JP2018056661A - Image processing system and work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image processing system and a work machine that can reliably transmit a control signal transmitted from an image processing unit toward a camera.SOLUTION: An image processing board 33 transmits a control signal CS toward a first multiplex processing unit 22a and determines whether multiplex communication on a multiplex communication cable 25 is established or not on the basis of contents of a response (connection information 51a) to the control signal CS received from the first multiplex processing unit 22a. The image processing board 33 transmits the control signal CS toward a part camera 17 and controls it when the multiplex communication is established.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an image processing system that transmits image data from a camera to an image processing unit and performs image processing of the image data by the image processing unit, and a work machine that performs work according to the processing result obtained by image processing by the image processing unit. About.

  As a technique related to an image processing system, for example, there is one disclosed in Patent Document 1. The electronic component mounting machine disclosed in Patent Document 1 executes control based on image data captured by a mark camera or the like that captures a mark on a circuit board. The control device for an electronic component mounting machine includes a controller, an image processing unit (“image board” in the literature), a drive control board, and an I / O board. The image processing unit receives image data captured by the mark camera and performs image processing on the received image data. The drive control board receives encoder information indicating the rotational position of the motor and the like from an encoder attached to the motor. The I / O board receives detection data detected by various sensors. The controller controls the operation of the electronic component mounting machine based on the data processed by each board.

Japanese Patent Laying-Open No. 2015-53594

  By the way, in the electronic component mounting machine described above, a movable part provided with a mark camera, an encoder and various sensors and a fixed part provided with each board are connected by an optical wireless device. The optical wireless device transmits and receives multiplexed image data, encoder information, and detection data. Therefore, the image data is transmitted from the mark camera, converted into multiplexed data, and transmitted by optical wireless. Thereafter, the image data is separated from the multiplexed data by the optical wireless device on the receiving side, converted into data of a communication standard different from the multiplex communication, and transmitted to the image processing unit.

  As described above, in this type of working machine, there is a case where image data is once converted into data of another communication standard in a transmission path between the camera and the image processing unit. Specifically, in addition to the case of multiplexing as described above, for example, the image is converted into data of another communication standard that enables transmission over a longer distance than the communication standard for transmitting image data from the camera to the image processing unit. May convert data.

  In this case, when it is desired to send a control signal from the image processing unit to the camera, the image processing unit can establish communication of other communication standards (such as multiplex communication) used in the middle of the transmission path, A control signal needs to be transmitted. For example, if it is desired to transmit a control signal (such as a control signal for changing the exposure time) from the image processing unit to the camera, if the control signal is transmitted before communication of another communication standard is established, the control signal is transmitted before reaching the camera. There is a risk of being destroyed. As a result, there is a problem that the image processing unit cannot execute control on the camera.

  The present invention has been made in view of the above-described problems, and is an image processing system that connects an image processing unit and a camera by communication of a plurality of communication standards, and transmits the image processing unit to the camera. An object of the present invention is to provide an image processing system and a work machine that can transmit a control signal more reliably.

An image processing system disclosed in the present specification includes a camera, a first communication unit that is connected to the camera, inputs image data captured by the camera, and transmits the image data through first communication. A second communication unit that receives the image data from the communication unit, converts the image data into data that can be transmitted by the second communication of a communication standard different from the communication standard of the first communication, and transmits the second data by the second communication. An image processing unit that receives image data from the communication unit and performs image processing on the received image data. The image processing unit transmits a camera control signal to the camera via the second communication and the first communication. The image processing unit transmits a communication confirmation control signal to the second communication unit through the second communication, and controls the communication confirmation control signal received from the second communication unit. In response Communication establishment determination processing for determining whether or not the first communication has been established based on the content, and control signal transmission for transmitting the camera control signal to the camera in response to the determination that the first communication has been established. And processing.
Further, the invention according to the present application is not limited to the invention of the image processing system, but includes an image processing system, and an invention of a working machine that executes work according to the processing result obtained by performing image processing on image data by the image processing unit. Can also be implemented.

  According to this, the image processing unit transmits the control signal for communication confirmation to the second communication unit by the second communication, and determines the establishment of the first communication based on the content of the response from the second communication unit. . Then, in response to detecting the establishment of the first communication, the image processing unit transmits a camera control signal to the camera and controls the camera. Therefore, the image processing unit transmits the camera control signal to the camera after the first communication between the first and second communication units is reliably established. Thereby, the camera control signal transmitted from the image processing unit to the camera can be transmitted more reliably.

It is a top view which shows the whole electronic component mounting machine concerning embodiment. It is a block diagram for demonstrating the image processing system applied to an electronic component mounting machine. It is a figure which shows the connection structure of an image processing board and the 1st multiplex processing part of a fixed side multiplex communication apparatus. It is a flowchart which shows the process of a fixed side multiplex communication apparatus and a 1st multiplex processing part. It is a flowchart which shows the process of a 1st movable side multiplex communication apparatus and a 2nd multiplex processing part. It is a flowchart which shows the process of an image processing board. It is a figure which shows the data structure of a control signal. It is a block diagram for demonstrating the image processing system of another example.

Embodiments of the present invention will be described below with reference to the drawings. First, the electronic component mounting machine 10 will be described as an example of a working machine including the image processing system of the present application.
(1. Configuration of electronic component mounting machine 10)
As shown in FIG. 1, an electronic component mounting machine (hereinafter sometimes abbreviated as “mounting machine”) 10 of the present embodiment is an apparatus for mounting electronic components on a substrate Bd. The mounting machine 10 includes a transport device 11, a component supply device 12, and a transfer device 13. The transport device 11, the component supply device 12, and the transfer device 13 are provided on the base 10 a of the mounting machine 10. In the following description, the horizontal width direction (left-right direction in FIG. 1) of the mounting machine 10 is the X-axis direction, and the horizontal depth direction (up-down direction in FIG. 1) of the mounting machine 10 is the Y-axis direction. A direction perpendicular to the axial direction is taken as a Z-axis direction.

  The transport device 11 includes a belt conveyor and the like, transports the substrate Bd carried in from the upstream side (for example, the left side in FIG. 1) in the transport direction of the belt conveyor in the X-axis direction, and positions it at a predetermined position in the machine. When the mounting operation of the electronic component at the determined predetermined position is completed, the transport device 11 carries the substrate Bd to the downstream side. The component supply device 12 includes a plurality of tape feeders 12a, and supplies electronic components to be mounted on the substrate Bd from each tape feeder 12a to the supply position Ps.

  The transfer device 13 includes a head driving device 13a and a moving table 13b. The head driving device 13a moves the moving table 13b in the XY axis directions by a linear motion mechanism. The head drive device 13a is provided with a motor 13c (see FIG. 2) as a drive source for moving the movable table 13b in the XY axis direction. The motor 13c is, for example, a servo motor that can accurately control the rotation angle. The head driving device 13a is provided with an encoder 13d (see FIG. 2) for detecting the rotational position of the motor 13c. The motor 13c is not limited to a servo motor, and may be a stepping motor with an encoder.

  The mounting head 14 is fixed to the movable table 13b. The mounting head 14 moves in the XY axis direction along with the movement of the movable table 13b. A mark camera 15 is attached to the movable table 13b. The mark camera 15 is a camera for photographing a mark provided on the substrate Bd and an electronic component after mounting from above in the Z-axis direction. The mark camera 15 can image the surface of an arbitrary position on the substrate Bd by moving the moving table 13b by the transfer device 13.

  The mounting head 14 is provided with a plurality of suction nozzles 16 that are detachable. Each suction nozzle 16 communicates with negative pressure air and a positive pressure air passage via, for example, a solenoid valve of a positive / negative pressure supply device (not shown), and the supply position of the tape feeder 12a is supplied by supplying negative pressure. The electronic component supplied to Ps is sucked and held. Further, each suction nozzle 16 detaches the held electronic component by, for example, being supplied with a slight positive pressure. The mounting head 14 is provided with a motor 14a (see FIG. 2) as a drive source for raising and lowering the suction nozzle 16 and rotating the suction nozzle 16 about its axis. The mounting head 14 is provided with an encoder 14b (see FIG. 2) for detecting the rotational position of the motor 14a.

  A parts camera 17 and a perspective camera 18 are attached to the mounting head 14. The parts camera 17 is a camera used to take an image of the electronic component sucked and held by the suction nozzle 16 and determine whether the suction state is good or bad. For example, the parts camera 17 can capture an image of the electronic component sucked and held by the suction nozzle 16 from the Y-axis direction, and image the tip of the suction nozzle 16 and the side surface of the electronic component. The perspective camera 18 is a camera used to image the state of the electronic component mounted on the substrate Bd and determine whether the mounting is good or not. The perspective camera 18 is attached to the mounting head 14 in an obliquely downward direction, and by adjusting the position of the mounting head 14 in the Z-axis direction, the mounting position for mounting the electronic component on the board Bd is the center. A certain range can be imaged.

(2. Communication configuration of electronic component mounting machine 10)
Next, referring to FIG. 2, image processing using three multiplex communication devices (fixed side multiplex communication device 22, first movable side multiplex communication device 23, and second movable side multiplex communication device 24) in the mounting machine 10. The system will be described. FIG. 2 is a schematic diagram illustrating a configuration of an image processing system applied to the mounting machine 10. As shown in FIG. 2, the mounting machine 10 includes a control unit 21, a fixed side multiplex communication device 22, a first movable side multiplex communication device 23, and a second movable side multiplex communication device 24. The controller 21 and the fixed-side multiplex communication device 22 are built in a fixed portion of the mounting machine 10, for example, a base 10a as shown in FIG. The first movable side multiplex communication device 23 is built in a movable part of the mounting machine 10, for example, in the mounting head 14 as shown in FIG. The second movable side multiplex communication device 24 is provided on a movable portion of the mounting machine 10, for example, on the lower surface of the movable table 13b of the transfer device 13 as shown in FIG.

  The fixed side multiplex communication device 22 provided on the base 10 a is connected to the first movable side multiplex communication device 23 provided on the mounting head 14 via a multiplex communication cable 25. The fixed side multiplex communication device 22 is connected to a second movable side multiplex communication device 24 provided in the transfer device 13 via a multiplex communication cable 26. The multiplex communication cables 25 and 26 are, for example, highly flexible optical fiber cables.

  The fixed-side multiplex communication device 22 and the first movable-side multiplex communication device 23 transmit and receive multiplexed data MD1 multiplexed by, for example, time division multiplexing (TDM) via the multiplex communication cable 25. Similarly, the fixed-side multiplex communication device 22 and the second movable-side multiplex communication device 24 transmit and receive multiplexed data MD2 via the multiplex communication cable 26. The fixed-side multiplex communication device 22, the first movable-side multiplex communication device 23, and the second movable-side multiplex communication device 24 include industrial network control data CD, image information GI of the mark camera 15 and the like, and an encoder 13d, The encoder information EI of 14b is multiplexed with multiplexed data MD1 and MD2 and transmitted / received. Note that the configuration of multiplex communication shown in FIG. 2 is an example, and can be changed to another communication mode.

  The control unit 21 is a device that controls the operations of the transport device 11, the transfer device 13, the mounting head 14, and the like described above. The control unit 21 includes a main CPU 31, an image processing board 33 (image processing unit), an amplifier unit 34, and a memory 35. The fixed-side multiplex communication device 22 includes a first multiplex processing unit 22a as a processing unit that multiplexes and demultiplexes various data. The first multiple processing unit 22 a is connected to the main CPU 31, the image processing board 33, and the amplifier unit 34. The first multiple processing unit 22a includes a first register 51 (second communication unit side storage unit) that stores connection information 51a and 51b. The connection information 51a is information indicating the presence / absence of communication establishment of the multiplex communication cable 25. The connection information 51b is information indicating the presence / absence of communication establishment of the multiplex communication cable 26. In the connection information 51a, 51b, for example, a value indicating a disconnection state of multiplex communication is set as an initial value.

  Similarly, the first movable multiplex communication device 23 includes a second multiplex processing unit 23a that performs multiplexing processing. The second multiple processing unit 23a includes a second register 52 (first communication unit side storage unit) that stores abnormality information 52a indicating abnormality relating to the parts camera 17 and abnormality information 52b indicating abnormality relating to the perspective camera 18. I have. The second multiple processing unit 23 a is connected to the first slave 14 c included in the mounting head 14 in addition to the part camera 17 and the perspective camera 18 described above. As the abnormality information 52a and 52b, for example, a value indicating no abnormality is set as an initial value.

  Similarly, the second movable side multiplex communication device 24 includes a third multiplex processing unit 24a that performs multiplexing processing. The third multiple processing unit 24 a includes a third register 53 (first communication unit side storage unit) that stores abnormality information 53 a indicating an abnormality relating to the mark camera 15. In addition to the mark camera 15 described above, the third multiple processing unit 24a is connected to a second slave 13e included in the transfer device 13.

  The main CPU 31 is connected to the image processing board 33 and the amplifier unit 34. The main CPU 31 executes programs and the like stored in the memory 35 and controls the operations of the image processing board 33 and the amplifier unit 34. The memory 35 is configured by, for example, a ROM (Read Only Memory), a flash memory, or the like.

  The first to third multiprocessing units 22a, 23a, and 24a are constructed by a logic circuit such as a field programmable gate array (FPGA), for example. The first to third multiprocessing units 22a, 23a, and 24a are not limited to logic circuits, but may be, for example, application specific integrated circuits (ASICs) specialized for communication control. These integrated circuits and logic circuits It may be a combination of

  The first multiple processing unit 22a controls the control data CD from the main CPU 31 to the first slave 14c, the image information GI from the image processing board 33 to the parts camera 17 and the perspective camera 18, and the amplifier unit 34 to the encoder 14b. Multiplexed data MD1 is generated by multiplexing the encoder information EI to be directed. For example, the first multiplex processing unit 22a multiplexes each received data according to a predetermined time (time slot) assigned to the reception port. The first multiplex processing unit 22a transmits the multiplexed data MD1 to the second multiplex processing unit 23a of the first movable side multiplex communication device 23 via the multiplex communication cable 25. The second multiplex processing unit 23a separates each data from the multiplexed data MD1. The second multiplex processing unit 23a transmits the separated control data CD to the first slave 14c, the image information GI to the corresponding camera (part camera 17 or perspective camera 18), and the encoder information EI to the encoder 14b.

  Similarly, the first multiple processing unit 22a controls the control data CD from the main CPU 31 to the second slave 13e, the image information GI from the image processing board 33 to the mark camera 15, and the amplifier unit 34 to the encoder 13d. Multiplexed data MD2 is generated by multiplexing the encoder information EI. The first multiplex processing unit 22a transmits the multiplexed data MD2 to the third multiplex processing unit 24a of the second movable side multiplex communication device 24 via the multiplex communication cable 26. The third multiplex processing unit 24a transmits the control data CD separated from the multiplexed data MD1 to the second slave 13e, the image information GI to the mark camera 15, and the encoder information EI to the encoder 13d.

  The same processing is performed in the multiplex communication from the second multiplex processing unit 23a to the first multiplex processing unit 22a and the multiplex communication from the third multiplex processing unit 24a to the first multiplex processing unit 22a. Is processed. Further, as will be described later, for example, the control data CD of the present embodiment is cyclically transferred in the order of the main CPU 31, the first slave 14c, the second slave 13e, the main CPU 31,. In this case, the first multiplex processing unit 22a receives the control data CD received from the first slave 14c of the mounting head 14 via the multiplex communication cable 25 to the third multiplex processing unit 24a via the multiplex communication cable 26. Forward.

  Next, communication of various data (control data CD, image information GI, and encoder information EI) will be described. Note that the communication between the fixed-side multiplex communication device 22 and the second movable-side multiplex communication device 24 is the same as the communication between the fixed-side multiplex communication device 22 and the first movable-side multiplex communication device 23. Omitted.

(2-1. Communication of control data CD)
The main CPU 31 of the control unit 21 transmits / receives control data to / from the first slave 14c of the mounting head 14 and the second slave 13e of the transfer device 13 by communication in the industrial network via the above-described multiplex communication. Overall control of CD transmission. Therefore, the main CPU 31 functions as a master in a so-called industrial network for the first and second slaves 14c and 13e. The first and second slaves 14c and 13e execute control based on the control data CD. The industrial network here refers to, for example, transmitting the control data CD using a communication method compliant with the Ethernet (registered trademark) standard such as the MECHATRLINK (registered trademark) -III standard or the Profinet (registered trademark) standard. This is a so-called industrial Ethernet (registered trademark). Note that the industrial network may be a network that does not use Ethernet (registered trademark) technology, for example, MECHATRLINK (registered trademark) -II standard using RS-485 standard communication.

  The first and second slaves 14c and 13e are IP cores used to construct a logic circuit such as a field programmable gate array (FPGA), for example. Note that the first and second slaves 14c and 13e are not limited to logic circuits, and may be ASICs, for example. The main CPU 31 is connected to the first multiplex processing unit 22 a of the fixed side multiplex communication device 22 via the first wiring 61. The first wiring 61 is, for example, a LAN cable.

  The first slave 14c is connected to the second multiplex processing unit 23a of the first movable side multiplex communication device 23 via the second wiring 62 (for example, a LAN cable). The first slave 14c executes control based on the control data CD received from the main CPU 31. For example, the first slave 14c controls various elements (such as a relay and a sensor) included in the mounting head 14 (see FIG. 1) based on data read from the control data CD. The first slave 14 c writes signals input from various elements into the control data CD and transmits the signals to the main CPU 31. These various elements are, for example, relays that switch the operation of the brake mechanism provided in the motor 14a of the mounting head 14.

  In the industrial network of the present embodiment, for example, the control data CD transmitted from the main CPU 31 is transmitted so as to circulate through each of the first and second slaves 14c and 13e. In this case, the control data CD transmitted from the first slave 14c to the main CPU 31 is transferred to the main CPU 31 via the second slave 13e. At this time, the first and second slaves 14c and 13e transfer the control data CD at high speed while sequentially performing read processing and write processing on the control data CD.

(2-2. Communication of Image Information GI)
Next, communication of image information GI transmitted and received between the image processing board 33 and the parts camera 17 will be described. Note that the communication of the image information GI between the image processing board 33 and the perspective camera 18 is the same as the communication of the image information GI of the parts camera 17, and therefore the description thereof is omitted.

  The image processing board 33 transmits and receives the image information GI to and from the parts camera 17 through the above-described multiplex communication. The image processing board 33 is a frame grabber board having an interface compliant with, for example, a camera link (Camera Link (registered trademark)) standard which is an image transmission standard. The image processing board 33 communicates with the part camera 17 by a communication method compliant with the camera link (Camera Link (registered trademark)) standard. The image processing board 33 is connected to the first multiplex processing unit 22 a of the fixed side multiplex communication device 22 via the camera link cable 63. The image transmission standard is not limited to the camera link (Camera Link (registered trademark)) standard, and may be, for example, a GigE-vision (registered trademark) standard.

  FIG. 3 shows a connection configuration between the image processing board 33 and the first multiplex processing unit 22 a of the fixed-side multiplex communication device 22. As shown in FIG. 3, the fixed-side multiplex communication device 22 includes an image output interface 71, a serial communication interface 72, and a CC input interface 73 as interfaces for connecting the camera link cable 63. The image processing board 33 and the first multiple processing unit 22a transmit image data GD, control signal CS (camera control signal, communication confirmation control signal), and camera control signal CC as image information GI. The camera link cable 63 is, for example, a cable (base configuration) in which wirings for transmitting these three data and the like (image data GD, control signal CS, and camera control signal CC) are combined into one.

  The parts camera 17 is a camera head unit including an image pickup device (CCD, CMOS, etc.) and a lens, and is a so-called head-separated camera separated from the second multiple processing unit 23a which is a control unit. As shown in FIG. 2, the parts camera 17 is connected to the second multiple processing unit 23 a via a dedicated cable 64. The dedicated cable 64 is, for example, a flexible printed board. The second multiplex processing unit 23 a transmits and receives image data GD and the like to and from the parts camera 17 via the dedicated cable 64. The second multiplex processing unit 23a performs transmission / reception of the part camera 17 and the image data GD and the like by, for example, SPI (Serial Peripheral Interface) communication which is one of serial communication methods. For example, the second multiple processing unit 23a performs processing of converting data received from the image processing board 33 into data compliant with the SPI communication standard and transmitting the data to the parts camera 17.

  The image processing board 33 executes imaging by the parts camera 17 at each work stage of the mounting machine 10 based on the control of the main CPU 31. The image processing board 33 transmits a camera control signal CC to the parts camera 17 as a trigger signal that instructs the start of imaging. As this camera control signal CC, for example, CC1 among the four camera control signals (CC1, CC2, CC3, CC4) defined by the Camera Link (registered trademark) standard can be used.

  As shown in FIG. 3, the image processing board 33 transmits a camera control signal CC to the CC input interface 73 via the camera link cable 63. The first multiplex processing unit 22a transmits the camera control signal CC received via the CC input interface 73 to the second multiplex processing unit 23a via multiplex communication. When the parts camera 17 receives the camera control signal CC from the second multiplex processing unit 23a via the dedicated cable 64, the part camera 17 executes imaging and outputs the captured image data GD to the second multiplex processing unit 23a. The second multiple processing unit 23 a transmits the image data GD input from the parts camera 17 to the image processing board 33. The second multiple processing unit 23a may transmit the image data GD input from the parts camera 17 to the image processing board 33 as it is, or correct the input image data GD, binarization processing, etc. May be transmitted to the image processing board 33.

  The image processing board 33 inputs image data GD from the image output interface 71 via the camera link cable 63. For example, the image processing board 33 receives the image data GD from the image output interface 71 by image transmission using LVDS (Low Voltage Differential Signaling) technology. The image processing board 33 executes image processing on the received image data GD. The image processing board 33 performs image processing on the image data GD to detect information on the board Bd (see FIG. 1), an error in the mounting position of the electronic component, and the like.

  Further, the image processing board 33 executes control for the parts camera 17 by the control signal CS. For example, the image processing board 33 executes serial communication by UART (Universal Asynchronous Receiver Transmitter) communication with the serial communication interface 72 to transmit and receive the control signal CS. The image processing board 33 transmits the control data CD to the first multiple processing unit 22a by UART communication, and executes control on the parts camera 17. The control signal CS is a signal for changing the gain (amplification factor) of the part camera 17 and adjusting the sensitivity, for example. The control signal CS is a signal for changing the exposure time of the parts camera 17, for example. The control signal CS is a signal for setting a region of interest (ROI) among imaging regions that can be captured by the parts camera 17, for example. In addition, the control signal CS is a signal for changing the brightness and lighting time of the lighting device provided in the parts camera 17, for example. The control signal CS is a signal for obtaining correction data (such as data for correcting lens distortion) possessed by the parts camera 17 from the parts camera 17, for example. Note that the communication standard for transmitting and receiving the control signal CS is not limited to UART communication, but may be other communication standards.

(2-3. Communication of encoder information EI)
Next, communication of encoder information EI transmitted and received between the amplifier unit 34 and the encoder 14b of the mounting head 14 will be described. Note that the communication of the encoder information EI between the amplifier unit 34 and the encoder 13d of the transfer device 13 is the same as the communication of the encoder information EI of the encoder 14b, and thus the description thereof is omitted.

  As shown in FIG. 2, the amplifier unit 34 transmits and receives encoder information EI to and from the encoder 14b through the above-described multiplex communication. The encoder information EI is, for example, information on initial setting transmitted from the amplifier unit 34 toward the encoder 14b, information on the rotational position of the motor 14a, and the like. The encoder information EI is, for example, information on the rotational position of the motor 14a transmitted from the encoder 14b toward the amplifier unit 34.

  The amplifier unit 34 controls the motor 14 a of the mounting head 14 based on the control of the main CPU 31. The amplifier unit 34 is connected to the first multiplex processing unit 22 a of the fixed-side multiplex communication device 22 via the third wiring 65. The encoder 14 b of the mounting head 14 is connected to the second multiplex processing unit 23 a of the first movable side multiplex communication device 23 via the fourth wiring 66. Therefore, the amplifier unit 34 can transmit and receive the encoder information EI to and from the encoder 14b through multiplex communication. For example, the amplifier unit 34 performs communication conforming to the RS-485 standard via multiplex communication with the encoder 14b, and transmits and receives encoder information EI.

  The main CPU 31 performs feedback control on the motor 14 a via the amplifier unit 34 based on the encoder information EI (rotation position information or the like) received from the amplifier unit 34. The motor 14a is a servo motor that is driven by a three-phase alternating current having, for example, U-phase, V-phase, and W-phase coils, and each phase coil is connected to the amplifier unit 34 via a power line 28. Yes. The motor 14 a is driven according to the three-phase alternating current supplied from the amplifier unit 34 through the power line 28. For example, the main CPU 31 changes the duty ratio of the power supply voltage supplied from the amplifier unit 34 to the motor 14a by feedback control such as PID control according to the received encoder information EI, and the position of the suction nozzle 16 (see FIG. 1). Is raised or lowered.

  In the mounting machine 10 of the present embodiment described above, the mounting operation of the electronic component on the board Bd is performed while transmitting data (control data CD or the like) between the devices by multiplex communication. The main CPU 31 of the control unit 21 receives the control data CD collected by the industrial network, the image processing result of the image processing board 33, and the encoder information EI acquired by the amplifier unit 34. The main CPU 31 determines the next control content and the like in the mounting operation based on the received various data. For example, the main CPU 31 changes the position of the suction nozzle 16 by controlling the motor 14a of the mounting head 14 based on the determined control content.

(3. Processing operation)
Next, processing operations of the fixed side multiplex communication device 22 (first multiplex processing unit 22a), the first movable side multiplex communication device 23 (second multiplex processing unit 23a), and the image processing board 33 will be described. Note that the processing operation of the second movable-side multiplex communication device 24 is the same as the processing operation of the first movable-side multiplex communication device 23, and thus the description thereof will be omitted as appropriate.

(3-1. Processing of Fixed-side Multiplex Communication Device 22 and First Multiplexing Unit 22a)
The processing contents of the fixed-side multiplex communication device 22 and the first multiplex processing unit 22a will be described with reference to FIG. For example, the fixed-side multiplex communication device 22 starts the processing shown in FIG.

  First, in step (hereinafter referred to as “S”) 11 in FIG. 4, the fixed-side multiplex communication device 22 starts an activation process. In the activation process, the fixed-side multiplex communication device 22 reads configuration data from, for example, a memory (not shown), and starts a process of constructing the first multiplex processing unit 22a as a circuit block in the FPGA (S11). Further, the constructed first multiple processing unit 22a executes initialization processing of the first register 51 as activation processing (S11). The first multiplex processing unit 22a sets a value indicating a disconnection state of multiplex communication as an initial value of the connection information 51a and 51b.

  Next, the first multiplex processing unit 22a executes multiplex communication establishment processing with the second multiplex processing unit 23a (first movable side multiplex communication device 23) via the multiplex communication cable 25 (S12). For example, when the first multiplex processing unit 22a completes the configuration and starts up, the first multiplex processing unit 22a notifies the communication partner second multiplex processing unit 23a via the multiplex communication cable 25 (S12). Next, the first multiplex processing unit 22a determines whether a response indicating that multiplex communication can be started is received from the second multiplex processing unit 23a (S13). The first multiple processing unit 22a repeatedly executes the processes of S12 and S13 until there is a response from the second multiple processing unit 23a (S13: NO).

  The first multiplex processing unit 22a receives a response from the second multiplex processing unit 23a, that is, in response to the establishment of multiplex communication (S13: YES), the first multiplex processing unit 22a receives connection information 51a indicating communication establishment as the first. Store in the register 51 (S14). As a result, the connection information 51a is changed from an initial value indicating disconnection to a value indicating communication establishment. Similarly, the first multiplex processing unit 22a executes a process of establishing multiplex communication with the third multiplex processing unit 24a of the second movable side multiplex communication device 24, and establishes communication according to the communication establishment. The connection information 51b shown is stored in the first register 51.

  Next, for example, when the control unit 21 receives from the fixed-side multiplex communication device 22 that the multiplex communication with the first movable-side multiplex communication device 23 and the second movable-side multiplex communication device 24 has been established, the control unit 21 stores it in the memory 35. The attached program is executed to start the mounting work. Accordingly, the first multiplex processing unit 22a starts transmission / reception of the multiplexed data MD1 by multiplex communication with the second multiplex processing unit 23a (S15).

  When the first multiplex processing unit 22a starts multiplex communication, is there any error in the image data GD (image information GI) included in the multiplexed data MD1 received from the second multiplex processing unit 23a via multiplex communication? It is determined whether or not (S16). For error detection of the image data GD, for example, an error detection code is added to the image data GD in the second multiplex processing unit 23a on the transmission side, and the error detection code is added in the first multiplex processing unit 22a on the reception side. It can detect by implementing the used calculation. As the error detection code, for example, a CRC (Cyclic Redundancy Check) code can be used. For example, the first multiplex processing unit 22a performs error detection processing on the image data GD of each of the part camera 17 and the perspective camera 18 that are demultiplexed from the multiplexed data MD1.

  If there is no error in the image data GD (S16: NO), the first multiple processing unit 22a performs the processing after S18 described later. On the other hand, the first multiple processing unit 22a, for example, in response to detecting an error in the image data GD of the parts camera 17 (S16: YES), abnormality information 52a (first abnormality) indicating that an error has been detected. Information) is transmitted to the second multiplex processing unit 23a (first movable multiplex communication device 23) (S17). For example, the first multiplex processing unit 22a multiplexes the abnormality information 52a with the multiplexed data MD1 and transmits the multiplexed information to the second multiplex processing unit 23a. Similarly, in response to detecting an error in the image data GD of the perspective camera 18 (S16: YES), the first multiplex processing unit 22a performs the second multiplex on the abnormality information 52b in which the error is detected. The data is transmitted to the processing unit 23a (S17). If the first multiplex processing unit 22a detects an error in the image data GD of the mark camera 15 multiplexed with the multiplexed data MD2, the first multiplex processing unit 22a transmits the abnormality information 53a to the second movable side multiplex communication device 24. Transmit to the triplex processing unit 24a.

  Next, in S18, the first multiplex processing unit 22a determines whether or not to end the multiplex communication. For example, the main CPU 31 of the control unit 21 performs control for the fixed-side multiplex communication device 22 to end multiplex communication when the mounting machine 10 is stopped. When receiving an instruction to end the multiplex communication from the main CPU 31 (S18: YES), the first multiplex processing unit 22a disconnects the multiplex communication and ends the process shown in FIG.

  Moreover, the 1st multiple process part 22a performs again the process from S15, when the instruction | indication which complete | finishes a multiplex communication is not received (S18: NO). Accordingly, the first multiplex processing unit 22a appropriately executes a process for detecting an error in the image data GD transmitted by the multiplex communication while executing the multiplex communication associated with the mounting work.

(3-2. Processing of first movable-side multiplex communication device 23 and second multiplex processing unit 23a)
Next, the processing contents of the first movable side multiplex communication device 23 and the second multiplex processing unit 23a will be described with reference to FIG. In the following description, the description of the process similar to the process shown in FIG. 4 of the above-described fixed-side multiplex communication device 22 (first multiplex processing unit 22a) will be omitted as appropriate.

  First, in S21 of FIG. 5, the first movable-side multiplex communication device 23 starts an activation process (such as configuration of the second multiplex processing unit 23a) with the activation of the mounting machine 10. Next, the second multiplex processing unit 23a executes multiplex communication establishment processing with the first multiplex processing unit 22a (S22). The second multiple processing unit 23a determines, for example, whether or not a notification indicating activation from the first multiple processing unit 22a has been received (S23). When the second multiplex processing unit 23a establishes multiplex communication in response to the notification from the first multiplex processing unit 22a (S23: YES), the multiplex data MD1 starts to be transmitted and received with the first multiplex processing unit 22a. (S24).

  When starting the multiplex communication, the second multiplex processing unit 23a determines whether or not an abnormality has occurred in each of the part camera 17 and the perspective camera 18 (S25). The abnormality of the part camera 17 or the like here is, for example, the occurrence of an error in the image data GD received via the dedicated cable 64. Alternatively, the abnormality of the parts camera 17 or the like means, for example, that the parts camera 17 is caused by external noise or the like generated in the dedicated cable 64 although the trigger signal (camera control signal CC) is not transmitted from the image processing board 33. This is an abnormal operation for imaging. Further, the abnormality of the parts camera 17 or the like is not limited to an operation abnormality, and may be a failure of a circuit of the parts camera 17 or the like.

  In response to detecting the abnormality of the parts camera 17 (S25: YES), the second multiple processing unit 23a stores the abnormality information 52a in which the detected abnormality content is set in the second register 52 (S26). . Similarly, when detecting the abnormality of the perspective camera 18 (S25: YES), the second multiple processing unit 23a stores the abnormality information 52b in which the content of the detected abnormality is set in the second register 52. Thus, the second register 52 stores the abnormality information 52a of the parts camera 17 and the abnormality information 52b of the perspective camera 18, respectively.

  In addition, when the second multiple processing unit 23a does not detect an abnormality of the part camera 17 or the like (S25: NO), the second multiple processing unit 23a receives error information (abnormal information 52a, 52b) of the image data GD from the first multiple processing unit 22a. It is determined whether or not it has been received (S27). When the abnormality information 52a and 52b transmitted from the first multiplex processing unit 22a is received in S17 of FIG. 4 (S27: YES), the second multiplex processing unit 23a indicates that an error in the image data GD has been detected. The set abnormality information 52a, 52b is stored in the second register 52 (S26). Thereby, in the second register 52, the information on the abnormality of the parts camera 17 and the like detected by the second multiple processing unit 23a and the information on the error of the image data GD detected by the first multiple processing unit 22a are stored. The abnormality information 52a and 52b are stored together.

  When S26 is executed, or when the abnormality information 52a, 52b is not received from the first multiplex processing unit 22a (S27: NO), the second multiplex processing unit 23a determines whether or not to end the multiplex communication. Determine (S28). When ending the multiplex communication (S28: YES), the second multiplex processing unit 23a disconnects the multiplex communication and ends the process shown in FIG. On the other hand, when the second multiplex processing unit 23a does not end the multiplex communication (S28: NO), the second multiplex processing unit 23a executes the processes from S24 again. Thereby, the second multiple processing unit 23a appropriately executes a process of detecting an abnormality in the part camera 17 or the like while performing multiple communication.

(3-3. Processing of Image Processing Board 33)
Next, the processing contents of the image processing board 33 will be described with reference to FIGS. First, in S <b> 30 of FIG. 6, the image processing board 33 executes a startup process with the startup of the mounting machine 10. In the startup process, the image processing board 33 executes pre-processing for starting communication with each interface (such as the image output interface 71) of the fixed-side multiplex communication device 22, for example.

  Next, the image processing board 33 transmits the control signal CS to the first multiple processing unit 22a by UART communication, and executes a process of acquiring connection information 51a and 51b from the first register 51 (S31). FIG. 7 shows an example of the data structure of the control signal CS. FIG. 7 shows only control signals CS used for controlling the registers (first register 51 and the like). The data structure of UART communication used in the camera link (Camera Link (registered trademark)) standard differs depending on the vendor or the like. For this reason, the data structure of the control signal CS shown in FIG. 7 is an example, and is not particularly limited to this data structure. Also, the characters (“CR”, “ACK”, “F”, etc.) shown in FIG. 7 are characters represented by ASCII codes. For example, CR represents a carriage return (“0x0d” in decimal notation).

  The first column in FIG. 7 shows the data type of the control signal CS. The first line indicates how many bytes of data it is. For example, the write data to the register in the third row is composed of 11 bytes of data. In each data, character data (W, ACK, NAK) indicating a data type is set in the first byte. In the 9th and 10th bytes, for example, BCC (Block Check Character) is set as an error detection code. At the end of each data, a “CR” code is set.

  In each data, a camera number for identifying a camera to be controlled is set in the second byte. For example, in the present embodiment, the camera number “1” corresponds to the part camera 17. The camera number “2” corresponds to the perspective camera 18. The camera number “3” corresponds to the mark camera 15. In the present embodiment, four camera numbers 0 to 3 are set, and a larger number than the three cameras that are the control target cameras is set. The surplus camera number “0” is used to control the first register 51 of the fixed-side multiplex communication device 22.

  For example, when performing write control, the image processing board 33 transmits a control signal CS of write data in the third row to the first multiple processing unit 22a by UART communication. The image processing board 33 sets the register address value in the third and fourth bytes of the write data, and sets the data value to be written in the register in the fifth to eighth bytes. For example, when the camera number of the control signal CS received from the image processing board 33 is set to “1”, the first multiplex processing unit 22a (the first movable side multiplex communication corresponding to the camera number) The control signal CS is transferred to the device 23). The second multiplex processing unit 23a of the first movable side multiplex communication device 23 determines whether there is an error based on the BCC (parity bit) of the received control signal CS. If there is no error, the second multiplex processing unit 23a performs a writing process to the second register 52 based on the content of the control signal CS. The second multiplex processing unit 23a writes the data set in the fifth to eighth bytes to the second register 52 at the address specified by the third and fourth bytes of the control signal CS (write data). The second multiplex processing unit 23 a returns a normal response (ACK) to the image processing board 33 when the writing is normally completed. Further, the second multiple processing unit 23a returns an abnormal response (NAK) to the image processing board 33 if an error is detected or writing cannot be normally completed.

  For example, when performing read control, the image processing board 33 transmits a control signal CS of read data on the sixth row to the first multiple processing unit 22a. Returning to FIG. 6, in S31, the image processing board 33 transmits a control signal CS (communication confirmation control signal) for reading the connection information 51a and 51b of the first register 51 to the first multiple processing unit 22a. The image processing board 33 sets “0” as the camera number in the second byte of the control signal CS, and sets the address value of the first register 51 storing the connection information 51a and 51b in the third and fourth bytes.

  When receiving the control signal CS (read data) from the image processing board 33, the first multiple processing unit 22a reads the connection information 51a, 51b from the first register 51 and returns it to the image processing board 33 (S31). When the reading process ends normally, the first multiple processing unit 22a transmits a normal response (connection information 51a, 51b) shown in the eighth line of FIG. 7 to the image processing board 33.

  In S32 of FIG. 6, the image processing board 33 determines whether or not the connection information 51a and 51b received from the first multiplex processing unit 22a is information indicating establishment of multiplex communication (S32). In the image processing board 33, when the connection information 51a and 51b received from the first multiplex processing unit 22a is a value indicating the disconnection state of the multiplex communication (S32: NO), that is, the multiplex communication cables 25 and 26 are multiplexed. If communication has not been established, the processing from S31 is executed again. Therefore, the image processing board 33 repeatedly executes the process (S31) of acquiring the connection information 51a and 51b of the first register 51 until the multiplex communication is established.

  Note that the image processing board 33 may separately determine the establishment of the multiplex communication of the multiplex communication cables 25 and 26. For example, the image processing board 33 executes the processing shown in FIG. 6 for each of the multiplex communication cable 25 (first movable side multiplex communication device 23) and the multiplex communication cable 26 (second movable side multiplex communication device 24). May be. In this case, for example, when one of the multiplex communications of the multiplex communication cables 25 and 26 is established, the image processing board 33 performs control by the multiplex communication established prior to the other multiplex communication. It becomes possible to execute.

  The image processing board 33 receives connection information 51a and 51b indicating communication establishment from the first multiplex processing unit 22a (S32: YES), that is, when multiplex communication of the multiplex communication cables 25 and 26 is established. Control for the parts camera 17 and the like is started (S33). For example, the image processing board 33 uses the camera control signal CC to give an imaging instruction to the parts camera 17. Further, the image processing board 33 performs control to change the gain of the parts camera 17 using a control signal CS (camera control signal). Thus, the image processing board 33 can execute control using the control signal CS for the parts camera 17 after the multiplex communication is reliably established.

  Next, the image processing board 33 performs control to read the abnormality information 52a and 52b in the second register 52 and the abnormality information 53a in the third register 53 (S34). The image processing board 33 transmits a control signal CS (read data) shown in the sixth line of FIG. 7 to the first multiple processing unit 22a. In the following description, a case where the abnormality information 52a of the parts camera 17 is read will be described as an example. The image processing board 33 sets “1” as the camera number in the second byte, and sets the address value of the second register 52 in which the abnormality information 52a is stored in the third and fourth bytes.

  For example, when receiving the control signal CS in which the camera number “1” is set from the image processing board 33, the first multiplex processing unit 22a transmits the control signal CS to the second multiplex processing unit 23a via multiplex communication. When the reading process is normally completed, the second multiple processing unit 23 a returns a normal response (abnormal information 52 a) shown in the seventh line of FIG. 7 to the image processing board 33.

  In S35 of FIG. 6, the image processing board 33 determines whether or not the abnormality information 52a received from the second multiple processing unit 23a is information that has detected an error in the image data GD (S35). The abnormality information 52a indicating an error in the image data GD is information detected by the first multiple processing unit 22a in S16 of FIG. 4 and transmitted to the second multiple processing unit 23a in S17.

  When the image processing board 33 receives the abnormality information 52a in which the error of the image data GD is detected from the second multiplex processing unit 23a (S35: YES), the image processing board 33 executes a re-imaging process (S36). For example, the image processing board 33 transfers the received abnormality information 52 a to the main CPU 31 of the control unit 21. When the main CPU 31 receives the abnormality information 52a from the image processing board 33, the main CPU 31 moves the parts camera 17 (the mounting head 14) to a position where the image data GD in which an error is detected can be imaged. The image processing board 33 again transmits a trigger signal (camera control signal CC) to the part camera 17 to execute re-imaging. As a result, the image processing board 33 can execute appropriate image processing by receiving the error-free image data GD from the part camera 17. When executing S36, the image processing board 33 executes the processes after S39.

  Further, in the image processing board 33, when the abnormality information 52a received from the second multiplex processing unit 23a is not information for detecting an error in the image data GD (S35: NO), the received abnormality information 52a is the part camera 17. It is determined whether or not the information indicates an abnormality (S37). The abnormality information 52a indicating the abnormality of the parts camera 17 is information detected by the second multiple processing unit 23a in S25 of FIG. 5 and stored in the second register 52 in S26.

  When the image processing board 33 receives the abnormality information 52a indicating the abnormality of the parts camera 17 from the second multiple processing unit 23a (S37: YES), the image processing board 33 executes an abnormality handling process (S38). For example, when the image processing board 33 receives the error information of the image data GD in the dedicated cable 64 as the abnormality information 52a, the image processing board 33 may execute the re-imaging process similarly to S36 (S38). For example, when the failure information of the parts camera 17 is received as the abnormality information 52a, the image processing board 33 may notify the operator of the abnormality. As a result, the image processing board 33 can quickly detect an abnormality in the parts camera 17 and execute an appropriate process. When executing S38, the image processing board 33 executes the processes after S39.

  When the abnormality information 52a received from the second multiple processing unit 23a is not information indicating an abnormality of the parts camera 17 (S37: NO), the image processing board 33 has an error in the image data GD of the parts camera 17. If there is no abnormality and the parts camera 17 is not abnormal, the process of S39 is executed. In S39, the image processing board 33 determines whether or not to end the image processing. For example, the main CPU 31 of the control unit 21 performs control on the image processing board 33 to end the image processing when the mounting machine 10 is stopped. When the image processing board 33 receives an instruction to end the image processing from the main CPU 31 (S39: YES), the image processing board 33 ends the processing shown in FIG. If the image processing board 33 has not received an instruction to end the image processing (S39: NO), the image processing board 33 executes the processing from S33 again. Accordingly, the image processing board 33 detects an error in the image data GD and detects an abnormality in the part camera 17 and the like while executing imaging control for each camera (part camera 17 and the like) in accordance with the mounting operation. Processes are executed as appropriate.

(4. Effects of the configuration of the embodiment)
The image processing system of the above-described embodiment is connected to the parts camera 17 (camera) and the parts camera 17, receives the image data GD captured by the parts camera 17, and receives the image data GD by multiplex communication (first communication). A communication standard different from the communication standard of multiplex communication (first communication) by receiving image data GD from the second multiplex processing unit 23a (first communication unit) and the second multiplex processing unit 23a by multiplex communication. First multiplex processing unit 22a (second communication unit) that converts image data GD into data that can be transmitted by second communication (such as a camera link standard) and transmits the data, and first multiplex processing unit by second communication An image processing board 33 (image processing unit) that receives the image data GD from the image 22a and performs image processing on the received image data GD. The image processing board 33 transmits a control signal CS (camera control signal) to the parts camera 17 through the second communication and the first communication, and executes control on the parts camera 17. The image processing board 33 transmits the control signal CS (communication confirmation control signal) to the first multiplex processing unit 22a through the second communication, and receives the control signal CS (communication confirmation) from the first multiplex processing unit 22a. Communication establishment determination processing (S31, S32 in FIG. 6) for determining whether or not the first communication has been established based on the content of the response to the control signal), and in response to the determination that the first communication has been established. Then, a control signal transmission process (S33 in FIG. 6) for transmitting a control signal CS (camera control signal) toward the parts camera 17 is executed.

  According to this, the image processing board 33 transmits the control signal CS toward the first multiple processing unit 22a by camera link standard communication (second communication), and the response of the response from the first multiple processing unit 22a. The establishment of multiplex communication (first communication) is determined based on the content. Then, the image processing board 33 transmits a control signal CS to the parts camera 17 in response to detecting the establishment of multiplex communication, and controls the parts camera 17. Accordingly, the image processing board 33 transmits the control signal CS to the parts camera 17 after the multiplex communication between the first multiplex processing unit 22a and the second multiplex processing unit 23a is reliably established. Thereby, the control signal CS transmitted from the image processing board 33 toward the parts camera 17 can be transmitted more reliably.

  Further, the first multiplex processing unit 22a (second communication unit) includes a first register 51 (second communication unit side storage unit), and indicates connection establishment in response to establishment of multiplex communication (first communication). A first storage process (S14 in FIG. 4) for storing the information 51a in the first register 51 is executed. In the communication establishment determination process, the image processing board 33 determines that multiplex communication has been established in response to obtaining connection information 51a indicating communication establishment from the first register 51 by a control signal CS (communication confirmation control signal). To do.

  According to this, the 1st multiplex processing part 22a memorize | stores the connection information 51a which shows communication establishment in the 1st register 51 (2nd communication part side memory | storage part) according to establishment of multiplex communication (1st communication). . For example, the image processing board 33 transmits the control signal CS to the first multiplex processing unit 22a (second communication unit) at an arbitrary timing until the connection information 51a indicating communication establishment can be acquired. Thereby, when communication is established, the connection information 51a is transmitted from the first multiple processing unit 22a to the image processing board 33 to notify the communication establishment.

  Further, the first multiplex processing unit 22a (second communication unit) detects an error in the image data GD received from the second multiplex processing unit 23a (first communication unit) by multiplex communication (first communication). Detection processing (S16 in FIG. 4) and first notification processing for notifying the image processing board 33 of abnormality information 52a (first abnormality information) indicating that an error in the image data GD has been detected (S17 in FIG. 4, FIG. 5 S26, S27).

  According to this, the image processing board 33 detects the occurrence of an error in the image data GD in the multiplex communication (first communication) connected via the first multiplex processing unit 22a (second communication unit). It can be detected by the abnormality information 52a (first abnormality information) notified directly or indirectly from the heavy processing unit 22a. As a result, for example, the image processing board 33 can execute an appropriate process such as requesting the parts camera 17 to take another image according to the occurrence of an error in the image data GD.

  Further, the second multiplex processing unit 23a (first communication unit) detects abnormality of the parts camera 17 (S25 in FIG. 5) and abnormality information 52a indicating that the abnormality of the parts camera 17 is detected. A second notification process (S26 in FIG. 5) for notifying (second abnormality information) to the image processing board 33 is executed.

  According to this, the image processing board 33 detects an abnormality of the parts camera 17 connected via the first multiple processing unit 22a and the second multiple processing unit 23a directly or indirectly from the second multiple processing unit 23a. This can be detected by the abnormality information 52a (second abnormality information) that is automatically notified. As a result, for example, the image processing board 33 can execute appropriate processing such as notifying the worker of a warning in response to the occurrence of an abnormality in the parts camera 17.

  Furthermore, the first multiple processing unit 22a (second communication unit) transmits the abnormality information 52a (first abnormality information) to the second multiple processing unit 23a (first communication unit) in the first notification process ( S17 in FIG. The second multiple processing unit 23a (first communication unit) includes a second register 52 (first communication unit side storage unit) that stores abnormality information 52a (second abnormality information), and the first multiple processing unit 22a. The second storage process (S26, S27 in FIG. 5) for storing the abnormality information 52a (first abnormality information) received from the (second communication unit) in the second register 52 (first communication unit side storage unit) is executed. . The image processing board 33 obtains abnormality information 52a (first abnormality information and second abnormality information) from the second register 52 (first communication unit side storage unit) by a control signal CS (camera control signal) ( Step S34 in FIG. 6 is executed.

  According to this, when detecting an error in the image data GD in the multiplex communication, the first multiplex processing unit 22a transmits the abnormality information 52a (first abnormality information) to the second multiplex processing unit 23a. The second multiplex processing unit 23a stores abnormality information 52a (first abnormality information) received from the first multiplex processing unit 22a and abnormality information 52a (second abnormality information) indicating an abnormality of the parts camera 17. Store in the second register 52. As a result, the second multiplex processing unit 23a detects the abnormality information 52a (first abnormality information) in which the error of the image data GD has occurred and the abnormality of the parts camera 17 as information related to one camera (part camera 17). The abnormality information 52a (second abnormality information) to be shown can be collectively stored in the second register 52 and managed. Then, the image processing board 33 can collectively acquire the abnormality information 52a (first abnormality information and second abnormality information) from the second register 52.

  Further, the first communication is multiplex communication. The second multiple processing unit 23a generates multiplexed data MD1 including the image data GD, and transmits the multiplexed data MD1 to the first multiple processing unit 22a.

  According to this, by using multiplex communication, it is possible to reduce the wiring connecting the first multiplex processing unit 22a and the second multiplex processing unit 23a. Further, the image processing board 33 can transmit the control signal CS (camera control signal) to be transmitted toward the parts camera 17 after the multiplex communication is established reliably.

(5. Modification of Embodiment)
In the above embodiment, multiplex communication is employed as the first communication in the present application, but the present invention is not limited to this. As a method of the first communication, a high-speed communication compared to the second communication (camera link communication or the like) that transmits the image data GD from the second communication unit (first multiple processing unit 22a) to the image processing board 33. Other communication methods such as communication capable of long-distance transmission and communication with excellent noise resistance can be employed.

  FIG. 8 shows another example of the image processing system 110. In the following description, the same reference numerals are given to the same components as those in the above embodiment, and the description thereof is omitted as appropriate. The image processing board 133 illustrated in FIG. 8 includes a memory 35, an image processing unit 201, and an optical communication interface 202 (second communication unit). The image processing unit 201 executes a program and the like stored in the memory 35 and executes control on the part camera 17. The image processing unit 201 and the optical communication interface 202 are configured by, for example, FPGA logic circuit blocks included in the image processing board 133. The optical communication interface 202 is connected to the optical module 203 (first communication unit) via an optical fiber cable 125. The optical module 203 is connected to the parts camera 17 via the camera link cable 204. The optical communication interface 202, for example, enables transmission over a long distance compared to camera link (Camera Link (registered trademark)) communication, and is excellent in noise resistance “Opt-C: Link (Opt Sea Link). ) (Registered trademark) ”. The optical communication interface 202 converts data compliant with the camera link (Camera Link (registered trademark)) standard into packet data PD that can be transmitted by the optical fiber cable 125, and transmits / receives data to / from the optical module 203.

  In this image processing system 110, camera link standard data (image data GD, control signal CS, and camera control signal CC) transmitted and received between the image processing unit 201 and the part camera 17 are temporarily stored in the Opt-Link. Convert to standard packet data PD. As a result, long-distance communication is possible as compared with camera link standard communication.

  In this case, for example, the optical communication interface 202 stores connection information 51 a indicating communication establishment in the first register 51 of the optical communication interface 202 in response to establishment of optical communication with the optical module 203. The image processing unit 201 transmits a control signal CS (communication confirmation control signal) to the optical communication interface 202 by UART communication, and acquires the connection information 51a. When the image processing unit 201 acquires the connection information 51a indicating communication establishment, the image processing unit 201 starts control of the parts camera 17 using the control signal CS (camera control signal) and the camera control signal CC. As a result, the image processing unit 201 can execute control by the control signal CS after optical communication is reliably established, as in the above embodiment.

In the above embodiment, the first multiple processing unit 22 a (second communication unit) causes the image processing board 33 to acquire the connection information 51 a stored in the first register 51, thereby performing multiple communication with the image processing board 33. However, the present invention is not limited to this. For example, the first multiplex processing unit 22 a may directly transmit connection information 51 a indicating establishment of multiplex communication to the image processing board 33. In this case, the first multiple processing unit 22a may not include the first register 51. Similarly, the second multiple processing unit 23a may directly notify the abnormality of the parts camera 17 by transmitting the abnormality information 52a to the image processing board 33.
Further, the first multiplex processing unit 22a may not execute the error detection process of the image data GD in the multiplex communication (first communication).
Further, the second multiple processing unit 23a may not execute the abnormality detection process for the part camera 17 or the like.

The multiplex communication is not limited to wired communication, and may be wireless communication.
In the above-described embodiment, the example in which the electronic component mounting machine 10 that mounts electronic components on the board Bd is used as the working machine in the present application is described. However, the working machine in the present application is not limited to this, Other working machines that work on the substrate Bd such as a printing apparatus can be employed. In addition, the work machine is not limited to the board work, and a work machine that performs an assembly work such as a cutting work or a secondary battery (such as a solar battery or a fuel cell) may be employed.

  10: Electronic component mounting machine (work machine), 15: Mark camera (camera), 17: Parts camera (camera), 18: Perspective camera (camera), 22a: First multiple processing section (second communication section), 23a: second multiple processing unit (first communication unit), 24a: third multiple processing unit (first communication unit), 33, 133: image processing board (image processing unit), 51: first register (first) (Second communication unit side storage unit), 51a, 51b: connection information, 52: second register (first communication unit side storage unit), 52a, 52b, 53a: abnormality information (first abnormality information, second abnormality information), 53: third register (first communication unit side storage unit), 110: image processing system, CS: control signal (camera control signal, communication confirmation control signal), GD: image data, MD1, MD2: multiplexed data .

Claims (7)

A camera,
A first communication unit that is connected to the camera, inputs image data captured by the camera, and transmits the image data by first communication;
The image data is received from the first communication unit by the first communication, and the image data is converted into data that can be transmitted by second communication of a communication standard different from the communication standard of the first communication. Two communication departments;
An image processing unit that receives the image data from the second communication unit by the second communication and performs image processing on the received image data;
The image processing unit transmits a camera control signal to the camera via the second communication and the first communication, and executes control on the camera.
The image processing unit
The communication confirmation control signal is transmitted to the second communication unit by the second communication, and the first communication is established based on the content of the response to the communication confirmation control signal received from the second communication unit. Communication establishment determination processing for determining whether or not
In response to determining that the first communication has been established, a control signal transmission process for transmitting the camera control signal toward the camera;
Execute the image processing system. The second communication unit is
A second communication unit side storage unit,
Executing a first storage process for storing connection information indicating communication establishment in the second communication unit side storage unit in response to the establishment of the first communication;
The image processing unit
In the communication establishment determination process, it is determined that the first communication has been established in response to obtaining the connection information indicating communication establishment from the second communication unit side storage unit by the communication confirmation control signal. Item 8. The image processing system according to Item 1. The second communication unit is
An error detection process for detecting an error in the image data received from the first communication unit by the first communication;
A first notification process for notifying the image processor of first abnormality information indicating that an error in the image data has been detected;
The image processing system according to claim 1 or 2, wherein: The first communication unit is
An abnormality detection process for detecting an abnormality of the camera;
A second notification process for notifying the image processing unit of second abnormality information indicating that the abnormality of the camera has been detected;
The image processing system according to claim 3, wherein: The second communication unit transmits the first abnormality information to the first communication unit in the first notification process,
The first communication unit is
A first communication unit side storage unit for storing the second abnormality information;
Executing a second storage process for storing the first abnormality information received from the second communication unit in the first communication unit side storage unit;
The image processing system according to claim 4, wherein the image processing unit executes an acquisition process of acquiring the first abnormality information and the second abnormality information from the first communication unit-side storage unit according to the camera control signal. . The first communication is multiplex communication,
The image processing system according to claim 1, wherein the first communication unit generates multiplexed data including the image data and transmits the multiplexed data to the second communication unit.   A work machine comprising the image processing system according to any one of claims 1 to 6, wherein the work is performed according to a processing result obtained by performing image processing on the image data by the image processing unit.

Images