CN104338684B - Feed appliance speed detector and feed appliance - Google Patents
Feed appliance speed detector and feed appliance Download PDFInfo
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- CN104338684B CN104338684B CN201410375414.2A CN201410375414A CN104338684B CN 104338684 B CN104338684 B CN 104338684B CN 201410375414 A CN201410375414 A CN 201410375414A CN 104338684 B CN104338684 B CN 104338684B
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- 238000001514 detection method Methods 0.000 claims abstract description 30
- 238000012545 processing Methods 0.000 claims description 32
- 238000012360 testing method Methods 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 230000004069 differentiation Effects 0.000 claims description 4
- 230000036544 posture Effects 0.000 description 33
- 238000002347 injection Methods 0.000 description 12
- 239000007924 injection Substances 0.000 description 12
- 230000007717 exclusion Effects 0.000 description 10
- 230000006870 function Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000002131 composite material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000029142 excretion Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000002203 pretreatment Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
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
Abstract
Feed appliance speed detector and feed appliance are provided, the conveying speed of line scan cameras detection workpiece can be utilized.Feed appliance speed detector is applied to have the feed appliance of the camera of workpiece that shooting is conveyed along transport path, multiple photographing elements that there is the conveying direction with workpiece orthogonally to arrange are used as camera and shoot the line scan cameras of the workpiece by being set in the camera site on transport path at predetermined intervals, are had：Number acquisition unit is shot, obtains line scan cameras to the shooting number that is shot until the front end side to rear end side of workpiece；Speed computing unit, it is provided the conveying direction length of workpiece and the shooting interval of line scan cameras and shoots the shooting number that number acquisition unit obtains, by be considered as the time required to the obtained shooting of shooting interval according to shooting number and line scan cameras workpiece by camera site needed for time, according to the time required to shooting and the conveying speed of the conveying direction length computation workpiece of workpiece.
Description
Technical field
It can be detected as the camera that feed appliance generally has using line scan cameras the present invention relates to a kind of
The feed appliance speed detector and feed appliance (parts feeder) of the conveying speed of workpiece.
Background technology
In the past, it is usually defeated along transport path using electronic unit etc. as the workpiece of conveying object as feed appliance
The feed appliance of supply destination, Patent Document 1 discloses the posture for differentiating workpiece and inappropriate by posture as defined in being sent to
The feed appliance that can be excluded from transport path in transmission process of workpiece (workpiece of fault).More specifically,
Feed appliance disclosed in patent document 1 is configured to：Using photographic device (camera) to multiple works for being conveyed on transport path
Part is shot and obtains image data, is handled the image data pose discrimination to carry out workpiece.Then, will pass through
The differentiation and be determined as the workpiece use of the i.e. unsuitable posture of the posture in addition to prescribed form and sprayed from air blowoff
Compressed air exclude from transport path.
Patent document 1：Japanese Unexamined Patent Publication 6-197349 bulletins
Invention content
Problems to be solved by the invention
In addition, in this feed appliance headed by feed appliance disclosed in patent document 1, the conveying speed of workpiece is root
It substantially determines, and is depended in reality by different workpieces, together according to the amplitude, angle of throw, driving frequency of feed appliance main body
Workpiece and transport road caused by surface treatment of deviation, the shape of transport path, transport path in one workpiece manufacturing process etc.
The a variety of causes such as friction coefficient, humidity, the electrostatic of diameter, it is sometimes due also to multiple on transport path other than these reasons
Reasons, the conveying speed of workpiece such as collision are gradually deviated from setting value workpiece each other.The conveying speed of workpiece is represented to confession
To the discharge ability of destination discharge workpiece, it is expected correctly to grasp the conveying speed of workpiece, but can correctly grasp work
The feed appliance of the conveying speed of part is not universal, and feed appliance disclosed in patent document 1 is nor workpiece can be grasped correctly
Conveying speed structure.
In order to be set as the structure for the conveying speed that can correctly grasp workpiece, the existing speed that will use laser etc. is considered
Degree detection device is additionally mounted at feed appliance.Thus, it is possible to detect the conveying speed of workpiece, but this existing velocity measuring
Device can only be used in the detection of conveying speed in feed appliance, and only for detection conveying speed, additionally mounted velocity measuring fills
It puts in terms of cost it may be said that unsatisfactory.
It is an object of the invention to efficiently solve this problem, a kind of camera generally having as feed appliance is provided
The feed appliance velocity measuring of the conveying speed of line scan cameras detection workpiece can be utilized using line scan cameras
Device and feed appliance.
The solution to the problem
The present invention takes following scheme in view of the above problems.
That is, the present invention feed appliance speed detector be applied to have to along the transported workpiece of transport path into
The feed appliance of the camera of row shooting, which is characterized in that, above-mentioned feed appliance velocity measuring
Device is configured to, as above-mentioned camera using line scan cameras (line scan camera), line scan cameras tool
There are multiple photographing elements that the conveying direction with above-mentioned workpiece orthogonally arranges, it is right at predetermined intervals using the line scan cameras
It is shot by the above-mentioned workpiece for the camera site being set on above-mentioned transport path, and above-mentioned feed appliance velocity measuring
Device has：Number acquiring unit is shot, obtains above-mentioned line scan cameras to from the front end side of above-mentioned workpiece to rear end side
Until the shooting number that is shot；And speed computing unit, it is provided the conveying direction length of above-mentioned workpiece and above-mentioned
The shooting interval of line scan cameras, and the above-mentioned shooting number got by above-mentioned shooting number acquiring unit is provided,
Thus it will be considered as the workpiece the time required to the shooting obtained according to the shooting interval of the shooting number and above-mentioned line scan cameras
By the time needed for camera site, which is calculated according to shooting required time and the conveying direction length of above-mentioned workpiece
Conveying speed.
By being set as this structure, when using the line scan cameras of shooting workpiece at predetermined intervals come when being shot,
It shoots number acquiring unit and obtains shooting of the line scan cameras to being shot until the front end side to rear end side of the workpiece
Number.Speed computing unit obtains being considered as workpiece by clapping according to the shooting number and the shooting interval of line scan cameras
It acts as regent the time required to the shooting for putting the required time, work is calculated according to shooting required time and the conveying direction length of workpiece
The conveying speed of part.Thus, the camera generally being had as feed appliance using line scan cameras can utilize the line to scan
Camera calculates the conveying speed of workpiece, can assign feed appliance for detecting the function of the conveying speed of workpiece, and energy
It is enough to inhibit thus caused cost increase.
As the concrete structure of speed computing unit, can enumerate with lower structure：By the conveying speed of workpiece be set as Vw meters/
The shooting interval of above-mentioned line scan cameras is set as S seconds, above-mentioned shooting number is set as A times, the conveying direction by workpiece by the second
In the case that length is set as Lw meters, speed computing unit calculates the conveying speed Vw of workpiece according to the following formula,
Vw=Lw/SA.
As for obtaining the concrete structure of above-mentioned shooting number, it can enumerate with lower structure, that is, be also equipped with：Image is taken into list
Member is taken into above-mentioned line scan cameras by shooting accessed image data successively；And end detection unit, energy
The front-end and back-end of above-mentioned workpiece that enough detections occur in the image data that unit is taken into is taken by above-mentioned image, by above-mentioned figure
The detection process for being taken into sequence and the front-end and back-end of above-mentioned workpiece being carried out to above-mentioned image data as being taken into unit, wherein, on
Shooting number acquiring unit is stated to obtain from the image data for the front end for detecting above-mentioned workpiece by above-mentioned end detection unit to inspection
Total pixel number until measuring the image data of the rear end of the workpiece adds up to pixel number and by primary above-mentioned bat according to this
The pixel number of accessed image data is taken the photograph to obtain above-mentioned shooting number.
Alternatively, can enumerate with lower structure, that is, it is also equipped with：Counter unit, to being clapped by above-mentioned line scan cameras
The number taken the photograph is counted；Image is taken into unit, obtains above-mentioned line scan cameras successively by shooting accessed figure
As data；And end detection unit, it can detect what is occurred in the image data that unit is taken into is taken by above-mentioned image
The front-end and back-end of above-mentioned workpiece, the sequence that is taken into that unit is taken by above-mentioned image carry out above-mentioned workpiece to above-mentioned image data
The detection process of front-end and back-end, wherein, above-mentioned shooting number acquiring unit according to the testing result of above-mentioned end detection unit,
Come the count value that obtains the corresponding above-mentioned counter unit of the image data of the front end with detecting above-mentioned workpiece and with detection
Go out the count value of the corresponding above-mentioned counter unit of image data of the rear end of the workpiece, above-mentioned bat is obtained according to these count values
Take the photograph number.
As the function of being used to implement the conveying speed for having detection workpiece and inhibit thus caused cost increase
Feed appliance concrete structure, be preferably set to lower structure：Using above-mentioned feed appliance speed detector, have：Line scans
Camera, multiple photographing elements that there is the conveying direction with above-mentioned workpiece orthogonally to arrange, at predetermined intervals to by setting
Above-mentioned workpiece due to the camera site on above-mentioned transport path is shot；Composograph data generating unit, according to upper
State the testing result of end detection unit, by from the image data for the front end for detecting above-mentioned workpiece to after detecting the workpiece
The image data at end is engaged, to generate the composograph data for the substantially whole workpiece occur；And workpiece quality is sentenced
Other unit carries out the fine or not differentiation of workpiece processing according to the composograph data.It represents to differentiate here, workpiece quality differentiates
Whether appearance, the posture of workpiece are defined appearance, posture.
The discharge energy to supply destination discharge workpiece can be adjusted as being used to implement using the conveying speed of workpiece
The concrete structure of the feed appliance of power, is preferably set to lower structure：Using above-mentioned feed appliance speed detector, have：Feeding
Device main body has the driving unit for loading the transport path of workpiece and vibrating the transport path；Line scanography
Machine, multiple photographing elements that there is the conveying direction with above-mentioned workpiece orthogonally to arrange, at predetermined intervals to by being set in
The above-mentioned workpiece of camera site on above-mentioned transport path is shot；And drive control unit, according to by above-mentioned feeding
The conveying speed for the workpiece that device is detected with speed detector controls the frequency and amplitude of above-mentioned driving unit.
The effect of invention
The present invention from the description above is capable of providing a kind of following feed appliance speed detector and feed appliance：
The camera generally being had as feed appliance using line scan cameras can calculate workpiece using the line scan cameras
Conveying speed, can assign feed appliance for detect workpiece conveying speed function, and can inhibit thus it is caused into
This rising.
Description of the drawings
Fig. 1 is the side view for representing the feed appliance involved by an embodiment of the invention.
Fig. 2 is the vertical view for representing the measuring unit that the feed appliance has.
Fig. 3 is for illustrating the definition graph of opportunity control process carried out by the feed appliance.
Fig. 4 is the sequence diagram for illustrating the action of the feed appliance.
Fig. 5 is the side view for representing the variation of the present invention.
Fig. 6 is the side view for representing the variation of the present invention.
Fig. 7 is the side view for representing the variation of the present invention.
Reference sign
1：Feed appliance main body；2：Line scan cameras；3：Workpiece；3a：The front end of workpiece；3b：The rear end of workpiece；7：Feeding
Device speed detector；10：Transport path；11：Driving unit；40：Image is taken into unit；41：Pretreatment unit；41b：End
Portion's detection unit (end test section)；41c：Composograph data generating unit (composograph data generating section)；42：Speedometer
Calculate unit；42a：Shoot number acquiring unit (shooting number acquisition unit)；43：Drive control unit；44：Workpiece quality differentiates single
First (pose discrimination unit)；100、151、160：Feed appliance；162：Counter unit.
Specific embodiment
Hereinafter, it is explained with reference to an embodiment of the invention.
As shown in Figure 1, the feed appliance 100 as an embodiment of the invention is the conveying along feed appliance main body 1
The feed appliance of multiple workpiece 3 of the path 10 to supply destination (not shown) using higher speed conveying as conveying object, work
Part 3 is conveyed from the left side in Fig. 1 with the state of close contact to the right.
Feed appliance main body 1 is configured to include above-mentioned transport path 10 and driving unit 11, makes conveying using driving unit 11
Path 10 vibrates, thus multiple workpiece 3 of the conveying on transport path 10.Its long side direction of workpiece 3 or short side direction with
The conveying direction of workpiece 3 is parallelly conveyed.
The top setting line scan camera 2 of camera site (shooting point) P1 on transport path 10 is set in.It should
It is multiple that there is line scan cameras 2 conveying direction (extending direction of transport path 10) with workpiece 3 orthogonally to form a line
The photographing element of high sensitivity shoots the workpiece 3 conveyed on transport path 10.Bat about line scan cameras 2
Range (shooting area) is taken the photograph, in the case where the long side direction of workpiece 3 is parallel with conveying direction, the coverage (shooting area)
Be set to range that a part for the long side direction on the conveying direction of workpiece 3 to workpiece 3 shot, with workpiece 3
The orthogonal direction of conveying direction on the range that is integrally shot to the short side direction of workpiece 3, workpiece 3 short side direction with
In the case that conveying direction is parallel, which is set on the conveying direction of workpiece 3 to workpiece 3
Range that a part for short side direction is shot, on the direction orthogonal with the conveying direction of workpiece 3 to the long side side of workpiece 3
The range shot to entirety.
The position of this line scan cameras 2 is set for taking in the opportunity for excluding the unsuitable workpiece 3 of posture
It is critically important, in order to which line scan cameras 2 is accurately set to desired position, Fig. 2 institutes are provided on transport path 10
Measuring unit (line scan cameras measuring appliance) 10a shown.Measuring unit 10a has been attached along the conveying direction with workpiece 3
First scale 10ab of orthogonal direction extension and the second scale represented as binary point every fixed range
10ac makes the first scale 10ab be directed at aftermentioned exclusion position (excretion point) P2, what is got by line scan cameras 2
Confirmed in image data from the second scale 10ac for excluding to the lower section of line scan cameras 2 to extend near the P2 of position, thus, it is possible to
It is enough that camera site P1 is being set at the position of desired distance with excluding position P2.
Image data that line scan cameras 2 as shown in Figure 1 is got with multiple photographing elements are configured with mesh-shape and
Using whole Surface scan camera (area scan camera) and the data small compared to pixel number as coverage of workpiece 3
Amount is few.Line scan cameras 2 by from workpiece 3 reach camera site P1 before in a manner that fixed intervals are continuously shot into
Action make, repeatedly shot during the workpiece 3 conveyed towards downstream side is by camera site P1, acquisition occur respectively from
The front end 3a (workpiece end of conveyance direction downstream side, with reference to Fig. 3) of the workpiece 3 is to the rear end 3b (works of conveying direction upstream side
Part end, with reference to Fig. 3) the workpiece 3 different location multiple images data.The image data got carries out once every
Aftermentioned control device (controller) 4 is all sent to during shooting.
In addition, line scan cameras 2 be that typically in camera shooting object situation about being shot fixed to conveying speed or
Although person's conveying speed is not fixed but is obtained using encoder etc. synchronous between the speed for imaging object or position
It is used in the case of being shot afterwards, due to being conveyed by the vibration of transport path 10 and the work as camera shooting object
The conveying speed of part 3 is difficult to generally be difficult in stable feed appliance, but in the present embodiment by capturing workpiece 3
Front end 3a and rear end 3b eliminates the inconvenient for use of the line scan cameras 2 as caused by conveying speed unevenness.In this regard, below
It illustrates.
Control device 4 shown in FIG. 1 is by having the common microcomputer list of CPU (not shown), memory, interface etc.
Member is formed, and in the appropriate program of memory memory storage, CPU gradually reads the program, and with peripheral hardware resource collaboration and rise
Unit 40, pretreatment unit 41, pose discrimination unit 44, speed computing unit 42, instruction output unit are taken into as image
45 and the effect of opportunity control unit 46.
When being shot every time, image is taken into unit 40, and the image data got by line scan cameras 2 is instant
It is taken into control device 4.Pretreatment unit 41 has as the binary conversion treatment portion 41a of binary conversion treatment unit, as end
The end test section 41b of the detection unit and composograph data generating section 41c as composograph data generating unit, when
When being taken into unit 40 via image and being taken into image data, binary conversion treatment portion 41a carries out two immediately for each image data
Pretreatment as defined in value processing etc..In addition, end test section 41b differentiates work by appropriate image procossing in image data
The front end 3a and rear end 3b of part 3 (with reference to Fig. 3).For example, in the part for workpiece 3 occur with occurring except workpiece 3 in image data
The differences such as tone between the part (specifically transport path 10) at position in addition, moreover, because by workpiece 3 along conveying
Direction convey in intimate contact in the case of between workpiece 3 there is also a little gap, therefore before workpiece 3 is taken
In the image data for holding 3a or rear end 3b, there is color depth not on the entire direction orthogonal with the conveying direction of workpiece 3
Same part.Before the workpiece 3 that end test section 41b occurs according to difference of this color depth etc. in detection image data
Hold 3a and rear end 3b (image discriminating).Alternatively, it can also be configured to：End test section 41b is differentiated in image data in work
Thus the R shapes in the corner of part 3 detect front end 3a and rear end 3b.Also, composograph data generating section 41c is suitable according to shooting
Sequence will be engaged from the image data for the front end 3a of workpiece 3 occur to the image data for the rear end 3b of the workpiece 3 occur, as
There is the two-dimensional image data of a substantially whole workpiece 3 and generate composograph data.
As the pose discrimination unit 44 of workpiece quality judgement unit differentiation work is carried out according to this composograph data
The pose discrimination processing that processing is differentiated as quality of the posture (image discriminating) of part 3.For example, it is deposited in advance in above-mentioned memory
The image data of the appropriate workpiece 3 of posture is stored up, by pattern match by composograph data and image stored in memory
Data are compared, and thus differentiate the posture of workpiece 3.In addition, as the posture in addition to prescribed form, such as surface can be enumerated
The posture opposite with back side reversion or direction in the front-back direction.In this way, image is taken into unit 40, pretreatment unit 41 and appearance
Gesture judgement unit 44 forms the feed appliance image processing apparatus 8 of the present invention for the posture for differentiating workpiece 3.Present embodiment is as above
Described is the structure of front end 3a and rear end 3b that workpiece 3 is detected in image data like that, therefore the even if conveying speed of workpiece 3
It changes, it also can will be from the image data for the front end 3a of workpiece 3 occur to there is the rear end 3b of the workpiece 3 by shooting sequence
Image data engaged composograph data to obtain occurring a substantially whole workpiece 3, for the above reasons, energy
Enough postures that workpiece 3 is differentiated using the line scan cameras 2 being often used without in previous feed appliance.
Speed computing unit 42 carries out calculating workpiece 3 using the composograph data for being used in pose discrimination in this way
The speed calculation processing of conveying speed, specifically, (1) calculates the conveying speed Vw (m/s) of workpiece 3 according to the following formula.
Vw=Lw1/SA (1)
Here, S is the shooting interval (sec) of sweep speed, that is, line scan cameras 2 of line scan cameras 2, A is swept for line
It retouches camera 2 the substantially whole of single workpiece 3 is carried out shooting required shooting number from the front end side of workpiece 3 to rear end side
(secondary), Lw1 are the conveying direction length (m) of workpiece 3.Speed computing unit 42 will be as the shooting interval S of line scan cameras 2
It is considered as time of the workpiece 3 needed for by camera site P1 the time required to shooting with the product for shooting number A, according to needed for the shooting
The conveying direction length Lw1 of time and workpiece 3 calculates the conveying speed of workpiece 3.About the conveying direction length Lw1 of workpiece 3,
The conveying direction length of workpiece 3 in kind is preset.In addition, the conveying direction that workpiece 3 is inputted via input unit 48 is long
The shooting interval S of degree Lw1, line scan cameras 2.In addition, speed computing unit 42 has as shooting number acquiring unit
Shoot number acquisition unit 42a, shooting number acquisition unit 42a according to by once shoot the pixel number of obtained image data with
The pixel number of composograph data shoots number A to calculate.
In this way, image is taken into the conveying that unit 40, pretreatment unit 41 and speed computing unit 42 form detection workpiece 3
The feed appliance speed detector 7 of the present invention of speed.The workpiece 3 calculated by the feed appliance speed detector 7
Conveying speed is additionally shown in Fig. 1 institutes other than the opportunity control for being used in the workpiece 3 described below for excluding fault
In the display unit 47 shown.Alternatively, it is also possible to which the conveying speed of the workpiece calculated in this way 3 is used as to judge that workpiece 3 is
It conveyed, be in the data stopped.
When posture judging unit 44 is judged as posture inappropriate (fault), instruction output unit 45 is to as figure
The rejected unit 5 of workpiece processing unit shown in 1 exports the instruction for carrying out exclusion processing (exclusion action), exclusion processing
(exclusion action) will be in being set in the workpiece 3 excluded on the P2 of position as workpiece processing site of transport path 10 from conveying
It is excluded on path 10.Rejected unit 5 has to being set in than above-mentioned camera site P1 more by the conveyance direction downstream side of workpiece 3
The air injection nozzle 50 as forcing unit for excluding position P2 injection compressed airs of position, is sprayed by being sprayed from the air
The compressed air that mouth 50 ejects exerts a force to workpiece 3 and workpiece 3 is excluded from transport path 10.Air injection nozzle 50 is entered
Compressed air is sprayed as the electrical instruction of above-metioned instruction.The target position for acting on the force has been preset on workpiece 3
Pw (with reference to Fig. 3) is put, in the present embodiment, the conveying direction center of workpiece 3 side opposite with rejected unit 5 is set
For target location Pw.By the way that force is made to act on target location Pw, the conduct when being excluded from transport path 10 can be inhibited
The workpiece 3 for excluding object moves while rotating horizontally.In addition, exclusion processing in the present invention include making workpiece 3 from
The processing of the workpiece receiving part in 10 lower section of transport path etc. is fallen on transport path 10, workpiece 3 is assigned to from exclusion position
Put processing of any one 10 grade of transport path of P2 branches etc..
Opportunity control unit 46 is exported according to the conveying speed control instruction of the workpiece 3 calculated by speed computing unit 42
Unit 45 exports injection nozzle 50 opportunity of electrical instruction.Specifically, it according to the following formula (2), calculates from by pose discrimination
The fault that unit 44 is determined as plays the stand-by time t α until above-mentioned electrical instruction is exported by instruction output unit 45
(sec) (with reference to Fig. 4), electrical instruction is exported to air injection nozzle 50 according to stand-by time t α control instructions output unit 45
Opportunity, thus also force can be made to act on above-mentioned mesh in the case where the conveying speed of workpiece 3 changes from setting value
Cursor position Pw.
T α={ (L-Lw2)/Vw }-tp-td (2)
Here, Vw is the conveying speed (m/s) (with reference to Fig. 3) of the workpiece 3 conveyed on transport path 10, L is from shooting
For position P1 to the distance (m) (with reference to Fig. 3) for excluding position P2, Lw2 is from the rear end 3b of workpiece 3 to the distance of target location Pw
(m) (with reference to Fig. 3), tp be from above-mentioned image be taken into unit 40 be taken into complete sentence to the posture of above-mentioned pose discrimination unit 44
Not Wan Cheng until needed for image processing time (sec) (with reference to Fig. 4).It is being configured to pretreatment, pose discrimination processing and speed
Spend calculation processing needed for time it is fixed always in the case of, image processing time tp become fixed value or setting value.It is another
Aspect is being configured to and the increase and decrease of the pixel number of composograph data as caused by the variation of conveying speed correspondingly image procossing
In the case that time tp changes, the counting of image processing time tp is carried out in control device 4.Td connects for rejected unit 5
It receives above-mentioned electrical instruction and plays required mechanicalness passing time until force being made to act on workpiece 3 by exclusion processing
(sec) it is the parameter setting carried out for each rejected unit 5 (with reference to Fig. 4).Via input unit 48 input above-mentioned distance L,
Passing time td etc..In addition, it in the present embodiment, is obtained using above-mentioned measuring unit from camera site P1 to exclusion position
The distance L of P2, but can also わ せ be closed according to (Now objects in kind) it is obtained.
Illustrate the action of the feed appliance 100 of structure as described above with reference to sequence diagram shown in Fig. 4.In addition, hereinafter, note
The action being excluded after the unsuitable workpiece 3 of posture is shot by line scan cameras 2 until unit 5 excludes is carried.
When moment t01 is shot in the workpiece 3 conveyed on transport path 10, the image data thus got is via figure
It is taken into immediately (transmission) as being taken into unit 40, binary conversion treatment portion 41a carries out the pretreatments such as binaryzation to the image data.Separately
Outside, test section 41b in end detects the front end 3a of workpiece 3 and rear end 3b, detects and goes to work in the image data got in moment t01
The front end 3a of part 3.Also shot successively at a prescribed interval after the shooting of moment t01, every time shooting when all immediately into
Row image data being taken into and pre-processing.Then, when in by the image data accessed by the shooting of moment t02 by end
When test section 41b identifies the rear end 3b of workpiece 3, in moment t03, composograph data generating section 41c starts to generate composite diagram
It is handled and by speed as data, and according to the pose discrimination that composograph data progress is carried out by pose discrimination unit 44
The speed calculation processing that computing unit 42 carries out.In addition, use hardware (such as FPGA (field-programmable gate
array：Field programmable gate array)) processing of progress until moment t03, processing later moment t03 is to pass through execution
Program stored in memory is carried out with software mode.Later, opportunity control unit 46 calculates stand-by time t α, opportunity control
46 control instruction output unit 45 of unit processed is so that t05 outputs energization at the time of have passed through stand-by time t α from moment t04
Instruction.Then, compressed air thus is sprayed from the air injection nozzle 50 of rejected unit 5, transmission is being have passed through from moment t05
T06 at the time of time td, the force practical function based on air is in workpiece 3.Moreover, it is assumed that carrying out pose discrimination, treated
The posture of workpiece 3 is appropriate and in the case of being handled by pose discrimination and being determined as prescribed form, without be used for by the workpiece 3 from
The processing (output of electrical instruction and the injection from air injection nozzle 50) excluded on transport path 10.In addition, in this theory
It illustrates to act using a workpiece 3 for the ease of understanding in bright, still, actually workpiece 3 is connected with the state of close contact
Continuous ground is conveyed, thus shoot, being taken into of image data, pre-process until processing continuously carry out always, another aspect, when
Carving the later processing (intermitten) of t03 is carried out once after the image data for getting a workpiece 3 every time.
In this way, the unsuitable workpiece 3 of posture is excluded, only the appropriate workpiece 3 of posture is provided to supply destination.
As described above, the feed appliance speed detector 7 of present embodiment is applied to have to along transport path 10
The feed appliance 100 for the camera that transported workpiece 3 is shot, is configured to：Line scanography is used as above-mentioned camera
Machine 2, the line scan cameras 2 have multiple photographing elements that the conveying direction with above-mentioned workpiece 3 orthogonally arranges, use the line
Smear camera 2 at predetermined intervals shoots the workpiece 3 of camera site P1 by being set on above-mentioned transport path, and
And have：As the shooting number acquisition unit 42a of shooting number acquiring unit, above-mentioned line scan cameras 2 is obtained to from upper
The shooting number A shot until the front end side to rear end side for stating workpiece 3；And speed computing unit 42, it is provided
The conveying direction length Lw1 of workpiece 3 and the shooting interval S of above-mentioned line scan cameras 2 are stated, and is provided by above-mentioned shooting time
The shooting number A that number acquisition unit 42a is got, thus will be between the shooting according to the shooting number A and above-mentioned line scan cameras 2
Be considered as time of the workpiece 3 needed for by camera site P1 the time required to the shooting obtained every S, according to the time required to the shooting and
The conveying direction Lw1 length of above-mentioned workpiece 3 calculates the conveying speed Vw of the workpiece 3 specifically according to following formula (1).
Vw=Lw1/SA (1)
By being set as this structure, when the line scan cameras 2 of shooting workpiece 3 at predetermined intervals is used to be shot,
It shoots number acquisition unit 42a and obtains bat of the line scan cameras 2 to being shot until the front end side to rear end side of the workpiece 3
Take the photograph number A.Speed computing unit 42 obtains being considered as work according to the shooting number A and the shooting interval S of line scan cameras 2
The time required to shooting of the part 3 by the time needed for the P1 of camera site, according to shooting required time and the conveying direction of workpiece 3
Length Lw1 calculates the conveying speed Vw of workpiece 3.Thus, the photograph generally being had as feed appliance using line scan cameras 2
Machine can calculate the conveying speed Vw of workpiece 3 using the line scan cameras 2, can assign feed appliance 100 for detecting work
The function of the conveying speed Vw of part 3, and thus caused cost increase can be inhibited.
Specifically, it is configured to have：Image is taken into unit 40, is taken into above-mentioned line scan cameras 2 successively and passes through bat
Take the photograph accessed image data；And the end test section 41b as end detection unit, it can detect by above-mentioned figure
As being taken into the front end 3a of the above-mentioned workpiece 3 occurred in the image data that unit 40 is taken into and rear end 3b, list is taken by above-mentioned image
The detection process for being taken into sequence and the front end 3a and rear end 3b of above-mentioned workpiece 3 being carried out to above-mentioned image data of member 40, wherein, it is above-mentioned
Shoot number acquisition unit 42a obtain from the image data of the front end 3a that above-mentioned workpiece 3 is detected by above-mentioned end test section 41b to
It detects total pixel number until the image data of the rear end 3b of the workpiece 3, pixel number is added up to and by primary according to this
The pixel number of image data accessed by above-mentioned shooting obtains above-mentioned shooting number A.
In addition, being configured to using this feed appliance speed detector 7, and have：Line scan cameras 2, tool
There are multiple photographing elements that the conveying direction with above-mentioned workpiece 3 orthogonally arranges, at predetermined intervals to above-mentioned defeated by being set in
The above-mentioned workpiece 3 of the camera site P1 on path 10 is sent to be shot；Composograph as composograph data generating unit
Data generating section 41c, will be from the front end 3a's for detecting above-mentioned workpiece 3 according to the testing result of above-mentioned end test section 41b
The image data of image data to the rear end 3b for detecting the workpiece 3 are engaged there is the substantially whole workpiece 3 to generate
Composograph data；And the pose discrimination unit 44 as workpiece quality judgement unit, according to the composograph data
To carry out differentiating the pose discrimination processing of processing as workpiece quality, therefore the conveying speed for having detection workpiece 3 can be set as
Function and inhibit the feed appliance 100 of thus caused cost increase.
An embodiment of the invention is this concludes the description of, but the concrete structure in each portion is not limited to above-mentioned reality
Apply mode.
Such as in the present embodiment, to being identified as the unsuitable workpiece 3 of posture exclude from transport path 10
Exclusion processing, but can also be set as with lower structure：As shown in figure 5, correcting posture list is set as workpiece processing unit
Member 6 is with replacement rejected unit 5, to being identified as the unsuitable work of posture at the correction position P3 on transport path 10 is set in
The posture of part 3 is corrected.Correcting posture unit 6 has air injection nozzle 60, and the air injection nozzle 60 is via being set to
Compressed air is sprayed in hole (not shown) on the correcting posture position P3 of transport path 10 to workpiece 3, from air injection nozzle 60
Compressed air is sprayed, the workpiece 3 for being located at correction position P3 is made to invert or rotate, thus posture correction.As long as it in addition, can rectify
Then correcting posture unit 6 is not limited to the structure to the posture of positive workpiece.Correcting posture unit 6 is configured to work as from instruction output unit
45 output electrical instruction when from air injection nozzle 60 spray compressed air, opportunity control unit 46 according to feed appliance image at
Reason device 8 and feed appliance control the opportunity of output electrical instruction with the testing result of speed detector 7.
In addition, in the present embodiment, feed appliance image processing apparatus 8 is used to differentiate the posture of workpiece 3
, but it is also possible to be used to check the appearance of the workpiece 3 such as the silk-screen character in the shape of workpiece 3 or color, workpiece 3.
In this case feed appliance is configured to the pose discrimination unit for replacing differentiating the posture of workpiece 3 with image processing apparatus
44 and suitably have check workpiece 3 appearance unit.
In addition, as shown in fig. 6, control device 154 can also be configured to have drive control unit 43, the drive control list
Member 43 is driven the control of unit 11 according to the conveying speed of workpiece 3 calculated by speed computing unit 42.Driving control
The conveying speed of the workpiece 3 calculated is compared by unit 43 processed with setting value, the amplitude and frequency to driving unit 11 into
Row adjustment, thus carries out feedback control to the conveying speed of workpiece 3.If the feed appliance 151 with this structure, even if then
The conveying speed of workpiece 3, which changes, can also be adjusted to setting value, can stablize the conveying speed of workpiece.
Also, in the present embodiment, above-mentioned shooting number acquiring unit 42a is in the shooting time applied to above-mentioned formula (1)
The pixel number of composograph data has been used in the calculating of number A, but the pixel number of composograph data can also be replaced and made
With the multiple images until the image data for the front end 3a of workpiece 3 occur to the image data for the rear end 3b of the workpiece 3 occur
The aggregate value of pixel number in data.Alternatively, it is also possible to be in order to obtain shooting number A and to being carried out by line scan cameras 2
The structure that the number of shooting is directly counted.Specifically, as shown in Figure 7 or with lower structure：Control device 161
It is configured to have counter unit 162, which counts the shooting number of above-mentioned line scan cameras 2,
Above-mentioned shooting number acquiring unit 142a obtains and detects above-mentioned work according to the testing result of above-mentioned end detection unit 41a
The count value of the corresponding above-mentioned counter unit 162 of image data of the front end 3a of part 3 and the rear end with detecting the workpiece 3
The count value of the corresponding above-mentioned counter unit 162 of image data of 3b, above-mentioned shooting number is obtained according to these count values
A.Feed appliance 160 with this structure can also play the effect identical with above-mentioned feed appliance 100.
Also, in the present embodiment, it is configured to that multiple workpiece 3 are defeated in transport path 3 with the state of close contact
The structure sent, but can also be convey multiple workpiece 3 structure with separating predetermined distance.In addition, as line scan cameras 2
Used the camera that photographing element forms a line, but in the range of the effect that can play the present invention can also use take the photograph
Element lines up cameras more than two row.
Other structures can also carry out various modifications without departing from the scope of spirit of the present invention.
Claims (6)
1. a kind of feed appliance speed detector, applied to having to being shot along the transported workpiece of transport path
The feed appliance of camera, the feed appliance speed detector be characterized in that,
Above-mentioned feed appliance is configured to speed detector, and as above-mentioned camera using line scan cameras, line scanning is shone
Camera has the multiple photographing elements orthogonally arranged with the conveying direction of above-mentioned workpiece, using the line scan cameras to provide
It is spaced and the above-mentioned workpiece of camera site by being set on above-mentioned transport path is shot, and
Above-mentioned feed appliance has with speed detector：
Shoot number acquiring unit, obtain above-mentioned line scan cameras to until the front end side to rear end side of above-mentioned workpiece into
The shooting number of row shooting；
Speed computing unit is provided the conveying direction length of above-mentioned workpiece and the shooting interval of above-mentioned line scan cameras,
And the above-mentioned shooting number got by above-mentioned shooting number acquiring unit is provided, it thus will be according to the shooting number and upper
It is considered as the workpiece by the time needed for camera site, root the time required to stating the shooting that the shooting interval of line scan cameras obtains
According to the time required to the shooting conveying speed of the workpiece is calculated with the conveying direction length of above-mentioned workpiece；
Image is taken into unit, is taken into above-mentioned line scan cameras successively by shooting accessed image data；And
End detection unit can detect the above-mentioned workpiece occurred in the image data that unit is taken into is taken by above-mentioned image
Front-end and back-end, by above-mentioned image be taken into unit be taken into sequence above-mentioned image data is carried out above-mentioned workpiece front end and after
The detection process at end,
Wherein, above-mentioned shooting number acquiring unit obtains the figure from the front end that above-mentioned workpiece is detected by above-mentioned end detection unit
As total pixel number of the data until the image data of rear end of the workpiece is detected, pixel number is added up to according to this and is passed through
The pixel number of image data accessed by primary above-mentioned shooting obtains above-mentioned shooting number.
2. feed appliance speed detector according to claim 1, which is characterized in that
The conveying speed of above-mentioned workpiece is being set as Vw meter per seconds, the shooting interval of above-mentioned line scan cameras is set as to S seconds, is being incited somebody to action
Above-mentioned shooting number is set as A times, the conveying direction length of above-mentioned workpiece is set as Lw meters in the case of, speed computing unit according to
Following formula calculates the conveying speed Vw of above-mentioned workpiece,
Vw=Lw/ (SA).
3. a kind of feed appliance speed detector, applied to having to being shot along the transported workpiece of transport path
The feed appliance of camera, the feed appliance speed detector be characterized in that,
Above-mentioned feed appliance is configured to speed detector, and as above-mentioned camera using line scan cameras, line scanning is shone
Camera has the multiple photographing elements orthogonally arranged with the conveying direction of above-mentioned workpiece, using the line scan cameras to provide
It is spaced and the above-mentioned workpiece of camera site by being set on above-mentioned transport path is shot, and
Above-mentioned feed appliance has with speed detector：
Shoot number acquiring unit, obtain above-mentioned line scan cameras to until the front end side to rear end side of above-mentioned workpiece into
The shooting number of row shooting；
Speed computing unit is provided the conveying direction length of above-mentioned workpiece and the shooting interval of above-mentioned line scan cameras,
And the above-mentioned shooting number got by above-mentioned shooting number acquiring unit is provided, it thus will be according to the shooting number and upper
It is considered as the workpiece by the time needed for camera site, root the time required to stating the shooting that the shooting interval of line scan cameras obtains
According to the time required to the shooting conveying speed of the workpiece is calculated with the conveying direction length of above-mentioned workpiece；
Counter unit counts the number shot by above-mentioned line scan cameras；
Image is taken into unit, obtains above-mentioned line scan cameras successively by shooting accessed image data；And
End detection unit can detect the above-mentioned workpiece occurred in the image data that unit is taken into is taken by above-mentioned image
Front-end and back-end, by above-mentioned image be taken into unit be taken into sequence above-mentioned image data is carried out above-mentioned workpiece front end and after
The detection process at end,
Wherein, above-mentioned shooting number acquiring unit is according to the testing result of above-mentioned end detection unit, on obtaining and detect
The count value for stating the corresponding above-mentioned counter unit of image data of the front end of workpiece and the rear end with detecting the workpiece
The count value of the corresponding above-mentioned counter unit of image data obtains above-mentioned shooting number according to these count values.
4. feed appliance speed detector according to claim 3, which is characterized in that
The conveying speed of above-mentioned workpiece is being set as Vw meter per seconds, the shooting interval of above-mentioned line scan cameras is set as to S seconds, is being incited somebody to action
Above-mentioned shooting number is set as A times, the conveying direction length of above-mentioned workpiece is set as Lw meters in the case of, speed computing unit according to
Following formula calculates the conveying speed Vw of above-mentioned workpiece,
Vw=Lw/ (SA).
5. a kind of feed appliance, using the feed appliance speed detector according to any one of Claims 1 to 4,
It is characterized in that having：
Line scan cameras, multiple photographing elements that there is the conveying direction with above-mentioned workpiece orthogonally to arrange, between regulation
It is shot every to the above-mentioned workpiece of camera site by being set on above-mentioned transport path；
Composograph data generating unit, will be from detecting above-mentioned workpiece according to the testing result of above-mentioned end detection unit
The image data of image data to the rear end for detecting the workpiece of front end engaged, come generate occur it is substantially whole should
The composograph data of workpiece；And
Workpiece quality judgement unit carries out the fine or not differentiation of workpiece processing according to the composograph data.
6. a kind of feed appliance, using the feed appliance speed detector according to any one of Claims 1 to 4,
It is characterized in that having：
Feed appliance main body has the driving unit for loading the transport path of workpiece and vibrating the transport path；
Line scan cameras, multiple photographing elements that there is the conveying direction with above-mentioned workpiece orthogonally to arrange, between regulation
It is shot every to the above-mentioned workpiece of camera site by being set on above-mentioned transport path；And
Drive control unit, according to the conveying speed of workpiece detected by above-mentioned feed appliance with speed detector to above-mentioned
The frequency and amplitude of driving unit are controlled.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| Publication Number | Publication Date |
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| CN104338684A CN104338684A (en) | 2015-02-11 |
| CN104338684B true CN104338684B (en) | 2018-06-15 |
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| CN201410375414.2A Active CN104338684B (en) | 2013-07-31 | 2014-07-31 | Feed appliance speed detector and feed appliance |
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| JP (1) | JP6260132B2 (en) |
| KR (1) | KR102172725B1 (en) |
| CN (1) | CN104338684B (en) |
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| JP6540349B2 (en) * | 2015-08-07 | 2019-07-10 | シンフォニアテクノロジー株式会社 | Parts feeder |
| JP6597051B2 (en) * | 2015-08-21 | 2019-10-30 | シンフォニアテクノロジー株式会社 | Parts feeder |
| 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 |
| JP6782537B2 (en) | 2015-10-29 | 2020-11-11 | シンフォニアテクノロジー株式会社 | Air injection mechanism and parts feeder |
| CN107176433B (en) * | 2016-03-09 | 2020-07-17 | 顺丰科技有限公司 | Article transfer assist system |
| JP6936466B2 (en) * | 2017-02-28 | 2021-09-15 | 株式会社イシダ | Goods inspection system |
| CN107051891B (en) * | 2017-04-24 | 2020-03-27 | 常州工学院 | Moving trolley positioning and identifying method based on bar code |
| WO2021177173A1 (en) * | 2020-03-05 | 2021-09-10 | 株式会社サタケ | Optical sorting machine |
| CN113601315B (en) * | 2021-07-29 | 2023-05-09 | 深圳南玻应用技术有限公司 | Control method and control device of edging system, edging system and storage medium |
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Also Published As
| Publication number | Publication date |
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| JP2015030566A (en) | 2015-02-16 |
| KR20150015378A (en) | 2015-02-10 |
| TWI620700B (en) | 2018-04-11 |
| CN104338684A (en) | 2015-02-11 |
| TW201515970A (en) | 2015-05-01 |
| JP6260132B2 (en) | 2018-01-17 |
| KR102172725B1 (en) | 2020-11-02 |
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