CN110077812A - Feed appliance image processing apparatus and feed appliance - Google Patents

Feed appliance image processing apparatus and feed appliance Download PDF

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Publication number
CN110077812A
CN110077812A CN201910179509.XA CN201910179509A CN110077812A CN 110077812 A CN110077812 A CN 110077812A CN 201910179509 A CN201910179509 A CN 201910179509A CN 110077812 A CN110077812 A CN 110077812A
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China
Prior art keywords
mentioned
workpiece
unit
image data
feed appliance
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CN201910179509.XA
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Chinese (zh)
Inventor
有村和彦
入江进
迎邦晓
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Sinfonia Technology Co Ltd
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Sinfonia Technology Co Ltd
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Publication of CN110077812A publication Critical patent/CN110077812A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02Devices for feeding articles or materials to conveyors
    • B65G47/04Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/12Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
    • B65G47/14Devices 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08Control devices operated by article or material being fed, conveyed or discharged
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/24Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Feeding Of Articles To Conveyors (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Sorting Of Articles (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Studio Devices (AREA)

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

Feed appliance image processing apparatus and feed appliance
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 (6)

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;
Output unit is instructed, consisting of can be in workpiece by switching between state and workpiece state of a control, the workpiece To make above-mentioned workpiece by the state of the workpiece processing site on above-mentioned transport path by state, the workpiece state of a control be by The state of above-mentioned workpiece processing site of the above-mentioned workpiece control on above-mentioned transport path;
Pretreatment unit, appointing in the multiple shooting images taken by above-mentioned Surface scan camera with above-mentioned shooting interval In meaning shooting image, for according between the conveying speed and above-mentioned shooting interval of the above-mentioned workpiece on above-mentioned transport path Relationship and be redefined for the range that can be included by all above-mentioned workpiece of above-mentioned transport path and The upstream side of above-mentioned workpiece processing site is adjacent to the image data real-time image processing in the first coverage of configuration, into Row detects whether above-mentioned workpiece is configured at the processing of the workpiece sensing in above-mentioned first coverage, and based at above-mentioned workpiece The image data that the downstream side of reason position is adjacent to the above-mentioned workpiece in the second coverage of configuration carrys out real-time image processing, comes It detects after whether above-mentioned workpiece passes through above-mentioned workpiece processing site and is downstream discharged;And fine or not judgement unit, by upper State pretreatment unit detect above-mentioned work piece configuration when in above-mentioned first coverage, at least inspection pair based on above-mentioned workpiece Determine that the fine or not differentiation of above-mentioned workpiece is handled as the image of part;
Wherein, correspond to above-mentioned workpiece if it is the differentiation state of previous above-mentioned workpiece and pass through state and next above-mentioned workpiece Differentiation state correspond to above-mentioned workpiece state of a control, then detecting that previous above-mentioned workpiece passes through by above-mentioned pretreatment unit When being downstream discharged after above-mentioned workpiece processing site, above-metioned instruction output unit carries out above-mentioned workpiece and passes through state and above-mentioned work The switching of part state of a control.
2. feed appliance image processing apparatus according to claim 1, which is characterized in that
Above-metioned instruction output unit is when above-mentioned workpiece is defined differentiation state in the judgement result of above-mentioned fine or not judgement unit Being set as above-mentioned workpiece passes through above-mentioned workpiece by state, is detecting above-mentioned defined differentiation shape by above-mentioned pretreatment unit The previous above-mentioned workpiece of state is downstream discharged after passing through above-mentioned workpiece processing site and is not differentiated by above-mentioned quality single Member obtain next above-mentioned workpiece be it is above-mentioned as defined in differentiation this judgement result of state when, back to above-mentioned workpiece control shape State.
3. feed appliance image processing apparatus according to claim 1 or 2, which is characterized in that
Above-mentioned quality judgement unit is handled by the above-mentioned workpiece sensing of above-mentioned pretreatment unit without detecting above-mentioned work When part is configured in above-mentioned first coverage, it is above-mentioned good not implement to carry out for the above-mentioned check object part of above-mentioned workpiece Bad differentiation processing.
4. feed appliance image processing apparatus according to claim 1 or 2, which is characterized in that
Above-mentioned first coverage, above-mentioned second coverage and above-mentioned workpiece processing site are set to integrated shooting model It encloses, implements above-mentioned workpiece sensing for the image data in the coverage and handle.
5. feed appliance image processing apparatus described according to claim 1~any one of 4, which is characterized in that be also equipped with:
Memory saves the image data at least the above first coverage in above-mentioned multiple shooting images;And
Display unit reads and shows the past above-mentioned image data saved by the memory,
Above-mentioned quality judgement unit is constituted are as follows: can be real also directed to the past above-mentioned image data saved by above-mentioned memory Apply above-mentioned image procossing, and the above-mentioned work of spectral discrimination based on at least the above check object part in above-mentioned first coverage Part.
6. a kind of feed appliance, which is characterized in that
Have according to claim 1~any one of 5 described in feed appliance image processing apparatus, above-mentioned transport path and Driving unit.
CN201910179509.XA 2014-04-21 2015-04-14 Feed appliance image processing apparatus and feed appliance Pending CN110077812A (en)

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CN114082674A (en) * 2021-10-22 2022-02-25 江苏大学 Small-particle agricultural product color sorting method combining surface scanning photoelectric characteristics
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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KR102288639B1 (en) 2021-08-11
TW201540625A (en) 2015-11-01
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JP2015207917A (en) 2015-11-19
CN105049700B (en) 2019-06-21

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