CN104338684A - A speed detection device used for a feeder and the feeder - Google Patents
A speed detection device used for a feeder and the feeder Download PDFInfo
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- CN104338684A CN104338684A CN201410375414.2A CN201410375414A CN104338684A CN 104338684 A CN104338684 A CN 104338684A CN 201410375414 A CN201410375414 A CN 201410375414A CN 104338684 A CN104338684 A CN 104338684A
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- 238000001514 detection method Methods 0.000 title abstract description 5
- 238000000034 method Methods 0.000 claims description 22
- 230000008569 process Effects 0.000 claims description 22
- 238000012360 testing method Methods 0.000 claims description 17
- 238000003384 imaging method Methods 0.000 claims description 12
- 240000007594 Oryza sativa Species 0.000 claims description 2
- 235000007164 Oryza sativa Nutrition 0.000 claims description 2
- 235000009566 rice Nutrition 0.000 claims description 2
- 238000002347 injection Methods 0.000 description 12
- 239000007924 injection Substances 0.000 description 12
- 230000009471 action Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 239000007921 spray Substances 0.000 description 5
- 238000007599 discharging Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
- G01P3/38—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light using photographic means
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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
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/53—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P1/00—Details of instruments
- G01P1/02—Housings
- G01P1/026—Housings for speed measuring devices, e.g. pulse generator
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Signal Processing (AREA)
- Feeding Of Articles To Conveyors (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Control Of Conveyors (AREA)
- Jigging Conveyors (AREA)
- Sorting Of Articles (AREA)
Abstract
A speed detection device used for a feeder and the feeder are provided and capable of detecting the conveying speed of workpieces by utilization of a line scanning camera. The speed detection device is used for the feeder provided with a camera shooting the 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 shoots at a specified interval the workpieces passing through camera shooting positions disposed at the conveying path. The speed detection device is provided with: a unit acquiring the number of times of camera shooting that is used for the number of times of camera shooting from the front end side to the rear end side of a workpieces by the line scanning camera; a speed calculation unit provided with the length of the workpiece at the conveying direction, the camera shooting interval of the line scanning camera, and the number of times of camera shooting obtained by the unit acquiring the number of times of camera shooting, which takes the camera shooting time obtained according to the number of times of camera shooting and the camera shooting interval of the line scanning camera as the time needed for a workpieces to pass through a camera shooting position, and calculates the conveying speed of the workpiece according to the time needed for camera shooting and the length of the workpiece at the conveying direction.
Description
Technical field
The present invention relates to a kind of line scan cameras that adopts and can detect feed appliance speed detector and the feed appliance (parts feeder) of the transporting velocity of workpiece as general the possessed camera of feed appliance.
Background technology
In the past, as feed appliance, be generally the feed appliance of supply destination electronic unit etc. being transported to regulation as the workpiece of conveying object along transport path, Patent Document 1 discloses the posture the feed appliance can got rid of from transport path in course of conveying by unsuitable for posture workpiece (workpiece of fault) that differentiate workpiece.More particularly, feed appliance disclosed in patent document 1 is configured to: use camera head (camera) take the multiple workpiece carried on transport path and obtain view data, this view data is processed to the pose discrimination carrying out workpiece.Then, the compressed air sprayed from air blowoff is used to get rid of from transport path the workpiece of the posture be determined as except prescribed form by this differentiation and unsuitable posture.
Patent document 1: Japanese Unexamined Patent Publication 6-197349 publication
Summary of the invention
the problem that invention will solve
In addition, in this feed appliance headed by the feed appliance disclosed in patent document 1, the transporting velocity of workpiece is the amplitude according to feed appliance main body, angle of throw, driving frequency roughly determines, and depend on by different workpieces in reality, deviation in same workpiece manufacturing process, the shape of transport path, the coefficient of friction of the workpiece that the surface treatment of transport path etc. cause and transport path, humidity, the a variety of causes such as electrostatic, except these reasons, sometimes also due to reasons such as workpiece multiple on transport path collide each other, the transporting velocity of workpiece deviates from setting value gradually.The transporting velocity of workpiece represents the discharge ability of discharging workpiece to supply destination, expect the transporting velocity correctly grasping workpiece, but the feed appliance correctly can grasping the transporting velocity of workpiece is not general, and the feed appliance disclosed in patent document 1 correctly neither grasp the structure of the transporting velocity of workpiece.
In order to be set to the structure correctly can grasping the transporting velocity of workpiece, consider to use the existing speed detector of laser etc. to be installed on feed appliance in addition.Can detect the transporting velocity of workpiece thus, but this existing speed detector can only be used in the detection of transporting velocity in feed appliance, only in order to detect transporting velocity, installation rate checkout gear is unsatisfactory in cost in addition.
The object of the invention is to effectively address this is that, provide a kind of camera generally possessed as feed appliance to adopt line scan cameras can utilize this line scan cameras to detect feed appliance speed detector and the feed appliance of the transporting velocity of workpiece.
for the scheme of dealing with problems
The present invention puts in view of the above problems and takes following scheme.
Namely, feed appliance speed detector 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 speed detector is, above-mentioned feed appliance speed detector 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 the above-mentioned workpiece through being set in the camera site on above-mentioned transport path at predetermined intervals, and above-mentioned feed appliance speed detector possesses: shooting number of times acquiring unit, it obtains the shooting number of times that above-mentioned line scan cameras is taken to rear end side the front from above-mentioned workpiece, and speed computing unit, it is provided the throughput direction length of above-mentioned workpiece and the shooting interval of above-mentioned line scan cameras, and be provided the above-mentioned shooting number of times got by above-mentioned shooting number of times acquiring unit, thus the shooting required time obtained according to the shooting interval of this shooting number of times and above-mentioned line scan cameras is considered as this workpiece through the time needed for camera site, calculates the transporting velocity of this workpiece according to the throughput direction length of this shooting required time and above-mentioned workpiece.
By being set to this structure, when using the line scan cameras of taking workpiece at predetermined intervals to take, shooting number of times acquiring unit obtains the shooting number of times that line scan cameras is taken to rear end side the front from this workpiece.Speed computing unit obtains being regarded as the shooting required time of workpiece through the time needed for camera site according to the shooting interval of this shooting number of times and line scan cameras, calculates the transporting velocity of workpiece according to the throughput direction length of this shooting required time and workpiece.Thus, adopt the camera that line scan cameras generally possesses as feed appliance, this line scan cameras can being utilized to calculate the transporting velocity of workpiece, feed appliance can being given for detecting the function of the transporting velocity of workpiece, and the cost increase that causes thus can be suppressed.
As the concrete structure of speed computing unit, following structure can be enumerated: when the transporting velocity of workpiece being set to Vw meter per second, the shooting interval of above-mentioned line scan cameras being set to S second, above-mentioned shooting number of times being set to A time, when the throughput direction length of workpiece is set to Lw rice, speed computing unit calculates the transporting velocity Vw of workpiece according to following formula
Vw＝Lw/S·A。
As the concrete structure for obtaining above-mentioned shooting number of times, can enumerate following structure, namely also possessing: image is taken into unit, it is taken into above-mentioned line scan cameras successively by the view data accessed by shooting, and end detecting unit, it can detect in the front-end and back-end being taken into the above-mentioned workpiece occurred in the view data that unit is taken into by above-mentioned image, the check processing being taken into the front-end and back-end of sequentially above-mentioned view data being carried out to above-mentioned workpiece of unit is taken into by above-mentioned image, wherein, above-mentioned shooting number of times acquiring unit obtain from detected by above-mentioned end detecting unit the view data of the front end of above-mentioned workpiece to detect this workpiece rear end view data total pixel count, above-mentioned shooting number of times is obtained according to this total pixel count and by the pixel count of the view data once accessed by above-mentioned shooting.
Or can enumerate following structure, namely also possess: counter unit, it counts the number of times taken by above-mentioned line scan cameras, image is taken into unit, and it obtains above-mentioned line scan cameras successively by the view data accessed by shooting, and end detecting unit, it can detect in the front-end and back-end being taken into the above-mentioned workpiece occurred in the view data that unit is taken into by above-mentioned image, the check processing being taken into the front-end and back-end of sequentially above-mentioned view data being carried out to above-mentioned workpiece of unit is taken into by above-mentioned image, wherein, above-mentioned shooting number of times acquiring unit is according to the testing result of above-mentioned end detecting unit, obtain the count value of the above-mentioned counter unit corresponding with the view data of the front end detecting above-mentioned workpiece and the count value of the above-mentioned counter unit corresponding with the view data of the rear end detecting this workpiece, above-mentioned shooting number of times is obtained according to these count values.
The concrete structure of the feed appliance of the cost increase caused thus is inhibit as the function for realizing possessing the transporting velocity detecting workpiece, preferably be set to following structure: use above-mentioned feed appliance speed detector, possess: line scan cameras, it has the multiple imaging apparatus arranged orthogonally with the throughput direction of above-mentioned workpiece, takes at predetermined intervals to the above-mentioned workpiece through being set in the camera site on above-mentioned transport path; Composograph data generating unit, it is according to the testing result of above-mentioned end detecting unit, view data to the view data of the rear end detecting this workpiece from the front end detecting above-mentioned workpiece is engaged, generates the composograph data of this roughly overall workpiece of appearance; And workpiece quality judgement unit, its quality of carrying out workpiece according to these composograph data 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.
The transporting velocity of workpiece can be utilized adjust the concrete structure of discharging the feed appliance of the discharge ability of workpiece to supply destination as realizing, preferably be set to following structure: use above-mentioned feed appliance speed detector, possess: feed appliance main body, its driver element that there is the transport path for loading workpiece and this transport path is vibrated; Line scan cameras, it has the multiple imaging apparatus arranged orthogonally with the throughput direction of above-mentioned workpiece, takes at predetermined intervals to the above-mentioned workpiece through being set in the camera site on above-mentioned transport path; And driving control unit, it controls the frequency of above-mentioned driver element and amplitude according to the transporting velocity of the workpiece detected by above-mentioned feed appliance speed detector.
the effect of invention
According to the present invention described above, a kind of following feed appliance speed detector and feed appliance can be provided: adopt the camera that line scan cameras generally possesses as feed appliance, this line scan cameras can be utilized to calculate the transporting velocity of workpiece, feed appliance can be given for detecting the function of the transporting velocity of workpiece, and the cost increase that causes thus can be suppressed.
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 side view representing variation of the present invention.
Fig. 7 is the side view representing variation of the present invention.
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; 7: feed appliance speed detector; 10: transport path; 11: driver element; 40: image is taken into unit; 41: pretreatment unit; 41b: end detecting unit (end test section); 41c: composograph data generating unit (composograph data generating section); 42: speed computing unit; 42a: shooting number of times acquiring unit (shooting number of times acquisition unit); 43: driving control unit; 44: workpiece quality judgement unit (pose discrimination unit); 100,151,160: feed appliance; 162: counter unit.
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 (area 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 speed detector 7 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 2 as above-mentioned camera, this line scan cameras 2 has the multiple imaging apparatus arranged orthogonally with the throughput direction of above-mentioned workpiece 3, this line scan cameras 2 is used to take the workpiece 3 through being set in the camera site P1 on above-mentioned transport path at predetermined intervals, and possess: as the shooting number of times acquisition unit 42a of shooting number of times acquiring unit, it obtains the shooting number of times A that above-mentioned line scan cameras 2 is taken to rear end side the front from above-mentioned workpiece 3, and speed computing unit 42, it is provided the throughput direction length Lw1 of above-mentioned the workpiece 3 and shooting interval S of above-mentioned line scan cameras 2, and be provided the shooting number of times A got by above-mentioned shooting number of times acquisition unit 42a, thus the shooting required time obtained according to the shooting interval S of this shooting number of times A and above-mentioned line scan cameras 2 is considered as this workpiece 3 through the time needed for the P1 of camera site, according to the throughput direction Lw1 length of this shooting required time and above-mentioned workpiece 3, calculate the transporting velocity Vw of this workpiece 3 particularly according to following formula (1).
Vw＝Lw1/S·A···(1)
By being set to this structure, when using the line scan cameras 2 of taking workpiece 3 at predetermined intervals to take, shooting number of times acquisition unit 42a obtains the shooting number of times A that line scan cameras 2 is taken to rear end side the front from this workpiece 3.Speed computing unit 42 obtains being regarded as the shooting required time of workpiece 3 through the time needed for the P1 of camera site according to the shooting interval S of this shooting number of times A and line scan cameras 2, calculates the transporting velocity Vw of workpiece 3 according to the throughput direction length Lw1 of this shooting required time and workpiece 3.Thus, adopt the camera that line scan cameras 2 generally possesses as feed appliance, this line scan cameras 2 can being utilized to calculate the transporting velocity Vw of workpiece 3, feed appliance 100 can being given for detecting the function of the transporting velocity Vw of workpiece 3, and the cost increase that causes thus can be suppressed.
Specifically, be configured to possess: image is taken into unit 40, it is taken into above-mentioned line scan cameras 2 successively by the view data accessed by shooting, and as the end test section 41b of end detecting unit, it can detect and is being taken into front end 3a and the rear end 3b of the above-mentioned workpiece 3 occurred in the view data that unit 40 is taken into by above-mentioned image, the order that is taken into being taken into unit 40 by above-mentioned image carries out the front end 3a of above-mentioned workpiece 3 and the check processing of rear end 3b to above-mentioned view data, wherein, above-mentioned shooting number of times acquisition unit 42a obtain from detected by above-mentioned end test section 41b the view data of the front end 3a of above-mentioned workpiece 3 to detect this workpiece 3 rear end 3b view data total pixel count, above-mentioned shooting number of times A is obtained according to this total pixel count and by the pixel count of the view data once accessed by above-mentioned shooting.
In addition, be configured to use this feed appliance speed detector 7, and possess: line scan cameras 2, it has the multiple imaging apparatus arranged orthogonally with the throughput direction of above-mentioned workpiece 3, takes at predetermined intervals to the above-mentioned workpiece 3 through being set in the camera site P1 on above-mentioned transport path 10; As the composograph data generating section 41c of composograph data generating unit, it is according to the testing result of above-mentioned end test section 41b, and view data to the view data of the rear end 3b detecting this workpiece 3 from the front end 3a detecting above-mentioned workpiece 3 is carried out engaging the composograph data generating this roughly overall workpiece 3 of appearance; And as workpiece quality judgement unit pose discrimination unit 44, it carries out according to these composograph data the pose discrimination process differentiating process as workpiece quality, therefore, it is possible to be set to the function and the feed appliance 100 that inhibit the cost increase caused thus that possess the transporting velocity detecting workpiece 3.
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, as shown in Figure 6, 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 7, 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 (6)
1. a feed appliance speed detector, 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 speed detector is,
Above-mentioned feed appliance speed detector 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 the above-mentioned workpiece through being set in the camera site on above-mentioned transport path at predetermined intervals, and
Above-mentioned feed appliance speed detector possesses:
Shooting number of times acquiring unit, it obtains the shooting number of times that above-mentioned line scan cameras is taken to rear end side the front from above-mentioned workpiece; And
Speed computing unit, it is provided the throughput direction length of above-mentioned workpiece and the shooting interval of above-mentioned line scan cameras, and be provided the above-mentioned shooting number of times got by above-mentioned shooting number of times acquiring unit, thus the shooting required time obtained according to the shooting interval of this shooting number of times and above-mentioned line scan cameras is considered as this workpiece through the time needed for camera site, calculates the transporting velocity of this workpiece according to the throughput direction length of this shooting required time and above-mentioned workpiece.
2. feed appliance speed detector according to claim 1, is characterized in that,
When the transporting velocity of above-mentioned workpiece being set to Vw meter per second, the shooting interval of above-mentioned line scan cameras being set to S second, above-mentioned shooting number of times being set to A time, when the throughput direction length of above-mentioned workpiece is set to Lw rice, speed computing unit calculates the transporting velocity Vw of above-mentioned workpiece according to following formula
Vw＝Lw/S·A。
3. the feed appliance speed detector according to claims 1 or 2, is characterized in that also possessing:
Image is taken into unit, and it is taken into above-mentioned line scan cameras successively by the view data accessed by shooting; And
End detecting unit, it can detect in the front-end and back-end being taken into the above-mentioned workpiece occurred in the view data that unit is taken into by above-mentioned image, the check processing being taken into the front-end and back-end of sequentially above-mentioned view data being carried out to above-mentioned workpiece of unit is taken into by above-mentioned image
Wherein, above-mentioned shooting number of times acquiring unit obtain from detected by above-mentioned end detecting unit the view data of the front end of above-mentioned workpiece to detect this workpiece rear end view data total pixel count, obtain above-mentioned shooting number of times according to this total pixel count and by the pixel count of the view data once accessed by above-mentioned shooting.
4. the feed appliance speed detector according to claims 1 or 2, is characterized in that also possessing:
Counter unit, it counts the number of times taken by above-mentioned line scan cameras;
Image is taken into unit, and it obtains above-mentioned line scan cameras successively by the view data accessed by shooting; And
End detecting unit, it can detect in the front-end and back-end being taken into the above-mentioned workpiece occurred in the view data that unit is taken into by above-mentioned image, the check processing being taken into the front-end and back-end of sequentially above-mentioned view data being carried out to above-mentioned workpiece of unit is taken into by above-mentioned image
Wherein, above-mentioned shooting number of times acquiring unit is according to the testing result of above-mentioned end detecting unit, obtain the count value of the above-mentioned counter unit corresponding with the view data of the front end detecting above-mentioned workpiece and the count value of the above-mentioned counter unit corresponding with the view data of the rear end detecting this workpiece, obtain above-mentioned shooting number of times according to these count values.
5. a feed appliance, uses feed appliance speed detector according to claim 3, it is characterized in that possessing:
Line scan cameras, it has the multiple imaging apparatus arranged orthogonally with the throughput direction of above-mentioned workpiece, takes at predetermined intervals to the above-mentioned workpiece through being set in the camera site on above-mentioned transport path;
Composograph data generating unit, it is according to the testing result of above-mentioned end detecting unit, view data to the view data of the rear end detecting this workpiece from the front end detecting above-mentioned workpiece is engaged, generates the composograph data of this roughly overall workpiece of appearance; And
Workpiece quality judgement unit, its quality of carrying out workpiece according to these composograph data differentiates process.
6. a feed appliance, uses the feed appliance speed detector according to any one in Claims 1 to 4, it is characterized in that possessing:
Feed appliance main body, its driver element that there is the transport path for loading workpiece and this transport path is vibrated;
Line scan cameras, it has the multiple imaging apparatus arranged orthogonally with the throughput direction of above-mentioned workpiece, takes at predetermined intervals to the above-mentioned workpiece through being set in the camera site on above-mentioned transport path; And
Driving control unit, it controls the frequency of above-mentioned driver element and amplitude according to the transporting velocity of the workpiece detected by above-mentioned feed appliance speed detector.
Applications Claiming Priority (2)
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| JP2013159970A JP6260132B2 (en) | 2013-07-31 | 2013-07-31 | Speed detector for parts feeder and parts feeder |
| JP2013-159970 | 2013-07-31 |
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| JP (1) | JP6260132B2 (en) |
| KR (1) | KR102172725B1 (en) |
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| CN107176433A (en) * | 2016-03-09 | 2017-09-19 | 顺丰科技有限公司 | Article transmits accessory system |
| CN113601315A (en) * | 2021-07-29 | 2021-11-05 | 深圳南玻应用技术有限公司 | Control method and control device of edge grinding system, edge grinding system and storage medium |
| CN115793549A (en) * | 2023-01-10 | 2023-03-14 | 温州优匠工品科技有限公司 | Intelligent frequency-conversion and wave-conversion amplitude-variation feeder control system |
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| JP6601111B2 (en) * | 2015-10-01 | 2019-11-06 | シンフォニアテクノロジー株式会社 | Air on / off circuit and parts feeder |
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Also Published As
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| KR20150015378A (en) | 2015-02-10 |
| CN104338684B (en) | 2018-06-15 |
| TWI620700B (en) | 2018-04-11 |
| JP2015030566A (en) | 2015-02-16 |
| TW201515970A (en) | 2015-05-01 |
| JP6260132B2 (en) | 2018-01-17 |
| KR102172725B1 (en) | 2020-11-02 |
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