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Board align image acquisition device with improved interface Number:6,954,681 from the United States Patent and Trademark Office (PTO) owispatent

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Title: Board align image acquisition device with improved interface

Abstract: An electronics assembly system includes an image acquisition system that is coupled to a controller through an improved interface. The coupling facilitates advanced monitoring and control of the image acquisition system. Multiple image acquisition systems can be coupled to the controller over the same interface.

Patent Number: 6,954,681 Issued on 10/11/2005 to Fisher,   et al.

Inventors: Fisher; Lance K. (Excelsior, MN); Gaida; John D. (Victoria, MN); Horijon; Joseph L. (Veldhoven, NL); Liberty; Todd D. (Apple Valley, MN)
Assignee: CyberOptics Corporation (Golden Valley, MN)
Appl. No.: 745860
Filed: December 24, 2003

Current U.S. Class: 700/259; 219/121.85; 219/124.34; 250/559.45; 345/156; 345/157; 348/94; 348/95; 356/237.1; 356/243.1; 362/247; 700/245; 700/254
Intern'l Class: G05B 015/00; G05B 019/00
Field of Search: 700/245,254,259 219/121.85,124.34 348/94,95 356/237.1,243.1 345/156,157 362/247 250/559.45 313/113

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Primary Examiner: Black; Thomas G.
Assistant Examiner: Marc; McDieunel
Attorney, Agent or Firm: Westman, Champlin & Kelly, P.A.
Parent Case Text


CROSS REFERENCE TO RELATED APPLICATION

This application is a continuation application of Ser. No. 10/017,501, filed Dec. 14, 2001 now abandoned, which this application is base on and claims the benefit of U.S. provisional patent application Ser. No. 60/255,925, filed Dec. 15, 2000, entitled "CAMERA WITH IEEE 1394 INTERFACE."
Claims


1. An electronic assembly machine for performing an assembly operation on a workpiece, the machine comprising:

a robotic system for performing the assembly operation based;

a controller coupled to the robotic system and providing signals to the robotic system to cause the robotic system to perform the assembly operation;

an image acquisition device coupled to the controller and disposed to acquire an image of the workpiece;

wherein the image acquisition device is coupled to the controller through an interface operating in accordance with a Specification; and

wherein the image acquisition device includes an illuminator that is controllable by the controller through the interface.

2. The machine of claim 1, wherein the illuminator is a darkfield illuminator.

3. The machine of claim 1, wherein the illuminator is a brightfield illuminator.

4. The machine of claim 1, wherein the controller monitors a number of energizations of the illuminator.

5. The machine of claim 1, wherein the image acquisition device includes a plurality of illuminators each controllable by the controller.

6. The machine of claim 1, wherein the image acquisition device includes characterization registers for providing information relating to capabilities of the image acquisition device.

7. The machine of claim 1, and further comprising storage for a parameter related to the image acquisition system.

8. The machine of claim 7, wherein the parameter is an optical parameter.

9. The machine of claim 7 wherein the parameter is a mechanical parameter.

10. The machine of claim 1, wherein the image acquisition device includes a board align camera.

11. The machine of claim 1, wherein an additional image acquisition device is coupled to the controller through the interface.
Description


BACKGROUND OF THE INVENTION

The electronics assembly industry uses machines such as pick and place machines to automatically pick components from component feeders and place the components upon circuit boards during board assembly. Subsequently, the components themselves are permanently attached to the circuit board at locations where the pick and place machine has deposited them. Due the relatively high speed required for such operations as well as the extremely small-scale of the components themselves, component placement and alignment are extremely important. In order to facilitate advances in component placement and alignment, optical systems and associated processors have advanced accordingly. One common element of a pick and place system is known as the board align image acquisition device. Typically, this image acquisition device resides upon a placement head and is used to essentially image a reference position (also known as a fiducial) on the board. By determining the placement of the head via encoders, or other suitable position measuring means, associated therewith, and determining the position of the fiducial from the image supplied by the board align camera, the relative position of the placement head with respect to the board is precisely known.

The position of the component to be placed on the placement head is calculated in a similar manner but with a generally upward-looking component align (CA) image acquisition device. The component align image acquisition device generally acquires an image of the component to be placed after it has been picked up by the placement head. The host processor then determines the position of the component on the placement head and knowing the position of the placement head with respect to the board, so manipulates the component to be placed that it is oriented correctly and placed properly upon the board. Thus, a typical pick and place system includes a pair of image acquisition device (board align and component align). Due to the relatively high-speed operation of pick and place machines, there is a relatively large amount of data (both image data and control data) that passes between the host processor and the various image acquisition devices and their associated illuminators. A pick and place system that could accommodate the relatively high data transfer burdens while simultaneously simplifying wiring and reducing costs would be a significant increase in the art. Moreover, if such system could provide data transfer rate head room beyond that which is currently needed and accommodate future scalability, system implementation would be facilitated.

SUMMARY OF THE INVENTION

An electronics assembly system includes an image acquisition system that is coupled to a controller through an improved interface. The coupling facilitates advanced monitoring and control of the image acquisition system. Multiple image acquisition devices can be coupled to the controller over the same interface.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagrammatic view of a known pick and place machine in which embodiments of the present invention are particularly useful.

FIG. 2 is a perspective view of a placement head including a board align image acquisition device in accordance with an embodiment of the present invention.

FIG. 3 is a diagrammatic view of a portion of a pick and place machine in accordance with an embodiment of the present invention.

FIG. 4 is a system block diagram of an image acquisition system in accordance with an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIG. 1 is a diagrammatic view of a pick and place machine 100 in accordance with the prior art. Machine 100 includes placement head 102 upon which are mounted component align (CA) image acquisition device 104, nozzles 106 and board align (BA) image acquisition device 108. Controller 110 is coupled to devices 104 and 108 as well as encoders operably coupled to placement head 102 which encoders indicate position of placement head 102 along X and Y axes.

FIG. 2 is a perspective view of placement head 102. As illustrated, placement head 102 includes a pair of pick and place units 112 each of pick and place units 112 include a nozzle 106 that is adapted to releasably couple a component to be placed such as components 114. Pick and place units 112 are adapted to displace components 114 along the Z axis to place components 114 upon a circuit board (not shown). While components 114 are releasably held by nozzles 106, relative motion between the nozzles 106 and the component align image acquisition device 104 is translated beneath components 114 while imaging components 114 with device 104 allows for determination of the relative orientations of components 114 with respect to the nozzles 106. FIG. 2 also illustrates board align (BA) image acquisition device 108 disposed proximate an edge of placement head 102 and facing downward. Device 108 acquires an image of a reference position marker (fiducial) on the circuit board in order to allow calculation of the placement head 102 position with respect to the circuit board.

FIG. 3 is a diagrammatic view of a portion of a pick and place machine in accordance with an embodiment of the present invention. Host 110 is coupled to X and Y encoders (illustrated diagrammatically at reference numerals 116 and 118, respectively). Additionally, host 110 is coupled to board align image acquisition device 108 via interface 120. Device 108 is also physically coupled to robot 122 which is used to actuate nozzle 106 to pick up components 114 and place them upon printed circuit board (PCB) 124. As illustrated, board 124 includes a reference position mark, or fiducial, 126. When required, board align image acquisition device 108 acquires an image of fiducial 126, and/or additional fiducials, and computes a position of placement head 102 with respect to board 124. While not shown in FIG. 3, a component align image acquisition device is also used to acquire images of the components themselves to calculate component orientation and position such that the components can be accurately placed upon board 124. Further, board align image acquisition device 108 and component align image acquisition device 104 typically have associated lighting. Thus, a significant amount of data overhead is created wherein image data from device 108 and/or device 104 must be transmitted to host controller 110. One aspect of embodiments of the present invention is placing one or more of the image acquisition devices (board align, component align, or other suitable devices) upon a bus that accommodates such co-existence without significantly increasing complexity or cost.

One example of such a bus is known as the IEEE 1394 Standard for High Performance Serial Bus the standards of which are published by the Institute of Electrical and Electronics Engineers Inc. Information about the IEEE 1394 serial bus standard may be found on the world wide web. The IEEE 1394 standard provides for data transmission speeds at 100, 200, 400 megabits per second and beyond over the serial bus. The format and type of information to be sent between the host and the digital camera over the IEEE 1394 serial bus adheres to the 1394 Trade Association's 1394-based Digital Camera Specification, Version 1.3, dated Jul. 25, 2000. As used herein "Specification" shall include any specification compatible, either presently or backwardly, with the IEEE 1394-based Digital Camera Specification. While the Specification listed above does not provide features which facilitate the use in pick and place machines, there is an ability provided in the Specification to add additional features. This is done via advanced control and status registers (CSR). A portion of this patent document will make reference to the Specification. Information regarding the Specification may be found on the worldwide web. Some of the features useful for device 108 but not currently set forth in the Specification follow. The Specification does not set forth an ability to control four or more illumination channels. In additional to the control of illumination, there are currently no characterization registers available to determine the capabilities of each image acquisition device. Another feature that is not provided by the Specification is the ability to set illumination counters to help determine lifetime of the illuminators themselves. Further, there is currently no storage provided by the Specification for mechanical and optical parameters that could be characterized during calibration. These features and their implementation in embodiments of the present invention will be set forth in greater detail below.

FIG. 4 is a diagrammatic view of BA image acquisition device 108 in accordance with an embodiment of the present invention. Device 108 couples to host 110 through port 130 along Specification bus 132. Bus 132 is coupled to link and physical layer controller 134. Preferably, link and physical layer controllers are preferably commercially available devices sold by Texas Instruments under the trade designations TSB42AB4PDT, and TSB41AB1PHP, respectively. Controller 134 is coupled to microcontroller 136 and programmable logic device 138 through bus 140. Preferably, bus 140 is a 16-bit 68000 bus. Microcontroller 136 is preferably a microcontroller sold under the trade designation Atmega103L available from Atmel of San Jose, Calif. Microcontroller 136 is also coupled to analog temperature sensor 142, four-channel digital-to-analog converter 144 and CCD and support chip set 146. Preferably, microcontroller 136 is coupled to converter 144 and chip set 146 through a serial peripheral interface bus 148. Through programmable logic device 138 and image data bus 151, CCD the support chip set 146 can acquire and provide an image to IEEE 1394 controller 134. During acquisition of such an image, illuminators 150 are engaged in response to control signals from microcontroller 136 and/or programmable logic device 138. Illuminators 150 can include a darkfield illuminator, and/or brightfield illuminator. One of the primary features of adapting device 108 for operation with IEEE 1394 bus 132 is that additional image acquisition devices and IEEE 1394 bus-compatible devices can be coupled to the same bus. This reduces system wiring and complexity while also facilitating standardization and implementation.

The following description sets forth a preferred embodiment in such detail that specific data values for specific control and status registers in the 1394 specification are provided.
Basic Function Inquiry Register
Offset Name Field Bit Value Description
400 BASIC Memory Channel (31 . . . 28) 0 Maximum memory
(Read FUNC_INQ channel number
Only) (27 . . . 21) 0 Reserved
Multi_shot_Inq 20 0 No Multi
shot
transmission
capable
One-shot-Inq 19 1 One shot
transmission
capable
(18 . . . 17) 0 Reserved
Cam_Power— 16 0 There is no
Cntl camera process
power ON/OFF
capability
(15 . . . 1)  0 Reserved
Advanced—  0 1 Indicates
Feature_Inq presence
of advanced
failure.
Feature Presence Inquiry Registers
Feature Hi Inquiry
Offset Name Field Bit Value Description
404 FEATURE— (31 . . . 13) 0 Reserved
(Read HI_INQ Trigger 12 1 Trigger control
Only) Temperature 11 1 Temperature
read-only
Focus 10 0 No Focus control
Iris 9 0 No Iris control
Gain 8 1 Gain control
Shutter 7 1 Shutter speed
control
Gamma 6 0 No Gamma control
Saturation 5 0 No Saturation
control
Hue 4 0 No Hue control
White Balance 3 0 No White balance
control
Sharpness 2 0 No Sharpness
Control
Auto Exposure 1 0 No Auto Exposure
Control
Brightness 0 1 Brightness
Control Capable
Feature Lo Inquiry
Off-
set Name Field Bit Value Description
408 FEATURE— Zoom 0 0 No Zoom Control
(Read LO_INQ Pan 1 0 No Pan control
Only) Tilt 2 0 No Tilt control
Optical 3 0 No Optical
filter filter control
 (4 . . . 15) 0 Reserved
Capture— 16 0 N/A (Capturing
Size image size for
format 6)
Capture— 17 0 N/A (Capture
Quality image quality
for
Format 6)
(18 . . . 31) 0 Reserved
Advanced Feature CSR Offset
Off-
set Name Field Bit Value Description
480 ADVANCED— Advanced (0 . . . 31) 3FC CSR quadlet
(Read FEATURE— Feature— 0000 offset for
Only) INQ Quadlet— Advanced Feature
Offset CSR. This
offset is from
the initial
register space of
FFFF F000 0000.
This will put
the base of the
advanced
feature CSR
at
FFF FFF0 0000.
Feature Elements Inquiry Registers
Brightness Inquiry
Offset Name Field Bit Value Description
500 BRIGHTNESS— Presence_Inq 0 1 Presence of
(Read INQ this feature
only) (1 . . . 2) 0 Reserved
One_Push_Inq 3 0 One push auto
mode
(Controlled
automatically
by
camera only
once)
Read/Out_Inq 4 1 Capability of
reading the
value
of this
feature
On/Off_Inq 5 0 Capability of
switching this
feature ON and
OFF
Auto_Inq 6 0 Auto mode
(controlled
by camera)
Manual_Inq 7 1 Manual mode
(controlled by
the user)
MIN_Value  (8 . . . 19) 0 MIN value for
this feature
control
MAX_Value (20 . . . 31) 640 MAX value for
this feature
control
Shutter Inquiry
Offset Name Field Bit Value Description
51C SHUTTER— Presence Inq 0 1 Presence of this
(Read INQ feature
only) (1 . . . 2) 0 Reserved
One_Push_Inq 3 0 One push auto mode
(Controlled
automatically by
camera only once)
Read/Out_Inq 4 1 Capability of
reading
the value of this
feature
On/Off_Inq 5 0 Capability of
switching
this feature ON and
OFF
Auto_Inq 6 1 Auto mode
(controlled by
camera)
Manual_Inq 7 0 Manual mode
(controlled
by the user)
MIN_Value  (8 . . . 19) 0 MIN value for this
feature control
MAX_Value (20 . . . 31) 400 MAX value for this
feature control
Gain Inquiry
Offset Name Field Bit Value Description
520 GAIN_INQ Presence Inq 0 1 Presence of
(Read this feature
only) (1 . . . 2) 0 Reserved
One_Push_Inq 3 0 One push auto
mode
(Controlled
automatically
by
camera only
once)
Read/Out_Inq 4 1 Capability of
reading
the value of
this
feature
On/Off_Inq 5 0 Capability of
switching
this feature
ON and OFF
Auto_Inq 6 0 Auto mode
(controlled
by
camera)
Manual_Inq 7 1 Manual mode
(controlled
by the user)
MIN_Value  (8 . . . 19) 0 MIN value for
this
feature
control
MAX_Value (20 . . . 31) A28 MAX value for
this
feature
control
Temperature Inquiry
Offset Name Field Bit Value Description
52C TEMPERATURE_INQ Presence— 0 1 Presence of
(Read Inq this feature
only) (1 . . . 2) 0 Reserved
One_Push— 3 0 One push
Inq auto mode
(Controlled
automatically
by
camera only
once)
Read/Out— 4 1 Capability
Inq of reading
the value of
this
feature
On/Off_Inq 5 0 Capability
of switching
this feature
ON and OFF
Auto_Inq 6 1 Auto mode
(controlled
by
camera)
Manual_Inq 7 0 Manual mode
(controlled
by the user)
MIN_Value  (8 . . . 19) 0 MIN value
for this
feature
control in
degree C.
MAX_Value (20 . . . 31) 7Ch MAX value
for this
feature
control in
degree C.
Trigger Inquiry
Offset Name Field Bit Val Description


530 TRIGGER_INQ Presence_Inq 0 1 Presence of this
(Read feature
only) (1 . . . 3) 0 Reserved
Read/Out_Inq 4 1 Capability of
reading
the value of

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