Patent Description:
Conventionally, a board work system has been known which is configured to work on a board disposed on an XY-plane. For example, Patent Literature <NUM> discloses, as such a board work system, a known board work system which includes a head movable on an XY-plane, a lighting device for shining light on a board, and a camera for imaging the board on which light is being shined by the lighting device. On the other hand, as an image pick-up system, as described in Patent Literature <NUM>, an image pick-up system is known which is configured to obtain a first optical image and a second optical image in order to generate a composite image. The composite image is a color image, and the first and second optical images are both made up of color components which make up the composite color image.

<CIT> relates to a device for the optical analysis of a Printed Circuit Board (PCB). The device comprises an image recording device, a light source device, an image processing device, and a PCB recording device. Light reflected by the PCB and/or light passing through the PCB is detected separately according to basic colours. Information of different colour components can be taken sequentially. The used colour space may set based on materials of the PCB. At least one colour component image information is converted to image analysis information.

<CIT> relates to (based on a machine translation) a substrate inspection apparatus for inspecting the front and back surfaces of a substrate. The irradiation with light on the backside (or the front side) is stopped during the image acquisition period on the front side (or the backside) of the substrate. Furthermore, the used light may have a striped light intensity distribution.

P H11 <NUM> A relates to (based on a machine translation) an electronic component mounting apparatus for recognizing a mark provided at a predetermined position on a printed board and mounting an electronic component on the printed board. The mark is illuminated with a light source, and the reflected is captured with a CCD camera. In order to enhance the contrast between the printed circuit board and the mark, it is possible to make the mark dark by forming a complementary color of the mark color.

Incidentally, in the board work system, some target objects that are imaged by the camera can be recognized by black-and-white or monochromatic images, while others cannot be so recognized. In consideration of this point, it is also conceivable to obtain a color image of a target object to thereby recognize the target object based on the color image so obtained. In this case, although color information is generated by using four pixels as one unit in many cases, it has been difficult to recognize a target object with good precision because such a phenomenon as color bleeding or false colors occurs. On the other hand, a high-resolution color image of a target object, which is free from such a phenomenon as bleeding or false colors, can be obtained by generating a color image of the target object by combining three monochromatic images thereof which are obtained by a monochromatic camera by shining red (R), green (G), and blue (B) lights on the target object. However, since a color image of any target object is generated by combining three monochrome images thereof, there has been caused a problem in that the imaging time is unnecessarily long for a target object that can sufficiently be recognized only by a monochromatic image thereof.

A board work system disclosed in the present description has been made to solve the problem described above, and a main object thereof is to enable an appropriate selection as required between a use of a composite image of a high resolution and a use of a monochromatic image. Solution to Problem.

The invention is defined by the features of claim <NUM>.

With this board work system, one or multiple monochromatic lights from any or multiple of the at least two monochromatic lights are selected based on the target object, and in the case that the number of monochromatic lights selected is one, the lighting device and the monochromatic camera are caused to obtain a monochromatic image of the target object which is illuminated with the one monochromatic light, and the monochromatic image of the target object so obtained is set as a target object inspection image. In the case that the number of monochromatic lights selected is a multiple number, the lighting device is caused to shine the selected multiple monochromatic lights and the monochromatic camera is caused to obtain monochromatic images of the target object which is illuminated independently with the multiple monochromatic lights, and a composite image into which the individual monochromatic images are combined is set as the target object inspection image. Since color information is obtained for each pixel for the composite image, the composite image can constitute a high-resolution image which is free from such a phenomenon as color bleeding or false color, compared with a case in which color information is prepared based on a unit of four pixels which are arranged into a square configuration; however, since imaging needs to be executed multiple times, imaging takes some time. Here, whether one monochromatic image or the composite image is used as the target object inspection image is selected based on the target object. That is, whether one monochromatic image or the high-resolution composite image is used can be selectively determined for the target object as required. As a result, the processing time is shortened as compared with a case in which the composite image is used as the target object inspection image for all target objects involved.

Here, the target object inspection image may be used for automatic inspection of a target object by the image processing device, or the target object inspection image may be such as to be displayed on a display by the image processing device for the operator to inspect the target object.

A preferred embodiment of a component mounter disclosed in the present description will be described below by reference to drawings. <FIG> is a perspective view of component mounter <NUM>, <FIG> is a schematic explanatory view of mark camera <NUM>, <FIG> is a view of vertical light source <NUM> as viewed in a direction indicated by an arrow A, <FIG> is a view of side light source <NUM> as viewed in a direction indicated by an arrow B, and <FIG> is a block diagram showing a configuration associated with control of component mounter <NUM>. In the present embodiment, a left-right direction (X-axis), a front-rear direction (Y-axis), and an up-down direction (Z-axis) are as shown in <FIG>.

Component mounter <NUM> includes board conveyance device <NUM>, head <NUM>, nozzle <NUM>, part camera <NUM>, mark camera <NUM>, display <NUM>, reel unit <NUM>, and control device <NUM>.

Board conveyance device <NUM> is a device for conveying and holding board <NUM>. Board conveyance device <NUM> includes support plates <NUM>, <NUM> and conveyor belts <NUM>, <NUM> (shown only one of them in <FIG>). Support plates <NUM>, <NUM> are members extending in the left-right direction and are provided in such a manner as to be spaced apart from each other in the front-rear direction in <FIG>. Conveyor belts <NUM>, <NUM> are stretched individually between drive wheels and driven wheels which are provided at left and right end portions of support plates <NUM>, <NUM> in such a manner as to be formed into endless loops. Board <NUM> is placed on upper surfaces of pair of conveyor belts <NUM>, <NUM> and is then conveyed from the left to the right. This board <NUM> can be supported from a rear surface side thereof by multiple erected support pins <NUM>. As a result, board conveyance device <NUM> also functions as a board supporting device.

Head <NUM> is attached to a front surface of X-axis slider <NUM>. X-axis slider <NUM> is attached to a front surface of Y-axis slider <NUM>. Y-axis slider <NUM> is slidably attached to pair of left and right guide rails <NUM>, <NUM> which extend in the front-rear direction. Pair of upper and lower guide rails <NUM>, <NUM>, which extend in the left-right direction, are provided on the front surface of Y-axis slider <NUM>. X-axis slider <NUM> is slidably attached to these guide rails <NUM>, <NUM>. Head <NUM> moves in the left-right direction as X-axis slider <NUM> moves in the left-right direction and moves in the front-rear direction as Y-axis slider <NUM> moves in the front-rear direction. Sliders <NUM>, <NUM> are driven by drive motors 26a, 30a (refer to <FIG>), respectively. In addition, head <NUM> incorporates Z-axis motor <NUM>, so that the height of nozzle <NUM> attached to ball screw <NUM> extending along the Z axis is adjusted by Z-axis motor <NUM>. Further, head <NUM> incorporates Q-axis motor <NUM> (refer to <FIG>) for rotating nozzle <NUM> on its own axis.

Nozzle <NUM> is a member for picking up a component at a nozzle tip and holding the component thereto and releasing the component so picked up and so held from the nozzle tip. Nozzle <NUM> can be supplied with a pressure from a pressure supply source, not shown, and when, for example, a negative pressure is supplied to nozzle <NUM>, nozzle <NUM> picks up a component, while when the supply of the negative pressure is stopped or a positive pressure is supplied thereto, nozzle <NUM> releases the component so picked up therefrom. Nozzle <NUM> protrudes downward from a bottom surface of a main body of head <NUM>. In addition, the height of a component picked up by nozzle <NUM> is adjusted by nozzle <NUM> being lifted up or lowered along a Z-axis direction by Z-axis motor <NUM>. An orientation of the component picked up by nozzle <NUM> is adjusted by rotating nozzle <NUM> by Q-axis motor <NUM>.

Part camera <NUM> is disposed in front of board conveyance device <NUM>. An imaging range of part camera <NUM> is a range lying above part camera <NUM>, and part camera <NUM> images a component held by nozzle <NUM> from below to generate a captured image thereof.

Mark camera <NUM> is provided on a lower surface of X-axis slider <NUM>. Mark camera <NUM> images a target object (an imaging target object) from above to generate a captured image thereof. Examples of target objects for mark camera <NUM> include a component held onto tape <NUM> which is fed out from feeder <NUM> in reel unit <NUM>, a mark affixed to board <NUM>, a component which has been mounted on board <NUM>, and solder with which printing is executed on board <NUM>.

As shown in <FIG>, mark camera <NUM> includes lighting device <NUM> and camera main body <NUM>. Lighting device <NUM> includes housing <NUM>, vertical light source <NUM>, half mirror <NUM>, and side light source <NUM>. Housing <NUM> is a cylindrical member opened in a lower surface thereof and is attached to a lower portion of camera main body <NUM>. vertical light source <NUM> is provided on an inner side surface of housing <NUM>. As shown in <FIG>, vertical light sources <NUM> is such that red LEDs 53a for emitting monochromatic light of red (R), green LEDs 53b for emitting monochromatic light of green (G), and blue LEDs 53c for emitting monochromatic right of blue (B) are disposed equally or substantially equally in number on a quadrangular support plate. These LEDs 53a to 53c are each such that a hemispherical lens is attached to a quadrangular base where a light emitting element is disposed at a center thereof in such a manner as to cover the light emitting element. Half mirror <NUM> is provided inside housing <NUM> in such a manner as to be disposed obliquely. Half mirror <NUM> reflects horizontal light from LEDs 53a, 53b, 53c of vertical light source <NUM> downwards. Half mirror <NUM> transmits light from below towards camera main body <NUM>. Side light source <NUM> is provided in the vicinity of a lower opening of housing <NUM> in such a manner as to be disposed horizontally. As shown in <FIG>, side light source <NUM> is such that red LEDs 55a, green LEDs 55b, and blue LEDs 55c are disposed equally or substantially equally in number on an annular support plate 55d and emits light downwards. These LEDs 55a to 55c are each such that a hemispherical lens is attached to a quadrangular base where a light emitting element is disposed at a center thereof in such a manner as to cover the light emitting element. Diffuse plate <NUM> is provided below side light source <NUM> in housing <NUM>. Lights emitted from vertical light source <NUM> and side light source <NUM> are finally diffused by diffuse plate <NUM> and is then shined onto a target object. Camera main body <NUM> generates a captured image based on lights received thereby. Camera main body <NUM> includes an optical system such as a lens, not shown, and an imaging element (for example, CCD). When lights emitted from vertical light source <NUM> and side light source <NUM> and reflected on a target object pass through half mirror <NUM> and reach camera main body <NUM>, camera main body <NUM> receives the lights to generate a captured image.

Wavelength regions of R, G, and B lights are not limited particularly; however, R light may be defined to range from <NUM> to <NUM>, G light may be defined to range from <NUM> to <NUM>, and B light may be defined to range from <NUM> to <NUM>.

Display <NUM> is such as to display various types of images in color or monochrome.

Reel unit <NUM> is such that multiple feeders <NUM> are detachably mounted therein. Feeders <NUM> each include corresponding reel <NUM>. Tape <NUM> is wound around reel <NUM>. Multiple accommodation recessed sections <NUM> are provided in a front surface of tape <NUM> along a longitudinal direction of tape <NUM>. Components are accommodated individually in accommodation recessed sections <NUM>. These components are protected by a film covering the front surface of tape <NUM>. Tape <NUM>, which is configured as described above, is unwound from reel <NUM> toward the rear, and the film is peeled off in predetermined component supply position 74a of feeder <NUM>, where the component is exposed. The component fed out to predetermined component supply position 74a is picked up by nozzle <NUM>. The operation of reel unit <NUM> is controlled by feeder controller <NUM> (refer to <FIG>) provided in each feeder <NUM>.

As shown in <FIG>, control device <NUM> includes CPU <NUM>, storage section <NUM> (ROM, RAM, HDD, and the like), input/output interface <NUM>, and the like, which are connected to each other via bus <NUM>. Control device <NUM> outputs drive signals to board conveyance device <NUM>, drive motor 26a of X-axis slider <NUM>, drive motor 30a of Y-axis slider <NUM>, Z-axis motor <NUM>, Q-axis motor <NUM>, part camera <NUM>, mark camera <NUM>, display <NUM>, and the pressure supply source, not shown, for nozzle <NUM>. Control device <NUM> receives a captured image inputted from part camera <NUM> and a captured image inputted from mark camera <NUM>. Control device <NUM> is connected to feeder controllers <NUM> of reel unit <NUM> for communication. Although not shown, sliders <NUM> and <NUM> are each equipped with a position sensor, not shown, and control device <NUM> controls drive motors 26a, 30a of respective sliders <NUM>, <NUM> while receiving positional information inputted thereinto from the individual positions sensors.

Here, board <NUM> will be described. Board <NUM> shown in <FIG> has fiducial marks <NUM>. Fiducial marks <NUM> are marks individually provided in two diagonal corners of board <NUM> and are used, for example, to correct the posture (position and inclination) of board <NUM>. Here, it is assumed that fiducial marks <NUM> are prepared so as to be clearly distinguishable from board <NUM> by using a monochromatic image captured when fiducial marks <NUM> are illuminated with monochromatic light of R. In addition, board <NUM> shown in <FIG> has block skip marks <NUM>. Block skip marks <NUM> are marks for indicating whether each board block <NUM> is a good block or a bad block in quality in the case that board <NUM> is formed so that multiple small boards (board blocks <NUM>) are taken therefrom. As a result, block skip marks <NUM> are prepared so that a mark indicating a good block in quality (a white mark in <FIG>) and a mark indicating a bad block in quality (a black mark in <FIG>) can be distinguished from each other. Here, it is assumed that block skip marks <NUM> are prepared so as to be clearly distinguished from board <NUM> by use of monochromatic images captured when block skip marks <NUM> are illuminated with monochromatic light of R. That is, the monochromatic light of R is selected for both fiducial marks <NUM> and block skip marks <NUM> based on the distinctiveness between these marks <NUM>, <NUM> and board <NUM> which constitutes a background therefor.

Next, an operation of component mounter <NUM> will be described which is performed thereby when component mounter <NUM> executes a component mounting process. CPU <NUM> of control device <NUM> controls the individual sections of component mounter <NUM> based on a production program received from a management device, not show, to produce board <NUM> on which multiple components of multiple types are mounted. Specifically speaking, CPU <NUM> causes X-axis slider <NUM> and Y-axis slider <NUM> to position nozzle <NUM> so as to face a component fed out to component supply position 74a by reel unit <NUM>, which constitutes a component supply device. Subsequently, CPU <NUM> causes nozzle <NUM> to pick up the component in component supply position 74a by controlling the pressure of nozzle <NUM>. Then, CPU <NUM> causes part camera <NUM> to capture an image of the component picked up by nozzle <NUM> and recognizes a posture of the component based on the image of the component so obtained. Subsequently, CPU <NUM> causes X-axis slider <NUM> and Y-axis slider <NUM> to dispose the component directly above a designated position on board <NUM> in consideration of the posture of the component picked up by nozzle <NUM> and then causes nozzle <NUM> to release the component by controlling the pressure of nozzle <NUM>. CPU <NUM> repeatedly executes the series of operations of the component mounting process to mount a predetermined number of components of predetermined types on board <NUM>. A mounting line is formed by aligning multiple component mounters <NUM> configured as described heretofore in the left-right direction. It is designed that when board <NUM> is conveyed from upstream-most component mounter <NUM> to downstream-most component mounter <NUM> along one mounting line, all the predetermined components are mounted on board <NUM>.

Next, an operation of component mounter <NUM> will be described which is performed thereby when component mounter <NUM> executes an inspection of a target object. <FIG> is a flowchart showing an example of an inspection routine. When starting an inspection routine, CPU <NUM> of control device <NUM> first selects monochromatic light based on a target object (S100). For example, in the case that a target object is fiducial mark <NUM> (refer to <FIG>), CPU <NUM> selects the monochromatic light of R from the three monochromatic lights of R, G, B. Similarly, in the case that a target object is block skip mark <NUM> (refer to <FIG>), CPU <NUM> selects the monochromatic light of R. As described above, this is because both fiducial mark <NUM> and block skip mark <NUM> can clearly be distinguished from board <NUM> (background) in a monochromatic image captured by shining the monochromatic light of R thereon. On the other hand, in the case that a target object is a component on board <NUM> shown in <FIG> on which the required component mounting has been completed (for example, board <NUM> on which all the components managed by component mounter <NUM> have been mounted completely), CPU <NUM> selects all the monochromatic lights in the three monochromatic lights of R, G, B. Three types of components P1, P2, P3 are mounted on board <NUM> in <FIG>, and specifically speaking, two components P1, six components P2, and one component P3 are mounted on board <NUM>. It is assumed that all components P1, P2, P3 cannot clearly be distinguished from board <NUM> (background) in monochromatic images of components P1, P2, P3 on board <NUM> which are captured by shining any monochromatic light in the monochromatic lights of R, G, B on components P1, P2, P3, but all components P1, P2, P3 can clearly be distinguished from board <NUM> in a composite image (a color image) into which the monochromatic images produced by the monochromatic lights of R, G, B are combined. That is, all the monochromatic lights of R, G, B are selected based on the distinctiveness between components P1, P2, P3 and board <NUM>, which constitutes the background for components P1, P2, P3.

Next, CPU <NUM> causes mark camera <NUM> (that is, lighting device <NUM> and camera main body <NUM>) to capture a monochromatic image of a target object which is illuminated with the selected monochromatic light (S110) and causes the monochromatic image so captured to be inputted thereinto from mark camera <NUM> (S120). For example, as in the case that a target object is fiducial mark <NUM> or block skip mark <NUM>, if a selected monochromatic light is the monochromatic light of R, CPU <NUM> causes mark camera <NUM> to capture a monochromatic image of the target object which is illuminated with the monochromatic light of R and then causes mark camera <NUM> to input the monochromatic image so captured into CPU <NUM> therefrom. On the other hand, as in the case that target objects are components P1, P2, P3 on board <NUM> shown in <FIG> on which all the required components have been mounted completely, if selected monochromatic lights are all the monochromatic lights in the three monochromatic lights of R, G, B, CPU <NUM> causes mark camera <NUM> to sequentially capture monochromatic images of components P1, P2, P3 which are illuminated with the monochromatic light of R, monochromatic images of P1, P2, P3 which are illuminated with the monochromatic light of G, and monochromatic images of components P1, P2, P3 which are illuminated with the monochromatic light of B and causes mark camera <NUM> to input the monochromatic images so captured into CPU <NUM> therefrom. In illuminating a target object with monochromatic light, although side light source <NUM> of lighting device <NUM> is normally used, in the case that a target object has a glossy surface like a metallic surface, vertical light source <NUM> is used.

Next, CPU <NUM> sets a target object inspection image (S130). For example, as in the case that a target object is fiducial mark <NUM> or block skip mark <NUM>, if CPU <NUM> causes mark camera <NUM> to input a monochromatic image of the target object which is illuminated with the monochromatic light of R into CPU <NUM> therefrom, CPU <NUM> sets the monochromatic image so inputted as a target object inspection image. On the other hand, as in the case that target objects are components P1, P2, P3 on board <NUM> shown in <FIG> on which all the required components have been mounted completely, if CPU <NUM> causes mark camera <NUM> to input monochromatic images of the target object which is illuminated independently with the monochromatic lights of R, G, B into CPU <NUM> therefrom, CPU <NUM> generates a composite image (a color image) by combining the individual monochromatic images together and sets the composite image so generated as a target object inspection image.

Here, a color image generated in the present embodiment will be described. Information representing a brightness in R for each pixel in a multistage gradation (for example, <NUM> gradations) is obtained from a black-and-white or monochromatic image of a target object which is illuminated with the monochromatic light of R. Information representing a brightness in G for each pixel in a multistage gradation is obtained from a black-and-white or monochromatic image of a target object which is illuminated with the monochromatic light of G. Information representing a brightness in B for each pixel in a multistage gradation is obtained from a black-and-white or monochromatic image of a target object which is illuminated with the monochromatic light of B. Since information on R, G, B for each pixel can be obtained from these pieces of information, a color image can be generated. Since the information on R, G, B can be obtained for each pixel for the color image generated as described above, a high-resolution color image, which is free from such a phenomenon as color bleeding or false colors, can be obtained, when compared with a case in which color information is generated using four pixels, which are arranged into a square configuration, as one unit (for example, a square configuration of four pixels as one unit in which R and B are aligned along a first diagonal line and G and G are aligned along a second diagonal line).

Next, CPU <NUM> executes an inspection on the target object using the target object inspection image (S140). For example, as in the case that a target object is fiducial mark <NUM> or block skip mark <NUM>, if the monochromatic image of the target object which is obtained by illuminating the target object with the monochromatic light of R is set as the target object inspection image, fiducial mark <NUM> or block skip mark <NUM> is inspected for its position by use of the monochromatic image. Fiducial marks <NUM> or block skip marks <NUM> are inspected for their positions before components are started to be mounted on board <NUM>. Since the posture of board <NUM> can be identified from its position which can be obtained by inspecting fiducial mark <NUM> for its position, subsequent component mounting can be executed with good precision in consideration of the posture so identified. Component mounting can be executed by skipping a bad board block <NUM> in quality by inspecting block skip marks <NUM> for their positions. If the positions of fiducial marks <NUM> or block skip marks <NUM> cannot be recognized or if the positions of fiducial marks <NUM> or block skip marks <NUM> are offset from their original positions beyond a permissible range, an error is determined to be occurring in board <NUM>, whereby that particular board <NUM> is discharged without any component being mounted thereon. On the other hand, as in the case that target objects are components P1, P2, P3 on board <NUM> shown in <FIG> on which all the required components have been mounted completely, if a color image is set as a target object inspection image, board <NUM> is inspected for positions of components P1, P2, P3 using the color image. As described above, since the color image obtained in the present embodiment is the high-resolution color image which is free from such a phenomena as color bleeding or false colors, the positions of components P1, P2, P3 can be recognized accurately, as a result of which the precision of the inspection is improved. On the other hand, if the positions of components P1, P2, P3 cannot be recognized or if the positions of components P1, P2 P3 are offset from their original positions beyond a permissible range, an error is determined to be occurring in board <NUM>, whereby that particular board <NUM> is disposed as a bad board in quality.

Next, CPU <NUM> saves the image corresponding to the inspection result in storage section <NUM> (S <NUM>) and ends the present routine. For example, in the case that a target object is fiducial mark <NUM> or block skip mark <NUM>, if no error occurs or is determined to occur, CPU <NUM> saves a monochromatic image of the target object which is illuminated with the monochromatic light of R in storage section <NUM>. At this time, the monochromatic image may be compressed for saving. This is because the image resulting when no error occurs does not have to be studied in detail. On the other hand, in the case that a target object is fiducial mark <NUM> or block skip mark <NUM>, if an error occurs or is determined to occur, CPU <NUM> causes mark camera <NUM> to capture monochromatic images of the target object which is independently illuminated with the other monochromatic lights (that is, the monochromatic lights of G and B) and saves the resulting monochromatic images of R, G, B in storage section <NUM>. This enables a cause for the error to be traced back later by studying the monochromatic images of R, G, B so saved. At this time, in place of or in addition to saving individually the monochromatic images of R, G, B in storage section <NUM>, a color image which can be obtained by combining the monochromatic images of R, G, B together may be saved in storage section <NUM>. On the other hand, in the case that target objects are components P1, P2, P3 on board <NUM> shown in <FIG> on which all the required components have been mounted completely, if no error occurs or is determined to occur, CPU <NUM> saves the color image in storage section <NUM>. At this time, the color image may be compressed for saving. This is because the image resulting when no error occurs does not have to be studied in detail. On the other hand, in the case that target objects are components P1, P2, P3 on board <NUM> (refer to <FIG>) on which all the required components have been mounted completely, if an error occurs or is determined to occur, CPU <NUM> saves the color image in storage section <NUM> without compressing it. This enables a cause for the error to be traced back later by studying the color image. At this time, in place of or in addition to saving the color image in storage section <NUM>, CPU <NUM> may save the monochromatic images of R, G, B in storage section <NUM>.

Here, the correspondence between the constituent elements of the present embodiment and the constituent elements of the board work system disclosed in the present description will be described. Component mounter <NUM> of the present embodiment corresponds to the board work system disclosed in the present description, X-axis slider <NUM> and Y-axis slider <NUM> correspond to the moving device, lighting device <NUM> corresponds to the lighting device, camera main body <NUM> corresponds to the monochromatic camera, and control device <NUM> corresponds to the image processing device. In addition, display <NUM> corresponds to an image display device, and storage section <NUM> corresponds to a storage device.

In the present embodiment that has been described heretofore, whether one monochromatic image or the composite image is used as the target object inspection image is selectively determined based on the target object. That is, whether one monochromatic image or the high-resolution composite image is used can be selectively determined for the target object as required. As a result, the processing time is shortened as compared with a case in which the composite image is used as the target object inspection image for all target objects involved.

In addition, whether one monochromatic light or all the monochromatic lights are selected from the three monochromatic lights of R, G, B is determined based on the distinctiveness of the target object from the background of the target object. As a result, an appropriate image is selected for inspection of the target object.

Further, CPU <NUM> determines whether the target object is good or bad in quality based on the result of the image recognition of the target object in the target object inspection image, and if CPU <NUM> determines that the target object is bad in quality, CPU <NUM> saves all the monochromatic images of the target object which is illuminated with the three monochromatic lights of R, G, B and/or the composite image into which all the monochromatic images are combined in storage section <NUM>. As a result, a cause for the bad quality of the target object, which is determined as bad in quality, can be traced back later by reading out all the monochromatic images and/or the composite image (the color image) of the target object from storage section <NUM>. At this time, if all the monochromatic images of the target object which is illuminated with the three monochromatic lights of R, G, B are not available, CPU <NUM> causes a monochromatic image corresponding to the unavailable one to be obtained and saves the monochromatic image so obtained as required.

For example, in place of the inspection routine described in the embodiment described above, an inspection routine shown in <FIG> may be executed. In the inspection routine shown in <FIG>, firstly, CPU <NUM> of control device <NUM> determines whether there has been a change in event regarding the target object (S200). Examples of changes in event regarding the target object include a change in the shape data of a component constituting the target object, an exchange of feeder <NUM> that supplies the component, an exchange of nozzle <NUM> that picks up the component, a change in the production company or production lot of the component, and the like. If CPU <NUM> determines in S200 that there is no change in event regarding the target object, CPU <NUM> executes the processing operations in S100 to S150 described above and ends the present routine. On the other hand, if CPU <NUM> determines in S200 that there has been a change in event regarding the target object, CPU <NUM> causes mark camera <NUM> to capture monochromatic images of the target object which is illuminated with all the monochromatic lights of R, G, B irrespective of what the target object is (S210) and then causes mark camera <NUM> to input the monochromatic images so captured into CPU <NUM> therefrom (S220). Next, CPU <NUM> sets a target object inspection image (S230). Here, CPU <NUM> generates a composite image (a color image) of the target object by combining the monochromatic images of the target object which is illuminated independently and individually with the monochromatic lights of R, G, B, which are inputted thereinto from mark camera <NUM>, and sets the composite image so generated as a target object inspection image. Thereafter, CPU <NUM> executes processing operations in S240 and S250, which are similar to those in S140 and S150 described above, and ends the present routine. In S250, if CPU <NUM> determines that the result of the inspection is not an error, CPU <NUM> compresses the composite image to save it in storage section <NUM>, while if CPU <NUM> determines that the result of the inspection is an error, CPU <NUM> saves the composite image in storage section <NUM> without compressing the composite image. As a result, since there is a high probability that an error occurs when there occurs a change in event regarding the target object, how the target object is influenced by the change in event can be traced back in detail later by reading out the composite image (the color image) of the target object from storage section <NUM>. If the result of the inspection becomes an error, CPU <NUM> may save the individual monochromatic images of the target object which are produced by the monochromatic lights of R, G, B in storage section <NUM> in place of or in addition to saving the composite image in storage section <NUM>. In this way, too, how the target object is influenced by the change in event can be traced back in detail later by reading out all the monochromatic images and/or the composite image (the color image) of the target object from storage section <NUM>.

In the embodiment described above, the monochromatic light is selected based on a target object, and a monochromatic image of the target object which is illuminated with the monochromatic light so selected is captured; however, in the case that an onboard editing image is prepared which is used to execute such editing on display <NUM> of component mounter <NUM>, a configuration may be adopted, irrespective of what a target object is, in which monochromatic images of the three colors of R, G, B are captured and are then combined together to prepare a composite image (a color image) of the target object for display on display <NUM>.

In the embodiment described above, a configuration may be adopted in which monochromatic images of a target object which is illuminated independently and individually with the monochromatic lights of R, G, B are captured when production is started, and in the case that a feature point of the target object can be identified well from a background of the target object in any of the captured monochromatic images of R, G, B, the monochromatic light constituting that particular monochromatic image is associated with the target object, while in the case that the feature point of the target object cannot be identified well in any of the captured monochromatic images of R, G, B, all the monochromatic lights are associated with the target object so as to obtain a composite image (a color image) into which the individual monochromatic images are combined. This association work may be executed by CPU <NUM> of control device <NUM> or may be executed by the operator. In addition, a configuration may be adopted in which all the monochromatic lights are selected irrespective of what a target object is in the inspection routine in S100 until a predetermined period of time elapses after the production is started, whereafter that association work is executed. After the association work has been executed, the monochromatic light associated with the target object only needs to be selected in the inspection routine in S100.

In the inspection routine of the embodiment described above, even in the case of a target object for which one certain monochromatic light is selected, a configuration may be adopted in which monochromatic images of the target object which is illuminated independently with the monochromatic lights of R, G, B are combined together into a composite image (a color image) for saving.

In the embodiment described above, a target object may be a component accommodated in accommodation recessed section <NUM> in tape <NUM> of reel unit <NUM>. In addition, reel unit <NUM> is exemplified as the component supply device of component mounter <NUM>; however, the present invention is not particularly limited to this, and hence, for example, a tray unit in which a component is placed on a tray for supply may be adopted. In this case, a target object may be a component placed on the tray.

In the embodiment described above, although lighting device <NUM> is described as being able to shine independently lights of the three colors of R, G, B, lighting device <NUM> may be such as to shine independently lights of two colors (for example, R and G, R and B, or G and B). In this case, as for a target object that cannot be identified or recognized by a monochromatic image of one color, a composite image may be used into which monochromatic images of the target object which is illuminated independently with such two monochromatic lights are combined.

In the embodiment described above, component mounter <NUM> is exemplified as the board work system; however, the present invention is not limited to this, and hence, the board work system may be, for example, a solder printing machine disposed upstream of a mounting line in which multiple component mounters <NUM> are aligned. The solder printing machine is a device for executing printing with solder in a predetermined position on board <NUM> on which no component has been mounted, and the inspection routine described above may be executed for solder as a target object.

In S130 in the inspection routine in the embodiment described above, a configuration may be adopted in which CPU <NUM> sets a target object inspection image and thereafter displays the target object inspection image on display <NUM>. This enables the operator to inspect the target object by watching the target object inspection image displayed on display <NUM>. In this case, the processing operations in S140 and S150 may be omitted.

In the embodiment described above, although head <NUM> including one nozzle <NUM> is used, a rotary head may be used which includes multiple nozzles arranged at equal intervals along an outer circumference of a cylindrical head main body.

In the embodiment described above, nozzle <NUM> is exemplified as the member for picking up and holding a component; however, the present invention is not particularly limited to this, and hence, for example, a mechanical chuck or an electromagnet may be provided in place of nozzle <NUM>.

The board work system disclosed in the present description may be configured as follows.

In the board work system disclosed in the present description, the image processing device may display the target object inspection image on the image display device. This enables the operator to confirm the target object inspection image by looking at the image display device.

In the board work system disclosed in the present description, the image processing device may select one or multiple monochromatic lights from the at least two monochromatic lights based on the distinctiveness of the target object from the background of the target object. This enables an appropriate image to be selected for inspection of the target object. For example, in the case that the target object can be identified from the background of the target object in a monochromatic image of the target object which is illuminated with one certain monochromatic light of multiple monochromatic lights, the image processing device only needs to select the one certain monochromatic light, while in the case that the target object cannot be identified from the background of the target object in monochromatic images of the target object which is illuminated individually with both of the multiple monochromatic lights but can be identified in a composite image, the image processing device only needs to select the multiple monochromatic lights corresponding to the monochromatic images required to make up the composite image.

In the board work system disclosed in the present description, the lighting device can shine independently the three monochromatic lights of R, G, B on the target object, and the image processing device may set one monochromatic light in the three monochromatic lights of R, G, B or may select all the monochromatic lights based on the target object. This enables the composite image to be a color image which is obtained by combining the individual monochromatic images of R, G, B together.

In the board work system disclosed in the present description, the image processing device may adopt a configuration in which the image processing device determines whether the target object is good or bad in quality based on the result of the image recognition of the target object in the target object inspection image, and in the case that the image processing device determines that the target object is bad in quality, the image processing device saves all the monochromatic images produced by the three monochromatic lights of R, G, B, respectively, and/or the composite image into which all the monochromatic lights are combined in the storage device. This enables a cause for being bad in quality to be traced back later for the target object which is determined bad in quality by reading out all the monochromatic images and/or the composite image (the color image) of the target object from the storage device. For this, in the case that all the monochromatic images of the target object in the wavelengths of R, G, B are not available, the image processing device may cause the corresponding monochromatic camera to capture a monochromatic image corresponding to the unavailable monochromatic image. Alternatively,.

In the board work system disclosed in the present description, in the case that there is a change in event regarding the target object, the image processing device may save all the monochromatic images of the target object which is illuminated with the three monochromatic lights of R, G, B and/or the composite image into which all the monochromatic images are combined in the storage device. In the case that there is a change in event regarding the target object, this enables the influence on the target object by the change in event to be traced back later by reading out all the monochromatic images and/or the composite image (the color image) of the target object from the storage device. For this, in the case that all the monochromatic images of the target object in the wavelengths of R, G, B are not available, the image processing device may cause the corresponding monochromatic camera to capture a monochromatic image corresponding to the unavailable monochromatic image. Examples of the change in event regarding the target object include, when the target object is a component to be mounted on a board, a case in which the shape data of a component is changed, a case in which the component supply device for supplying the component or the nozzle is exchanged, a case in which the production company or the production lot of the component is exchanged, and the like.

In the board work system disclosed in the present description, the target object may be a mark affixed to the board, a component mounted on the board, a component disposed in the component supply device for supplying a component to the board, or solder with which printing is executed on the board.

The present invention can be applied to an industry involving work of mounting a component on a board.

Claim 1:
A board work system for working on a board disposed on an XY-plane, comprising:
a moving device (<NUM>, <NUM>) configured to move over the XY-plane;
a lighting device (<NUM>) attached to the moving device (<NUM>, <NUM>) and configured to shine
independently any or multiple of at least two monochromatic lights in monochromatic lights of R, G, B on a target object on the XY-plane;
a monochromatic camera (<NUM>) attached to the moving device (<NUM>, <NUM>) and configured to obtain monochromatic images of the target object which is illuminated by the lighting device (<NUM>); and
an image processing device (<NUM>) configured to
select (S100) one or multiple monochromatic lights from the at least two monochromatic lights based on the target object and
in the case that the number of monochromatic lights selected (S100) is one, to cause (S110) the lighting device (<NUM>) and the monochromatic camera (<NUM>) to obtain a monochromatic image of the target object which is illuminated with the one monochromatic light and set (S130) the monochromatic image of the target object so obtained as a target object inspection image, or
in the case that the number of monochromatic lights selected (S100) is a multiple number, to cause (S110) the lighting device (<NUM>) to shine the selected multiple monochromatic lights independently and the monochromatic camera (<NUM>) to obtain monochromatic images of the target object which is illuminated independently with the multiple monochromatic lights and set (S130) a composite image into which the individual monochromatic images are combined as the target object inspection image.