CN104338683A - Image processing device used for material feeder and the material feeder - Google Patents
Image processing device used for material feeder and the material feeder Download PDFInfo
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- CN104338683A CN104338683A CN201410374399.XA CN201410374399A CN104338683A CN 104338683 A CN104338683 A CN 104338683A CN 201410374399 A CN201410374399 A CN 201410374399A CN 104338683 A CN104338683 A CN 104338683A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
- B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
- B65G47/1492—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a feeding conveyor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/97—Determining parameters from multiple pictures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Quality & Reliability (AREA)
- Feeding Of Articles To Conveyors (AREA)
- Closed-Circuit Television Systems (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
An image processing device used for a material feeder, which can fully shorten the time from the beginning of shooting to the end of good-bad determination processing of a workpiece, and the material feeder are provided by the invention. The image processing device is used for the material feeder provided with a camera for shooting workpieces conveyed along a conveying path. The camera adopts a line-scanning camera, wherein the line-scanning camera is provided with a plurality of camera shooting elements arranged at the direction orthogonal to the conveying direction of the workpieces, and acquires data of a plurality of images for each workpiece by shooting in order the workpiece passing through camera shooting positions disposed on the conveying path. The image processing device is provided with: an image acquiring unit for acquiring image data obtained by camera shooting in real time when the line-scanning camera is used for camera shooting; a pretreatment unit for generating approximately whole synthetic image data of a single workpiece by combining the image data acquired by the image acquiring unit according to a camera shooting sequence; and a posture determination unit for performing posture determination of determining postures of the workpieces according to the synthetic image data generated by the pretreatment unit.
Description
Technical field
The present invention relates to view data that a kind of basis gets by camera and differentiate the outward appearance of workpiece or the feed appliance image processing apparatus of posture and feed appliance (parts feeder), this feed appliance image processing apparatus and feed appliance also can in outward appearance or the postures differentiating this workpiece within the short time starting to take workpiece for the multiple workpiece be transferred with the state of close contact.
Background technology
In the past, known a kind of feed appliance (such as patent document 1) that electronic unit etc. can be transported to the supply destination of regulation as the workpiece of conveying object along transport path.In the feed appliance disclosed in patent document 1, first, the multiple workpiece be transferred the compartment of terrain separating regulation use image unit to carry out shooting to obtain view data for each workpiece.And, be configured to the posture differentiating workpiece according to this view data, use rejected unit to be got rid of from transport path by the workpiece of inappropriate for posture (fault).
Patent document 1: Japanese Unexamined Patent Publication 6-197349 publication
Summary of the invention
the problem that invention will solve
The feed appliance 200 shown in Fig. 9 is used to further illustrate the principle of the feed appliance disclosed in this patent document 1, be configured to: after being taken into unit 204a by Surface scan camera (area scan camera) 202 view data obtained as image unit via image and being taken into control device 204, use pretreatment unit 204b to carry out the pretreatment such as binary conversion treatment.Afterwards, use pose discrimination unit 204c to differentiate the posture of workpiece 3 according to pretreated view data, use rejected unit 5 to get rid of the unsuitable workpiece 3 of posture according to this differentiation result.In Surface scan camera 202, multiple imaging apparatus arranges with mesh-shape, obtains the two-dimensional image data that pixel count is many.In addition, in this case, convention is set to the structure utilizing laser sensor 203 to decide, and is configured to: when detecting by laser sensor 203 assigned position that workpiece 3 arrives on transport path 3 in feed appliance 200, opposite smear camera 202 inputs external trigger and makes it take.In addition, convention is configured to: use interval adjustment unit 16 workpiece 3 interval to be each other adjusted to the width of regulation.
In addition, in the feed appliance 200 of structure as above, need to obtain view data for each workpiece 3, therefore, in order to laser sensor 203 can be used one by one to detect workpiece 3, and carry multiple workpiece with separating predetermined distance.But like this when carrying multiple workpiece at spaced intervals, the conveying number of the workpiece of time per unit is few, thus the discharge ability existed to supply destination discharge workpiece reduces this problem.
In order to address this is that, consider to be set to following structure: as shown in Figure 10, multiple workpiece 3 is carried along throughput direction with the state of close contact, carry out the shooting undertaken by Surface scan camera 202 continuously, and a workpiece 3 can be identified in the view data got by Surface scan camera 202 and differentiate the posture of this workpiece 3.In this case, as shown in figure 11, when taking at moment t11 Surface scan camera 202, be taken into unit 254a at moment t12 via image to start to be taken into the view data got by Surface scan camera 202, use pretreatment unit 254b to start to carry out the pretreatment such as binaryzation to be taken into view data at moment t13.And, following process is considered: use the end of this pretreatment unit 254b to the workpiece 3 appeared in view data to carry out differentiation in view data, also identify a workpiece 3 as customary means, afterwards, differentiate the posture of workpiece according to pretreated view data at moment t14 use pose discrimination unit 254c.
But, using in the feed appliance 250 of Surface scan camera 202 like this, when shooting area is large, large and data volume is many by the pixel count of once taking accessed view data, therefore from taking to view data be taken into end spended time (delivery time of view data is elongated), and then be identified as to the posture of workpiece 3 from taking and only need the long period.In addition, when shooting area is narrow, little and data volume is few by the pixel count of once taking accessed view data, but in the mode of synchronous continuous shooting not obtaining shutter opportunity, also be taken into the view data that can not be used in pose discrimination of the part only photographing workpiece 3, therefore similarly need the long period.Workpiece 3 needed to carry out the differentiation of posture before arriving the eliminating position being carried out getting rid of process by rejected unit 5, therefore, when posture differentiation needed for time long time correspondingly need the transporting velocity slowing down workpiece 3, thus produce cannot this shortcoming of conveying workpieces 3 at high speed.Like this, the feed appliance 200,250 being difficult to structure as above possesses the device that can differentiate posture for the multiple workpiece 3 be transferred with the state of close contact within the short time from starting to take.
On the other hand, from starting to take, being identified as only time to posture in order to shortening, also considering that the performance improving control device 254 (CPU) shortens the pretreatment of pretreatment unit 254b, the time needed for pose discrimination process of pose discrimination unit 254b.But, as shown in figure 11, from taking in the time differentiated posture, the ratio be taken into shared by the required delivery time of view data is fully greater than time needed for above-mentioned pretreatment, above-mentioned pose discrimination process, even if the performance therefore improving control device 254 also cannot shorten fully be identified as the time only to posture from starting to take.In addition, when improving the performance of control device 254, existing and causing this shortcoming of cost increase.
The object of the invention is to effectively address this is that, object be to provide a kind of from taking to view data be taken into end time short and fully can shorten be identified as feed appliance image processing apparatus and the feed appliance of time only to the posture of workpiece from taking.
for the scheme of dealing with problems
The present invention puts in view of the above problems and takes following scheme.
Namely, feed appliance image processing apparatus of the present invention is applied to the feed appliance possessed the camera that the workpiece be transferred along transport path is taken, the feature of this feed appliance image processing apparatus is, feed appliance image processing apparatus is configured to, line scan cameras (line scan camera) is adopted as above-mentioned camera, this line scan cameras has the multiple imaging apparatus arranged orthogonally with the throughput direction of above-mentioned workpiece, this line scan cameras is used to take successively the workpiece through being set in the camera site on above-mentioned transport path, multiple view data is obtained for each workpiece, and this feed appliance image processing apparatus possesses: image is taken into unit, it is taken into by above-mentioned line scan cameras immediately by the view data accessed by shooting, pretreatment unit, it engages being taken into the view data that unit is taken into by above-mentioned image by shooting order, generates the composograph data of the roughly overall single workpiece of appearance, and workpiece quality judgement unit, its quality of carrying out workpiece according to the composograph data generated by above-mentioned pretreatment unit differentiates process.
At this, workpiece quality differentiates that expression differentiates the outward appearance of workpiece, whether posture is the outward appearance, the posture that specify.In addition, the coverage of line scan cameras is a part for the workpiece on throughput direction, few and data volume is few by the pixel count of once taking accessed view data.By being set to the structure using this line scan cameras, being taken into unit by the view data accessed by this shooting via image when each line scan cameras is taken and being immediately taken into.Therefore, become following state: that carries out view data concurrently with the shooting action of line scan cameras is taken into process, before terminating between the shooting to a roughly overall workpiece, namely taking the rear end of workpiece, finish being taken into the whole or most view data got before this.Thus, the view data of a roughly overall workpiece can be taken at short notice from starting to take the front of workpiece, beginning period of the process of the pretreatment unit after therefore making it and workpiece quality judgement unit in advance, can fully shorten from start to take workpiece to the quality of this workpiece differentiate process terminate time.
In addition, when pretreatment unit except generate above-mentioned composograph data with external generation above-mentioned composograph data before also carry out to be taken into by above-mentioned image view data that unit is taken into carry out the binary conversion treatment of binaryzation, in order to shorten further from start to take workpiece to the quality of this workpiece differentiate process terminate time, preferably be configured to, when being taken into unit by above-mentioned image and having carried out being taken into of view data, immediately carry out binary conversion treatment to this view data.
In addition, occur that the composograph data of a roughly overall workpiece can improve the discrimination precision of workpiece quality judgement unit to also stably generate when the transporting velocity of workpiece changes, preferably be configured to: above-mentioned pretreatment unit can also be taken into the front-end and back-end differentiating workpiece in the view data that unit is taken into by above-mentioned image, by shooting order, view data to the view data of the rear end occurring this workpiece from the front end occurring workpiece is engaged, generate above-mentioned composograph data.
Further, quality differentiation process can be carried out to the workpiece of various structure to make parameter etc. have versatility, being preferably configured to: use software to carry out the above-mentioned quality differentiation process of above-mentioned workpiece quality judgement unit.
Even if in order to realize from start to take workpiece to the quality of this workpiece differentiate process terminate the time short and transporting velocity accelerating workpiece workpiece processing unit also can be used not to be that the outward appearance of regulation or the workpiece of posture to be got rid of from transport path or carry out correcting posture at transport path thus can increase the feed appliance of the process quantity of the workpiece of time per unit, and be preferably set to following structure: use above-mentioned feed appliance image processing apparatus, and possess: feed appliance main body, it has the transport path for conveying workpieces; Line scan cameras, it has the multiple imaging apparatus arranged orthogonally with the throughput direction of above-mentioned workpiece, taking successively, obtaining multiple view data for each workpiece to the above-mentioned workpiece of the camera site through being set in above-mentioned transport path; Workpiece processing unit, it carries out being got rid of from transport path by workpiece or carrying out the process of correcting posture at transport path to the workpiece of the workpiece processing site through being set in transport path; And instruction output unit, its when above-mentioned workpiece quality judgement unit is determined as be not the workpiece of the outward appearance of regulation or posture time, the instruction for carrying out above-mentioned process is exported to above-mentioned workpiece processing unit.
the effect of invention
According to the present invention described above, can provide a kind of by the shooting action with line scan cameras be taken into concurrently by take accessed view data can shorten from start to take workpiece to the quality of this workpiece differentiate process terminate the feed appliance image processing apparatus of time and feed appliance.
Accompanying drawing explanation
Fig. 1 is the side view of the feed appliance represented involved by an embodiment of the invention.
Fig. 2 is the top view representing the measuring unit that this feed appliance possesses.
Fig. 3 be for illustration of undertaken by this feed appliance opportunity control treatment key diagram.
Fig. 4 is the sequential chart of the action for illustration of this feed appliance.
Fig. 5 is the side view representing variation of the present invention.
Fig. 6 is the sequential chart of the action for illustration of variation of the present invention.
Fig. 7 is the side view representing variation of the present invention.
Fig. 8 is the side view representing variation of the present invention.
Fig. 9 is the side view of the feed appliance of the structure represented based on feed appliance in the past.
Figure 10 is the side view of the feed appliance of the problem points represented for solving the feed appliance shown in Fig. 9.
Figure 11 is the sequential chart of the action for illustration of the feed appliance shown in Figure 10.
description of reference numerals
1: feed appliance main body; 2: line scan cameras; 3: workpiece; 3a: the front end of workpiece; 3b: the rear end of workpiece; 5: workpiece processing unit (rejected unit); 8: feed appliance image processing apparatus; 10: transport path; 40: image is taken into unit; 41: pretreatment unit; 44: workpiece quality judgement unit (pose discrimination unit); 45: instruction output unit; 100: feed appliance; P1: camera site; P2: workpiece processing site (eliminating position).
Detailed description of the invention
Below, with reference to accompanying drawing, an embodiment of the invention are described.
As shown in Figure 1, feed appliance 100 as an embodiment of the invention is the feed appliances carried along the transport path 10 of feed appliance main body 1 to not shown supply destination using higher speed as multiple workpiece 3 of transported substance, and workpiece 3 is transferred with the state of close contact to the right from the left side Fig. 1.
Feed appliance main body 1 is configured to comprise above-mentioned transport path 10 and driver element 11, uses driver element 11 that transport path 10 is vibrated, carries the multiple workpiece 3 be on transport path 10 thus.The throughput direction of its long side direction of workpiece 3 or short side direction and workpiece 3 is transferred abreast.
The top being set in the camera site on transport path 10 (shooting point) P1 is provided with line scan cameras 2.This line scan cameras 2 has the multiple highly sensitive imaging apparatus formed a line orthogonally with the throughput direction of workpiece 3 (bearing of trend of transport path 10), takes the workpiece 3 of conveying on transport path 10.About the coverage (shooting area) of line scan cameras 2, when the long side direction of workpiece 3 is parallel with throughput direction, this coverage (shooting area) is set on the throughput direction of workpiece 3 scope that a part for the long side direction of workpiece 3 is taken, to the scope that the short side direction entirety of workpiece 3 is taken on the direction orthogonal with the throughput direction of workpiece 3, when the short side direction of workpiece 3 is parallel with throughput direction, this coverage (shooting area) is set on the throughput direction of workpiece 3 scope that a part for the short side direction of workpiece 3 is taken, to the scope that the long side direction entirety of workpiece 3 is taken on the direction orthogonal with the throughput direction of workpiece 3.
The position arranging this line scan cameras 2 is very important for taking in the opportunity getting rid of the unsuitable workpiece of posture 3, in order to line scan cameras 2 being arranged at accurately the position of expectation, transport path 10 is provided with measuring unit (line scan cameras measuring appliance) 10a shown in Fig. 2.Measuring unit 10a by addition of the first scale 10ab of extending along the direction orthogonal with the throughput direction of workpiece 3 and every fixed range as binary the second scale 10ac represented, the first scale 10ab is made to aim at eliminating position described later (excretion point) P2, confirm from getting rid of to the second scale 10ac that the below of line scan cameras 2 extends near the P2 of position in the view data got by line scan cameras 2, thus can with setting camera site, the position P1 getting rid of the distance that position P2 expects apart.
The view data that line scan cameras 2 as shown in Figure 1 gets with configure multiple imaging apparatus using mesh-shape and by workpiece 3 entirety as coverage Surface scan camera compared with pixel count little and data volume is few.Line scan cameras 2 carries out action in the mode of carrying out continuously taking with fixed intervals before arriving camera site P1 from workpiece 3, repeatedly take during the P1 of camera site at the workpiece 3 carried towards downstream, obtain the front end 3a (workpiece end of conveyance direction downstream side occurred respectively from this workpiece 3, with reference to Fig. 3) to multiple view data of the diverse location of this workpiece 3 of rear end 3b (workpiece end of throughput direction upstream side, with reference to Fig. 3).The view data got all is sent to control device described later (controller) 4 when often once taking.
In addition, line scan cameras 2 is the situations of usually taking at the shooting object fixed transporting velocity, or although transporting velocity is not fixed, but use encoder etc. to obtain and carry out after synchronous between the speed of object of making a video recording or position using when taking, be difficult to generally be difficult in stable feed appliance use as the transporting velocity of the workpiece 3 of shooting object owing to being carried by the vibration of transport path 10, but front end 3a and rear end 3b in the present embodiment by catching workpiece 3 eliminate the use inconvenience of the line scan cameras 2 caused by transporting velocity inequality.To this, be described below.
Control device 4 shown in Fig. 1 is made up of the common microcomputer unit possessing not shown CPU, memory, interface etc., suitable program is stored in memory, CPU successively reads this program, and play with peripheral hardware resource collaboration as image be taken into unit 40, pretreatment unit 41, pose discrimination unit 44, speed computing unit 42, instruction output unit 45 and opportunity control unit 46 effect.
When taking at every turn, image is taken into unit 40 and the view data got by line scan cameras 2 is taken into control device 4 immediately.Pretreatment unit 41 has the binary conversion treatment portion 41a as binary conversion treatment unit, the end test section 41b as end detecting unit and the composograph data generating section 41c as composograph data generating unit, when being taken into unit 40 via image and being taken into view data, binary conversion treatment portion 41a carries out the pretreatment of the regulations such as binary conversion treatment immediately for this each view data.In addition, test section 41b in end differentiates front end 3a and the rear end 3b (with reference to Fig. 3) of workpiece 3 in view data by suitable image procossing.Such as, in view data, to occur between the part of workpiece 3 and the part (specifically transport path 10) occurring position except workpiece 3 that tone etc. is different, and, owing to also there is a little space when being carried in intimate contact along throughput direction by workpiece 3 each other at workpiece 3, therefore, in the view data of the front end 3a or rear end 3b that photograph workpiece 3, there is the part that color depth is different in the whole direction orthogonal from the throughput direction of workpiece 3.End test section 41b comes front end 3a and the rear end 3b (image discriminating) of the workpiece 3 occurred in inspection image data according to the difference etc. of this color depth.Or, also can be configured to: end test section 41b differentiates the R shape in the bight being in workpiece 3 in view data, detect front end 3a and rear end 3b thus.And, view data to the view data of the rear end 3b occurring this workpiece 3 from the front end 3a occurring workpiece 3 engages according to shooting order by composograph data generating section 41c, generates composograph data as the two-dimensional image data occurring a roughly overall workpiece 3.
As workpiece quality judgement unit pose discrimination unit 44 according to this composograph data carry out differentiate workpiece 3 posture (image discriminating) as quality differentiate process pose discrimination process.Such as, in above-mentioned memory, prestore the view data of the suitable workpiece of posture 3, by pattern match, composograph data and the view data stored in memory are compared, differentiate the posture of workpiece 3 thus.In addition, as the posture except prescribed form, include, for example the posture towards the opposite of surface and back side reversion or fore-and-aft direction.Like this, image is taken into the feed appliance image processing apparatus 8 of the present invention that unit 40, pretreatment unit 41 and pose discrimination unit 44 form the posture differentiating workpiece 3.Present embodiment is in view data, detect the front end 3a of workpiece 3 and the structure of rear end 3b as described above, even if therefore the transporting velocity of workpiece 3 changes, also view data to the view data of the rear end 3b occurring this workpiece 3 from the front end 3a occurring workpiece 3 can be undertaken to engage by shooting order the composograph data obtaining occurring a roughly overall workpiece 3, for the above reasons, the line scan cameras 2 that usually do not use can be used in feed appliance in the past to differentiate the posture of workpiece 3.
Speed computing unit 42 carries out using the composograph data being used in pose discrimination like this to calculate the speed computing of the transporting velocity of workpiece 3, specifically, the transporting velocity Vw (m/s) of workpiece 3 is calculated according to following formula (1).
Vw＝Lw1/S·A…(1)
At this, S is the sweep speed of line scan cameras 2 and the shooting interval (sec) of line scan cameras 2, A for line scan cameras 2 namely single workpiece 3 roughly overall taken from the front of workpiece 3 to rear end side needed for shooting number of times (secondary), Lw1 is throughput direction length (m) of workpiece 3.Speed computing unit 42 is considered as workpiece 3 through the time needed for the P1 of camera site using as the shooting interval S of line scan cameras 2 and the long-pending shooting required time of shooting number of times A, calculates the transporting velocity of workpiece 3 according to the throughput direction length Lw1 of this shooting required time and workpiece 3.About the throughput direction length Lw1 of workpiece 3, preset the throughput direction length of workpiece 3 in kind.In addition, the throughput direction length Lw1 of workpiece 3, the shooting interval S of line scan cameras 2 is inputted via input block 48.In addition, speed computing unit 42 has the shooting number of times acquisition unit 42a as shooting number of times acquiring unit, and shooting number of times acquisition unit 42a calculates shooting number of times A according to the pixel count of the pixel count by once taking obtained view data and composograph data.
Like this, image is taken into the feed appliance speed detector 7 of the present invention that unit 40, pretreatment unit 41 and speed computing unit 42 form the transporting velocity detecting workpiece 3.The transporting velocity of the workpiece 3 calculated by this feed appliance speed detector 7, except controlling the opportunity being used in the workpiece 3 of the eliminating fault of following explanation, is also presented in the display unit 47 shown in Fig. 1.In addition, also the transporting velocity of the workpiece 3 calculated like this can be used as to judge that workpiece 3 is the data being transferred or being in stopping.
When posture judging unit 44 is judged as posture inappropriate (fault), instruction output unit 45 exports the instruction being used for carrying out getting rid of process (eliminating action) to the rejected unit 5 as the workpiece processing unit shown in Fig. 1, this eliminating process (eliminating action) is set in getting rid of from transport path 10 as the workpiece 3 on the eliminating position P2 of workpiece processing site of transport path 10 using being in.The eliminating position P2 that rejected unit 5 has to the position being set in the conveyance direction downstream side more leaning on workpiece 3 than above-mentioned camera site P1 sprays the compressed-air actuated air injection nozzle 50 as forcing unit, is exerted a force and get rid of workpiece 3 from transport path 10 by the compressed air ejected from this air injection nozzle 50 to workpiece 3.Air injection nozzle 50 is transfused to the electrical instruction as above-mentioned instruction and sprays compressed air.Workpiece 3 has preset the target location Pw (with reference to Fig. 3) making this force effect, and in the present embodiment, the throughput direction central authorities of workpiece 3 side opposite with rejected unit 5 are set to target location Pw.By making force act on this target location Pw, can suppress to horizontally rotate as the workpiece 3 getting rid of object when getting rid of from transport path 10 to move.In addition, eliminating process in the present invention comprise make workpiece 3 from transport path 10 fall be in workpiece acceptance division below transport path 10 etc. process, workpiece 3 is assigned to process etc. from any one transport path 10 getting rid of position P2 branch etc.
Opportunity, control unit 46 exported the opportunity of electrical instruction according to the transporting velocity control instruction output unit 45 pairs of injection nozzles 50 of the workpiece 3 calculated by speed computing unit 42.Specifically, according to following formula (2), calculate from being determined as fault by pose discrimination unit 44 to the stand-by time t α (sec) exported by instruction output unit 45 above-mentioned electrical instruction (with reference to Fig. 4), export the opportunity of electrical instruction according to this stand-by time t α control instruction output unit 45 pairs of air injection nozzles 50, force also can be made when the transporting velocity of workpiece 3 changes from setting value thus to act on above-mentioned target location Pw.
tα＝{(L-Lw2)/Vw}-tp-td…(2)
At this, Vw is the transporting velocity (m/s) (with reference to Fig. 3) of the workpiece 3 of conveying on transport path 10, L is from camera site P1 to the distance (m) (with reference to Fig. 3) getting rid of position P2, Lw2 is the distance (m) (with reference to Fig. 3) from the rear end 3b of workpiece 3 to target location Pw, and tp is image processing time (sec) (with reference to Fig. 4) required to the pose discrimination of above-mentioned pose discrimination unit 44 completes from above-mentioned image is taken into being taken into of unit 40.When the time needed for pretreatment, pose discrimination process and speed computing that is configured to is fixed all the time, image processing time tp becomes fixed value or setting value.On the other hand, when correspondingly image processing time tp changes in the increase and decrease of the pixel count being configured to the composograph data caused with the change by transporting velocity, in control device 4, the counting of image processing time tp is carried out.Td is that rejected unit 5 receives above-mentioned electrical instruction and rises to by mechanicalness passing time (sec) (with reference to Fig. 4) required getting rid of process and making force act on workpiece 3, is the setting parameter carried out for each rejected unit 5.Above-mentioned distance L, passing time td etc. is inputted via input block 48.In addition, in the present embodiment, use above-mentioned measuring unit to obtain from camera site P1 to the distance L getting rid of position P2, but also can close わ せ according to (Now thing in kind) obtain.
The action of the feed appliance 100 of structure as above is described with reference to the sequential chart shown in Fig. 4.In addition, below, the action be excluded after the unsuitable workpiece 3 of posture is taken by line scan cameras 2 till unit 5 is got rid of is described.
When taking the workpiece 3 of conveying on transport path 10 at moment t01, the view data got thus is taken into unit 40 via image and is immediately taken into (transmission), and binary conversion treatment portion 41a carries out the pretreatment such as binaryzation to this view data.In addition, end test section 41b detects front end 3a and the rear end 3b of workpiece 3, detects the front end 3a of workpiece 3 in the view data that moment t01 gets.Also take successively with the interval of regulation after the shooting of moment t01, during each shooting, all immediately carry out being taken into and pretreatment of view data.Then, when identifying the rear end 3b of workpiece 3 by end test section 41b in the view data accessed by the shooting by moment t02, at moment t03, composograph data generating section 41c starts to generate composograph data, and carries out the pose discrimination process undertaken by pose discrimination unit 44 and the speed computing undertaken by speed computing unit 42 according to these composograph data.In addition, use hardware (such as FPGA (field-programmable gate array: field programmable gate array)) to carry out until the process of moment t03, the later process of moment t03 carries out with software mode by performing the program stored in memory.Afterwards, opportunity, control unit 46 calculated stand-by time t α, and opportunity, control unit 46 control instruction output unit 45 made the moment t05 have passed through stand-by time t α from moment t04 export electrical instruction.Then, spray compressed air from the air injection nozzle 50 of rejected unit 5 thus, from moment t05, have passed through the moment t06 of passing time td, based on the force practical function of air in workpiece 3.In addition, suppose when the workpiece 3 after carrying out pose discrimination process posture suitably and be determined as prescribed form by pose discrimination process, do not carry out the process (output of electrical instruction and the injection from air injection nozzle 50) for being got rid of from transport path 10 by this workpiece 3.In addition, use a workpiece 3 to describe action for the ease of understanding in the present note, but, in fact workpiece 3 is transferred continuously with the state of close contact, therefore take, being taken into of view data, process till pretreatment carry out all the time continuously, on the other hand, the process (intermitten) that moment t03 is later carries out once after the view data at every turn getting a workpiece 3.
Like this, the unsuitable workpiece 3 of posture is excluded, and the workpiece 3 only having posture suitable is provided to supply destination.
As mentioned above, the feed appliance image processing apparatus 8 of present embodiment is applied to the feed appliance 100 possessed the camera that the workpiece 3 be transferred along transport path 10 is taken, be configured to: adopt line scan cameras as above-mentioned camera, this line scan cameras has the multiple imaging apparatus arranged orthogonally with the throughput direction of above-mentioned workpiece 3, this line scan cameras is used to take successively the workpiece 3 through being set in the camera site P1 on above-mentioned transport path 10, multiple view data is obtained for each workpiece 3, and possess: image is taken into unit 40, it is taken into by above-mentioned line scan cameras 2 immediately by the view data accessed by shooting, pretreatment unit 41, it engages being taken into the view data that unit 40 is taken into by above-mentioned image by shooting order, generates the composograph data occurring roughly overall single workpiece 3, and as the pose discrimination unit 44 of workpiece quality judgement unit, it carries out according to the composograph data that generated by above-mentioned pretreatment unit 41 the pose discrimination process differentiating process as quality.
At this, about line scan cameras 2, coverage is a part for the workpiece 3 on throughput direction, few and data volume is few by the pixel count of once taking accessed view data.Be set to the structure using this line scan cameras 2, therefore, be taken into unit 40 by the view data accessed by this shooting via image when each line scan cameras 2 is taken and be immediately taken into.Therefore, become following state: when using line scan cameras 2 to photograph the front of workpiece 3, that carries out view data concurrently with shooting action after this is taken into process, before terminating the shooting to a roughly overall workpiece 3, before the rear end 3b that namely takes workpiece 3, finish being taken into the whole or most view data got before this.Thus, the view data of a roughly overall workpiece 3 can be taken at short notice from starting to take the front of workpiece 3, the beginning of the pretreatment unit 41 after therefore making it and the process of pose discrimination unit 44 shifts to an earlier date period, the posture that can fully shorten from starting to take to this workpiece 3 workpiece 3 is identified as the time only, thus can realizes the process high speed of workpiece 3.
In addition, be configured to: pretreatment unit 41 is except generating above-mentioned composograph data, generating the binary conversion treatment of also to carry out before above-mentioned composograph data being taken into view data that unit 40 is taken into by above-mentioned image and carrying out binaryzation, when being taken into unit 40 by above-mentioned image and having carried out being taken into of view data, immediately binary conversion treatment is carried out to this view data, therefore, the state finishing the binary conversion treatment to the whole or most view data got before this before the rear end side of shooting workpiece 3 can be set to, can shorten further and be identified as the only required time to the posture of workpiece 3 from starting to take.
Particularly be configured to: above-mentioned pretreatment unit 41 can also be taken into the front end 3a and the rear end 3b that differentiate workpiece 3 in the view data that unit 40 is taken into by above-mentioned image, by shooting order, view data to the view data of the rear end 3b occurring this workpiece 3 from the front end 3a occurring workpiece 3 is carried out joint to generate above-mentioned composograph data, therefore, even if the composograph data of a roughly overall workpiece 3 of appearance also stably can be generated when the transporting velocity of workpiece 3 changes, thus can improve the discrimination precision of pose discrimination unit 44.
Further, be set to the structure using software to carry out the above-mentioned pose discrimination process of above-mentioned pose discrimination unit 44, therefore make the parameter etc. in pose discrimination process have versatility, pose discrimination can be carried out to the workpiece 3 of various structure.
Be set to following structure: use the feed appliance image processing apparatus 8 with structure as above, and possess: feed appliance main body 1, it has the transport path 10 for conveying workpieces 3; Line scan cameras 2, it has the multiple imaging apparatus arranged orthogonally with the throughput direction of above-mentioned workpiece 3, taking successively, obtaining multiple view data for each workpiece to the workpiece 3 through being set in the camera site P1 on above-mentioned transport path 10; As the rejected unit 5 of workpiece processing unit, it carries out the eliminating process got rid of from transport path 10 by workpiece 3 to the workpiece 3 of the eliminating position P2 as workpiece processing site through being set in transport path 10; And instruction output unit 45, it is when above-mentioned pose discrimination unit 44 is determined as the incorrect posture beyond prescribed form, export as the electrical instruction for carrying out the instruction getting rid of process to above-mentioned rejected unit 5, therefore, following feed appliance 100 can be set to: to be identified as the time only to the posture of this workpiece 3 workpiece 3 short from starting to take, even if the transporting velocity accelerating workpiece 3 also can use rejected unit 5 to be discharged from transport path 10 by unsuitable for posture workpiece 3, the process quantity of the workpiece 3 of time per unit can be increased.
Above, describe an embodiment of the invention, but the concrete structure in each portion is not limited to above-mentioned embodiment.
Such as in the present embodiment, to be identified as the unsuitable workpiece 3 of posture carry out from transport path 10 get rid of eliminating process, but also can be set to following structure: as shown in Figure 5, correcting posture unit 6 is set as workpiece processing unit to replace rejected unit 5, the posture being identified as the unsuitable workpiece 3 of posture is corrected being set in the P3 place, rectification position on transport path 10.Correcting posture unit 6 possesses air injection nozzle 60, this air injection nozzle 60 sprays compressed air via the not shown hole be arranged on the correcting posture position P3 of transport path 10 to workpiece 3, compressed air is sprayed from air injection nozzle 60, make to be positioned at the workpiece 3 correcting position P3 reverse or rotate, posture correction thus.In addition, if the posture can correcting workpiece then correcting posture unit 6 be not limited to this structure.Correcting posture unit 6 is configured to spray compressed air when exporting electrical instruction from instruction output unit 45 from air injection nozzle 60, and opportunity, control unit 46 controlled according to the testing result of feed appliance image processing apparatus 8 and feed appliance speed detector 7 opportunity exporting electrical instruction.
In addition, in the present embodiment, feed appliance image processing apparatus 8 in order to differentiate that the posture of workpiece 3 uses, but, also can in order to check the outward appearance of the workpiece 3 such as silk-screen character on the shape of workpiece 3 or color, workpiece 3 and use.In this case feed appliance image processing apparatus is configured to the pose discrimination unit 44 that replaces differentiating the posture of workpiece 3 and suitably has the unit of the outward appearance checking workpiece 3.
In addition, in the present embodiment, pretreatment unit 41 carries out the pretreatment such as binary conversion treatment immediately each to be taken into when unit 40 is taken into view data by image, but also can be configured to, as shown in Figure 6, a moment t02a workpiece 3 be taken into end after to occurring that all images data of this workpiece 3 carry out combining as pretreated binary conversion treatment and image.Afterwards, when at the end of moment t03a pretreatment, meanwhile start to carry out pose discrimination process and speed computing, terminate these process at moment t04a, export electrical instruction at moment t05a from instruction output unit 45, make force practical function based on air in workpiece 3 at moment t06a.In this case, longer than the following time to the time terminated pretreated moment t03a from starting to take the moment t01 of a workpiece 3: carrying out continuously taking, view data be taken into and in pretreated above-mentioned feed appliance 100 from the moment t01 (with reference to Fig. 4) starting to take a workpiece 3 to the time terminated pretreated moment t03 (reference Fig. 4).This structure does not need immediately to carry out pretreated unit and device etc., correspondingly versatility, the free degree are high, are preferably applied to from starting to carry out feed appliance etc. slow to the time transporting velocity that is long or workpiece 3 got rid of workpiece 3 pretreatment.In addition, the transporting velocity that this structure can be applied to due to workpiece 3 has almost no change from setting value and does not need to detect the front end 3a of workpiece 3 and the situation of rear end 3b in advance by pretreatment, about whether using line scan cameras 2 to take from the front end 3a of workpiece to the rear end 3b of this workpiece 3, such as, can carry out estimation to process according to the shooting number of times of line scan cameras 2.
In addition, as shown in Figure 7, control device 154 also can be configured to possess driving control unit 43, and this driving control unit 43 carries out the control of driver element 11 according to the transporting velocity of the workpiece 3 calculated by speed computing unit 42.The transporting velocity of the workpiece 3 calculated and setting value compare by driving control unit 43, adjust, carry out FEEDBACK CONTROL thus to the transporting velocity of workpiece 3 to the amplitude of driver element 11 and frequency.If have the feed appliance 151 of this structure, even if then the transporting velocity of workpiece 3 changes and also can be adjusted to setting value, the transporting velocity of workpiece can be made to stablize.
And, in the present embodiment, above-mentioned shooting number of times acquiring unit 42a employs the pixel count of composograph data in the calculating of shooting number of times A being applied to above-mentioned formula (1), but also can replace the pixel count of composograph data and use from the view data of the front end 3a occurring workpiece 3 to occur this workpiece 3 rear end 3b view data multiple view data the aggregate value of pixel count.In addition, also can be the structure number of times taken by line scan cameras 2 directly counted in order to obtain shooting number of times A.Specifically, as shown in Figure 8, also can be following structure: control device 161 is configured to possess counter unit 162, the shooting number of times of this counter unit 162 to above-mentioned line scan cameras 2 counts, above-mentioned shooting number of times acquiring unit 142a is according to the testing result of above-mentioned end detecting unit 41a, obtain the count value of above-mentioned counter unit 162 corresponding with the view data of the front end 3a detecting above-mentioned workpiece 3 and the count value of the above-mentioned counter unit 162 corresponding with the view data of the rear end 3b detecting this workpiece 3, above-mentioned shooting number of times A is obtained according to these count values.The feed appliance 160 with this structure also can play the effect identical with above-mentioned feed appliance 100.
Further, in the present embodiment, be configured to the structure of being carried in transport path 3 with the state of close contact by multiple workpiece 3, but also can be the structure of carrying multiple workpiece 3 with separating predetermined distance.In addition, employ as line scan cameras 2 camera that imaging apparatus forms a line, but in the scope that can play effect of the present invention, imaging apparatus also can be used to line up the above camera of two row.
Other structure also can carry out various distortion without departing from the scope of spirit of the present invention.
Claims (5)
1. a feed appliance image processing apparatus, is applied to the feed appliance possessed the camera that the workpiece be transferred along transport path is taken, and the feature of this feed appliance image processing apparatus is,
Above-mentioned feed appliance image processing apparatus is configured to, line scan cameras is adopted as above-mentioned camera, this line scan cameras has the multiple imaging apparatus arranged orthogonally with the throughput direction of above-mentioned workpiece, this line scan cameras is used to take successively the workpiece through being set in the camera site on above-mentioned transport path, multiple view data is obtained for each workpiece, and
Above-mentioned feed appliance image processing apparatus possesses:
Image is taken into unit, and it is taken into by above-mentioned line scan cameras immediately by the view data accessed by shooting;
Pretreatment unit, it engages being taken into the view data that unit is taken into by above-mentioned image by shooting order, generates the composograph data of the roughly overall single workpiece of appearance; And
Workpiece quality judgement unit, its quality of carrying out workpiece according to the composograph data generated by above-mentioned pretreatment unit differentiates process.
2. feed appliance image processing apparatus according to claim 1, is characterized in that,
Above-mentioned pretreatment unit is except generating above-mentioned composograph data, generating the binary conversion treatment of also to carry out before above-mentioned composograph data being taken into view data that unit is taken into by above-mentioned image and carrying out binaryzation, when being taken into unit by above-mentioned image and having carried out being taken into of view data, immediately binary conversion treatment is carried out to this view data.
3. the feed appliance image processing apparatus according to claims 1 or 2, is characterized in that,
Above-mentioned pretreatment unit can also be taken into the front-end and back-end differentiating workpiece in the view data that unit is taken into by above-mentioned image, by shooting order, view data to the view data of the rear end occurring this workpiece from the front end occurring workpiece is engaged, generate above-mentioned composograph data.
4. the feed appliance image processing apparatus according to any one in claims 1 to 3, is characterized in that,
The above-mentioned quality using software to carry out above-mentioned workpiece quality judgement unit differentiates process.
5. a feed appliance, uses the feed appliance image processing apparatus according to any one in Claims 1 to 4, it is characterized in that possessing:
Feed appliance main body, it has the transport path for conveying workpieces;
Line scan cameras, it has the multiple imaging apparatus arranged orthogonally with the throughput direction of above-mentioned workpiece, taking successively, obtaining multiple view data for each workpiece to the above-mentioned workpiece through being set in the camera site on above-mentioned transport path;
Workpiece processing unit, it carries out being got rid of from transport path by above-mentioned workpiece or carrying out the process of correcting posture at transport path to the workpiece of the workpiece processing site through being set in above-mentioned transport path; And
Instruction output unit, its when above-mentioned workpiece quality judgement unit is determined as be not the workpiece of the outward appearance of regulation or posture time, the instruction for carrying out above-mentioned process is exported to above-mentioned workpiece processing unit.
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| JP2013159969A JP6379454B2 (en) | 2013-07-31 | 2013-07-31 | Image processing apparatus for parts feeder and parts feeder |
| JP2013-159969 | 2013-07-31 |
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| CN104338683A true CN104338683A (en) | 2015-02-11 |
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| CN201410374399.XA Pending CN104338683A (en) | 2013-07-31 | 2014-07-31 | Image processing device used for material feeder and the material feeder |
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| KR (1) | KR102206317B1 (en) |
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| CN104902224A (en) * | 2015-04-30 | 2015-09-09 | 苏州华兴致远电子科技有限公司 | Image data acquisition method and system |
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| KR102206317B1 (en) | 2021-01-22 |
| KR20150015377A (en) | 2015-02-10 |
| JP6379454B2 (en) | 2018-08-29 |
| JP2015030565A (en) | 2015-02-16 |
| TW201511164A (en) | 2015-03-16 |
| TWI622112B (en) | 2018-04-21 |
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