JP2012029254A - Camera for fa equipment - Google Patents

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JP2012029254A
JP2012029254A JP2010168830A JP2010168830A JP2012029254A JP 2012029254 A JP2012029254 A JP 2012029254A JP 2010168830 A JP2010168830 A JP 2010168830A JP 2010168830 A JP2010168830 A JP 2010168830A JP 2012029254 A JP2012029254 A JP 2012029254A
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camera
data
cpu
control device
ram
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JP5435804B2 (en
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Takahiro Shindo
高広 神藤
Yasuhiro Yamashita
泰弘 山下
Atsunori Hirano
篤規 平野
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Fuji Corp
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Fuji Machine Manufacturing Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
    • H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement

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  • General Health & Medical Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Operations Research (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Debugging And Monitoring (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

PROBLEM TO BE SOLVED: To facilitate examination of causes for malfunction of a camera for FA equipment.SOLUTION: In FA equipment 11 comprising a camera 21 for taking a picture of an imaging target, the camera 21 has a CPU 23, a RAM 25, and a flash memory 26, and various signals are transmitted/received between the camera 21 and a CPU 12 of the FA equipment control device 11. The CPU 23 of the camera 21 records operation history data of the camera 21 itself, transmission/reception history data of the various signals, and various setting data of the camera in the RAM 25, and writes the various data stored in the RAM 25 into the flash memory 26 which is a non-volatile rewritable memory, when a severe malfunction (such as communication abnormality) which can be determined by the CPU 23 of the camera 21 occurs or when a data storage request is sent from the FA equipment control device 11.

Description

本発明は、ＦＡ機器における撮像対象物を撮像するＦＡ機器用カメラに関する発明である。   The present invention relates to an FA device camera that images an object to be imaged in an FA device.

例えば、電子部品実装機、工作機械、スクリーン印刷機、産業ロボット等のＦＡ機器は、撮像対象物を撮像するカメラを搭載したものが多い（例えば特許文献１参照）。カメラ付きのＦＡ機器において、カメラの撮像に関係する不具合の原因調査のために、ＦＡ機器側で動作トレースログをメモリに記録することがある。しかし、そのログは、ＦＡ機器側のＣＰＵがカメラに対して行った動作指示の履歴と、ＦＡ機器側の動作に関するログのみであり、カメラに関するログの情報は少ない。   For example, FA devices such as an electronic component mounting machine, a machine tool, a screen printing machine, and an industrial robot are often equipped with a camera that images an object to be imaged (see, for example, Patent Document 1). In an FA device with a camera, an operation trace log may be recorded in a memory on the FA device side in order to investigate the cause of a defect related to camera imaging. However, the log is only the history of the operation instruction given to the camera by the CPU on the FA device side and the log on the operation on the FA device side, and there is little information on the log about the camera.

特開２００６−２１０５３１号公報JP 2006-210531 A 特開２００１−１００２８１号公報JP 2001-1000028 A

不具合の原因の中には、ＦＡ機器側のＣＰＵがカメラに動作指示信号を送ったつもりであっても、実際には信号線の断線やコネクタの外れ等でカメラ側に動作指示信号が届いていなかったり、カメラが外部からのノイズで誤動作したりする事例がある。このような不具合は、ＦＡ機器側のメモリに記録したトレースログのみでは解析することが難しかった。   Among the causes of malfunctions, even if the CPU on the FA device side intended to send an operation instruction signal to the camera, the operation instruction signal actually arrived at the camera due to disconnection of the signal line or disconnection of the connector. There are cases where the camera does not work or malfunctions due to external noise. Such a defect is difficult to analyze only by a trace log recorded in the memory on the FA device side.

また、ＦＡ機器用のカメラは、ＦＡ機器の内部に組み付けられて使用されることが多いため、オシロスコープ等の解析機器の接続が難しく、原因調査には時間と手間を必要としていた。   In addition, since cameras for FA devices are often used by being assembled inside an FA device, it is difficult to connect an analysis device such as an oscilloscope, and investigating the cause requires time and effort.

ところで、特許文献２（特開２００１−１００２８１号公報）には、防犯用の監視カメラに、該カメラの動作履歴を記録する書き換え可能な不揮発性メモリを設け、該不揮発性メモリに該カメラの動作履歴（オートパン動作時間、電源オン時間、カメラ内の温度、プリセット動作回数、フィルタ切換動作回数、座標系リセット回数）を記録することで、カメラの修理時に不揮発性メモリに記録されたカメラの動作履歴を利用して原因を解析することが記載されている。   By the way, in Patent Document 2 (Japanese Patent Laid-Open No. 2001-1000028), a security monitoring camera is provided with a rewritable nonvolatile memory that records the operation history of the camera, and the operation of the camera is stored in the nonvolatile memory. By recording the history (auto pan operation time, power-on time, camera temperature, preset operation count, filter switching operation count, coordinate system reset count), the camera operation recorded in the non-volatile memory at the time of camera repair It describes that the cause is analyzed using the history.

しかし、防犯用の監視カメラとＦＡ機器用のカメラとは、撮像対象物、動作環境、要求解像度等が大きく異なるため、上記防犯用の監視カメラの技術をＦＡ機器用のカメラに転用しても、ＦＡ機器用のカメラの動作不具合の原因調査が困難な場合がある。すなわち、防犯用の監視カメラは、長時間連続的に撮像し続けるカメラであり、外部のＣＰＵから動作指示が頻繁に入力されるものではないため、カメラ自身の動作履歴のみでも動作不具合の原因調査が可能である。   However, since the surveillance camera for crime prevention and the camera for FA equipment differ greatly in the object to be imaged, the operating environment, the required resolution, etc., even if the security surveillance camera technology described above is diverted to the camera for FA equipment. In some cases, it is difficult to investigate the cause of the malfunction of a camera for an FA device. In other words, the surveillance camera for security is a camera that continuously captures images for a long time, and operation instructions are not frequently input from an external CPU. Is possible.

これに対し、ＦＡ機器用のカメラは、ＦＡ機器の各動作毎の決められたタイミングで撮像対象物を撮像するように、ＦＡ機器側のＣＰＵから動作指示が頻繁に入力される。このため、カメラ自身の動作履歴を記録しても、動作不具合の原因がカメラ自身の動作不良によるものか、ＦＡ機器側のＣＰＵから動作指示が信号線の断線やコネクタの外れ等でカメラ側に届いていないのか、或は、外部からのノイズ等による誤動作であるのか判別できない。しかも、ＦＡ機器用のカメラは、防犯用の監視カメラと比較して、撮像対象物を高精度に画像認識する必要があるため、カメラの各種設定データも画像認識結果に大きな影響を及ぼす。このため、カメラの各種設定データが不明であると、画像処理エラーの原因を究明できない場合がある。   On the other hand, in the camera for FA devices, operation instructions are frequently input from the CPU on the FA device side so that the imaging target is imaged at a timing determined for each operation of the FA device. For this reason, even if the operation history of the camera itself is recorded, the cause of the operation failure is caused by the operation failure of the camera itself, or the operation instruction from the FA device side CPU is sent to the camera side due to disconnection of the signal line or disconnection of the connector. It cannot be determined whether it has not arrived or whether it is a malfunction due to external noise or the like. Moreover, since the camera for the FA device needs to recognize the image of the object to be picked up with high accuracy as compared with the security monitoring camera, various setting data of the camera has a great influence on the image recognition result. For this reason, if the various setting data of the camera is unknown, the cause of the image processing error may not be investigated.

そこで、本発明が解決しようとする課題は、ＦＡ機器用カメラの動作不具合の原因調査が容易になるようにすることである。   Therefore, the problem to be solved by the present invention is to facilitate the investigation of the cause of the malfunction of the FA device camera.

上記課題を解決するために、請求項１に係る発明は、撮像対象物を撮像するＦＡ機器用カメラにおいて、該カメラには、ＣＰＵと書き換え可能なメモリを搭載し、該カメラとＦＡ機器側の制御装置との間で各種信号を送受信するように構成し、前記ＣＰＵは、該カメラ自身の動作履歴データと前記各種信号の送受信履歴データと該カメラの各種設定データを前記書き換え可能なメモリに記録するようにしたものである。ここで、カメラの各種設定データとしては、例えば、カメラゲイン、露光時間、画像データのオフセット量、ＲＯＩ（Region Of Interest：撮像領域）の設定値等がある。   In order to solve the above-mentioned problem, an invention according to claim 1 is directed to an FA device camera for imaging an object to be imaged, wherein the camera is equipped with a CPU and a rewritable memory, and the camera and the FA device side are mounted. The CPU is configured to transmit / receive various signals to / from the control device, and the CPU records the operation history data of the camera itself, the transmission / reception history data of the various signals, and the various setting data of the camera in the rewritable memory. It is what you do. Here, as the various setting data of the camera, for example, there are a camera gain, an exposure time, an offset amount of image data, a setting value of ROI (Region Of Interest: imaging region), and the like.

本発明のように、カメラにＣＰＵと書き換え可能なメモリを搭載して、カメラ自身の動作履歴データの他に、各種信号の送受信履歴データと該カメラの各種設定データを記録するようにすれば、動作不具合の原因がカメラ自身の動作不良によるものか、ＦＡ機器側のＣＰＵから動作指示が信号線の断線やコネクタの外れ等でカメラ側に届いていないのか、或は、外部からのノイズ等による誤動作であるのかを容易に判別でき、ＦＡ機器用のカメラの動作不具合の原因調査が容易になると共に、カメラの各種設定データも分かるため、画像処理エラーの原因調査も容易になる。   As in the present invention, if a camera and a rewritable memory are installed in the camera, in addition to the operation history data of the camera itself, transmission / reception history data of various signals and various setting data of the camera are recorded. The cause of the malfunction is due to malfunction of the camera itself, or the operation instruction from the CPU on the FA device side does not reach the camera due to disconnection of the signal line or disconnection of the connector, or due to noise from the outside It is possible to easily determine whether it is a malfunction, and it becomes easy to investigate the cause of the malfunction of the camera for the FA device, and it is also easy to investigate the cause of the image processing error because various setting data of the camera can be understood.

この場合、請求項２のように、各種信号の送受信履歴データには、ＦＡ機器側の制御装置からの動作指示の履歴データを含ませるようにすると良い。これにより、ＦＡ機器用のカメラの動作不具合の原因調査が更に容易になる。   In this case, as described in claim 2, the transmission / reception history data of various signals may include history data of operation instructions from the control device on the FA device side. This further facilitates investigation of the cause of the malfunction of the camera for the FA device.

また、請求項３のように、ＦＡ機器側の制御装置は、カメラから送信されてくる撮像画像に問題があった場合に、その時の画像データとその画像撮像時の各種設定データを書き換え可能なメモリに記録するようにカメラに対して指示しても良い。このようにすれば、画像処理エラーの原因調査が更に容易になる。   Further, as described in claim 3, when there is a problem with the captured image transmitted from the camera, the control device on the FA device side can rewrite the image data at that time and various setting data at the time of image capturing. The camera may be instructed to record in memory. This makes it easier to investigate the cause of an image processing error.

また、請求項４のように、カメラの書き換え可能なメモリには、ＦＡ機器側の制御装置の情報も記録するようにしても良い。ここで、ＦＡ機器側の制御装置の情報としては、例えば、該制御装置にインストールされたソフトウエアのバージョン情報がある。ソフトウエアのバージョンによっては、その動作環境にカメラが対応していない可能性がある。   Further, as described in claim 4, information of the control device on the FA device side may be recorded in the rewritable memory of the camera. Here, the information on the control device on the FA device side includes, for example, version information of software installed in the control device. Depending on the software version, the camera may not support the operating environment.

また、請求項５のように、カメラの書き換え可能なメモリに記録された各種データは、所定時期にＦＡ機器側の制御装置に送信して該制御装置の記憶装置に保存するようにしても良い。例えば、ＦＡ機器側の制御装置からデータ送信要求が出されたとき、又は、カメラの電源がオフされる直前、又は、定期的にカメラのＣＰＵで判断できる重大な異常（例えばカメラ温度異常等）が発生したときに、カメラの書き換え可能なメモリに記録された各種データをＦＡ機器側の制御装置に送信して該制御装置の記憶装置に保存するようにしても良い。このようにすれば、ＦＡ機器側の制御装置でもカメラの動作に関係する各種データを管理することができる。   According to another aspect of the present invention, various data recorded in a rewritable memory of the camera may be transmitted to a control device on the FA device side at a predetermined time and stored in a storage device of the control device. . For example, when a data transmission request is issued from the control device on the FA device side, immediately before the camera is turned off, or a serious abnormality that can be periodically determined by the camera CPU (eg, camera temperature abnormality, etc.) When this occurs, various data recorded in the rewritable memory of the camera may be transmitted to the control device on the FA device side and stored in the storage device of the control device. In this way, various data relating to the operation of the camera can be managed even by the control device on the FA device side.

更に、請求項６のように、カメラの書き換え可能なメモリは、ＲＡＭと書き換え可能な不揮発性メモリとから成り、カメラ自身の動作履歴データと各種信号の送受信履歴データと該カメラの各種設定データを一時的にＲＡＭに記録しておき、所定のデータ保存要求が発生した時にＲＡＭの記録データを前記書き換え可能な不揮発性メモリに書き込むようにしても良い。ここで、所定のデータ保存要求は、例えば、ＦＡ機器側の制御装置から送信されてきたり、カメラの電源がオフされる直前に該カメラのＣＰＵで発生したり、カメラのＣＰＵで判断できる重大な異常（例えばカメラ温度異常等）が発生したときに該カメラのＣＰＵで発生したりする。このように、ＲＡＭの記録データを書き換え可能な不揮発性メモリに書き込むようにすれば、カメラの電源がオフされた後も、不揮発性メモリに記録データを保持することができる。   Further, the rewritable memory of the camera comprises a RAM and a rewritable non-volatile memory, and the operation history data of the camera itself, transmission / reception history data of various signals, and various setting data of the camera are stored. The data may be temporarily recorded in the RAM, and the recorded data in the RAM may be written into the rewritable nonvolatile memory when a predetermined data storage request is generated. Here, for example, the predetermined data storage request is transmitted from the control device on the FA device side, is generated by the camera CPU immediately before the camera is turned off, or can be determined by the camera CPU. It may occur in the CPU of the camera when an abnormality (for example, camera temperature abnormality) occurs. As described above, if the recording data in the RAM is written in the rewritable nonvolatile memory, the recording data can be held in the nonvolatile memory even after the camera is turned off.

図１は本発明の一実施例におけるシステム構成を示すブロック図である。FIG. 1 is a block diagram showing a system configuration in an embodiment of the present invention.

以下、本発明を実施するための形態を具体化した一実施例を説明する。
まず、図１に基づいてシステム構成を説明する。
ＦＡ機器は、例えば、電子部品実装機、工作機械、スクリーン印刷機、産業ロボット等であり、該ＦＡ機器を制御するＦＡ機器制御装置１１には、ＣＰＵ１２と記憶装置１３等が設けられている。記憶装置１３は、ハードディスク装置、ＤＶＤ、ＣＤ、ＭＯ等の光学ドライブ装置、ＵＳＢメモリ等のいずれであっても良い。 Hereinafter, an embodiment embodying a mode for carrying out the present invention will be described.
First, the system configuration will be described with reference to FIG.
The FA device is, for example, an electronic component mounting machine, a machine tool, a screen printing machine, an industrial robot, or the like. The FA device control device 11 that controls the FA device is provided with a CPU 12, a storage device 13, and the like. The storage device 13 may be any of a hard disk device, an optical drive device such as a DVD, a CD, and an MO, a USB memory, and the like.

ＦＡ機器には、カメラ２１が設けられ、該カメラ２１とＦＡ機器制御装置１１との間がカメラケーブル２２で接続され、各種信号が送受信されるようになっている。カメラ２１には、ＣＰＵ２３と、プログラムや初期設定データ等を記憶するＲＯＭ２４と、後述する各種データを一時的に記憶するＲＡＭ２５（書き換え可能なメモリ）と、書き換え可能な不揮発性メモリであるフラッシュメモリ２６等が設けられている。   The FA device is provided with a camera 21, and the camera 21 and the FA device control apparatus 11 are connected by a camera cable 22 so that various signals can be transmitted and received. The camera 21 includes a CPU 23, a ROM 24 that stores programs, initial setting data, and the like, a RAM 25 (rewritable memory) that temporarily stores various data described later, and a flash memory 26 that is a rewritable nonvolatile memory. Etc. are provided.

カメラ２１のＣＰＵ２３は、該カメラ２１自身の動作履歴データと各種信号の送受信履歴データと該カメラ２１の各種設定データをＲＡＭ２５に記録する。ここで、カメラ２１の各種設定データとしては、例えば、カメラゲイン、露光時間、画像データのオフセット量、ＲＯＩ（Region Of Interest：撮像領域）の設定値等がある。各種信号の送受信履歴データには、ＦＡ機器制御装置１１のＣＰＵ１２からの動作指示の履歴データが含まれる。   The CPU 23 of the camera 21 records the operation history data of the camera 21 itself, transmission / reception history data of various signals, and various setting data of the camera 21 in the RAM 25. Here, the various setting data of the camera 21 include, for example, camera gain, exposure time, offset amount of image data, setting value of ROI (Region Of Interest: imaging region), and the like. The transmission / reception history data of various signals includes operation instruction history data from the CPU 12 of the FA device control apparatus 11.

また、ＦＡ機器制御装置１１のＣＰＵ１２は、カメラ２１から送信されてくる撮像画像に問題があった場合に、その時の画像データとその画像撮像時の各種設定データをカメラ２１のＲＡＭ２５に記録する指示をカメラ２１に送信する。   In addition, when there is a problem with the captured image transmitted from the camera 21, the CPU 12 of the FA device control apparatus 11 instructs to record the image data at that time and various setting data at the time of image capturing in the RAM 25 of the camera 21. Is transmitted to the camera 21.

また、例えば、ＦＡ機器制御装置１１のＣＰＵ１２からデータ送信要求が出されたとき、又は、カメラ２１の電源がオフされる直前、又は、カメラ２１のＣＰＵ２３で判断できる重大な異常（例えばカメラ温度異常等）が発生したときに、カメラ２１のＲＡＭ２５に記録された各種データをＦＡ機器制御装置１１に送信して該ＦＡ機器制御装置１１の記憶装置１３に保存するようにしている。   Further, for example, when a data transmission request is issued from the CPU 12 of the FA device control apparatus 11, or immediately before the power of the camera 21 is turned off, or a serious abnormality that can be determined by the CPU 23 of the camera 21 (for example, a camera temperature abnormality). Etc.) occurs, various data recorded in the RAM 25 of the camera 21 are transmitted to the FA device control device 11 and stored in the storage device 13 of the FA device control device 11.

また、所定のデータ保存要求が発生した時に、カメラ２１のＲＡＭ２５の記録データを書き換え可能な不揮発性メモリであるフラッシュメモリ２６に書き込むようにしても良い。ここで、所定のデータ保存要求は、例えば、ＦＡ機器制御装置１１のＣＰＵ２３から送信されてきたり、カメラ２１の電源がオフされる直前に該カメラ２１のＣＰＵ２３で発生したり、カメラ２１のＣＰＵ２３で判断できる重大な異常（例えばカメラ温度異常等）が発生したときに該カメラ２１のＣＰＵ２３で発生したりする。   Further, when a predetermined data storage request is generated, the recorded data in the RAM 25 of the camera 21 may be written in the flash memory 26 which is a rewritable nonvolatile memory. Here, the predetermined data storage request is transmitted from, for example, the CPU 23 of the FA device control apparatus 11, is generated by the CPU 23 of the camera 21 immediately before the power of the camera 21 is turned off, or is transmitted from the CPU 23 of the camera 21. It may occur in the CPU 23 of the camera 21 when a serious abnormality that can be determined (for example, abnormal camera temperature) occurs.

以下、具体例について説明する。
カメラ２１の動作中に、後述するトレースイベントが発生すると、そのトレースイベントがカメラ２１のＲＡＭ２５に記録される。ここで、ＲＡＭ２５は、リングバッファになっており、常に最新のトレースイベントが記録される。 Hereinafter, specific examples will be described.
When a trace event described later occurs during the operation of the camera 21, the trace event is recorded in the RAM 25 of the camera 21. Here, the RAM 25 is a ring buffer, and the latest trace event is always recorded.

カメラ２１のＲＡＭ２５に記録するトレースイベントの種類は、例えば、次の１０種類である。   The types of trace events recorded in the RAM 25 of the camera 21 are, for example, the following ten types.

(1) ＦＡ機器制御装置１１のＣＰＵ１２からのコマンドイベント
(2) カメラ２１のＣＰＵ２３からイメージセンサへのコマンドイベント
(3) トリガ入力オンイベント
(4) トリガ入力オフイベント
(5) 撮像開始イベント
(6) 画像転送開始イベント
(7) 画像転送完了イベント
(8) イメージセンサ温度情報イベント
(9) エラーイベント
(10)不具合発生時の撮像画像 (1) Command event from CPU 12 of FA device controller 11
(2) Command event from the CPU 23 of the camera 21 to the image sensor
(3) Trigger input on event
(4) Trigger input off event
(5) Imaging start event
(6) Image transfer start event
(7) Image transfer completion event
(8) Image sensor temperature information event
(9) Error event
(10) Captured image at the time of malfunction

上記(1) 〜(10)のトレースイベントの全てをトレースログとして記録するのではなく、ＦＡ機器制御装置１１のＣＰＵ１２からの指示で選択できるようにしても良い。カメラ２１の電源投入時は、イニシャル処理により、上記(1) 〜(10)の全てのトレースイベントが記録対象として選択されるようになっている。   Instead of recording all the trace events (1) to (10) as a trace log, the trace events may be selected by an instruction from the CPU 12 of the FA device control apparatus 11. When the camera 21 is turned on, all the trace events (1) to (10) are selected as recording targets by the initial process.

ここで、ＦＡ機器制御装置１１のＣＰＵ１２からのコマンドイベントは、カメラ２１がＦＡ機器制御装置１１のＣＰＵ１２からのコマンドを受信したときに発生し、例えば、以下の種類がある。   Here, the command event from the CPU 12 of the FA device control device 11 occurs when the camera 21 receives a command from the CPU 12 of the FA device control device 11, and has the following types, for example.

(a) 撮像開始、停止指示
(b) シャッタスピード設定
(c) カメラゲイン（画像輝度）の設定
(d) 画像データのオフセット設定
(e) フレームレート（画像の転送スピード）の設定
(f) ＲＯＩ（Region Of Interest：撮像領域）の設定
(g) 動作モードの設定
(h) フラッシュメモリ２６へのトレースログの保存指示
(i) フラッシュメモリ２６へのトレースログの保存イベント設定指示
(j) トレースイベント取得種類指示 (a) Instruction to start and stop imaging
(b) Shutter speed setting
(c) Camera gain (image brightness) setting
(d) Image data offset setting
(e) Setting the frame rate (image transfer speed)
(f) Setting ROI (Region Of Interest)
(g) Setting the operation mode
(h) Instruction to save trace log to flash memory 26
(i) Instruction to set trace log save event to flash memory 26
(j) Trace event acquisition type instruction

また、カメラ２１のＣＰＵ２３からイメージセンサへのコマンドイベントは、カメラ２１のＣＰＵ２３からイメージセンサへコマンドを送信したときに発生し、例えば、以下の種類がある。   A command event from the CPU 23 of the camera 21 to the image sensor is generated when a command is transmitted from the CPU 23 of the camera 21 to the image sensor. For example, there are the following types.

(h) シャッタスピード設定
(i) カメラゲイン（画像輝度）の設定
(j) ＲＯＩ（Region Of Interest：撮像領域）の設定
(k) 動作モードの設定 (h) Shutter speed setting
(i) Camera gain (image brightness) setting
(j) Setting of ROI (Region Of Interest)
(k) Operation mode setting

トリガ入力オンイベントは、ＦＡ機器制御装置１１側からカメラ２１に入力されるトリガ信号がオンされたときに発生する。
トリガ入力オフイベントは、ＦＡ機器制御装置１１側からカメラ２１に入力されるトリガ信号がオフされたときに発生する。 The trigger input on event occurs when a trigger signal input to the camera 21 from the FA device control device 11 side is turned on.
The trigger input off event occurs when a trigger signal input to the camera 21 from the FA device control apparatus 11 side is turned off.

撮像開始イベントは、イメージセンサが撮像（露光）を開始するときに発生する。
画像転送開始イベントは、カメラ２１からＦＡ機器制御装置１１へ画像の転送を開始するときに発生する。 The imaging start event occurs when the image sensor starts imaging (exposure).
The image transfer start event occurs when image transfer from the camera 21 to the FA device control apparatus 11 is started.

画像転送完了イベントは、カメラ２１からＦＡ機器制御装置１１への画像の転送を完了したときに発生する。
イメージセンサ温度情報イベントは、イメージセンサ温度情報をＲＡＭ２５に記録するために画像撮像時又は周期的に発生する。
エラーイベントは、カメラ２１の内部でエラーが起こったときに発生し、例えば、以下の種類がある。 The image transfer completion event occurs when image transfer from the camera 21 to the FA device control apparatus 11 is completed.
The image sensor temperature information event is generated at the time of image capturing or periodically in order to record the image sensor temperature information in the RAM 25.
An error event occurs when an error occurs inside the camera 21 and includes, for example, the following types.

(l) ＦＡ機器制御装置１１との間の通信エラー
(m) イメージセンサ温度エラー（過昇温）
(n) 冷却ファン停止エラー
(o) ＲＯＩ計算エラー (l) Communication error with FA device controller 11
(m) Image sensor temperature error (overheating)
(n) Cooling fan stop error
(o) ROI calculation error

いずれかのエラーイベントが発生した場合は、トレースログを自動的にフラッシュメモリ２６に保存する。
また、１つのトレースイベントで記録する情報は、例えば、以下の種類がある。 If any error event occurs, the trace log is automatically saved in the flash memory 26.
The information recorded in one trace event includes the following types, for example.

(p) タイムスタンプ
(q) タスクＩＤ番号
(r) メッセージ
(s) 汎用パラメータ１
(t) 汎用パラメータ２ (p) Time stamp
(q) Task ID number
(r) Message
(s) General-purpose parameter 1
(t) General-purpose parameter 2

また、ＲＡＭ２５に記録したトレースログをフラッシュメモリ２６に保存するタイミングは、例えば、以下の種類がある。
(u) ＦＡ機器制御装置１１側からの指示
(v) エラーイベント発生時
(w) 任意のイベント発生時
ここで、任意のイベント発生時は、ＦＡ機器制御装置１１側からイベントの種類を設定できるようになっている。 Moreover, the timing which preserve | saves the trace log recorded on RAM25 in the flash memory 26 has the following types, for example.
(u) Instruction from FA device controller 11 side
(v) When an error event occurs
(w) When an arbitrary event occurs Here, when an arbitrary event occurs, an event type can be set from the FA device control apparatus 11 side.

また、フラッシュメモリ２６への保存中にトレースイベントが発生する場合があるため、ＲＡＭ２５には複数のリングバッファを設け、常にいずれかのリングバッファが動作するようになっている。   Since a trace event may occur during storage in the flash memory 26, the RAM 25 is provided with a plurality of ring buffers, and any one of the ring buffers always operates.

ＦＡ機器制御装置１１側がトレースログを取得する場合は、ＦＡ機器制御装置１１側からカメラ２１にデータ送信要求を送信し、それに応じて、カメラ２１のＲＡＭ２５（又はフラッシュメモリ２６）に記録されているトレースログをＦＡ機器制御装置１１側に送信する。   When the FA device control device 11 side acquires the trace log, a data transmission request is transmitted from the FA device control device 11 side to the camera 21 and is recorded in the RAM 25 (or flash memory 26) of the camera 21 accordingly. The trace log is transmitted to the FA device control apparatus 11 side.

ところで、カメラ２１に関係する不具合には、カメラ２１自身の問題もあるが、カメラ２１を制御するＦＡ機器制御装置１１側にも問題がある場合もある。その点、本実施例のように、カメラ２１自身の動作履歴データと各種信号の送受信履歴データと該カメラ２１の各種設定データをＲＡＭ２５（又はフラッシュメモリ２６）に記録するようにすれば、動作不具合発生時の全ての状況を把握することができ、動作不具合の原因がカメラ２１自身の動作不良によるものか、ＦＡ機器制御装置１１側のＣＰＵ１２から動作指示がカメラケーブル２２の断線やコネクタの外れ等でカメラ２１側に届いていないのか、或は、外部からのノイズ等による誤動作であるのかを容易に判別でき、カメラ２１の動作不具合の原因調査が容易になる。しかも、カメラ２１の各種設定データも分かるため、画像処理エラーの原因調査も容易になる。   By the way, the trouble related to the camera 21 has a problem of the camera 21 itself, but there may be a problem also on the FA device control apparatus 11 side that controls the camera 21. In this regard, if the operation history data of the camera 21 itself, the transmission / reception history data of various signals, and the various setting data of the camera 21 are recorded in the RAM 25 (or the flash memory 26) as in the present embodiment, the operation failure will occur. All the conditions at the time of occurrence can be grasped, and the cause of the operation failure is due to the operation failure of the camera 21 itself, or the operation instruction from the CPU 12 on the FA device control device 11 side is disconnection of the camera cable 22, disconnection of the connector, etc. Therefore, it is possible to easily determine whether it has not reached the camera 21 side, or whether it is a malfunction due to external noise or the like, and the cause of the malfunction of the camera 21 can be easily investigated. In addition, since various setting data of the camera 21 is also known, it is easy to investigate the cause of the image processing error.

また、ＦＡ機器からカメラ２１を取り外すことなく、組付状態でトレースログを解析することができるため、カメラ２１の動作不具合の原因調査を組付状態で容易に行うことができる。また、工場出荷後に発生した異常で、現地での原因解析ができないような場合には、フラッシュメモリ２６に保存された各種データを取得することで、工場からでも詳細な原因解析が可能となる。   Further, since the trace log can be analyzed in the assembled state without removing the camera 21 from the FA device, the cause investigation of the malfunction of the camera 21 can be easily performed in the assembled state. Further, in the case where the cause analysis cannot be performed at the site due to an abnormality that has occurred after shipment from the factory, the detailed cause analysis can be performed even from the factory by acquiring various data stored in the flash memory 26.

１１…ＦＡ機器制御装置、１２…ＣＰＵ、１３…記憶装置、２１…カメラ、２３…ＣＰＵ、２４…ＲＯＭ、２５…ＲＡＭ、２６…フラッシュメモリ   DESCRIPTION OF SYMBOLS 11 ... FA apparatus control apparatus, 12 ... CPU, 13 ... Storage device, 21 ... Camera, 23 ... CPU, 24 ... ROM, 25 ... RAM, 26 ... Flash memory

Claims (6)

撮像対象物を撮像するＦＡ機器用カメラにおいて、
該カメラには、ＣＰＵと書き換え可能なメモリを搭載し、該カメラとＦＡ機器側の制御装置との間で各種信号を送受信するように構成し、
前記ＣＰＵは、該カメラ自身の動作履歴データと前記各種信号の送受信履歴データと該カメラの各種設定データを前記書き換え可能なメモリに記録することを特徴とするＦＡ機器用カメラ。 In an FA device camera for imaging an imaging object,
The camera is equipped with a CPU and a rewritable memory, and is configured to transmit and receive various signals between the camera and the control device on the FA device side,
The camera for FA equipment, wherein the CPU records operation history data of the camera itself, transmission / reception history data of the various signals, and various setting data of the camera in the rewritable memory. 前記各種信号の送受信履歴データには、前記ＦＡ機器側の制御装置からの動作指示の履歴データが含まれることを特徴とする請求項１に記載のＦＡ機器用カメラ。   The FA device camera according to claim 1, wherein the transmission / reception history data of the various signals includes operation instruction history data from the control device on the FA device side. 前記ＦＡ機器側の制御装置は、該カメラから送信されてくる撮像画像に問題があった場合に、その時の画像データとその画像撮像時の前記各種設定データを前記書き換え可能なメモリに記録させるように該カメラに指示することを特徴とする請求項１又は２に記載のＦＡ機器用カメラ。   When there is a problem with the captured image transmitted from the camera, the control device on the FA device side records the image data at that time and the various setting data at the time of image capturing in the rewritable memory. The FA device camera according to claim 1, wherein the camera is instructed to the camera. 前記書き換え可能なメモリには、前記ＦＡ機器側の制御装置の情報も記録されることを特徴とする請求項１乃至３のいずれかに記載のＦＡ機器用カメラ。   The FA device camera according to any one of claims 1 to 3, wherein the rewritable memory also records information of the control device on the FA device side. 前記書き換え可能なメモリに記録された画像撮像時の前記各種データは、所定時期に前記ＦＡ機器側の制御装置に送信されて該制御装置の記憶装置に保存されることを特徴とする請求項１乃至４のいずれかに記載のＦＡ機器用カメラ。   2. The various data at the time of image capturing recorded in the rewritable memory is transmitted to a control device on the FA device side at a predetermined time and stored in a storage device of the control device. Camera for FA apparatus in any one of thru | or 4. 前記書き換え可能なメモリは、ＲＡＭと書き換え可能な不揮発性メモリとから成り、
該カメラ自身の動作履歴データと前記各種信号の送受信履歴データと該カメラの各種設定データは一時的に前記ＲＡＭに記録され、所定のデータ保存要求が発生した時に前記ＲＡＭの記録データが前記書き換え可能な不揮発性メモリに書き込まれることを特徴とする請求項１乃至５のいずれかに記載のＦＡ機器用カメラ。 The rewritable memory includes a RAM and a rewritable nonvolatile memory,
The operation history data of the camera itself, the transmission / reception history data of the various signals, and the various setting data of the camera are temporarily recorded in the RAM, and the recorded data in the RAM can be rewritten when a predetermined data storage request occurs. 6. The FA device camera according to claim 1, wherein the camera is written in a non-volatile memory.
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