JP2016092325A - Assembly work support system, assembly work support method, and assembly work support program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable efficient assembly work of a printed board with the reduction of a work error.SOLUTION: In a system for supporting assembly work 1, an image projection device 20 projects on a printed board 40 an image of a component 41 to be mounted on the printed board 40 by an operator. A detection device detects the position and the posture of the printed board 40. A calculation device 10 corrects an image related to the component 41 according to the position and the posture of the printed board 40 detected by the detection device. The detection device may be an image imaging apparatus 30 which images the printed board 40. In that case, the calculation device 10 corrects image data related to the component 41 to be projected on the printed board 40, on the basis of the image of the printed board 40 imaged by the image imaging apparatus 30.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an assembly work support system, an assembly work support method, and an assembly work support program that support the work of an operator who mounts a component on a printed board.

  Assembly of a printed wiring board (hereinafter referred to as a printed board) has been automated, but is often performed manually. In particular, it is often done manually because it is difficult to automate in a low-mix production line. In some factories, there are lines where more than 50 types of printed boards flow on a single line per day, so even a skilled worker can hardly grasp the mounting parts and mounting positions of various printed boards. is there.

  Conventionally, an operator has performed the mounting work of each printed board while looking at the specifications, but it has been very difficult to understand. Therefore, at present, a display is installed in front of the worker, and a work instruction for the target printed board is displayed on the display.

JP 2005-85985 A

  Unlike the paper specifications, the display can highlight and display the parts to be mounted and their mounting positions in their place, making it easier to understand compared to the work while viewing the conventional specifications. However, it is still necessary to work while alternately confirming the work instructions displayed on the display and the printed board at hand of the operator. Therefore, it does not drastically improve the work efficiency and has not led to the elimination of work mistakes.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a technique for improving the efficiency of assembly work of printed boards and reducing work errors.

  In order to solve the above-described problems, an assembly work support system according to an aspect of the present invention includes an image projection device that projects an image relating to a component to be mounted on a printed board by an operator, the position of the printed board, and A detection device that detects an orientation; and an arithmetic device that corrects an image of the component in accordance with the position and orientation of the printed board detected by the detection device.

  Another aspect of the present invention is an assembly work support method. In this method, an operator projects an image of a component to be mounted on a printed board onto the printed board, detects a position and posture of the printed board, and detects the position and posture of the printed board. And correcting the image relating to the component accordingly.

  It should be noted that any combination of the above-described constituent elements and a conversion of the expression of the present invention between a method, an apparatus, a system, a recording medium, a computer program, etc. are also effective as an aspect of the present invention.

  According to the present invention, the assembly work of the printed board can be made efficient, and work mistakes can be reduced.

It is a figure which shows the mode of the assembly operation of a general printed board. FIGS. 2A to 2D are views showing a state of projecting an image related to a component on a printed board according to the embodiment of the present invention. 1 is a diagram showing an overall configuration of an assembly work support system according to an embodiment of the present invention. It is a figure which shows the functional block of the assembly work assistance system which concerns on embodiment of this invention. FIGS. 5A to 5D are diagrams showing how a printed board is projected by the image photographing apparatus according to the embodiment of the present invention. 6A to 6B are diagrams illustrating an example of the coordinates of the four points before conversion of the target graphic and the coordinates of the four points after conversion. It is a flowchart which shows operation | movement of the arithmetic unit based on embodiment of this invention.

  FIG. 1 is a diagram showing a general printed board assembly operation. FIG. 1 shows a state where assembly of a printed board having a certain specification is performed by three workers AC. A display 50 is installed in front of each worker. Each display 50 is connected to a CAD / CAM system (not shown), and the CAD / CAM system causes each display 50 to display a work instruction of a process to be handled by each worker. Each worker mounts components on the printed board 40 while looking at the work instructions displayed on the display 50.

  The worker visually confirms the work instruction displayed on the display 50 and the printed board 40 at hand, and proceeds with the work while maintaining consistency. When the worker is looking at the work instruction displayed on the display 50, the worker's eyes are removed from the printed board 40. During the period when the eyes are away from the printed board 40, the operation at hand is basically stopped. In addition, after returning to the printed board 40 at hand, a part may be attached to a position different from the mounting position displayed on the work instruction screen due to misunderstanding.

  In the present embodiment, an image relating to the component is projected from the projector onto the mounting position on the surface of the printed board 40 so that the operator can work without taking his eyes off the printed board 40. The image related to the component may be an image obtained by copying the component itself or a frame image indicating the installation position. Information such as the part model number may be added to the frame indicating the installation position. As described above, in the work instruction using the projector, the operator does not need to check the position of the component by looking at the display 50, and can continue to look at the printed board 40.

  In the assembly operation of the printed board 40, various operations such as soldering, insertion of parts into the mounting holes, and screwing are generated. An operator lifts, rotates, or tilts the printed board 40 when performing various operations. Therefore, in the present embodiment, the image relating to the component being projected is adaptively changed in accordance with changes in the position and orientation of the printed board 40 in the three-dimensional space so as to follow the movement of the printed board 40.

  FIGS. 2A to 2D are diagrams illustrating a state of projecting an image related to a component onto the printed board 40 according to the embodiment of the present invention. In this example, an image relating to the component 41 called “TA4” is projected onto the printed board 40. An image projection device (projector) 20 is installed above the work table of each worker, and light is projected downward from above. FIG. 2A shows a state in which the printed board 40 is in a specified position and a specified posture. FIGS. 2B to 2D show a state where the position or posture of the printed board 40 has been moved by the operator. 2A to 2D show images viewed from above the workbench in each state. In the present embodiment, the projection image related to the component 41 is deformed by following the movement of the printed board 40 in the three-dimensional space. Thereby, even if the operator moves the printed board 40, the operator can always keep track of the mounting position of the component 41 almost accurately.

  FIG. 3 is a diagram showing an overall configuration of the assembly work support system 1 according to the embodiment of the present invention. The assembly work support system 1 includes a calculation device 10, an image projection device (projector) 20, and an image photographing device (camera) 30. Similarly to the image projection device 20, the image capturing device 30 is installed above the work table so as to look down on the work table. FIG. 3 is a schematic diagram, and the installation form of the image projection device 20 and the image capturing device 30 is not particularly limited. For example, a small image capturing device 30 may be attached near the projection port of the image projecting device 20.

  The arithmetic device 10 can be configured by an information processing device such as a PC. Cables are connected between the arithmetic device 10 and the image projection device 20 and between the arithmetic device 10 and the image photographing device 30. Wireless connection may be used. The arithmetic device 10 is also connected to a host arithmetic device (not shown) on which a CAD / CAM system is mounted.

  The image projection device 20 acquires an image related to a component to be mounted on the printed board 40 by the operator from the arithmetic device 10 and projects the image on a position to be mounted on the printed board 40. The image capturing device 30 captures the printed board 40 and transmits the captured image to the arithmetic device 10.

  FIG. 4 is a diagram showing functional blocks of the assembly work support system 1 according to the embodiment of the present invention. The arithmetic device 10 includes an input / output unit 11, a control unit 12, a storage unit 13, a display unit 14, and an operation input unit 15. The control unit 12 includes a mounting data acquisition unit 121, an image data setting unit 122, a captured image acquisition unit 123, and an image data correction unit 124. In the control unit 12, only functional blocks related to the processing to be noticed in the present embodiment are drawn.

  The function of the control unit 12 can be realized by cooperation of hardware resources and software resources. Processors, ROM, RAM, and other LSIs can be used as hardware resources. Programs such as operating systems and applications can be used as software resources. The function of the control unit 12 may be realized by a single hardware resource.

  The mounting data acquisition unit 121 acquires the specification information and mounting data of each printed board 40 from the host arithmetic device and stores them in the storage unit 13. The storage unit 13 includes a recording medium such as an HDD or an SSD. The mounting data acquired from the host arithmetic device is usually defined by CAD data. When a small-scale line or one worker performs the work of all processes, the arithmetic device 10 does not acquire the specification information and mounting data of the printed board 40 from the upper arithmetic device, but the user is given to the arithmetic device 10. It may be directly input by the operation. The image data setting unit 122 transmits image data related to the component based on the mounting data to the image projection apparatus 20 and sets the image data in the image projection apparatus 20.

  The image projecting device 20 converts the set image data into projection light and projects it toward the printed board 40. The image capturing device 30 captures the printed board 40 on which an image related to a component is projected. The image capturing device 30 includes a solid-state image sensor (for example, a CCD image sensor or a CMOS image sensor), and converts incident light into image data of an electrical signal.

  FIGS. 5A to 5D are diagrams showing how the printed board 40 is projected by the image capturing apparatus 30 according to the embodiment of the present invention. As shown in FIGS. 5A to 5D, the closer the distance between the printed board 40 and the image capturing device 30 is, the larger the printed board 40 appears in two dimensions. When the printed board 40 is not horizontal, the side on the side closer to the distance between the printed board 40 and the image capturing device 30 appears longer in two dimensions, and the side on the far side appears shorter.

  Since the image data related to the component to be mounted is projected onto the plane of the printed board 40, it is necessary to correct the image data related to the component according to the position and orientation of the printed board 40. If it is not corrected, a wrinkle will occur between the printed board 40 and an image relating to the component projected on the printed board 40.

  Returning to FIG. The captured image acquisition unit 123 acquires an image captured by the image capturing device 30 from the image capturing device 30. The image data correction unit 124 corrects image data relating to a component to be projected based on the acquired image of the printed board 40. That is, the image data is corrected according to the position and orientation of the printed board 40. For example, the image data correction unit 124 calculates a conversion coefficient for projective conversion based on the coordinates of the four points of the photographed printed board 40, and uses the conversion coefficient to calculate image data of a component to be projected. Projective transformation. More specific description will be given below.

Projective transformation is defined by the following equation (1).
When formula (1) is expanded,
x ′ = (ax + by + c) / (gx + hy + 1)
y ′ = (dx + ey + f) / (gx + hy + 1)
It becomes.
(X ′, y ′) indicates the coordinates after conversion, and (x, y) indicates the coordinates before conversion.
a, b, c, d, e, f, g, and h denote conversion coefficients.
Since the conversion coefficient is eight unknowns, it can be obtained by solving an 8-dimensional simultaneous linear equation from the coordinates of the four points before conversion and the corresponding four points after conversion.

  6A to 6B are diagrams illustrating an example of the coordinates of the four points before conversion of the target graphic and the coordinates of the four points after conversion. Since the printed board 40 is generally rectangular, it is easy to use the vertices of the squares (four corners) of the printed board 40 as the four points to be extracted. The coordinates (x1, y1), (x2, y2), (x3, y3), and (x4, y4) of the four points of the printed board 40 before conversion are changed to (x, y), and 4 of the printed board 40 after conversion. The coordinates of the points (x′1, y′1), (x′2, y′2), (x′3, y′3), (x′4, y′4) are changed to (x ′, y ′) By substituting one by one and solving the 8-dimensional simultaneous linear equations, the conversion coefficients a, b, c, d, e, f, g, and h can be calculated.

  The coordinates of the four points on the printed board 40 before conversion are the coordinates of the four points when the image is taken in a state where the printed board 40 is installed in a prescribed position at a prescribed position. The four points to be extracted are not limited to the vertex coordinates, and any four points in the printed board 40 may be used. In that case, it is necessary to mark the four points to be extracted.

  The image data correction unit 124 substitutes the coordinates of the image data related to the part before conversion into the above formula (1), and calculates the coordinates of the image data related to the part after conversion. The image data related to the component before conversion corresponds to image data when the component is mounted on the printed board 40 installed in a specified position at a specified position. Note that the process of transforming image data related to a component by projective transformation is merely an example, and other geometric transformations may be used as long as the process can achieve a transformation that provides a similar effect.

  Note that the front and back of the printed board 40 can be determined by recognizing the wiring pattern in the image of the photographed printed board 40. The determination can also be made by comparing a component mounted in the previous process (may be a component mounted on a machine) and mounting data (for example, CAD data).

  FIG. 7 is a flowchart showing the operation of the arithmetic unit 10 according to the embodiment of the present invention. The mounting data acquisition unit 121 acquires the specification information and mounting data of the target printed board 40 from the higher-level arithmetic unit, and stores them in the storage unit 13 (S10).

  The image data setting unit 122 determines whether or not an unmounted component remains among components to be mounted by the corresponding worker at the work location (S11). When unmounted components remain (Y in S11), the image data setting unit 122 reads mounting data of components to be mounted next by the operator from the storage unit 13 (S12). When the completion of mounting of the component is recognized (Y in S13), the process proceeds to step S11. The completion of component mounting is recognized as follows, for example. An operation button or an operation panel connected to the computing device 10 is installed on the work table or in the vicinity thereof, and is pressed by the worker every time the component mounting is completed. Further, the completion of the mounting may be recognized by analyzing the photographed image of the printed board 40. For example, the mounting completion may be recognized by detecting a change in the color of the mounting position.

  While the mounting of the components is not completed (N in S13), the captured image acquisition unit 123 acquires a captured image of the printed board 40 from the image capturing device 30 (S14). The image data correction unit 124 extracts the coordinates of the four points of the printed board 40 from the acquired photographed image (S15). The image data correction unit 124 calculates a conversion coefficient for projective conversion based on the extracted coordinates of the four points (S16). The image data correction unit 124 performs projective conversion of the component mounting data using the calculated conversion coefficient (S17). The image data setting unit 122 sets the image data of the mounting data subjected to the projective conversion in the image projection device 20 (S18). The process proceeds to step S13. While the mounting of the component is not completed (N in S13), the projection image related to the component can be made to follow the movement of the printed board 40 by repeatedly executing the processing of step S14 to step S18.

  In step S11, when all the components mounted on the target printed board 40 by the worker are finished (N in S11), the assembly work support process according to this flowchart is finished. The operator hands over the printed board 40 after component mounting to the next process. When the next printed board 40 has the same specification, the process of step S10 can be omitted in the next assembly work support process according to this flowchart. When the specifications of the next printed board 40 are different, the mounting data acquisition unit 121 acquires the specification information and mounting data of the next target printed board 40 from the higher-level arithmetic unit and stores them in the storage unit 13 (S10). ).

  As described above, according to the present embodiment, it is necessary for the operator to look away from the printed board 40 in order to view the work instruction by causing the image projection apparatus 20 to project the work instruction onto the surface of the printed board 40. Disappear. Therefore, there is no interval at which the work is stopped, the work can be concentrated while continuing to look at the printed board 40, and the assembly work of the printed board 40 can be made more efficient than before. In addition, work can be performed more intensively than before, and work errors can be reduced because work can be performed while always grasping the mounting positions of components. Further, since the projection image relating to the component follows the movement of the printed board 40, the above-described effect can be enjoyed even when the operator moves the printed board 40.

  The present invention has been described based on the embodiments. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are also within the scope of the present invention. is there.

  In the above embodiment, the position and orientation of the printed board 40 are detected by image processing using the image capturing device 30. In this regard, the position and orientation of the printed board 40 may be detected using other detection devices. For example, an ultrasonic tag is installed on the printed board 40, and ultrasonic waves transmitted from the ultrasonic tag are received by three or more receivers, and the three-dimensional position of the ultrasonic tag is determined by three-point surveying. It can be detected. If a plurality of ultrasonic tags are installed on one printed board 40, the posture of the printed board 40 can also be detected. Further, an attitude sensor may be provided to detect the posture of the printed board 40. Alternatively, at least one magnetic sensor such as a Hall element may be installed on the printed board 40, and the position and orientation of the printed board 40 may be detected in accordance with the magnetic field change detected by the magnetic sensor.

  In the above embodiment, a planar image is assumed as an image projected from the image projection device 20, but a stereoscopic image in which the thickness of the mounted component is also reproduced may be projected to the mounting position. In order to generate a stereoscopic image, the arithmetic device 10 generates a parallax image corresponding to the thickness of the mounted component. For example, in the shutter glasses method, the image projector 20 projects the right eye image and the left eye image alternately. In synchronization with the projection timing, the shutter glasses worn by the worker close the left-eye shutter during the period when the right-eye image is projected, and the right-eye shutter during the period when the left-eye image is projected. close up. In addition, the naked eye method can be adopted for work in which the operator has a substantially fixed viewpoint.

  DESCRIPTION OF SYMBOLS 1 Assembling work support system, 10 Arithmetic unit, 11 Input / output part, 12 Control part, 121 Mounting data acquisition part, 122 Image data setting part, 123 Captured image acquisition part, 124 Image data correction part, 13 Storage part, 14 Display part , 15 operation input unit, 20 image projection device, 30 image photographing device, 40 printed board, 41 parts, 50 display.

Claims (6)

An image projection device for projecting an image of a component to be mounted on the printed board by the operator onto the printed board;
A detection device for detecting the position and orientation of the printed board;
An arithmetic device that corrects an image related to the component in accordance with the position and orientation of the printed board detected by the detection device;
An assembly work support system comprising: The detection device is an image photographing device for photographing the printed board,
The assembling work according to claim 1, wherein the arithmetic unit corrects image data related to the component to be projected on the printed board based on an image of the printed board taken by the image photographing device. Support system.   The arithmetic unit calculates a conversion coefficient for projective conversion based on the coordinates of four points of the photographed printed board, and uses the conversion coefficient to perform projective conversion on image data relating to a component to be projected. The assembly work support system according to claim 2.   The assembly operation support system according to claim 1, wherein the image projection device projects an image relating to the component to be mounted on a position to be mounted on the printed board. Projecting an image on a printed board with an image of a component to be mounted on the printed board by an operator;
Detecting the position and orientation of the printed board;
Correcting the image relating to the component according to the detected position and orientation of the printed board; and
An assembly work support method comprising the steps of: A process of setting image data related to the component in an image projection apparatus that projects an image related to the component to be mounted on the printed board by the operator;
Processing for correcting image data relating to the component according to the position and orientation of the printed board detected by the detection device;
Assembling work support program characterized by causing a computer to execute.