Fuji Corporation

Fuji Machine Mfg. Co., Ltd.

Masafumi Amano

Kazuya Kotani

Yusuke Yamakage

Shuichiro Kito

Hiroshi Oike

Kenji Sugiyama

Hirotake Esaki

Mikio Nakajima

Hidetoshi Kawai

Kazumi Hoshikawa

Yuta Yokoi

Mitsutaka Inagaki

Taizo Umezaki

Keiichi Ono

Yuki Inaura

Mikiya Suzuki

Nobuo Oishi

Ryohei Kamio

Tsutomu Kunihiro

Hiroyuki Ao

Kazuhiro Asada

Takeshi Fujishiro

Katsushi Ota

Ken Morikami

Go Uchida

Takato Namekata

Masato Iwabuchi

Masaki Matsudaira

Ryosuke Mori

The image processing device comprises: a storage section storing a three-dimensional shape model in which feature amounts and three-dimensional positional information, for multiple feature points of a target object, are associated; an extraction process section configured to extract the feature amounts and two-dimensional positional information of the feature points from a two-dimensional image of the target object captured with a camera; and a recognition process section configured to identify three-dimensional positional information of the feature points of the two-dimensional image and recognize the position and orientation of the target object by matching the feature points of the two-dimensional image with the feature points of the three-dimensional model using the feature amounts.

Image processing device, work robot, substrate inspection device, and specimen inspection device

An image display device configured to display, on a display screen, a predetermined image captured in a state in which multiple components to be mounted on a board are held by a mounting head, including: a display control section configured to selectably display, on the display screen, relevant information relating to the multiple components in association with each component, together with the predetermined image, and when a predetermined operation involving selection of any of the relevant information is performed by an operator, display an enlarged image of one component corresponding to the selected relevant information of the predetermined image being displayed.

Image display device and image display method

Provided is an image processing method for easily viewing images obtained by imaging multiple components at a time, the method including image capturing processing of capturing each component holding state relating to multiple suction nozzles mounted on a mounting head as one image, image dividing processing of dividing a region relating to a predetermined component holding state for image data of the multiple component holding states obtained by the image capturing processing, direction conversion processing of converting a direction of the component holding state for divided image data divided by the image dividing processing, and display processing of displaying an image based on the divided image data subjected to the direction conversion processing.

Image processing method

A component orientation determination data creation device for creating component orientation determination data used in a component orientation determination system that determines an orientation of the component by comparing a brightness value of a determination region specified in the component orientation determination data within an image of the component captured by a camera with a determination threshold. A difference image between an image of the component in a correct orientation and an image of the component in another orientation is calculated by acquiring multiple images of the component in different orientations by changing the orientation with respect to the camera of the component that is the target for the component orientation determination data creation.

Component orientation determination data creation device and component orientation determination data creation method

An apparatus for performing work on a substrate includes an image processing device acquiring multiple images captured at different positions by performing imaging multiple times after a camera has been moved by a moving device such that a reference mark of a circuit board is within a range inside a field of view of the camera, creating a super resolution image using multi-frame super resolution processing, and recognizing the reference mark. The image processing device performs candidate region search processing of processing the image captured initially to search for a region within the image including a portion that has a possibility of being the reference mark as a candidate region after completion of the initial imaging, performs multi-frame super resolution processing on the candidate region after completion of final image capturing, creates a super resolution image of the candidate region, and recognizes the reference mark.

Apparatus for performing work on substrate

A mounting device sets a processing region for super-resolution processing based on an approximate position of a main body portion of a component included in a mark image for use in obtaining a position of a fiducial mark and then performs super-resolution processing. Thus, the processing region for super-resolution processing can be appropriately set and prevented from becoming larger than necessary with respect to the main body portion of the component. Further, the processing region for super-resolution processing is determined using the mark image captured under an imaging condition different from that for the component image for use in super-resolution processing. Thus, the processing region can be appropriately set while the component image is kept under an imaging condition suitable for super-resolution processing. Therefore, the processing region for performing super-resolution processing can be set more appropriately, and the super-resolution processing can be efficiently performed.

Mounting device and imaging processing method

A substrate working device including: an imaging device configured to image a substrate; a memory device configured to memorize various information; and an image processing device configured to perform, when specified work is performed with respect to multiple substrates, for a leading substrate, leading-substrate processing of performing imaging processing for detecting a specified detection target required for the specified work with respect to a leading image obtained by imaging the leading substrate using the imaging device, acquiring region information related to a region in the leading image in which the detection target was detected, and memorizing the region information in the memory device, and, for subsequent substrates except for the leading substrate, subsequent-substrate processing of setting a partial processing region in a subsequent image of the subsequent substrate captured by the imaging device based on the region information, and performing the image processing with respect to the set processing region.

Substrate working device and image processing method

An electronic component picked up and held by a mounting head of a component mounter is moved to an imaging position above a component imaging camera, the tip of the lead of the electronic component is imaged from below by the camera to acquire a lead image, and the lead image is inputted into an image recognition device configured from a neural network or the like and imaged processed so as to output the center position of the tip of the lead. Here, whenever an image processing error occurs, the lead image for which the image processing error occurred is displayed on a display device, and an operator specifies the center position of the tip of the lead in the lead image display on the display device and the specified center position is inputted into the image recognition device.

Lead tip position image recognition method and lead tip position image recognition system

A component mounting machine includes a part camera in which a suction nozzle for sucking a component P and a fiducial mark are provided on a head, a sub-lens is installed in a visual field of a lens, the component is imaged through a main lens, and it is possible to image the fiducial mark through the lens and the sub-lens. Distortion correction values of the main lens portion are measured, distortion correction values of the sub-lens portion are measured, and the distortion correction values are stored in advance as a distortion correction table. During component mounting, when the component P which is sucked by the suction nozzle and the fiducial mark are imaged at the same time by the part camera, the obtained image is corrected using the distortion correction table, and a suction state of the component P is detected based on the corrected image.

Component holding state detection method and component mounting machine

Mounting devicecaptures an image of reference markat a first position at which mounting headis stopped under first imaging conditions, and captures an image of componentunder second imaging conditions. Then, mounting devicemoves mounting headand captures an image of reference markat a second position at which mounting headis stopped under the first imaging conditions, and captures a second image of componentunder the second imaging conditions. Further, mounting devicegenerates an image of componentpicked up by mounting headbased on the positional relationship of reference markusing the first image and the second image.

Mounting device, image processing method, and imaging unit

A board production work method which includes a position detection process which detects an arrangement position of a detection target provided on a printed circuit board, and a work executing process which subjects the printed circuit board to predetermined production work based on the detected arrangement position, in which the position detection process includes an image acquisition step of imaging the printed circuit board under multiple imaging conditions and acquiring multiple items of original image data containing luminance values of each pixel arranged in two-dimensional coordinates, a difference calculation step of using two of the multiple items of original image data as calculation targets, calculating differences between luminance values of pixels with same coordinate values, and acquiring difference image data which is formed of luminance difference values of each of the pixels, and a position determination step of determining the arrangement position based on the difference image data.

Board production work method, board imaging conditions determination method, and board production work device

A mounting device that, during movement of a mounting head, captures a first image that includes components that are collected in the mounting head and first fiducial marks, captures a second image that includes the components that are collected in the mounting head and second fiducial marks, and generates an image of the components that are collected in the mounting head using the first image and the second image based on the positional relationship of the first fiducial marks and the second fiducial marks. At this time, the mounting device captures the first image after the components and the first fiducial marks enter the same imaging range prior to the second fiducial marks entering the imaging range, and after that, captures the second image after the first fiducial marks come out from the imaging range and the components and the second fiducial marks enter the same imaging range.

A component mounter which picks components which are stored in tape and supplied from a component supply device by a component picking device and mounts components on a board which is conveyed by a board conveyance device including a waste box which stores the cut tape after the components are picked, a scraping out device which can scrape the tape out of the waste box, and a control device which controls scraping out the stored tape by the scraping out device when the tape is stored in the waste box to a predetermined amount.

Component mounter

A board production state monitoring system including a camera unit that is disposed in a board work machine which carries out predetermined work for a board, that images a progress of the work by using a moving image, and that outputs moving image data; a data operation unit that receives, stores, and displays the moving image data; a trigger factor detection unit that detects at least one of a change factor in which working conditions of the work are changed inside the board work machine and a sign of error occurrence which shows that a working error may occur in the work, as a trigger factor; and an imaging start device for causing the camera unit to start moving image capturing if the trigger factor detection unit detects the trigger factor, and for causing the data operation unit to temporarily store the moving image data, is provided.

Board production state monitoring system

The assembling machine is provided with fiducial marks which are attached to a defined position on a moving head, and an image processing section which recognizes the holding state of the component by the holding member based on high resolution data which is generated by super-resolution processing which uses a plurality of items of image data. The image processing section includes a displacement amount calculation section which calculates each displacement amount of imaging positions of other items of image data in relation to the imaging position of reference data, a positioning processing section which performs the positioning of the other items of image data in relation to the reference data, and a reconstruction processing section which generates the high resolution data based on the plurality of items of image data which are positioned.

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Okazaki, Japan

Masafumi Amano