JP2015067386A - Parts feeder - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parts feeder capable of recognizing a workpiece in image data obtained by imaging means even when using a workpiece having a different reflection efficiency of light between a surface and a rear surface.SOLUTION: There is provided the parts feeder including a transport path 1 for transporting a workpiece W, a line camera 2 as imaging means which is installed on a position opposite to a transport surface 10 of the transport path 1 and images the workpiece W passing through an imaging position P1 preset on the transport path 1 and a workpiece recognition part 32a which recognizes the workpiece W from image data gained by imaging of the line camera 2. A high reflection region 10A and a low reflection region 11A as a plurality of reflection regions having respectively different reflection efficiency of light are formed on the transport surface 10 of the transport path 1 and the workpiece recognition part 32a is configured to recognize the workpiece W based on a brightness difference between a workpiece W surface, and the low reflection region 11A and the high reflection region 10A in the image data.

Description

  The present invention recognizes a workpiece, which is a precondition for determining the quality of a workpiece, in image data acquired by an imaging means, and even in workpieces having different light reflection efficiencies in the image data. It relates to a parts feeder that can be recognized stably.

  2. Description of the Related Art Conventionally, a parts feeder that conveys a workpiece that is a conveyance object along a conveyance path is known. For example, Patent Documents 1 and 2 include an imaging unit that captures the surface of a workpiece in the middle of conveyance, and determines the shape and orientation of the workpiece based on image data captured by the imaging unit, thereby removing a defective workpiece from the conveyance path. A parts feeder is disclosed. In the parts feeders disclosed in Patent Documents 1 and 2, the entire portion (within the imaging range) imaged by the imaging means in the conveyance path is made of Teflon (registered trademark) resin that hardly adheres to dust or single crystal sapphire that is less likely to cause scratches. Thus, the appearance of dust or the like in the image data is suppressed, and a correct detection image of the workpiece is obtained to accurately determine the quality of the workpiece.

JP-A-6-31826 Japanese Patent Laid-Open No. 7-25444

  By the way, in the conventional parts feeder having the above-described pass / fail judgment function, for example, preprocessing such as binarization is performed on the image data obtained by the imaging means, and the workpiece appearing in the preprocessed image data is recognized. Thus, the posture and shape of the workpiece are determined by pattern matching or the like.

  Various workpieces are used. For example, the reflection efficiency of the workpiece surface varies depending on the workpiece. A workpiece with low reflection efficiency absorbs light or light is irregularly reflected (high diffusibility) due to surface irregularities, and therefore appears dark in image data when imaged by an imaging means. In addition, a workpiece with high reflection efficiency (mirror surface) appears bright in image data when imaged by the imaging means. Therefore, in order to stably recognize the workpiece in the image data, it is usual to make the reflection efficiency largely different from the workpiece surface at least within the imaging range on the conveyance surface.

However, the reflection efficiency partially is coated with a resin in the upper surface W ₁ and the lower surface W ₂ of the surface of the work body W ₁₀ as shown in FIG. 2 is different as a work, i.e. the surface facing the image pickup means When something that appears dark or appears bright, etc., as in the parts feeder disclosed in Patent Documents 1 and 2, the entire imaging range of the conveying surface is formed of the same material, and reflection within the imaging range When the efficiency is uniform, it is difficult to accurately determine the quality of the workpiece, and there is a problem that a determination error (for example, the size or shape of the workpiece is wrong or the workpiece is allowed to pass without being determined) is likely to occur. .

The reason for this will be described with reference to FIGS. In the workpiece W as shown in FIG. 2, the upper surface W ₁ with low reflection efficiency appears dark in the image data, while the lower surface W ₂ with high reflection efficiency appears bright. Therefore, if the tentatively set high reflection efficiency of the conveying surface 210 of the transport path, in the image data, the upper surface of the workpiece W W ₁ is easy lightness difference is large recognition that the conveying surface 210 as shown in FIG. 13 (a) although, the lower surface of the workpiece W W ₂ is less likely to be recognized by assimilated with the conveying surface 210 as shown in Figure 13 (b). In the image data, side W ₃ of the workpiece W is part coating is applied as shown in FIG. 13 (c) is easy to lightness difference is large recognizes the conveying surface 210, otherwise The part is assimilated with the conveyance surface 210 and is not easily recognized. Therefore, when setting a high reflection efficiency of the conveying surface 210, the workpiece W to the lower surface W ₂ is conveyed so as to face the imaging means, hardly recognized in the image data.

On the other hand, if you set if a low reflection efficiency of the transport surface 211, the image data, but the lower surface W ₂ of the workpiece W is easily lightness difference is large recognizes the conveyance surface 211 as shown in FIG. 14 (b) , the top surface of the workpiece W _{W 1} is less likely to be recognized by assimilated with the conveying surface 211 as shown in FIG. 14 (a). Incidentally, the side surface W ₃ of the workpiece W, the portion is coated as shown in FIG. 14 (c) is hardly recognized merged with the conveying surface 211 but, brightness difference between the other portions conveying surface 211 Recognition is greatly facilitated. Therefore, when a set low reflection efficiency of the transport surface 211, the work W upper surface W ₁ is conveyed so as to face the imaging means, hardly recognized in the image data.

  Thus, no matter how the reflection efficiency of the conveyance surface is set, at least one surface of the workpiece W is difficult to be recognized in the image data, and the accuracy of the workpiece W whose shape or the like has not been accurately recognized is accurately determined. It is difficult to discriminate them.

  It is possible to recognize the workpiece W from the image data having a small brightness difference between the surface of the workpiece W and the conveying surface by finely adjusting the threshold value when binarizing the image data. The binarization process is difficult to adjust and is not practical.

  An object of the present invention is to effectively solve such problems, and even when workpieces having different light reflection efficiencies are used on the front and back sides, the workpiece can be stably recognized from the image data acquired by the imaging means. The purpose is to provide a possible parts feeder.

  The present invention takes the following measures in view of the above problems.

  That is, the parts feeder according to the present invention is installed at a position facing a conveyance path for conveying a workpiece and a conveyance surface of the conveyance path, and images the workpiece passing through an imaging position set in the conveyance path. And a work recognizing means for recognizing the work from the image data acquired by imaging by the imaging means, wherein the conveyance surface of the conveyance path is at least within an imaging range of the imaging means. In addition, a plurality of reflection regions having different light reflection efficiencies are formed, and the imaging unit is configured to detect the conveyance surface exposed to the periphery of the workpiece together with the workpiece surface when the workpiece is located within the imaging range. The image data obtained by imaging the reflection area is acquired, and the work recognition means is based on a color element difference between the work surface and the reflection area in the image data. And recognizes the over click.

  Here, the light reflection efficiency represents the degree of the amount of light incident on the image pickup means, and the light reflection efficiency means that the amount of light incident on the image pickup means is relatively large among the reflected light. A thing with a low reflection efficiency means a thing with relatively little quantity of the light which injects into an imaging means among the lights reflected to it. In addition to lightness and saturation, color elements include those that appear as differences in image data due to differences in reflection efficiency such as luminance and illuminance.

  With such a configuration, the workpiece passing through the imaging position is imaged by the imaging means, and image data in which the workpiece surface and a plurality of reflection areas appear is obtained. In this image data, a portion where a reflection region having a relatively high reflection efficiency appears is relatively bright (or a high degree of vividness), and a portion where a reflection region where a reflection efficiency is relatively low appears. Becomes darker (or less vivid). As described above, since there are a plurality of regions having different color elements on the conveyance surface that is exposed around the workpiece in the image data, at least a part of the image data is used regardless of the reflection efficiency of the workpiece. A color element difference occurs between the workpiece surface and the conveyance surface, and the workpiece appearing in the image data can be easily recognized by the workpiece recognition means. Therefore, even when workpieces having different light reflection efficiencies are used on the front and back sides, the workpiece can be stably recognized from the image data obtained by imaging by the imaging means, and the posture discrimination function can be effectively enhanced.

  As a specific arrangement of the reflection areas, it is desirable that the plurality of reflection areas are alternately formed in a direction orthogonal to the workpiece conveyance direction.

  In order to exhibit the effect of suppressing the generation of static electricity while partially changing the reflection efficiency in the imaging range by forming the reflection region, at least one of the plurality of reflection regions is transported It is desirable that it is formed by cutting out a part of the road.

  In order to effectively diffuse and reflect light, at least one of the plurality of reflection regions is formed by cutting out a part of the transport path into a substantially V-shaped cross-sectional view whose width becomes narrower downward. It is preferred that

  In the case where the imaging unit is a line camera, it is preferable that the plurality of reflection regions are formed within the imaging range of the imaging unit, or only in the imaging range and its periphery.

  On the other hand, when the imaging means is an area camera, it is preferable that the plurality of reflection regions are formed over substantially the entire area from the start end to the end of the transport surface.

  As described above, according to the present invention described above, a plurality of reflection regions having different color elements are formed in the image data within the imaging range of the conveyance path. Even if it exists, it becomes possible to provide the parts feeder which can recognize the said workpiece | work stably from image data.

The side view which shows the parts feeder which concerns on the 1st Embodiment of this invention. The perspective view which shows the workpiece | work used as conveyance object with the parts feeder which concerns on 1st Embodiment and 2nd Embodiment. The perspective view which shows the imaging position periphery of the parts feeder. The figure which shows the composite image data obtained by imaging the workpiece | work shown in FIG. FIG. 5 is a diagram showing high reflection area data and low reflection area data obtained from the composite image data shown in FIG. 4. FIG. 5 is a diagram showing high reflection area data and low reflection area data obtained from the composite image data shown in FIG. 4. FIG. 5 is a diagram showing high reflection area data and low reflection area data obtained from the composite image data shown in FIG. 4. The side view which shows the parts feeder which concerns on the 2nd Embodiment of this invention. The perspective view which shows the imaging position periphery of the parts feeder. The figure which shows the image data obtained by imaging the workpiece | work shown in FIG. The perspective view which shows the modification of the parts feeder which concerns on 1st Embodiment. The perspective view which shows the modification of the parts feeder which concerns on 2nd Embodiment. The figure which shows the image data obtained in the conventional parts feeder. The figure which shows the image data obtained in the conventional parts feeder.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the parts feeder 100 which is the 1st Embodiment of this invention conveys the workpiece | work W which is a conveyed product along the conveyance path 1 from the left of FIG. Then, the workpiece W in the middle of conveyance is imaged by the line camera 2 as an imaging means, and the workpiece W can be stably recognized from the obtained image data.

Such a parts feeder 100 includes a conveyance path 1, a drive unit 11 that drives the conveyance path 1, a line camera 2, and an exclusion unit 4 that excludes an unintentional workpiece W from the conveyance path 1. And a control device 3 that performs from the acquisition of the image data acquired by the line camera 2 to the posture determination of the workpiece W based on the image data. It is capable conveying the parts feeder 100 different in the work, for example, as shown in FIG. 2, it is possible to use a workpiece W coated with a resin in a part of the work body W ₁₀ metallic. Coating with resin is subjected toward a portion of the side surface W ₃ from the upper surface W ₁ of the workpiece W, the light reflection efficiency is different in this way the upper surface W ₁ and the lower surface W _2. The workpiece W is transported such that the longitudinal direction or the short direction is parallel to the transport direction (hereinafter simply referred to as “transport direction”).

  As shown in FIG. 1, an imaging position (imaging point) P1 is set on the conveyance path 1, and a line camera 2 is provided above the imaging position P1 so as to face the conveyance surface 10. . The line camera 2 has a plurality of high-sensitivity imaging elements arranged in a line perpendicular to the transport direction, and receives reflected light of natural light or light projected from an appropriate light source on the transport path 1. The workpiece W to be conveyed is imaged. The imaging range (imaging area) 20 of the line camera 2 shown in FIG. 3 is a range in which a part of the workpiece W in the longitudinal direction is imaged with respect to the transport direction when the longitudinal direction of the workpiece W is parallel to the transport direction. In the direction perpendicular to the transport direction, the entire range of the short side of the workpiece W is set to be imaged. When the short direction of the workpiece W is parallel to the transport direction, the short of the workpiece W is short of the transport direction. The range in which a part of the hand direction is imaged and the direction orthogonal to the transport direction are set to the range in which the entire longitudinal direction of the workpiece W is imaged.

  As shown in FIG. 3, a plurality of notches 11 (six in this embodiment) are formed in the imaging range 20 in the conveyance path 1 along the conveyance direction. This notch 11 is formed by notching a part of the conveyance path 1 so that the width becomes narrower downward, and the shape viewed from a direction orthogonal to the conveyance direction is substantially V-shaped. . The conveyance surface 10 of the conveyance path 1 is flat except for the portion where the notch 11 is formed and has a high specularity and a high light reflection efficiency. On the other hand, the notch 11 has light on its inclined surface. Light reflection efficiency is low due to diffuse reflection (high diffusivity). As described above, in the imaging range 20, the high reflection region 10A configured by the unprocessed transport surface 10 and having high reflection efficiency, and the low reflection region 11A configured by the notch 11 and having low reflection efficiency are included in the transport direction. They are formed alternately in the orthogonal direction.

  Here, the position where the line camera 2 is installed is important in taking the timing to eliminate the workpiece W having an inappropriate posture, and is preferably disposed at a predetermined position with respect to the injection nozzle 40 described later. In the present embodiment, since the notch 11 is formed only in a narrow range in the imaging range 20 and the periphery thereof, the line camera 2 is desired by installing the line camera 2 with reference to the notch 11. Can be installed with high accuracy. Further, the line camera 2 can be focused by checking the notch 11 with the image data acquired by the line camera 2 at this time.

  The line camera 2 operates so as to continuously perform imaging at a constant interval before the workpiece W reaches the imaging position P1, and the workpiece W conveyed toward the downstream side passes through the imaging position P1. A plurality of images are taken in between, and the front end Wa of the workpiece W (workpiece end downstream in the transport direction, see FIGS. 1 and 3) to the rear end Wb (workpiece end upstream in the transport direction, see FIGS. 1 and 3). A plurality of image data in which different positions of the workpiece W appear are acquired. The acquired image data is transferred to the control device (controller) 3 shown in FIG. 1 every time imaging is performed.

  The control device 3 shown in FIG. 1 is composed of a normal microcomputer unit having a CPU, a memory, an interface, etc. (not shown). An appropriate program is stored in the memory, and the CPU sequentially stores the program. It plays the role of the image capturing means 30, the preprocessing means 31, and the posture determination means 32 in cooperation with the reading and peripheral hardware resources.

  The image capturing means 30 captures the image data acquired by the line camera 2 immediately into the control device 3 every time imaging is performed.

When the image data is taken in via the image take-in means 30, the pre-processing means 31 immediately performs predetermined pre-processing such as binarization processing for each image data, and the front end Wa of the workpiece W in the image data. (See FIGS. 1 and 3) and the rear end Wb (see FIGS. 1 and 3) are determined through appropriate image processing. This discrimination process will be described later. Further, the pre-processing means 31 connects the image data from the front end Wa of the workpiece W to the image data from the rear end Wb of the workpiece W in the order of imaging, so that a two-dimensional image in which substantially the entire workpiece W appears. Composite image data 50 (50a to 50c) as shown in FIG. Incidentally, the synthetic image data 50a shown in FIG. 4 (a) shows what line camera 2 is generated from the image data of the captured upper surface W ₁ of the workpiece W, the composite image data 50b shown in FIG. 4 (b) line camera 2 indicates those generated from the image data of the captured lower face W ₂ of the workpiece W, the composite image data 50c shown in FIG. 4 (c) from the image data line camera 2 has captured the sides W ₃ of the workpiece W Indicates what was generated.

Here, in the image data 50, the portion where the high reflection region 10A appears is relatively bright, and the portion where the low reflection region 11A appears is relatively dark. Therefore, the upper surface W ₁ of the low reflection efficiency workpiece W, as shown in FIGS. 4 (a), (hereinafter referred to "lightness difference") difference in brightness as a color element and the high-reflection region 10A is larger boundary On the other hand, the brightness difference with the low reflection region 11A is small, and the boundary is difficult to understand by assimilating with the low reflection region 11A. In FIG. 4, a relatively dark portion is hatched, and this is the same in FIGS. 5 to 7, 10, 13, and 14. The lower surface W ₂ of the reflection efficiency is high workpiece W, as shown in FIG. 4 (b), while the brightness difference between low reflection region 11A is large boundary is clear, the brightness difference between the high reflection region 10A is It is small and assimilated with the high reflection region 10A, the boundary is difficult to understand. Moreover, although the reflection efficiency is high portion (work body W reference ₁₀ part is exposed (FIG. 2)) and the reflection efficiency is low portion (portion W ₁₁ which coating is applied with a resin _(see FIG. 2)) side W ₃ of the workpiece W to be mixed, as shown in FIG. 4 (c), the reflection efficiency is large brightness difference from the high part and the low reflection region 11A, brightness and reflection efficiency is high portion and the high-reflection region 10A The difference is small. Further, the brightness difference between the low reflection efficiency portion and the low reflection region 11A is small, and the brightness difference between the low reflection efficiency portion and the high reflection region 10A is large. For this reason, the boundary where the reflection efficiency is high is clear for the low reflection region 11A, and the boundary where the reflection efficiency is low is clear for the high reflection region 10A.

The posture determination means 32 shown in FIG. 1 performs posture determination processing for determining the posture of the workpiece W (image determination) based on such composite image data 50, and a highly reflective region obtained from the composite image data 50. A workpiece recognition unit 32a is provided as a workpiece recognition means for recognizing the workpiece W in the data 150 (150a to 150c) and the low reflection area data 151 (151a to 151c) (both refer to FIGS. 4 and 5). As shown in FIGS. 5 to 8, the posture determination unit 32 separates portions corresponding to the high reflection region 10 </ b> A in the composite image data 50, and obtains the high reflection region data 150 by combining these portions. Further, the portion corresponding to the low reflection region 11A in the composite image data 50 is separated, and the low reflection region data 151 is obtained by combining these portions. As shown in FIG. 5, the upper surface W ₁ of the workpiece W, although boundaries merged with the low reflection region 11A in the low reflection region data 151a is confusing, the boundary between the high reflection region 10A in the high-reflection region data 150a is clearly since it is, if the composite image data 50 upper surface W ₁ of the workpiece W has appeared, workpiece recognition unit 32a is able to accurately recognize the workpiece W in the high reflection region data 150a. Further, as shown in FIG. 6, the lower surface W ₂ of the workpiece W, while confusing the boundary assimilated with the high-reflection region 10A in the high-reflection region data 150b, the boundary between the low-reflection area data 151b in the low reflection region 11A from that it is clear, if the composite image data 50 is the lower surface W ₂ of the workpiece W has appeared, workpiece recognition unit 32a is able to recognize accurately the workpiece W in the low reflection region data 151b. As further shown in FIG. 7, the side surface W ₃ of the workpiece W is clear boundary between the reflection efficiency is low portion and the high reflection region 10A in the high reflection region data 150c, a high reflection efficiency in the low reflection region data 151c since the boundary between the part and the low reflection region 11A is clear, when the side surface W ₃ of the workpiece W appearing in the composite image data 50, workpiece recognition unit 32a is in the high reflection region data 150c and the low reflection region data 151c The workpiece W can be accurately recognized.

  The posture determination unit 32 stores, for example, image data (low reflection region data and high reflection region data) of the workpiece W in an appropriate posture in the above-described memory in advance, and the high reflection region obtained as described above. The posture of the workpiece W is determined by comparing the data 150 and the low reflection area data 151 with the image data stored in the memory by pattern matching. In addition, as postures other than the predetermined posture, for example, the front and back are reversed or the front-rear direction is reversed. Further, the work recognition unit 32a compares the brightness difference between the work W and the high reflection area 10A in the high reflection area data 150 and the brightness difference between the work W and the low reflection area 11A in the low reflection area data 151, and this brightness difference. The workpiece W may be recognized only from data having a larger value. In this case, the posture determination unit 32 determines the posture of the workpiece W by comparing one of the data in which the workpiece W is recognized and the image data stored in the memory.

In this way, at least a part of each of the upper surface W ₁ , the lower surface W _2, and the side surface W ₃ of the workpiece W appears clearly in the composite image data 50, and this is the image from which the composite image data 50 is based. The same applies to the data. Therefore, in the image data obtained by imaging the front end Wa or the rear end Wb of the workpiece W, a portion having different brightness appears along the conveyance direction. The preprocessing means 31 shown in FIG. 1 detects (image discrimination) the front end Wa and the rear end Wb of the workpiece W that appear in the image data from such a difference in brightness during the discrimination processing. Even if the workpieces W are transported closely along the transport direction, there is a slight gap between the workpieces W. Therefore, in the image data, the brightness difference between the gap and the workpiece W is small. Thus, the front end Wa and the rear end Wb of the workpiece W can be determined.

  If the control device 3 determines that the posture determination unit 32 is in an inappropriate posture (incorrect posture), the control unit 3 transports the workpiece W at the rejection position P2 set in the transport path 1 to the rejection unit 4 illustrated in FIG. A command for causing the exclusion process (exclusion operation) to be excluded from the path 1 is output. The exclusion position P2 is set downstream of the imaging position P1 in the transport direction. The exclusion means 4 has an ejection nozzle 40 that ejects compressed air or the like toward the exclusion position P2, and applies a biasing force to the workpiece W by the gas ejected from the ejection nozzle 40 to move the workpiece W on the transport path 1. To eliminate.

  In this way, the workpiece W having an inappropriate posture is excluded, and only the workpiece W having an appropriate posture is supplied to the supply destination.

As described above, the parts feeder 100 of the present embodiment is installed at a position facing the conveyance path 1 that conveys the workpiece W and the conveyance surface 10 of the conveyance path 1, and passes through the imaging position P <b> 1 set in the conveyance path 1. A line camera 2 as an image pickup unit that picks up an image of the workpiece W to be picked up, and a workpiece recognition unit 32a as a workpiece recognition unit that recognizes the workpiece W from image data acquired by the image pickup by the line camera 2. The low-reflective area 11A and the high-reflective area 10A are formed as a plurality of reflective areas having different light reflection efficiencies at least within the imaging range 20 of the line camera 2 on the conveyance surface 10 of the conveyance path 1. The line camera 2 has a low reflection area on the transfer surface 10 that is exposed around the workpiece W when the workpiece W is located within the imaging range 20. 1A and the high reflection region 10A acquires the image data captured, the work recognition unit 32a, the surface (upper surface _{W 1,} the lower surface _{W 2} or side _{W 3)} of the workpiece W in the image data and the reflection area 10A, and 11A The workpiece W is configured to be recognized based on the brightness difference as the color element difference.

  Since it comprised in this way, the workpiece | work W which passes the imaging position P1 is imaged by the line camera 2, and the composite image data 50 on which the surface of the workpiece | work W, the high reflection area | region 10A, and the low reflection area | region 11A appeared was obtained. . In the composite image data 50, the portion where the high reflection region 10A appears is relatively bright, and the portion where the low reflection region 11A appears is relatively dark. As described above, since there are a plurality of regions having different brightness levels on the transport surface 10 exposed around the work W in the composite image data 50, the composite image data can be used regardless of the reflection efficiency. At least a part of 50 has a brightness difference between the surface of the workpiece W and the transport surface 10, and the workpiece recognition unit 32a can easily recognize the workpiece W from the composite image data 50. Therefore, even when a workpiece W having different light reflection efficiencies on the front and back sides is used, the workpiece W is stably recognized from the composite image data 50 obtained by the imaging of the line camera 2 and the posture discrimination function is effectively used. Can be increased.

  Further, since the high reflection area 10A and the low reflection area 11A are alternately formed in a direction orthogonal to the conveyance direction of the workpiece W, a portion having a large brightness difference is aligned along the direction orthogonal to the conveyance direction. The outer edge of the workpiece W can be clarified.

  Further, since the low reflection area 11A is formed by the notch 11 formed by cutting out a part of the conveyance path 1, the friction between the conveyance surface 10 and the work W is formed in the portion where the notch 11 is formed. The generation of static electricity that is likely to occur when the workpiece W transports the transport surface 10 can be suppressed.

  In particular, since the low reflection region 11A is formed by cutting a part of the conveyance path 1 into a substantially V-shaped cross-sectional view whose width becomes narrower downward, the inclined surface of the notch 11 is formed. Thus, the light is effectively diffusely reflected so that the low reflection region 11A appears sufficiently dark in the composite image data 50, and the workpiece W can be stably recognized by the workpiece recognition unit 32a.

  In addition, since the line camera 2 is used as an imaging unit and both the low reflection region 11A and the high reflection region 10A are formed only in the imaging range 20 and its periphery, the imaging range 20 is small, and the low reflection region The range in which the notch 11 constituting 11A is to be formed may be narrow. Note that the portion where the cutout 11 constituting the low reflection region 11A is formed on the transport surface 10 is different from the other portions where the friction coefficient is different, but the low reflection region 11A is located in the imaging range 20 and its surroundings. Therefore, the notch 11 has little influence on the work W transported on the transport surface 10, and the work W can be transported smoothly. Furthermore, since the notch 11 is formed only in a limited narrow range, the corner of the workpiece W in the middle of conveyance is not easily caught by the notch 11, and the direction of the workpiece W, the conveyance speed, and the like change. Can be suppressed.

  Next, a second embodiment of the present invention will be described.

  As shown in FIGS. 8 and 9, the parts feeder 200 according to the second embodiment of the present invention includes a configuration relating to the area camera 102 as an imaging unit, and a high reflection region 110 </ b> A and a low reflection region formed in the conveyance path 101. The configuration relating to 111A is different from the parts feeder 100 according to the first embodiment. In addition, about the structure which is common in the parts feeder 100 which is 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  The area camera 102 has a plurality of image sensors arranged in a mesh pattern, and acquires two-dimensional image data. As shown in FIGS. 8 and 9, the imaging range (imaging area) 120 of the area camera 102 is set to a range where the entire work W is imaged, and is acquired by such an area camera 102 as shown in FIG. 10. The entire work W appears in the image data 250 (250a to 250c). Therefore, the preprocessing unit 131 provided in the control device 103 does not need to generate the composite image data 50 by connecting the image data, and this is different from the preprocessing unit 31 provided in the first embodiment.

  Further, as shown in FIG. 9, a plurality of grooves 111 (four in the present embodiment) are formed along the transport direction over substantially the whole of the transport path 101 from the start end 101a to the end 101b (both refer to FIG. 8). . The groove 111 is formed by cutting out a part of the transport path 101 so that the width is narrowed downward, and the shape viewed from a direction orthogonal to the transport direction is substantially V-shaped. Since the conveyance surface 110 of the conveyance path 101 is flat except for the portion where the groove 111 is formed and has a high specularity and high reflection efficiency, the groove 111 reflects light irregularly on its inclined surface. The reflection efficiency is low. As shown in FIG. 9, the parts feeder 200 also includes the low reflection region 111 </ b> A that is configured by the groove 111 and has low light reflection efficiency and the unprocessed conveyance surface 110 in the imaging range 120. Since the high reflection regions 110A having a high reflection efficiency are alternately formed in a direction orthogonal to the transport direction, similarly to the parts feeder 100 according to the first embodiment, workpieces having different light reflection efficiencies on the front and back sides. Even when W is used, the workpiece W can be stably recognized in the image data acquired by the area camera 102.

  Further, since both the high reflection area 110A and the low reflection area 111A are formed over substantially the entire area from the start end 101a to the end end 101b of the conveyance surface 110, the workpiece W and the conveyance surface 110 are formed over substantially the entire conveyance path 101. The generation of static electricity can be suppressed and the dust in the air can be prevented from adhering to the workpiece W due to static electricity.

  In addition, when the area camera 102 is used, the imaging range 120 is widened to some extent, and therefore, both the high reflection region 110A and the low reflection region 111A are formed only in the imaging range 120, and the friction coefficient in the imaging range 120 is the conveyance surface. If the state is different from other portions of 110, the conveyance speed of the workpiece W is likely to change around the imaging range 120. In contrast, in the present embodiment, since both the high reflection area 110A and the low reflection area 111A are formed over substantially the entire conveyance path 101, the friction coefficient becomes uniform over the entire conveyance surface 110, and the workpiece W can be transported smoothly.

  In the present embodiment, a laser sensor for detecting the position of the workpiece W is separately provided on the upstream side of the area camera 102, and when this workpiece sensor detects that the workpiece W has reached a predetermined position on the conveyance path 101, The area camera 102 may be configured to input an external trigger to perform imaging.

  As mentioned above, although one Embodiment of this invention was described, the specific structure of each part is not limited only to embodiment mentioned above.

  For example, in the first and second embodiments, the high reflection areas 10A and 110A are configured by performing no processing on the transport surfaces 10 and 110, but the reflection efficiency is lower than that of the low reflection areas 11A and 111A. If so, some processing may be performed. Further, the high reflection regions 10A and 110A and the low reflection regions 11A and 111A may be formed by applying coating or surface treatment such as coloring to the transport surfaces 10 and 110. Furthermore, the shape of the notch 11 and the groove 111 is not limited to a substantially V shape in sectional view. For example, if the reflection efficiency can be different from that of the highly reflective regions 10A and 110A, such as a substantially U shape in cross section or an inverted conical shape. Any shape is acceptable.

  In the first and second embodiments, the high reflection areas 10A and 110A and the low reflection areas 11A and 111A are formed on the transport surfaces 10 and 110, but other reflection areas having different reflection efficiencies are formed. It may be.

  Further, in the first and second embodiments, the exclusion process is performed to exclude the workpiece W determined to be in an inappropriate posture from the conveyance paths 1 and 101, but the posture instead of the exclusion means 4 is performed. A configuration may be employed in which correction means is provided to correct the posture of the workpiece W determined to be an inappropriate posture on the conveyance paths 1 and 101 by jetting compressed air or the like.

  Furthermore, in the first and second embodiments, the posture of the workpiece W is determined. However, in addition to the posture, the appearance of the workpiece W, such as the shape and color, and silk characters on the workpiece W, may be inspected. .

  Furthermore, in the first and second embodiments, the workpiece W is recognized based on the brightness difference between the surface of the workpiece W and the reflection areas 10A, 11A, 110A, and 111A in the image data, but instead of the brightness difference, You may make it recognize based on differences, such as saturation, a brightness | luminance, and illumination intensity.

  In the first embodiment, the line camera 2 uses an array of image sensors arranged in one row, but uses an array of image sensors arranged in two or more rows within the range in which the effect of the present invention is exhibited. May be.

  Furthermore, in the first embodiment, the notch 11 is formed only in the imaging range 20 and its periphery, but may be formed in substantially the whole from the start end to the end of the transport path 1. Furthermore, in the first embodiment, six notches 11 are formed, but only one may be formed as shown in FIG. 11, or 2 to 5 or 7 or more may be formed. Furthermore, in the second embodiment, four grooves 111 are formed on the conveyance surface 110, but may be one as shown in FIG. 12, for example, two, three, or five or more. When only one notch 11 or groove 111 is provided, it is preferable to form the notch 11 or groove 111 at a position where the workpiece W can reliably pass. In order to limit the range in which the workpiece W passes through the conveyance paths 1 and 101, the conveyance path 1 and 101 is narrowed to such an extent that only one workpiece W passes, or the conveyance surfaces 10 and 110 are inclined to reduce their own weight. Therefore, it is preferable that the workpiece W be conveyed to be biased toward one side of the conveying paths 1 and 101.

  Other configurations can be variously modified without departing from the spirit of the present invention, for example, the image data used in the workpiece recognition unit 32a is used for quality determination other than posture determination.

1, 101 ... transport path 2 ... imaging means (line camera)
10, 110: Transport surface 10A, 110A: Reflection area (high reflection area)
11A, 111A ... reflection area (low reflection area)
20, 120 ... Imaging range 32a ... Work recognition means (work recognition unit)
100, 200 ... parts feeder 102 ... imaging means (area camera)
W ... Work P1 ... Imaging position

Claims (6)

A transport path for transporting workpieces;
An imaging unit that is installed at a position facing the conveyance surface of the conveyance path and that images the workpiece passing through an imaging position set in the conveyance path;
Comprising a workpiece recognition means for recognizing the workpiece from image data acquired by imaging of the imaging means,
A plurality of reflection regions having different light reflection efficiencies are formed on the transport surface of the transport path, at least within the imaging range of the imaging unit,
The imaging means acquires image data in which the reflection area of the transport surface exposed to the periphery of the workpiece is imaged together with the workpiece surface when the workpiece is located within the imaging range;
The parts feeder, wherein the work recognition means recognizes a work based on a color element difference between the work surface and the reflection area in the image data.   The parts feeder according to claim 1, wherein the plurality of reflection areas are alternately formed in a direction orthogonal to a conveyance direction of the workpiece.   The parts feeder according to claim 1, wherein at least one of the plurality of reflection regions is formed by cutting out a part of the transport path.   4. At least one of the plurality of reflection regions is formed by cutting out a part of the transport path in a substantially V shape in a sectional view in which a width becomes narrower downward. The parts feeder described. The imaging means is a line camera;
The parts feeder according to any one of claims 1 to 4, wherein the plurality of reflection regions are formed only within an imaging range of the imaging unit, or an imaging range and its periphery. The imaging means is an area camera;
The parts feeder according to any one of claims 1 to 4, wherein the plurality of reflection regions are formed over substantially the entire area from the start end to the end of the transport surface.

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