CN109981979A - Feed appliance image processing apparatus and feed appliance - Google Patents
Feed appliance image processing apparatus and feed appliance Download PDFInfo
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- CN109981979A CN109981979A CN201910179599.2A CN201910179599A CN109981979A CN 109981979 A CN109981979 A CN 109981979A CN 201910179599 A CN201910179599 A CN 201910179599A CN 109981979 A CN109981979 A CN 109981979A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
- B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The present invention relates to feed appliance image processing apparatus and feed appliances.The feed appliance is applied to feed appliance with image processing apparatus, the feed appliance has the camera for the workpiece that shooting is conveyed along transport path, the Surface scan camera that image data is obtained with the multiple photographing elements arranged on the conveying direction of workpiece and the direction orthogonal with the conveying direction and by these photographing elements is used as camera, and have: a part of photographing element for orthogonally forming column with above-mentioned conveying direction in multiple photographing elements possessed by above-mentioned Surface scan camera only is set as can be used in shooting by setup unit；Image is taken into unit, in the case where only above-mentioned a part of photographing element is for shooting, is taken into accessed image data immediately from above-mentioned Surface scan camera；And the pose discrimination unit of the fine or not judgement unit as workpiece, the fine or not differentiation of workpiece W processing is carried out according to the image data that unit is taken into is taken by above-mentioned image.
Description
The application be the applying date be on April 14th, 2015, application No. is 201510173788.0, entitled " feedings
The divisional application of the application of device image processing apparatus and feed appliance ".
Technical field
The present invention relates to the images that a kind of basis is obtained merely with a part of photographing element that Surface scan camera has
Data differentiate the appearance of workpiece or the technology of posture, and to be related to one kind can easily and correctly set a part of photographing element
Position and can make the image data got by Surface scan camera transmission speed high speed feed appliance image
Processing unit and feed appliance.
Background technique
In the past, known a kind of feed appliance, the feed appliance can by as the workpiece of the conveying objects such as electronic component along
Transport path provides destination (such as patent document 1) as defined in being transported to.Feed appliance disclosed in patent document 1 is configured to,
The posture that workpiece is differentiated according to the obtained image data of shooting workpiece, by rejected unit by inappropriate (the incorrect appearance of posture
Gesture) workpiece excluded from transport path.
Illustrate the feed appliance 200 for carrying out pose discrimination processing according to image data as described in Patent Document 1 using Fig. 8
Principle is reached the workpiece W of camera site P1, obtained image data by the shooting of Surface scan camera 202 as camera unit
It is taken into after unit 204a is taken into control device 204 via image, binary conversion treatment etc. is carried out by pretreatment unit 204b
Pretreatment.Later, the posture of workpiece W is differentiated according to pretreated image data by pose discrimination unit 204C, is excluded single
Member 5 differentiates result according to it to exclude the unsuitable workpiece W of posture.In addition, multiple photographing elements of Surface scan camera 202 with
It arranges in mesh-like manner, obtains the more two-dimensional image data of pixel number.In addition, it is common practice to be configured to Surface scan camera 202
When shooting, when detecting that workpiece W reaches the specified position on transport path 10 by laser sensor 203, external trigger is inputted
And it is shot.
Patent document 1: Japanese Unexamined Patent Publication 2013-39981 bulletin
Summary of the invention
Problems to be solved by the invention
In addition, in the feed appliance 200 of above structure, as shown in figure 9, being carried out when in moment t11 Surface scan camera 202
When shooting, unit 204a is taken into via image in moment t12 and starts being taken into for image data, it is single by pretreatment in moment t13
First 204b starts to pre-process the image datas such as binaryzation.Later, following handle is considered as customary means: when pre- place
At the end of reason, the posture of workpiece is differentiated according to pretreated image data by pose discrimination unit 204C in moment t14.
It is obtained however, feed appliance 200 is taken into using the substantially the entirety of element of photographing element possessed by Surface scan camera 202
The data more than pixel number arrived, thus exist be taken into the time (delivery time) it is elongated and for a workpiece since shooting to appearance
Time elongated this problem until gesture differentiation.It needs to carry out at exclusion in the workpiece W that camera site P1 is shot in arrival
Reason exclude position P2 before carry out the differentiation of posture, therefore when time needed for pose discrimination is long, then needs to limit workpiece W
Conveying speed, to be difficult to conveying workpieces W at high speed and treatment effeciency is caused to decline.In addition, in order to shorten until posture is sentenced
Time until not, it is also contemplated that improve the performance of control device 204 (CPU) and shorten needed for pretreatment, pose discrimination processing
Time, still, as shown in figure 9, be taken into the time with pretreatment, pose discrimination processing needed for time compared to sufficiently greatly, even if mentioning
The performance of high control device 204, time will not sufficiently shorten.
In order to solve this problem, consider to replace Surface scan camera 202 using line scan cameras.Line scanography
Machine for shoot a column photographing element, since coverage is narrow, therefore, it is considered that the pixel number of obtained image data it is few and and
Shorten the delivery time.However, line scan cameras carries out one-dimensional linear shooting, therefore, it is difficult to judge obtained image data
Which, to shoot image data obtained from part, in order to be dimensioned correctly in the position that can shoot position appropriate, need
Using ultra-high-speed photographic machine shooting is carried out or using the virtual workpiece of positioning from external, so that there are labor intensives and time
This problem.
It is an object of the invention to efficiently solve this problem, a kind of feed appliance image processing apparatus is provided and is sent
Glassware can correctly and easily be arranged the photographing element of camera in position, and can be improved by the camera
The transmission speed of the image data got and the conveying high speed for making workpiece.
The solution to the problem
The present invention takes following scheme in view of the above problems.
That is, feed appliance image processing apparatus of the invention, applied to the feed appliance for having camera, camera shooting
Along the workpiece that transport path conveys, which is characterized in that, uses face as above-mentioned camera
Smear camera, the Surface scan camera have in the conveying direction of above-mentioned workpiece and orthogonal with the conveying direction of the workpiece
The multiple photographing elements arranged on direction obtain image data by these photographing elements, also, at above-mentioned feed appliance image
Reason device has: setup unit, only by multiple photographing elements possessed by above-mentioned Surface scan camera with above-mentioned conveying
A part of photographing element that direction orthogonally forms column is set as can be used in shooting；Image is taken into unit, only above-mentioned one
In the case that part photographing element is for shooting, it is taken into accessed image data immediately from above-mentioned Surface scan camera；With
And the fine or not judgement unit of workpiece, sentence according to the image data that unit is taken into is taken by above-mentioned image to carry out the quality of workpiece
Other places reason.
Here, the differentiation of the quality of workpiece is to indicate differentiate whether appearance, the posture of workpiece are defined appearance, posture.
Thus setup unit can be reduced and be obtained in primary shooting by Surface scan camera merely with a part of photographing element
The pixel number for the image data got, can be improved that image is taken into unit is taken into speed (transmission speed), therefore for one
Workpiece shortens the time from shooting until fine or not differentiation processing and can make the conveying high speed of workpiece.On the other hand, lead to
It crosses using substantially all of photographing element possessed by Surface scan camera, appearance more wider than line scan cameras can be made
It, can be by above-mentioned a part of photographing element by the basis of appearing in component in the image data etc. in image data
Easily and correctly it is set in position appropriate.In addition, substantially also including to utilize all camera shootings using all photographing elements
The case where element.
As specific structure, above-mentioned feed appliance has workpiece processing unit, the workpiece processing unit from force section to
Workpiece up to the workpiece processing site being set on above-mentioned transport path exerts a force, and thus excludes the workpiece from above-mentioned transport path
Or correcting posture is carried out on above-mentioned transport path, above-mentioned feed appliance is configured to image processing apparatus, according to above-mentioned workpiece
The differentiation result of fine or not judgement unit so that the above-mentioned workpiece processing unit is worked, also, by nearly all photographing element all
In the case where shooting, the coverage of above-mentioned Surface scan camera is set in the position comprising above-mentioned force section, is passed through
Above-mentioned setup unit selects in the image data for occur the coverage and sets the position of above-mentioned a part of photographing element.
When being set as this structure, setup unit can be passed through while observing the image data for force section occur to apply
The position of above-mentioned a part of photographing element is selected on the basis of power portion, so as to substantially shorten above-mentioned a part of photographing element
Positioning time.
On the other hand, in other specific structures, it is configured to above-mentioned feed appliance and has workpiece processing unit, at the workpiece
Reason unit exerts a force to the workpiece of workpiece processing site that arrival is set on above-mentioned transport path, thus by the workpiece from above-mentioned defeated
Send path to exclude or carry out correcting posture on above-mentioned transport path, above-mentioned setup unit set from multiple photographing elements and
Above-mentioned conveying direction orthogonally forms the first photographing element group of column and above-mentioned defeated more leaning on than above-mentioned first photographing element group
Send the second photographing element group for orthogonally forming column at the position in direction downstream side with above-mentioned conveying direction, the quality of above-mentioned workpiece
Judgement unit carries out fine or not differentiation processing according to the image data got by above-mentioned first photographing element group, and according to by
The image data that above-mentioned second photographing element group is got carries out fine or not differentiation processing, above-mentioned feed appliance image processing apparatus
Above-mentioned workpiece processing unit is set to work according to the differentiation result of the fine or not judgement unit of above-mentioned workpiece.
When being set as this structure, can be carried out for the first time according to the image data got by the first photographing element group
Fine or not differentiation processing after, secondary fine or not differentiation is carried out according to the image data that is got by the second photographing element group
Reason.Therefore, be configured to make workpiece processing unit work according to the differentiation result of the fine or not judgement unit of this workpiece, thus with
It only carries out the case where primary quality differentiates processing to compare, only can more stably send appearance, posture workpiece appropriate to defeated
Send destination.
On the other hand, in other more specific structures, it is configured to above-mentioned feed appliance and has workpiece processing unit, the workpiece
Processing unit exerts a force to the workpiece of workpiece processing site that arrival is set on above-mentioned transport path, thus by the workpiece from above-mentioned
Transport path excludes or carries out correcting posture on above-mentioned transport path, uses a part in certain surface as above-mentioned workpiece
The workpiece of characteristic point as defined in foring, above-mentioned setup unit are set from multiple photographing elements with above-mentioned conveying direction orthogonally
Form the first photographing element group of column and in the position for more leaning on above-mentioned conveyance direction downstream side than above-mentioned first photographing element group
Place orthogonally forms the second photographing element group of column with above-mentioned conveying direction, and above-mentioned feed appliance is adjusted to image processing apparatus
It is in the coverage of above-mentioned second photographing element group in the conveying direction front end of above-mentioned workpiece or conveying direction rear end
In the case of the characteristic point that is formed on the workpiece appear in the coverage of above-mentioned first photographing element group, it is single to be also equipped with pretreatment
Member, before which can be according to conveying direction of the image data that unit is taken into detect workpiece be taken by above-mentioned image
End or conveying direction rear end and features described above point are examined when according to the image data got by above-mentioned second photographing element group
When measuring the conveying direction front end or conveying direction rear end of workpiece, above-mentioned feed appliance with image processing apparatus according to the image
The image data of the first photographing element group that data are got simultaneously detects features described above point, makes above-mentioned workpiece processing unit needle
It works the workpiece that features described above point is not detected.
By being set as this structure, can make the second photographing element group such as be used to detect workpiece conveying direction front end or
The synchronous sensor of conveying direction rear end functions like that, behind the conveying direction front end or conveying direction for detecting workpiece
The detection that characteristic point is carried out when end, the appearance or posture that the workpiece is determined as if detecting characteristic point are defined appearance
Perhaps posture is if it is not detected that characteristic point is then determined as the appearance of the workpiece or posture is not defined appearance or appearance
Gesture and so that workpiece processing unit is worked.Therefore, it can be managed in the time in weakness and defined spy is formed to a part in certain surface
The workpiece of sign point easily and accurately carries out fine or not differentiation, so as to reliably exclude unsuitable workpiece.On the other hand, lead to
It crosses using substantially all of photographing element possessed by Surface scan camera, it can be by the first photographing element group and the second camera shooting member
The position of part group is easily and correctly set in position appropriate.
In particular, being preferably configured as in above-mentioned specific structure, make the above-mentioned a part set by above-mentioned setup unit
Photographing element is continuously shot, and pretreatment unit is also equipped with, which can be taken into unit according to above-mentioned image
Immediately the image data being taken into differentiates that above-mentioned workpiece, the fine or not judgement unit of above-mentioned workpiece are sentenced according to by above-mentioned pretreatment unit
The image data of workpiece Wei not occur to carry out the fine or not differentiation of workpiece processing.
In this way, shoot above-mentioned a part of photographing element continuously, the whole works to come thus, it is possible to shoot conveying
Part.In addition, fine or not differentiation processing is carried out according to the image data for being determined as having occurred workpiece, thus without according to without going out
Show the image data of workpiece to carry out fine or not differentiation processing, to prevent from carrying out useless processing.Accordingly, it is not necessary in order to grasp
The position of workpiece and in addition sensor is set etc., so that cost increase and processing be inhibited to increase, and can come to conveying
Whole workpiece reliably carry out fine or not differentiation processing.
Feed appliance of the invention is used in above-mentioned feed appliance image processing apparatus, which is characterized in that has: feed appliance master
Body has the transport path for conveying workpieces；Surface scan camera, have above-mentioned workpiece conveying direction and with
The multiple photographing elements arranged on the orthogonal direction of the conveying direction of the workpiece, shooting convey above-mentioned along above-mentioned transport path
Workpiece obtains image data；Workpiece processing unit, to the workpiece processing site by being set on above-mentioned transport path
The workpiece is excluded from transport path or is carried out on transport path correcting posture by workpiece；And instruction output unit, work as
The fine or not judgement unit of above-mentioned workpiece is determined as when not being the workpiece of defined appearance or posture, is exported for making above-mentioned workpiece
The instruction of processing unit work.
Therefore, the time shot until fine or not differentiation processing and the conveying for making workpiece can be shortened for a workpiece
High speed, and by that can take the photograph above-mentioned a part using substantially all of photographing element possessed by Surface scan camera
Element is easily and correctly set in position appropriate.
The effect of invention
More than, the present invention according to the above description is capable of providing a kind of feed appliance image processing apparatus and feed appliance,
By the substantially the entirety of photographing element having using Surface scan camera, above-mentioned a part of photographing element can be set in letter
Single and correct position, and only be used to shoot by a part of photographing element, can be improved that image is taken into unit is taken into speed
Spend and make the conveying high speed of workpiece.
Detailed description of the invention
Fig. 1 is the side view for indicating feed appliance involved in first embodiment of the invention.
Fig. 2 is the plane section figure of a part for indicating the feed appliance.
Fig. 3 is the side view for indicating a part of the feed appliance.
Fig. 4 is the timing diagram for illustrating the movement of the feed appliance.
Fig. 5 is the plane section figure of a part for indicating feed appliance involved in second embodiment of the present invention.
Fig. 6 is the plane section figure of a part for indicating feed appliance involved in third embodiment of the present invention.
Fig. 7 is the flow chart for indicating the processing of the feed appliance.
Fig. 8 is the side view for indicating the feed appliance of the structure based on previous feed appliance.
Fig. 9 is the timing diagram for the movement of the feed appliance shown in explanatory diagram 8.
Description of symbols
2: Surface scan camera；5: workpiece processing unit (rejected unit)；8: feed appliance image processing apparatus；10: defeated
Send path；30: setup unit；31: image is taken into unit；32: pretreatment unit；33: the fine or not judgement unit of workpiece (sentence by posture
Other unit)；34: instruction output unit；50: force section (air injection nozzle)；100: feed appliance；EL1: the first photographing element group
Coverage；ELThe coverage of 2: the second photographing element groups；Wa: the front end of workpiece；W: workpiece；Wm: characteristic point；Wu: it is specific
Face (upper surface)；P2: workpiece processing site (excludes position).
Specific embodiment
<first embodiment>
Hereinafter, being described with reference to first embodiment of the invention.
As shown in Figure 1, the feed appliance 100 as an embodiment of the invention is that had along feed appliance main body 1
Transport path 10 to it is (not shown) supply destination conveying as convey object multiple workpiece W.
Feed appliance main body 1 is configured to include above-mentioned transport path 10 and driving unit 11, makes conveying path by driving unit 11
Diameter 10 vibrates, thus multiple workpiece Ws of the conveying on transport path 10.
Top on transport path 10 is provided with Surface scan camera 2, which has workpiece W's
The sensitivity arranged on conveying direction (extending direction of transport path 10) and the direction orthogonal with the conveying direction of workpiece W
High multiple photographing elements (cmos sensor (ComP1ementary Metal Oxide Semiconductor: complementary metal
Oxide semiconductor)), the workpiece W conveyed on transport path 10 is shot.Surface scan camera 2 can be swept by face
All photographing elements that camera 2 has are retouched for the Surface scan mode of shooting and only will be orthogonal with above-mentioned conveying direction
A part of photographing element (being in the present embodiment a column) of ground arrangement switches between the line scan pattern for shooting,
A part of photographing element used when setting as online scan pattern by constituting the setup unit 30 of control device 3 is taken the photograph
Element group.Coverage (shooting line) E of Surface scan camera 2 when line scan patternLFor Fig. 2 shows camera site
(camera point) P1, a part and the direction orthogonal with the conveying direction of workpiece W to the conveying direction of workpiece W integrally carry out
Shooting.
In the present embodiment, over there the setting position of smear camera 2 confirmed, adjust in the case where be set as face
Scan pattern is set as line scan pattern in the case where the workpiece W to come to conveying carries out pose discrimination.Therefore, it is being arranged
Except the unsuitable workpiece W of posture opportunity in terms of, position when online scan pattern for the photographing element group of shooting is important
, it is set in position appropriate below.Firstly, coverage (the camera shooting of the Surface scan camera 2 when by Surface scan mode
Region) EEIt is set to the position of the air injection nozzle 50 including aftermentioned Workpiece processing apparatus 5.In addition, 3 basis of control device
Time needed for the length of workpiece W, image procossing, workpiece W the aftermentioned formula (2) such as conveying speed documented by element calculate
Camera site (camera point) P1 and the distance between the exclusion position P2 L (ginseng that compressed air is sprayed from air injection nozzle 50 out
According to Fig. 2), setup unit 30 sets the position of photographing element group according to the image data got by Surface scan camera 2.This
Outside, the conveying speed of workpiece W at this time is set as setting value.It so in the present embodiment, can in multiple photographing elements
The position of selection photographing element group, but the fixed structure in position for being also possible to photographing element group.
Image data that Surface scan camera 2 when by line scan pattern is got with got in Surface scan mode
Image data is few compared to pixel number and data volume is few, therefore can be taken into unit 31 by image and be taken into control device 3 immediately.
Surface scan camera 2 when line scan pattern from before workpiece W arrival camera site P1 with fixed intervals continuously to be carried out
The mode of shooting is acted, in the workpiece W downstream conveyed by repeatedly being shot during the P1 of camera site, obtain from
There are the multiple images data of the different location of workpiece W respectively on the whole in the front end Wa to rear end Wb of workpiece W.It gets
Image data be sent to aftermentioned control device (controller) 3 when once being shot every time.
Control device 3 shown in FIG. 1 is by having the common microcomputer list of CPU (not shown), memory, interface etc.
Member constitute, program appropriate is stored in memory, CPU gradually reads the program, with peripheral hardware resource collaboration and play
Unit 31, pretreatment unit 32, pose discrimination unit 33, speed computing unit 35, instruction are taken into as setup unit 30, image
The effect of output unit 34 and opportunity control unit 36.
Image is taken into unit 31 and the image data got by Surface scan camera 2 is taken into control device 3, sweeps online
It is taken into image data immediately when each Surface scan camera 2 is shot when retouching mode.Pretreatment unit 32 has at binaryzation
Reason portion 32a, end test section 32b and composograph data generating section 32c are taken into picture number when being taken into unit 31 via image
According to when, binary conversion treatment portion 32a is directed to each image data and carries out pretreatment as defined in binary conversion treatment etc. immediately.In addition,
End test section 32b differentiates the front end Wa and rear end Wb of workpiece W based on image data by image procossing appropriate.For example,
Occur in image data the part of workpiece W and occur position in addition to workpiece W part (specifically transport path 10) it
Between the differences such as tone, therefore in the image data of the front end Wa or rear end Wb in shooting workpiece W, in the conveying side with workpiece W
Occurs the different part of color concentration on orthogonal entire direction.End test section 32b is according to this color concentration (brightness)
Difference etc. detect the front end Wa and rear end Wb of the workpiece W occurred in (image discriminating) image data.Alternatively, also may be constructed
Are as follows: end test section 32b differentiates the R shape in the corner in workpiece W based on image data, thus detects front end Wa and rear end
Wb.Also, composograph data generating section 32c extremely occurs the image data for the front end Wa of workpiece W occur according to shooting sequence
The image data of the rear end Wb of workpiece W is engaged, as the two-dimensional image data for a substantially whole workpiece W occur
Generate composograph data.
The pose discrimination unit 33 of fine or not judgement unit as workpiece is for example carried out according to this composograph data
The pose discrimination processing that processing is differentiated as quality of the posture of (image discriminating) workpiece W is differentiated by pattern match.In addition,
As the unsuitable workpiece of posture such as surface and back side reversion or in the front-back direction towards opposite posture.In this way, image
It is taken into unit 31, pretreatment unit 32 and pose discrimination unit 33 and constitutes the feed appliance of the invention for differentiating the posture of workpiece W
With image processing apparatus 8.
Speed computing unit 35 carries out calculating the defeated of workpiece W using the composograph data of pose discrimination are used in this way
The speed calculation processing of speed is sent, specifically, calculating the conveying speed Vw (m/S) of workpiece W according to following formula (1).
Vw=Lw1/SA (1)
Here, S is sweep speed, that is, Surface scan camera 2 shooting interval (sec) of Surface scan camera 2, A sweeps for face
It retouches camera 2 the substantially whole of single workpiece W is carried out shooting required shooting number from the front end Wa of workpiece W to rear end Wb
(secondary), the conveying direction length (m) that Lwl is workpiece W (referring to Fig. 3).Speed computing unit 35 will be as Surface scan camera 2
It is considered as workpiece W the time required to the shooting of the product of shooting interval S and shooting number A by the time needed for the P1 of camera site, according to
The conveying speed Vw of workpiece W is calculated the time required to the camera shooting with the conveying direction length Lw1 of workpiece W.Conveying about workpiece W
Direction length Lwl has preset the conveying direction length of workpiece W in kind.In addition, inputting workpiece W via input unit 41
Conveying direction length Lwl, Surface scan camera 2 shooting interval S.In addition, there is speed computing unit 35 shooting number to obtain
Portion 35a is taken, shooting number acquisition unit 35a is according to the pixel number and composograph number by once shooting obtained image data
According to pixel number come calculate shooting number A.
The conveying speed Vw of workpiece W calculated in this way is in addition to for the workpiece W described below for excluding fault
Opportunity control other than, be additionally shown in display unit 40 shown in FIG. 1.Alternatively, it is also possible to by workpiece W's calculated in this way
It is to be conveyed the judgement material for being in stopping that conveying speed Vw, which is used as workpiece W,.
When posture judging unit 33 is judged as posture inappropriate (fault), 34 pairs of output unit are instructed to be used as figure
The rejected unit 5 of workpiece processing unit shown in 1 exports the instruction for carrying out exclusion processing (exclusion movement), exclusion processing
(exclusion movement) is will be in being set in the workpiece W excluded on the P2 of position as workpiece processing site of transport path 10 from defeated
It send and is excluded on path 10.Rejected unit 5 has to the conveying side being set on the basis of above-mentioned camera site P1 at least than workpiece W
To length Lwl (referring to Fig. 3) more by the sky as force section for excluding position P2 injection compressed air of conveyance direction downstream side
Gas jet nozzle 50, and the compressed air sprayed from the air injection nozzle 50 exerts a force to workpiece W from transport path 10
Exclude workpiece W.Air injection nozzle 50 is for example formed by the hole for being set to the side wall 10a of transport path 10, is made by being entered
Compressed air is sprayed for the electrical instruction of above-metioned instruction.The target position for acting on the force has been preset on the workpiecew
Pw (referring to Fig. 3), in the present embodiment, the conveying direction center of the workpiece W side opposite with air injection nozzle 50 is set
It is set to target position Pw.By making force act on target position Pw, it is able to suppress the work when excluding from transport path 10
It is moved while rotating horizontally to exclude the workpiece W of object.In addition, in the present invention exclusion processing in include make work
Part W falls on the workpiece in 10 lower section of transport path from transport path 10 and is assigned to by the processing in appearance portion etc., by workpiece W from row
Except the equal processing etc. of any one transport path 10 of position P2 branch.
Opportunity control unit 36 is according to the conveying speed Vw by the calculated workpiece W of speed computing unit 35 come control instruction
Output unit 34 exports the opportunity of electrical instruction to injection nozzle 50.Specifically, being calculated according to following formula (2) from by appearance
When the fault that gesture judgement unit 33 is determined as rises to finger by standby until enabling output unit 34 export above-mentioned electrical instruction
Between t α (sec) (referring to Fig. 4), air injection nozzle 50 is exported according to stand-by time t α control instruction output unit 34 and is powered
Thus the opportunity of instruction can also be such that force acts in the case where the conveying speed Vw of workpiece W changes from setting value
Above-mentioned target position Pw.
T α={ (L-Lw2)/Vw }-tp-td (2)
Here, the conveying speed (m/S) (referring to Fig. 3) that Vw is the workpiece W conveyed on transport path 10, L is from camera shooting
The coverage E of element groupLTo the distance (m) (referring to Fig. 3) for excluding position P2, Lw2 is from the rear end Wb of workpiece W to target position
Set the distance (m) (referring to Fig. 3) of Pw, tp be from above-mentioned image be taken into unit 31 be taken into completion to above-mentioned pose discrimination unit
33 pose discrimination image processing time (esc) required until completing (referring to Fig. 4).It is being configured to pretreatment, pose discrimination
In the case that time needed for processing and speed calculation processing is fixed always, image processing time tp becomes fixed value or sets
Definite value.On the other hand, it is being configured to the increase and decrease phase with the pixel number of composograph data caused by the variation as conveying speed Vw
In the case where answering ground image processing time tp to change, the counting of image processing time tp is carried out in control device 3.Td is
Rejected unit 5 receives the mechanicalness that above-mentioned electrical instruction rises until making force act on workpiece W by exclusion processing and transmits
Time (esc) (referring to Fig. 4), is the parameter setting for each rejected unit 5.Via input unit 41 input above-mentioned distance L,
Passing time td etc..
Illustrate the movement of the feed appliance 100 of structure as described above referring to timing diagram shown in Fig. 4.Hereinafter, describing
Surface scan camera 2 is set as quilt after line scan pattern and the unsuitable shooting of workpiece W quilt cover smear camera 2 of posture
Movement until the exclusion of rejected unit 5.
In moment t01 shooting in the workpiece W conveyed on transport path 10, the image data thus got is via image
It is taken into unit 31 to be taken into immediately (transmission), binary conversion treatment portion 32a carries out the pretreatment such as binaryzation to the image data.Separately
Outside, test section 32b in end detects the front end Wa and rear end Wb of workpiece W, detects workpiece in the image data that moment t01 is got
The front end Wa of W.It is also successively shot after the shooting of moment t01, is all carried out immediately when shooting every time at a prescribed interval
Image data being taken into and pre-processing.Then, when the image data got based on the shooting by moment t02 is detected by end
When portion 32b identifies the rear end Wb of workpiece W, start to generate composograph number in moment t03, composograph data generating section 32c
According to, and carry out the pose discrimination carried out by pose discrimination unit 33 processing according to the composograph data and calculated by speed
The speed calculation processing that unit 35 carries out.In addition, using hardware (such as FPGA (field-programmable gate
Array: field programmable gate array)) processing of progress until moment t03, moment t03 later processing is to pass through execution
Program stored in memory is carried out with software mode.Later, 36 control instruction output unit 34 of opportunity control unit makes
Obtain t05 output electrical instruction at the time of have passed through stand-by time t α from moment t04.Then, it is thus sprayed from the air of rejected unit 5
It penetrates nozzle 50 and sprays compressed air, t06 at the time of have passed through passing time td from moment t05, the force reality generated by air
Border acts on workpiece W.Moreover, it is assumed that appropriate in the posture for carrying out pose discrimination treated workpiece W and by pose discrimination
In the case that reason is determined as defined posture, without the processing for excluding workpiece W from transport path 10, (energization refers to
The output of order and injection from air injection nozzle 50).
In this way, the unsuitable workpiece W of posture is excluded, only posture workpiece W appropriate, which is provided to, provides destination.
As described above, the feed appliance image processing apparatus 8 of first embodiment is applied to have shooting along conveying path
The feed appliance 100 of the camera of the transported workpiece W of diameter 10, is configured to, and uses Surface scan camera 2, the face as camera
Smear camera 2 is multiple with arranging on the conveying direction of workpiece W and the direction orthogonal with the conveying direction of workpiece W
Photographing element is obtained image data using these photographing elements, and had: setup unit 30, only by above-mentioned Surface scan
A part of photographing element for orthogonally forming column with above-mentioned conveying direction in multiple photographing elements possessed by camera 2 is set
To can be used in shooting；Image is taken into unit 31, in the case where only above-mentioned a part of photographing element is for shooting, from above-mentioned
Surface scan camera 2 is taken into accessed image data immediately；And the pose discrimination of the fine or not judgement unit as workpiece
Unit 33 carries out handling as the fine or not differentiation of workpiece W based on the image data that unit 31 is taken into is taken by above-mentioned image
Posture other places reason.
Here, the differentiation of the quality of workpiece W is to indicate differentiate whether appearance, the posture of workpiece W are defined appearance, appearance
Gesture.
It can thus reduce and be shone by once shooting by Surface scan merely with a part of photographing element by setup unit 30
The pixel number for the image data that camera 2 obtains is taken into speed (transmission speed) so as to improve that image is taken into unit 31, because
This can shorten the time from shooting until pose discrimination processing to a workpiece W and make the conveying high speed of workpiece W.Separately
On the one hand, by that can make more wider than line scan cameras using whole photographing element possessed by Surface scan camera 2
It appears in image data, on the basis of appearing in component in the image data etc., can will be used as a part of photographing element
Photographing element group be easily and correctly set in position appropriate.
That is, in the present embodiment, feed appliance 100 is configured to the rejected unit 5 for having as workpiece processing unit, the work
It is set on transport path 10 for the rejected unit 5 of workpiece processing unit from 50 pairs of the air injection nozzle arrival as force section
The workpiece W of the exclusion position P2 as workpiece processing site spray compressed air as force, thus by workpiece W from defeated
It send path 10 to exclude, so that rejected unit 5 is worked according to the differentiation result of pose discrimination unit 33, and all camera shootings is first
In the case that part is for shooting, by the coverage E of Surface scan camera 2EIt is set in the position including air injection nozzle 50,
Coverage E can occur by setup unit 30EImage data on select and set the position of photographing element group.
In order to exclude the unsuitable workpiece W of posture, photographing element group is important relative to the position of air injection nozzle 50
, but select to take the photograph on the basis of air injection nozzle 50 while observing the image data for air injection nozzle 50 occur
The position of element group, thus, it is possible to substantially shorten the time of positioning.Specifically, using pre-determined work as setting value
Element documented by the above-mentioned formula such as the conveying speed of part W (2) finds out camera site P1 and excludes the distance between position P2 L,
From the position for excluding position P2 only separating distance L in the image data got by the Surface scan camera 2 of Surface scan mode
The position of upper setting photographing element group, thus, it is possible to photographing element group is easily and correctly set in position appropriate.In addition,
Just in case using the workpiece found out according to above-mentioned formula (1) in the case where the conveying speed of workpiece W changes during transportation
Conveying speed Vw of W etc. is found out appropriate until exporting electrical instruction by instruction output unit 34 according to above-mentioned formula (2)
Stand-by time t α can adjust the opportunity of injection compressed air.
Also, it is configured to, shoots the photographing element group set by above-mentioned setup unit 30 continuously, be also equipped with pre-
Processing unit 32, the pretreatment unit 32 can be taken into the image data that unit 31 is taken into immediately according to image to differentiate workpiece W,
Pose discrimination unit 33 carries out the appearance of workpiece W according to being determined as occurring the image data of workpiece W by above-mentioned pretreatment unit 32
Gesture differentiation processing.
Here, in order to carry out pose discrimination processing to whole workpiece W for coming of conveying, needs reliably to shoot conveying and
Whole workpiece W, in order to realize such shooting, such as consider that workpiece W is obtained using sensor reaches coverage ELIt is interior
Opportunity, but due to additionally needing the devices such as sensor, there are this problems of cost increase.In contrast, in this reality
It applies in mode, shoots a part of photographing element continuously, the whole workpiece to come thus, it is possible to reliably shoot conveying
W.In addition, carrying out pose discrimination processing according to the image data for being determined as occurring workpiece W, do not occur thus without basis
The image data of workpiece W carries out pose discrimination processing, to prevent from carrying out useless processing.Accordingly, it is not necessary in addition be arranged
The devices such as sensor so that cost increase and processing be inhibited to increase, and can carry out posture to whole workpiece W that conveying comes
Differentiation processing.
<second embodiment>
Hereinafter, Fig. 5 is used to illustrate the feed appliance 110 as second embodiment of the present invention.In addition, in addition to aftermentioned knot
Other than structure, the feed appliance 110 of present embodiment and the feed appliance 100 of above-mentioned first embodiment are identical, therefore omission and feeding
The mutually isostructural record of device 100.
In the feed appliance 100 of first embodiment, a column photographing element group is only arranged in when online scan pattern, still,
The feed appliance 110 of present embodiment is configured to, and the conveying direction of setting and workpiece W, which is orthogonally formed, when online scan pattern arranges
First photographing element group and at the position for more leaning on conveyance direction downstream side than the first photographing element group with above-mentioned conveying side
To the second photographing element group for orthogonally forming column, coverage (the first shooting positioned at the first photographing element group can be shot
Line) EL1 or second photographing element group coverage (the second shooting line) EL2 workpiece W.In addition, in the present embodiment,
There are two air injection nozzle 50a, 50b for the tool of rejected unit 5, and an air injection nozzle 50a is set to the first photographing element
The coverage E of groupL1 and second photographing element group coverage ELPosition between 2, and another air is sprayed and is sprayed
Mouth 50b is set to the coverage E than the second photographing element groupL2 more lean on the position of conveyance direction downstream side.Also, it is configured to,
Pose discrimination unit 33 (referring to Fig.1) carries out at pose discrimination according to the image data got by the first photographing element group
Reason, as a result, exclusion processing is carried out to the unsuitable workpiece W of posture is determined as using an air injection nozzle 50a, for logical
The workpiece W that an air injection nozzle 50a is not excluded is crossed, again according to the image data got by the second photographing element group
Secondary progress pose discrimination processing.Another is used to the unsuitable workpiece W of posture is determined as in pose discrimination processing again
Air injection nozzle 50b carries out exclusion processing, to be determined as in pose discrimination processing again the workpiece W of correct set not into
Row exclusion processing, is transported to conveying destination (not shown).Structure other than the above is identical with first embodiment.
As described above, the feed appliance image processing apparatus of second embodiment is applied to the feeding for having rejected unit 5
Device 100,5 couples of the rejected unit workpiece W for reaching exclusion position P2, P2 for being set on transport path 10 spray compressed air,
Thus workpiece W is excluded from transport path 10, setup unit 30 is set from multiple photographing elements with above-mentioned conveying direction just
It hands over landform the first photographing element group in column and is more leaning on above-mentioned conveyance direction downstream side than above-mentioned first photographing element group
The the second photographing element group for orthogonally forming column at position with above-mentioned conveying direction, is configured to, and pose discrimination unit 33 is (referring to figure
1) pose discrimination processing is carried out according to the image data got by the first photographing element group, and according to by the second camera shooting member
The image data that part group is got carries out pose discrimination processing, according to the differentiation result of pose discrimination unit 33 makes rejected unit
5 work.
Here, obtain for differentiates handle image data when merely with a line scan cameras in the case where, by
In workpiece W, bounce etc. on transport path 10 causes to generate shooting mistake due to vibration, so that fulfilling rate (can be correctly sometimes
Differentiate posture and posture workpiece W appropriate be only transported to the probability of conveying destination) it reduces.In order to eliminate the problem, also examine
Consider two line scan cameras of setting and carries out pose discrimination processing twice, but when the setting of numbers for increasing line scan cameras
When lead to cost increase.
In contrast, in the present embodiment, it is carried out according to the image data got by the first photographing element group
First time pose discrimination processing after, can according to the image data got by above-mentioned second photographing element group to pass through one
The workpiece W that a air injection nozzle 50a is not excluded carries out secondary pose discrimination processing.Therefore, it is configured to according to this
Kind differentiates result to make rejected unit 5 work, and thus compared with the case where only carrying out a pose discrimination processing, will can only sentence
Not Wei defined posture workpiece W be more stably transported to conveying destination, to inhibit cost increase, and can be improved reality
Now rate.
<third embodiment>
Hereinafter, Fig. 6 is used to illustrate the feed appliance 120 as third embodiment of the present invention.In addition, in addition to aftermentioned knot
Other than structure, the feed appliance 120 of present embodiment and the feed appliance 100 of above-mentioned first embodiment are identical, therefore omission and feeding
The mutually isostructural record of device 100.
In the feed appliance 120 as third embodiment of the present invention shown in Fig. 6, not only differentiate that workpiece W's is specific
Face whether towards prescribed direction, also simply differentiate front-rear direction be also required to consistent workpiece W, as workpiece W for example using
In the upper surface W as certain surfaceuOn at conveying direction rear form the diode of characteristic point (label) Wm.
Present embodiment is configured to similarly to the second embodiment, and when online scan pattern sets the first photographing element group
With the second photographing element group, these photographing element groups are continuously shot on same opportunity.The shooting of first photographing element group
Range (the first shooting line) EL1 and second photographing element group coverage (the second shooting line) ELThe distance between 2 are set to
From the distance of the front end Wa to characteristic point Wm of workpiece W, in the coverage E of the first photographing element groupL1 and the second photographing element group
Coverage ELI.e. close to the coverage E of the second photographing element group between 2LAir injection nozzle is provided on 2 position
50.In the present embodiment, the coverage E of the second photographing element group is reached in workpiece WLIt is examined in 2 and by end test section 32b
When measuring the front end Wa of workpiece W, detected when according to based on the image data for the second photographing element group being taken at the same time
Out when the features described above point Wm of workpiece W, the posture for being determined as workpiece W is appropriate, and it is inappropriate to be determined as posture in addition to this.In addition to
It is identical with first embodiment other than above structure.
The processing to a workpiece W is further illustrated using the flow chart shown in Fig. 7.Unit 31 is taken into via image
The image data got simultaneously by the first photographing element group and the second photographing element group is taken into 3 (step of control device
S1), pre-processed by pretreatment unit 32, end test section 32b is according to the image got by the second photographing element group
Data are to determine whether detect the front end Wa (step S2) of workpiece W.In the case where the front end Wa of workpiece W is not detected
(step S2: "No") returns to step S1.In the case where detecting the front end Wa of workpiece W (step S2: "Yes"), pretreatment
Unit 32 is according to the image data got by the first photographing element group to determine whether detecting the characteristic point Mw (step of workpiece W
Rapid S3).In the case where detecting characteristic point Mw (step S3: "Yes"), pose discrimination unit 33 is judged as the posture of workpiece W
It suitably and without exclusion handles, terminates this flow chart.In the case where the characteristic point Wm of workpiece W is not detected (step S2:
"No"), pose discrimination unit 33 is judged as that the posture of workpiece W is inappropriate, calculates by the air injection nozzle of rejected unit 5
The opportunity (step S4) of 50 injection compressed airs.According to the figure got by the first photographing element group or the second photographing element group
As data, in the same manner as first embodiment, opportunity control unit 36 is according to the conveying speed Vw of workpiece W come when calculating standby
Between T α, thus controlled.Instruction output unit 34 exports electrical instruction (step S5) when by stand-by time T α, excludes single
Member 5 excludes to be determined as the unsuitable workpiece W (step S6) of posture, terminates this flow chart.
As described above, feed appliance as a third embodiment is configured to be applied to have exclusion list with image processing apparatus
The feed appliance 120 of member 5, the workpiece W of workpiece processing site P2, P2 that 5 pairs of rejected unit arrival are set on transport path 10
Compressed air is sprayed, workpiece W is excluded from transport path 10 thus, is used as above-mentioned workpiece W as the upper of certain surface
Surface WuA part form as defined in characteristic point Wm workpiece, setup unit 30 set from multiple photographing elements with it is above-mentioned
Conveying direction orthogonally forms the first photographing element group of column and is more leaning on above-mentioned conveying side than above-mentioned first photographing element group
The second photographing element group of column, the feed appliance image procossing are orthogonally formed at position downstream with above-mentioned conveying direction
Device is adjusted to be in the coverage E of the second photographing element group in the conveying direction front end of workpiece WLIt should in the case where in 2
The characteristic point Mw formed on workpiece W appears in the coverage E of above-mentioned first photographing element groupLIn 1, at feed appliance image
Reason device is also equipped with pretreatment unit 32, which can be taken into the image data that unit 31 is taken into according to by image
The front end Wa and characteristic point Wm on conveying direction to detect workpiece W is got when basis by above-mentioned second photographing element group
When front end Wa of the image data to detect workpiece W, according to the first photographing element group got simultaneously with the image data
Image data detects features described above point Wm, acts rejected unit 5 to the workpiece W that characteristic point Wm is not detected.
In upper surface WuOn conveying direction rear or front be formed with the workpiece of characteristic point Wm in above-mentioned first and
Also pose discrimination is able to carry out in the structure of two embodiments, but handling in the structure of the first and second embodiments becomes
It is complicated.Therefore, it functions the second photographing element group as the synchronous sensor of the front end Wa of detection workpiece W, works as detection
Characteristic point Wm is detected when the front end Wa of workpiece W out, the correct set of workpiece W is determined as if detecting characteristic point, if
Be not detected characteristic point be then determined as workpiece W posture it is inappropriate, thus weakness reason the time in can easily be done appearance
Gesture differentiates.In addition, for example observing the image data got in Surface scan mode and being set by setup unit 30, thus
First photographing element group and the second photographing element group can be easily set in position appropriate.
In addition, as the structure at the two of one workpiece W of shooting, it is also contemplated that still made using two line scan cameras
The size on a side of the workpiece W for present embodiment is 6mm or so, is difficult on the position that can shoot such close limit
Configure two line scan cameras.
Feed appliance 100,110,120 of the invention uses above-mentioned feed appliance image processing apparatus 8, which is characterized in that tool
Standby: feed appliance main body 1 has the transport path 10 for conveying workpieces W；Surface scan camera 2 has in above-mentioned workpiece
The multiple photographing elements arranged on the conveying direction of W and the direction orthogonal with the conveying direction of workpiece W are shot along above-mentioned
The above-mentioned workpiece W that transport path 10 conveys obtains image data；Rejected unit 5, will be by being set in above-mentioned transport path
The workpiece W of 10 workpiece processing site P2 is excluded from transport path 10；And instruction output unit 34, work as pose discrimination unit
33 when to be determined as posture not be defined posture, exports the instruction for making above-mentioned rejected unit 5 work.In this feed appliance
It 100,, can be by photographing element group by utilizing substantially the entirety of photographing element possessed by Surface scan camera 2 in 110,120
It is easily and correctly set in position appropriate, and only can be used to shoot by photographing element group, so as to improve image
The transmission speed of data and the conveying high speed for making workpiece W.
This concludes the description of an embodiment of the invention, but the specific structure in each portion be not limited to it is above-mentioned
Embodiment.
For example, being carried out to the unsuitable workpiece W of posture is determined as from transport path 10 in first~third embodiment
The exclusion of upper exclusion is handled, but is also configured to using flowering structure: correcting posture unit is arranged as workpiece processing unit
Rejected unit 5 is replaced, correction is determined as the unsuitable workpiece W's of posture on the correction position being set on transport path 10
Posture.Correcting posture unit has via the Kong Laixiang workpiece W jet pressure on the correcting posture position for being set to transport path 10
The air injection nozzle of contracting air, from air injection nozzle spray compressed air, make be located at correction position workpiece W reversion or
It rotates, thus posture correction.In addition, if the posture of workpiece W can be corrected, then correcting posture unit is not limited to the knot
Structure.Correcting posture unit is configured to spray compression sky from air injection nozzle when from instruction output unit output electrical instruction
Gas.
In addition, in the present embodiment, feed appliance image processing apparatus 8 is used to differentiate the posture of workpiece W
, but it is also possible to be used to detect the appearance of the workpiece W such as the shape of workpiece W, color, silk-screen character on workpiece W.
Feed appliance in this case is configured to the pose discrimination unit 33 for replacing differentiating the posture of workpiece W with image processing apparatus
And suitably there is the unit for the appearance for checking workpiece W.
In addition, in first~third embodiment, pretreatment unit 32 is taken into figure being taken into unit 31 by image every time
When as data, the pretreatment such as binary conversion treatment is carried out immediately, but is also configured to, in the end that is taken into of workpiece W
Afterwards all images data for workpiece W occur are carried out with the combination as pretreated binary conversion treatment and image.
Also, in the first, second embodiment, above-mentioned shooting number acquiring unit 42a is being applied to above-mentioned formula (1)
The pixel number for using composograph data in the calculating of number A is shot, but replaces the pixel number of composograph data, it can also be with
Using multiple until the image data for the rear end Wb for workpiece W occur from the image data for the front end Wa of workpiece W occur
The aggregate value of pixel number in image data.Alternatively, it is also possible to be configured to, in order to obtain shooting number A, directly Surface scan is shone
Number captured by camera 2 is counted.
Also, in the first, second embodiment, the image data got by Surface scan camera 2 is synthesized,
But it can also be differentiated without synthesis.Alternatively, it is also possible to according only to the image data pair by once shooting
One workpiece W carries out fine or not differentiation.Also, in addition detection workpiece W can also be set reach this feelings without being continuously shot
The sensor of condition is shot when workpiece W is reached.
In addition, in this second embodiment, being determined in basis by the image data that the first photographing element group is got
In the unsuitable situation of workpiece W, in order to confirm whether workpiece W is excluded by air injection nozzle 50a, the also can be used
Two photographing element groups.In this case, it according to the distance between the first photographing element group and the second photographing element group, finds out in advance
Coverage E of the workpiece W Jing Guo the first photographing element groupLThe coverage E of the second photographing element group is reached after 1LUntil 2
Time is being determined as unsuitable workpiece W according to the image data got by the first photographing element group by the second camera shooting member
In the case that part group is got, workpiece W is excluded by another air injection nozzle 50b.
In addition, in this second embodiment, being configured to the whole not being excluded by an air injection nozzle 50a
Workpiece W carries out secondary pose discrimination processing, still, in order to inhibit processing to increase, for a workpiece W, can also only exist
By being handled based on the pose discrimination of the image data got by the first photographing element group come the case where being determined as correct set
Under, it is shot by the second photographing element group, secondary pose discrimination processing is carried out according to the image data.
Also, it in this second embodiment, is also configured to, there are two air injection nozzle 50a, 50b for setting, still
It can also be only in the coverage E than the second photographing element groupL2 are more arranged air injection nozzle by conveyance direction downstream side.?
In this case, pose discrimination processing twice is carried out respectively to whole workpiece W that conveying comes, at least in any one pose discrimination
It is determined as unsuitable workpiece W in processing and carries out exclusion processing.
In addition, in the third embodiment, being configured to, examined according to the image data got by the first photographing element group
The front end Wa of workpiece W is surveyed, but after workpiece W can also being detected according to the image data got by the first photographing element group
Hold Wb.In addition, in the structure of the front end Wa of detection workpiece W, it, will be from the beginning of compared with the structure of the rear end Wb of detection workpiece W
One workpiece W opportunity shot until the posture to workpiece W differentiates is shifted to an earlier date, it can be workpiece W's
In the unsuitable situation of posture, exclusion movement is promptly carried out.
Also, photographing element group is not limited to photographing element and is only arranged in a column, in the model for playing effect of the invention
In enclosing, it can also arrange along photographing elements more than two adjacent column of the conveying direction of workpiece W.
Other structures can also carry out various modifications without departing from the scope of spirit of the present invention.
Claims (11)
1. a kind of feed appliance image processing apparatus comprising:
Surface scan camera, the determined location on transport path continuously shoot workpiece with defined shooting interval；And
Control unit, any bat in the multiple shooting images taken by the Surface scan camera with above-mentioned shooting interval
It takes the photograph in image, for according to the pass between the conveying speed and above-mentioned shooting interval of the above-mentioned workpiece on above-mentioned transport path
The figure for being and being redefined in the always coverage of the range of the image of at least check object part including above-mentioned workpiece
As data implementation image measurement processing, hereby based on the figure of at least check object part of the above-mentioned workpiece in above-mentioned coverage
As come the quality that determines above-mentioned workpiece,
Wherein, above-mentioned control unit is implemented to differentiate whether the image of at least check object part of above-mentioned workpiece is contained in above-mentioned bat
The workpiece sensing processing in range is taken the photograph, the image in at least check object part of above-mentioned workpiece is contained in above-mentioned coverage
In the case where, implement to determine that the quality of the quality of above-mentioned workpiece differentiates for the image of at least check object part of above-mentioned workpiece
Processing, in the case where the image of at least check object part of above-mentioned workpiece is not included in above-mentioned coverage, does not implement
Above-mentioned quality differentiation processing,
When carrying out above-mentioned quality differentiation processing, for at least inspection pair for the above-mentioned workpiece for being carried out above-mentioned workpiece sensing processing
As the image of part carries out above-mentioned fine or not differentiation processing.
2. feed appliance image processing apparatus according to claim 1, which is characterized in that
Above-mentioned coverage includes region of the multiple images processing region as the object for becoming above-mentioned quality differentiation processing, above-mentioned
Multiple images processing region respectively forms a part of above-mentioned coverage,
To at least one above-mentioned image procossing area with above-mentioned preset range in above-mentioned multiple images processing region
Domain carries out above-mentioned workpiece sensing processing.
3. feed appliance image processing apparatus according to claim 1 or 2, which is characterized in that
Also there is display unit, which is configured to display and is carried out handling obtained knot by above-mentioned control unit
Fruit.
4. feed appliance image processing apparatus described according to claim 1~any one of 3, which is characterized in that
For the first of mutually different place setting on the conveying direction on above-mentioned transport path in above-mentioned shooting image
Above-mentioned coverage and the second above-mentioned coverage implement above-mentioned image measurement processing respectively, by the first above-mentioned coverage
Image data above-mentioned image measurement handle to determine the first above-mentioned workpiece taken in the first above-mentioned coverage
Quality, and handled by the above-mentioned image measurement of the image data to the second above-mentioned coverage to determine in the second above-mentioned bat
Take the photograph the appearance of the above-mentioned workpiece of second taken in range.
5. feed appliance image processing apparatus according to claim 4, which is characterized in that
Also there is pose discrimination unit, the pose discrimination unit is according to related with the above-mentioned workpiece in the first above-mentioned coverage
Determine as a result, to control whether the conveying for excluding the above-mentioned workpiece on above-mentioned workpiece or above-mentioned transport path from above-mentioned transport path
Posture, according to judgement related with the above-mentioned workpiece in the second above-mentioned coverage as a result, to control whether from above-mentioned conveying path
Diameter excludes the conveying posture of the above-mentioned workpiece on above-mentioned workpiece or above-mentioned transport path.
6. feed appliance image processing apparatus according to claim 4, which is characterized in that
Also there is memory, which at least temporarily keeps judgement related with the above-mentioned workpiece in the first above-mentioned coverage
As a result,
In the above-mentioned workpiece situation identical with the above-mentioned workpiece in the first above-mentioned coverage in the second above-mentioned coverage,
Above-mentioned control unit according to the judgement result related with above-mentioned workpiece kept by above-mentioned memory and with the second above-mentioned shooting
The related judgement of above-mentioned workpiece in range is as a result, to control whether to exclude above-mentioned workpiece or above-mentioned conveying from above-mentioned transport path
The conveying posture of above-mentioned workpiece on path.
7. feed appliance image processing apparatus described according to claim 1~any one of 6, which is characterized in that
Also there is memory, which saves the picture number in at least the above coverage in above-mentioned multiple shooting images
According to,
Above-mentioned control unit is constituted are as follows: can be also directed to the past above-mentioned image data saved by above-mentioned memory, in implementation
Image measurement processing is stated, and the above-mentioned workpiece of spectral discrimination based on the above-mentioned check object part in above-mentioned coverage is outer
It sees.
8. the feed appliance image processing apparatus according to any one of claim 4~6, which is characterized in that
Also there is the setup unit for being set for change to the processing of above-mentioned image measurement executed by above-mentioned control unit.
9. feed appliance image processing apparatus according to claim 8, which is characterized in that
Above-mentioned setup unit handles to detect the above-mentioned transport path taken in above-mentioned shooting image by above-mentioned image measurement
On privileged site position, the position of the first above-mentioned coverage or the second above-mentioned coverage is corrected according to the position.
10. feed appliance image processing apparatus described according to claim 1~any one of 3, which is characterized in that
According to the judgement related with above-mentioned workpiece obtained by above-mentioned control unit as a result, to control whether from above-mentioned transport path
Exclude the conveying posture of the above-mentioned workpiece on above-mentioned workpiece or above-mentioned transport path.
11. a kind of feed appliance, which is characterized in that
Have according to claim 1~any one of 10 described in feed appliance image processing apparatus, above-mentioned transport path with
And driving unit.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014-087621 | 2014-04-21 | ||
| JP2014087621A JP6344031B2 (en) | 2014-04-21 | 2014-04-21 | Image processing apparatus for parts feeder and parts feeder |
| CN201510173788.0A CN105049700B (en) | 2014-04-21 | 2015-04-14 | Feed appliance image processing apparatus and feed appliance |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510173788.0A Division CN105049700B (en) | 2014-04-21 | 2015-04-14 | Feed appliance image processing apparatus and feed appliance |
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| Publication Number | Publication Date |
|---|---|
| CN109981979A true CN109981979A (en) | 2019-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910179509.XA Pending CN110077812A (en) | 2014-04-21 | 2015-04-14 | Feed appliance image processing apparatus and feed appliance |
| CN201910179599.2A Withdrawn CN109981979A (en) | 2014-04-21 | 2015-04-14 | Feed appliance image processing apparatus and feed appliance |
| CN201510173788.0A Active CN105049700B (en) | 2014-04-21 | 2015-04-14 | Feed appliance image processing apparatus and feed appliance |
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| KR (1) | KR102288639B1 (en) |
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| CN108620838B (en) * | 2017-03-16 | 2021-06-29 | Ykk株式会社 | Component supply system and component supply method |
| CN107976201A (en) * | 2017-10-09 | 2018-05-01 | 汪腊新 | A kind of method that machining path is automatically generated based on face battle array 3D cameras |
| CN108160530A (en) * | 2017-12-29 | 2018-06-15 | 苏州德创测控科技有限公司 | A kind of material loading platform and workpiece feeding method |
| CN111780682A (en) * | 2019-12-12 | 2020-10-16 | 天目爱视（北京）科技有限公司 | 3D image acquisition control method based on servo system |
| CN114082674B (en) * | 2021-10-22 | 2023-10-10 | 江苏大学 | Small particle agricultural product color selection method combining surface sweeping line sweeping photoelectric characteristics |
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| JP2949042B2 (en) * | 1994-10-21 | 1999-09-13 | オークラ輸送機株式会社 | Sending device |
| JP4210844B2 (en) * | 2003-08-13 | 2009-01-21 | 株式会社ジェイエイアイコーポレーション | Imaging device for inspection / sorting machine with automatic imaging timing detection function |
| EP2159171B1 (en) * | 2007-06-19 | 2013-03-20 | Qualicaps Co., Ltd. | Vibrating feeder, carrying device and inspection device |
| JP2010251415A (en) * | 2009-04-13 | 2010-11-04 | Hitachi High-Technologies Corp | Operation processor, or line or method for assembling display board module |
| CN101539406B (en) * | 2009-05-06 | 2011-04-20 | 北京科技大学 | Method and device for measuring shape and size of workpiece with high-temperature end and low-temperature end on line |
| JP5563372B2 (en) * | 2010-05-20 | 2014-07-30 | 第一実業ビスウィル株式会社 | Appearance inspection device |
| KR101311852B1 (en) * | 2010-12-08 | 2013-09-27 | 엘아이지에이디피 주식회사 | Substrate transfer unit and inspecting apparatus using the same |
| JP5936100B2 (en) * | 2011-08-11 | 2016-06-15 | シンフォニアテクノロジー株式会社 | Work sorting device |
| JP6009167B2 (en) * | 2012-01-17 | 2016-10-19 | 株式会社 東京ウエルズ | Work appearance inspection apparatus and work appearance inspection method |
| CN202700832U (en) * | 2012-05-22 | 2013-01-30 | 无锡嘉华智慧交通科技有限公司 | Dynamic identification device of inferior products in production |
| CN103056111B (en) * | 2012-12-21 | 2014-08-13 | 浙江大学 | Prawns quality detecting and classifying device based on machine vision technology |
| CN103639121B (en) * | 2013-12-27 | 2016-05-11 | 天津市光学精密机械研究所 | The automatic separation equipment of red date elephant skin |
-
2014
- 2014-04-21 JP JP2014087621A patent/JP6344031B2/en active Active
- 2014-11-18 TW TW103139915A patent/TWI631063B/en active
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2015
- 2015-02-04 KR KR1020150017431A patent/KR102288639B1/en active IP Right Grant
- 2015-04-14 CN CN201910179509.XA patent/CN110077812A/en active Pending
- 2015-04-14 CN CN201910179599.2A patent/CN109981979A/en not_active Withdrawn
- 2015-04-14 CN CN201510173788.0A patent/CN105049700B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| TW201540625A (en) | 2015-11-01 |
| TWI631063B (en) | 2018-08-01 |
| CN105049700B (en) | 2019-06-21 |
| CN105049700A (en) | 2015-11-11 |
| KR20150121649A (en) | 2015-10-29 |
| JP2015207917A (en) | 2015-11-19 |
| JP6344031B2 (en) | 2018-06-20 |
| CN110077812A (en) | 2019-08-02 |
| KR102288639B1 (en) | 2021-08-11 |
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Application publication date: 20190705 |