JP2022029912A - Conveyance system - Google Patents

Abstract

To speed up and facilitate an adjusting work of an operation mode of conveyance object posture changing means in a conveyance system.SOLUTION: A conveyance system of the present invention includes: a conveyance device that conveys a conveyance object along a conveyance path and has a posture change location in which the posture of the conveyance object is changed in the middle of the conveyance path; image acquisition means for acquiring an image of the conveyance object; conveyance object discriminating means for obtaining an image processed image part of the conveyance object in a discrimination area set upstream of the posture change location to obtain conveyance object discrimination information regarding the posture of the conveyance object; conveyance object posture changing means for changing the posture of the conveyance object at the posture change location when the conveyance object discrimination information requires a posture change of the conveyance object; and conveyance confirmation means for obtaining conveyance object confirmation information regarding the posture of the conveyance object by performing image processing on the image part of the conveyance object after the posture is changed by the conveyance object posture changing means.SELECTED DRAWING: Figure 1

Description

The present invention relates to a transport system.

Conventionally, in various transport systems, by processing an image generated by photographing a transported object, counting of transported objects, judgment of quality, determination of posture, detection of transport state (speed, density, interval, etc.), etc. Is being done. Examples of such a transfer system include the devices described in Patent Document 1 and Patent Document 2 below. Further, in the above-mentioned transport system, in order to change the posture of the transported object on the transport path, a method of supplying the conveyed object in the same posture by blowing an air flow on the conveyed object and changing the posture is described in the following patent documents. 3 and Patent Document 4.

Japanese Unexamined Patent Publication No. 2017-121995 Japanese Unexamined Patent Publication No. 2019-169010 Japanese Unexamined Patent Publication No. 11-24615 Japanese Unexamined Patent Publication No. 2000-264430

By the way, in the above-mentioned transport system, if the blowing pressure and the blowing timing of the airflow are not appropriate when changing the posture of the transported object, the changed posture is not appropriate or the changed posture changes irregularly. There were times when I did. For this reason, it is necessary to adjust the blowing pressure and the blowing timing of the airflow for each type of the conveyed object, so that the adjustment work takes time every time the conveyed object is changed, and an expert is required to make an appropriate adjustment. There was a problem that was necessary.

Therefore, the present invention solves the above-mentioned problems, and an object thereof is to speed up and facilitate the work of adjusting the operation mode of the transported object posture changing means in the transport system.

In order to solve the above problems, the transport system of the present invention transports the transported material along the transport path, and has a transport device having a posture changing portion in which the posture of the transported object is changed in the middle of the transport path. The image portion of the transported object is image-processed in the image acquisition means for acquiring the image of the transported object and the discrimination area set upstream from the posture change location to obtain the transported object discrimination information regarding the posture of the transported object. The transported object discrimination means, the transported object posture changing means for changing the posture of the transported object at the posture change location when the transported object discrimination information requires the posture change of the transported object, and the transported object posture. It is provided with a transported object confirmation means for obtaining image-processed an image portion of the transported object after the posture is changed by the changing means to obtain the transported object confirmation information regarding the posture of the transported object.

According to the present invention, by obtaining the conveyed object confirmation information regarding the attitude of the conveyed object, it is possible to confirm the state after the changed attitude of the conveyed object caused by the operation of the conveyed object attitude changing means, so that the information can be confirmed. At the same time, the work of adjusting the operation mode of the transported object posture changing means is facilitated, and the posture changing mode of the transported object at the posture changing location is improved.

In the present invention, it is more preferable to further provide a transported object posture change determining means for obtaining the transported object posture changing information indicating the relationship between the transported object discrimination information and the transported object confirmation information. According to this, the operation mode of the transported object posture changing means is obtained by requesting the transported object posture changing information indicating the relationship between the discrimination information before the posture change of the transported object and the confirmation information after the posture change of the transported object. , It is possible to more easily confirm the relationship with the posture change state of the transported object caused by this.

In the present invention, the transported object confirmation means image-processes an image portion of a confirmation area set in a position or range to be arranged after the conveyed object is changed in posture by the conveyed object posture changing means at the posture changing portion. It is preferable to obtain the confirmation result by doing so. Here, the confirmation area has a default positional relationship with respect to the posture change portion in another image taken after a predetermined time elapses with respect to the image including the image portion of the discrimination area. It is desirable to set it in the image part having. Further, it is desirable to further provide a confirmation area prediction means for predicting the position or range of the confirmation area for each image or each conveyed object. The confirmation area may be provided at a preset fixed position or range.

In the present invention, the posture change control unit for controlling the operation mode of the transported object posture changing means is further provided, and the posture change control unit is output by the transported object confirmation information or the transported object posture change determining means. It is preferable to automatically set the operation mode of the transported object posture changing means according to the transported object posture changing information. According to this, the operation mode of the transported object posture changing means can be automatically adjusted according to the transported object confirmation information or the transported object posture changing information, so that the labor of the adjustment work can be reduced and the posture can be changed. Eligibility can be increased.

In the present invention, it is preferable that the transported object posture changing means changes the posture by blowing an air flow on the transported object. Here, it is desirable that the operating mode is at least one of the blowing timing and the blowing pressure of the air flow. The means for changing the posture of the conveyed object is not limited to the one by the above-mentioned air flow, but may be a mechanical one such as an arm, or one caused by the shape and structure of the conveyed path, for example, the conveyed path. It may be one that causes a step or the like in a part to rotate the conveyed object.

In the present invention, both the determination region and the confirmation region are preferably regions contained inside the image. According to this, since it is possible to set two areas used for the transported object discrimination process and the transported object confirmation process in a single image, it is easy to set the positional relationship between the two areas and the camera. It is possible to simplify the imaging system such as.

According to the present invention, in the transport system, it is possible to speed up or facilitate the adjustment work for the operation mode of the transport object posture changing means.

It is a schematic flowchart which shows the outline of the procedure of the transport object posture change control processing unit of embodiment of the transport system which concerns on this invention. It is a schematic flowchart (a) which shows the outline of the procedure of the conveyed object confirmation processing process 101 of the same embodiment, and the schematic flowchart (b) which shows the outline of the procedure of the conveyed object posture change setting processing process 102. It is a schematic block diagram which shows the whole structure of the transport system of the same embodiment. It is explanatory drawing (a)-(d) for demonstrating the conveyed object discriminating process used in the conveyed object attitude change control of the same embodiment. It is explanatory drawing (e)-(h) for demonstrating the conveyed object confirmation process used in the conveyed object attitude change control of the same embodiment. Explanatory diagrams (a) and (b) showing an example of the correspondence between the transported object discrimination information and the transported object confirmation information of the same embodiment, and explanatory views (c) and (d) showing another example. A configuration block diagram (a) showing a configuration example of the transported object posture change setting means in the same embodiment, a combination of the transported object discrimination information Bi and the transported object confirmation information Ej, and the corresponding transported object posture change determination information Gij. Correspondence correlation chart (b) showing the correspondence relationship between these and the contents of adjustment / setting of the operation mode of the conveyed object attitude changing means, and a plurality of conveyed object attitudes CN1 to Cn4 are arranged in one CN1. It is a figure (c) which shows the structural example of a plurality of posture change parts for this purpose. It is a schematic flowchart which shows the processing process of an example of the operation program 10P in the same embodiment.

Next, an embodiment of the transport system according to the present invention will be described in detail with reference to the accompanying drawings. First, the outline of the embodiment of the transport system according to the present invention will be described with reference to FIGS. 1 to 3. FIG. 1 is a schematic flowchart showing a processing procedure of a transported object posture change control processing unit 100 which is a part of an operation program 10P executed by a computer of the transport system 10 according to the present embodiment. FIG. 2 is a schematic flowchart (a) showing a processing procedure of a transported object confirmation processing process 101 which is a part of a transported object posture change control processing unit 100, and a schematic flowchart showing a processing procedure of a transported object posture change setting processing process 102 (a). b). FIG. 3 is a schematic configuration diagram schematically showing the overall configuration of the embodiment of the transport system 10.

First, the overall configuration of the transport system 10 will be described with reference to FIG. As shown in FIG. 3, the transport system 10 is a transport system that transports the transported object CA along a predetermined transport path. The transport system 10 includes a parts feeder 11 having a bowl-shaped transport body 110 having a spiral transport path 111, and an inlet configured to receive the transported object from the outlet of the transport path 111 of the parts feeder 11. A oscillating transport device comprising a linear feeder 12 with a transport body 120 having a linear transport path 121 with the above. Further, this transport device has a transport management function, and the transport management function inspects and determines the transport CA, which is the transport on the transport path 121 of the transport body 120 of the linear feeder 12, based on the captured image GPX. .. In the present invention, the configuration not limited to the vibration type transfer device can be used for various transfer devices in which the conveyed object CA is conveyed along the transfer path. Further, the vibration type transfer device is not limited to the combination of the parts feeder 11 and the linear feeder 12, and can be used for other types of transfer devices such as a circulation type parts feeder. Further, even in the above combination, it is not limited to inspecting the conveyed object CA which is the conveyed object on the conveyed path 121 of the linear feeder 12, but also inspecting the conveyed object CA on the conveyed path 111 of the parts feeder 11. It doesn't matter.

The parts feeder 11 is driven and controlled by the controller CL11. Further, the linear feeder 12 is driven and controlled by the controller CL12. These controllers CL11 and CL12 AC drive the vibration mechanism (including the electromagnetic drive body and the piezoelectric drive body) of the parts feeder 11 and the linear feeder 12, and transport the transport bodies 110 and 120 on the transport paths 111 and 121. The object (transported object CA) is vibrated so as to move in a predetermined transport direction F. Further, the controllers CL11 and CL12 are connected to the inspection processing unit DTU having an image processing function, which is the main body of the transport management system, via an input / output circuit (I / O).

Further, the controllers CL11 and CL12 input predetermined operations (debug operation) to the arithmetic processing unit MPU that executes the conveyed object attitude change control processing unit 100 via operation input devices SP1 and SP2 described later such as a mouse. ) Is performed, the drive of the transfer device of the transfer system 10 is stopped according to the above operation program 10P. At this time, for example, the image measurement processing in the inspection processing unit DTU is also stopped according to the above operation program 10P. This debugging operation and the operation of each part corresponding to the operation will be described in detail later.

The inspection processing unit DTU has a core configuration of an arithmetic processing unit MPU (micro processing unit) such as a personal computer. In the illustrated example, the arithmetic processing unit MPU is composed of a central processing unit CPU1, CPU2, a cache memory CCM, a memory controller MCL, a chipset CHS, and the like. Further, the inspection processing unit DTU is provided with image processing circuits GP1 and GP2 for performing image processing connected to the cameras CM1 and CM2, which are image pickup means, respectively. These image processing circuits GP1 and GP2 are connected to the image processing memories GM1 and GM2, respectively. The outputs of the image processing circuits GP1 and GP2 are also connected to the arithmetic processing apparatus MPU, process the image data of the captured image GPX captured from the cameras CM1 and CM2, and appropriately process the processed image (for example, the image in the image area GPY described later). Data) is transferred to the arithmetic processing device MPU. The operation program 10P of the transport management system is stored in the main storage device MM in advance. When the inspection processing unit DTU is started, the operation program 10P is read out and executed by the arithmetic processing unit MPU. Further, in the main storage device MM, the image data of the captured image GPX or the image area GPY to be the target for which the image measurement process described later is executed is stored by the arithmetic processing device MPU.

Further, the inspection processing unit DTU is connected to display devices DP1 and DP2 such as a liquid crystal monitor and operation input devices SP1 and SP2 via an input / output circuit (I / O). In the display devices DP1 and DP2, the image data of the captured image GPX or the image area GPY processed by the arithmetic processing unit MPU, the result of the image measurement processing, that is, the result of the conveyed object discrimination process and the conveyed behavior detection process, etc. are predetermined. It is displayed in the display mode of. It should be noted that this display function is not limited to the case where the transported object CA is actually transported, but also functions when the past data is read out and reproduced as described later. Further, by operating the operation input devices SP1 and SP2 while looking at the screens of the display devices DP1 and DP2, processing conditions such as various operation commands and set values can be input to the arithmetic processing unit MPU.

In the present embodiment, the cameras CM1 and CM2 continuously shoot at a predetermined shooting interval, and at least a discrimination target of all the transported objects CA passing through the transport path due to the relationship between the transport speed Vs and the shooting interval Ts of the transported objects. The image measurement process is performed on the image data in the measurement area having the range of the transport direction F preset so that the portion is always included in any of the images. As a result, all the conveyed objects CA can be always detected in the captured image of any of the measurement areas, so that it is not necessary to generate a trigger signal for detecting the position of each conveyed object as in the prior art. .. Further, by processing the image data of the transported object CA included in this image, it is possible to reliably extract information necessary for the transported object discrimination process, the transported object detection process, the transported object detection process, and the like. In the transport system of the present invention, the image may be acquired at a shooting timing corresponding to the detection timing of the transported object by a normal sensor or the like without adopting the triggerless shooting method as described above. In the present embodiment, the discrimination target portion is the entire transported object CA, but a part of the transported object CA, for example, a portion showing a discrimination mark or the like shown on the side surface of the transported object CA is described above. It may be a discrimination target part.

In the transport system 10, the transport object is discriminated during transport by the execution of the transport object posture change control processing unit 100 shown in FIG. 1 included in the operation program 10P (see FIG. 8) to be described later, which is executed by the arithmetic processing unit MPU. A process is performed, and the transfer device is controlled according to the determination result of this process. In the conveyed object posture change control processing unit 100, the conveyed object CA is generally subjected to image processing in the measurement area of the image, and as a result, the conveyed object CA is determined. If the transported object CA is appropriate, it can be transported on the transport path as it is, so no particular action is required. However, if it is found that the transported object CA is not appropriate, it can be transported from the transport path. Various processes such as exclusion, change of posture on the transport path, and return to the upstream side will be performed. In the present embodiment, the transported object posture change control processing unit 100 includes a portion that executes a process of discriminating the posture of the transported object CA (conveyed object discrimination process), and also responds to the posture discrimination result Ci by the portion. Then, the attitude change process of the transported object CA is carried out.

Here, in the present specification, the reversal of the transported object CA is included as one of various aspects of changing the posture of the transported object CA. Further, "posture change" is not only an inversion used to mean that the conveyed object CA is turned upside down, but also the conveyed object CA is rotated by an arbitrary angle around an arbitrary axis (rotated by 90 degrees). In the case of rotating 180 degrees, rotating 270 degrees, etc.), various aspects in which the posture of the conveyed object CA changes as a result are broadly included. In addition to the process of determining the posture of the transported object CA, the transported object posture change control processing unit 100 of the present embodiment also executes other discrimination processes such as a process of determining the quality of the transported object CA. Alternatively, other transport processes such as a process of eliminating the transport CA may be executed other than the transport process of changing the posture of the transport CA. Further, in the following description, the description of the other discrimination process and the other transport process described above will be omitted except for the transport material sorting process shown in FIG.

As shown in FIG. 1, the transported object posture change control processing unit 100 first reads out various set values such as initial values, and then uses the image acquisition means A configured by the inspection processing unit DTU. A plurality of images Ai are sequentially acquired. These images Ai may basically be the image data itself of the captured image GPX or the image area GPY generated by the inspection processing unit DTU, or are composed of a part of these image data. It may be one. When these images Ai are acquired, image processing of the determination area DA set in the image Ai and image processing of the confirmation area DB are performed.

4 (a)-(d) and 5 (e)-(h) are explanatory views showing an example of a transport mode of the transported object on the transport path 121 of the transport system 10. The transported object CA advances along the transport path 121 along the transport direction F. At this time, the image Ai acquired by the image acquisition means A is provided with a determination area DA formed as the measurement area. This determination region DA is provided as a region limited to the upstream side of the posture change portion provided with the fumarole OP on the transport path 121.

As shown in FIG. 1, the transported object posture change control processing unit 100 sequentially acquires a plurality of image Ai including a measurement area in which the transported object CA may exist, and the image acquisition means A and the inside of these image Ai. The above posture according to the discrimination result Ci of the transported object CA obtained based on the conveyed object discrimination processing means B that performs image processing of the determination area DA and the conveyed object discrimination information Bi obtained by the conveyed object discrimination processing means B. By operating at the changed location, the postures of the transported object posture changing means C that changes the transporting posture of the transported object CA and the transported object CA whose posture has been changed by the transported object posture changing means C are confirmed, and the transported object is confirmed. It is provided with a transported object confirmation means E for obtaining confirmation information Ej. Here, i is a natural number, and indicates a plurality of numbers from 1 to n (n is a natural number of 2 or more). Further, it is preferable to have the transported object posture change determining means G for obtaining the transported object posture change information Gij based on the transported object discrimination result Ci and the transported object confirmation result Ej for a certain transported object CA. The transported object confirmation means E is not particularly limited, but as shown in FIGS. 4 and 5, the posture of the transported object CA whose posture has been changed by performing image processing of the confirmation area DB can be changed. It is confirmed. In the case of the present embodiment, the confirmation area DB is set on the transport path 122 which is on the downstream side of the determination area DA and is different from the transport path 121.

The transported object discrimination information Bi includes at least information that correlates with the posture of the transported object CA. Further, it is preferable to include a transported object detection range (position information) indicating the arrangement of the transported object CA. Further, it can include information on the type, appearance, presence / absence and type of defects, and the quality of the transported object CA. Here, in order to satisfactorily acquire information correlating with the posture of the transported object CA as the transported object discrimination information Bi, for example, when the transported object CA is cubic, at least 2 of the transported object CA is shown in the image Ai. It is desirable that the surface is configured to be photographed. This is because it is more suitable to determine the posture of the transported object CA if the image data includes information on as many surfaces as possible among the six surfaces of the transported object CA. Therefore, it is preferable that at least two cubic surfaces are photographed as shown in FIGS. 4 and 5. In this embodiment, at the posture change location used in the description, four sides around the axis along the transport direction F on the four side surfaces excluding the front and rear end faces (the portion where the electrodes are provided in the figure) of the transport object CA. Although only the transport postures (CN1 to CN4, which will be described later) are the subject of explanation, a total of eight transport postures including the mode in which the front-back orientations are reversed may be targeted, and further, the front-rear and front-end surfaces are the transport directions. A total of 16 transport postures may be targeted, including eight further transport postures facing sideways orthogonal to F.

Further, the conveyed object discrimination result Ci is a discrimination result regarding the posture of the conveyed object CA obtained by the image processing of the determination area DA in the image Ai this time, and is, for example, the said, according to a preset attitude reference. It indicates whether the posture is good (OK) or not (NG). Of course, based on the information for discriminating a plurality of postures of the transported object CA as the transported object discrimination information Bi, 3 or more discrimination results may be obtained as the transported object discrimination result Ci. For example, the result may be such that each of a plurality of types of transport postures of the transported object CA can be discriminated.

As shown in FIG. 2A, the transported object confirmation means E may include the confirmation area prediction means D for predicting the confirmation area DB as an example. Generally, the confirmation area DB may be set at a fixed position in the image Ai (Aj) as shown in FIGS. 4 and 5, and in this case, the confirmation area prediction means D is unnecessary. .. When the confirmation area prediction means D is used, the position and range of the confirmation area DBj of the image Aj for deriving the transportation confirmation information Ej are predicted based on the transportation status of the transportation CA. In this case, the transport status includes the transport speed of the transport CA, the position on the transport path 122 after the posture change of the past transport, the spray timing and the spray pressure of the airflow given from the fumarole OP at the posture change location. Information such as. By this confirmation area prediction means D, the position and range (shooting range) of the confirmation area DBj in the image Aj and the image Aj (or the shooting timing (shooting time) corresponding to the image Aj) in which the confirmation area DBj is set are set. Image processing of the transported object confirmation means E is performed on the confirmation area DBj derived and set by this. The prediction of the confirmation area DB is performed for each image Aj or for each carrier CA whose posture has been changed.

In the examples shown in FIGS. 4 and 5, the confirmation area DB is set to a fixed range at a fixed position, but even in this case, as shown in FIG. 1, the transported object is confirmed in the confirmation area DB for each acquired image Ai. It is possible to determine whether or not processing is required, and perform image processing in the confirmation area DB only for the necessary image Aj. Whether or not the conveyed object confirmation process is necessary is whether or not the conveyed object CA has undergone the attitude change by the conveyed object attitude changing means C as a result of the fact that the conveyed object discrimination result Ci needs to change the posture in the image Ai before that. It is decided by. This is because if there is no such change in posture, there is no need to perform the transported object confirmation process. Further, when the posture change is performed by the conveyed object discrimination process in the image Ai before that, the image Aj (j> i, however, may be a single image or a plurality of images. In), the confirmation area DB may be image-processed to confirm whether or not the conveyed object CA is detected, and if the conveyed object CA is detected and the conveyed object confirmation information Ej regarding the posture of the conveyed object CA is obtained. , The fact of the above posture change is reset, and it is said that the above attitude change was not made.

Since the confirmation area prediction means D predicts the position and range of the confirmation area DBj and the shooting time, it may be determined whether or not the image Aj is an image that requires confirmation according to the prediction content. However, in consideration of the prediction accuracy, whether or not one or more images Aj are images that require confirmation is determined by looking at the result of the image processing of the transported object confirmation means E, separately from the predicted content, and the transported object CA. May be determined depending on whether or not is detected in the confirmation area DBj. That is, in this case, the position and range of the confirmation area DBj are used, but the prediction result of the image Aj corresponding to the predicted shooting time is not actually used. In any case, if the transported object CA is detected in any of the images Aj, the information regarding the posture of the transported object CA becomes the transported object confirmation information Ej. As will be described later, there may be a case where the transported object CA is not confirmed (when it does not exist) in the confirmation area DB (DBj) due to the return operation of the transported object CA, so that the transported object confirmation corresponding to a certain attitude change is performed. If the transported object CA is not detected in the image Aj (all images in the case of a plurality of images Aj) in which the information may exist, the transported object confirmation information will include the result of "no detection", in this case. However, the above reset is performed.

The confirmation areas DB and DBj may be set as the measurement area in the same manner as the determination area DA. This is because the transported object CA after the posture change, which is transported on the transport path 122, basically has the same transport speed as when it is transported on the transport path 121 in many cases. In this case, the confirmation area DB may be set on the downstream side of the position where the transported object CA after the posture change can be arranged. In the illustrated example, the transport path 122 extends to the downstream side in parallel with the transport path 121, and is configured to eventually merge with the transport path 121. Here, in general, when the transported object CA on the transport path 122 joins the transport path 121, it is configured to have a normal transport posture on the transport path 121. Here, the place where the confirmation areas DB and DBj are set is not limited to the transport path 122 different from the transport path 121, and the transported object CA after the posture change is arranged on the transport path 121. May be.

Further, the confirmation areas DB and DBj are set as limited areas. However, it is preferable that this region is set to a range having a margin so as to have a wider range than at least a discrimination target portion (or the whole) of the transported object CA. As a result, the transported object confirmation process can be performed more reliably. The range of the confirmation areas DB and DBj is preferably large in that the transported object CA after the posture change can be reliably detected, but the larger the range, the larger the load of image processing. Therefore, it is preferable that the expansion ratios of the confirmation areas DB and DBj are determined according to the movement characteristics of the transported object CA in the transport device. For example, if the variation in the position of the transported object CA after the posture change is large, the enlargement ratio needs to be increased, and if the variation is small, the enlargement ratio can be decreased. When a plurality of movement modes after changing the posture of the actual transported object CA in the past are obtained, a positive correlation is provided with the variation (for example, standard deviation) of the set of these movement modes. As such), it is desirable to increase or decrease the above expansion rate. By doing so, it is possible to reliably execute the confirmation process after the posture of the transported object CA is changed by the image processing in the confirmation area DB and the DBj while reducing the burden of the image processing.

Next, the transport mode of the present embodiment will be described with reference to FIGS. 4 and 5 together with FIGS. 1 and 2. As shown in FIG. 4A, the transported object CA is transported on the transport path 121 in the transport direction F. Here, another auxiliary transport path 122 is formed in parallel above the illustrated transport path 121 (actually laterally). In the middle of the transport path 121, a posture change location where the fumarole OP opens on the transport surface is set. Further, the determination area DA is set in the range adjacent to the upstream side of the posture change location. This determination area DA is included in the image Ai. As shown in FIG. 1, a plurality of images Ai are sequentially acquired. In the illustrated example, the conveyed object CA is not detected in the first image A1, and the same applies to the next image A2. Further, in the next image A3, the conveyed object CA is detected in the determination area DA. As described above, the determination region DA is along the transport direction F so that all the transport objects CA (at least the discrimination target portion) passing on the transport path 121 are always detected in any of the images Ai. The length range Lda is set so that Lda> Vs · Ts is established depending on the relationship between the transport speed Vs of the transport object CA and the imaging interval Ts. However, in practice, it is preferable to provide a margin ΔL such that Lda ≧ Vs · Ts + ΔL, and if possible, it is desirable that Lda ≧ 2Vs · Ts. Further, the upper limit of the above range Lda is preferably 2 Vs · Ts or more and 3 Vs · Ts or less. It is desirable that the width of the determination region DA in the direction orthogonal to the transport direction F is larger than the width of at least the discrimination target portion of the transported object CA, but in the present embodiment, the conveyed object CA is conveyed by vibration. Since it swings in the width direction as well, it is desirable to provide a margin Δw of about 10 to 80% of the width of the discrimination target portion (or the whole) of the conveyed object CA also in the width direction.

In the illustrated example, the transported object CA is configured in a cubic shape, and is shown in a mode in which the transported object CA is transported in the longitudinal direction toward the transport direction F. In this case, the posture of the transported object CA can be detected by the marks M formed on a part of the four side surfaces excluding the front and rear end faces of the transported object CA. In the illustrated example, the mark M is formed over the entire width direction of one side surface and half over the length direction (hatched portion in the figure). Further, the end portion of the mark M appears at the boundary portion (near the ridge line) of the two side surfaces adjacent to the one side surface, so that only one of the four side surfaces can be confirmed in detail. , It is possible to specify the transport posture around the axis along the transport direction F of the transport object CA. However, in the illustrated example, the shooting directions of the cameras CM1 and CM2 are set so that at least two adjacent sides of the conveyed object CA can be viewed simultaneously in the image Ai. That is, one ridgeline of the transported object CA can be seen by setting the angle between the transport surfaces 121a and 121b (the planes are substantially orthogonal to each other) of the transport path 121 in the shooting direction of the camera. Two adjacent sides of the ridge are included in the image at the same time. In the illustrated example, the case where the mark M is arranged at the upper right of the transported object CA is the case where the normal transport posture is set.

In the present embodiment, as shown in FIG. 4C, when the conveyed object CA is detected in the determination area DA of the image A3, the conveyed object discrimination information is executed by the image processing of the determination area DA. B3 is derived. Based on this transported object discrimination information B3, the transport posture of the transported object CA according to the position of the mark M is determined, and as the transported object discrimination result C3, a determination "NG" that the posture is not the normal transport posture is obtained. As a result, when the transported object CA reaches the posture change location as shown in FIG. 5 (e), an air flow is blown from the fumarole OP as shown in FIG. 5 (f), and the conveyed object CA rotates while rotating. , Move from the transport path 121 onto the transport path 122. Since the fumarole OP is opened so that pressure can be applied to the biased range of the upper part of the conveyed object CA on the conveyed object CA, the conveyed object CA is simply removed from the conveyed object CA. Instead, the transported object CA is rotated about an axis along the transport direction F. As a result, as shown in FIGS. 5 (f) and 5 (g), the transported object CA gradually changes its posture, and when it is arranged on the transport path 122 as shown in FIG. 5 (h), it is transported. It is changed to a predetermined transport posture different from the transport posture on the road 121. In the case of the illustrated example, the transport posture of the transported object CA when arranged on the transport path 122 is the above-mentioned regular transport posture. In the case of the illustrated example, the posture of the transported object CA is changed at the posture changing position by rotating 180 degrees around the axis along the transport direction F (around the axis in the longitudinal direction).

In the present embodiment, a confirmation area DB for confirming the transported object CA on the transport path 122 is set in the image Ai. In the case of the illustrated example, the confirmation area DB is a fixed area having a predetermined position and range in the image Ai in advance. However, as described above, the confirmation area DBj may be predicted and set for each image Aj for which the transported object confirmation process is performed or for each transported object CA. Image processing is also executed in this confirmation area DB, and the transported object confirmation information Ej is output. In FIG. 1, the posture of the transported object CA is changed according to the determination result Ci based on the transported object discrimination information Bi obtained by executing the transported object discrimination process in the determination area DA of the image Ai. The case where the transported object CA after the change is executed in the confirmed area DB (DBj) of the image Aj and the transported object confirmation information Ej is obtained is shown. As described above, FIGS. 4 and 5 show a case where the transported object CA after the posture is changed to the normal transported posture as the transported object confirmation information Ej. On the other hand, in FIGS. 6 (b) and 6 (d), as shown in FIGS. 6 (a) and 6 (c), the conveyed object discrimination derived by image processing for the determination area DA of the image Ai As a result of changing the posture of the transported object CA based on the information Bi, the case where the transported posture of the transported object CA after the posture change is a posture other than the normal transport posture is shown. Here, in FIG. 6 (b), from the transport posture shown in FIG. 6 (a), the transport posture is changed to a transport posture in which the transport material CA is rotated 270 degrees around the axis along the transport direction F (around the axis in the longitudinal direction), which is excessive. It shows the case where the normal transport posture is exceeded and the non-regular transport posture is changed due to the normal rotation. Further, in FIG. 6 (d), from the transport posture shown in FIG. 6 (c), the transport object CA is rotated 90 degrees around the axis along the transport direction F (around the axis in the longitudinal direction), and the rotation is changed. It shows the case where the normal transport posture is not reached due to the shortage and the transport posture is not regular.

When the transported object confirmation information Ej is obtained as described above, then, as shown in FIG. Using the confirmation information Ej, the transported object attitude change determination information Gij is obtained. The transport posture change determination information Gij is the transport posture (see FIGS. 4 (c), 6 (a), 6 (c)) before the posture change in the determination region DA of the transport object CA, and the transport object CA. Information showing the relationship with the transport posture (see FIGS. 5 (h), 6 (b), and 6 (d)) in the confirmation area DB after the posture change. The conveyed object attitude change determination information Gij includes an information portion indicating the conveyed attitude before the attitude change in the determination area DA of the conveyed object CA, and an information portion indicating the conveyed attitude in the confirmation area DB after the attitude change of the conveyed object CA. It may simply include both of the above, or it may include only the information indicating the relationship between the two information portions. Further, in the symbols and characters indicating the types corresponding to the transport postures before and after the posture change, for example, in the examples of FIGS. 4 and 5, the transport posture before the posture change is not the normal transport posture (NG), and after the posture change. The information may be such that the transport posture is a normal transport posture (OK).

When the transported object posture change determination information Gij is derived as described above, the transported object posture change setting means H shown in FIG. 1 changes the posture of the transported object as shown in FIG. 2 (b). The setting process is performed. The transported object attitude change setting process adjusts the blowing timing and the blowing pressure of the airflow blown from the fumarole OP at the posture change location to the transported object CA according to the transported object confirmation information Ej or the transported object attitude change determination information Gij. And set. In the illustrated example, the posture change control unit is set based on the conveyed object attitude change determination information Gij, but depending on the situation, it may be set based only on the conveyed object confirmation information Ej. For example, as shown in FIGS. 4 and 5, when the transported object confirmation information Ej obtained by the transported object confirmation process corresponds to the normal transport posture, the spraying timing and the spraying pressure are appropriate. As a result, the conventional setting value is maintained. On the other hand, as shown in FIGS. 6 (a) and 6 (b) and (c) and (d), the transported object CA is different from the normal transport posture, and as a result, the transported product confirmation information Ej is in the regular transport posture. When it is not the corresponding information, the operation mode of the posture change portion such as the blowing timing and the blowing pressure of the airflow is changed, and the action of the posture change on the conveyed object CA is adjusted. At this time, it is preferable that the transported object confirmation information Ej includes detailed information indicating which of the specific transport posture types is used, whereby the above operation is performed for each specific transport posture type. It is desirable to change the method of adjusting the aspect. For example, when the rotation angle at the time of changing the posture of the conveyed object CA is excessive as shown in FIG. 6 (b), the spray pressure is reduced and the attitude of the conveyed object CA is changed as shown in FIG. 6 (d). If the rotation angle at the time is too small, the spray pressure is increased. Further, although not shown in particular, when the transported object confirmation information Ej is the transport posture B6'appearing when the spray timing is too late as shown in FIG. 5 (f), the spray timing is advanced. On the contrary, when the transport posture B7'appears when the spraying timing is too early as shown in FIG. 5 (g), the spraying timing is delayed.

FIG. 7A is a schematic configuration diagram showing a configuration of a posture change control system that realizes an operation mode for changing the posture of the transported object CA at the posture change location of the present embodiment. For example, the attitude change control unit 103 composed of a part of the controller CL12 controls the pressure setting unit 124a of the regulator 124 that adjusts the pressure of the compressed gas (air or the like) supplied from the compressed gas source 123 such as a compressor. Then, the gas supply pressure is set to be adjustable, and the opening / closing drive unit 125a of the supply valve 125 including the solenoid valve connected to the downstream side of the regulator 124 is controlled to set the opening / closing operation timing of the supply valve 125. .. Here, the transport object posture change control unit 103 can adjust and change the supply pressure and the opening / closing operation timing by the transport object posture change setting means H.

FIG. 7B shows an operation mode of the transported object posture change determination information Gij represented by the combination of the transported object discrimination information Bi and the transported object confirmation information Ej of the present embodiment, and the transported object posture changing means C at the posture changing location. It is a correspondence correlation diagram which shows the relationship with the adjustment content. According to this, when the transported object confirmation information Ej is "OK", the above operation mode is not adjusted, but when the transported object confirmation information Ej is "NG" and the posture of the transported object CA is changed. When the rotation angle is excessive (when shown in FIG. 6B), that is, when "NG +", the blowing pressure of the airflow is reduced by a predetermined pressure (−Δp). On the other hand, when the transported object confirmation information Ej is "NG" and the rotation angle when the posture of the transported object CA is changed is too small (when shown in FIG. 6 (d)), that is, when it is "NG-". The blowing pressure of the airflow is increased by a predetermined pressure (+ Δp). Further, when the transported object CA itself is not detected in the confirmation area DB (DBj), for example, in general, in one image Aj or in any of a plurality of image Aj, in the confirmation area DB (DBj). If the conveyed object CA is not detected, has the conveyed object CA returned without moving from the transfer path 121 to the transfer path 122 because the blowing pressure of the airflow blown from the air jet port OP is insufficient? Since the spray pressure is excessive, it is possible that the transported object CA has moved to the transport path 122 and then returned to the transport path 121 with excessive momentum. Therefore, the operation mode of the attitude change at that time is set. If the value (the spray pressure) exceeds a predetermined threshold value, the spray pressure of the airflow is reduced by a predetermined pressure (−Δp). On the other hand, if the set value is equal to or less than a predetermined threshold value, the blowing pressure of the airflow is increased by a predetermined pressure (+ Δp). Although the above Δp is described as being the same depending on any situation, Δp may be changed in various ways depending on the situation, or the operation mode at the time of changing the posture is out of the proper value. Δp may be increased or decreased by proportional control according to the degree.

On the other hand, regardless of whether the transported object confirmation information Ej or the transported object attitude change information Gij, the attitude of the transported object CA at the posture change location when the attitude is changed is the transport direction as shown in B6'in FIG. 5 (f). When a negative tilt angle is provided with respect to F, or when a positive tilt angle is provided with respect to the transport direction F as in B7'in FIG. 5 (g), the procedure is as follows. First, when the inclination angle is less than a predetermined reference angle θ, for example, less than ± 10 degrees, nothing is performed as an adjustment of the operation mode. When the positive inclination angle exceeds the reference angle θ (10 degrees), the airflow blowing timing is advanced by Δt. When the negative inclination angle is less than the reference angle θ (10 degrees), the airflow blowing timing is delayed by Δt. Although the above Δt is described as being the same depending on the situation, Δt may be changed in various ways depending on the situation, or the operation mode at the time of changing the posture is an appropriate value (0 degree). Δt may be increased or decreased by proportional control according to the degree of deviation from. As described above, even when a plurality of transport postures are provided, the transport material CA can be used from the transport material confirmation information Ej obtained by the transport material confirmation means E or from the transport material posture change information Gij. By adjusting and setting the operation mode of C, it is possible to suitably execute the posture change of the transported object CA by the transported object posture changing means C, and as a result, the transport posture of the transported object CA is efficiently aligned (control). ) Will be possible.

The figure of FIG. 7C is an example of a case where a plurality of transport postures CN1 to CN4 of the transport object CA are aligned with CN1 by the posture change control unit 103 adjusted and optimized as described above. A case is shown in which three posture change points arranged in the transport direction F of 121 are provided. Here, if the transport posture CN1 to be aligned is used as a reference (0 degree), for example, when the rotation angle around the axis of the transport object CA along the transport direction F is +90 degrees when the posture is changed. , CN2 is -90 degrees, CN3 is -180 degrees, and CN4 is -270 degrees. In this example, at the first attitude change point, the conveyed object CA of the conveyed attitude CN1 passes downstream as it is, and the conveyed object CA of the conveyed attitude CN2 is the conveyed attitude due to the air flow blown from the jet port OP at the attitude change point. It becomes CN1, and the transported object CA of the transport posture CN3 becomes the transport posture CN2 due to the airflow blown from the air outlet OP at the posture change location, and the transport material CA of the transport posture CN4 becomes the transport posture CN2 due to the air flow blown from the air outlet OP at the posture change location. The transport posture is CN3. Next, at the second attitude change location, the conveyed object CA of the conveyed attitude CN1 passes downstream as it is, and the conveyed object CA of the conveyed attitude CN2 is conveyed at the attitude change location due to the air flow blown from the air jet OP. Therefore, the transported object CA in the transport posture CN3 becomes the transport posture CN2 due to the air flow blown from the air jet port OP at the posture change location. Further, at the third attitude change point, the conveyed object CA of the conveyed attitude CN1 passes to the downstream side as it is, and the conveyed object CA of the conveyed attitude CN2 becomes the conveyed attitude CN1 by the air flow blown from the fumarole OP at the attitude changed point. Become. In the transport device provided with a plurality of posture change points as described above, the above-mentioned efficient change of the transport posture becomes more effective, and it is possible to reliably supply the transported object CA having the same transport posture with high transport efficiency. become. It is effective to adopt each of the above configurations described in the present embodiment at each of these plurality of posture change points, and preferably it is effective to adopt them at all the posture change points.

<Structure of operation program 10P>
Next, with reference to FIG. 8, the flow of the entire operation program 10P of each embodiment according to the present invention will be described. FIG. 8 is a schematic flowchart showing various processing processes for transport management executed according to the operation program 10P by the arithmetic processing unit MPU of the inspection processing unit DTU. When this operation program 10P is started, first, the above-mentioned image shooting and image measurement processing are started, and at the same time, the transfer devices (parts feeder 11 and linear feeder 12) are started to be driven by the controllers CL11 and CL12. If the debug setting corresponding to the above-mentioned debug operation is OFF, the image measurement process is executed for the captured image GPX or the image area GPY, and the conveyed object selection process and the conveyed object posture change control process (the above-mentioned conveyed object discrimination). Processing and the above-mentioned transportation confirmation processing are included.) And the like are performed. Here, if the final determination result of the transported object sorting process or the transported object discrimination process is an "OK" determination, the image measurement process of the next captured image GPX or the image area GPY is performed as it is unless the debug operation is performed. Is carried out. For example, at the transported object exclusion point for the transported object sorting process, the airflow of the fumarole OP is always stopped, but if the determination result is "NG" (defective product), the airflow is emitted from the fumarole OP. It flows. As a result, the defective transported object CA is excluded from the transport path. Further, at the above-mentioned attitude change location, the airflow from the fumarole OP is always stopped, but if the determination result is "NG" (poor attitude), the airflow is ejected from the fumarole OP and from the transport path 121. In the process of moving the transported object CA to 122, its posture is changed and reversal or the like is executed. Contrary to the above, the airflow is always flowing, but if the determination result is "OK" (good posture), the airflow may be stopped.

In this way, the transported object CA, which is the transported object, is discriminated on the transport path, and by processing according to the discrimination result, only the non-defective product and the transported object CA in a good posture are supplied to the downstream side in an aligned state. Will be done. Also in this case, unless the debugging operation is performed thereafter, the image measurement process and the conveyed object discrimination process are performed as they are in the measurement area of the next captured image GPX or the image area GPY. Here, in the transported object discriminating process by the transported object posture change control processing unit 100, the process for a certain transported object CA is performed as described above, but it is usually transported one after another into the discrimination area DA which is the measurement area. For each of the plurality of transported object CAs, the same transported object discrimination process is performed in parallel for each transported object CA. Further, the above-mentioned conveyed object confirmation process is performed only on the conveyed object CA whose posture has been changed according to the determination result Ci. Further, in parallel with the above-mentioned image measurement processing and transport object discrimination process, for example, in order to detect the transport behavior of the transport object CA when being transported along the transport direction F on the transport path, the transport on the transport path is performed. The transport behavior detection process for tracking the object CA may be performed. Then, the drive of the transport device may be controlled in order to adjust the transport mode based on the detection result of the transport behavior detection process. The control of the transfer drive controls, for example, the drive conditions of the vibration element of the vibration mechanism of the transfer device, for example, the frequency and the voltage of the piezoelectric drive body, and adjusts them so as to have an appropriate transfer mode. The transport behavior detection process may be executed in parallel with the transport object discrimination processing process of the transport object attitude change control processing unit 100, or may be completely different regardless of the transport object discrimination processing process. It may be executed by image processing. For example, by controlling the frequency and amplitude of the vibration according to the magnitude of the fluctuation of the position in the direction orthogonal to the transport direction F of the transport object CA when moving in the transport direction F on the transport path 121. It is possible to prevent the transported object CA from unnecessarily rampaging on the transport path 121.

When the debug operation is performed in the middle of the above and the debug setting is set to "ON", the routine (operation mode) is exited, the drive of the transport device is stopped, the image measurement process, the transport object selection process, and the transport object attitude change. The control process and the transport behavior detection process are also stopped. Then, if an appropriate operation is performed in this state, the past image file can be selected. At this time, the image file selected and displayed is an image file including a plurality of captured image GPX or image area GPY recorded in the immediately preceding operation mode. If you select this as it is and perform an appropriate operation, it shifts to the re-execution mode. In this mode, an image is displayed or displayed based on an image file that records the results of the image measurement processing, the transported object selection process, the transported object posture change control process, the transported object behavior detection process, etc. that have already been executed as described above. Various processes and controls can be re-executed. That is, if a problem occurs in the control (exclusion, inversion, etc.) of the transported object CA, which is the transported object of the transport device, in order to solve this problem, first, the image processing is repeated based on the past image data. By executing it, search for problems such as each process and control. If the problem is found, the setting contents (setting values) of each process and control are changed and adjusted accordingly, and the image measurement process etc. is re-executed for the past image data to make adjustments and improvement work. You can check the result of. After that, when an appropriate return operation is performed, the debug setting is returned to OFF, the image measurement process is restarted, and the drive of the transport device is restarted.

At the time of the debugging operation, based on the transported object confirmation information Ej and the transported object posture change information Gij, instead of the transported object posture changing setting means H (conveyed object posture changing process), the posture is manually described. The operation mode of the changed part may be adjusted. For example, the control mode of the posture change control unit 103 shown in FIG. 7A may be adjusted.

In the present embodiment, by obtaining the transported object confirmation information Ej, it is possible to confirm the posture change state of the transported object CA caused by the operation of the transported object posture changing means C, so that the transported object posture can be confirmed while confirming the information. By adjusting the operating mode of the changing means C, the adjusting work is facilitated, and the posture changing mode of the transported object at the posture changing location is improved.

In particular, by further providing the transported object posture change determining means G for obtaining the transported object posture change information Gij indicating the relationship between the transported object discrimination information Bi and the transported object confirmation information Ej, the operation mode of the transported object posture changing means C can be obtained. , It is possible to more easily confirm the relationship with the posture change state of the transported object CA caused by this.

In the present embodiment, the transported object confirmation means E displays an image portion of the confirmation area DA arranged after the transported object CA from which the discrimination result Ci is obtained is changed in posture by the transported object posture changing means C at the posture changing position. By obtaining the transported object confirmation information Ej by image processing, it is possible to reliably and quickly confirm the posture of the transported object CA after changing the posture while suppressing the load of image processing. In particular, the confirmation area DB is used for the posture change portion in another image Aj (j> i) taken after a predetermined time elapses with respect to the image Ai including the image portion of the discrimination area DA. By setting the image portion having a predetermined positional relationship, it is possible to achieve both the load and processing time of image processing and the certainty and accuracy of posture confirmation at a higher level.

In the present embodiment, the posture change control unit 103 for controlling the operation mode of the transported object posture changing means C is further provided, and the posture change control unit 103 is output by the transported object confirmation information Ej or the transported object posture change determining means G. By automatically setting the operating mode of the transported object posture changing means C according to the transported object posture changing information Gij, the operating mode of the transported object posture changing means C can be determined by the transported object confirmation information Ej or the transported object. Since it can be automatically adjusted according to the transported object posture change information Gij indicating the relationship between the information Bi and the transported object confirmation information Ej, it is possible to reduce the labor of the adjustment work and improve the suitability for the posture change. can.

In the present embodiment, the transported object posture changing means C changes the posture by blowing an air flow on the transported object, but the transported object posture changing setting means H has, as the operating mode, the blowing timing of the air flow. It is desirable to set at least one of the spray pressures. This makes it possible to quickly and appropriately change the operation mode when the posture of the minute conveyed object CA is changed.

In the present embodiment, by further providing the confirmation area prediction means D that predicts the position or range of the confirmation area DB for each image Aj or for each transported object CA, information on the posture of the transported object CA after the posture is changed can be acquired. It is possible to achieve both certainty and reduction of the burden of image processing.

In the present embodiment, the determination area DA and the confirmation area DB are both areas included inside the images Ai and Aj, so that two areas used for the transported object discrimination process and the transported object confirmation process are used. Since it can be set in a single image, it is easy to set the positional relationship between both regions, and it is possible to simplify the imaging system such as a camera.

It should be noted that the transport system of the present invention is not limited to the above-mentioned illustrated examples, and it is needless to say that various modifications can be made without departing from the gist of the present invention. For example, in the above embodiment, the determination area DA and the confirmation area DB are set inside the same images Ai and Aj, and these are image-processed. However, the present invention is not limited to such an embodiment, and the determination area DA is not limited to this. The image provided with the above and the image provided with the confirmation area DB may be acquired separately, or may be captured by different cameras (imaging devices). Further, in the above embodiment, the transported object CA after the attitude change is arranged on the transport path 122 by operating the transported object posture changing means C with respect to the transported object CA on the transport path 121, but the same. The transport posture of the transport object CA may be changed on the transport path 121.

10 ... Transport system, 10P ... Operation program, 11 ... Parts feeder, 110 ... Transport body, 111 ... Transport path, 12 ... Linear feeder, 120 ... Transport body, 121 ... Transport path, OP ... Air outlet, CA ... Transport, CN1 to CN4 ... Transfer posture, CM1, CM2 ... Camera, CL11, CL12 ... Controller, DTU ... Inspection processing unit, DP1, DP2 ... Display device, GP1, GP2 ... Image processing device, GM1, GM2 ... Image processing memory, GPX ... Captured image, GPY ... image area, MPU ... arithmetic processing device, MM ... main storage device, SP1, SP2 ... operation input device, RAM ... arithmetic processing memory, θ ... reference tilt angle, 100 ... transported object discrimination processing unit, 101 ... Transported object confirmation processing process, 102 ... Transported object posture change determination process, A ... Image acquisition means, Ai ... Image, B ... Transported object discrimination processing means, Bi ... Transported object discrimination information, C ... Transported object posture changing means, Ci ... Transported object discrimination result, D ... Confirmation area prediction means, DA ... Judgment area, DB ... Confirmation area, E ... Transported object confirmation means, Ej ... Transported object confirmation information, G ... Transported object posture change determination means, Gij ... Transport Object attitude change determination information, H ... Transported object attitude change setting means

Claims (9)

A transport device that transports a transported object along a transport path and has a posture changing portion in which the posture of the transported object is changed in the middle of the transport path.
An image acquisition means for acquiring an image of the transported object, and
A carrier discriminating means that obtains transport discrimination information regarding the posture of the transport by performing image processing on an image portion of the transport in a discrimination region set upstream from the posture change location.
When the conveyed object discrimination information requires the attitude change of the conveyed object, the conveyed object attitude changing means for changing the posture of the conveyed object at the posture change location, and the conveyed object attitude changing means.
The conveyed object confirmation means for obtaining the conveyed object confirmation information regarding the attitude of the conveyed object by performing image processing on the image portion of the conveyed object after the attitude is changed by the conveyed object attitude changing means.
A transport system equipped with. Further provided with a transported object posture change determining means for obtaining the transported object posture change information indicating the relationship between the transported object discrimination information and the transported object confirmation information.
The transport system according to claim 1. The conveyed object confirmation means said by performing image processing on an image portion of a confirmation area set in a position or range to be arranged after the conveyed object is changed in posture by the conveyed object posture changing means at the posture changing portion. Request information for confirmation of goods to be transported,
The transport system according to claim 1 or 2. The confirmation area is an image having a predetermined positional relationship with respect to the posture change portion in another image taken after a predetermined time elapses with respect to the image including the image portion of the discrimination area. Set in the part,
The transport system according to claim 3. Further provided with a confirmation area prediction means for predicting the position or range of the confirmation area for each image or each transported object.
The transport system according to claim 3 or 4. Further, a posture change control unit for controlling the operation mode of the transported object posture change means is provided.
The posture change control unit automatically sets the operation mode of the transported object posture changing means according to the transported object confirmation information.
The transport system according to any one of claims 1-5. The transported object posture changing means changes the posture by blowing an air flow on the transported object.
The transport system according to any one of claims 6. The operating mode is at least one of the blowing timing and the blowing pressure of the air flow.
The transport system according to claim 7. Both the determination area and the confirmation area are areas included inside the image.
The transport system according to any one of claims 3-5.

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