Substrate work system and component appearance color determination method

Abstract

This substrate work system comprises: a component imaging camera capable of imaging a component by turning on at least one of a plurality of types of illumination light sources having different light source colors; and an appearance color determination unit for determining the appearance color of the component on the basis of a luminance value in a prescribed area of achromatic image data acquired through imaging by the component imaging camera, and the light source color of the illumination light source turned on when the component is imaged.

Description

Substrate-related work system and component appearance color discrimination method

[0001] The present specification relates to a board-related operation system having a function of determining the appearance color of a component to be mounted on a board, and a method of determining the appearance color of a component.

[0002] A technology for mass-producing product boards by performing substrate-to-board operations on boards on which circuit patterns are formed is becoming widespread. A substrate-to-board operation system for performing substrate-to-board operations includes a component mounting machine that mounts components on the board, a board inspection machine that inspects the components mounted on the board, and the like. Typical component mounting machines and board inspection machines detect the type and position of components by capturing images of the components using a camera. Examples of technologies for detecting components using a camera are disclosed in Patent Documents 1 and 2.

[0003] Patent Literature 1 discloses an electronic component mounting device that includes a component mounting section on which multiple electronic components are mounted, an imaging section that images the multiple electronic components, a component detection section that detects the positions and types of the electronic components based on the output from the imaging section, and a control section that controls a component mounting mechanism based on the detected positions and types of the electronic components.This device is said to make it possible to easily detect the positions and types of electronic components.

[0004] Furthermore, Patent Document 2 discloses a mounted component inspection device that inspects the mounting quality of mounted components using a color image obtained by capturing an image of the mounted components on a circuit board. This inspection device inputs a setting value for extracting an image pattern having a predetermined color, displays a range of feature quantities extracted using the setting value, and sets the setting value as a parameter value when judgment data indicating that the range of feature quantities is appropriate is input. The parameter value is used to extract an image pattern from the inspection image, and the image pattern is used to inspect the mounting quality. This is said to significantly reduce the labor and time required for parameter teaching work.

[0005] JP 2005-183573 A JP 9-145633 A

[0006] There are various types of components mounted on circuit boards, including multiple types of components with the same external shape but different internal structures. These types of components may have different external colors, making it easy to visually distinguish their types. For multiple types of components with the same shape but different external colors, the technical example of Patent Document 1 cannot distinguish the external color of the captured component, requiring the operator to distinguish between them. On the other hand, using a color camera, as exemplified in Patent Document 2, can automatically distinguish the external color of the captured component. However, color cameras have lower resolution than monochrome cameras, and adding a monochrome camera to a component placement machine increases costs. Therefore, to promote labor savings in the technical field of board-related processing systems that require high resolution, a technology is needed to distinguish the external color of components using a monochrome camera.

[0007] Therefore, the problem to be solved in this specification is to provide a substrate-related work system that can distinguish the appearance color of a component using a monochrome camera that acquires achromatic image data, and a component appearance color distinguishing method that distinguishes the appearance color of a component using a monochrome camera.

[0008] This specification discloses a board-related operation system including a component imaging camera capable of imaging a component by turning on at least one of a plurality of types of illumination light sources having different light source colors, and an appearance color discrimination unit that discriminates the appearance color of the component based on a luminance value in a predetermined region of achromatic image data acquired by imaging with the component imaging camera and the light source color of the illumination light source that was turned on when the component was imaged.

[0009] This specification also discloses a component appearance color discrimination method for distinguishing the appearance color of each of a plurality of components that have the same shape but different appearance colors, using a component imaging camera that images the components by turning on at least one type of illumination light source having a different light source color and acquires achromatic image data, the component appearance color discrimination method comprising: a registration image acquisition step of using the component imaging camera to image at least one type of component whose appearance color is known and acquire reference image data, or of assuming the reference image data without using the component imaging camera; a registration step of correlating and registering a reference luminance value in a predetermined area of ​​the reference image data with the known appearance color; a discrimination image acquisition step of using the component imaging camera to image the component whose appearance color is unknown and acquire image data; and a luminance value comparison step of comparing the luminance value in the predetermined area of ​​the image data with the registered reference luminance value to distinguish the appearance color of the component imaged in the discrimination image acquisition step.

[0010] In this specification, the technical idea of ​​changing "the substrate-related work system according to claim 2" in claim 6 at the time of filing to "the substrate-related work system according to any one of claims 2 to 5"; the technical idea of ​​changing "the substrate-related work system according to claim 2" in claim 8 at the time of filing to "the substrate-related work system according to any one of claims 2 to 7"; the technical idea of ​​changing "the substrate-related work system according to claim 2" in claim 9 at the time of filing to "the substrate-related work system according to any one of claims 2 to 8"; the technical idea of ​​changing "the substrate-related work system according to any one of claims 1 to 9" in claim 11 at the time of filing to "the substrate-related work system according to any one of claims 1 to 10"; The technical idea of ​​changing "the substrate-related work system according to any one of claims 1 to 9" in claim 12 at the time of filing to "the substrate-related work system according to any one of claims 1 to 11" in claim 13 at the time of filing to "the substrate-related work system according to any one of claims 1 to 9" in claim 14 at the time of filing to "the substrate-related work system according to any one of claims 1 to 13" is disclosed.

[0011] In the disclosed substrate-related operation system and component appearance color discrimination method, the component imaging camera acquires achromatic image data by imaging the component with at least one of a plurality of illumination light sources having different light source colors turned on. The luminance value in a predetermined area of ​​the acquired image data changes depending on the combination of the light source color of the illumination light source that was turned on when the component was imaged and the appearance color of the component, so that the appearance color of the component can be discriminated based on the luminance value and the light source color.

[0012] 3 is a plan view schematically showing an example of the configuration of a component mounting machine that is a main part of the substrate-related processing system of an embodiment. FIG. 4 is a perspective view of a tray used to supply components in the component mounting machine. FIG. 5 is a front view schematically showing the configuration of a component imaging camera. FIG. 6 is a view as viewed from arrow A in FIG. 3, schematically showing the configuration of an epi-illumination light source. FIG. 7 is a view as viewed from arrow B in FIG. 3, schematically showing the configuration of a lateral-illumination light source. FIG. 8 is a view schematically explaining the principle of a method for distinguishing the appearance color of a component, illustrating image data of four components acquired under red illumination. FIG. 9 is a view schematically explaining the principle of a method for distinguishing the appearance color of a component, illustrating image data of four components acquired under green illumination. FIG. 10 is a plan view illustrating components that are the subject of image capture by the component imaging camera, as well as the imaging range of the component imaging camera. FIG. 11 is a view illustrating a reference brightness value set and tolerance range for red components in a three-dimensional color coordinate system. FIG. 12 is an operational flow diagram illustrating the operation of the substrate-related processing system. FIG. 12 is a diagram of a sub-operational flow illustrating details of the "pre-registration process" in the operational flow of FIG. 11.

[0013] 1. Configuration Example of Component Mounting Machine 10 First, an example of the configuration of the component mounting machine 10, which is a main part of the substrate-related work system 1 of this embodiment, will be described with reference to FIG. 1 . The substrate-related work system 1 includes a component imaging camera 5 of the component mounting machine 10 and an appearance color discrimination unit 60 provided in the control device 6. The component mounting machine 10 performs a mounting operation to mount components on a substrate K. The horizontal direction from left to right in FIG. 1 is the X-axis direction along which the substrate K is transported, the horizontal direction from the bottom (front) to the top (rear) of the page is the Y-axis direction, and the vertical direction is the Z-axis direction. The component mounting machine 10 is configured by assembling a substrate transport device 2, a component supply device 3, a component transfer device 4, a control device 6, and the like to a base 11.

[0014] The board transport device 2 transports and positions the board K. The board transport device 2 has a pair of guide rails 21 that form a transport path for the board K. The board transport device 2 loads the board K from one end (the left end in FIG. 1 ) of the guide rails 21 and transports it along the guide rails 21 to a predetermined stopping position. The board transport device 2 has a positioning mechanism 22 that pushes up the board K at the stopping position and clamps it between the guide rails 21. The component transfer device 4 performs a component mounting operation on the positioned board K. After the mounting operation is completed, the board transport device 2 transports the board K from the stopping position to the other end (the right end in FIG. 1 ) of the guide rails 21 and removes it from the machine.

[0015] The component supply device 3 is disposed at the front in the Y-axis direction on the top surface of the base 11. The component supply device 3 is configured by setting a plurality of tape feeders 32 and one tray feeder 35 on the top surface of a pallet table 31. Each of the plurality of tape feeders 32 supplies components at a predetermined supply position 33 using a carrier tape. The tray feeder 35 supplies components using a tray 36 that stores a plurality of components. The detailed configuration of the tray 36 will be described later.

[0016] The component transfer device 4 is composed of a Y-axis movable body 41, an X-axis movable body 42, a mounting head 43, a rotary tool 44, multiple suction nozzles 45, a component imaging camera 5, and a component camera 47. The Y-axis movable body 41 is formed of a member that is long in the X-axis direction, and is driven by a Y-axis drive mechanism (not shown) to move in the Y-axis direction. The X-axis movable body 42 is mounted on the Y-axis movable body 41, and is driven by an X-axis drive mechanism (not shown) to move in the X-axis direction. The mounting head 43 is attached to the front of the X-axis movable body 42. The mounting head 43 is driven in two horizontal directions together with the X-axis movable body 42, and moves to above the component supply device 3 and above the board K.

[0017] A rotary tool 44 having a generally axisymmetric shape is rotatably mounted below the mounting head 43. The rotary tool 44 is driven by an R-axis drive mechanism (not shown) to rotate about a vertical central axis. The rotary tool 44 holds multiple suction nozzles 45 below it. In the example shown in FIG. 1 , the rotary tool 44 has four suction nozzles 45 equidistant from the vertical central axis. The suction nozzles 45 are driven by an elevation drive mechanism (not shown) to move up and down, and driven by a Q-axis drive mechanism (not shown) to rotate about the vertical axis. The suction nozzles 45 are further selectively supplied with negative or positive pressure air from an air supply mechanism. This allows the component transfer device 4 to use the suction nozzles 45 to pick up and remove components from the tape feeder 32 and tray feeder 35, and then transport the picked components to the positioned board K for placement.

[0018] The component imaging camera 5 is mounted on the X-axis movable body 42 facing downward, alongside the mounting head 43. The component imaging camera 5 captures images of the carrier tape and components housed in the tray 36 from above. The component imaging camera 5 also serves as a mark camera that captures images of position reference marks affixed to the board K positioned by the board transport device 2. Image data of the captured image of the position reference marks is processed to accurately determine the actual stopping position of the board K. The detailed configuration of the component imaging camera 5 will be described later.

[0019] The component camera 47 is mounted facing upward on the base 11 between the board transport device 2 and the component supply device 3. The component camera 47 captures images of the components picked up by the suction nozzle 45 from below while the mounting head 43 is moving from the component supply device 3 to the board K. The acquired image data is processed to determine whether the component type is correct, and the position and orientation of the component relative to the suction nozzle 45 are detected and reflected in the mounting operation. A digital imaging device can be used as the component camera 47.

[0020] The component transfer device 4 proceeds with component mounting work by repeating a mounting cycle. More specifically, the component transfer device 4 first moves the mounting head 43 to the component supply device 3, where the suction nozzles 45 pick up the components. The component transfer device 4 then moves the mounting head 43 above the component camera 47. The component camera 47 then captures images of the components being held by the multiple suction nozzles 45. The component transfer device 4 then moves the mounting head 43 to the board K, where the suction nozzles 45 mount the components on the board K. The component transfer device 4 then moves the mounting head 43 back to the component supply device 3, completing one mounting cycle.

[0021] The control device 6 is mounted on the base 11, and its location is not limited. The control device 6 is configured as a computer device having a CPU and operating on software. The control device 6 is equipped with an input unit 67, such as a keyboard and a mouse, that accepts input operations from an operator. The control device 6 is also equipped with a display unit 68 that displays image data acquired by imaging in color graphics. The control device 6 controls the board transport device 2, component supply device 3, and component transfer device 4 to repeat a mounting cycle in accordance with mounting job data created for each type of board K (board product). The mounting job data includes data on the shapes of the board K and components, coordinate data for the component supply position 33 and mounting position, and data on the type and arrangement of the suction nozzle 45 to be used.

[0022] 2. Detailed Configuration of Tray 36 and Multiple Types of Parts P with the Same Shape but Different Colors As shown in FIG. 2 , the tray 36 of the tray feeder 35 is placed on a pallet 37 for use. The pallet 37 is a rectangular plate made of metal. The pallet 37 has a T-shaped gripper 371 on its front side. The tray 36 is made of resin and has a rectangular shape smaller than the pallet 37. The tray 36 is attached to the pallet 37 by clamping metal fittings 38 at four locations (two locations on each of the two long sides). The tray 36 has multiple component storage compartments 363 divided by a large rectangular outer frame 361 and lattice-shaped partition frames 362. The tray 36 illustrated in FIG. 2 has 54 component storage compartments 363. Components P have already been extracted from 32 of the component storage compartments 363, and components P are stored in the remaining 22 component storage compartments 363.

[0023] Trays 36 often accommodate components P that are larger than the carrier tape used by tape feeder 32. Among the components P supplied by trays 36, there are multiple types of components P that have the same external shape but different internal structures. These types of components P may have different external colors, making it easy to visually distinguish their types. A typical tray 36 accommodates multiple components P of the same type, so the external colors of these multiple components P are all the same. On the other hand, multiple trays 36 with the same shape accommodate different types of components P, i.e., different external colors of the components P. Therefore, it is necessary to identify the type by identifying the external color of the first component P picked from tray 36, and it is possible to omit identifying the external colors of the second and subsequent components P picked.

[0024] An example of multiple types of components P having the same shape but different exterior colors is connector components. The multiple types of connector components have different connection relationships between multiple internal conductors, or the internal conductors differ in material, conductor cross-sectional area, insulation configuration, etc. Conventionally, an operator who attaches trays 36 to pallets 37 and then sets pallets 37 in tray feeder 35 has had to visually distinguish the exterior colors and types of the multiple types of connector components.

[0025] 3. Detailed Configuration of Component Imaging Camera 5 The board-related processing system 1 of this embodiment uses the component imaging camera 5 to automatically distinguish the appearance colors of multiple types of components P that have the same shape but different appearance colors. This reduces the burden on the operator of distinguishing the appearance colors of the components P. The detailed configuration of the component imaging camera 5 will be described with reference to FIGS. 3 to 5. As shown in FIG. 3, the component imaging camera 5 has an illumination device 51 and a camera body 58.

[0026] The illumination device 51 is composed of a housing 52, an incident light source 53, a half mirror 54, and a lateral light source 55. The housing 52 is a cylindrical member with an opening at the bottom and is attached to the lower side of the camera body 58. The incident light source 53 is disposed on the inner side of the housing 52. As shown in FIG. 4 , the incident light source 53 is configured by arranging three types of illumination light sources on a rectangular support plate 53A. Specifically, the three types of illumination light sources are red light sources 53R having a red light source color, green light sources 53G having a green light source color, and blue light sources 53B having a blue light source color. The three types of illumination light sources are provided in equal numbers (five of each in the example of FIG. 4 ) and are distributed evenly across the support plate 53A. An example of the form of the illumination light source is an LED having a rectangular parallelepiped base with a light-emitting element disposed in the center and a hemispherical lens attached to cover the light-emitting element.

[0027] The half mirror 54 is provided inside the housing 52 at an angle of approximately 45°. The half mirror 54 reflects downward illumination light emitted horizontally from the red light source 53R, green light source 53G, and blue light source 53B of the epi-illumination light source 53. The downward illumination light is reflected by the upper surface of the imaging target to become upward imaging light. The half mirror 54 transmits the imaging light directed upward from the imaging target toward the camera body 58.

[0028] The lateral-emitting light source 55 is arranged horizontally near the opening at the bottom of the housing 52. The lateral-emitting light source 55 is configured by three types of illumination light sources arranged facing downward on a ring-shaped support plate 55A. A central hole in the support plate 55A serves as a passage for the illumination light and imaging light. Specifically, the three types of illumination light sources are red light sources 55R, green light sources 55G, and blue-red light sources 55B. The three types of illumination light sources are the same in number (eight of each in the example of FIG. 5 ) and are evenly distributed on the support plate 55A. The shape of the illumination light sources of the lateral-emitting light source 55 may be the same as that of the epi-illumination light source 53 or may be different. A diffuser plate 56 is provided below the lateral-emitting light source 55. The diffuser plate 56 diffuses the illumination light emitted downward from the red light sources 55R, green light sources 55G, and blue-red light sources 55B of the lateral-emitting light source 55 and directs it toward the top and side surfaces of the imaging target. The imaging light originating from the lateral light source 55 and reflected by the upper and side surfaces of the object to be imaged enters the camera body 58 without being distinguished from the imaging light originating from the epi-illumination light source 53 .

[0029] The camera body 58 captures images in response to the incident imaging light and generates image data. Each of the multiple pixels of the camera body 58 is sensitive only to the luminance (brightness) of the imaging light, without distinguishing between the colors of the imaging light. In other words, the component imaging camera 5 is a monochrome camera that captures achromatic image data. When the camera body 58 captures images, the epi-illumination light source 53 and the lateral light source 55 can turn on one to three types of illumination light sources as instructed. The image data captured by the component imaging camera 5 is transferred to the control device 6. The control device 6 also functions as an image processing unit that processes the image data. Note that the component imaging camera 5 may also function as an image processing unit and transfer the image processing results to the control device 6.

[0030] 4. Principle of Distinguishing Multiple Types of Parts P with the Same Shape but Different Appearance Colors Next, the principle of distinguishing the appearance colors of multiple types of parts P with the same shape but different appearance colors using the part imaging camera 5 (black-and-white camera) will be explained using FIGS. 6-8. Examples of multiple types of parts P with the same shape but different appearance colors include red parts PR, green parts PG, blue parts PB, and black parts PK, each with an appearance color of red, green, blue, and black, respectively. By placing the four types of parts described above within the imaging range AR of the part imaging camera 5 and imaging them with the three illumination light sources turned on one by one in sequence, the image data shown in FIGS. 6-8 can be obtained. The five red light sources 53R and the eight red light sources 55R are the same type of illumination light source and are displayed together as a single red light source 59R. Similarly, the green light sources 53G and 55G are displayed together as a single green light source 59G, and the blue light sources 53B and 55B are displayed together as a single blue light source 59B.

[0031] 6 to 8, the luminance value of each pixel of the achromatic image data is represented in 256 steps, ranging from 0, which indicates black, to 255, which indicates white. To qualitatively indicate the high and low luminance values ​​in the figures, the range of luminance values ​​0-51 is indicated by solid black, and the range of luminance values ​​205-255 is indicated by a solid white. Furthermore, the range of luminance values ​​52-102 is indicated by dense diagonal hatching with upward-sloping lines, the range of luminance values ​​103-153 is indicated by coarse diagonal hatching with downward-sloping lines, and the range of luminance values ​​154-204 is indicated by dotted hatching. Note that the luminance values ​​may be represented in more detail than 256 steps, or in less detail than 256 steps.

[0032] FIG. 6 shows image data acquired by imaging under red illumination with only the red light source 59R turned on. In this image data, the red component PR has a high reflectance for reflecting red illumination light. Therefore, the image of the red component PR exhibits a high brightness value (solid color). On the other hand, the green component PG has a lower reflectance for reflecting red illumination light than the red component PR. Therefore, the image of the green component PG exhibits a lower brightness value (dense diagonal lines upward to the right) compared to the red component PR. The blue component PB, like the green component PG, has a lower reflectance for reflecting red illumination light than the red component PR. Therefore, the image of the blue component PB exhibits a low brightness value (dense diagonal lines upward to the right). The black component PK has the lowest reflectance for reflecting red illumination light. Therefore, the image of the black component PK exhibits the lowest brightness value (solid black).

[0033] 7 shows image data acquired by imaging under green illumination with only the green light source 59G turned on. In this image data, the green component PG has a high reflectance for reflecting the green illumination light. Therefore, the image of the green component PG exhibits a high brightness value (dots). On the other hand, the red component PR, blue component PB, and black component PK have a lower reflectance for reflecting the green illumination light than the green component PG. Therefore, the images of these three components exhibit lower brightness values ​​(coarse diagonal lines downward to the right, solid black) compared to the green component PG.

[0034] Furthermore, Figure 8 shows image data acquired by imaging under blue illumination with only the blue light source 59B turned on. In this image data, the blue component PB has a high reflectance for reflecting the blue illumination light. Therefore, the image of the blue component PB exhibits a higher brightness value (dots). On the other hand, the red component PR, green component PG, and black component PK have a lower reflectance for reflecting the blue illumination light than the blue component PB. Therefore, the images of these three components exhibit lower brightness values ​​(coarse diagonal lines downward to the right, dense diagonal lines upward to the right) compared to the blue component PB.

[0035] As can be seen from the explanation so far, when illuminated with illumination light of the same color as the appearance color of the part P, the image of the part P tends to exhibit a high luminance value, and when illuminated with illumination light of a color different from the appearance color of the part P, the image of the part P tends to exhibit a low luminance value. Utilizing this tendency, the appearance color of the part P can be determined based on the luminance value of the part P in the image data and the light source color of the illumination light source used when the image was captured. In a simple example, a part P whose appearance color is unknown can be illuminated with red illumination light and imaged; if the luminance value of the image of the part P is equal to or greater than a predetermined value, the part P can be determined to be a red part PR; and if the luminance value is less than the predetermined value, the part P can be determined not to be a red part PR.

[0036] 5. Functions of the Appearance Color Discrimination Unit 60 The appearance color discrimination unit 60 is provided to practically implement the discrimination principle described above. In this embodiment, the appearance color discrimination unit 60 is provided in the control device 6. The appearance color discrimination unit 60 discriminates the appearance color of the component P based on the luminance value in a predetermined area of ​​the achromatic image data acquired by the component imaging camera 5 and the light source color of the illumination light source that was turned on when the component P was imaged. Furthermore, the appearance color discrimination unit 60 discriminates the appearance color of each of the multiple components P imaged by the component imaging camera 5.

[0037] The appearance color discrimination unit 60 is composed of five functional units, namely, a registration image acquisition unit 61, a registration unit 62, a discrimination image acquisition unit 63, a brightness value comparison unit 64, and a correction unit 65, as shown in FIG. 1 . The registration image acquisition unit 61 and the registration unit 62 operate in advance before the component mounting machine 10 starts the component placement operation. The discrimination image acquisition unit 63 and the brightness value comparison unit 64 operate as the component placement machine 10 progresses with the placement operation. The correction unit 65 operates as needed based on the status of the comparison result of the brightness value comparison unit 64. The discrimination image acquisition unit 63 and the brightness value comparison unit 64 are preferably provided within the component mounting machine 10. The registration image acquisition unit 61, the registration unit 62, and the correction unit 65 may also be provided outside the component mounting machine 10, for example, in an external computer to which data can be transferred.

[0038] The registration image acquisition unit 61 uses the component imaging camera 5 to capture an image of at least one type of component P whose appearance color is known, and acquires reference image data. As shown in Fig. 9 , the component imaging camera 5 does not need to fit the entire image of the component P within the imaging range AR. In other words, there is no constraint on the size relationship between the imaging range AR of the component imaging camera 5 and the size of the component P. The registration image acquisition unit 61 needs to align the positional relationship between the component P and the component imaging camera 5 with that at the time of imaging by the discrimination image acquisition unit 63.

[0039] Alternatively, the registration image acquisition unit 61 may acquire reference image data by capturing an image of the component P outside the component mounting machine 10 using another camera with equivalent performance to the component imaging camera 5. This allows the reference image data for the second product board to be acquired in parallel with the mounting operation of the first product board by the component mounting machine 10, without interfering with the ongoing mounting operation. Alternatively, the registration image acquisition unit 61 may estimate the reference image data without using the component imaging camera 5. For example, the registration image acquisition unit 61 can estimate the reference image data by performing a simulation that quantifies the surface properties of the component P and the characteristics of the illumination light source.

[0040] The registration unit 62 registers a reference luminance value LS in a predetermined region DS of the reference image data in association with a known appearance color. Naturally, the predetermined region DS is defined by selecting multiple pixels capturing an image of the component P in the reference image data, and pixels capturing background areas other than the component P are excluded from the predetermined region DS. Furthermore, as shown in FIG. 9 , the predetermined region DS is preferably defined as the flat portion P1 of the top surface of the component P, excluding the electrode portion P2, the uneven portion P3, and the edge portion P4 of the component P. The average pixel luminance value of each of the multiple pixels in the predetermined region DS is calculated to be the reference luminance value LS. This allows for a stable reference luminance value LS. Alternatively, the registration image acquisition unit 61 may capture multiple components P of the same type whose appearance color is known, and the registration unit 62 may determine the reference luminance value LS by taking into account individual differences among the multiple components P.

[0041] The discrimination image acquisition unit 63 uses the component imaging camera 5 to capture an image of a component P, the external color of which is to be discriminated and is unknown, and acquires image data. Unlike the registration image acquisition unit 61, the discrimination image acquisition unit 63 operates in accordance with the progress of the mounting operation within the component mounting machine 10. The first component P picked up from the tray 36 corresponds to a component P (discrimination target) whose external color is unknown. In the reference image data acquired by the registration image acquisition unit 61 and the image data acquired by the discrimination image acquisition unit 63, the predetermined areas DS are areas of the component P that match each other.

[0042] The discrimination image acquisition unit 63 operates on the first component P that the component transfer device 4 picks up from the tray 36, and omits operation on the second and subsequent components P. In other words, the appearance color discrimination unit 60 discriminates the appearance color of the first component P picked up from the tray 36, and determines that the appearance color of the second and subsequent components P is the same as the appearance color of the first component P, without using image data. In practice, the discrimination image acquisition unit 63 captures an image of each of the multiple components P stored on the tray 36, as described below, and uses the image data acquired for the first component P to discriminate the appearance color.

[0043] The luminance value comparison unit 64 compares the luminance value LT of the image data with the registered reference luminance value LS to determine the appearance color of the discrimination target component P imaged by the discrimination image acquisition unit 63. The luminance value LT is the average value of the pixel luminance values ​​in a predetermined region DS of the image data. In other words, the luminance value comparison unit 64 compares the averaged luminance value LT with the reference luminance value LS. The luminance value comparison unit 64 may perform a determination to identify the appearance color of the discrimination target component P, or may determine whether the appearance color of the discrimination target component P matches a specific color.

[0044] 6. Identifying the Appearance Color of Component P Using Three Types of Illumination Light Sources The functions of the registration image acquisition unit 61, the registration unit 62, the discrimination image acquisition unit 63, and the brightness value comparison unit 64 can be modified as appropriate depending on the number of types of components P that have the same shape but different appearance colors. Here, we will explain a case where components P are to be distinguished, and the four types of components P shown in Figures 6 to 8 are red components PR, green components PG, blue components PB, and black components PK, and their appearance colors are identified using three types of illumination light sources.

[0045] The registration image acquisition unit 61 captures images of four types of components P whose exterior colors are known under three conditions in which each of the three illumination light sources of the component imaging camera 5 is turned on. For example, the registration image acquisition unit 61 first captures an image of a red component PR under red illumination conditions in which only the red light sources 59R (five red light sources 53R and eight red light sources 55R) of the component imaging camera 5 are turned on, thereby acquiring one piece of reference image data. The registration image acquisition unit 61 then captures images of the red component PR under green illumination conditions in which only the green light source 59G is turned on, and under blue illumination conditions in which only the blue light source 59B is turned on, thereby acquiring two pieces of reference image data. After this, the imaging target is sequentially changed from the red component PR to the green component PG, the blue component PB, and the black component PK. As a result, the registration image acquisition unit 61 acquires a total of 12 pieces of reference image data.

[0046] The registration unit 62 registers, for each of the four types of components P, a reference luminance value set consisting of three reference luminance values ​​LS of the three reference image data under red illumination, green illumination, and blue illumination, in association with the known appearance color. More specifically, the registration unit 62 can calculate the reference luminance value LS in the predetermined region DS from the reference image data under red illumination with the red component PR as the image target. For example, it is assumed that the registration unit 62 calculates a reference luminance value LS of 242. Furthermore, it is assumed that the registration unit 62 calculates a reference luminance value LS of 112 from the reference image data under green illumination with the red component PR as the image target, and calculates a reference luminance value LS of 124 from the reference image data under blue illumination with the red component PR as the image target.

[0047] The reference luminance value set consisting of the three reference luminance values ​​LS described above is expressed as (reference luminance value LS under red illumination, reference luminance value LS under green illumination, and reference luminance value LS under blue illumination). Then, the reference luminance value set SLR for the red part PR is expressed as (242, 112, 124). The registration unit 62 registers the reference luminance value set SLR in association with the red color of the appearance color of the red part PR. The reference luminance value set indicates one coordinate position in a three-dimensional color coordinate system in which the luminance under red illumination, green illumination, and blue illumination are three orthogonal axes. FIG. 10 illustrates an example of the reference luminance value set SLR = (242, 112, 124) for the red part PR in a three-dimensional color coordinate system in which the R axis (red axis), the G axis (green axis), and the B axis (blue axis) are orthogonal to each other.

[0048] The registration unit 62 performs similar registration not only on the red part PR but also on the green part PG, blue part PB, and black part PK. For example, the registration unit 62 associates the green appearance color of the green part PG with the reference luminance value set SLG = (53, 155, 131) and registers it. The registration unit 62 also associates the blue appearance color of the blue part PB with the reference luminance value set SLB = (70, 121, 166). The registration unit 62 also associates the black appearance color of the black part PK with the reference luminance value set SLK = (47, 49, 54). The four reference luminance value sets (SLR, SLG, SLB, SLK) indicate coordinate positions spaced apart from one another in a three-dimensional color coordinate system. The reference luminance values ​​LS of the four reference luminance value sets (SLR, SLG, SLB, SLK) are shown as examples of actual measurements for reference.

[0049] The discrimination image acquisition unit 63 turns on each of the three types of illumination light sources of the component imaging camera 5, captures an image of a component P (a component to be discriminated) whose external color is unknown, and acquires three sets of image data under red illumination, green illumination, and blue illumination. The discrimination image acquisition unit 63 captures an image of each of the multiple components P contained in the tray 36. The three sets of image data are used for two purposes: a discrimination purpose, which discriminates the external color of the component P, and a confirmation purpose, which confirms the position and orientation of the component P. In the confirmation purpose, the control device 6 processes the image data to confirm the position and orientation of the component P and reflects this in the mounting operation of the component transfer device 4.

[0050] The discrimination image acquisition unit 63 passes three pieces of image data of the first component P picked from the tray 36 to the brightness value comparison unit 64 for discrimination purposes and for confirmation purposes. The discrimination image acquisition unit 63 also uses three pieces of image data of the second and subsequent components P picked from the tray 36 for confirmation purposes. The first component P refers to the component P that the suction nozzle 45 picks up from the tray 36 for the first time after the component mounting machine 10 starts, and the component P that is picked up for the first time after the tray 36 is replaced in the tray feeder 35 while the component mounting machine 10 is in operation.

[0051] The luminance value comparison unit 64 can determine the luminance value LT in the predetermined region DS from image data obtained under red illumination of a component P (discrimination target) whose appearance color is unknown. Furthermore, the luminance value comparison unit 64 can determine the luminance value LT from image data obtained under green illumination and image data obtained under blue illumination. The discrimination luminance value set SLT, which is made up of the three luminance values ​​LT, is expressed as (the luminance value LT under red illumination, the luminance value LT under green illumination, and the luminance value LT under blue illumination). The luminance value comparison unit 64 compares the discrimination luminance value set SLT with each of the four registered reference luminance value sets (SLR, SLG, SLB, SLK) to determine the appearance color of the component P imaged by the discrimination image acquisition unit 63.

[0052] Specifically, the luminance value comparison unit 64 checks whether all three luminance values ​​LT fall within an allowable range EA, which allows a predetermined variation in the three reference luminance values ​​LS. The allowable range EA is represented by one of the following shapes in a three-dimensional color coordinate system: a cube, a rectangular parallelepiped, a sphere, and an ellipsoid. For example, if a variation of ±5 is allowed in the three reference luminance values ​​LS of the reference luminance value set SLR for the red component PR, the allowable range EA is represented by (237 to 247, 107 to 117, 119 to 129). This allowable range EA is represented by a cube with a side length of 10, with the coordinate position indicated by the reference luminance value set SLR as its center of gravity (see FIG. 10 ).

[0053] Furthermore, if significant variations in the luminance value LT tend to occur in one or two of the colors under red, green, and blue illumination, then a large variation in the axial direction of the color can be tolerated. In this case, the tolerance range EA is represented by a rectangular parallelepiped. Furthermore, the tolerance range EA may be set not independently in the three axial directions, but by a predetermined distance from the coordinate position indicated by the reference luminance value set in a three-dimensional color coordinate system. In this case, the tolerance range EA is represented by a sphere with its center at the coordinate position indicated by the reference luminance value set and its radius at a predetermined distance. Furthermore, when a large variation in the axial direction of one or two colors is tolerated, the tolerance range EA is represented by an ellipsoid.

[0054] When setting the allowable ranges EA for each of the four reference luminance value sets (SLR, SLG, SLB, SLK), it is necessary to ensure that the four allowable ranges EA do not overlap with each other in the three-dimensional color coordinate system. If they do overlap, the luminance value comparison unit 64 resets the allowable variation to be smaller to eliminate the overlap of the allowable ranges EA.

[0055] The comparison performed by the luminance value comparison unit 64 corresponds to determining whether the coordinate position indicated by the discrimination luminance value set SLT falls within any of the four allowable ranges EA. If all three luminance values ​​LT fall within the allowable ranges EA, the luminance value comparison unit 64 determines that the appearance color of the component P imaged by the registration image acquisition unit 61 is the same as the appearance color of the component P imaged by the discrimination image acquisition unit 63. Furthermore, if one or more of the three luminance values ​​LT do not fall within the allowable ranges EA, the luminance value comparison unit 64 determines that the appearance color of the component P imaged by the registration image acquisition unit 61 is different from the appearance color of the component P imaged by the discrimination image acquisition unit 63.

[0056] For example, if the discrimination luminance value set SLT for the component P is (241, 114, 125), this falls within the allowable range EA, which allows a variation of ±5 from the reference luminance value set SLR for the red component PR (242, 112, 124). Therefore, the luminance value comparison unit 64 determines that the appearance color of the red component PR and the appearance color of the component P are the same red. Normally, the three luminance values ​​LT fall within one of the allowable ranges EA for each of the four components: red component PR, green component PG, blue component PB, and black component PK, but fall outside the other three. Therefore, the luminance value comparison unit 64 can identify the appearance color of the component P captured by the discrimination image acquisition unit 63 as red, green, blue, or black.

[0057] In exceptional cases, there are cases where the three brightness values ​​LT fall outside the four allowable ranges EA. In such cases, the brightness value comparison unit 64 cannot identify the appearance color of the component P captured by the discrimination image acquisition unit 63, making discrimination impossible. Furthermore, there may be cases where the brightness value comparison unit 64 is unable to make an appropriate discrimination due to an error in image processing, etc. In such cases, the correction unit 65 operates.

[0058] The correction unit 65 operates when at least one of an indistinguishable state and a misclassification occurs in the process of sequentially identifying each of the multiple components P. The occurrence of an indistinguishable state is detected by the brightness value comparison unit 64, and the occurrence of a misclassification is detected by a board inspection machine disposed downstream of the component mounting machine 10. The correction unit 65 corrects at least one of the reference brightness value LS and the allowable range EA of each of the four reference brightness value sets (SLR, SLG, SLB, SLK).

[0059] For example, one possible reason why the brightness value comparison unit 64 was unable to determine that the appearance color of the red component PR was red is that the multiple red components PR differed from one another, resulting in large variations in the shade of red. In this case, the brightness value LT of the red component PR under red illumination may vary beyond the allowable range EA of the reference brightness value set SLR for the red component PR. Therefore, the correction unit 65 corrects the allowable range EA to increase the variation in at least the R-axis direction of the reference brightness value set SLR for the red component PR. In other words, the correction unit 65 increases the allowable variation from the reference brightness value LS of 242 under red illumination in the reference brightness value set SLR from ±5 to ±8, for example.

[0060] It is also possible to imagine a case where the density of red in the appearance color changes with a change in the lot of the red component PR. In this case, the correction unit 65 corrects at least the reference brightness value LS under red illumination in the reference brightness value set SLR for the red component PR. This correction involves the registration image acquisition unit 61 and the registration unit 62 operating again after the lot of the red component PR is changed. For example, if the red in the appearance color of the red component PR changes to a lighter color, the registration image acquisition unit 61 and the registration unit 62 operate again to correct the reference brightness value LS under red illumination in the reference brightness value set SLR from 242 to 235. Note that the operation of the correction unit 65 may be partially assisted by an operator.

[0061] Furthermore, in the process of sequentially identifying each of the multiple components P, the correction unit 65 may correct at least one of the three reference luminance values ​​LS and the allowable range EA if at least one of the three luminance values ​​LT is biased toward the boundary of the allowable range EA. In other words, the correction unit 65 can perform correction when it is determined that the reference luminance value LS or the allowable range EA is inappropriate and there is room for improvement, even if no indistinguishable or erroneous identification has occurred. This makes it possible to prevent or suppress the occurrence of indistinguishable or erroneous identification.

[0062] 7. Identifying the Appearance Color of a Component P Using Two Types of Illumination Light Sources When the number of components P that have the same shape but different appearance colors is limited to three or less, their appearance colors can be identified using two types of illumination light sources, which allows for simplification of the functions of the registration image acquisition unit 61, the registration unit 62, the discrimination image acquisition unit 63, and the brightness value comparison unit 64. Here, we will explain a case where a component P is to be discriminated, and the distinction between the three types of components, red component PR, green component PG, and blue component PB, is unknown, and the appearance color is identified using red and green illumination light sources. It is also possible to use red and blue illumination light sources, or green and blue illumination light sources, in which case the illumination colors in the following explanation will be replaced appropriately.

[0063] The registration image acquisition unit 61 turns on one of the red and green illumination light sources of the component imaging camera 5 and captures images of each of the three types of components P whose appearance colors are known. In this way, the registration image acquisition unit 61 acquires a total of six sets of reference image data. For each of the three types of components P, the registration unit registers a reference luminance value set consisting of the reference luminance value LS2 in each predetermined region DS of the two reference image data in association with the known appearance color. The reference luminance value set is represented by (reference luminance value LS2 under red illumination, reference luminance value LS2 under green illumination).

[0064] The reference luminance value sets for each of the three types of parts P qualitatively tend to be as follows: the reference luminance value set for the red part PR is SLR2 = (high luminance value, low luminance value), the reference luminance value set for the green part PG is SLG2 = (low luminance value, high luminance value), and the reference luminance value set for the blue part PB is SLB2 = (low luminance value, low luminance value).

[0065] The discrimination image acquisition unit 63 turns on one of the red and green illumination light sources of the component imaging camera 5, captures an image of a component P (target component) whose appearance color is unknown, and acquires two sets of image data. The luminance value comparison unit 64 compares a discrimination luminance value set SLT2 (luminance value LT2 under red illumination, luminance value LT2 under green illumination) consisting of the luminance values ​​LT2 of the two sets of image data with three registered reference luminance value sets (SLR2, SLG2, SLB2) to determine the appearance color of the component P. In other words, the luminance value comparison unit 64 can determine the appearance color of the component P by selecting one of three options based on whether the luminance value LT2 under red illumination and the luminance value LT2 under green illumination are high or low. Note that, as in the case of using three types of illumination light sources, the luminance value comparison unit 64 may perform the discrimination using an allowable range represented by a square, a circle, or the like in a two-dimensional color coordinate system.

[0066] 8. Identifying the Appearance Color of a Component P Using One Type of Illumination Light Source When the number of components P that have the same shape but different appearance colors is limited to two, it is possible to identify the appearance color using one of three types of illumination light sources, thereby further simplifying the functions of the registration image acquisition unit 61, the registration unit 62, the discrimination image acquisition unit 63, and the brightness value comparison unit 64. Here, we will explain the case where the appearance color of a component P, in which it is not clear whether it is the two types of red component PR and green component PG, is the subject of discrimination.

[0067] The registration image acquisition unit 61 uses the component imaging camera 5 to capture an image of a red component PR whose exterior color is known, with an illumination light source whose red light source color is closest to the known exterior color turned on. This allows the registration image acquisition unit 61 to acquire a single piece of reference image data under red illumination. The registration unit 62 calculates a reference luminance value LS3 in a predetermined region DS of the reference image data and registers it in association with the known exterior color. The registration unit 62 calculates, for example, a reference luminance value LS3=242 and registers it in association with red.

[0068] The discrimination image acquisition unit 63 turns on the illumination light source of the same color as when the registration image acquisition unit 61 was operating, i.e., a red illumination light source, and captures an image of the component P (object to be discriminated) whose appearance color is unknown. This allows the discrimination image acquisition unit 63 to acquire a single image data set under red illumination. The brightness value comparison unit 64 can determine the brightness value LT3 in the predetermined region DS from the image data under red illumination. The brightness value comparison unit 64 compares the reference brightness value LS3 with the brightness value LT3 to discriminate the appearance color of the component P captured by the discrimination image acquisition unit 63.

[0069] Specifically, the luminance value comparison unit 64 determines whether the appearance color of the red component PR captured by the registration image acquisition unit 61 is the same as the appearance color of the component P captured by the discrimination image acquisition unit 63, based on whether the luminance value LT3 falls within an allowable range, which allows a predetermined variation from the reference luminance value LS3. For example, if a variation of ±5 is allowed for the reference luminance value LS3 = 242, the allowable range is 237 to 247. Here, when the luminance value LT3 = 240, the appearance color of the component P falls within the allowable range, so the luminance value comparison unit 64 determines that the appearance color of the component P is red and can identify it as a red component PR. On the other hand, when the luminance value LT3 = 73, the appearance color of the component P does not fall within the allowable range, so the luminance value comparison unit 64 determines that the appearance color of the component P is different from red and can identify the component P as a blue component PB, not a red component PR.

[0070] 9. Operation of the Substrate-Related Work System 1 Next, the operation of the substrate-related work system 1 will be described with reference to FIGS. 11 and 12 . Hereinafter, a case will be described in which reference image data and image data are acquired using the component imaging camera 5 of the component mounting machine 10, and the appearance color of the component P supplied from the tray 36 is identified. The components P to be identified are the four types of red components PR, green components PG, blue components PB, and black components PK described above. It is assumed that the mounting job data specifies that one of the four types will be mounted on the board K, and that the operator loads the tray 36 into the tray feeder 35 in accordance with the specification. The operation flow shown in FIG. 10 is primarily controlled by the control device 6, with some involvement of the operator. The following description also serves as a description of the component appearance color identification method of this embodiment. The supply of components from the tape feeder 32 is similar to the prior art, and therefore will not be described here.

[0071] In step S1 of FIG. 11, the control device 6 performs a pre-registration process. Details of the pre-registration process are shown in the sub-operation flow of FIG. 12. In step S21 of FIG. 12, the component imaging camera 5 is prepared for imaging. The operator sets the component mounting machine 10 to manual mode and places a tray 36 containing red components PR (or other types of components) in the tray feeder 35, preparing the tray for imaging. In the next step S22, a registration image acquisition process is executed. That is, the component imaging camera 5 images the red components PR under three conditions: red illumination, green illumination, and blue illumination. As a result, the registration image acquisition unit 61 acquires three sets of reference image data.

[0072] In the next step S23, the operator checks the appearance color of the component P, for example, checking the red color of the red component PR. The appearance color of the component P can be checked by the operator visually inspecting the actual component P, but in this embodiment, the check is performed using a composite image. More specifically, the achromatic luminance value of each pixel in the reference image data under red illumination is replaced with a red luminance value, and similarly, the luminance value under green illumination is replaced with a green luminance value, and the luminance value under blue illumination is replaced with a blue luminance value. Next, the three replaced reference image data are combined to create a composite image, which is displayed on the display unit 68.

[0073] The displayed composite image is a color image that represents the appearance color of the component P. Therefore, the operator can visually check the appearance color of the component P. The composite image displays the component P in an enlarged form, making it easier to check the appearance color. This reduces the operator's chances of making a mistake when checking the appearance color, even when the appearance colors of multiple types of components P are similar (e.g., red and orange). The operator inputs the confirmed appearance color through the input unit 67.

[0074] In the next step S24, the registration unit 62 calculates the average value of the pixel luminance values ​​of the plurality of pixels in the predetermined region DS for each of the three reference image data, and sets the calculated average value as the reference luminance value LS. In the next step S25, the registration step is executed. That is, the registration unit 62 associates the reference luminance value set SLR for the red part PR, which is composed of the three reference luminance values ​​LS, with the appearance color (red) input in step S23, and registers the result. In the next step S26, the control device 6 determines whether the operation for all types of parts P to be identified has been completed. This determination may be made in accordance with an input operation by the operator.

[0075] If the operation for all types of components P has not been completed, the sub-operation flow returns to step S21. In step S21 for the second time, the operator sets another tray 36 containing a different type of component P from the first one in the tray feeder 35, preparing it for imaging. Steps S21 to S26 are then repeated. After four repetitions, the registration process for associating the reference luminance value sets (SLR, SLG, SLB, SLK) of the red components PR, the green components PG, the blue components PB, and the black components PK with their appearance colors (red, green, blue, black) is completed. After this, the operation flow returns to step S2 in FIG. 11 .

[0076] In step S2, the operator switches the component mounting machine 10 to automatic operation mode and starts it. The component mounting machine 10 begins the component mounting operation. In the next step S3, the discrimination image acquisition process is executed. That is, the component imaging camera 5 moves above the tray 36 and captures an image of a component P (discrimination target) whose external color is unknown, under three conditions: red illumination, green illumination, and blue illumination. As a result, the discrimination image acquisition unit 63 acquires three sets of image data. In the next step S4, the discrimination image acquisition unit 63 determines whether the component P is the first component P to be picked from the tray 36, and branches the operation flow accordingly.

[0077] The first time step S4 is performed, it corresponds to the first component P because it is performed immediately after the component mounting machine 10 has started, and the operation flow proceeds to step S5. In step S5, the luminance value comparison unit 64 calculates the average pixel luminance value of each of the multiple pixels within the predetermined region DS for each of the three image data, and sets this as the luminance value LT. Furthermore, the luminance value comparison unit 64 creates a discrimination luminance value set SLT consisting of the three luminance values ​​LT. In the next step S6, a luminance value comparison process is performed. That is, the luminance value comparison unit 64 compares the discrimination luminance value set SLT with each of the four reference luminance value sets (SLR, SLG, SLB, SLK) registered in step S25 to determine the appearance color of the component P imaged by the discrimination image acquisition unit 63.

[0078] In the next step S7, the control device 6 determines whether the appearance color of the component P determined by the brightness value comparison unit 64 is correct. Specifically, the control device 6 determines whether the appearance color of the component P determined by the brightness value comparison unit 64 matches the appearance color corresponding to the type of component P specified in the mounting job data. Normally, the appearance color of the component P determined by the brightness value comparison unit 64 is correct, and the operation flow proceeds to step S9. In step S9, the control device 6 uses the three image data for confirmation purposes and obtains the position and orientation of the component P through image processing. In the next step S10, the component transfer device 4 picks up the component P and mounts it on the board K.

[0079] In the next step S11, the correction unit 65 determines whether or not correction of at least one of the reference brightness value LS and the tolerance range EA is necessary. In the first step S11, no correction is necessary, and the operation flow returns to step S3, where the operation for the second component P is performed. In the second step S4, since the component P does not correspond to the first component P, the operation flow proceeds to step S8. In other words, since the appearance color of the component P contained in the tray 36 has already been determined to be correct in the already executed step S7, steps S5, S6, and S7 are omitted from the second and subsequent steps. Furthermore, for the second and subsequent components P, image data for discrimination purposes is not required; it is sufficient to acquire image data for confirmation purposes. Therefore, in the second and subsequent steps S3, the discrimination image acquisition unit 63 may acquire one image data when one type of illumination light source is turned on, or one image data when three types of illumination light sources are turned on simultaneously.

[0080] However, in step S7, the appearance color of the component P determined by the brightness value comparison unit 64 may be incorrect. That is, an incorrect appearance color determination may occur when at least one of the reference brightness value set (SLR, SLG, SLB, SLK) and the allowable range EA is incorrect, or when the operator loads the wrong tray 36 into the tray feeder 35. In this case, the operation flow branches to step S8, where abnormality processing is executed. In the abnormality processing, the operator is notified and recovery work is performed. As part of the recovery work, the operation flow may proceed to step S12 (see the dashed arrow in FIG. 11).

[0081] Furthermore, in the process of repeating steps S3 to S11 for each of the multiple components P, it may be determined that the reference brightness value LS or the allowable range EA is inappropriate, even if no indistinguishability or discrimination error occurs. In this case, in step S11, the correction unit 65 determines that correction is required and advances the operation flow to step S12. In step S12, which follows step S8 or step S11, the correction unit 65 corrects at least one of the reference brightness value LS and the allowable range EA. Thereafter, the operation flow resumes from step S3.

[0082] In the embodiment of the substrate-related processing system 1 and component appearance color discrimination method, the component imaging camera 5 acquires achromatic image data by imaging the component P while illuminating at least one of a plurality of illumination light sources having different light source colors. The luminance values ​​(LT, LT2, LT3) in a predetermined region DS of the acquired image data vary depending on the combination of the light source color of the illumination light source that was illuminating when the component P was imaged and the appearance color of the component P. Therefore, the appearance color discrimination unit 60 can discriminate the appearance color of the component P based on the luminance values ​​(LT, LT2, LT3) and the light source color. This reduces the burden on the operator in discriminating the appearance color of the component P and contributes to labor savings. Furthermore, since the component imaging camera 5 can use a mark camera provided in a typical component mounting machine 10, costs are kept down.

[0083] 10. Applications and Modifications of the Embodiments It is also possible to identify a component P whose color differs from the multiple light source colors of the illumination light source, i.e., whose exterior color is a color other than the three primary colors of light. For example, a component P whose exterior color is yellow has a relatively high reflectance for red and green illumination and a relatively low reflectance for blue illumination. Therefore, the reference luminance value set SLY for the yellow component P has a relatively high reference luminance value LS for red illumination and green illumination, and a relatively low reference luminance value LS for blue illumination. Because the reference luminance value set SLY for the yellow component P is significantly different from the four reference luminance value sets (SLR, SLG, SLB, SLK) described above, the luminance value comparison unit 64 can identify the exterior color of the component P as yellow.

[0084] In addition, in the embodiment, the multiple light source colors can be other than the three primary colors of light, and the imaging method, discrimination method, etc. can be modified as appropriate according to various combinations of multiple light source colors and multiple appearance colors of the components P. Furthermore, unlike the embodiment, there is a tray 36 that stores multiple types of components P that have the same shape but different appearance colors, for example, a tray 36 in which multiple types of components P are manually stored in the component storage compartments 363. In this type of tray 36, the appearance color discrimination unit 60 performs a discrimination operation by treating all components P as targets for appearance color discrimination.

[0085] Furthermore, while the embodiment illustrates the component mounting machine 10 as a main component of the substrate-related processing system 1, the main component can also be a substrate inspection machine. More specifically, a typical substrate inspection machine includes a substrate transport device that transports and positions the substrate K on which components P are mounted, an inspection camera that captures images of the components P mounted on the positioned substrate K to obtain inspection image data, and an inspection control unit that processes the inspection image data to inspect the mounting state of the components P. In this substrate inspection machine, the inspection camera can be replaced with the component imaging camera 5 described in the embodiment, or the inspection camera can also serve as the component imaging camera 5. Furthermore, the inspection control unit can have the function of an appearance color discrimination unit 60 added to it. In this embodiment, the appearance color discrimination unit 60 has the function of discriminating the appearance color of the component P captured by the component imaging camera 5 to inspect the type of the component P. The embodiment can also be subject to various other applications and modifications.

[0086] 1: Board-related work system 10: Component mounting machine 2: Board transport device 3: Component supply device 36: Tray 4: Component transfer device 5: Component imaging camera 53: Incident light source 53R: Red light source 53G: Green light source 53B Blue light source 55: Lateral light source 55R: Red light source 55G: Green light source 55B Blue light source 59R: Red light source 59G: Green light source 59B: Blue light source 6: Control device 60: Appearance color discrimination unit 61: Registration image acquisition unit 62: Registration unit 63: Discrimination image acquisition unit 64: Brightness value comparison unit 65: Correction unit P: Component PR: Red component PG: Green component PB: Blue component PK: Black component AR: Imaging range DS: Predetermined area SLR: Reference brightness value set EA: Allowable range K: Board

Claims

1. A board-related operation system comprising: a component imaging camera capable of imaging a component by lighting at least one of a plurality of illumination light sources having different light source colors; and an appearance color discrimination unit that discriminates the appearance color of the component based on the luminance value in a predetermined area of ​​achromatic image data acquired by imaging with the component imaging camera and the light source color of the illumination light source that was lit when the component was imaged.

2. The board-related work system according to claim 1, wherein the appearance color discrimination unit comprises: an image acquisition unit for registration that uses the component imaging camera or another camera to capture an image of at least one type of component whose appearance color is known and acquires reference image data; a registration unit that associates and registers a reference luminance value in the specified area of ​​the reference image data with the known appearance color; an image acquisition unit for discrimination that uses the component imaging camera to capture an image of the component whose appearance color is unknown and acquires the image data; and a luminance value comparison unit that compares the luminance value of the image data with the registered reference luminance value and discriminates the appearance color of the component imaged by the image acquisition unit for discrimination.

3. The substrate-related work system according to claim 2, wherein the brightness value comparison unit determines the appearance color of the component based on whether the brightness value falls within an allowable range that allows a predetermined variation from the reference brightness value.

4. The substrate-related work system according to claim 3, wherein the appearance color discrimination unit has a correction unit that corrects at least one of the reference brightness value and the allowable range when at least one of an indistinguishability and a discrimination error occurs in the process of discriminating each of the plurality of components.

5. The substrate-related work system of claim 3, wherein the appearance color discrimination unit has a correction unit that corrects at least one of the reference brightness value and the tolerance range when the brightness value is biased toward the boundary of the tolerance range during the process of discriminating each of the multiple components.

6. The component imaging camera has three types of illumination light sources having light source colors of red, green, and blue, the registration image acquisition unit turns on the three types of illumination light sources of the component imaging camera one by one, images each of the plurality of components whose appearance colors are known, and acquires the three reference image data under red illumination, green illumination, and blue illumination, the registration unit registers, for each of the plurality of components, a reference luminance value set consisting of the three reference luminance values ​​of the three reference image data under red illumination, green illumination, and blue illumination, in association with the known appearance color, the discrimination image acquisition unit turns on the three types of illumination light sources of the component imaging camera one by one, images each of the components whose appearance colors are unknown, and acquires the three image data under red illumination, green illumination, and blue illumination, 3. The substrate-related operation system according to claim 2, wherein the luminance value comparison unit compares a discrimination luminance value set made up of three luminance values ​​of the three image data under red illumination, green illumination, and blue illumination with a plurality of registered reference luminance value sets to determine the appearance color of the component.

7. The substrate-related work system according to claim 6, wherein the brightness value comparison unit determines that the appearance color of the component imaged by the registration image acquisition unit is the same as the appearance color of the component imaged by the discrimination image acquisition unit when all of the brightness values ​​under red illumination, green illumination, and blue illumination fall within an acceptable range that allows a predetermined variation in the reference brightness value under red illumination, green illumination, and blue illumination, and determines that the appearance color of the component imaged by the registration image acquisition unit is different from the appearance color of the component imaged by the discrimination image acquisition unit when one or more of the brightness values ​​under red illumination, green illumination, and blue illumination do not fall within the acceptable range.

8. The board-related work system according to claim 2, wherein the component imaging camera has two or more of the three types of illumination light sources having light source colors of red, green, and blue, the registration image acquisition unit turns on the two types of illumination light sources of the component imaging camera one by one, and images each of the plurality of components whose appearance colors are known, to acquire the two reference image data, the registration unit registers, for each of the plurality of components, a reference luminance value set consisting of the reference luminance values ​​of each of the two reference image data in association with the known appearance color, the discrimination image acquisition unit turns on the two types of illumination light sources of the component imaging camera one by one, and images the components whose appearance color is unknown, to acquire the two image data, and the luminance value comparison unit compares a discrimination luminance value set consisting of the luminance values ​​of each of the two image data with the plurality of registered reference luminance value sets to determine the appearance color of the component.

9. The board-related work system according to claim 2, wherein the component imaging camera has three types of illumination light sources having light source colors of red, green, and blue; the registration image acquisition unit uses the component imaging camera to image at least one type of component whose appearance color is known, and acquires the reference image data by turning on the illumination light source having a first light source color that is closest to the known appearance color; the registration unit registers the reference luminance value of the reference image data in association with the known appearance color; the discrimination image acquisition unit turns on the illumination light source having the first light source color of the component imaging camera, and acquires the image data by capturing an image of the component whose appearance color is unknown; and the luminance value comparison unit compares the luminance value of the image data with the registered reference luminance value to determine the appearance color of the component.

10. A substrate-related operation system according to any one of claims 2 to 9, wherein the brightness value and the reference brightness value are average values ​​of the pixel brightness values ​​of a plurality of pixels in the predetermined region.

11. A substrate-related operation system according to any one of claims 1 to 9, wherein the component imaging camera images a position reference mark attached to the substrate positioned by the substrate transport device.

12. A substrate-related work system as described in any one of claims 1 to 9, wherein the appearance color discrimination unit operates on the first component picked from a tray containing a plurality of components of the same type, and omits discrimination operations on the second and subsequent components.

13. A substrate-related work system as described in any one of claims 1 to 9, comprising: a component imaging camera that images the components mounted on a substrate positioned by a substrate transport device; and an appearance color discrimination unit that discriminates the appearance color of the imaged component to inspect whether the type of the component is correct.

14. A substrate-related work system as described in any one of claims 1 to 9, wherein there are multiple types of components that have the same shape but different appearance colors, and the appearance color discrimination unit discriminates the appearance color of each of the multiple components imaged by the component imaging camera.

15. A method for distinguishing the appearance color of each of a plurality of parts that have the same shape but different appearance colors, using a part imaging camera that images the parts by turning on at least one type of lighting source among a plurality of types having different light source colors and acquires achromatic image data, comprising: a registration image acquisition step of using the part imaging camera to image at least one type of part whose appearance color is known and acquire reference image data, or to assume the reference image data without using the part imaging camera; a registration step of correlating and registering a reference luminance value in a predetermined area of ​​the reference image data with the known appearance color; a discrimination image acquisition step of using the part imaging camera to image the part whose appearance color is unknown and acquire image data; and a luminance value comparison step of comparing the luminance value in the predetermined area of ​​the image data with the registered reference luminance value to distinguish the appearance color of the part imaged in the discrimination image acquisition step.

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