165] The implementation system (1) described above can improve prediction accuracy.

[0166] In the implementation system (1) of the tenth embodiment, in any one of the second to ninth embodiments, it is preferable that the prediction unit (53) predicts predicted vibrations based on at least the captured image and the position information of the capture unit (22).

[0167] The implementation system (1) described above can improve prediction accuracy.

[0168] In the 11th embodiment of the implementation system (1), in any one of the second to tenth embodiments, it is preferable that the drive control unit (51) creates correction information for correcting the control of the drive unit (4) so ​​that the predicted vibration is settled, and controls the drive unit (4) using the correction information.

[0169] The above-described implementation system (1) can further suppress vibrations of the capture unit (22) and further improve positioning accuracy.

[0170] In the twelfth embodiment of the implementation system (1A), it is preferable that the system further comprises an imaging unit (3) capable of imaging the capture unit (22) driven by the drive unit (4) in the first embodiment. The drive control unit (51A) selects at least one correction model as an applicable correction model from a plurality of correction models that correct the control of the drive unit (4) by the drive control unit (51A) based on the image captured by the imaging unit (3) of the capture unit (22), and controls the drive unit (4) using the applicable correction model so that the predicted vibration is settled.

[0171] The above-described implementation system (1A) can suppress vibration of the capture unit (22) and improve positioning accuracy.

[0172] In the 13th embodiment of the implementation system (1A), it is preferable that the 12th embodiment further comprises a model update unit (55) for updating the correction model. The imaging unit (3) images the capture unit (22) while the drive unit (4) is controlled using the applied correction model. The model update unit (55) updates the applied correction model based on the vibration of the capture unit (22) while the drive unit (4) is controlled using the applied correction model.

[0173] The above-described implementation system (1A) can further suppress vibrations of the capture unit (22) and further improve positioning accuracy.

[0174] In the 14th embodiment of the implementation system (1A), in the first embodiment, it is preferable that the drive control unit (51A) selects at least one correction model as an applicable correction model from a plurality of correction models that correct the control of the drive unit (4) by the drive control unit (51A) based on command information representing the control content of the drive unit (4), and controls the drive unit (4) using the applicable correction model so that the predicted vibration is settled.

[0175] The above-described implementation system (1A) can suppress vibration of the capture unit (22) and improve positioning accuracy.

[0176] The implementation system (1A) of the 15th embodiment preferably further comprises a model creation unit (56) for creating a correction model in any one of the 12th to 14th embodiments.

[0177] The implementation system (1A) described above can improve the system's versatility.

[0178] A sixteenth embodiment of the implementation method involves implementing a first object (C1) on a second object (C2). The implementation method includes drive control steps (S3, S3a) for controlling a drive unit (4) that drives a capture unit (22) capable of capturing the first object (C1). The drive control steps (S3, S3a) control the drive unit (4) so ​​that the predicted vibrations occurring in the capture unit (22) are stabilized, based on the prediction results of predicted vibrations, which are vibrations that are predicted to occur in the capture unit (22).

[0179] The above-described implementation method can suppress vibration of the capture unit (22) and improve positioning accuracy.

[0180] Furthermore, the configurations relating to aspects 2-15 are not essential to the implementation system (1, 1A) and can be omitted as appropriate. [Explanation of Symbols]

[0181] 1. 1A Implementation System 22 Capture section 220 Tip 3. Imaging Unit 4. Drive Unit 51, 51A Drive control unit 53 Prediction Section 55 Model Update Section 56 Model Creation Department C1 First object C2 Second object T1 delay time t4 Occurrence timing S3, S3a Drive control steps

Claims

1. An implementation system for mounting a first object onto a second object, A capturing unit for capturing the first object, A drive unit that drives the aforementioned capture unit, A drive control unit that controls the drive unit, The acquisition unit, driven by the drive unit, is equipped with an imaging unit capable of capturing images of the acquisition unit, The system includes a prediction unit that predicts a vibration that will occur in the capture unit at a timing t4 later than timing t1, based on an image captured by the imaging unit at least at timing t1. The drive control unit controls the drive unit so that the predicted vibration generated in the capture unit is stabilized, based on the prediction result of the predicted vibration. Implementation system.

2. The drive control unit controls the drive unit based on a delay time which is the time from when the imaging unit captures an image of the acquisition unit until the drive control unit controls the drive unit to settle the predicted vibration. The implementation system according to claim 1.

3. The predicted vibration is the vibration that is predicted to occur at timing t4, which is after timing t2, which is after the delay time has elapsed from timing t1, when the imaging unit imaged the capture unit. The implementation system according to claim 2.

4. The drive control unit controls the drive unit so that the predicted vibration settles down before the timing t4 which is the timing of the occurrence of the predicted vibration. An implementation system according to any one of claims 1 to 3.

5. The imaging unit captures the capture unit at a plurality of different timings including the timing t1, and generates a plurality of captured images. The prediction unit predicts the vibration based on the position of the tip of the capture unit as captured in at least the plurality of captured images. An implementation system according to any one of claims 1 to 3.

6. The prediction unit detects the amount of deviation between the position of the tip of the capture unit and the target position, and predicts the predicted vibration based on the detection result of the amount of deviation. An implementation system according to any one of claims 1 to 3.

7. The prediction unit detects the difference between the position of the tip of the capture unit and a reference position stored in advance, and predicts the predicted vibration based on the detection result of the difference. An implementation system according to any one of claims 1 to 3.

8. The prediction unit predicts the predicted vibration based on at least the captured image and command information representing the control content of the drive unit by the drive control unit, An implementation system according to any one of claims 1 to 3.

9. The prediction unit predicts the predicted vibration based on at least the captured image and the position information of the capture unit. An implementation system according to any one of claims 1 to 3.

10. The drive control unit creates correction information for correcting the control of the drive unit so that the predicted vibration settles, and controls the drive unit using the correction information. An implementation system according to any one of claims 1 to 3.

11. The drive control unit selects at least one correction model as an applicable correction model from a plurality of correction models that correct the control of the drive unit by the drive control unit based on the image captured by the imaging unit that captures the capture unit, and controls the drive unit using the applicable correction model so that the predicted vibration settles down. The applied correction model is a correction model corresponding to a set of captured images taken at timing t1 and timings ta and tb prior to timing t1. The implementation system according to claim 1.

12. Further comprising a model update unit for updating the correction model, The imaging unit captures the capture unit while the drive unit is being controlled using the applied correction model. The model update unit detects vibrations of the capture unit based on a plurality of captured images taken while the drive unit is controlled using the applied correction model, and updates the applied correction model based on the detected vibrations. The implementation system of claim 11.

13. The drive control unit selects at least one correction model as an applicable correction model from a plurality of correction models that correct the control of the drive unit by the drive control unit, based on command information representing at least the control content of the drive unit, and controls the drive unit using the applicable correction model so that the predicted vibration settles down. The applied correction model is a correction model corresponding to each set of command information for timing t1 and timings ta and tb prior to timing t1. The implementation system according to claim 1.

14. Further comprising a model creation unit for creating the correction model, An implementation system according to any one of claims 11 to 13.

15. A mounting method for mounting a first object onto a second object, A drive control step that controls a drive unit that drives a capture unit capable of capturing the first object, An imaging step for imaging the capture unit driven by the drive control step, The prediction step includes predicting a vibration that occurs in the capture unit at a timing t4 later than timing t1, based on the captured image obtained by the imaging step at least at timing t1 of the capture unit, The drive control step controls the drive unit based on the prediction result of the predicted vibration so that the predicted vibration generated in the capture unit is stabilized. Implementation method.

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