JPH10312450A - Shape recognition device and shape recognition method - Google Patents

Abstract

An object of the present invention is to realize a shape recognizing device and a shape recognizing method capable of recognizing a shape of an object in a short time and with high reliability. A shape recognizing device and a shape recognizing method for recognizing a shape of an uneven portion of an object having an uneven portion formed on one surface side, wherein the object is fixedly held in a predetermined state, and the uneven portion of the object is fixed to a predetermined state. Irradiation light is applied to the uneven portion obliquely with respect to the first direction while photographing from the first direction, and the unevenness is reflected based on the amount of illumination light reflected by the uneven portion on the image obtained by imaging. By recognizing the shape of the part, it is possible to recognize the shape of the uneven part by utilizing the fact that the inclined surface of the uneven part shines brightest on one surface of the object, and thus the reliability is reduced in a short time A shape recognizing device and a shape recognizing method capable of recognizing the shape of a concavo-convex portion formed on one surface of an object at a high position can be realized.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[Table of Contents] The present invention will be described in the following order.

BACKGROUND OF THE INVENTION Problems to be Solved by the Invention Means for Solving the Problems Embodiments of the Invention (1) Principle (FIG. 1) (2) Configuration of Component Recognition Apparatus According to Embodiment (FIGS. 2 to 5) (3) Operation and Effect of Embodiment (4) Other Embodiment (FIG. 6) Effect of the Invention

[0003]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shape recognizing device and a shape recognizing method, and more particularly to a shape recognizing device and a recognizing method for discriminating types of electronic components having fine irregularities on a surface and mounting them on corresponding mounting objects. It is suitable.

[0004]

2. Description of the Related Art Conventionally, in this type of mounting apparatus, electronic components supplied one by one are fixedly held in a predetermined state, and illumination light is uniformly irradiated from one surface side. By taking a picture of one side using a camera arranged directly below, and calculating the change in the amount of reflected light of the electronic component (that is, the degree of shading of the image) on an image obtained based on the output of the camera, The type of the electronic component is determined based on the calculation result.

[0005]

However, according to the method of performing image processing of the change in the amount of reflected light obtained by uniformly irradiating the irradiation light on one surface of the electronic component as described above, it is possible to obtain a dark and light image over the entire image. The degree has to be calculated, and the degree of shading has only a slight difference, so that the calculation time is very long.

The present invention has been made in view of the above points, and has as its object to propose a shape recognizing apparatus and a shape recognizing method capable of recognizing the shape of an object in a short time and with high reliability.

[0007]

According to the present invention, there is provided a shape recognition apparatus for recognizing the shape of an uneven portion of an object having an uneven portion formed on one surface side, wherein the object is fixedly held in a predetermined state. Holding means, a photographing means for photographing the uneven portion of the object fixed and held by the holding means from a predetermined direction, and a concave and convex part of the object fixed and held by the holding means, from an oblique direction with respect to the optical axis of the photographing means. An illumination unit that emits illumination light, and a recognition unit that recognizes the shape of the uneven portion based on the amount of reflected light of the uneven portion of the uneven portion on the image obtained based on the output of the photographing unit. To

Further, according to the present invention, in a shape recognition method for recognizing a shape of an uneven portion of an object having an uneven portion formed on one surface side, the uneven portion of the object is fixed and held in a predetermined state. While photographing from the first direction, the projection / recess portion is irradiated with illumination light from an oblique direction to the first direction, and based on the amount of illumination light reflected on the inclined surface of the projection / recess portion on an image obtained by photography. Thus, the shape of the uneven portion is recognized.

In this way, when the illumination light is incident on one surface of the object in an oblique direction, the amount of light reflected on the inclined surface of the uneven portion is greater than the amount of light reflected on the other surface than the inclined surface. Since the number of the irregularities increases remarkably, it is possible to recognize the shape of the irregularities by utilizing the fact that the inclined surface of the irregularities shines brightest on one surface of the object.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings.

(1) Principle As shown in FIG. 1, one side 1A of the electronic component 1 fixed and held in a predetermined state is irradiated with illumination light L1 from an obliquely downward direction. Let us consider a case where an image is taken by a camera (not shown) arranged in the camera. In the following description, for the sake of simplicity, it is assumed that the optical axis K1 of the camera and the optical axis of the illumination light L1 are both in the same plane as the paper.

First, the angle θ with respect to one surface 1A of the electronic component 1 is set.
_{When the} illumination light L1 is irradiated in ₁ , the inclined surface 2A on the edge side (hereinafter referred to as the edge surface) 2A among the uneven portions 2 formed on the one surface 1A shines brightest, and the edge surface 2A
P ₁ given point on the A appears on the optical axis K1 of the camera. V normals standing for this time edge face 2A from the point P ₁
When 1, the incident angle theta ₂ of the optical axis of the irradiation light L1 with respect to the normal line V1 is a reflection angle theta ₃ identical angle of the optical axis K1 of the camera with respect to the normal V1.

On the other hand, when illuminating light L1 is applied to a flat portion other than the edge surface 2A in the concave / convex portion 2 of the electronic component 1, the light is reflected at an angle θ ₁ with respect to the flat portion. The optical axis also deviates by an angle (θ ₂ + θ ₃ ) from the optical axis K1 of the camera.

Therefore, the reflected light L2 reflected on the edge surface 2A (point P ₁ ) of the electronic component 1 is more likely to be reflected on the edge surface 2A.
Since the amount of light is much larger than the amount of light reflected by the plane portion other than A, the edge surface 2A of the electronic component 1 and the flat portion other than the edge surface 2A are displayed on an image obtained based on the output of the camera. The difference in the degree of shading from the included one surface 1A is clearly displayed.

(2) Configuration of Component Recognition Apparatus According to Embodiment In FIG. 2, reference numeral 10 denotes a component recognition apparatus to which the present invention is applied as a whole, and a control unit 12 for controlling the entire apparatus 10 is disposed inside a gantry 11. Have been. A guide member 14 is fixed on the gantry 11 via a column 13, and the guide member 14 has an arrow a along the guide member 14.
Movably in the right direction or the left direction opposite to the first direction.
Movable body 15 is attached.

At this time, the first movable body 15 is provided with a second movable body 16 so as to be movable upward (arrow b) and downward in the opposite direction, and rotatable in the rotational direction indicated by arrow r. At the lower end of the second movable body 16, a suction nozzle 17 connected to a negative pressure supply source (not shown) is provided.

Further, on the gantry 11, a first movable body 15
The component supply table 18 is disposed so as to face the distal end surface of the suction nozzle 17 when is located at the origin position set on one end side of the guide member 14.

As a result, in the component recognition apparatus 10, the control unit 12 drives the first and second movable bodies 15 and 16 and the above-described negative pressure supply at a predetermined timing, thereby The electronic component 1 supplied in a state where it is positioned on the component supply table 18 by a component supply mechanism that is not attached is suction-held at the tip of the suction nozzle 17, and is transported rightward along the guide member 14. .

For this reason, a camera 19 is arranged on the gantry 11 so that the electronic component 1 sucked and held by the suction nozzle 17 moving in the lateral direction can be photographed from below. Control unit 1 based on output
2 is capable of recognizing a state of the electronic component 1 sucked and held by the suction nozzle 17 (whether or not the electronic component 1 rotates).

In addition to the above configuration, in the case of the component recognition device 10, the first
To the eighth light source units 20A to 20H are symmetrically disposed at different angular positions substantially every 45 degrees so as to face each other.
In practice, as shown in FIG.
The first to eighth light source units 2 are located just above
0A to 20H are such that the electronic component 1 sucked and held by the suction nozzle 17 is looked up from different sides in a diagonally downward direction.
Irradiation light L10A to L10H can be applied to the edge surface 2A of the uneven portion 2 of the electronic component 1 at a predetermined incident angle with respect to the optical axis K10 of the camera 19.

The first to eighth light source units 20A to 20H
Is adapted to adjust the irradiation angles of the illumination lights L10A to L10H in the upward direction along the optical axis K10 of the camera 19 and in the downward direction opposite thereto. Therefore, the operator sets the irradiation angles of the first to eighth light source units 20A to 20H in advance according to the inclination of the edge surface 2A in the uneven portion 2 of the electronic component 1.

The first to eighth light source units 20A to 20H
Are control signals S2A to S2H supplied from the control unit 12.
Illuminating light L10A to L10H is flickered based on. At this time, the state of the one surface 1A side on which the uneven portion 2 of the electronic component 1 is formed is photographed by the camera 19,
This is supplied to the control unit 12 as an image signal S2.

The control unit 12 recognizes the state of the electronic component 1 based on the supplied image signal S2 as described above, and sends a control signal S3 to the drive mechanism of the second movable body 16 as necessary. Thus, the second movable body 16 is driven, and thus the state of the electronic component 1 is corrected.

Further, at this time, the control unit 12 outputs the image signal S2
By performing predetermined signal processing such as gray processing on the images obtained on the basis of the image signal S2, the illumination light L10A to L1 from the first to eighth light source units 20A to 20H.
0H, a brightly shining portion appearing on the edge surface 2A (that is, the sum of reflected light amounts on the edge surface 2A) (hereinafter referred to as a bright portion) is detected, and the shape of one surface 1A of the electronic component 1 is determined based on the detection result. recognize.

Here, in the control unit 12, the CPU (Central Processing Unit) 3 as shown in FIG.
0, and the CPU
30 sequentially performs predetermined processing according to the shape recognition processing procedure RT1 shown in FIG.
The shape of the concave / convex portion 2 is recognized.

When the electronic component 1 supplied to the component supply unit 18 is sucked to the tip of the suction nozzle 17,
The shape recognition processing procedure RT1 (FIG. 5) is started in step SP1, and in the next step SP2, a movement command signal S10 is given to a servo circuit 31 for a driving mechanism (not shown) of the first movable body 15, so that the suction nozzle 1
As shown in FIG. 3, the electronic component 1 sucked and held by
The first movable body 15 is moved so as to be located at a predetermined position (on the optical axis K10 of the camera 19) in the field of view 9.

Next, the CPU 30 proceeds to step SP3, waits for the electronic component 1 to be positioned at a predetermined position in the step SP3, and thereafter, the electronic component 1 is determined by the positioning completion signal S11 supplied from the servo circuit 31. When it is confirmed that the light source is positioned at the position, the process proceeds to step SP4 and the first to eighth light source units 20A are set.
To 20H switch circuits (hereinafter, referred to as first to eighth switch circuits) 32 to 39.
By sending 2 to S19, the first to eighth light source units 20A to 20H are turned on.

Subsequently, the CPU 30 proceeds to step SP5 and sends an image capture command signal S20 to the image capture section 40, whereby the image based on the image signal S2 supplied from the camera 19 (FIG. 3) to the image capture section 40. Data D
1 is fetched and stored in the frame memory 41.

Next, the CPU 30 proceeds to step SP6 and sends on / off signals S12 to S19 to the first to eighth switch circuits 32 to 39, whereby the first to eighth switches are sent.
In step SP7, the first to eighth light source units 20A to 20H are turned off based on the image data D1 stored in the frame memory 41.
Electronic component 1 by illumination light L10A to L10H from 0H
The bright portions appearing on one surface 1A are detected and stored.

Thereafter, the CPU 30 proceeds to step SP8, and can recognize the shape of the concavo-convex portion 2 of the electronic component 1 based on the bright portion appearing on the one surface 1A of the electronic component 1 stored in step SP7. It is determined whether or not. Obtaining a negative result in step SP7 means that the shape of the uneven portion 2 cannot be recognized from the bright portion appearing on one surface 1A of the electronic component 1, and at this time the CPU 30
Proceeds to step SP9, and proceeds to the first to eighth light source units 20A.
After selecting a predetermined number of light source units desired by the operator from .about.20H and turning on only the selected predetermined number of light source units, the process returns to step SP5.

Similarly, the above steps SP5-SP6-SP7-SP8 are repeated until the shape of the uneven portion 2 can be recognized based on the bright portion appearing on one surface 1A of the electronic component 1.
-The processing procedure of SP9-SP5 is repeated. When a positive result is obtained in step SP8 in this way, the CPU 30 recognizes the shape of the uneven portion 2 of the electronic component 1 and then performs
Proceeding to step SP10, the processing procedure ends.

(3) Operation and Effect According to Embodiment In the above configuration, when discriminating the type of the electronic component 1 in the component recognition device 10, first, the first to eighth light source units 2
0A to 20H are turned on, bright portions appearing on one surface 1A of each electronic component 1 are detected at this time, and the detection results are stored. Next, based on the stored bright portion appearing on one surface 1A of each electronic component 1, one surface 1A of the electronic component 1 is stored.
The shape of the concave and convex portion 2 formed on the surface is recognized.

In this case, in the component recognition device 10, the camera 1 is mounted on the edge surface 2 A of the uneven portion 2 of the electronic component 1.
The first to eighth light source units 20A to 20H are arranged in a ring shape so that the illumination lights L10A to L10H can be incident from different sides obliquely downward with respect to the 9 optical axis K10. Therefore, in this component recognition device 10, one surface 1A of the electronic component 1 is provided.
When the illumination light L10A to L10H is incident in an oblique direction, the amount of light reflected on the edge surface 2A of the concave and convex portion 2 is one surface 1 including a plane portion other than the edge surface 2A.
The amount is much larger than the amount of light reflected at A. As a result, the edge surface 2 of the uneven portion 2 of the one surface 1A of the electronic component 1 is formed.
The shape of the uneven portion 2 can be recognized by utilizing the fact that the bright portion appears remarkably in A.

Thus, since the shape of the concave / convex portion 2 can be recognized based on the bright portion that appears remarkably on the surface 1A of the electronic component 1, the illumination light is uniformly applied to the surface 1A of the electronic component 1 as in the related art. Compared to the method of performing image processing on the change in the amount of reflected light, the calculation time can be remarkably reduced, and the shape of the uneven portion 2 of the electronic component 1 can be recognized with high reliability.

According to the above configuration, one surface 1 of the electronic component 1
The first to eighth light source units 20A to 20H are annularly arranged so that A can be irradiated with the first to eighth illumination lights L10A to L10H obliquely from below with respect to the optical axis K10 of the camera 19,
By performing the shape recognition of the concavo-convex portion 2 based on the bright portion that appears remarkably on one surface 1A of the electronic component 1 by the illumination light L10A to L10H from the first to eighth light source units 20A to 20H, The shape of the surface 1A of the electronic component 1 can be recognized in a short time and with high reliability.

(4) Other Embodiments In the above embodiment, the present invention is applied to an electronic component 1
Although the case where the present invention is applied to the component recognition device 10 provided in a mounting device (not shown) for determining the type of the device has been described, the present invention is not limited to this. The present invention can be widely applied to a form recognition apparatus for various objects other than electronic components if the present invention is applied to shape recognition of the uneven portion on an object on which is formed.

For example, when a hundred-yen coin CN is applied as an object to the above-described component recognition device 10, as shown in FIG. 6, the surface CNA of the hundred-yen coin CN has an edge surface of a petal FL as an uneven portion. It can be seen that FLA shines brightest.

In the above-described embodiment, the function of recognizing the shape of the concave / convex portion 2 based on the output of the camera 19 as the photographing means is added to the control section 12 for controlling the entire component recognizing device 10. I mentioned the case,
The present invention is not limited to this, and the control unit 12 that controls the entire component recognition device 10 and the uneven portion 2 based on the output of the camera 19
The recognition means for recognizing the shape may be configured separately.

Further, in the above-described embodiment, as the illuminating means for irradiating the illumination light obliquely to the optical axis K10 of the camera 19, eight light sources arranged annularly with respect to the optical axis K10 of the camera 19 are used. Although the case where the units 20A to 20H are applied has been described, the present invention is not limited to this, and seven or less or nine or more light source units arranged so as to surround the optical axis K10 of the camera 19 may be applied. .

Further, in the above-described embodiment, the illumination light L10A to L10H of the first to eighth light source units 20A to 20H as illumination means is applied at a predetermined incident angle to the optical axis K10 of the camera 19. However, the present invention is not limited to this, and the optical axis K of the camera 19 of each of the illumination lights L10A to L10H is described.
The incident angle with respect to 10 may be set in accordance with the inclination angle of the edge surface 2A of the uneven portion 2 with respect to one surface 1A of the electronic component 1.

Further, in the above-described embodiment, a case where a structure comprising a support 13, a guide member 14, a first movable body 15, a second movable body 16 and a suction nozzle 17 is applied as a holding means. As described above, the present invention is not limited to this, and various holding means can be widely applied as long as the electronic component 1 can be fixedly held in a predetermined state.

[0042]

As described above, according to the present invention, in a shape recognizing device for recognizing the shape of an uneven portion of an object having an uneven portion on one surface side, a holding means for fixing and holding the object in a predetermined state; A photographing means for photographing the uneven portion of the object fixed and held by the holding means from a predetermined direction; and irradiating the uneven light of the object fixed and held by the holding means with illumination light obliquely to the optical axis of the photographing means. Illumination means and recognition means for recognizing the shape of the irregularities based on the amount of illumination light reflected on the irregularities on the image obtained based on the output of the photographing means. A shape that can recognize the shape of the uneven portion formed on one surface of the object in a short time and with high reliability by utilizing the fact that the inclined surface of the uneven portion shines brightest. Realize the recognition device It can be.

Further, according to the present invention, in a shape recognition method for recognizing the shape of an uneven portion of an object having an uneven portion formed on one surface side, the uneven portion of the object is fixed and held in a predetermined state, and the uneven portion of the object is fixed. While photographing from the first direction, the uneven portion is irradiated with illumination light from an oblique direction with respect to the first direction, and based on the amount of illumination light reflected on the uneven portion on the image obtained by the photographing, By recognizing the shape of the uneven portion, it is possible to perform shape recognition of the uneven portion by utilizing the fact that the inclined surface of the uneven portion shines most brightly on one surface of the object. It is possible to realize a shape recognizing method capable of recognizing the shape of an uneven portion formed on one surface of an object with high efficiency.

[Brief description of the drawings]

FIG. 1 is a plan view for explaining the principle of the present invention.

FIG. 2 is a perspective view showing an embodiment of the component recognition device according to the present invention.

FIG. 3 is a schematic diagram used for describing first to eighth light source units.

FIG. 4 is a block diagram showing a configuration of a control unit.

FIG. 5 is a flowchart showing a shape recognition processing procedure.

FIG. 6 is a schematic plan view showing an image display example to which the present invention is applied.

[Explanation of symbols]

1 ... electronic parts, 1A ... one side, 2 ... uneven parts, 2A ...
... edge surface, 10 ... part recognition device, 11 ... stand, 1
2 ... control unit, 13 ... support, 14 ... guide member, 1
5 ... first movable body, 16 ... second movable body, 17 ...
Suction nozzle, 18 ... Part supply stand, 19 ... Camera, 2
0A to 20H: first to eighth light source units, L10A to L1
0H: first to eighth illumination lights, K10: optical axis, 30
... CPU, 31 ... servo, 32-39 ... first to eighth
, An image capturing unit, 41, a frame memory.

Claims (8)

[Claims] 1. A shape recognizing device for recognizing a shape of an uneven portion of an object having an uneven portion formed on one surface side, comprising: holding means for fixing and holding the object in a predetermined state; A photographing means for photographing the irregularities of the object from a predetermined direction; and an illumination for irradiating the irregularities of the object fixedly held by the holding means with illumination light obliquely to an optical axis of the photographing means. Means, and recognition means for recognizing the shape of the uneven portion based on the amount of reflected light of the illumination light on the inclined surface of the uneven portion on an image obtained based on the output of the photographing means. Shape recognition device. 2. The illuminating means sets an incident angle of the illuminating light with respect to an optical axis of the photographing means in accordance with an inclination angle of an inclined surface of the uneven portion with respect to the one surface of the object. The shape recognition device according to claim 1. 3. The illuminating means irradiates the illumination light onto the uneven portion of the object from a plurality of different directions, and the recognizing means adjusts the illumination light from each direction on the inclined surface of the uneven portion of the object. The shape recognition device according to claim 1, wherein the shape of the uneven portion is recognized based on a total amount of reflected light of the illumination light. 4. The shape recognition apparatus according to claim 3, wherein said illumination means emits said illumination light only from a predetermined number of directions selected from said plurality of different directions. 5. A shape recognizing method for recognizing a shape of an uneven portion of an object having an uneven portion formed on one surface side, comprising: a first step for fixing and holding the object in a predetermined state; A second step of irradiating the uneven portion with illumination light obliquely with respect to the first direction while photographing the uneven portion from a predetermined first direction; A third step of recognizing the shape of the uneven portion based on the amount of reflected light of the illumination light on the inclined surface of the uneven portion. 6. In the second step, an incident angle of the illumination light with respect to the first direction is set according to an inclination angle of the inclined surface of the uneven portion with respect to the one surface of the object. The shape recognizing method according to claim 5. 7. In the second step, the illumination light is applied to the uneven portion of the object from a plurality of different directions. In the third step, each of the above-mentioned uneven surfaces on the inclined surface of the object is illuminated. The shape recognizing method according to claim 5, wherein the shape of the uneven portion is recognized based on a sum of reflected light amounts of the illumination light from directions. 8. The shape recognition method according to claim 7, wherein in the second step, the illumination light is emitted only from a predetermined number of directions selected from the plurality of different directions.