Patent Description:
There are work machines, e.g., electronic component mounters, which include a camera for capturing an image of a circuit board on which electronic components are mounted (e.g., Patent Literature <NUM>). The electronic component mounter described in Patent Literature <NUM> includes a control section for controlling the electronic component mounter, and a camera section having an imaging element and the like. The camera section is connected to the control section via a camera cable. The camera section includes a CPU, which is a processing circuit, a RAM, a flash memory, and the like, in addition to the imaging element. The CPU stores the operation history data of the camera section itself in the RAM, and upon receiving a storage request from the control section, writes the operation history data in the flash memory. Patent Literature <NUM> discloses an image sensing system wherein a camera head and a camera control unit are separately configured and connected with a cable. The camera head comprises a lens, filters, a charge coupled device (CCD) and a microprocessor that controls the operation of the camera head. The camera control unit is controlled by its own microprocessor and further comprises a digital signal processor and an image codec for converting the signals form CCD in the camera head into image data, which are then outputted as video signals. In order to reduce the number of signal lines in the cable between the camera head and the camera control unit, the signals from the CCD are time-multiplexed with control data from the camera head, the control data including information on zooming, exposure and gain, which is inputted by the microprocessor controlling the camera head. Patent Literature <NUM> discloses an obstacle detection display module for displaying information of an image recognition unit. Video images from a wide-angle camera are corrected for lens distortion, angle of view, inclination of the image, etc., in an image corrector portion by conducting a video processing on the basis of image correction information which is stored in a memory within the image corrector portion. The image correction information may be calculated by using a calibration pattern in advance. Patent Literature <NUM> discloses a camera system including a camera which performs data communication with external equipment such as a personal computer. The data communicated from the personal computer to the camera includes a shutter release command and the setting of photometry, exposure mode and shutter speed. Once the setting is completed, the values as set may be stored in a memory of the camera, from where they may be extracted by the personal computer and preserved in a memory device of the personal computer. Patent Literature <NUM> discloses an image reception device which stores identification information identifying an image capture device or a lens module or information regarding performance of the image capture device, such as pixel count or sensitivity. The communication between the two devices may be by cable or wirelessly.

Non-Patent Literatures <NUM> and <NUM> each describe a camera for an individual user, the camera being composed of a control section and a camera section. The camera section is unitized by incorporating a processing circuit, which performs image processing and the like, in addition to a lens and an imaging element. The processing circuit performs processing for the lens and the imaging element which are unitized.

In the camera sections described above, for example, even if the camera section is of the same standard, an error occurs in the mounting position of the lens or the imaging element due to a limit of accuracy in the manufacturing process, and characteristics unique to the device, such as lens distortion, occur. For this reason, it is necessary for the processing circuit and the control section to perform lens distortion correction processing and the like using a unique value corresponding to the characteristics of the camera section.

Recently, among cameras used in industrial equipment such as FA (factory automation) equipment, there are so-called detachable-head-type cameras in which a camera head unit, including an imaging element and a lens, is detachable from a control section for controlling the camera head unit. In this detachable-head-type camera, the camera head unit is configured to be detachable with respect to the control unit, so that the camera head unit is exchangeable. In the detachable-head-type camera, unlike the above-described cameras, the camera head unit does not include an image processing section, and pixel data output from the imaging element of the camera head unit is output to the control unit. In such a detachable-head-type camera, when the camera head unit is exchanged, it is desired that the correction processing be appropriately performed with a unique value corresponding to the camera head unit after the exchange.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a detachable-head-type camera which, when a camera head unit is exchanged, can perform correction processing with a unique value corresponding to the camera head unit after the exchange, and to provide a work machine including the detachable-head-type camera.

The detachable-head-type camera disclosed in this specification includes: a camera head unit including an imaging element, a lens configured to cause light from outside to form an image on the imaging element, and a first storage device configured to store a unique value corresponding to characteristics unique to at least one of the imaging element or the lens; a connection member, being connected to the camera head unit, which is configured to transmit pixel data that is photoelectrically converted by the imaging element; and an image data generation section, being detachably connected to the camera head unit via the connection member, which is configured to acquire the unique value from the first storage device, configured to generate image data to be subjected to the image processing in an image processing unit from the pixel data input from the imaging element via the connection member, the image processing unit being connected to the image data generation section via a camera cable to perform image processing, and configured to output the image data to the image processing unit via the camera cable, wherein the unique value is used for correction processing on the image data performed by at least one of the image data generation section or the image processing unit, and the first storage device is configured to store at least one of lens distortion correction information or optical axis deviation information as the unique value of the lens.

For example, when the camera head unit is exchanged, the image data generation section can acquire a unique value from the first storage device of a camera head unit after the exchange. Then, the image data generation section and the image processing unit can perform appropriate correction processing or the like according to the characteristics of the camera head unit after the exchange based on the acquired unique value.

An embodiment will be described below with reference to the drawings. First, electronic component mounter (hereinafter, sometimes abbreviated as "mounter") <NUM> will be described as an example of a work machine including a detachable-head-type camera.

<FIG> is a perspective view showing the overall configuration of mounter <NUM>. As shown in <FIG>, mounter <NUM> is configured by arranging two sets of the same device adjacent to each other. Therefore, in the following description, only one set will be described. Mounter <NUM> is configured by assembling board conveyance device <NUM>, component supply device <NUM>, component transfer device <NUM>, component camera <NUM>, display device <NUM>, main body <NUM>, and the like to base <NUM>. As shown in upper right XYZ coordinate axes of <FIG>, the horizontal width direction (the direction from the upper left to the lower right in <FIG>) of mounter <NUM> is referred to as the X-axis direction, the horizontal longitudinal direction (the direction from the upper right to the lower left in <FIG>) of mounter <NUM> is referred to as the Y-axis direction, and a vertical height direction is referred to as the Z-axis direction.

Board conveyance device <NUM> is provided in the middle area in the longitudinal direction (Y-axis direction) of mounter <NUM>. In board conveyance device <NUM>, first conveyance device 12A and second conveyance device 12B are arranged in parallel, and two boards K are carried out in the X-axis direction by operating the devices in parallel. First conveyance device 12A includes, for example, a pair of guide rails 12C and 12D which are arranged on base <NUM> in parallel in the X-axis direction, and a pair of conveyor belts (not shown) which are guided by respective guide rails 12C and 12D and carry boards K while mounting the boards thereon. First conveyance device 12A is provided with a clamp device (not shown) that pushes up board K, which is conveyed to the component mounting position, from base <NUM> side and positions the board. Second conveyance device 12B is configured in the same manner as first conveying device 12A.

Component supply device <NUM> is a feeder type supply device, and is provided at the front portion in the longitudinal direction of mounter <NUM> (at the left front side in <FIG>). Component supply device <NUM> is configured by arranging multiple cassette type feeders 13A in parallel on base <NUM>. Each cassette type feeder 13A includes main body 13B detachably attached to base <NUM> and supply reel 13C loaded in the rear portion of main body 13B (the front side of mounter <NUM>). Supply reel 13C is a medium for supplying electronic components and is wound with carrier tape (not shown) holding a predetermined number of components at regular intervals. Main body 13B draws out the leading end of the carrier tape to component supply section 13D provided at the distal end of main body 13B (the center side of mounter <NUM>), with different electronic components being supplied from different carrier tapes.

Component transfer device <NUM> is a so-called XY robot type device that can move in the X-axis direction and the Y-axis direction, and is disposed from the rear portion in the longitudinal direction of mounter <NUM> (the right rear side in <FIG>) to the upper portion of component supply device <NUM> at the front portion of the mounter. Component transfer device <NUM> is configured by XY-axis head drive mechanism 14A (most of which is hidden in <FIG>), mounting head <NUM>, and the like. XY-axis head drive mechanism 14A drives mounting head <NUM> in the X-axis direction and the Y-axis direction.

Mounting head <NUM> is driven by XY-axis head drive mechanism 14A, and has suction nozzle 18A for picking up a component by suction using negative pressure and mounting the component. Mounting head <NUM> is configured to raise and lower suction nozzle 18A in the Z-axis direction, and rotate the suction nozzle 18A about the Z-axis. Mounting head <NUM> has detachable-head-type camera <NUM> as an imaging device for capturing an image of positioned board K. Detachable-head-type camera <NUM> includes camera head unit 21A and camera control unit 21B.

Component camera <NUM> is an imaging device which is disposed on base <NUM> in the vicinity of component supply section 13D of component supply device <NUM>, and captures an image of the component holding state of suction nozzle 18A of component transfer device <NUM>. Display device <NUM> is disposed on the front upper portion of upper cover <NUM> and displays various types of information. Main body <NUM> is built into base <NUM> and is connected to above-described board conveyance device <NUM>, component supply device <NUM>, component transfer device <NUM>, and component camera <NUM>. Main body <NUM> exchanges information with board conveyance device <NUM> and the like as appropriate, and issues commands to control the individual devices in an integrated manner.

Next, the configurations of detachable-head-type camera <NUM> and main body <NUM> included in the above-described mounter <NUM> will be described in detail with reference to <FIG>. As shown in <FIG>, main body <NUM> includes image processing unit <NUM>, storage device <NUM>, and main body power supply <NUM>. Image processing unit <NUM> performs image processing on image data GD captured by detachable-head-type camera <NUM>. Image processing unit <NUM> stores temporary data during image processing and data after the image processing in storage device <NUM>. Storage device <NUM> includes, for example, an optical drive device such as a hard disk device, RAM (Random Access Memory), and the like. Main body power supply <NUM> functions as a drive source for supplying power to detachable-head-type camera <NUM>.

Camera control unit 21B of detachable-head-type camera <NUM> is detachably connected to main body <NUM> via camera cable <NUM>. Camera control unit 21B performs transmission and reception of various types of signals to and from main body <NUM> and transmission of power to the main body via camera cable <NUM>. Camera control unit 21B includes image data generation section <NUM>, non-volatile memory <NUM>, and power supply <NUM>. Image data generation section <NUM> is configured by logical blocks of programmable logic devices, for example, an FPGA (Field Programmable Gate Array). Image data generation section <NUM> may be configured by, for example, dedicated hardware such as an ASIC.

Image processing unit <NUM> of main body <NUM> and image data generation section <NUM> of camera control unit 21B perform communication conforming to, for example, the CameraLink standard through camera cable <NUM>. Here, the CameraLink standard is one of the communication standards defining a data transmission method for industrial digital cameras, and is a serial communication standard for transmitting data for image data GD or the like by LVDS (Low Voltage Differential Signaling: small-amplitude differential transmission method). The specifications of camera cable <NUM> conform to, for example, the base configuration CameraLink standard, and signal lines for transferring image data GD, command data CMD, and a control signal (such as trigger signal TG) are provided in camera cable <NUM>. Camera cable <NUM> for transferring image data GD is not limited to the cable conforming to the CameraLink standard, and, for example, a cable of the USB3. <NUM> standard, a LAN cable, or the like may be used. The communication method for transferring image data GD may be a communication method conforming to the GigEVision (registered trademark) standard or the CoaXPress (registered trademark) standard.

Image processing unit <NUM> performs low-speed serial communication (for example, communication conforming to the RS232C standard) through image data generation section <NUM> and camera cable <NUM>. Image processing unit <NUM> outputs command data CMD to image data generation section <NUM> via serial communication. Image processing unit <NUM> reads unique value D1 stored in non-volatile memory <NUM>, which will be described later, using command data CMD.

Non-volatile memory <NUM> is, for example, flash memory, and stores programs such as drivers for controlling imaging element <NUM> and lens section <NUM> by image data generation section <NUM>, configuration data for constructing image data generation section <NUM>, and the like. Power supply <NUM> supplies the power supplied from main body power supply <NUM> of main body <NUM> to non-volatile memory <NUM> and image data generation section <NUM>.

Camera control unit 21B is connected to camera head unit 21A via dedicated cable <NUM>. Dedicated cable <NUM> is, for example, a flexible printed board. Camera control unit 21B performs transmission and reception of various types of signals to and from camera head unit 21A and transmission of power with the camera head unit via dedicated cable <NUM>. Power supply <NUM> of camera control unit 21B supplies power to camera head unit 21A via dedicated cable <NUM>.

Camera head unit 21A includes lens section <NUM>, imaging element <NUM>, A/D converter <NUM>, and non-volatile memory <NUM>. Lens section <NUM> is configured by lens 61A, a lens holding member (not shown), and the like, and causes light from board K, which is a subject, to form an image on imaging element <NUM>. Imaging element <NUM> is, for example, an image sensor such as a CCD or a CMOS. Imaging element <NUM> photoelectrically converts the light imaged on the imaging area by lens section <NUM>, and outputs the conversion result as an analog imaging signal to A/D converter <NUM>. A/D converter <NUM> converts the imaging signal input from imaging element <NUM> into pixel data PD of a digital signal, and outputs pixel data PD to image data generation section <NUM> via dedicated cable <NUM>.

Image data generation section <NUM> outputs control signal CD to A/D converter <NUM> in response to input of trigger signal TG from image processing unit <NUM>. As trigger signal TG, for example, CC1 among four types of camera control signals (CC1, CC2, CC3, and CC4) defined in CameraLink standard can be used. As control signal CD, a signal having the same content as trigger signal TG may be used, or a signal converted in accordance with the standard of camera head unit 21A or the like may be used.

A/D converter <NUM> outputs pixel data PD to image data generation section <NUM> in response to input of control signal CD from image data generation section <NUM>. Image data generation section <NUM> generates image data GD from acquired pixel data PD according to the communication standard of camera cable <NUM> and the processing method of image processing unit <NUM>. Image data generation unit <NUM> generates one frame of image data GD by adding header information to pixel data PD in accordance with, for example, the communication standard or the like. Image data generation section <NUM> outputs image data GD to image processing unit <NUM> via camera cable <NUM>.

Note that image data generation section <NUM> may perform control other than the acquisition processing of pixel data PD, for example, initial setting of imaging element <NUM>, using control signal CD. Image data generation section <NUM> may adjust the number of pixels of pixel data PD by changing the number of imaging elements <NUM>, which output the pixel values, using control signal CD. Alternatively, image data generation section <NUM> may adjust the gain of imaging element <NUM> using control signal CD. Image data generation section <NUM> may acquire pixel data PD in advance before inputting trigger signal TG from image processing unit <NUM>. For example, image data generation section <NUM> may acquire pixel data PD from A/D converter <NUM> in advance and store pixel data PD in non-volatile memory <NUM>, and may generate image data GD from stored pixel data PD in response to the input of trigger signal TG and output image data GD to image processing unit <NUM>.

Non-volatile memory <NUM> (first storage device) of camera head unit 21A is, for example, flash memory. In non-volatile memory <NUM>, unique value D1 is stored as data to be referred to when correction processing of image data GD is performed by image data generation section <NUM> or image processing unit <NUM>. Here, unique value D1 is, for example, data indicating characteristics unique to imaging element <NUM>, such as defective pixel information or vertical stripe correction information. Unique value D1 is data indicating characteristics unique to lens section <NUM> such as lens distortion correction information or optical axis deviation information (including characteristics determined by the assembly error of lens 61A and imaging element <NUM>). The first storage device <NUM> is configured to store at least one of lens distortion correction information or optical axis deviation information as the unique value D1 of the lens 61A.

The defective pixel information is coordinate information of a pixel (defective point) which becomes white (high brightness) or black (low brightness) regardless of the amount of light received by imaging element <NUM>. In the present embodiment, for example, image data generation section <NUM> of camera control unit 21B corrects the defective point. Based on the coordinate information of the defective pixel information, image data generation section <NUM> determines the coordinates of the peripheral pixels to be used for correction of the pixel value of the defective point. Then, image data generation section <NUM> corrects the pixel value of the defective point using the pixel values of the peripheral pixels.

The vertical stripe correction information (line correction information) is offset information for variations in brightness of each vertical line of imaging elements <NUM> which are arranged in a matrix. In the present embodiment, for example, image processing unit <NUM> of main body <NUM> performs vertical stripe correction. Based on the vertical stripe correction information, image processing unit <NUM> corrects the pixel values of image data GD input from image data generation section <NUM> by the brightness set for each vertical line. Note that image processing unit <NUM> may correct variations in brightness for each horizontal line instead of or in addition to the vertical lines.

The lens distortion correction datum is information indicating the magnitude of the positional deviation of the light, incident on imaging element <NUM>, caused by the distortion of lens 61A, and is information indicating the magnitude of the deviation between the image to be originally captured and the image actually captured. The lens distortion is caused by an error in the mounting position of lens 61A or imaging elements <NUM>. In the present embodiment, for example, image processing unit <NUM> corrects the distortion (positional deviation) for each pixel by offsetting the pixel position for each pixel based on the lens distortion correction information.

The optical axis deviation correction information is information indicating the magnitude of the deviation between the center pixel of imaging elements <NUM> and the position of the center of an image. In other words, the optical axis deviation correction information is information indicating an amount by which an image appearing on imaging elements <NUM> deviates from the assumed position due to the relative positional relationship between lens 61A and imaging elements <NUM> and variations in the manufacturing accuracy of lens 61A. In the present embodiment, for example, image processing unit <NUM> corrects the positional deviation of an image by offsetting each position of the entire image of image data GD based on the optical axis deviation correction information.

Unique value D1 is not limited to the above-described defective pixel information or the like. For example, unique value D1 may be a look-up table. Here, the look-up table is a correspondence table for correcting a difference between a desired brightness and the brightness of an image (gamma correction). For example, image processing unit <NUM> may perform data conversion corresponding to the look-up table for each pixel of image data GD to correct the pixel value. Which of image data generation section <NUM> and image processing unit <NUM> performs each correction processing using unique value D1 described above can be changed as appropriate. For example, the sharing of processing may be determined according to the processing capabilities of image data generation section <NUM> and image processing unit <NUM>, the number of pixels of imaging element <NUM>, and the like.

Next, an example of the operations of the acquisition processing of unique value D1 and the correction processing by image processing unit <NUM> and image data generation section <NUM> will be described with reference to the flowchart shown in <FIG>. Image processing unit <NUM> and image data generation section <NUM> of the present embodiment perform the acquisition processing of unique value D1 when detachable-head-type camera <NUM> is powered and activated (for example, at the timing of activating mounter <NUM>).

First, in step (hereinafter simply referred to as "S") <NUM> shown in <FIG>, main body power supply <NUM> of main body <NUM> supplies power to power supply <NUM> of camera control unit 21B upon activation of mounter <NUM>. When power is supplied to power supply <NUM>, detachable-head-type camera <NUM> (image data generation section <NUM>) starts activation processing. Power supply <NUM> supplies power to imaging elements <NUM>, A/D converter <NUM>, and non-volatile memory <NUM> of camera head unit 21A.

Next, image data generation section <NUM> acquires unique value D1 from non-volatile memory <NUM> of camera head unit 21A in accordance with the activation processing (S12). Image data generation section <NUM> stores acquired unique value D1 in non-volatile memory <NUM> of camera control unit 21B.

Next, image processing unit <NUM> and image data generation section <NUM> perform communication establishment processing via camera cable <NUM> (S13). Image processing unit <NUM> requests image data generation section <NUM> to establish communication using command data CMD defined by the CameraLink standard, and detects the establishment of communication by inputting responded command data CMD.

Next, when the communication establishment is detected, image processing unit <NUM> outputs command data CMD requesting necessary unique value D1 to image data generation section <NUM> (S14). In the present embodiment, as described above, image processing unit <NUM> performs the vertical stripe correction, the lens distortion correction, and the optical axis deviation correction. To this end, image processing unit <NUM> requests unique value D1, for vertical stripe correction and the like, from image data generation section <NUM>. In response to the request from image processing unit <NUM>, image data generation section <NUM> outputs unique value D1, corresponding to the request, to image processing unit <NUM>. Image processing unit <NUM> stores unique value D1 input from image data generation section <NUM> in storage device <NUM>. The timing at which image processing unit <NUM> and image data generation section <NUM> acquire unique value D1 is not limited to the timing at which detachable-head-type camera <NUM> is activated. For example, image processing unit <NUM> and image data generation section <NUM> may appropriately acquire necessary unique value D1 in accordance with the timing at which the correction processing is started. Image data generation section <NUM> may be set to output unique value D1 to image processing unit <NUM> each time acquiring unique value D1 from camera head unit 21A, regardless of the request from image processing unit <NUM>.

Next, image processing unit <NUM> (main body <NUM>) performs image capturing of board K by detachable-head-type camera <NUM> at each stage of the mounting operation by mounter <NUM> (see <FIG>). At this time, image processing unit <NUM> outputs trigger signal TG to image data generation section <NUM> and instructs image-capturing (S15).

In response to trigger signal TG input from image processing unit <NUM>, image data generation section <NUM> acquires pixel data PD from imaging element <NUM> (A/D converter <NUM>) of camera head unit 21A and generates image data GD. Image data generation section <NUM> performs the correction processing on generated image data GD using unique value D1 (defective pixel information in present embodiment) stored in non-volatile memory <NUM> (S16). Image data generation section <NUM> outputs corrected image data GD to image processing unit <NUM> via camera cable <NUM>.

Image processing unit <NUM> performs the correction processing on image data GD input from image data generation section <NUM> (S17). Image processing unit <NUM> performs the vertical stripe correction and the like, and stores corrected image data GD in storage device <NUM>. In this manner, image processing unit <NUM> and image data generation section <NUM> perform the acquisition processing of unique value D1 and the correction processing of image data GD. Then, main body <NUM> performs detection of the edge of board K, detection of the error in the holding position of board K, detection of the mark described on board K, and the like using corrected image data GD, and adjusts the position and the like of mounting head <NUM> in accordance with the detection result, so that the mounting operation can be appropriately performed. The order of the processing shown in <FIG> is an example, and can be changed as appropriate. For example, image data generation section <NUM> may perform the establishment processing of the communication via camera cable <NUM> (S13) before the acquisition processing of unique value D1 (S12) or in parallel with the processing of S12.

When camera head unit 21A or camera control unit 21B is exchanged, image processing unit <NUM> and image data generation section <NUM> can appropriately acquire unique value D1 and perform appropriate correction processing by performing the processing described above.

More specifically, <FIG> shows, as an example, a case where camera head unit 21A is exchanged. In order to distinguish camera head unit 21A, imaging element <NUM>, lens 61A, and unique value D1 after exchange from those before the exchange, camera head unit 121A, imaging element <NUM>, lens 161A, and unique value D11 are illustrated.

Here, camera head unit 21A and camera control unit 21B are exchanged when a failure occurs or when the unit is changed to a unit having different performance (such as the telephoto performance of lens 61A or the processing performance of image data generation section <NUM>). In detachable-head-type camera <NUM> of the present embodiment, camera control unit 21B and camera head unit 21A are configured to be detachable from dedicated cable <NUM> and camera cable <NUM>. Therefore, for example, when only camera head unit 21A fails, it is possible to exchange only the failed unit individually. As a result, it is possible to reduce the burden of the exchange operation by an operator and reduce the cost required for the operation.

In the case where camera head unit 21A is exchanged, even if camera head unit 21A before exchange and camera head unit 121A after the exchange are products of the same standard, unique value D11 after the exchange differs from unique value D1 before the exchange due to the difference in the characteristics unique to the device (for example, the difference in the position of a defective point) between lens 61A before the exchange and lens 161A after the exchange. Therefore, it is necessary for image data generation section <NUM> and the like to acquire unique value D11 corresponding to characteristics unique to lens 161A and imaging element <NUM> from camera head unit 121A after the exchange. In addition, even when camera control unit 21B is exchanged, camera control unit 21B after the exchange needs to acquire unique value D1 of camera head unit 21A connected thereto in order to perform appropriate correction processing.

On the other hand, image processing unit <NUM> and image data generation section <NUM> of the present embodiment perform processing for acquiring unique value D1 (unique value D11) at the time of activation as described above. Therefore, even when camera head unit 21A and camera control unit 21B are exchanged, image processing unit <NUM> and image data generation section <NUM> can perform the appropriate correction processing using unique value D11 corresponding to the characteristics of camera head unit 121A after the exchange by acquiring unique value D11 after the exchange at the time of activation.

Detachable-head-type camera <NUM> of the above-described embodiment includes camera head unit 21A, dedicated cable <NUM> (connection member), and image data generation section <NUM>. Camera head unit 21A includes imaging element <NUM>, lens 61A for causing light from the outside to form an image on imaging element <NUM>, and non-volatile memory <NUM> (first storage device) for storing unique value D1 corresponding to characteristics unique to at least one of imaging element <NUM> and lens 61A. More specifically, non-volatile memory <NUM> is configured to store at least one of lens distortion correction information or optical axis deviation information as the unique value D1 of the lens 61A. Dedicated cable <NUM> is connected to camera head unit 21A and transmits pixel data PD photoelectrically converted by imaging element <NUM>. Image data generation section <NUM> is detachably connected to camera head unit 21A via dedicated cable <NUM>, acquires unique value D1 from non-volatile memory <NUM>, is connected via camera cable <NUM> to image processing unit <NUM> for performing the image processing, generates image data GD that can be subjected to the image processing in image processing unit <NUM> from pixel data PD input from imaging element <NUM> via dedicated cable <NUM>, and outputs image data GD to image processing unit <NUM> via camera cable <NUM>. Unique value D1 is used for the correction processing on image data GD performed by at least one of image data generation section <NUM> or image processing unit <NUM>.

According to this configuration, camera head unit 21A and image data generation section <NUM> are detachably connected via dedicated cable <NUM> (connection member). Camera head unit 21A includes, in addition to imaging element <NUM> and lens 61A, non-volatile memory <NUM> (first storage device) for storing unique value D1. Image data generation section <NUM> acquires unique value D1 from camera head unit 21A via dedicated cable <NUM> (S12 of <FIG>). Image data generation section <NUM> generates image data GD from pixel data PD acquired from camera head unit 21A. Image processing unit <NUM> is connected to image data generation section <NUM> and performs the image processing on image data GD. At least one of image data generation section <NUM> or image processing unit <NUM> executes the correction processing on image data GD using unique value D1. As a result, when camera head unit 21A is exchanged, image data generation section <NUM> can acquire unique value D11 from non-volatile memory <NUM> of camera head unit 121A after the exchange (see <FIG>). Then, image data generation section <NUM> and image processing unit <NUM> can perform the correction processing appropriately according to the characteristics of camera head unit 121A after the exchange based on acquired unique value D11.

Further, image data generation section <NUM> further includes non-volatile memory <NUM> (second storage device), acquires unique value D1 from non-volatile memory <NUM> (first storage device) when camera head unit 21A is activated, and stores acquired unique value D1 in non-volatile memory <NUM>.

According to this configuration, when camera head unit 21A is activated, image data generation section <NUM> acquires unique value D1 from non-volatile memory <NUM> of camera head unit 21A and stores the unique value in non-volatile memory <NUM>. As a result, image data generation section <NUM> can acquire unique value D11 of camera head unit 121A after the exchange in accordance with the exchange of camera head unit 21A (see <FIG>).

Further, in response to the request from image processing unit <NUM>, image data generation section <NUM> outputs unique value D1 corresponding to the request to image processing unit <NUM> via camera cable <NUM> (S14 of <FIG>).

Consequently, image processing unit <NUM> can appropriately acquire unique value D1, required in the correction processing for image data GD, from image data generation section <NUM>.

Further, non-volatile memory <NUM> (first storage device) stores information of at least one of the defective pixel information or the line correction information as unique value D1 of imaging element <NUM>.

According to this configuration, image data generation section <NUM> and image processing unit <NUM> can perform correction of the defective point by the peripheral pixels, based on the defective pixel information. In addition, image data generation section <NUM> and the like can correct variations in brightness of the vertical lines and horizontal lines of imaging element <NUM> based on the line correction information.

Further, non-volatile memory <NUM> (first storage device) stores information of at least one of the lens distortion correction information or the optical axis deviation information as unique value D1 of lens 61A.

According to this configuration, image data generation section <NUM> and image processing unit <NUM> can correct the positional deviation of light incident on imaging element <NUM>, caused by the lens distortion, based on the lens distortion correction information. Further, image data generation section <NUM> and the like can correct the positional deviation of the entire image, caused by the relative position of lens 61A with respect to imaging element <NUM>, based on the optical axis deviation information.

In the above embodiment, a camera for capturing an image of board K is employed as the detachable-head-type camera, but the configuration is not limited to this. For example, component camera <NUM> for capturing an image of the component suction state of suction nozzle 18A may be configured by a detachable-head-type camera. In the above embodiment, camera head unit 21A and camera control unit 21B are configured to be detachable from dedicated cable <NUM>, but the configuration is not limited to this. For example, camera head unit 21A may be configured to be detachable from camera control unit 21B by connecting or disconnecting a cable fixed to camera head unit 21A to or from a cable fixed to camera control unit 21B.

In the above embodiment, non-volatile memory <NUM> stores both unique value D1 (lens distortion correction information, etc.) corresponding to the characteristics of lens 61A and unique value D1 (defective pixel information, etc.) corresponding to the characteristics of imaging element <NUM>, but may be configured to store only one of these unique values, as long as the first storage device <NUM> is configured to store at least one of lens distortion correction information or optical axis deviation information as the unique value D1 of the lens 61A. Camera head unit 21A and camera control unit 21B transmit pixel data PD and unique value D1 via one dedicated cable <NUM>, but the respective data may be transmitted via different communication cables.

Further, electronic component mounter <NUM> for mounting electronic components on board K is employed as the work machine in the above embodiment, but the configuration is not limited to this, and work machines for various other uses can be employed. For example, the work machine may be a work machine (robot for work) that performs an assembling operation of a secondary battery (such as a solar cell or a fuel cell), or may be a screen printing device that moves a squeegee along a mask and prints printing agent on a printing target member. The work machine is not limited to a machine for mounting boards or assembling components, and may be a machine tool for performing, for example, a cutting operation.

Claim 1:
A detachable-head-type camera (<NUM>) comprising:
a camera head unit (21A, 121A) including an imaging element (<NUM>, <NUM>), a lens (61A, 161A) configured to cause light from outside to form an image on the imaging element (<NUM>, <NUM>), and a first storage device (<NUM>) configured to store a unique value (D1, D11) corresponding to characteristics unique to at least one of the imaging element (<NUM>, <NUM>) or the lens (61A, 161A);
a connection member (<NUM>), being connected to the camera head unit (21A, 121A), which is configured to transmit pixel data (PD) that is photoelectrically converted by the imaging element (<NUM>, <NUM>); and
an image data generation section (<NUM>), being detachably connected to the camera head unit (21A, 121A) via the connection member (<NUM>), which is configured to acquire the unique value (D1, D11) from the first storage device (<NUM>), configured to generate image data (GD) to be subjected to the image processing in an image processing unit (<NUM>) from the pixel data (PD) input from the imaging element (<NUM>, <NUM>) via the connection member (<NUM>), the image processing unit (<NUM>) being connected to the image data generation section (<NUM>) via a camera cable (<NUM>) to perform image processing, and configured to output the image data (GD) to the image processing unit (<NUM>) via the camera cable (<NUM>), wherein
the unique value (D1, D11) is used for correction processing on the image data (GD) performed by at least one of the image data generation section (<NUM>) or the image processing unit (<NUM>), and
the first storage device (<NUM>) is configured to store at least one of lens distortion correction information or optical axis deviation information as the unique value (D1, D11)