Patent Description:
A component mounter executes a mounting process of mounting components supplied by a bulk feeder or the like on a board. Bulk feeders are used to supply components accommodated in a bulk state. As shown in Patent Literature <NUM>, there is a type of bulk feeder configured to supply components in a bulk state in which the components are scattered to a supply area where a suction nozzle can pick up the components. In a mounting process, the component mounter executes image processing for recognizing a supply state of components by a bulk feeder, and controls the pickup operation of the components by a suction nozzle based on the results of the image processing. Patent Literature <NUM> is prior art under Article <NUM>(<NUM>) EPC and discloses a component mounter that includes a component supply device equipped with a bulk feeder for supplying multiple components in a bulk state to a supply region for the components, a camera configured to image the supply region, an image processing section configured to execute image processing for distinguishing a region of at least a part of the component from a region of a background in image data acquired through imaging by the camera based on brightness, and a state recognition section configured to recognize a supply state of the component based on at least one of an area and a shape of a component region occupied by at least the part of the component in the image data on which the image processing has been executed. Technological background is disclosed in Patent Literatures <NUM> and <NUM>.

In a PP cycle (a pick-and-place cycle) which is repeatedly executed by a component mounter in a mounting process, there may be a case in which multiple components are picked up by multiple suction nozzles supported on a mounting head from a supply area of a bulk feeder. For this mounting process, it is desired to improve the efficiency and precision of the image processing for recognizing the supply state of components by the bulk feeder in the supply area.

An object of the present description is to provide a component mounter configured to deal with a configuration in which multiple components are supplied in a bulk state so as to improve the efficiency and precision of recognition processing of a supply state which is executed in the PP cycle.

Preferred embodiments are in the dependent claims.

With such a configuration, since the predetermined search range which is determined based on the position and the feature amount of the reference feature is targeted for search when searching for the candidate feature portion, the efficiency of search processing can be improved. Further, since the determination on whether the candidate feature portion belongs to the identical component together with the reference feature portion is made based on the feature amount or the positional relationship with the reference feature portion on the multiple candidate feature portions, an erroneous recognition of an identical component can be prevented from being made based on feature portions of a different component. As a result, the precision of the recognition processing of a supply state can be improved.

Component mounter <NUM> makes up a production line for producing board products together with multiple types of board work machines including, for example, another component mounter <NUM>. The board work machines which make up the production line can include a printer, an inspection device, a reflow furnace, and the like.

As shown in <FIG>, component mounter <NUM> includes board conveyance device <NUM>. Board conveyance device <NUM> sequentially conveys board <NUM> in a conveyance direction, and positions board <NUM> in a predetermined position in the mounter.

Component mounter <NUM> includes component supply device <NUM>. Component supply device <NUM> supplies components to be mounted on board <NUM>. Component supply device <NUM> is such that feeders <NUM> are mounted individually in multiple slots <NUM>. Feeder <NUM> adopts, for example, a tape feeder in which a carrier tape accommodating a large number of components is fed to be moved so as to supply the components to be picked up. In addition, feeder <NUM> adopts bulk feeder <NUM> which supplies components accommodated therein in a bulk state (in a loose state in which individual components are oriented irregularly) so that the components can be picked up. Bulk feeder <NUM> will be described in detail later.

Component mounter <NUM> includes component transfer device <NUM>. Component transfer device <NUM> transfers a component supplied by component supply device <NUM> onto a predetermined mounting position on board <NUM>. Component transfer device <NUM> includes head driving device <NUM>, moving body <NUM>, mounting head <NUM>, and suction nozzles <NUM>. Head driving device <NUM> moves moving body <NUM> in horizontal directions (an X-direction and a Y-direction) by a linear motion mechanism. Mounting head <NUM> is detachably fixed to moving body <NUM> by a clamp member, not shown, and is provided to be movable in the horizontal directions within the mounter.

Mounting head <NUM> supports multiple suction nozzles <NUM> in such a manner as to be rotated, and raised and lowered. Suction nozzle <NUM> is a holding member configured to pick up and hold component <NUM> supplied by feeder <NUM>. Suction nozzle <NUM> picks up a component supplied by feeder <NUM> using negatively pressurized air supplied thereto. As a holding member to be attached to mounting head <NUM>, a chuck or the like can be adopted which holds a component by gripping the component.

Component mounter <NUM> includes part camera <NUM> and board camera <NUM>. Part camera <NUM> and board camera <NUM> are digital imaging devices having imaging elements such as CMOS. Part camera <NUM> and board camera <NUM> execute imaging based on control signals and send out image data acquired through the imaging. Part camera <NUM> is configured to image a component held by suction nozzle <NUM> from below. Board camera <NUM> is provided on moving body <NUM> in such a manner as to be movable in the horizontal directions together with mounting head <NUM>. Board camera <NUM> is configured to image board <NUM> from above.

In addition to imaging a front surface of board <NUM> as an imaging target, board camera <NUM> can image various types of devices as long as they are situated within a movable range of moving body <NUM> as imaging targets. For example, in the present embodiment, as shown in <FIG>, board camera <NUM> can image supply area As, to which bulk feeder <NUM> supplies components <NUM>, by capturing it in visual field Vc thereof. In this way, board camera <NUM> can additionally be used to image different imaging targets in order to acquire image data for use in various types of image processing.

Component mounter <NUM> includes control device <NUM>, as shown in <FIG>. Control device <NUM> is mainly made up of CPU, various types of memories, and a control circuit. As shown in <FIG>, control device <NUM> includes storage section <NUM>. Storage section <NUM> is made up of an optical drive device such as a hard disk device, a flash memory, or the like. Storage section <NUM> of control device <NUM> stores various types of data such as a control program used for controlling a mounting process and the like. The control program denotes mounting positions, mounting angles, and a mounting order of components which are mounted on board <NUM> in the mounting process.

Control device <NUM> executes recognition processing for recognizing a held state of each of components which are held individually by the multiple holding members (suction nozzles <NUM>). Specifically, control device <NUM> performs image processing on image data acquired through imaging by part camera <NUM> and recognizes a position and an angle of each component with respect to a reference position of mounting head <NUM>. In addition to part camera <NUM>, control device <NUM> may include, for example, a head camera unit which is provided integrally on mounting head <NUM> or the like so as to perform image processing on image data acquired as a result of the head camera unit imaging a component from a side, below or above.

Control device <NUM> controls mounting operations of components by mounting head <NUM> based on the control program to thereby execute the mounting process. Here, the mounting process includes a process of repeating a PP cycle (a pick-and-place cycle) including a pickup operation and a mounting operation multiple time. The "pickup operation" described above is an operation in which a component supplied by component supply device <NUM> is picked by suction nozzle <NUM>.

In the present embodiment, in executing the pickup operation described above, control device <NUM> controls the operation of component supply device <NUM> including bulk feeder <NUM>, and executes recognition processing for recognizing a supply state of component <NUM> by bulk feeder <NUM> in supply area As. The "recognition processing for recognizing a supply state" described above includes processing for recognizing whether there exists component <NUM> that can be picked up in supply area As, and, in the case that there exists such component <NUM>, recognizing a position and an angle of that component <NUM>. Then, control device <NUM> controls the operation of mounting head <NUM> in a pickup operation based on the result of the recognition processing of the supply state.

In addition, the "mounting operation" described above is an operation of mounting a picked up component at a predetermined mounting angle in a predetermined mounting position on board <NUM>. In the mounting process, control device <NUM> controls the operation of mounting head <NUM> based on pieces of information which are output from various types of sensors, the results of the image processing, the control program, and the like. As a result, the positions and angles of multiple suction nozzles <NUM> supported by mounting head <NUM> are controlled. A detailed configuration of control device <NUM> will be described later.

Bulk feeder <NUM> is equipped on component mounter <NUM> and functions as at least a part of component supply device <NUM>. Unlike the tape feeder, bulk feeder <NUM> does not use a carrier tape, and therefore has an advantage in that carrier tape loading, used-up tape collection, and the like can be omitted. On the other hand, since bulk feeder <NUM> supplies components <NUM> accommodated therein in a bulk state in which components <NUM> are not aligned as on a carrier tape, a supply state of component <NUM> may affect a pickup operation by the holding member such as suction nozzle <NUM>.

Specifically, as shown in <FIG> and <FIG>, when components <NUM> are so close to be in touch with each other or are stacked on each other (a state in which components <NUM> are superposed on each other in an up-down direction), or component <NUM> is in an upright state in which a width direction constitutes an up-down direction thereof in supply area As, such components <NUM> cannot be a pickup target. In addition, since components <NUM> are supplied to supply area As while being oriented irregularly, component mounter <NUM> executes image processing for recognizing a supply state of component <NUM> (a pickup possibility of component <NUM> and an orientation of component <NUM> capable of being picked up). The supply state recognition processing will be described in detail later.

As shown in <FIG>, bulk feeder <NUM> includes feeder main body <NUM> having a flat box shape. When set in slot <NUM> of component supply device <NUM>, feeder main body <NUM> is fed electrically via connector <NUM> and can communicate with control device <NUM>. A component case <NUM> for accommodating multiple components <NUM> in a bulk state is detachably attached to feeder main body <NUM>.

Bulk feeder <NUM> regulates the number or amounts of components <NUM> to be discharged from component case <NUM> using discharge device <NUM>. As a result, multiple components <NUM> which are discharged from component case <NUM> are supplied to track member <NUM>, which will be described later (refer to <FIG>). Bulk feeder <NUM> includes cover <NUM> which is detachably attached to a front upper portion feeder body <NUM>. Cover <NUM> prevents components <NUM> which are being conveyed on a conveyance path of track member <NUM>, which will be described later, from scattering to the outside of bulk feeder <NUM>. As shown in <FIG>, pair of left and right circular reference marks <NUM>, which indicate a reference position of bulk feeder <NUM>, are affixed to an upper surface of cover <NUM>.

Bulk feeder <NUM> includes track member <NUM>, which is provided on the front upper portion of feeder main body <NUM>. Track member <NUM> is formed in such a manner as to extend in a front-rear direction (a left-right direction in <FIG>) of feeder main body <NUM>. Pair of upwardly protruding side walls <NUM> are formed on both edges of track member <NUM> in a width direction (an up-down direction in <FIG>) thereof. Pair of side walls <NUM> surround a circumferential edge of the conveyance path of track member <NUM> together with distal end portion <NUM> thereof so as to prevent the departure of components <NUM> which are being conveyed along the conveyance path. Circular reference mark <NUM>, indicating a reference position of bulk feeder <NUM>, is affixed to an upper surface of distal end portion <NUM>.

Track member <NUM>, which is configured as described above, has supply area As formed thereon. This "supply area As" is an area where components <NUM> are to be supplied in a bulk state. In other words, supply area As is an area where components <NUM> can be picked up by suction nozzles <NUM> supported on mounting head <NUM> and is contained in a movable range of mounting head <NUM>. The "conveyance path" of track member <NUM> is a path along which components <NUM> pass from an area where components <NUM> are supplied from component case <NUM> to supply area As.

Bulk feeder <NUM> includes vibration device <NUM>, which is provided in feeder main body <NUM>. Vibration device <NUM> applies vibrations to track member <NUM> so as to vibrate track member <NUM> so that an external force directed toward the front or rear, and upwards is applied to components <NUM> on the conveyance path. Vibration device <NUM> applies a predetermined vibration to track member <NUM>, so that multiple components <NUM> discharged from component case <NUM> onto track member <NUM> can be conveyed to supply area As via the conveyance path.

Bulk feeder <NUM> includes feeder control section <NUM> for executing a supply process of components <NUM> to supply area As. Feeder control section <NUM> controls the operation of vibration device <NUM> in response to a command from the outside, and supplies components <NUM> to supply area As by so conveying components <NUM> on the conveyance path. Feeder control section <NUM> may cause from time to time at least a part of components <NUM> in supply area As to retreat back to component case <NUM> therefrom, for example, in order to allow an appropriate amount of components <NUM> to remain in supply area As.

Referring to <FIG>, a detailed configuration of control device <NUM> of component mounter <NUM> will be described. In <FIG>, an area having a color of black or close to black is shown as hatched as a matter of convenience. Storage section <NUM> stores image data <NUM> acquired through imaging by board camera <NUM> (hereinafter, also referred to as "pre-processing image data <NUM>"), and image data <NUM> on which image processing has been executed (hereinafter, also referred to as "post-processing image data <NUM>").

In <FIG>, extraction area 61A in pre-processing image data <NUM> is shown in an enlarged fashion on a left-hand side. In <FIG>, extraction area 61A in post-processing image data <NUM> is shown in an enlarged fashion on a right-hand side. <FIG> shows extraction area 62A in post-processing image data <NUM> shown in <FIG> in a more enlarged fashion. Details of pre-processing image data <NUM> and post-processing image data <NUM> will be described later.

As shown in <FIG>, control device <NUM> includes image processing section <NUM>. Image processing section <NUM> executes predetermined image processing on pre-processing image data <NUM> (refer to <FIG>) acquired by imaging supply area A as an imaging target by board camera <NUM>. The "predetermined image processing" described above includes image processing for distinguishing areas of multiple feature portions on component <NUM> from areas other than the multiple feature portions in post-processing image data <NUM> based on brightness.

Here, the multiple "feature portions" on component <NUM> are portions indicating features which are formed spaced apart from each other on component <NUM>. For example, in the case that component <NUM> has a rectangular chip shape, pair of terminals <NUM> provided individually at both ends of main body portion <NUM> can be regarded as multiple feature portions. In general, main body portion <NUM> is covered with, for example, a resin film having no conductivity. Pair of terminals <NUM> are formed of a conductive metal.

With this configuration, a visual difference is provided between main body portion <NUM> and pair of terminals <NUM>. The brightness of main body portion <NUM> becomes lower than the brightness of terminals <NUM> in image data <NUM> acquired by imaging component <NUM> configured as described above. In the present embodiment, each of pair of terminals <NUM> constituting multiple feature portions on component <NUM> has the same shape and the same angle with respect to main body portion <NUM>. In addition to pair of terminals <NUM> described above, three or more electrodes, marks, or the like formed in predetermined positions on component <NUM> can constitute feature portions of component <NUM>.

When the image processing described above is executed, areas of multiple feature portions of component <NUM> are distinguished from areas other than the multiple feature portions (in the case that the feature portions are pair of terminals <NUM>, main body portion <NUM> of component <NUM> and background <NUM>) based on brightness in post-processing image data <NUM>. Specifically, in the present embodiment, image processing section <NUM> executes binarization processing on pre-processing image data <NUM> using a threshold which is set to a value between the brightness of main body portion <NUM> and the brightness of pair of terminals <NUM> of component <NUM>.

The image processing described above is not necessarily required to visually distinguish between the two areas but is intended to improve the recognition capability of state recognition section <NUM>, which will be described later, of recognizing the two areas. Therefore, in the image processing, image processing section <NUM> may increase or decrease the brightness values of the two areas or may color the two areas depending on the positions or the like thereof. In addition, the binarization processing need not necessarily distinguish a white area from a black area but may process so that the brightnesses of the two areas are set to their average brightnesses or predetermined brightness values, for example.

In addition, in the binarization processing, the threshold can be set as required in accordance with various manners of recognition processing of a supply state by state recognition section <NUM>. This is because, depending on types of components <NUM>, in one type of component <NUM>, a front need be distinguished from the back, and in another type of component <NUM>, a certain adjustment need be executed due to similar brightnesses of component <NUM> and background <NUM> in pre-processing image data <NUM>. For example, image processing section <NUM> may acquire a corresponding threshold from threshold information in which thresholds are set in advance for types of components <NUM> which are supplied by bulk feeder <NUM>, and execute binarization processing as image processing.

More specifically, components <NUM> include a type of component <NUM> like a capacitor whose front and back surfaces do not have to be distinguished from each other in function. With this type of component <NUM>, there will be no problem whether the front surface or the back surface is oriented upwards as long as the component is mounted in such a manner that a thickness direction constitutes an up-down direction and that pair of terminals <NUM> are positioned on lands of board <NUM>. In contrast to this, components <NUM> include a type of component <NUM> like a resistor component whose front and back surfaces are required to be distinguished from each other in function. With this type of component <NUM>, when the component is mounted on board <NUM>, either the front surface or the back surface is required to be oriented upwards.

With the type of component <NUM> whose front and back surfaces are required to be distinguished from each other, there is a visual difference between front surface <NUM> and back surface <NUM> of main body portion <NUM>. Specifically, the visual difference described above is caused by a color or characters or symbols written to indicate predetermined information, as a result of which the visual difference so caused is represented as a brightness difference in pre-processing image data <NUM>. In the present embodiment, that a color closer to black than that of back surface <NUM> or a pattern is applied to front surface <NUM>. The brightness of front surface <NUM> of main body portion <NUM> becomes lower than the brightness of back surface <NUM> of main body portion <NUM> in image data <NUM> acquired by imaging component <NUM> like the one described above.

The following description will be made on the assumption that there is a visual difference between front surface <NUM> and back surface face <NUM>. In <FIG>, visual differences among front surface <NUM>, back surface <NUM>, and side surface <NUM> are shown as different dotted patterns as a matter of convenience. It should be noted that side surface <NUM> of main body portion <NUM> is visually the same as or similar to front surface <NUM> or back surface <NUM> but has a different area from those of front surface <NUM> and back surface <NUM>. As a result, in the case that component <NUM> stands in an upright state in such a manner that a width direction constitutes an up-down direction thereof, there may be a case in which the color of side surface <NUM> becomes the same as the color of front surface <NUM> in pre-processing image data <NUM>, as shown in <FIG>.

An upper surface of track member <NUM>, which constitutes supply area As which functions as background <NUM> of image data <NUM>, is colored in a color closer to black than a color of any portion of component <NUM>. That is, in the case of component <NUM> whose front surface and back surface are required to be distinguished from each other, image processing section <NUM> executes the binarization processing using the threshold set to be between the brightness of front surface <NUM> and the brightness of back surface <NUM> so as to determine which of front surface <NUM> and back surface <NUM> of component <NUM> constitutes an upper surface thereof in post-processing image data <NUM>. In the present embodiment, after having executed the image processing, image processing section <NUM> maintains an original state of pre-processing image data <NUM> and stores post-processing image data <NUM> in storage section <NUM> separately therefrom.

As shown in <FIG>, control device <NUM> includes state recognition section <NUM>. State recognition section <NUM> recognizes a supply state of component <NUM> in supply area As based on a feature amount of each of multiple feature portions in image data <NUM> resulting from execution of the image processing. The "feature amount of each feature portion" described above includes at least one of a shape and an angle of the relevant feature portion. Here, state recognition section <NUM> recognizes a position of each component <NUM> as a supply state of component <NUM> in supply area As.

Then, in the case that component <NUM> is of a type in which a front surface and a back surface need to be distinguished from each other, state recognition section <NUM> first recognizes multiple feature portions (pair of terminals <NUM>) which are distinguished from areas other than the feature portions (main body portion <NUM> and background <NUM>) by the image processing executed by image processing section <NUM>. Here, in post-processing image data <NUM>, component <NUM> in which multiple feature portions are not distinguished from main body portion <NUM> is such that main body portion <NUM> and pair of terminals <NUM> form a closed rectangular, as shown in <FIG>. For this, state recognition section <NUM> recognizes that back surface <NUM> constitutes an upper surface of relevant component <NUM> and hence excludes it from recognition targets for position.

On the other hand, in the case that feature portions are distinguished from main body portion <NUM> and background <NUM>, state recognition section <NUM> recognizes that front surface <NUM> constitutes the upper surface of relevant component <NUM> and further attempts to recognize a position thereof. With the image processing described above, however, since multiple feature portions belonging to identical component <NUM> are separated in post-processing image data <NUM>, multiple feature portions belonging to identical component <NUM> are required to be determined appropriately from a large number of feature portions shown separated in post-processing image data <NUM>. Then, state recognition section <NUM> adopts a configuration, which will be described below.

Here, one of multiple feature portions in image data <NUM> resulting from execution of the image processing is defined as a reference feature portion <NUM>. Reference feature portion <NUM> is set arbitrarily or according to a preset rule. For example, a feature portion which is detected first, a feature portion lying near a predetermined position, or the like can be set as reference feature portion <NUM>. State recognition section <NUM> recognizes whether a section having a brightness higher than the threshold constitutes a feature portion, and when it recognizes that the brighter section constitutes the feature portion, state recognition section <NUM> recognizes an orientation of the section recognized as the feature portion in pre-processing image data <NUM>.

Let's assume that for example, the threshold for image processing is set to a value between the brightness of front surface <NUM> and the brightness of back surface <NUM> of main body portion <NUM> in pre-processing image data <NUM>. That is, in image data <NUM>, the brightness increases in the order of background <NUM>, front surface <NUM> of main body portion <NUM>, the threshold, back surface <NUM> of main body portion <NUM>, and terminal <NUM>. When image processing section <NUM> executes image processing (binarization processing) using the threshold set as described above, post-processing image data <NUM> is generated as shown in <FIG>.

Specifically, in post-processing image data <NUM>, back surface <NUM> and terminals <NUM> of main body portion <NUM> become white, while front surface <NUM> of main body portion <NUM> and background <NUM> become black. That is, in the case that front surface <NUM> of main body portion <NUM> constitutes the upper surface of component <NUM> which constitutes a feature portion, only terminals <NUM> of relevant component <NUM> become white. In addition, in the case that back surface <NUM> of main body portion <NUM> constitutes the upper surface of component <NUM>, main body portion <NUM> and terminals <NUM> of relevant component <NUM> become white. In the case that side surface <NUM> constitutes the upper surface of component <NUM>, although results may differ depending on types of components <NUM>, in the present embodiment, let's assume that only terminals <NUM> become white as with the case in which front surface <NUM> of main body portion <NUM> constitutes the upper surface, as is shown in <FIG>.

State recognition section <NUM> determines whether component area <NUM>, which is colored white in image data <NUM> resulting from execution of the image processing, constitutes one of pair of terminals <NUM> of component <NUM> whose upper surface is made up of front surface <NUM> based on at least one of an area and shape of relevant component area <NUM>. The "component area" described above is an area on the feature portion side of component <NUM> which is distinguished from background <NUM> based on brightness in post-processing image data <NUM> resulting from execution of the image processing.

When executing recognition processing of a supply state using the area of component area <NUM>, state recognition section <NUM> first calculates an area of a portion of component area <NUM> which is occupied by one terminal <NUM>. For this calculation, as shown in <FIG>, state recognition section <NUM> may calculate an area of component area <NUM> based on the number of pixels <NUM> which make up component area <NUM> in post-processing image data <NUM>. Specifically, state recognition section <NUM> counts the number of white pixels <NUM> which are collected together to thereby calculate an area of a portion of component area <NUM> through approximation based on the number of pixels <NUM> so counted.

State recognition section <NUM> compares the area calculated in the way described above with an area of terminal <NUM> (shown by dashed lines in <FIG>) which is determined for each type of component <NUM> and determines whether relevant component area <NUM> is appropriate for the feature portion. Specifically, in the case that the area of component area <NUM> falls within a range of an allowable error, state recognition section <NUM> recognizes that component area <NUM> constitutes terminal <NUM>. For example, in the case that the surface area of component area <NUM> is smaller or larger than the range of the allowable error, it is assumed that component <NUM> stands in an upright state, only a portion of lower terminal <NUM> of multiple superposed components <NUM> is imaged, or multiple terminals <NUM> staying adjacent to each other are imaged as a single terminal.

Further, state recognition section <NUM> recognizes a shape of terminal <NUM> which constitutes the feature portion. Specifically, state recognition section <NUM> first specifies a shape of component area <NUM> which is occupied by terminal <NUM>. For this specification, as shown in <FIG>, state recognition section <NUM> specifies a shape of component area <NUM> based on a shape of rectangular frame <NUM> having a minimum area which is circumscribed on component area <NUM> in post-processing image data <NUM>. State recognition section <NUM> may set the shape itself of rectangular frame <NUM> as the shape of component area <NUM>, or may set a shape resulting from offsetting inwards each side of rectangular frame <NUM> by a predetermined amount as the shape of component area <NUM>.

State recognition section <NUM> compares the shape specified in the way described above with the shape of terminal <NUM> which is determined for each type of component <NUM> and recognizes that component area <NUM> represents terminal <NUM> in the case that the shapes are the same or similar to each other within a range of an allowable error. For example, in the case that the shape of component area <NUM> is dissimilar to the shape of terminal <NUM>, it is assumed that the same cause exists as in the case in which the surface area of component area <NUM> is smaller or larger than the range of the allowable error as described above as when component <NUM> stands in an upright state.

State recognition section <NUM> recognizes a position and an angle of one of pair of terminals <NUM> based on the area of component area <NUM> calculated as described above and the shape of component area <NUM> specified as described above. In other words, state recognition section <NUM> determines whether the white area constitutes the feature portion (terminal <NUM>) in post-processing image data <NUM>, and in the case that it recognizes that the white area constitutes the feature portion, state recognition section <NUM> recognizes a position and an angle of the white area as a feature amount. One of multiple feature portions which are recognized as described above is recognized as reference feature portion <NUM>.

Here, another feature portion which is included in predetermined search range <NUM>, which is determined based on a position and a feature amount of reference feature portion <NUM>, is defined as candidate feature portion <NUM> which can belong to identical component <NUM> together with reference feature portion <NUM>. Predetermined search range <NUM> described above can be set as required in consideration of the type of component <NUM>, the load of image processing, or the like. Specifically, predetermined search range <NUM> may be a rectangular range having a predetermined size which is centered at reference feature portion <NUM>, or may be a rectangular range having a predetermined size which is centered at a position which is spaced a predetermined distance away from each side of reference feature portion <NUM> in a width direction as shown in <FIG>.

A position and shape of search range <NUM> described above can be adjusted as required in accordance with a position and shape of the feature portion of component <NUM>. Then, in post-processing image data <NUM>, a feature portion positioned in predetermined search range <NUM> has a possibility that the feature portion belongs to identical component <NUM> together with reference feature portion <NUM>, and is recognized as candidate feature portion <NUM> as described above. Then, state recognition section <NUM> determines whether relevant candidate section <NUM> belongs to identical component <NUM> together with reference feature portion <NUM> based on either of a feature amount or feature amounts of one or more candidate feature portions <NUM> which are included in search range <NUM> and a positional relationship between reference feature portion <NUM> and candidate feature portion <NUM>.

State recognition section <NUM> executes component recognition processing for determining whether multiple feature portions make up identical component <NUM> and then executes component recognition processing for acquiring a position and an angle of each of multiple components <NUM> in post-processing image data <NUM>. As a result, state recognition section <NUM> recognizes supply states of components <NUM> in supply area As. Details of the component recognition processing will be described later.

A supply state of component <NUM> in supply area As which is recognized by state recognition section <NUM> includes any one of a component orientation which denotes whether a thickness direction of component <NUM> is oriented in the up-down direction, a degree of separation which denotes whether multiple components <NUM> stay closer to each other or one another than a predetermined distance, and a pickup possibility which denotes whether component <NUM> can be picked up from supply area As. The component orientation in the supply state may include an orientation of component <NUM> which differs based on which surface of that component <NUM> is in contact with track member <NUM>, as well as a position or an angle of that component <NUM> with respect to the reference position of bulk feeder <NUM>.

The degree of separation in the supply state denotes an extent to which one component <NUM> stays separated from another component <NUM> and decreases further as the one component <NUM> stays closer to the other component <NUM>. The degree of separation may be regarded as acceptable, for example, in the case that no other component <NUM> exists within a predetermined distance range from relevant one component <NUM>, while it may be regarded as unacceptable in the case that even a part of another component <NUM> exists within the predetermined distance range of relevant one component <NUM>. For example, in the case that two or more components <NUM> are superposed one on another or are in contact with one another in a horizontal direction, the degree of separation becomes lower than a reference value.

The pickup possibility in the supply state denotes whether individual components <NUM> supplied in supply area As are suitable for a pickup operation target object. The pickup possibility may be determined based on the component orientation or the degree of separation of components described above.

As shown in <FIG>, control device <NUM> includes setting section <NUM>. Setting section <NUM> sets component <NUM> for a pickup target from multiple components <NUM> supplied in supply area As based on the supply states recognized by state recognition section <NUM>. More specifically, in the case that a pickup operation for picking up the same type of components <NUM> over multiple times in the PP cycle, setting section <NUM> sets only a required number of components <NUM> to be picked up from supply area As.

For this setting, setting section <NUM> sets components <NUM> for pickup targets from multiple components <NUM> supplied with an appropriate orientation (for example, an orientation in which front surface <NUM> constitutes the upper surface) in supply area As and a pickup order so as to shorten an overall required time for the pickup operation to be executed over multiple times. Setting section <NUM> sets components <NUM> for pickup target and a pickup order so as to shorten, for example, a movement path of mounting head <NUM> which is made up in association with a pickup operation to be performed by relevant mounting head <NUM>.

In the PP cycle, control device <NUM> moves mounting head <NUM>, and raises and lowers suction nozzles <NUM> in accordance with the set pickup order of components <NUM> set as pickup targets, causing suction nozzles <NUM> to pick up components <NUM> set as pickup targets. In addition, in the case that the number of components <NUM> in components <NUM> supplied in supply area As which can be set as pickup targets is reduced to a predetermined number (for example, a required number for a subsequent PP cycle) or smaller, control device <NUM> sends out to the bulk feeder a control command of execution of the component supply process of supplying components <NUM>.

A mounting process carried out by component mounter <NUM> will be described by reference to <FIG>. After bulk feeder <NUM> is set in slot <NUM>, control device <NUM> executes calibration processing to thereby recognize the position of supply area As in the component mounter. Specifically, control device <NUM> first causes board camera <NUM> to move above three reference marks <NUM> of bulk feeder <NUM>, and acquires image data by imaging those three reference marks <NUM> using board camera <NUM>. Then, control device <NUM> recognizes the position of bulk feeder <NUM> in the component mounter, that is, the position of supply area As, based on the positions of three reference marks <NUM> included in the image data as a result of image processing and the position of board camera <NUM> when those three reference marks <NUM> are imaged thereby.

In a mounting process, control device <NUM> causes bulk feeder <NUM> to execute a component supply process for supplying multiple components <NUM> to supply area As in a bulk state. Bulk feeder <NUM> inputs the control command from control device <NUM> and executes the component supply process at an appropriate timing, for example, when board <NUM> is conveyed by board conveyance device <NUM>, when mounting operations are executed in the PP cycle, and the like.

After bulk feeder <NUM> has executed the component supply process, control device <NUM> executes image processing as shown in <FIG>. Control device <NUM> first causes board camera <NUM> to execute imaging (S11). Specifically, control device <NUM> causes board camera <NUM> to move above supply area As of bulk feeder <NUM> and causes board camera <NUM> to image supply area As to thereby acquire image data <NUM>. In addition, control device <NUM> sets image processing that is applied to image data <NUM> in accordance with a type of components <NUM> supplied by bulk feeder <NUM>. Image processing may be set in advance by an operator and be designated by data such as a control program.

Next, image processing section <NUM> executes an image processing process (S12). Specifically, image processing section <NUM> executes binarization processing on pre-processing image data <NUM> by use of a predetermined threshold, and generates post-processing image data <NUM>. Subsequently, state recognition section <NUM> executes supply state recognition processing (S13 to S17). Specifically, state recognition section <NUM> first recognizes feature portions of component <NUM> in post-processing image data <NUM> (S13). In the present embodiment, state recognition section <NUM> acquires a feature amount of each of multiple feature portions in post-processing image data <NUM>.

State recognition section <NUM> executes component recognition processing for recognizing individual components <NUM> based on a large number of feature portions in post-processing image data <NUM> (S14). In the component recognition processing, state recognition section <NUM> repeatedly executes the recognition processing described above, for example, until a required number of components <NUM> are recognized in a subsequent PP cycle. As a result, state recognition section <NUM> recognizes at least a part of multiple components <NUM> in post-processing image data <NUM>. Details of the component recognition processing will be described later.

In the component recognition processing (S14), the manner is described in which the front and back surfaces of component <NUM> are required to be distinguished from each other; however, in the case that component <NUM> is of a type in which front and back surfaces of component <NUM> do not have to be distinguished from each other in function as with the case of a capacitor, post-processing image data <NUM> can be generated in such a manner that multiple feature portions belonging to identical component <NUM> are not separated in the previous image processing process (S12). In such a case, in the component recognition processing (S14), the determination on whether the separated feature portions belong to identical component <NUM> is omitted, and the separated feature portions are simply recognized for each of multiple components <NUM>.

State recognition section <NUM> calculates a degree of separation of each of components <NUM> (S15). As a result, an extent to which some components <NUM> are separated from other components <NUM> in supply area As is calculated. Subsequently, state recognition section <NUM> deduces a pickup possibility for each component <NUM> (S16). Specifically, state recognition section <NUM> determines whether each component <NUM> is suitable for a pickup operation target based, for example, on component orientation and degree of separation. Finally, for component <NUM> that can be picked up as a pickup target, state recognition section <NUM> deduces coordinate values of a center position and a reference position of that component <NUM> and an angle of that component <NUM> (S17).

To be specific, in the case that multiple feature portions are separated from each other, state recognition section <NUM> calculates a position and an angle of recognized component <NUM> based on positions or angles of multiple feature portions of that component <NUM>. Specifically speaking, in the case that feature portions of component <NUM> are pair of terminals <NUM>, state recognition section <NUM> defines an intermediate position between the terminals as a reference position of component <NUM> to thereby deduces angles of relevant terminals <NUM> as an angle of that component <NUM>. The "reference position" of component <NUM> described above is a position that is set arbitrarily on an upper surface of relevant component <NUM>, and when suction nozzle <NUM> is used in a pickup operation, the reference position is set at a suitable position for pickup by suction nozzle <NUM> such as a center, a center of gravity, or a flat area of that component <NUM>.

Setting section <NUM> sets components <NUM> for pickup targets from multiple components <NUM> which are supplied in supply area As in an appropriate orientation and a pick up order based on the supply state recognized by state recognition section <NUM> (S18). In a PP cycle, control device <NUM> repeatedly executes a pickup operation for picking up components <NUM> using multiple suction nozzles <NUM> based on the results of the image processing. For this pickup operation, control device <NUM> causes mounting head <NUM> to be positioned sequentially in accordance with the positions of those components <NUM> set as pickup targets while following the pickup order set by setting section <NUM>.

Control device <NUM> repeatedly executes the PP cycle based on the control program until components <NUM> are completely mounted in all mounting positions as required. Control device <NUM> sends out to the bulk feeder a control command of execution of the component supply process of supplying components <NUM> at an appropriate timing. Then, control device <NUM> executes the image processing again after multiple components <NUM> are supplied to supply area As.

In the component recognition processing (S14), state recognition section <NUM> sets reference feature portion <NUM> as shown in <FIG> (S21). State recognition section <NUM> sets one of multiple feature portions in post-processing image data <NUM> excluding feature portions recognized as belonging to identical component <NUM> to reference feature portion <NUM> arbitrarily or according to a predetermined rule (refer to <FIG>).

Next, state recognition section <NUM> searches for candidate feature portion <NUM> which is included in predetermined search range <NUM> which is defined based on reference feature portion <NUM> (S22). Here, as shown in <FIG>, search range <NUM> is set to a range in which there is a high possibility of existence of second terminal <NUM> when first terminal <NUM> is defined as reference feature portion <NUM>. If there are one or more feature portions in search range <NUM> described above (S <NUM> : Yes), state recognition section <NUM> compares the number of feature portions (<NUM>+Ns) resulting from combining reference feature portion <NUM> and candidate feature portion <NUM> included in search range <NUM> with the number of feature portions (Nf) formed in one component <NUM> (S24).

Here, in the present embodiment, the "number of feature portions (Nf)" formed in one component <NUM> is two (Nf=<NUM>) since pair of terminals <NUM> constitute the feature portions of component <NUM>. If the number of candidate feature portions <NUM> detected in search range <NUM> is one (Ns=<NUM>), the number of feature portions (<NUM>+Ns=<NUM>) obtained by combining reference feature portion <NUM> and candidate feature portion <NUM> is equal to the number of feature portions (Nf=<NUM>) formed in one component <NUM> (S24: Yes).

In this case, state recognition section <NUM> determines whether one or more candidate feature portions <NUM> included in search range <NUM> belong to identical component <NUM> together with reference feature portion <NUM> (S25). Specifically, state recognition section <NUM> executes the attribute determination (S25) described above based on either of the feature amount of candidate feature portion <NUM> and the positional relationship between reference feature portion <NUM> and candidate feature portion <NUM>. This attribute determination can adopt various manners as will be described below.

In the case that a degree of matching of the shape of reference feature portion <NUM> with the shape of candidate feature portion <NUM> is equal to or larger than a preset threshold, state recognition section <NUM> may determine that relevant candidate feature portion <NUM> belongs to identical component <NUM> together with relevant reference feature portion <NUM>. On the assumption that each of the feature portions has the same shape (in the present embodiment, pair of terminals <NUM>), state recognition section <NUM> compares the shape included in the feature amount of reference feature portion <NUM> with the shape included in the feature amount of candidate feature portion <NUM>.

If the degree of matching of the shapes so compared with is equal to or larger than the threshold, state recognition section <NUM> determines that relevant candidate feature portion <NUM> belongs to identical component <NUM> together with relevant reference feature portion <NUM>. With this configuration, even though design information including the shapes of the feature portions is not acquired in advance, the attribute determination can be executed through comparison with the shape of reference feature portion <NUM>.

In the case that a degree of matching of the shape of candidate feature portion <NUM> with an ideal shape of candidate feature portion <NUM> is equal to or larger than a preset threshold, state recognition section <NUM> may determine that relevant feature portion <NUM> belongs to identical component <NUM> together with reference feature portion <NUM>. State recognition section <NUM> acquires in advance the ideal shape of the feature portion of component <NUM> based, for example, on design information and compares the ideal shape with the shape included in the feature amount of candidate feature portion <NUM>.

If the degree of matching of the shapes so compared with is equal to or larger than the threshold, state recognition section <NUM> determines that relevant candidate feature portion <NUM> belongs to identical component <NUM> together with relevant reference feature portion <NUM>. With this configuration, even though the shape of candidate feature portion <NUM> differs from the shape of reference feature portion <NUM>, the attribute determination can be performed for each candidate feature portion <NUM>.

In the case that a degree of matching of the angle of reference feature portion <NUM> with the angle of candidate feature portion <NUM> is equal to or larger than a preset threshold, state recognition section <NUM> may determine that relevant feature portion <NUM> belongs to identical component <NUM> together with reference feature portion <NUM>. On the assumption that the feature portions each have the same angle (in the present embodiment, pair of terminals <NUM> formed in such a manner that longitudinal directions are parallel), state recognition section <NUM> compares the angle included in the feature amount of reference feature portion <NUM> with the angle included in the feature amount of candidate feature portion <NUM>.

If the degree of matching of the shapes so compared with is equal to or larger than the threshold, state recognition section <NUM> determines that relevant candidate feature portion <NUM> belongs to identical component <NUM> together with relevant reference feature portion <NUM>. With this configuration, even though state recognition section <NUM> does not acquire design information including the angles of the individual feature portions, state recognition section <NUM> can perform the attribute determination by comparison with the angle of reference feature portion <NUM>.

In the case that a degree of matching of the angle of candidate feature portion <NUM> with an ideal angle of candidate feature portion <NUM> is equal to or larger than a preset threshold, state recognition section <NUM> may determine that relevant candidate feature portion <NUM> belongs to identical component <NUM> together with reference feature portion <NUM>. State recognition section <NUM> acquires in advance the ideal angle of the feature portion of component <NUM> based, for example, on angle information and compares the ideal angle with the angle included in the feature amount of candidate feature portion <NUM>.

If the degree of matching of the shapes so compared with is equal to or larger than the threshold, state recognition section <NUM> determines that relevant candidate feature portion <NUM> belongs to identical component <NUM> together with relevant reference feature portion <NUM>. With this configuration, even though the angle of candidate feature portion <NUM> differs from the angle of reference feature portion <NUM>, state recognition section <NUM> can perform the attribute determination for each candidate feature portion <NUM>.

In executing the attribute determination, state recognition section <NUM> can adopt a manner using pre-processing image data <NUM>. Specifically, state recognition section <NUM> first deduces a position or positions of one or more measurement points Pm which are each located in an area between reference feature portion <NUM> and candidate feature portion <NUM> in image data <NUM> on which the image processing has been executed (refer to <FIG>). Subsequently, state recognition section <NUM> measures a brightness of a position corresponding to the measurement point Pm in original image data <NUM> on which the image processing has not yet been executed.

Then, state recognition section <NUM> determines whether an area lying between reference feature portion <NUM> and candidate feature portion <NUM> is a part of component <NUM> or background <NUM> based on the brightness so measured. That is, state recognition section <NUM> determines whether main body portion <NUM> exists between reference feature portion <NUM> and candidate feature portion <NUM> by making use of the fact that there is a difference between the brightness of main body portion <NUM> of component <NUM> and the brightness of background <NUM> in image data <NUM> on which the image processing such as the binarization processing has not yet been executed.

State recognition section <NUM> determines whether candidate feature portion <NUM> belongs to identical component <NUM> together with reference feature portion <NUM> based on the results of the determination. That is, in the case that the determination result is obtained which determines that main body portion <NUM> exists between reference feature portion <NUM> and candidate feature portion <NUM>, state recognition section <NUM> determines that candidate feature portion <NUM> belongs to identical component <NUM> together with reference feature portion <NUM>.

On the other hand, in the case that the determination result is obtained which determines that main body portion <NUM> does not exist between reference feature portion <NUM> and candidate feature portion <NUM> but background <NUM> exists therebetween, state recognition section <NUM> determines that candidate feature portion <NUM> does not belong to identical component <NUM> together with reference feature portion <NUM>. With this configuration, the determination precision of the attribute determination can be improved. Measurement point Pm described above only need be set at a part where main body portion <NUM> is considered to exist based on the positional relationship between reference feature portion <NUM> and candidate feature portion <NUM>. In particular, measurement point Pm is preferably set in a position on main body portion <NUM> where a difference in brightness between main body portion <NUM> and background <NUM> becomes remarkable.

Measurement point Pm may be set in a center position of component <NUM> or may be set in a position which lies by a predetermined distance away from the center position in a predetermined direction. Multiple measurement points Pm may be set from the viewpoint of improving the determination precision. However, in the case that the difference in brightness between main body portion <NUM> and background <NUM> is clear in pre-processing image data <NUM>, even one measurement point Pm is good enough. The position and number of measurement points Pm are set for each type of component <NUM>.

In executing the attribute determination, state recognition section <NUM> may adopt the first to fifth manners of attribute determination by combining these manners appropriately based on the precision required for the mounting process or the production efficiency, or may switch between the first to fifth manners in adopting them based on types of components <NUM> or the equipment configuration of component mounter <NUM>. In addition, in executing an attribute determination based on either of the feature amount of candidate feature portion <NUM> and the positional relationship between reference feature portion <NUM> and candidate feature portion <NUM>, state recognition section <NUM> can adopt a manner which differs from the first to fifth manners.

In the attribute determination (S25) described above, if state recognition section <NUM> obtains the determination result that candidate feature portion <NUM> belongs to identical component <NUM> together with reference feature portion <NUM> (S26: Yes), state recognition section <NUM> determines that these feature portions belong to identical component <NUM> (S27). Thereafter, or in the attribute determination (S25), if it obtains the determination result that candidate feature portion <NUM> does not belong to identical component <NUM> together with reference feature portion <NUM> (S26: No), state recognition section <NUM> determines whether the component recognition processing needs to be continued (S28).

Specifically, for example, if the number of recognized components <NUM> in post-processing image data <NUM> reaches a predetermined number, or if the attribute determination has been executed on all the feature portions in post-processing image data <NUM>, state recognition section <NUM> determines that the continuation of the component recognition processing is unnecessary (No in step S28), and ends the component recognition processing.

The "predetermined number" described above can be set to, for example, a number of components <NUM> necessary for a subsequent PP cycle or a number resulting from adding a margin to the number of necessary components <NUM>. On the other hand, for example, if there remain feature portions which have not yet been recognized as components <NUM> in post-processing image data <NUM>, state recognition section <NUM> determines that the continuation of the component recognition processing is necessary (S28: Yes), and repetitively executes the operations in S <NUM> to S <NUM>.

In the present embodiment, if the number (<NUM>+Ns) resulting from adding reference feature portion <NUM> to the number of the candidate feature portions <NUM> detected in search range <NUM> is equal to the number (Nf) of the feature portions formed on one component <NUM> (<NUM>+Ns=Nf, S24: Yes), state recognition section <NUM> is described as executing the attribute determination (S25). In contrast to this, in the case described above (S24: Yes), state recognition section <NUM> may omit the attribute determination (S <NUM>) and determine that candidate feature portion <NUM> belongs to identical component <NUM> together with reference feature portion <NUM> (S <NUM>).

In the component recognition processing (S14) described above, there may be a case in which the number of feature portions (<NUM>+Ns) obtained by combining reference feature portion <NUM> and candidate feature portions <NUM> detected in search range <NUM> exceeds the number of feature portions (Nf) formed on one component <NUM> (<NUM>+Ns>Nf, S24: No). In this case, state recognition section <NUM> may execute second component recognition processing (S30), as shown in <FIG>.

Specifically, state recognition section <NUM> first executes preliminary candidate search processing (S31, S32). Here, as shown in <FIG>, one of multiple candidate feature portions <NUM> included in search range <NUM> is defined as second reference feature portion <NUM>. In addition, other feature portions included in predetermined second search range <NUM>, which is determined based on a position and a feature amount of second reference feature portion <NUM>, are defined as second candidate feature portions <NUM> which can belong to identical component <NUM> together with second reference feature portion <NUM>.

In the preliminary candidate search processing, state recognition section <NUM> first sets second reference feature portion <NUM> (S31). Next, state recognition section <NUM> searches for second candidate feature portions <NUM> included in second search range <NUM> (S32). Since this preliminary candidate searching processing (S31, S32) is substantially the same as S21 and S22 in the component recognition processing, a detailed description thereof will be omitted here. Reference feature portion <NUM> set in S21 can be detected as second candidate feature portion <NUM>.

Subsequently, if the number of feature portions (<NUM>+Ns2) resulting from combining second reference feature portion <NUM> and second candidate feature portions <NUM> included in second search range <NUM> is not equal to the number (Nf) of feature portions formed on one component <NUM> (S33: No), state recognition section <NUM> executes the preliminary candidate search processing (S31, S32) again. In this way, state recognition section <NUM> repeatedly executes the preliminary candidate search processing (S31, S32) as required. <FIG> shows a state in which the preliminary candidate search processing (S31, S32) is executed twice.

If the number of feature portions (<NUM>+Ns2) resulting from combining second reference feature portion <NUM> and second candidate feature portions <NUM> becomes the number of feature portions (Nf) on component <NUM> (S33 : Yes), state recognition section <NUM> determines that second candidate feature portion or sections <NUM> detected by the preliminary candidate search processing (S31, S32) executed last belong to identical component <NUM> together with second reference feature portion <NUM> (S34). In addition, after the second component recognition processing (S30) has been ended, state recognition section <NUM> resumes the initial component recognition processing from S28.

For this initial component recognition processing, in search processing (S22) for candidate feature portion <NUM> based on initial reference feature portion <NUM>, candidate feature portions <NUM> which have already been recognized as belonging to component <NUM> are excluded from detection targets. Then, for candidate feature portions <NUM> which have not yet been determined to belong to component <NUM>, state recognition section <NUM> determines whether those candidate feature portions <NUM> belong to identical component <NUM> together with reference feature portion <NUM> (S25).

With the configuration of the embodiment that has been described heretofore, since the search for candidate feature portions <NUM> is executed over the search target, which is predetermined search range <NUM> which is determined based on the position and the feature amount of reference feature portion <NUM>, the efficiency of the search processing (S22) can be improved. Further, since the determination on whether candidate feature portion <NUM> belongs to identical component <NUM> together with reference feature portion <NUM> is executed on multiple candidate feature portions <NUM> based on the feature amounts thereof or the positional relationship with reference feature portion <NUM>, an erroneous recognition of identical component <NUM> based on feature portions of different component <NUM> can be prevented. As a result, the precision of the recognition processing of a supply state of component <NUM> in supply area as can be improved.

In the recognition processing of a supply state, state recognition section <NUM> can appropriately adopt a variety of manners such as the first to fifth manners of attribute determination and may adopt the first to fifth manners of attribute determination while switching between them depending on types of components <NUM> or shapes, brightness, positions, and types of feature portions. The feature portions may be defined by only a shape or only an angle of a part making up component <NUM>. Depending on a type of component <NUM>, there may be a case in which component <NUM> has three or more feature portions or has feature portions having different shapes.

In the recognition processing of a supply state, state recognition section <NUM> may execute the attribution determination only for multiple feature portions or only for the positional relationship based on the degree of matching of the individual feature portions or the degree of matching with the ideal shape or the ideal position. State recognition section <NUM> can appropriately switch between the manners of attribute determination in accordance with the required time or the required recognition precision which is allowed for execution of the recognition processing of a supply state.

In the embodiment, state recognition section <NUM> adopts the manner in which the preliminary candidate search processing (S31, S32) is executed as described above. In contrast to this, state recognition section <NUM> can adopt other manners. For example, in the component recognition processing (S14), if the number of feature portions (<NUM>+Ns) resulting from combining reference feature portion <NUM> and candidate feature portions <NUM> included in search range <NUM> exceeds the number of feature portions (Nf) formed on one component <NUM> (S24: Yes), state recognition section <NUM> may determine that multiple candidate feature portions <NUM> whose feature amounts are closer to ideal amounts belong to identical component <NUM> together with reference feature portion <NUM>.

In the embodiment, board camera <NUM> is described as the camera for imaging supply area As of bulk feeder <NUM>. In contrast to this, component mounter <NUM> may include a camera provided above bulk feeder <NUM> and configured to image supply area As. The camera may be dedicated to imaging of supply area As or may also be used for other purposes. With this configuration, the camera is fixed in place, thereby making it possible to improve the precision of the calibration processing. However, the manner described in the embodiment is preferable from the viewpoint of reducing the facility cost.

Claim 1:
A component mounter (<NUM>), comprising:
a camera (<NUM>) configured to image a supply area (As) where multiple components (<NUM>) are supplied in a bulk state;
an image processing section (<NUM>) configured to execute on image data acquired through imaging by the camera (<NUM>) image processing for distinguishing areas of multiple feature portions (<NUM>) of each of the components (<NUM>) from areas other than the multiple feature portions (<NUM>) in the image data based on brightness; and
a state recognition section (<NUM>) configured to recognize a supply state of each of the components (<NUM>) in the supply area (As) based on a feature amount including at least one of a shape and an angle of each of the multiple feature portions (<NUM>) of each of the components (<NUM>) in the image data on which the image processing is executed,
wherein one of the multiple feature portions (<NUM>) in the image data on which the image processing is executed is defined as a reference feature portion (<NUM>), and another of the multiple feature portions (<NUM>) which is included in a predetermined search range which is determined based on a position and the feature amount of the reference feature portion (<NUM>) is defined as a candidate feature portion (<NUM>) which can belong to an identical component (<NUM>) of the multiple components (<NUM>) together with the reference feature portion (<NUM>), and
wherein the state recognition section (<NUM>) is configured to determine whether the candidate feature portion (<NUM>) belongs to the identical component (<NUM>) together with the reference feature portion (<NUM>) based on either of the feature amount or feature amounts of one or more the candidate feature portions (<NUM>) which are included in the search range and a positional relationship between the reference feature portion (<NUM>) and the candidate feature portion (<NUM>), and
wherein the supply state in the supply area (As) includes at least one of component orientations indicating whether a thickness direction of the component (<NUM>) constitutes an up-down direction, a degree of separation indicating whether the multiple components (<NUM>) stay closer than a predetermined distance, and a pickup possibility, based on the component (<NUM>) orientation or the degree of separation of components (<NUM>), indicating whether the components (<NUM>) so staying can be picked up from the supply area (As).