JP2006228029A - Monitor control device and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a monitor control device and a monitor control method effective for finding the cause of occurrence of abnormality when the abnormality occurs in equipment or a device having a movable portion. <P>SOLUTION: This monitor control device comprises an imaging part 110 for photographing an image of the equipment or device having the movable portion, a control part 120 acquiring positional information of the movable portion on the basis of the image data acquired from the imaging part 110 and determining whether the positional information satisfies prescribed conditions or not, and a data recording part 130 for storing the image data when the control part 120 determines that the prescribed conditions are satisfied. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a monitoring control device and a monitoring control method for controlling a facility or apparatus having a movable part, and more particularly, to store image data obtained by photographing each operation step of the facility and to maintain the operation abnormality of the facility. The present invention relates to a monitoring control apparatus and a monitoring control method for facilitating work or detecting an operation abnormality of equipment using the image data.

  2. Description of the Related Art In recent years, automation has been increasingly progressed in manufacturing processes and inspection processes of various machines and devices, and facilities such as various automatic assembly apparatuses and automatic inspection apparatuses have been used. For example, in an automatic assembling apparatus, a captured part is captured, the captured part is transported to a predetermined assembly position, another part is incorporated into the part transported to the assembly position, and the finished product is discharged. Perform the action. In order to perform each of such operations, there are a plurality of movable parts such as a transport unit and an assembly unit, and they are required to operate accurately at a predetermined timing toward a predetermined position.

  Monitors whether such equipment is operating normally, acquires equipment image data with a monitoring camera, etc., in order to detect malfunctions and other abnormalities, and saves the image data for cause analysis It is known (see Patent Documents 1 and 2).

  For example, in the monitoring control device described in Patent Document 1, image data at the time of failure detection is stored in a database. In addition, in the trouble analysis support apparatus described in Patent Document 2, a person determines in advance whether or not there is a facility that causes a trouble, and for a facility that is known to cause a trouble, a moving image for a certain period before and after the trouble occurs. Save voice, control information. Then, using the stored data, the trouble is analyzed by simulation.

  Furthermore, there is known an apparatus that sequentially records state transitions of a mechanical device and performs a simulation when a failure occurs using the recorded and state transition diagram and a computer graphic image (see Patent Document 3).

  In order to appropriately grasp the situation when an abnormality occurs in the facility, it is desirable to store image data that indicates the operation status of a certain period immediately after the occurrence of the failure. However, if the image data for a certain period is stored as a moving image, the amount of data becomes enormous. On the other hand, in the case of saving as a still image, unless an image acquired at an appropriate timing is saved, the situation at the time of occurrence of an abnormality cannot be grasped well, and it becomes difficult to identify the cause of the abnormality. End up. Therefore, it is desired to develop a monitoring control device and a monitoring control method that can reliably store image data at an appropriate timing while reducing the storage capacity necessary for storing the image data.

JP 2003-208218 A JP 2000-250775 A JP 11-259120 A JP 2000-326082 A

  In view of the above-described problems, the present invention relates to a monitoring control apparatus or a monitoring control method capable of storing, as image data, the status of the equipment or apparatus at the time of occurrence of an abnormality with respect to the equipment or apparatus having a movable part, and capable of reproducing it afterwards. The purpose is to provide.

  Another object of the present invention is to provide a monitoring control apparatus or a monitoring control method effective for determining the cause of an abnormality when an abnormality occurs in a facility or apparatus having a movable part.

  In order to achieve the above object, a monitoring control device according to the present invention obtains position information of a movable part based on an imaging part that photographs equipment or a device having the movable part and image data obtained from the imaging part. And a control unit that determines whether or not the position information satisfies a predetermined condition, and a data recording unit that stores image data when the control unit determines that the predetermined condition is satisfied. It is characterized by that.

  Here, the movable part preferably has at least one detection mark for specifying position information.

  Further, the position information is the center of gravity of the detection mark in the image data, and whether or not the predetermined condition is satisfied is determined by determining the distance between the center of gravity of the detection mark and a predetermined reference position. If the threshold value is less than or equal to the threshold value, it is preferable that the condition is satisfied. This is because the position information is obtained more accurately.

  The position information is preferably position information before the operation of the movable part starts or after the operation ends. This is because the movable part is in a stationary state before the start of the operation or after the end of the operation, and when observing the stored image data later, it is easy to visually recognize and easily find the problem.

  Further, it is preferable that the control unit sets a region of interest in a part of the image data and acquires position information based only on the image data included in the region of interest. This is because the amount of data to be handled at the time of position information acquisition is small, and high-speed processing is possible.

  The image data is preferably a still image, and the data recording unit is included in the range of the previous state from the latest state of the equipment having the movable part or the device having the movable part by a predetermined number of operation steps. It is preferable to store only the image data corresponding to the operation steps to be performed. This is because the amount of data stored in the memory can be reduced, and an increase in the cost of the monitoring control device can be prevented.

  The control unit preferably also determines whether or not an abnormality has occurred during the operation of the equipment or apparatus having the movable part, and whether or not the abnormality has occurred is determined based on the image data. It is preferable to do.

  Furthermore, the monitoring control device according to the present invention further includes a display unit that displays the image data stored in the data recording unit, and the display unit can display the image data and position information corresponding to the image data. preferable. Similarly, the control unit outputs a control signal for activating the movable unit when it is determined that the position information satisfies a predetermined condition, and the display unit performs control corresponding to the image data together with the image data to be displayed. More preferably, the signal is also displayed.

  This is because it is useful for identifying the cause of the abnormality by referring to the displayed image data and position information when an abnormality occurs in the monitored facility or apparatus.

  Further, the control unit calculates a difference absolute value for each pixel between the image data stored in the data recording unit and the ideal state image data corresponding to the image data, and calculates the difference absolute value as a pixel value. Preferably, the display unit displays the image data stored in the data recording unit, the ideal image data, and the difference image data.

  This is because, when an abnormality occurs in the monitoring target facility or apparatus, it is possible to easily identify the occurrence position of the abnormality by displaying an image in an ideal state, an image in which the abnormality has occurred, and an image representing the difference therebetween.

  The monitoring control method according to the present invention includes a step of photographing a facility or apparatus having a movable portion, a step of acquiring positional information of the movable portion based on image data photographed in the photographing step, and position information. A step of determining whether or not a predetermined condition is satisfied, and a step of storing image data when it is determined that the predetermined condition is satisfied.

  The position information is preferably position information before the operation of the movable part starts or after the operation ends.

  Furthermore, the movable part has at least one detection mark for specifying the position information, and the step of acquiring the position information detects the center of gravity of the detection mark in the image data. It is preferable to determine that the condition is satisfied when the distance from the determined reference position is equal to or less than a predetermined threshold.

  In the step of acquiring the position information, it is preferable that the region of interest is set in a part of the image data, and the position information is acquired based only on the image data included in the region of interest.

  Furthermore, it is preferable to have a step of determining, based on the image data, whether or not an abnormality has occurred during the operation of the equipment or apparatus having the movable part.

  According to the present invention, it is possible to provide a monitoring control device or a monitoring control method capable of storing the state of the equipment or device at the time of occurrence of an abnormality as image data and subsequently reproducing the equipment or device having a movable part. It becomes possible.

  It is also possible to provide a monitoring control device or a monitoring control method that is effective for ascertaining the cause of the abnormality when the facility or apparatus having the movable part is abnormal.

  Hereinafter, a monitoring control apparatus according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing the configuration of a monitoring control apparatus 100 according to the present invention.

  A monitoring control apparatus 100 according to the present invention includes a camera 110, a controller 120, a memory 130, and a monitor 140.

  The camera 110 functions as an imaging unit and captures the entire equipment that is the monitoring target of the monitoring control device 100. The camera 110 is configured by one or a plurality of cameras, and all movable parts included in the facility are configured to be photographed by any one of the cameras. In addition, it is preferable to dispose the camera 110 at a position away from the operation plane of each movable part that is a photographing target so that the movement of the movable part of the facility can be grasped as a change in the position on the image.

  Moreover, it is preferable that the camera 110 can be continuously photographed so that the operation of the movable part of the facility can be sequentially captured. For example, the camera 110 photographs at a video rate (30 Hz). The captured image is transmitted to the controller 120.

  The controller 120 functions as a control unit, analyzes the image data received from the camera 110, and stores the image data recognized as necessary in the memory 130. Specifically, for the equipment to be monitored, after each operation step of the equipment is completed, the position of the movable part moved in the operation step is specified from the above-described image data, and the movable part is in a predetermined position after the operation is finished. Is determined, the image data used for the analysis is stored in the memory 130. Alternatively, before the start of the next operation step of the equipment, if the position of the movable part that moves in the operation step is specified from the above-described image data, and it is determined that the movable part is at a predetermined position before the operation start, The image data used for the analysis is stored in the memory 130. On the other hand, in the analyzed image data, if it is determined that the movable part of interest is not at a predetermined position after the operation ends or a predetermined position before the operation starts (for example, when the movable part is operating), the controller 120 Discard the image data used for analysis.

  In this way, by storing the image data when the movable part is in a predetermined position before the start of operation or after the end of the operation, there is an abnormality in the equipment even if the movable part does not save the operating image data. If it occurs, the cause of the abnormality can be sufficiently identified by examining the image data stored later, and the amount of data to be stored can be minimized.

  The determination as to whether or not the movable part of interest is in a predetermined position can be made by the method described below.

  First, a specific part in the movable part of interest is recognized from the image data to be analyzed.

  Next, whether or not the distance between the recognized position on the image data of the specific part and the reference position obtained from the image data obtained by photographing the equipment in the ideal state is within a predetermined allowable range. Determine.

  When the distance falls within the allowable range, it is determined that the movable part of interest is at a predetermined position. Note that the specific part in the movable part of interest is recognized by, for example, extracting only the pixel corresponding to the characteristic part in the binarization process with respect to the characteristic part in the movable part, and calculating the center of gravity of the extracted pixel. It can be done by asking for it. Further, instead of the binarization process, an edge detection process may be performed to extract edge pixels corresponding to the boundary of the part, and the center of gravity of the edge pixels or the like may be obtained. Further, the above binarization processing and edge detection processing may be limited to a part of the region (region of interest) including the portion where the movable part of interest is shown. If processing is limited to the region of interest in this way, the amount of data used for processing can be reduced, so that high-speed processing is possible.

  As an alternative to the determination method described above, when the matching processing between the image data obtained by photographing the equipment in the ideal state and the image data to be analyzed is performed and the degree of correlation representing the matching result is a predetermined threshold value or more, A determination method for determining that the movable part of interest is in a predetermined position may be used. Even in the case of using this determination method, it is preferable to perform the processing only in the region of interest described above.

  Note that the controller 120 can also perform drive control of the facility, and in particular, when it is determined that the focused movable part is at a predetermined position, the controller 120 performs synchronization so that the next operation is performed on the facility. A signal may be output. With such a configuration, since the camera 110 serves as a sensor for confirming the position of the movable part, it is not necessary to prepare another sensor, the equipment can be simplified and the space can be saved, and maintenance can be performed. Can be improved.

  Further, the controller 120 determines whether or not an abnormality has occurred in the equipment to be monitored by analyzing the image data received from the camera 110, and when determining that an abnormality has occurred, stops the equipment.

  The determination of abnormality occurrence will be described below.

  First, for each operation step of the monitoring target equipment, image data before or after the start of each operation step of the equipment in normal operation is acquired in advance as reference image data. Then, based on the reference image data, a region of interest to be analyzed in advance is set. For example, in a component assembly device or a component inspection device, a specific type of component should exist at a position determined for each operation step. Therefore, a region of interest is set at a place where such a part should exist on the image data.

  During facility monitoring, image data before or after the start of each operation step is acquired. Then, matching is performed between the corresponding reference image and the image data in the region of interest. The matching result is obtained, for example, as an absolute average deviation of corresponding pixel values between the two image data, and when the absolute average deviation is larger than a predetermined threshold, it is determined that an abnormality has occurred. Note that image data that is determined to be before or after the start of the operation step by the above-described method and stored in the memory 130 may be used as the image data corresponding to before or after the start of each operation step.

  As an alternative abnormality determination method, there are the following methods.

  First, the controller 120 stores in advance the time required for each operation step when the equipment is operating normally.

  During the monitoring of the equipment, the time before the start of the operation of each operation step (or the determined time at which the previous operation step is completed) is sequentially recorded, and the time at which the operation step is determined to be completed is recorded. Calculate elapsed time. When the calculated elapsed time requires a considerable extra time compared to the required time stored in advance, for example, the elapsed time is several times (for example, 2 times, 5 times, 10 times) the required time. If necessary, it is determined that an abnormality has occurred. Further, the controller 120 may determine that an abnormality has occurred even if it is not determined that the operation has ended even after several times the required time has elapsed.

  As another abnormality determination method, for example, the current value sent to the motor that moves the moving part of the equipment is monitored, and if the current value increases to a value that indicates an overload state of the motor, the abnormality is detected. It can be determined that it has occurred.

  The memory 130 functions as a data recording unit, and stores an image that has been instructed to be stored by the controller 120. It is preferable that the memory 130 always stores the image data corresponding to each operation step from the latest operation step to the operation step before a plurality of steps. It is further preferable to store image data corresponding to all previous operation steps (for example, for three cycles). In addition, it is preferable that the position information of the movable part recognized in the image data and the shooting time are also stored in association with the stored image data.

  The controller 120 and the memory 130 can be configured as a commercially available personal computer and a built-in program. Alternatively, it may be configured as dedicated hardware or firmware.

  The monitor 140 functions as a display unit that displays image data, and when reproducing an operation mainly for an abnormality analysis of equipment, the image data stored in the memory 130 and the movable equipment that is focused on in the image data are displayed. The position recognition result of the part is displayed.

  Below, the case where the monitoring control apparatus which concerns on this invention is mounted in the assembly apparatus is demonstrated.

  FIG. 2 shows a configuration block diagram of an assembling apparatus 200 in which the monitoring control apparatus according to the present invention is mounted. FIG. 3 shows a schematic top view of the assembling apparatus 200. FIG. 4 shows a schematic perspective view of the assembling apparatus 200 viewed from the CCD camera 110 of FIG.

  As an example, the assembling apparatus 200 according to the present embodiment inserts a cylindrical part having a diameter of 20 mm and a height of 10 mm from above into a center of a cylindrical basic part (work) having a diameter of 50 mm and a height of 50 mm. The finished product is manufactured. In addition, the monitoring control device 100 according to the present embodiment stores image data for three cycles at the end of each operation step of the assembly device 200 and also performs drive control of the assembly device 200.

  The assembling apparatus 200 includes a transport unit 210, an upper / lower unit 220, a work carry-in unit 230, a component input unit 240, an assembly unit 250, and a work discharge unit 260, and is monitored and controlled by the CCD camera 110, the controller 120, the memory 130, and the monitor 140. The apparatus 100 is configured.

  In the assembling apparatus 200 according to the present embodiment, as shown in FIGS. 3 and 4, the workpiece 202 is loaded from the workpiece loading section 230 along the workpiece conveyance path 201 and is discharged by the workpiece discharge section 260. On the other hand, the component 203 is input by the component input unit 240 from a direction substantially orthogonal to the work carry-in unit 230 and is assembled to the work 202 by the assembly unit 250 between the work carry-in unit 230 and the work discharge unit 260.

  The workpiece carry-in unit 230 is configured by a belt conveyor that carries the workpieces so that the workpieces sent from the previous process can be continuously carried into the assembling apparatus 200. The component loading unit 240 is a gentle downward slope from the component loading side to the assembly unit 250 side, and the loaded component 203 is gradually conveyed to the assembly unit 250 side by vibration. The workpiece discharge unit 260 is configured by a belt conveyor, like the workpiece carry-in unit 230. Then, when the transport unit 210 discharges the work (finished product) 204 with the assembled parts to the outlet 261 of the work discharge unit 260 closest to the assembly unit 250 side, the completed product is placed and transported to the next process.

  The transport unit 210 is attached substantially parallel to the work transport path 201, captures the work 202 at the entrance 231 near the end of the work carry-in section 230, moves in parallel toward the work discharge section 260, and transports it to the assembly section 250. To do. Further, the work (finished product) 204 with the assembled parts is conveyed to an outlet 261 existing in the work discharge unit 260. The upper and lower unit 220 arranged in the assembly unit 250 manufactures a finished product 204 by assembling the part 203 to the work 202 by the upper unit 221 capturing the part 203 and moving up and down, and the lower unit 222 fixing the work 202. To do.

  The transport unit 210 includes a member 211 having a length of 150 mm and a width of 50 mm in a substantially vertical direction substantially parallel to the workpiece transport direction, a gripper 212 attached to the lower portion of the member 211, and a drive servo motor. The gripper 212 is composed of two claws arranged at an interval substantially equal to the width of the workpiece in the workpiece conveyance direction, and two sets are arranged along the workpiece conveyance path 201 so that two workpieces can be held at the same time.

  Further, the transport unit 210 can move in a direction orthogonal to the work transport path 201 and in a direction parallel to the work transport path 201 in a plane where the work transport path 201 exists. Further, the origin position of the transport unit 210 is set at a position about 30 mm behind the work transport path 201 so that the transport unit 210 does not contact the work 202 on the work transport path 201. Then, when a feeding operation is instructed to the transport unit 210 at the origin position, the transport unit 210 moves about 70 mm along the work transport path 201 in the work discharge direction (this destination is referred to as a feed position for convenience). Further, when a return operation is instructed to the transport unit 210 at the feed position, the transport unit 210 moves about 70 mm along the work transport path 201 in the work transport direction so as to return to the origin position. On the other hand, when a forward operation is instructed to the transport unit 210 at the origin position or the feed position, the transport unit 210 captures or holds the work 202 or the finished product 204 on the work transport path 201. In order to release the 202 or the finished product 204 onto the work conveyance path 201, it moves about 30 mm in a direction approaching the work conveyance path 201. On the contrary, when the backward movement operation is instructed to the transport unit 210 located in the vicinity of the work transport path 201, the transport unit 210 moves about 30 mm in the direction away from the work transport path 201.

  The upper / lower unit 220 includes an upper unit 221 and a lower unit 222. The lower unit 222 fixes the workpiece 202 conveyed to the assembly unit 250. On the other hand, the upper unit 221 includes a work chuck 223 composed of a claw that can be opened and closed, a chuck cylinder 224 to which the work chuck 223 is attached, and a servo motor that drives them.

  In the initial state, the upper unit 221 is retracted above the assembly unit 250 so as not to collide with the workpiece 202 and the parts 203 conveyed to the assembly unit 250. When the part 203 comes to the assembling unit 250, the upper unit 221 is lowered, the work chuck 223 is closed, and the part 203 is held. When the component 203 is held, the upper unit 221 moves upward. Thereafter, when the workpiece 202 is conveyed to the assembly unit 250, the upper unit 221 descends again, and the component 203 is inserted into the workpiece 202 and assembled. When the assembly of the parts is completed, the work chuck 223 opens to release the parts, and the upper unit 221 moves upward again. The movement distance in the vertical direction is about 10 mm when the work 202 is present in the assembly portion 250, and is about 60 mm when the work 202 is not present.

  According to the present embodiment, the detection mark is formed on the movable part that is the subject of monitoring and drive control. That is, the detection mark 213 is attached to the upper surface of the end portion on the carry-in portion 230 side of the member 211 of the transport unit 210, and the detection mark 214 is attached to the upper surface of the end portion on the discharge portion 260 side. The detection marks 213 and 214 are red circular stickers having a diameter of 5 mm, and one of the detection marks is reflected in the image taken by the CCD camera 110 regardless of the position of the transport unit 210. Note that the detection marks 213 and 214 are not limited to those described above, and any detection marks can be used as long as they can be clearly discriminated on the image.

  Also in the upper unit 221 of the vertical unit 220, the detection mark 225 is attached to the upper surface of the chuck cylinder 224 and the detection mark 226 is attached to the upper surface of the work chuck 223. The detection marks 225 and 226 are red circular seals having a diameter of 5 mm, like the detection marks attached to the transport unit. Further, in the image photographed by the CCD camera 110, the detection marks 225 and 226 are reflected regardless of the position of the upper unit 221 and whether the chuck is opened or closed. The detection marks 225 and 226 do not have to be the same marks as the detection marks 213 and 214, and may be any marks that can be clearly distinguished on the image.

  The CCD camera 110, which is a constituent element of the monitoring control apparatus 100, is arranged in a direction of about 30 ° obliquely above the assembly unit 250 and on the component input unit side. The transport unit 210, the upper / lower unit 220, the workpiece carry-in unit 230, the component loading unit 240, and the workpiece discharge unit 260 are all stored in one image, and the operation ranges of the respective units of the transport unit 210 and the upper / lower unit 220 are also stored. Can do. The controller 120 receives the image signal from the CCD camera 110 and stores image data satisfying a predetermined condition in the memory 130. The controller 120 also transmits a control signal to the servo motors of the transport unit 210 and the upper and lower units 220 in order to perform drive control of the assembly apparatus 200.

  In this embodiment, the controller 120 and the memory 130 are configured by a program built in a personal computer (PC), a memory, an external output port such as RS232C, and the like. In the present embodiment, since the controller 120 also performs drive control of the assembly apparatus 200, a motor driver that controls the servo motors of the movable parts (the conveyance unit 210 and the upper and lower unit 220) of the assembly apparatus 200 is incorporated. The controller 120 and the memory 130 are not limited to this, and may be configured with dedicated hardware, firmware, or the like. Further, the controller 120, the memory 130, and the motor driver may be configured as separate hardware so that they can communicate with each other. For example, the controller 120 and the memory 130 may be configured by a PC and a built-in program, and the motor driver may be configured by a programmable logic controller (PLC).

  During the operation of the assembling apparatus 200, the CCD camera 110 converts a still image in which the transport unit 210, the upper and lower unit 220, the work and parts being transported, and the assembled work to be discharged are all contained in one image into a video rate. (30 Hz) is continuously acquired and transmitted to the controller 120. For this purpose, a CCD camera 110 having a 1/4 inch 410,000 pixel CCD, a focal length of 4.3 mm (viewing angle 69.8 °), and a 24-bit (RGB each 8 bits) output is used. However, the CCD camera 110 is not limited to this, and any CCD camera 110 may be used as long as each part of the assembling apparatus 200 can be contained in one image and a detection mark or the like can be discriminated.

  When the controller 120 receives the image data from the CCD camera 110, the controller 120 analyzes the changed image data indicating the change of the position due to the movement of the detection mark, recognizes the positions of the transport unit 210, the upper and lower units 220, and the recognition result. Accordingly, a control signal is transmitted to the servo motor built in the transport unit 210 or the vertical unit 220 via the built-in motor driver. In this way, according to the present embodiment, the assembly apparatus 200 can be operated in sequence by changing the position of the detection mark.

  Further, the position of the transport unit 210 and the upper and lower units 220 at the end of each operation step is recognized from the position of the detection mark, and the corresponding image data is stored in the memory 130 at the end of the operation step. In addition, the controller 120, based on the image data corresponding to the end of the above-described operation step, the time required for each operation step, and whether or not an overload is generated by monitoring the servo motor drive current value of the transport unit 210 or the like. Monitor whether or not an abnormality has occurred during operation.

  Hereinafter, operations of the monitoring control device 100 and the assembly device 200 will be described with reference to a flowchart and a timing chart.

  5 and 6 show flowcharts of the operation of the assembling apparatus 200 according to the present embodiment. FIG. 7 shows a timing chart of the operation of the transport unit 210 which is a movable part of the assembling apparatus 200 and the upper unit 221 in the upper and lower units.

  In FIG. 7, a symbol 501 such as S02 shown at the top indicates completion timing of assembly preparation, which will be described later, or execution timing of an operation end determination step of each movable part. Further, the operation of each movable part is shown for each horizontal column, and when the timing chart line 502 is present in the horizontal column, it indicates that each movable unit performs the operation shown in the left column 503 of the horizontal column. When the timing chart line 502 exists on the intermediate line without belonging to the column indicating either operation, this indicates that the movable unit does not perform the operation and keeps the previous state.

  First, it is determined whether assembly preparation is complete (step S00). This determination is performed by the controller 120. Hereinafter, when all the three conditions (i) to (iii) are satisfied, it is determined that the preparation is completed.

(I) The work 202 exists at the inlet 231 of the work carry-in section 230. (ii) The finished product 204 does not exist at the outlet 261 of the work discharge section 260. (iii) The part 203 exists in the parts input section 240. The presence or absence of parts can be checked by the following procedure.

First, as advance preparation, image data when the workpiece 202, the part 203, and the finished product 204 are present at the entrance 231 and the like are acquired through the CCD camera 110, respectively. As shown in FIG. 8, the acquired image data is referred to, the positions of the entrance 231 and the exit 261 and the position where the presence / absence of the part is checked are specified, and the positions on the image (for example, the region of interest) The upper left corner coordinates and the lower right corner coordinates) are stored in the memory 130. Next, when the workpiece 202, the part 203, or the finished product 204 exists in the regions of interest 001 to 003, an average signal value in each region of interest is obtained for each of the cases where the workpiece 202, the part 203, or the finished product 204 does not exist. Then, for each region of interest, calculates the average signal value when the workpiece 202, the component 203 or the finished product 204 is present, the average value of the average signal value in the absence, and the threshold value Thd ₀₀₁ ~Thd _003. The threshold values Thd _{001 to} Thd ₀₀₃ are stored in the memory 130 in advance.

During the operation of the assembling apparatus 200, the average signal value AVG ₀₀₁ in the region of interest 001, interest based on the position of the region of interest 001 to 003 stored in the memory 130 for the image data sent from the CCD camera 110. calculating the average signal value in the region 002 AVG _002, the average signal value AVG ₀₀₃ within the region of interest 003, respectively. The above-described threshold values Thd _{001 to} Thd ₀₀₃ are called from the memory 130 and compared with the average signal values AVG _{001 to} AVG ₀₀₃ , respectively. When the average signal values AVG _{001 to} AVG ₀₀₃ are closer to the average signal value in the reference image data when the workpiece 202, the part 203 or the finished product 204 exists than the threshold values Thd _{001 to} Thd ₀₀₃ , the workpiece 202, the part 203 or the completed It is determined that the product 204 exists.

  The determination method is not limited to the above method, and another method may be used. For example, as described above, reference image data in which the workpiece 202, the part 203, or the finished product 204 exists is acquired in advance and stored in the memory 130. Similarly, the regions of interest 001 to 003 are set as described above.

  Then, during the operation of the assembling apparatus 200, the absolute value of the difference signal value is calculated for each pixel in the region of interest 001 to 003 between the image data received from the CCD camera 110 and the reference image data, and the average signal thereof is calculated. Calculate the value (average absolute deviation). If the average absolute deviation is within a predetermined allowable range, it is determined that the workpiece 202, the part 203, or the finished product 204 exists (or does not exist). Note that the allowable range is preferably determined experimentally because it may be affected by environmental conditions such as lighting of the place where the assembly apparatus is installed.

  Based on the above determination method, sequential determination is performed on image data continuously received from the CCD camera 110. If any of the conditions is not satisfied, the controller 120 determines that the preparation for assembly is not completed, and maintains the idle state of the assembly apparatus 200. The received image data is discarded.

  On the other hand, when all the conditions (i) to (iii) are satisfied for the received image data at a certain time, the controller 120 determines that assembly preparation is complete. The controller 120 stores the image data in the memory 130 and transmits a control signal for causing the transport unit 210 to move forward so as to approach the work transport path 201 through a built-in motor driver. Based on the control signal, the transport unit 210 moves forward to grasp the workpiece (step S01).

  Next, it is determined whether or not the forward movement operation of the transport unit 210 is completed, and whether or not an abnormality such as the workpiece 202 or the part 203 falling or misalignment has occurred in the assembling apparatus 200 (step S02).

  For convenience of explanation, a procedure for determining whether or not the forward movement of the transport unit 210 has been completed will be described first, and then a determination regarding whether or not an abnormality has occurred will be described.

  This determination is performed by determining whether or not the position of the center of gravity and the area of the detection mark 213 attached to the transport unit 210 satisfy a predetermined condition. The method will be described in detail below.

As advance preparation, reference image data corresponding to the end of the forward movement operation of the transport unit 210 is acquired. As shown in FIG. 8, the region of interest 101 including the position where the detection mark 213 should exist at the end of the forward movement operation of the transport unit 210 is set from the acquired reference image data, and the position / range is stored in the memory 130. Keep it. Here, since the region of interest 101 is a region used for detecting the position of the detection mark 213, it is preferable that the region of interest 101 has a size that can completely accommodate the detection mark 213 for accurate position recognition. On the other hand, the region of interest 101 is preferably narrow in order to reduce the calculation time required for the position recognition process. Specifically, the region of interest 101 is preferably set to a size of about 5 to 100 times the area of the detection mark 213 on the image. And based on reference image data, and calculates the center of gravity of the pixels indicating the detection mark 213 in forward motion end of the transport unit 210, the area in the image of each reference centroid G _org, as reference area D _org. Then, the reference center of gravity G _org and the reference area D _org are stored in the memory 130 in advance.

  FIG. 9 shows a flowchart of the operation procedure of step S02.

When the assembling apparatus 200 is in operation, the image received by the controller 120 from the CCD camera 110 is checked only in the region of interest 101, and the barycentric position G / area D of the detection mark 213 is checked and compared with the reference barycentric and reference area. It is determined whether or not the operation is completed. First, the position, range, reference centroid G _org , and reference area D _org of the region of interest are acquired from the memory 130 (step S201). Next, image data to be determined is acquired (step S202). After that, the image data in the region of interest 101 is binarized so that it can be separated from the detection mark (step S203). The threshold for binarization is set empirically in consideration of the installation environment of the assembling apparatus 200 and the like.

In the present embodiment, data per pixel is represented by 8 bits each of red (R), green (G), and blue (B). Therefore, if the value P (= (R, G, B)) of an arbitrary pixel in the region of interest 101 and the arbitrary pixel value of the corresponding binarized image is P _bin , the detection mark 213 is red. For example, P _bin = 1 (R ≧ 128, G <32, B <32) (corresponding to the detection mark 213)
P _bin = 0 (other than above)
It can be.

When the binarization is completed, the centroid G of the pixel corresponding to the detection mark 213 (P _bin = 1) and the total (area) D of the number of pixels are calculated (step S204). Next, a distance ΔG (= ((G _x −G _orgx ) ² + (G _y −G _orgy ) ² ) ^1/2 ) between the centroid G and the reference centroid G _org stored in the memory 130 is obtained (however, , G _x , and G _y are the horizontal and vertical coordinates of the center of gravity G, respectively, while G _orgx and G _orgy are the horizontal and vertical coordinates of the reference center of gravity G _org , respectively). Similarly, an absolute value ΔD (= | D−D _org |) of an area difference between the area D and the reference area D _org is obtained (step S205). It is determined whether ΔG and ΔD are within an allowable error range (for example, within one pixel) (step S206). If both are within the allowable error range, it is determined that the transport unit 210 has normally finished the forward movement operation (S01). In this case, the controller 120 outputs a synchronization signal as a control signal for executing the next operation through the motor driver (step S207).

  Further, the image data determined to have completed the forward movement operation of the transport unit 10 is stored in the memory 130 (step S208). At this time, a name corresponding to the operation step is assigned to the image data so that the stored image data corresponds to which operation step. In addition, since image data for a plurality of cycles is stored, a difference between cycles is also reflected in the name. In this embodiment, the image name is represented by a 3-digit numerical value + extension. The first digit (the leftmost numerical value) is the cycle number, and the remaining two digits are the step number. The extension indicates the format (.jpg, .bmp, etc.) of the image data. For example, if the format of the image data is JPEG, the name of the image data stored in step S02 of the second cycle is represented as “202.jpg”. Regarding the cycle numbers, numbers from 1 to the number of cycles to be stored in order (3 in the present embodiment) are repeatedly used as follows.

1 → 2 → 3 → 1 → 2 → 3 → 1 → ・ ・ ・
Further, in association with the image data to be stored, the time determined as the end of the operation, the center G of the detection mark, the area D, the details of the control signal, and the like are stored in the memory 130.

  On the other hand, if one of ΔG and ΔD exceeds the allowable error range, it is determined that the forward operation of the transport unit 210 is not completed, and the image data used for the determination is discarded, and then the CCD camera 110 is used. The same determination procedure is repeated for the image sent from.

  Next, the determination as to whether or not an abnormality has occurred in the assembly apparatus 200 according to the present embodiment will be described.

  The determination of the occurrence of abnormality is performed by determining whether or not the end of the operation is obtained within a predetermined time, or by determining whether or not there is an abnormality in the arrangement of the workpiece 202 and the part 203. (Step S209, Step S210).

  The time required for one operation of the movable unit such as the transport unit 210 and the upper unit 221 can be predicted in advance. Therefore, if it is not possible to determine the end of the operation even after the predictable time, it is considered that some abnormality has occurred.

  After the acquisition of the image data (S202), the elapsed time after the condition of the preparation completion determination step (S00) is satisfied is compared with a predetermined threshold value. If the elapsed time is longer than the threshold, it cannot be determined that the operation has ended within the allowable time, and it is determined that an abnormality has occurred (step S209). The threshold is preferably about several times to several tens of times required for normal operation. For example, when the time required for the forward movement of the transport unit 210 is 1 second, the threshold value is set to a value such as 5 seconds or 10 seconds. Since the imaging interval of the CCD camera 110 is constant, the number of image data acquired within one operation period is counted, and the total time is multiplied by the time of the imaging interval to know the elapsed time during the operation period. be able to. Therefore, the number of images for which the operation end determination has been performed may be used as an index instead of the elapsed time.

  If it is determined that an abnormality has occurred, the last analyzed image data is stored in the memory 130 (step S211), and the monitoring and control apparatus 100 stops the assembling apparatus 200 (step S212).

  Further, even if no abnormality is detected from the elapsed time, whether or not an abnormality has occurred is determined based on whether or not the workpiece or part is present at a predetermined position (step S210). This determination is performed when the operation of the transport unit 210 is finished and the assembling apparatus 200 is in a stationary state. This is because even if the determination is performed while the transport unit 210 is still moving forward, there is a possibility that an abnormality such as the workpiece 202 or the component 203 falling by the subsequent operation may occur. Therefore, step 210 is performed by the same method as the determination of whether or not the operation preparation is completed in step S00 based on the image data determined to have completed the operation after step S206. That is, when the assembling apparatus 200 is operating normally, the workpieces and parts should be in predetermined positions at the end of each operation step. In step S <b> 02, the work 202 should be present at the entrance 231 of the work carry-in path 230, and the part 203 should be present in the part input unit 240. Therefore, as in step S00, an area of interest is set at a position where the workpiece 202 and the part 203 should be present during normal operation for the image data determined that the forward movement of the carry-in unit 210 has been completed. The signal value in the area is checked to check whether or not a work exists. If it is determined that the workpiece 202 and the component 203 are respectively present at predetermined positions, it is determined that there is no abnormality. On the other hand, if neither the workpiece 202 nor the part 203 exists, it is determined that an abnormality has occurred, the image data used for the determination is stored in the memory 130 (step S211), and the assembly apparatus 200 is stopped (step S212). .

  Note that a warning may be generated to the operator of the apparatus when the apparatus is stopped. Such a warning can be given by displaying a warning on the monitor 140 for monitoring the operating state of the apparatus or generating a warning sound.

The above-described operation end determination method and abnormality occurrence presence / absence determination method are similarly used in each operation end determination step of the movable part of the assembling apparatus 200, such as steps S04 and S06 described below. However, the detection mark of interest, the region of interest to be set, and the center-of-gravity position G _org and area D _{org as the reference} are optimized for each operation end determination step. Also for this optimization, reference image data indicating the end of the operation of the movable part that performs the operation end determination is acquired in advance by the same method as the above-described preparation, and the center of gravity of the detection mark of interest from the reference image data Check the area.

  In this way, by detecting the center of gravity and area of the detection mark and comparing them with those in the ideal state, it is possible to accurately determine the position of the movable part with the detection mark and improve the reliability of the device. It is possible to make it.

  When the controller 120 determines that the forward movement of the transport unit 210 has been completed, the controller 120 transmits a control signal to cause the servo motor of the transport unit 210 to move backward through the motor driver. Based on the control signal, the transport unit 210 performs the backward movement while holding the workpiece (step S03). With this backward movement, the component 203 attached to the workpiece 202 moves from the component input unit to the assembly unit 250.

  Next, it is determined whether or not the backward movement of the transport unit 210 is completed (step S04).

  The determination method is the same as in step S02. That is, the center of gravity and the area of the detection mark 213 are calculated within a preset region of interest, and a determination is made based on whether or not the difference from those values obtained in advance falls within an allowable range. Similarly to step S02, image data that does not satisfy the operation end criterion is discarded, and image data that satisfies the criterion is stored in the memory 130. The presence / absence determination of abnormality is performed in the same manner.

  When the controller 120 determines that the backward movement of the transport unit 210 has ended, it issues a command to lower the upper unit 221 to the motor driver 140. When receiving the command, the motor driver 140 transmits a control signal to the servo motor of the upper unit 221. Based on the control signal, the upper unit 221 descends (step S05).

  Thereafter, it is determined whether or not the lowering operation of the upper unit 221 is completed (step S06). The determination method is the same as in step S02. That is, the center of gravity position and area of the detection mark 225 are calculated within a preset region of interest, and a determination is made based on whether or not the difference from those values obtained in advance falls within an allowable range. Similarly to step S02, image data that does not satisfy the operation end criterion is discarded, and image data that satisfies the criterion is stored in the memory 130.

  In the present embodiment, the CCD camera 110 is arranged not in a position directly above the assembling unit 250 but in an oblique direction of 30 °, so that the vertical movement of the upper unit 221 can be recognized as a change in position on the image. Therefore, it is not necessary to use a plurality of CCD cameras. In order to accurately grasp the position of the movable part, it is more preferable that the moving distance of all the movable parts on the image taken by the CCD camera 110 is 10 pixels or more.

  When the controller 120 determines that the lowering operation of the upper unit 221 has ended, a control signal is transmitted to the servo motor of the upper unit 221 through the motor driver so as to close the work chuck 223 as the next operation. Based on the control signal, the work chuck 223 is closed and the component 203 in the assembly unit 250 is captured (chuck operation) (step S07).

  Thereafter, it is determined whether or not the chuck operation of the work chuck 223 has been completed (step S08). Note that the determination method is the same as in step S02, and the determination is made by examining the position of the center of gravity and the area of the detection mark 226 attached to the work chuck 223 within a preset region of interest. Similarly, image data that does not satisfy the operation end criterion is discarded, and image data that satisfies the criterion is stored in the memory 130.

  When the controller 120 determines that the chucking operation of the work chuck 223 is completed, the controller 120 transmits a control signal to raise the upper unit 221 to the servo motor of the upper unit 221 through a motor driver. Based on the control signal, the upper unit 221 moves up while holding the component (step S09).

  Thereafter, it is determined whether or not the upward movement of the upper unit 221 is completed (step S10). This determination is performed in the same manner as S02 described above, except that the detection mark 225 attached to the upper unit 221 is used. Similarly, image data that does not satisfy the operation end criterion is discarded, and image data that satisfies the criterion is stored in the memory 130.

  When the controller 120 determines that the ascending operation of the upper unit 221 has ended, a control signal is sent to the servo motor of the transport unit 210 through the motor driver so that the transport unit 210 is fed and then moved forward as the next operation. Send. Based on the control signal, the transport unit 210 transports the workpiece 202 to the assembling unit 250, and thus performs a feed operation along the workpiece transport path 201 while holding the parts, and then moves forward (step S11).

  It is determined whether or not the movement of the transport unit 210 is completed by the same determination method as in step S02 (step S12). Similarly, the image data determined to have completed the movement of the transport unit 210 is stored, and other image data are discarded in the same manner. However, since the detection mark 213 on the workpiece carry-in portion side is hidden behind the upper unit 221 and cannot be seen because the transfer unit 210 has moved to the workpiece discharge portion side, the determination is performed using the detection mark 214 on the workpiece discharge portion side. The region of interest is also set to include the position where the detection mark 214 exists.

  When the controller 120 determines that the movement of the transport unit 210 has ended, the controller 120 transmits a control signal to the servo motor of the upper unit 221 through the motor driver so as to lower the upper unit 221 as the next operation. Based on the control signal, the upper unit 221 descends, and the component 203 is attached to the workpiece 202 in the assembly unit 250 (step S13). At this time, the lower unit 222 fixes the workpiece 202.

  It is determined whether or not the lowering operation of the upper unit 221 is completed by the same determination method as in step S04 (S14). The same applies to the detection mark used for the determination, and the image data that does not satisfy the operation end determination criterion is discarded, and the image data that satisfies the determination criterion is also stored in the memory 130.

  When the controller 120 determines that the lowering operation of the upper unit 221 has ended, the controller 120 causes the transport unit 210 to perform a backward operation and then perform a return operation as the next operation. At the same time, the work chuck 223 is caused to open (unchuck) so as to release the component 203. Therefore, the controller 120 transmits a control signal to the servo motor of the transport unit 210 through the motor driver. Based on the control signal, the transport unit 210 releases the workpiece 202 and moves backward, and then returns to the original position. Similarly, a control signal is transmitted to the servo motor of the upper unit 221. Based on the control signal, the work chuck 223 performs an unchuck operation (step S15).

  Next, it is determined whether or not the movement of the transport unit 210 is completed and the original position is restored. At the same time, it is determined whether or not the unchuck operation of the work chuck 223 is completed (step S16).

  Completion of the movement of the transport unit 210 and completion of the unchuck operation are performed by the same method as the determination method described above, respectively, but in step S16, they can be simultaneously performed on the same image. That is, a region of interest for examining the center of gravity position and area of the detection mark 213 of the transport unit 210 and a region of interest for examining the center of gravity position and area of the detection mark 226 attached to the work chuck 223 are set. Judge every time.

  As a result of each determination, if it can be confirmed that the movement of the transport unit is completed and the unchuck operation is completed, the controller 120 controls the servo motor of the upper unit 221 through the motor driver to raise the upper unit 221 as the next operation. Send a signal. Based on the control signal, the upper unit 221 moves up (step S17).

  Thereafter, similarly to step S10, it is determined whether or not the upward movement of the upper unit 221 has been completed (step S18). Similarly, the image data that does not satisfy the operation end criterion is discarded, and the image data that satisfies the criterion is stored in the memory 130 in the same manner.

  When the controller 120 determines that the ascending operation of the upper unit 221 has been completed, the transport unit 210 is advanced to capture the workpiece (finished product) 204 that has already been assembled as a next operation. Therefore, the controller 120 transmits a control signal to the servo motor of the transport unit 210 through the motor driver. Based on the control signal, the transport unit 210 moves forward (step S19).

  In step S19, it is determined whether or not the forward movement of the transport unit 210 is completed (step S20). Similarly, the image data that does not satisfy the operation end criterion is discarded, and the image data that satisfies the criterion is stored in the memory 130 in the same manner.

  If it is determined in step S20 that the forward movement of the transport unit 210 has been completed, the controller 120 transmits a control signal for causing the servo motor of the transport unit 210 to move backward through the motor driver. Based on the control signal, the transport unit 210 moves backward while holding the finished product 204 (step S21).

  Then, the backward movement of the transport unit is confirmed (step S22). Similarly, the image data that does not satisfy the operation end criterion is discarded, and the image data that satisfies the criterion is stored in the memory 130 in the same manner.

  If it is determined in step S22 that the backward movement of the transport unit 210 has been completed, the controller 120 transmits a control signal for causing the servo motor of the transport unit 210 to perform a feed operation and a forward operation through the motor driver. Based on the control signal, in order to discharge the finished product 204 to the workpiece discharge unit 260, the transport unit 210 performs a feeding operation while holding the finished product 204, and then advances (step S23).

  Next, it is determined whether or not the forward movement of the transport unit 210 in step S23 is completed (step S24). Similarly, the image data that does not satisfy the operation end criterion is discarded, and the image data that satisfies the criterion is stored in the memory 130 in the same manner.

  When it is confirmed in step S <b> 24 that the conveyance unit 210 has finished moving forward, the finished product 204 is discharged to the work outlet 261 of the work discharge unit 260. Then, the controller 120 transmits a control signal to the servo motor of the transport unit 210 through the motor driver so as to perform a return operation after the transport unit 210 moves backward. Based on the control signal, the transport unit 210 returns to the origin position (step S25).

  Finally, it is confirmed whether or not the transport unit 210 has returned to the origin position (step S26). In step S26, determination is performed in the same manner as in other step S16 using the detection mark 213 attached to the transport unit 210. Similarly, the image data that does not satisfy the operation end criterion is discarded, and the image data that satisfies the criterion is stored in the memory 130 in the same manner.

  As described above, instead of processing the moving image captured by the CCD camera, by using the still image at the end of the operation and not using the entire image, the determination process is performed only on the region of interest, Processing can be performed at high speed, or processing can be performed using an inexpensive processor. In addition, as described above, by analyzing the image data and confirming the position of each movable part, it is possible to perform origin position confirmation and overrun detection without other sensors, and to complete the operation of each part. It is possible to prevent a malfunction by issuing a command to perform the next operation after the determination. Furthermore, by using the position of the center of gravity and the area of the detection mark for determination, the position of each movable part can be accurately evaluated, and malfunction can be prevented more reliably. In addition, in each operation end determination step of steps S02 to S26, the image data determined as the operation completion of each movable part is saved, so that the operation analysis of the assembling apparatus 200 can be easily performed by referring to those images later. In particular, it is possible to easily investigate the cause when an abnormality occurs. Furthermore, the amount of data to be saved can be reduced by discarding the image data determined that the operation of each movable part has not been completed.

  Next, an operation for reproducing the operation state of the assembly apparatus 200 from the image data stored in the memory 130 will be described.

FIG. 10 shows a schematic configuration diagram of the screen of the monitor 140 at the time of reproducing the operation.
The image display unit 141 displays image data stored in the memory 130. The data display unit 142 displays information related to the image displayed on the image display unit 141 (for example, time, a position recognition result for the operation end determination target movable unit, and the like). In addition, the operation unit 143 provides a user with a function of continuously displaying image data to be displayed in time or calling and displaying specific image data. In addition, a function for simulating the operation end determination process such as steps S02 and S04 described above based on the called image data is also provided.

  The user can easily display the cause of the abnormality by displaying the image data at the time of the abnormality occurrence, confirming the related information, and continuously displaying the images after each operation step for several cycles until the abnormality occurs. Can be determined.

  Moreover, in order to make it easy to detect the location where an abnormality has occurred, the same processing as step S210 in the above-described abnormality determination method may be performed and the result may be displayed. Specifically, the following processing is performed.

  In a state corresponding to each operation end determination step (S02, S04, S06, etc.), a reference image that exists only where the workpiece 202, the part 203, etc. should originally exist at the entrance 231, the part input unit 240, the exit 261, etc. Data is acquired in advance and stored in the memory 130. This reference image data indicates the ideal state of the assembling apparatus 200 in each operation end determination step.

  And the difference absolute value between each pixel is calculated between the image data preserve | saved during operation | movement monitoring of the assembly apparatus 200, and the reference image data of a corresponding operation step, The difference absolute value was made into the pixel value. Create a difference image. The difference image may be calculated as an absolute difference value by limiting to the region of interest set in step S210 described above. Furthermore, the difference image may be represented by a binary image in which the value of a pixel whose difference absolute value exceeds a predetermined threshold is 1, and the value of another pixel is 0.

  When a difference image is created in this way, the difference image has a pixel value of almost zero for all pixels in an operation step in which no abnormality has occurred. On the other hand, in the operation step in which an abnormality has occurred, the pixel value corresponding to the location where the abnormality has occurred takes a value other than zero.

  Then, the image display unit 141 displays the reference image data, the stored image data, and the difference image side by side. In this way, from the several steps before the occurrence of the abnormality until the time when the occurrence of the abnormality is detected and the assembling apparatus 200 is stopped, the above three types of images are displayed side by side for each step. It is easy to see if it has started.

  In addition, since the stored image data is an image at the end of each operation, each movable part is also captured in a stationary state, so that it can be clearly seen on the image. Easy to discover. Furthermore, the number of data to be referred to can be minimized, and the burden on the user can be reduced.

  The embodiments described above are for explaining the present invention, and the present invention is not limited to these embodiments.

It is a block diagram of the configuration of the monitoring control device according to the present invention. It is a configuration block diagram of an assembling apparatus in which the monitoring control apparatus according to the present invention is mounted. It is a schematic top view of the assembly apparatus which mounted the monitoring control apparatus which concerns on this invention. It is a schematic perspective view of the assembly apparatus which mounted the monitoring control apparatus which concerns on this invention. It is a flowchart of the assembly apparatus which mounted the monitoring control apparatus which concerns on this invention. It is a flowchart of the assembly apparatus which mounted the monitoring control apparatus which concerns on this invention. It is a timing chart of the assembly apparatus which mounted the monitoring control apparatus which concerns on this invention. It is a figure which shows the outline of the setting range of a region of interest, and the gravity center of a detection mark. It is a flowchart of the operation | movement completion determination method of each movable part of the assembly apparatus by the monitoring control apparatus which concerns on this invention. It is a schematic block diagram of the monitor screen at the time of operation reproduction.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Monitoring and control apparatus 110 Camera 120 Controller 130 Memory 140 Monitor 200 Assembly apparatus 210 Conveyance unit 220 Vertical unit 213, 214, 225, 226 Detection mark 101 Area of interest

Claims (19)

An imaging unit for photographing equipment or apparatus having a movable unit;
A control unit that acquires position information of the movable unit based on image data acquired from the imaging unit and determines whether the position information satisfies a predetermined condition;
A data recording unit that stores the image data when the control unit determines that the predetermined condition is satisfied;
A monitoring control apparatus comprising:   The monitoring control device according to claim 1, wherein the movable part has at least one detection mark for specifying the position information.   The position information is the center of gravity of the detection mark in the image data, and whether or not the predetermined condition is satisfied is determined by determining a distance between the center of gravity and a predetermined reference position as a predetermined threshold. The monitoring control apparatus according to claim 2, wherein the monitoring control apparatus determines that the condition is satisfied in the following case.   The monitoring control apparatus according to any one of claims 1 to 3, wherein the position information is position information after the operation of the movable part is completed.   The monitoring control apparatus according to claim 1, wherein the position information is position information before the operation of the movable part is started.   The monitoring according to any one of claims 1 to 5, wherein the control unit sets a region of interest in a part of the image data and acquires the position information based only on image data included in the region of interest. Control device.   The monitoring control apparatus according to claim 1, wherein the image data is a still image.   The said data recording part preserve | saves only the image data corresponding to the operation step included in the range of the previous state by the predetermined operation step number from the newest state of the installation or apparatus which has the said movable part. The monitoring control apparatus as described in any one of -7.   The monitoring control device according to any one of claims 1 to 8, wherein the control unit further determines whether an abnormality has occurred during operation of the equipment or the device having the movable unit.   The monitoring control device according to claim 9, wherein whether or not the abnormality has occurred is determined based on the image data. A display unit for displaying image data stored in the data recording unit;
The monitoring control device according to claim 1, wherein the display unit displays the image data and the position information corresponding to the image data. The control unit outputs a control signal for activating the movable unit when it is determined that the position information satisfies the predetermined condition.
The monitoring control device according to claim 11, wherein the display unit displays the control signal corresponding to the image data together with the image data to be displayed. The control unit calculates a difference absolute value for each pixel between the image data stored in the data recording unit and image data in an ideal state corresponding to the image data, and the difference absolute value is calculated as a pixel value. Create differential image data as
The monitoring control device according to claim 11 or 12, wherein the display unit displays the image data stored in the data recording unit, the image data in the ideal state, and the difference image data. A step of photographing an equipment or device having a movable part;
Obtaining the position information of the movable part based on the image data photographed in the photographing step;
Determining whether the position information satisfies a predetermined condition;
If it is determined that the predetermined condition is satisfied, storing the image data;
A monitoring control method characterized by comprising:   The monitoring control method according to claim 14, wherein the position information is position information after the operation of the movable part is completed.   The monitoring control method according to claim 14, wherein the position information is position information before the operation of the movable part is started. The movable part has at least one detection mark for specifying position information;
The step of acquiring the position information detects the center of gravity of the detection mark in the image data,
The monitoring control method according to any one of claims 14 to 16, wherein the determination step determines that the condition is satisfied when a distance between the center of gravity and a predetermined reference position is equal to or less than a predetermined threshold. .   The step of acquiring the position information sets a region of interest in a part of the image data, and acquires the position information based only on the image data included in the region of interest. The monitoring control method described in 1.   The monitoring control method according to any one of claims 14 to 18, further comprising a step of determining, based on the image data, whether or not an abnormality during operation of the equipment or apparatus having the movable part has occurred. .

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