JP2020033151A - Workpiece count control system and part feeder - Google Patents

Abstract

To provide a workpiece count control system capable of counting the number of transferred workpieces on the basis of image data without using a trigger sensor.SOLUTION: The workpiece count control system includes: an image storage unit S21 for storing image data captured by imaging means S that continuously captures a workpiece W at a constant trigger interval; a search area setting unit S22 for setting a search area SA for the image data; a search unit S23 for searching for a feature point of the workpiece W in which a detection position in a transport direction coordinate of the search area SA changes for each piece of the image data; and a counting unit S24 for counting workpieces on the basis of a change in the coordinate value of the feature point in the transport direction coordinates obtained from a search result of the search unit S23. A length Ls of the search area SA is set based on a trigger interval of imaging means S1, a transport speed of the workpiece W, the number of times of imaging the identical workpieces W in the search area SA by the imaging means S1, and a length of a transport direction H for specifying a feature point.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a work count control system applicable to a supply device capable of supplying a work to a supply destination while conveying the work in a predetermined direction, and a parts feeder.

In a parts feeder (supply device) that can supply a work to be transferred to a predetermined destination while aligning the posture and orientation while transferring the work in a single row on a predetermined transfer path, there are various means for counting the number of transferred works. Has been taken.
For example, there is known a means in which a trigger sensor (transmission type fiber sensor) is provided on a transport path, and the work is counted by an ON / OFF signal of the trigger sensor. That is, a light-emitting trigger sensor and a light-receiving bird are arranged opposite to each other at a predetermined position crossing the transport path, and the light-emitting and receiving lines by these trigger sensors are set as detection lines, so that the workpiece passes through the detection line ( If the work does not pass through the detection line, it will be in the “light-transmitting state” and the trigger sensor will send an ON signal. I do. A technique has been conventionally known in which the number of times that a transmission signal from a trigger sensor is switched from an ON signal to an OFF signal is referred to as a “work count”, thereby counting the number of works conveyed.

Japanese Patent No. 4243471

  However, with such a configuration, in addition to the fact that a trigger sensor is indispensable, when a plurality of works pass through the detection line in a state where there are no gaps in the transport direction, the plurality of works pass. During this time, the transmission signal from the trigger sensor remains the OFF signal, which causes a problem that the count number of the workpiece by the trigger sensor does not match the actual number of transported workpieces.

  Therefore, in order to positively form a gap between the workpieces arranged in the transport direction on the transport path, a configuration in which a downward slope is formed on the transport path and a detection line is set on the inclined surface, A configuration is conceivable in which a small hole for suction is formed at a predetermined position on the upstream side in the transport direction, and the work that has reached the location where the small hole is formed is sucked to temporarily stop the transport.

  However, the processing of forming a downwardly inclined conveying surface or forming a small hole, and the processing of installing a suction machine are troublesome and costly. Depending on the valve responsiveness, a gap may not be formed between the intended purposes, that is, there may be cases where the count accuracy based on the detection processing of the trigger sensor is reduced.

  The present invention has been made in view of such a problem, and a main object of the present invention is to provide a work count control system capable of counting the number of transferred works based on image processing data without using a trigger sensor. Is to do.

  That is, the present invention is a work count control system applicable to a supply device capable of conveying a work to a predetermined destination while moving the work on the conveyance path. An image processing device having an image storage unit for storing image data captured by the imaging unit; and transporting a workpiece using the image data stored in the image storage unit as the image processing device. A search area setting unit capable of setting a search area so that a work is included from the relationship between the speed and the photographing time interval, and a detection position in a conveyance direction coordinate having an axis along the conveyance direction in the search area changes for each image data. A search unit that searches for feature points of a work, and features in the transport direction coordinates obtained from search results by the search unit And a counting unit that counts the passage of one workpiece based on the change in the coordinate value of the object. The length of the search area along the transport direction is determined by the photographing time interval (trigger interval) of the imaging unit. ), The transfer speed of the work, the number of times of photographing of the same work in the search area by the imaging means, and the length in the transfer direction for specifying the characteristic point. Here, as the work to be transported, for example, a micro-sized electronic component can be cited, but is not particularly limited as long as it can be transported by the supply device. Also, "the search area can be set so that the work is included from the relationship between the work transfer speed and the photographing time interval" means "part of the work for one work from the relationship between the work transfer speed and the photographing time interval". Alternatively, the search area can be set so as to include the entirety. "

  According to the work count control system according to the present invention, the inventor saves image data captured by the imaging unit in the image storage unit with respect to the work being transported in a row on the transport path. Using the stored image data, a search is made for a feature point of the work in the search area set by the search area setting unit, and the change in the value (coordinate value) of the feature point in the transport direction coordinate obtained from the search result by the search unit. It has been found that the workpiece can be accurately counted based on this. In particular, "imaging time interval (trigger interval) of imaging means", "work conveyance speed", "number of times imaging is performed by the imaging means on the same work in the search area", and "length of conveyance direction for specifying feature points" ”, By setting“ the length of the search area along the transport direction ”based on the above four items, the workpieces being transported in a single row on the transport path are temporarily stopped for workpiece count processing. The work count control system according to the present invention, which does not need to temporarily accelerate the transport speed and can appropriately count, is a very novel and useful one that has never been conceived. The work count control system of the present invention can be applied to all supply devices that can transfer a work on a transfer path to a predetermined supply destination while moving the work, and is not limited to a supply device configured to move a work by vibration. Instead, the present invention can be applied to a supply device configured to move a workpiece by means other than vibration (for example, means for floating by air).

  In particular, the work count control system according to the present invention does not require a trigger sensor, and can accurately count the work even when the works are lined up without a gap in the transport direction. The supply of the workpiece increases. Note that, with the work count control system according to the present invention, it is possible to accurately count even a work conveyed in a state where there is a gap between the works arranged in the conveyance direction.

  Further, the work count control system according to the present invention can perform an accurate work count by setting a single search area common to each image data, and sets a plurality of measurement areas to perform the work count. As compared with a configuration in which the control is required, the simplicity of the control is improved, and the time required for the work count process can be reduced.

  In the present invention, the “length of the search area along the transport direction” is a value obtained by dividing the number of times the imaging unit captures the same work in the search area by the length of the work along the transport direction. The first condition that the value is equal to or more than the multiplication value of the photographing time interval (trigger interval) and the work transfer speed, the photographing time interval (trigger interval) of the image pickup device, the work transfer speed, and the number of times the image pickup device shoots the same work in the search area It is preferable that the length satisfies the second condition that the value is equal to or more than the value obtained by adding the length in the transport direction for specifying the characteristic point to the multiplied value of.

  The counting unit according to the present invention compares the coordinate values of the characteristic points in the transport direction coordinates newly detected by the search unit with the coordinate values of the characteristic points detected last time, and when there is a change satisfying a predetermined condition, the work 1 If the number of passes is counted, the counting process can be realized by relatively simple control.

  When the “length in the transport direction for specifying the feature point” in the present invention is equal to or longer than the length of the work along the transport direction, the search unit may determine the most downstream feature point or the search point in the search area. By configuring to search for the most upstream feature point in the area, accurate work count processing can be performed.

  On the other hand, when the “length in the transport direction for specifying the feature point” in the present invention is less than the length of the work along the transport direction, the search unit determines the feature point and the feature point in the search area. By configuring to search for presence / absence, accurate work count processing can be performed.

  As the “feature point” in the present invention, a “center of gravity of a work” or an arbitrary point (including a point and a line) on the work can be exemplified. By setting the image storage unit to store image data of the same work photographed twice or more, it is possible to appropriately grasp the movement of the work in the search area that changes for each photographing time. In this case, “the number of times the imaging unit captures the same work in the search area” is set to “an integer of 2 or more”.

  Further, the parts feeder according to the present invention is characterized in that a work count control system is used to perform a work count process using the work count control system. According to such a parts feeder, the work count processing is performed by the work count control system at an arbitrary timing for transferring the work on the transfer path to a predetermined supply destination, thereby performing the work count processing accurately. Is possible, and practicality is improved.

  According to the present invention, image data captured by an imaging unit is stored, and a feature point of a work is searched as a value on a transfer direction coordinate in a search area set using the image data, and a transfer direction obtained from the search result is obtained. By performing the process of counting the passing of one workpiece based on the change in the coordinate value of the feature point in the coordinates, the workpiece is conveyed without gaps in the transport direction without using a trigger sensor (continuously). A work count control system and a parts feeder capable of accurately counting the number of works conveyed and works conveyed at intervals between the works (intermittently and intermittently conveyed). Can be provided.

FIG. 1 is a schematic plan view of a supply device to which a work count control device according to an embodiment of the present invention is applied. FIG. 3 is a diagram illustrating an example of image data stored in an image storage unit according to the embodiment. FIG. 4 is a diagram showing a change in a feature point in a search area using image data in the embodiment. FIG. 4 is a diagram showing a change in a feature point in the search area using more image data than in FIG. 3. FIG. 3 is a graph showing a change in a conveyance direction coordinate and a feature point on the conveyance direction coordinate according to the first embodiment; FIG. 7 is a graph showing a change in a conveyance direction coordinate and a feature point on the conveyance direction coordinate in a first modification of the embodiment as a graph. FIG. 5 is a diagram illustrating a change in feature points according to second and third modifications of the embodiment, corresponding to FIG. 4. The figure which shows the change of the feature point in a 2nd, 3rd modification as a graph. FIG. 9 is a view showing changes in feature points according to fourth and fifth modifications of the embodiment, corresponding to FIG. 4. The figure which shows the change of the feature point in a 4th, 5th modification as a graph. The figure which shows the change of the feature point in a 6th, 7th modification as a graph. The figure which shows the conditions regarding the timing of a work count.

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

  The work count control system S according to the present embodiment is applicable to a supply device X that can transfer a work W such as an electronic component as a transfer target on a transfer path to a predetermined supply destination while moving the work W.

  For example, as shown in FIG. 1, the supply device X includes a bowl feeder Y in which a bowl transport path Y2 that is a spiral transport path is formed on the inner peripheral surface of the bowl Y1, and a position that is continuous with an end of the bowl transport path Y2. And a linear feeder Z having a linear transport path Z2 disposed at the center, and the workpiece W can be transported to a predetermined supply destination while being moved by vibration in the order of the bowl transport path Y2 and the linear transport path Z2.

  The bowl feeder Y conveys a work W (for example, the work W schematically shown in FIG. 2) to a predetermined transfer destination (supply destination) while moving the work W by vibration on a spiral transfer path (bowl transfer path Y2). Device. The bowl feeder Y according to the present embodiment includes a bowl Y1 that transports the accommodated works W while aligning them, and a vibration source (not shown) that generates vibrations in the bowl Y1. As a result, the workpiece W accommodated in the bowl Y1 can be moved along the bowl transport path Y2.

  The bowl Y1 is formed on the bottom surface and has a substantially circular storage portion Y3 in plan view capable of storing a large number of works W, and is formed in a spiral shape ascending and inclining along an inner peripheral wall starting from a predetermined portion of a peripheral portion of the storage portion Y3 as a start end. And a bowl conveying path Y2 (also referred to as a truck). Although the detailed description of the bowl transport path Y2 is omitted in FIG. 1, a generally known bowl transport path can be applied.

  The storage part Y3 has an upward surface set so that the center side is higher than the radially outer side, and the work W is moved by the vibration of the bowl Y1 and the own weight of the transfer target object W stored in the storage part Y3. It is to be moved radially outward. The workpiece W that has moved radially outward on the upward surface of the storage section Y3 reaches the start end of the bowl transfer path Y2, passes through the start end of the bowl transfer path Y2, and moves along the bowl transfer path Y2.

  The bowl transport path Y2 has a start end that is continuous with the storage section Y3, and has a bowl transport surface, which is an upward surface, set to a flat surface inclined downward, for example, radially outward. Then, the work W is directed toward the downstream side (end side of the bowl transfer path Y2) while being in contact with the inner peripheral wall of the bowl Y1 due to the radially outward force of the transfer force received by the work W due to the vibration and the inclination of the bowl transfer surface. Transported. In the present embodiment, an aligning means (not shown) is provided at a predetermined location of such a bowl transport path Y2, and only the work W in a predetermined attitude is transported downstream in the transport direction H by the aligning means. It is configured to return (drop) W to the storage section Y3. With the above configuration, the bowl feeder Y of the present embodiment can transport (supply) the works W arranged in a line to the linear feeder Z.

  As shown in FIG. 1, the linear feeder Z applies vibration to a long linear supply trough Z1 (also referred to as a conveyance table or a chute) to thereby set a linear conveyance path set on the supply trough Z1. The workpiece W can be supplied to the downstream side in the transport direction H along Z2. In the linear feeder Z according to the present embodiment, the specific configuration for vibrating the supply trough Z1 and transporting the work W on the supply trough Z1 to the downstream side in the transport direction H is not particularly limited, and is provided from, for example, a vibration source. By vibrating directly or indirectly a plate spring (drive spring) that interconnects the movable part and the fixed part to which the supply trough Z1 is connected by the excitation force, the movable part and the fixed part are opposite to each other. The supply trough Z <b> 1 connected to the movable portion vibrates in the longitudinal direction, whereby the work W is conveyed to the downstream side along the conveyance direction H. In FIG. 1, a fixture such as a bolt for fixing the supply trough Z1 to the movable portion is omitted.

  The linear transport path Z2 is formed by a concave groove whose start end is continuous with the end of the bowl transport path Y2 and extends linearly along the longitudinal direction of the linear feeder Z.

  The supply device X according to the present embodiment includes a posture correcting unit that corrects the transfer posture of the work W being vibrated and transferred to a predetermined position, and a work W that is not in the predetermined transfer position and is selected on the linear transfer path Z2. It is provided with a sorting means to eliminate from.

  Next, the operation of the supply device X will be described.

  A large number of works W supplied to the storage section Y3 of the bowl Y1 constituting the bowl feeder Y are vibrated and conveyed on the bowl conveyance path Y2 by the vibration of the bowl Y1. The work W, which is vibrated and conveyed on the bowl conveyance path Y2, passes through a narrow portion provided at a predetermined position of the bowl conveyance path Y2 and a posture correction unit (both not shown), so that the conveyance posture is corrected and fixed. And reaches the end of the bowl transport path Y2 in a state of being aligned in one line, and is transported to the start end Z2a of the linear transport path Z2 that is continuous with the end of the bowl transport path Y2 without any level difference.

  The supply device X vibrates and conveys the work W that has reached the starting end Z2a of the linear conveyance path Z2 from the end of the bowl conveyance path Y2 along the linear conveyance path Z2. It should be noted that a posture correcting means and a sorting means are provided on the linear transport path Z2 to select a workpiece W having a transport attitude different from the normal transport attitude and discharge it to the outside of the linear transport path Z2. W is configured to reach the end of the linear transport path Z2, and such a work W can be supplied to a predetermined destination from the end of the linear transport path Z2.

  The work count control system S according to the present embodiment, which is applicable to such a supply device X, includes an imaging unit S1 (imaging device) that continuously captures a workpiece W moving in a line on a transport path at a predetermined capturing time interval. And an image processing device S2 for processing image data photographed by the imaging means S1.

  As shown in FIG. 1, the imaging unit S1 can image a predetermined area of the linear transport path Z2, for example, from above (directly above). Area camera etc.) can be applied. Here, in the present embodiment, since the imaging unit S1 is arranged at a position where the predetermined area of the linear transport path Z2 can be imaged from above (directly above), the “work count control system using the work count control system” according to the present invention is used. The “parts feeder configured to perform the processing” can be regarded as the “linear feeder Z”. Note that the “supply device X including the bowl feeder Y and the linear feeder Z” may be regarded as the “parts feeder” according to the present invention.

  The image processing device S2 includes an image storage unit S21, a search area setting unit S22, a search unit S23, and a counting unit S24, and the processing in each unit is controlled by a control unit (not shown).

  As shown in FIG. 2, the image storage unit S21 stores image data img captured by the imaging unit S1. The image processing device S2 is communicably connected to the imaging unit S1 by wire or wirelessly. Then, the image data img taken by the imaging means S1 is input to the image processing device S2 and stored in the image storage unit S21. The photographing time interval by the imaging means S1 is constant, and this constant time can be regarded as the trigger interval tr. In the image storage unit S21, as shown in FIG. 2, the image data img captured at each time is stored as img (t) [t = 1, 2, 3,... Here, when a workpiece W having a length (longitudinal dimension in the illustrated example) L along the transport direction H is transported at a speed (v_work) on the transport path, the travel distance of the workpiece W within the trigger interval tr is: v_work * tr. That is, as shown in FIG. 2, based on the image data img (t) [t = 1, 2,...] For each shooting time, the work W moves by the moving distance v_work * tr within the trigger interval tr time. The movement of W can be grasped. In FIG. 2, for the sake of convenience, a plurality of works W arranged in the transport direction H are numbered “1” to the first (most downstream) work W, and the second and subsequent works W from the top are also denoted. Each number is given in ascending order.

  As shown in FIG. 3, the search area setting unit S22 uses the image data img stored in the image storage unit S21 to determine the relationship between the transport speed v_work of the work W and the shooting time interval (trigger interval) tr of the imaging unit S1. The search area SA can be set to include the work W from. The process of setting the search area SA in the search area setting unit S22 may be a process that is automatically set by inputting each numerical value serving as a parameter, or may be a process in which the numerical value directly input by the operator is used as the search area. The processing may be set as SA.

The search area SA is a measurement area for work detection set in each image data img. In the present embodiment, in the search area SA of the image data img (t) [t = 1, 2,...] For each shooting time, the work W to be searched (the same work W) is always n (n is 2). The photographing time interval (trigger interval) tr of the image pickup means S1, the transport speed v_work of the work W, the search area SA, and the like, so that the image is taken at least (integer times) times or more and always at the most downstream side of the search area SA. Is set to a length that satisfies the following equations (1), (2), and (3).
L / n ≧ tr * v_work Equation (1)
Ls ≧ L + n * tr * v_work Equation (2)
n ≧ 2 Expression (3)
Here, L is the length (work length) of one work along the transport direction H, and n is the number of times the imaging unit S1 has photographed one work. The “work length L” in the equation (2) corresponds to the “length in the transport direction for specifying a feature point” of the present invention. From the above equation, the moving distance of the work W corresponding to the number of times of photographing for one work W is equal to or less than the dimension in the transport direction H per work (larger than zero and the dimension per work (work length) L The following can be understood.

  By setting a search area SA that satisfies all of the expressions (1), (2), and (3) in the search area setting unit S22, as shown in FIGS. Will be imaged n times at the most downstream side of. In particular, in the present embodiment, the length Ls of the search area SA in the transport direction H is set to a value exceeding the work length L and less than twice the work length L. Therefore, in the image data img obtained by imaging a situation in which the plurality of works W are moving side by side in the transport direction H, the entirety (the entire length) of the work W imaged in the search area SA without interruption in the transport direction H The maximum number is “1”. Regarding the setting of the search area SA, the length of the search area SA in the direction orthogonal to the transport direction H (the direction traversing the transport path) is equal to the length of one work in the direction orthogonal to the transport direction H (illustrated example). In this case, a value exceeding the length L of the work W may be used.

  The search section S23 searches for a feature point of the work W in the search area SA. The feature point of the work W is not particularly limited as long as it is an arbitrary point on the work W. In the present embodiment, the center of gravity W1 of the work W is set as the feature point. 3 and 4, the center of gravity W1 of the work W is indicated by a cross. The search unit S23 of the present embodiment detects the work W from the most upstream side with respect to the search area SA. Specifically, the search unit S23 searches for the work W whose entire shape is imaged in the search area SA. The center of gravity W1 of the work W is detected by an appropriate method based on the entire shape of the work W which is detected as a work and can be specified from the image data img.

  The position of the feature point (centroid W1) of the search target work W in the search area SA changes for each image data img as shown in FIGS. 3 and 4, and the axis along the transport direction H in the search area SA. It can be plotted as a detected position (coordinate value) in the transport direction coordinates. As shown in FIG. 5, the search result by the search unit S23 of the present embodiment that detects the work W from the most downstream side with respect to the search area SA matches one of the four corners of the search area SA at the downstream end SA1. It can be grasped as a graph (see (b) in the figure) in which the change (change) of the characteristic point is plotted on the coordinates in the transport direction (see (a) in the figure) with the point of origin as the origin. In FIG. 6B, the vertical axis represents the coordinate value x_work [t] of the center of gravity W1 which is a feature point of the work W in the transport direction [t = 1, 2,... T is the number of measurements], and the horizontal axis represents the number of measurements t. FIG. As described above, the search unit S23 searches the common search area SA set in the image data img (t) [t = 1, 2,... Is specified, and the feature point (center of gravity W1) of the work W is searched.

The counting unit S24 counts the work W based on a change in the value (coordinate value) of the feature point in the transport direction coordinate obtained from the search result by the search unit S23. Assuming that the coordinate value in the transport direction of the center of gravity W1 which is the feature point of the work W is x_work [t] [t = 1, 2,... T is the number of times of measurement], the relationship between the center of gravity W1 of the work W and the search target work is as follows. become. Specifically, when the same work W is detected (when the search target works are the same), the relationship satisfying the following condition 1 is satisfied, that is, one of the four corners of the search area SA at the downstream end SA1. In the transport direction coordinates with the coincident point as the origin, the newly detected transport direction coordinate value x_work [t + 1] of the center of gravity W1 is the nearest (previous) transport direction coordinate value x_work [t] of the center of gravity W1. Smaller than that.
x_work [t + 1] <x_work [t] ・ ・ ・ Condition 1

On the other hand, when a new work W is detected (when the search target work is changed), a relationship satisfying the following condition 2, that is, a point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA is set as the origin. In the transfer direction coordinates, the newly detected transfer direction coordinate value x_work [t + 1] of the center of gravity W1 is larger than the transfer direction coordinate value x_work [t] of the center of gravity W1 which is the latest (just before) detected value. become.
x_work [t + 1]> x_work [t] ・ ・ ・ Condition 2

  In the work count control system S according to this embodiment, the search unit S23 measures (searches) the transport direction coordinate value x_work [t] of the center of gravity W1 every time, and there is a change that satisfies the condition 2 from the state where the condition 1 is satisfied. At this point, the counting unit S24 counts that one workpiece has passed. That is, the transport direction coordinate values of the feature points obtained from the search result by the search unit S23, specifically, the features in the transport direction coordinates whose origin is a point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA. When the value of the point changes to a value larger than the value of the latest characteristic point (the characteristic point at the time of the most recent measurement, hereinafter the same meaning), it is determined that one workpiece has passed and counted. Explaining with reference to the graph shown in FIG. 5B, the counting unit S24 determines the value of the characteristic point (centroid of gravity) in the transport direction coordinates whose origin is a point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA. When the transfer direction coordinate value x_work [t]) of W1 changes to a value larger than the value of the latest feature point, it is determined that one work has passed and counted.

  In the work counting process by the supply device X to which the work count control system S having such a configuration is applied, the image pickup unit S1 captures an image of the work W being conveyed in the state of one row and one layer on the conveyance path L2. An image data storage step of storing the image data img in the image storage unit S21 at each shooting time, a work feature point search step of searching for a feature point of the work W in the search area SA set by the search area setting unit S22, A work counting step of counting the works W based on a change in the value (coordinate value) of the feature point in the transport direction coordinate obtained from the search result by the unit S23 can be executed in this order.

  As described above, according to the work count control system S according to the present embodiment, even when the workpieces W are lined up in the transport direction H without any gap, the workpieces W can be accurately counted, and the transport direction H In this case, a large number of works W can be continuously conveyed without any gap, thereby contributing to an improvement in supply efficiency. In addition, according to the work count control system S according to the present embodiment, a trigger sensor is not required, and a gap is formed between the works in the transport direction H as compared with a configuration in which a trigger sensor is required. There is no need to form a downwardly inclined conveying surface or install a suction machine as described above.Because of the processing accuracy of the inclined surface or the small hole for suction and the decrease in valve responsiveness of the suction machine, there is no This is advantageous in that a case where a gap cannot be formed does not occur, and as a result, a problem that the counting accuracy based on the detection processing of the trigger sensor is reduced does not occur. In addition, according to the work count control system S according to the present embodiment, the above-described processing is performed on the work W conveyed in a state where there is a gap between the works W arranged in the conveyance direction H. You can count accurately.

  Furthermore, the work count control system S according to the present embodiment can perform accurate work counting by setting one common search area SA (measurement area) for each image data img, and performs work counting. As compared with the configuration in which it is required to set a plurality of measurement areas, the control can be performed more easily, and the time required for the work count processing can be reduced.

  In the work count control system S according to the present embodiment, when the work W is not detected in the search area SA (when the characteristic point of the work W is not detected in the search area SA), the coordinates of the work in the transport direction are set. By setting to input the value x_work [t] = 0, it is possible to reliably detect the first work W and the work W conveyed with a gap in the conveyance direction H.

  Note that the present invention is not limited to the embodiment described above. For example, in the above-described embodiment, an example in which the search unit S23 detects the work W from the most downstream side with respect to the search area SA has been described. The work W may be detected.

  As shown in FIG. 6, the search result of the search unit S23 of the present modification (first modification) in which the work W is detected from the most upstream side with respect to the search area SA is the upstream end of the four corners of the search area SA. It can be grasped as a graph (see FIG. 2B) in which the change (change) of the characteristic point is plotted on the transport direction coordinates (see FIG. 2A) with the point corresponding to one corner of SA2 as the origin. In FIG. 6B, the vertical axis represents the coordinate value x_work [t] of the center of gravity W1, which is a feature point of the work W, in the transfer direction [t = 1, 2,... FIG. As described above, the search unit S23 searches the common search area SA set in the image data img (t) [t = 1, 2,... Is specified, and the feature point (center of gravity W1) of the work W is searched.

  Then, assuming that the coordinate value in the transport direction of the center of gravity W1 which is a feature point of the work W is x_work [t] [t = 1, 2,... T is the number of times of measurement], the relationship between the center of gravity W1 of the work W and the search target work is as follows. become that way. Specifically, when the same work W is detected (when the work to be searched is the same), the relationship that satisfies the condition 2 described above, that is, one of the four corners of the search area SA at the upstream end SA2. In the transfer direction coordinates having the coincident point as the origin, the transfer direction coordinate value x_work [t + 1] of the newly detected center of gravity W1 is the transfer value x_work [t] of the center of gravity W1 which is the closest (immediately before) detected value. Greater than

  On the other hand, when a new work W is detected (when the search target work is changed), a relationship satisfying the following condition 1, that is, a point which coincides with one corner of the upstream end SA2 among the four corners of the search area SA is set as the origin. In the transfer direction coordinates, the relationship that the newly detected transfer direction coordinate value x_work [t + 1] of the center of gravity W1 is smaller than the transfer direction coordinate value x_work [t] of the center of gravity W1 which is the latest (immediately before) detected value. become.

  The work count control system S according to the present modification measures (searches) x_work [t] every time by the search unit S23, and when there is a change satisfying the condition 1 from the state satisfying the condition 2, one work Is counted by the counting unit S24. That is, the transport direction coordinate values of the feature points obtained from the search result by the search unit S23, specifically, the features in the transport direction coordinates whose origin is a point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA. When the value of the point changes to a value smaller than the value of the nearest feature point, it is determined that one workpiece has passed and counted. Explaining with reference to the graph shown in FIG. 6B, the count unit S24 determines that the value of the characteristic point in the transport direction coordinates whose origin is a point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA. When the value of the work point changes to a value smaller than the value of the characteristic point, it is determined that one work has passed, and the work is counted. Thus, the same operation and effect as those of the work count control system S according to the above-described embodiment are obtained, and the work W Can be accurately counted.

  As described above, even in the work counting process based on the same image data, a change (change) of the feature point of the search target work is determined by using, as the origin, a point which coincides with one corner of the downstream end SA1 among the four corners of the search area SA. Although the counting condition differs depending on whether it is captured as a detection position in the transport direction coordinate to be detected or as a detection position in the transport direction coordinate whose origin is a point corresponding to one corner of the upstream end SA2 among the four corners of the search area SA, In any case, the work W can be accurately counted.

  Further, in the present invention, the length Ls of the search area SA along the transport direction H is determined by the photographing time interval (trigger interval) of the imaging unit S1, the transport speed of the work W, and the imaging unit for the same work W in the search area SA. An arbitrary value can be set based on the number of times of photographing in S1 and the length of the transport direction H for specifying a feature point. In the above-described embodiment, a configuration in which the length Ls of the search area SA along the transport direction H is set to “a value exceeding the work length L and less than twice the work length L” is exemplified. However, the length Ls of the search area SA along the transport direction H can be set to “a value exceeding twice the work length L”.

  For example, when the length Ls of the search area SA along the transport direction H is set to “a value exceeding twice the work length L and less than three times the work length L”, as shown in FIG. Next, in the image data img obtained by imaging the state in which the plurality of works W are moving side by side in the transport direction H by the imaging unit S1, the entire (full length) is imaged in the search area SA without being interrupted in the transport direction H. The maximum number of existing works W is “2”.

  Even when the length Ls of the search area SA along the transport direction H is set to “a value exceeding twice the length L of the work”, the processing procedure according to the above-described embodiment and the first modification is performed. Thereby, the work can be accurately counted. That is, as shown in FIG. 7, when two or more feature points of the work W are detected in the search area SA, the search unit S23 selects the work W having the most downstream feature point among the feature points. , Or one of the works W having the most upstream feature point is specified as a search target work, and the feature point of the specified search target work is searched. Then, the counting unit S24 counts the workpieces W based on the change in the value (coordinate value) of the feature point in the transport direction coordinates obtained from the search result by the search unit S23, so that the workpieces W can be accurately counted. it can.

  FIG. 7 shows a case where the length Ls of the search area SA along the transport direction H is set to “a value exceeding twice the work length L and less than three times the work length L”. A work W having a feature point on the side is specified as a search target work, and a change in the feature point of the specified search target work is indicated by a solid line. In this modification (second modification) as well, the center of gravity W1 of the work W, which can be specified by imaging the entire work W in the search area SA, is set as a feature point. As shown in FIG. 8A, the search result by the search unit S23 that detects the work W from the most downstream side with respect to the search area SA matches one corner of the downstream end SA1 among the four corners of the search area SA. It can be grasped as a graph in which a change (transition) of a feature point is plotted on the conveyance direction coordinates with the point as the origin. Then, the search unit S23 measures (searches) the coordinate value x_work [t] of the feature point in the transport direction each time, and when there is a change satisfying the condition 2 from the condition satisfying the condition 1, the work 1 It is counted by the counting unit S24 as passing. That is, when the value of the characteristic point in the transport direction coordinates whose origin is a point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA changes to a value larger than the value of the nearest characteristic point, the work W Is determined as passing. Explaining with reference to the graph shown in FIG. 8A, the count unit S24 determines that the value of the characteristic point in the transport direction coordinates whose origin is a point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA is the latest. When the value changes to a value greater than the value of the characteristic point, it is determined that one workpiece has passed and counted.

  FIG. 7 shows a case where the length Ls of the search area SA along the transport direction H is set to “a value exceeding twice the work length L and less than three times the work length L”. The work W having the feature point on the side is specified as a search target work, and a change in the feature point of the specified search target work is indicated by a two-dot chain line. In this modification (third modification) as well, the center of gravity W1 of the work W that can be specified by capturing the entire work W in the search area SA is a feature point. As shown in FIG. 8B, the search result of the search unit S23 that detects the work W from the most upstream side with respect to the search area SA matches one of the four corners of the search area SA at the upstream end SA2. It can be grasped as a graph in which a change (transition) of a feature point is plotted on the conveyance direction coordinates with the point as the origin. Then, the search unit S23 measures (searches) the coordinate value x_work [t] of the feature point in the transport direction each time, and when there is a change that satisfies the condition 1 from a state in which the above condition 2 is satisfied, one work piece It is counted by the counting unit S24 as passing. That is, when the value of the feature point in the transport direction coordinates whose origin is a point corresponding to one corner of the upstream end SA2 among the four corners of the search area SA changes to a value smaller than the value of the nearest feature point, one work piece Is determined as passing. Explaining with reference to the graph shown in FIG. 8B, the count unit S24 determines that the value of the characteristic point in the transport direction coordinates whose origin is a point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA When the value changes to a value smaller than the value of the feature point, it is determined that one work has passed and counted.

  As shown in FIGS. 7 and 8, when the length Ls of the search area SA along the transport direction H is set to “a value exceeding twice the work length L”, the timing of counting the work W becomes equal to the search area SA. There may be a difference between the case where the work detection is performed from the most downstream side (workpiece detection on the most downstream side) and the case where the work detection is performed from the most upstream side of the search area SA (workpiece detection on the most upstream side). This is due to the difference between searching for a change in the coordinate value of the most downstream feature point of the plurality of feature points in the search area SA or searching for the coordinate value of the most upstream feature point, or The change (transition) of the point may be taken as a detection position in the transport direction coordinates whose origin is a point coinciding with one corner of the downstream end SA1 among the four corners of the search area SA, or may be regarded as the detection position of the upstream end SA2 among the four corners of the search area SA. This is a “displacement” caused by a difference in whether or not the point corresponding to one corner is regarded as a detection position in the transport direction coordinates with the origin as the origin, and at the time when the last work W has finished passing the most downstream end of the search area SA. The number of work counts is the same regardless of the detection of the most downstream work and the detection of the most upstream work, and accurate counting can be performed.

  In the case where the work detection is performed from the most downstream side with respect to the search area SA (most downstream work detection), the change (change) of the feature point coincides with one corner of the upstream end SA2 among the four corners of the search area SA. In this case, the search unit S23 measures (searches) the coordinate value x_work [t] of the characteristic point in the transport direction every time, and the search unit S23 determines the detection condition. When there is a change that satisfies the condition 1 from the state where the condition is satisfied, it may be counted by the counting unit S24 that one workpiece is passed.

  Similarly, when performing work detection from the most upstream side with respect to the search area SA (most upstream side work detection), the change (transition) of the feature point is transferred to one corner of the downstream end SA1 among the four corners of the search area SA. It is also possible to catch the coincidence point as the detection position in the transport direction coordinates with the origin as the origin. In this case, the search unit S23 measures (searches) the transport direction coordinate value x_work [t] of the characteristic point every time and searches for the above condition. When there is a change that satisfies the condition 2 from the state where the condition 1 is satisfied, the counting unit S24 may count the passing of one work.

  Further, in the present invention, the length Ls of the search area SA along the transport direction H can be set to “a value less than the work length L”. In this modified example (fourth modified example), it is not appropriate to use the center of gravity W1 of the work W that can be specified by imaging the entire work W in the search area SA as a feature point. A part of the work W that can be distinguished from other parts by its shape, specific part, or the like can be used as a feature point. In the present modified example, the downstream end W2 is a feature point for a work W in which only the downstream end W2 is white and the remaining majority is black. The counting section S24 counts the workpieces W based on a change in the value (coordinate value) of the characteristic point W2 in the transport direction coordinates obtained from the search result by the search section S23, thereby accurately counting the workpieces W. Can be.

  In FIG. 9, when the length Ls of the search area SA along the transport direction H is set to “a value less than the work length L”, the work W having the most downstream feature point is specified as the work to be searched. The change of the feature point (downstream end W2 of the work W) of the specified search target work is shown. As shown in FIG. 10A, the search result of the search unit S23 that detects the work W from the most downstream side of the search area SA matches one corner of the downstream end SA1 among the four corners of the search area SA. It can be grasped as a graph in which a change (transition) of a feature point is plotted on the conveyance direction coordinates with the point as the origin. Then, the search unit S23 measures (searches) the coordinate value x_work [t] of the feature point in the transport direction each time, and when there is a change satisfying the condition 2 from the condition satisfying the condition 1, the work 1 It is counted by the counting unit S24 as passing. That is, when the value of the feature point in the transport direction coordinates whose origin is a point corresponding to one corner of the downstream end SA1 among the four corners of the search area SA changes to a value larger than the value of the nearest feature point, one work piece Is determined as passing. Explaining with reference to the graph shown in FIG. 10A, the counting unit S24 determines that the value of the characteristic point in the transport direction coordinates whose origin is a point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA (T + 1). (T + 4) in FIG. 10 (a), it is determined that one workpiece has passed and counted. If no feature point can be detected in the search area SA (the timing of searching the search area SA of the image data img (t + 3) and img (t + 6) in FIG. 9), the coordinate value of the workpiece in the transport direction is used. By setting to input x_work [t] = 0, the work W can be counted appropriately and reliably.

  With respect to the change of the feature point shown in FIG. 9, when the feature point of the work W is detected from the most upstream side with respect to the search area SA (fifth modification), the search result by the search unit S23 is as shown in FIG. As shown in ()), the change (transition) of the characteristic point can be grasped as a graph in which the coordinates corresponding to one corner of the upstream end SA2 among the four corners of the search area SA are set as the origin in the transport direction coordinates. Then, the search unit S23 measures (searches) the coordinate value x_work [t] of the feature point in the transport direction each time, and when there is a change that satisfies the condition 1 from a state in which the above condition 2 is satisfied, one work piece It is counted by the counting unit S24 as passing. That is, when the value of the feature point in the transport direction coordinates whose origin is a point corresponding to one corner of the upstream end SA2 among the four corners of the search area SA changes to a value smaller than the value of the nearest feature point, one work piece Is determined as passing. Explaining with reference to the graph shown in FIG. 10B, the counting unit S24 determines that the value of the characteristic point in the transport direction coordinates whose origin is a point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA (T + 1). (T + 4) in FIG. 10 (b), it is determined that one workpiece has passed and counted. In the work count control system S according to the present modification (fifth modification), when the work W is not detected in the search area SA, the image data img (t + 3) · img (t in FIG. By setting so that the coordinate value of the workpiece in the transport direction is the maximum value (x_work [t] = max) in (+6) the search area SA search timing), the count processing of the workpiece W is performed. It can be performed appropriately and reliably. Here, the maximum value max of the workpiece transfer direction coordinate value is a predetermined value larger than the maximum value of the workpiece transfer direction coordinate value in the search area SA.

  As shown in FIGS. 9 and 10, the work W is counted at the timing when the work is detected from the most downstream side with respect to the search area SA (the most downstream work detection, the fourth modification), and when the search area SA is detected. In the case where the work detection is performed from the most upstream side (the most upstream side work detection, the fifth modified example), there is no difference, and they are the same. Therefore, at the time when the last work W has finished passing through the most downstream end of the search area SA, the work count number is the same regardless of whether the most downstream work detection or the most upstream work detection is performed, and the work count is accurately determined. Can be counted.

  In this modified example in which the length Ls of the search area SA along the transport direction H is set to “a value smaller than the work length L”, the work detection is performed from the most downstream side with respect to the search area SA (mostly). In the downstream work detection), the change (transition) of the characteristic point can be regarded as a detected position in the transport direction coordinates whose origin is a point corresponding to one corner of the upstream end SA2 among the four corners of the search area SA. In this case, the search unit S23 measures (searches) the coordinate value x_work [t] of the feature point in the transport direction each time, and when there is a change from the state satisfying the above condition 2 to the state satisfying the condition 1, the work 1 It may be counted by the counting unit S24 as the number of passes.

  Similarly, when performing work detection from the most upstream side with respect to the search area SA (most upstream side work detection), the change (transition) of the feature point is transferred to one corner of the downstream end SA1 among the four corners of the search area SA. It is also possible to catch the coincidence point as the detection position in the transport direction coordinates with the origin as the origin. In this case, the search unit S23 measures (searches) the transport direction coordinate value x_work [t] of the characteristic point every time and searches for the above condition. When there is a change that satisfies the condition 2 from the state where the condition 1 is satisfied, the counting unit S24 may count the passing of one work.

  In each of the above-described embodiments, at the time of measurement when it is detected that the work W (more specifically, the characteristic point of the work W) has entered the search area SA, the counting unit S24 counts that one work has passed. It is. This means that referring to FIG. 9, at the time of measurement (t + 1) and (t + 4) counted by the counting unit S24, each feature point W2 of "work 2" and "work 3" is the search area SA. It can also be grasped from the measurement timing at which the entry has been detected.

  On the other hand, at the time of measuring that the work W (more specifically, the characteristic point of the work W) has fallen out of the search area SA (moved off), the counting unit S24 counts that one work has passed. You can also As a specific example, regarding the change of the feature point shown in FIG. 9, the feature point of the work W is detected from the most downstream side with respect to the search area SA, and the feature point cannot be detected in the search area SA (FIG. (The timing for searching in the search area SA of the image data img (t + 3) and img (t + 6) in (2)) is set so that the coordinate value x_work [t] = max in the transport direction of the work is input. 6), the search result by the search unit S23 that detects the work W from the most downstream side with respect to the search area SA is, as shown in FIG. It can be grasped as a graph in which the change (change) of the characteristic point is plotted on the conveyance direction coordinates with the point corresponding to one corner of the end SA1 as the origin.

  Then, the search unit S23 measures (searches) the coordinate value x_work [t] of the feature point in the transport direction each time, and when there is a change satisfying the condition 2 from the condition satisfying the condition 1, the work 1 It is counted by the counting unit S24 as passing. That is, when the value of the feature point in the transport direction coordinates whose origin is a point corresponding to one corner of the downstream end SA1 among the four corners of the search area SA changes to a value larger than the value of the nearest feature point, one work piece Is determined as passing. Describing with reference to the graph shown in FIG. 11A, the counting unit S24 determines that the value of the characteristic point in the transport direction coordinates whose origin is a point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA is the nearest. It is determined that one work has passed at the point in time when the value has changed to a value larger than the value of the feature point ((t + 1), (t + 3), (t + 6) in FIG. 11A). Count. Referring to FIG. 9, these measurement times (t + 1), (t + 3), and (t + 6) are the characteristic points of “work 1”, “work 2”, and “work 3”, respectively (in the illustrated example). It can be understood that it is the measurement timing when it is detected that the downstream end portion W2) of each work W has fallen out of the search area SA.

  Similarly, regarding the change of the feature point shown in FIG. 9, the feature point of the work W is detected from the most upstream side with respect to the search area SA, and the feature point cannot be detected in the search area SA (the image data in FIG. 9). img (t + 3) / img (t + 6) search timing in the search area SA) is set so that the coordinate value x_work [t] = 0 in the transport direction of the work is input (seventh modified example) ), The search result by the search unit S23 that detects the work W from the most upstream side with respect to the search area SA is, as shown in FIG. 11B, the search result of the upstream end SA2 among the four corners of the search area SA. It can be grasped as a graph in which a change (transition) of a characteristic point is plotted in the conveyance direction coordinates with the point corresponding to one corner as the origin.

  Then, the search unit S23 measures (searches) the coordinate value x_work [t] of the feature point in the transport direction each time, and when there is a change that satisfies the condition 1 from a state in which the above condition 2 is satisfied, one work piece It is counted by the counting unit S24 as passing. That is, when the value of the feature point in the transport direction coordinates whose origin is a point corresponding to one corner of the upstream end SA2 among the four corners of the search area SA changes to a value smaller than the value of the nearest feature point, one work piece Is determined as passing. Describing with reference to the graph shown in FIG. 11B, the counting unit S24 determines that the value of the characteristic point in the transport direction coordinates whose origin is a point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA It is determined that one work has passed at the point in time when the value has changed to a value smaller than the value of the feature point ((t + 1), (t + 3), (t + 6) in FIG. 11B). Count. Referring to FIG. 9, the number of times of measurement (t + 1), (t + 3), and (t + 6) indicates that each feature point of “work 1”, “work 2”, and “work 3” is a search area. It can be grasped that the measurement timing is the time when the deviation from SA has been detected.

  As described above, the “timing for counting the work” is the “timing for detecting that the feature point of the work has entered the search area” or the “timing for detecting that the feature point of the work has left the search area”. ", As shown in FIG. 12, the condition regarding the work detection direction with respect to the search area SA (specifically, whether the work detection is performed from the most upstream side or the most downstream side with respect to the search area SA). ), And a condition relating to the position (how to take) of the origin of the coordinates in the transport direction (specifically, a point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA is set as the origin, or the search area SA Among the four corners, a condition that the point coincident with one corner of the downstream end SA1 is set as the origin), and the work counting condition (specifically, the detected feature point is (E.g., counting when the feature point changes to a value smaller than the outgoing feature point, or counting when the detected feature point changes to a value larger than the most recently detected feature point), and the feature point cannot be detected in the search area. Condition (when the feature point is not detected) regarding the work transfer direction coordinate value (specifically, the work transfer direction coordinate value when the feature point is not detected is set to x_work [t] = 0 or x_work [t] ] = Max) or these conditions.

As described above, the work count control system S according to the present invention determines the length Ls of the search area SA along the transport direction H by the photographing time interval tr of the imaging unit S1, the transport speed v_work of the workpiece W, and the search area SA. The work count process can be executed by setting the number of times n of the image capturing means S1 for the same work W in the camera and the length in the transport direction H for specifying the feature point, and going through the above-described processing procedure. Specifically, in the search area SA of the image data img (t) [t = 1, 2,...] For each shooting time, the work W to be searched (the same work W) is always n (n is 2). The photographing time interval (trigger interval) tr of the imaging means S1 and the transport speed v_work of the work W are set so that the image is taken at least (the above integer) times and always at the most downstream side or the most upstream side of the search area SA. By setting the length Ls of the search area SA in the transport direction H to a length that satisfies the following expressions (1), (2 ′), and (3), the work count process can be accurately performed. .
L / n ≧ tr * v_work Equation (1)
Ls ≧ L ′ + n * tr * v_work (2 ′)
n ≧ 2 Expression (3)
Here, “L” is the length (work length) of one work along the transport direction H, “n” is the number of times the imaging unit S1 has photographed one work W, and “L ′” is “ Length in the transport direction H for specifying a feature point ". The “length in the transport direction for specifying a feature point” is equal to or longer than the total length L of the work W when the feature point is set to the center of gravity W1 of the work W. In the case of “end” (either downstream end or upstream end), “0” can be set. Therefore, “the length in the transport direction for specifying the feature point” can be defined as “the length in the transport direction of 0 or more necessary for specifying the feature point”. Note that it is also possible to set one location of the work W that can be specified due to the shape or the like of the work W as a feature point, or set a mark attached to the work W as a feature point. The position to be set can be selected / changed as appropriate, and the value of “the length in the transport direction H for specifying the characteristic point” may be set to an appropriate value accordingly.

  In the work count control system of the present invention, the shorter the length Ls of the search area SA along the transport direction H, the higher the speed of image processing and, consequently, the higher the speed of work count processing.

  Further, in the work count control system according to the present invention, a work having a posture other than a normal conveyance posture (a different posture work) is identified by image processing based on image data taken by the image pickup means S1 for the work count process, and the difference is determined. When it is determined that the workpiece is a posture work, the work having the different posture is removed to the outside of the conveyance path by a gas such as air blown from an air hole SB (see FIG. 2 and the like) provided downstream of the search area SA. It may be configured to return to the storage part Y3 of the bowl feeder Y.

  The work count control system of the present invention is also applicable to a bowl feeder having a bowl transport path. In this case, it is also possible to execute a counting process by the work count control system on the work moving on the bowl conveyance path. The work count control system of the present invention can be applied to a part feeder other than the linear feeder and the bowl feeder.

  Further, the imaging unit of the present invention is not limited to a camera, and a fiber sensor or the like can be used as the imaging unit.

  In addition, the work to be transferred by the supply device (parts feeder) of the present invention is not limited to an electronic component, but may be of various weights and sizes. Further, the work count control system of the present invention can be applied to all supply devices that can transfer a work to a predetermined destination while moving the work on the transfer path, and is not limited to a supply device configured to move the work by vibration. Instead, the present invention can be applied to a supply device configured to move a workpiece by means other than vibration (for example, means for floating by air).

  In addition, the specific configuration of each unit is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.

S: Work count control system S1: Imaging means S2: Image processing device S21: Image storage unit S22: Search area setting unit S23: Search unit S24: Count unit SA: Search area Z: Parts feeder (linear feeder)
W… Work

Claims (7)

A work count control system applicable to a supply device that can transfer a work to a predetermined destination while moving a work on a transfer path,
Imaging means for continuously photographing a workpiece moving in a row on a transport path at predetermined photographing time intervals;
An image processing device having an image storage unit that stores image data captured by the imaging unit,
The image processing device,
Using the image data stored in the image storage unit, a search area setting unit that can set a search area to include a work from the relationship between the work transfer speed and the shooting time interval,
A search unit that searches for a feature point of a work in which a detection position in a conveyance direction coordinate having an axis along a conveyance direction in the search area changes for each of the image data;
A counting unit that counts the passage of one workpiece based on a change in the coordinate value of the feature point in the transport direction coordinates obtained from a search result by the search unit,
The length of the search area along the transport direction, the imaging time interval of the imaging unit, the transport speed of the work, the number of times the imaging unit captures the same work in the search area, and the feature point for specifying A work count control system, wherein the setting is made based on a length in a conveying direction. The length of the search area along the transport direction,
A first value that a value obtained by dividing the number of times of photographing by the imaging unit for the same work in the search area by the length of the work along the conveyance direction is equal to or more than a product of the photographing time interval of the imaging unit and the work conveyance speed. Conditions,
The length of the search area along the transport direction specifies the characteristic point in a multiplication value of the image capturing time interval of the image capturing unit, the workpiece transport speed, and the number of times the image capturing unit captures the same work in the search area. The work count control system according to claim 1, wherein the length is set to satisfy a second condition that the length is not less than a value obtained by adding a length in the transport direction for the work count. At the time when the counting unit compares the coordinate value of the feature point in the transport direction coordinates newly detected by the search unit with the coordinate value of the feature point at the time of previous detection, and there is a change satisfying a predetermined condition. The work count control system according to claim 1 or 2, wherein the system counts the passage of one work. The length in the transport direction for specifying the feature point is equal to or longer than the length of the work along the transport direction,
4. The work count control according to claim 1, wherein the search unit is configured to search for the most downstream feature point in the search area or the most upstream feature point in the search area. 5. system. The length in the transport direction to specify the feature point is less than the length of the work along the transport direction,
4. The work count control system according to claim 1, wherein the search unit searches for the feature point and the presence / absence of the feature point in the search area. 5. The work count control system according to claim 1, wherein the feature point is a center of gravity of the work. A parts feeder configured to perform a work count process using the work count control system according to any one of claims 1 to 6.

Images