JP7398709B2 - Conveyance control system and conveyance device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a conveyance control system and a conveyance device, and is particularly suitable for use in a vibrating conveyance device. Regarding control technology.

Generally, in a conveyor device that conveys fine objects such as surface-mounted electronic components, the fine objects are raised along a track by a rotary vibration conveyor equipped with a spiral conveyance path called a bowl-type parts feeder. Eventually, a linear vibrating conveyor equipped with a linear conveyance path called a linear parts feeder was configured to align the posture of the conveyed object and feed it to the destinations such as component inspection equipment, component mounting equipment, and transfer robots. Ru.

In recent years, in the above-mentioned conveying apparatus, the objects to be conveyed have become finer, and it has become necessary to supply a large amount of electronic components as small as a grain of sand. In addition, some of these minute electronic components are extremely thin, on the order of tens of microns, and when trying to transport large quantities of such thin objects, they tend to overlap, making it difficult to line them up. Therefore, there is a problem in that it is difficult to convey it efficiently. 2. Description of the Related Art As conventional conveyance systems that can accommodate relatively large and thin objects to be conveyed, those shown in Patent Documents 1 and 2 below are known.

Japanese Patent Application Publication No. 8-113350 Japanese Patent Application Publication No. 2001-158524

By the way, in the conventional devices described in Patent Documents 1 and 2, the objects to be conveyed are relatively large and thinner than those of recent years, so mechanical overlap prevention means are used or the position of the blowhole and This was done by matching the shape to the thickness of the transported item. However, in recent years, it is difficult to deal with microscopic items such as the above-mentioned items to be transported using mechanical processing, which may cause clogging of the items to be transported or the ability to detect overlapped items using sensors. The problem is that it can become difficult.

In addition, conventionally, by providing a cover on the conveyance path at the end where the conveyed articles are sent out toward the supply destination, a underdrain structure with a passage cross section that matches the shape of the conveyed articles is formed, and the conveyed articles do not overlap. , it may be necessary to prevent objects in a different orientation from being fed. However, even in such a case, there is a problem in that as the transported objects become finer and thinner, the underdrain structure becomes more likely to be clogged with the transported objects, making it difficult to maintain a stable state of transport.

The above-mentioned problem is particularly important in the case of vibrating conveyance devices, in which the conveyed objects move up and down on the conveyance path due to vibrations, so it is difficult to prevent objects from clogging on the conveyance path and to detect overlapping objects. The reality is that it is extremely difficult.

SUMMARY OF THE INVENTION The present invention is intended to solve the above-mentioned problems, and its object is to provide a conveyance control system that can avoid conveyance defects such as clogging of conveyed objects and failures in detecting overlapping states of conveyed objects before and after, and a conveyance control system that can avoid such defects. The object of the present invention is to provide a conveying device using the present invention.

In view of such circumstances, the conveyance control system according to the present invention repeatedly acquires images of the measurement area (ME) on the conveyance path (121) along which the conveyed object (CA) is conveyed by taking pictures with the imaging means (130CM). A range in which the image acquisition means (MPU, DTU, RAM) and the occupied area of the conveyance object (CA) on the conveyance path (121) in the measurement area (ME) are continuous, or the occupied area is A continuous occupied range (121CT), which is a continuous range with an interval less than a predetermined value, is detected, and the continuous occupied range (121CT) is determined based on a unit occupied range (121U) corresponding to one conveyed object (CA). When the conveyed object occupied range determination means (MPU, RAM) for determining the size and the continuous occupied range (121CT) satisfies the conditions for fraud determination based on the unit occupied range (121U), the continuous occupied range A conveyance object control means (OP) that controls the conveyance state of at least one conveyance object (CA) arranged within the range (121CT).

According to the present invention, the size of the continuous occupation range by the conveyed object on the conveyance path is determined based on the unit occupation range, and for example, if the size of the continuous occupation range exceeds the unit occupation range, two There is a high possibility that the above conveyance items overlap each other, and the continuous occupied range includes multiple occupied areas whose mutual spacing is less than a predetermined value, and the total size of the occupied areas exceeds the unit occupied range. If the distance is exceeded, there is a high probability that the objects to be transported before and after will overlap. Therefore, if there is a high possibility that the conveyed objects overlap or there is a high probability that they will overlap, the overlapping conveyed objects or It becomes possible to remove transported objects that are highly likely to overlap from the transport path. In addition, since the conveyance object occupancy range determination means only needs to determine the size of the continuous occupation range of conveyance objects on the conveyance path using the unit occupation range as a reference, there is no need to detect the overlap itself between the conveyance objects as in the conventional technology. Since there is no overlap, it is possible to easily and reliably determine the possibility or probability of overlapping conveyed objects, even if the conveyed objects are minute or thin. In particular, in the case of a vibrating conveyance device, the conveyed object is conveyed while moving up and down on the conveyance path, but the area occupied by the conveyed object on the conveyance path itself is not easily affected by the vertical movement, so the vibration of the conveyed object Decrease in detection accuracy can be avoided.

In the present invention, the conveyance object occupancy range determination means (MPU, RAM) determines when two or more conveyance objects (CA) are viewed in a specific direction on the conveyance path (121) where they are more likely to overlap than other directions. It is preferable to determine the occupied range of . According to this, overlapping of transported objects on the transport path can be detected more easily and reliably. In this case, it is desirable that the photographing direction of the image acquisition means (MPU, DTU, RAM) is the specific direction. According to this, image processing for determining the occupied range becomes easy, and the determination accuracy can be improved. The above-mentioned specific direction may refer to, for example, the height direction when the height dimension of the length, width, and height of the conveyed object has the smallest value on the conveyance surface of the conveyance path.

In the present invention, the conveyance object control means (MPU, RAM) is configured to control the unit occupation range (121U) when the unit occupation range (121U) is assumed to be in the forward part of the conveyance direction within the continuous occupation range (121CT). ) It is preferable to apply the expulsion force to a portion located further rearward in the conveyance direction than the other portion. According to this method, out of overlapped objects or objects that are close to each other, the objects in the front part are left as they are, and a displacement force is applied to the objects in the rear part, thereby making use of the direction of transport. Since the conveyed objects that overlap each other can be easily separated from each other, the overlapping state can be easily and reliably resolved.

In the present invention, it is preferable that the measurement area (ME) is set at the end (121e) of the transport path (121). According to this, the overlapping state or proximity state of conveyed objects is detected and resolved at the most downstream end of the conveyance path, so it is possible to ensure that the conveyed objects are aligned to the supply destination, and also to It is possible to prevent clogging at transfer points. In this case, the image acquisition means (MPU, DTU, RAM) is supplied with the conveyed object (CA) from the end portion (121e) together with the measurement area (ME) by the imaging means (130CM). Conveyance in which an image of a range including the receiving section (21a) of the supply destination (20) is acquired, and by processing the image, it is detected whether or not the conveyed object (CA) can be accepted at the receiving section (21a). It is preferable to further include object acceptance/rejection detection means (MPU, RAM). According to this, it is possible to detect whether or not the conveyed object can be accepted at the receiving section of the supply destination from an image including the end part, so it is possible to control the supply destination and supply the goods to the supply destination without using a separate imaging means. Measures such as suspension can be taken.

In the present invention, the conveyance object occupation range determination means (MPU, RAM) is fixed in the conveyance direction (F), which is set so that the continuous occupation range (121CT) that satisfies the conditions for fraud determination is always occupied. Preferably, a detection region (Ls) is provided within the measurement area (ME). According to this, when the conveyance object occupation range determination means makes a fraud determination when a continuous occupation range occupies (all encompasses) a detection area fixed in the conveyance direction within a measurement area, Since the detection position within the measurement area is fixed in the transport direction, the judgment timing can be set at the time when the transported object always reaches a substantially constant position, making it easy to manage the control timing of the transported object, etc. be converted into

In the present invention, the image acquisition means (MPU, DTU, RAM) continuously photographs at a predetermined photographing interval (Ts) using the image pickup means (130CM), and the measurement area (ME) is configured to capture images of the conveyed object. (CA) has a range set in advance such that all of the conveyed objects (CA) passing through the conveyance path (121) are always included according to the relationship between the conveyance speed (Vs) of the (CA) and the photographing interval (Ts). is preferred. According to this, even if the arrival timing of the conveyed object does not match the photographing timing, all the conveyed objects are always placed within the measurement area of one of the images, so each object within the set area If images are processed to detect conveyed objects, all conveyed objects can be detected. In this way, there is no need to generate a trigger signal for detecting the position of each transported object as in the prior art, so a sensor for detecting the transported object is no longer necessary, and the detection unit can be configured simply. Therefore, there is no need to take into account the failure of detection of individual conveyed objects when conveyed objects are connected, and there is no need to create gaps between conveyed objects in advance. High-speed conveyance and high-density conveyance are facilitated, and the overall configuration of the detection system can be configured easily. In addition, since it is sufficient to process only the image data within a preset measurement area among the plurality of consecutively photographed images, the image measurement processing for determining the conveyed object can be performed at high speed and with high precision. It can be carried out. Note that this configuration may be performed by general video shooting as long as the above conditions are satisfied.

In the above case, the length LD of the measurement area (ME) in the transport direction (F) along the transport path (121) is the length LD of the measurement area (ME) in the transport direction (F) for one transported object. L, if the photographing period is Ts, and the conveyance speed is Vs, then when n = a natural number of 1-10, when β = Ts・Vs,
LD≧L+n・β=L+n・Ts・Vs
It is preferable to have a value that satisfies the following. According to this, the continuous occupied range is detected with all conveyed objects always placed within the area in the conveying direction in any image data, and it is determined whether or not the unit occupied range is exceeded. Even such conveyed objects can be reliably determined. Here, it is more desirable that n be within the range of 3-7.

In this case, furthermore, a detection area (Ls) fixed in the transport direction (F), which is always occupied by the continuous occupied range (121CT) that satisfies the conditions for fraud determination, is provided within the measurement area (ME). If the detection area (Ls) is occupied by the continuous occupied range (121CT) that satisfies all of the fraud determination conditions, the image is captured according to the conveyance speed (Vs). It is preferable that the photographing interval (Ts) is set. Specifically, in the case where the continuous occupied range (121CT) of the length (Lct) in the transport direction (F) in the detection area is determined to be fraudulent based on the unit occupied range of the same length (L), Using the same length (Ls) of the detection area, and assuming that the length of the continuous occupied range (121CT) in the transport direction (F) is Lct=Ls+ΔLt (ΔLt>0), ΔLt≧β=Ts - If Vs is established, an image in which the continuous occupied range is located within the area can be obtained without fail, so the continuous occupied range by all conveyed objects can be detected from any of the captured images.

In the present invention, a light-transmitting region (121c) formed on the transport surface (121a, 121b) of the transport path (121) in the measurement area (ME), and a light-transmitting region (121c) formed on the transport surface (121a, 121b) through the light-transmitting region (121c) 121a, 121b), and a rear side illumination means (140BL) for irradiating light from the rear side toward the imaging means (130CM), and the conveyance object occupation range determination means (MPU, RAM) , by using information indicating the range of the light-blocking part or the non-light-blocking part (light-transmitting part) by the conveyed object (CA) in the light-transmitting area (121c) with respect to the image data in the measurement area (ME). , it is preferable to detect the size of the continuous occupied range (121CT) within the measurement area (ME). According to this, in the image data of the measurement area acquired by the image acquisition means, light is irradiated onto the imaging means side by the backside illumination means through the light-transmitting area, and the light-shielding part or the non-shading part by the conveyed object in the light-transmitting area By extracting information indicating the range of the conveyed object and using this information to detect the size of the continuous occupied range within the measurement area, processing of the image can be facilitated and ensured. It is possible to speed up and increase the precision of range discrimination processing. In other words, a continuous occupied range whose size is less than or equal to the unit occupied range does not occupy the entire detection area, and a continuous occupied range that satisfies the conditions for fraud determination occupies the entire detection area. Judgment is made based on whether it is large enough to occupy the area.

In this case, it is preferable that the light-transmitting area (121c) is configured to be narrower than the width of the conveyed object (CA) on the conveyance path (121). According to this invention, in the image data of the measurement area acquired by the image acquisition means, the light-transmitting area through which light is transmitted to the imaging means side by the back side illumination means is limited to a width narrower than the width of the conveyed object. As a result, the amount of light from the rear side illumination is suppressed, so that the surface aspect of the conveyed object can be extracted better from the image information captured by the imaging means. In addition, when the width of the conveyed object changes depending on the attitude of the conveyed object on the conveyance path, the above-mentioned light-transmitting area may be formed narrower than the largest width. However, it is more desirable that the light-transmitting area is configured to be narrower than all the widths corresponding to the postures that the conveyed object can take on the conveyance path.

In the present invention, the light-transmitting area (121c) may be configured in a slit shape that is longer than the length of the conveyed object (CA) in the conveying direction. In this case, by blocking a part of the slit-shaped light-transmitting region extending in the transport direction, the transported object is It becomes possible to specify the position range more easily and reliably. In this case, it is preferable that the light-transmitting region (121c) is formed over the entire range of the measurement area (ME) in the transport direction. According to this, it is possible to know whether a light-shielded portion or a non-light-shielded portion is present at any point in the conveyance direction of the measurement area, making it easier to specify the presence or absence of the conveyed object and the position range.

Further, the light-transmitting region (121c) may be composed of a group of a plurality of light-transmitting region portions (121g-121i) arranged within the measurement area (ME). In this case, by checking which of the plurality of light-transmitting areas is blocked by the transported object, it becomes possible to easily and reliably specify the positional range of the transported object (CA). In particular, the light-transmitting areas are preferably arranged in the transport direction, and may be arranged in the width direction or bidirectionally. In this case, it is preferable that the light-transmitting regions are arranged over the entire range of the measurement area (ME) in the transport direction. According to this, it is possible to know whether a light-shielded portion or a non-light-shielded portion is present at any point in the conveyance direction of the measurement area, making it easier to specify the presence or absence of the conveyed object and the position range. In these cases, it is desirable that the light-transmitting area portion (121f-121i) be shorter in the conveying direction than the length of the conveyed object (CA). By arranging a plurality of light-transmitting regions smaller than the conveyed object in the conveyance direction, the light-transmitting region is further limited, so that image information of the surface imaged by the imaging means can be extracted more easily. It is possible.

In this case, the plurality of light-transmitting area portions (21f, 121g-121i) of the light-transmitting area (121c) are formed so as to be included within the length range of the unit occupation range in the transport direction. The first light-transmitting area portion (121h) and the second light-transmitting area portion (121i), and the unit occupied range (121U) are the first light-transmitting area portion (121h) and the second light-transmitting area portion (121i). It is preferable to include a third light-transmitting region (121g) having a portion that is not light-shielded when the region (121i) is light-shielded. With this, when both the first light-transmitting area and the second light-transmitting area are light-shielded, the portion of the third light-transmitting region that is not light-shielded (or at least a part of it) is light-shielded. Depending on whether or not the continuous occupied range exceeds the unit occupied range, it can be determined whether or not the continuous occupied range exceeds the unit occupied range. At this time, the accuracy of determining whether or not the unit occupation range of the continuous occupation range has been exceeded is determined based on the size of the non-light-shielding part (or at least a part of it) of the third light-transmitting area and the detection accuracy of the non-light-shielding part. can be determined.

In the present invention, the conveyance path (121) conveys the conveyed object (CA) by vibrating in a reciprocating manner in a direction along the conveying direction (F) of the conveyed object (CA), and When the imaging means (130CM) is stationary, the photographed image is adjusted so as to eliminate positional fluctuations in the photographed image (GPX) with respect to the conveyance path (121) due to vibrations of the conveyance path (121) during photographing. It is preferable to correct the position of the measurement area (ME) within (GPX). According to this, it is possible to eliminate the positional deviation of the image processing area of the photographed image with respect to the transport path due to the vibration of the transport body, so that the image processing position is prevented from shifting due to the positional deviation, and the image is transported at a constant position on the transport path. It is possible to perform object occupation range determination processing. Therefore, it is possible to avoid improper control of the conveyed object due to the above-mentioned positional deviation, and it is possible to control the conveyed object in a reliable and accurate manner.

In this case, the conveyance object occupation range determination means (MPU, RAM) determines the position of a specific point (121y) on the conveyance path (121) captured in the captured image (GPX, GPY) by the image measurement. It is desirable that the position of the measurement area (ME) is corrected according to the detected position through processing. The amount of positional deviation of each area with respect to the transport path due to the vibration of the transport path is calculated each time a photograph is taken using the preset values of the vibration width and vibration cycle of the transport path, and the amount of positional deviation in the photographed image is calculated according to the amount of positional deviation. The position of the measurement area may be corrected, but by detecting the position of a specific point on the conveyance path in the photographed image through image processing, it is possible to make corrections that correspond to the vibration mode of the actual conveyor that appears in the photographed image. This allows the position of each area to be set reliably and with high precision. Various parts photographed within the image (position display marks displayed on the transport path) can be used as the specific locations on the transport path.

Next, the transport device according to the present invention includes a transport mechanism (12, CL12) including the transport path (121) and the transport control system (CM1, CM2, DTU, DP1, DP2, SP1, SP2). It is characterized by comprising:

In the present invention, the conveyance mechanism (12, CL12) includes a vibration excitation means (125) that vibrates the conveyance path (121), and an excitation control means (CL12) that controls a driving mode of the vibration means (125). ). Examples of the drive mode to be controlled by the vibration control means include stopping the driving of the vibration means, changing the driving frequency and driving voltage of the vibration means, and the like. Thereby, the transport mode (transport speed, stability of transport posture, etc.) of the transported object can be adjusted.

According to the present invention, by processing a photographed image of the conveyed object and determining the size of the continuous occupied range by the conveyed object based on the unit occupied range, it is possible to prevent conveyance defects such as clogging of the conveyed object, An excellent effect can be achieved in that detection failures in overlapping states can be avoided.

1 is a plan view of an embodiment of a conveyance device (vibrating conveyance device) including a conveyance control system according to the present invention. It is a front view of the same embodiment. It is a perspective view of the same embodiment. They are an enlarged perspective view (a) showing an end portion of a conveyance path and the vicinity thereof in the same embodiment, and an enlarged perspective view (b) showing a further enlarged view of the end portion of the conveyance path. They are a side view (a) of the end part of the conveyance path of the same embodiment, and an enlarged side view (b) showing an enlarged area B in the side view (a). A plan view (a) showing the structure of the receiving part of the index table of the end of the conveyance path and the inspection device of the supply destination in the same embodiment, and the end of the conveyance path and the index of the inspection device of the supply destination. It is a longitudinal cross-sectional view (b) which shows the structure of the receiving part of a table. Explanatory diagram (a) showing the state of the first embodiment when handling individual conveyance items at the end of the conveyance path of the same embodiment and the receiving section of the index table of the inspection device of the supply destination, and the overlapping state. FIG. 6 is an explanatory diagram (b) showing the state of the first embodiment when dealing with conveyed objects. Explanatory diagram (a) showing the state of the second embodiment when handling individual conveyance items at the end of the conveyance path of the same embodiment and the receiving section of the index table of the inspection device of the supply destination, and the overlapping state. FIG. 6 is an explanatory diagram (b) showing the state of the second embodiment when dealing with conveyed objects. FIGS. 7A to 8E are explanatory diagrams illustrating the conveyance state and processing mode of overlapping conveyed objects at the end of the conveyance path and at the receiving part of the index table of the destination inspection device in the same embodiment; FIGS. FIG. 2 is a schematic block diagram showing the overall configuration of the embodiment. 2 is a schematic flowchart showing a general control procedure of the entire operating program of the same embodiment.

Next, embodiments of a conveyance control system and a conveyance device according to the present invention will be described in detail with reference to the accompanying drawings. First, with reference to FIG. 10, the basic configuration of an embodiment of a conveying device according to the present invention will be described. FIG. 10 is a schematic diagram schematically showing the configuration of the drive control system of the transport device 10 and the transport control system of the transport device 10. As shown in FIG.

The conveyance device 10 includes a parts feeder 11 equipped with a bowl-shaped conveyance body 110 having a spiral conveyance path 111 as a conveyance mechanism, and is configured to receive a conveyed object from the exit of the conveyance path 111 of the parts feeder 11. This is a vibrating conveyance device comprising a linear feeder 12 including a conveyance body 120 having a linear conveyance path 121 with an inlet. In the conveyance control system of this embodiment, the conveyance object CA on the conveyance path 121 of the conveyance body 120 of the linear feeder 12 is detected based on the photographed image GPX, and the detected image portion is inspected and determined. Here, the conveyance control system of this embodiment not only has the corresponding part of the conveyance control system having the configuration according to the present invention, but also has various functions other than the corresponding part, such as for determining the posture of conveyed objects and arranging them. It may include an inspection section, a discrimination section, a sorting section, an inversion section, and the like. Note that, in the present invention, the configuration is not limited to the vibration type conveyance device, but can be used for various conveyance devices in which the conveyed object CA is conveyed along a conveyance path. Moreover, even if it is a vibrating conveyance device, it is not limited to the combination of the parts feeder 11 and the linear feeder 12, and can be used in other types of conveyance devices such as a circulating parts feeder. Furthermore, even in the above combination, the conveyed objects CA on the conveying path 111 of the parts feeder 11 are not limited to inspection, discrimination, sorting, reversing, etc. of the conveyed objects CA on the conveying path 121 of the linear feeder 12. It does not matter if it is something to be inspected, etc.

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

In addition, the controllers CL11 and CL12 perform predetermined operation inputs (debugging operations) via operation input devices SP1 and SP2, which will be described later, such as a mouse, to an arithmetic processing unit MPU, which will be described later, and which executes the following operation program. When this happens, the drive of the conveyance device 10 is stopped according to the above-mentioned operation program. At this time, for example, the image measurement process in the inspection processing unit DTU is also stopped according to the above operation program. This debugging operation and various operations corresponding to the debugging operation will be described in detail later.

The inspection processing unit DTU has an arithmetic processing unit MPU (microprocessing unit) such as a personal computer as its core configuration, and in the illustrated example, the arithmetic processing unit MPU includes central processing units CPU1, CPU2, cache memory CCM, memory controller MCL, It consists of chipset CHS etc. The inspection processing unit DTU is also provided with image processing circuits GP1 and GP2 for performing image processing, which are connected to cameras CM1 and CM2, which are imaging means CM, respectively. These image processing circuits GP1 and GP2 are connected to image processing memories GM1 and GM2, respectively. The outputs of the image processing circuits GP1 and GP2 are also connected to the arithmetic processing unit MPU, which processes the image data of the photographed images GPX taken in from the cameras CM1 and CM2, and generates an appropriate processed image (for example, an image in the image area GPY described later). data) to the arithmetic processing unit MPU. The main storage device MM stores in advance an operating program for the transport control system. When the inspection processing unit DTU is activated, the operation program is read out and executed by the arithmetic processing unit MPU. The main storage device MM also stores image data of a photographed image GPX or an image area GPY on which image measurement processing, which will be described later, is performed by the arithmetic processing unit MPU.

Further, the inspection processing unit DTU is connected to display devices DP1 and DP2 such as liquid crystal monitors and operation input devices SP1 and SP2 via an input/output circuit (I/O). The display devices DP1 and DP2 display the image data of the photographed image GPX or the image area GPY processed by the arithmetic processing unit MPU, the results of the image measurement process, that is, the image data at each location in addition to the conveyance object occupation range determination process described later. The results of the conveyance object detection process, conveyance object discrimination process, etc. are displayed in a predetermined display format. Note that this display function functions not only when an object is actually being transported, but also when past data is being read and reproduced, as will be described later. Further, by operating the operation input devices SP1, SP2 while looking at the screens of the display devices DP1, DP2, various operation commands, processing conditions such as set values can be input to the arithmetic processing unit MPU.

In this embodiment, as schematically shown in FIG. 10, two cameras CM1, CM2, two image processing circuits GP1, GP2, two image processing memories GM1, GM2, two display devices DP1, DP2, Although two operation input devices SP1, SP2, etc. are provided, this is just an example, and a single configuration or three or more configurations may be provided. In this embodiment, a specific camera device 130CM is additionally installed in addition to the cameras CM1 and CM2 described above. In the following, only the conveyance object occupation range determination process based on image processing of images taken by the camera device 130CM will be described.

1 to 5 are diagrams showing in detail an example of the transport mechanism of this embodiment shown in FIG. 10. In this embodiment, the index table 21 is configured to be rotatable in steps while the end portion 121e of the conveyance path 121 of the linear feeder 12 is supported by the support portion 20a of the inspection device 20 to which the conveyed object CA is supplied. The conveyance object CA is configured to be supplied to the receiving section 21a constituted by a part of. As shown in FIG. 4, the index table 21 includes a plurality of accommodating portions 21d arranged along its outer periphery. The plurality of accommodating parts 21d are each configured to have a concave shape so as to be able to accommodate a single conveyed object CA. When each accommodating section 21d is arranged at a position corresponding to the end portion 121e of the conveying path 121, it constitutes a receiving section 21a for the conveyed object CA in the inspection device 20. Although not shown in the drawings, each storage section 21d is provided with a vacuum suction path for sucking and storing the conveyed object CA. Further, in the inspection device 20, when the conveyed object CA is supplied from the end portion 121e to the receiving portion 21a, the index table 21 rotates and moves to the position where the next receiving portion 21d should become the receiving portion 21a. Then, the step operation of waiting for the next conveyed object CA is repeated. Note that the inspection device 20, which is an example of a supply destination, is not shown except for parts related to the receiving section 21a. In addition to the inspection device 20, various devices such as a board mounting device and a pick-and-place unit for transferring to another location can be assumed as the supply destination.

The transport mechanism of this embodiment includes a support stand 131 fixed on a base made of a vibration isolator or the like, a support arm 132 fixed to this support stand 131, and a camera mounting section supported by this support arm 132. 133, and a camera device 130CM is attached to this camera attachment portion 133 with the photographing direction facing downward. This camera device 130CM is provided with a photographing range arranged below which can simultaneously photograph the end portion 121e of the conveyance path 121 and the receiving portion 21a of the inspection device 20. The camera device 130CM is fixed via a vibration isolation table or the like so that it is not directly affected by vibrations of the transport mechanism. On the other hand, below the end portion 121e and the receiving portion 21a, as shown in FIG. 142, and a lighting mounting part 143 supported by this support arm 142, and a back side lighting device 140BL is mounted to this lighting mounting part 143. This rear illumination device 140BL has an illumination range that can simultaneously illuminate the end portion 121e of the conveyance path 121 and the receiving portion 21a of the inspection device 20. The rear illumination device 140BL is also fixed via a vibration isolator or the like so that it is not directly affected by the vibrations of the transport mechanism. Note that the arrangement of the camera device 130CM and the backside lighting device 140BL is not particularly limited, and for example, they may be installed upside down.

FIG. 4 is an enlarged perspective view (a) showing a delivery area for the conveyed object CA, which is composed of the end portion 121e of the conveyance path 121 and the receiving portion 21a of the inspection device 20, and a perspective view (b) showing a further enlarged portion thereof. ). Further, FIG. 5 is a side view (a) showing the end portion 121e of the linear feeder 12 as viewed from the supply destination side, and an enlarged side view (b) showing the central region B thereof. The end portion 121e of the conveyance path 121 is composed of a lower block 121X that constitutes a conveyance surface 121b, and a side block 121Y that constitutes a conveyance surface 121a. In this case, there is no cover block, which is often attached to the end portion 121e of the conveyance path 121, and therefore no underdrain structure is formed at the end portion 121e. This is because if the conveyance path 121 is made into an underdrain structure, the conveyed object CA is likely to become clogged at the end part in the case of fine conveyed objects or thin conveyed objects. This is because in the case of a transport mechanism, clogging always occurs. The absence of this cover block and underdrain structure is advantageous when imaging the end portion 121e or performing back illumination.

The conveyance path 121 includes a conveyance surface 121a having a steep inclination angle, and a conveyance surface 121b substantially perpendicular to the conveyance surface 121a and having a gentle inclination angle. The conveyed object CA is fine and thin, as shown in FIGS. 4(b) and 5(b). Examples of such conveyed objects CA (CA0, CA1, CA2) include surface-mounted electronic components. Examples of dimensions include a thickness t of about 60 μm, a length L of about 1.0 mm, and a width W of about 0.5 mm. Such a thin conveyed object CA is conveyed with its thickness direction along the vertical direction in the figure, and with its bottom surface facing the conveyance surface 121b. In the illustrated example, the width of the conveying surface 121b is slightly smaller than the width W of the conveyed object CA, and the edge of the conveying surface 121b on the opposite side from the conveying surface 121a is configured to face the gap G. The edge of the conveyance surface 121b is the edge of the collection block 122X ( It is arranged opposite to the receiving surface part 122a). The bottom block 121X and the side block 121Y forming the conveyance path 121 and the recovery block 122X forming the recovery path 122 have different vibration directions and phases, so they must be spaced apart from each other. is provided. However, in this embodiment, this gap G is one of the plurality of light-transmitting regions forming the light-transmitting region 121c that transmits the illumination light BLa of the back side illumination device 140BL to the camera device 130CM. 121g. Furthermore, as shown in FIG. 5(b), the conveyance surface 121b of the conveyance path 121 is inclined toward the conveyance surface 121a at a slight angle α with respect to the horizontal plane, so that the conveyance object CA is It is kept inside. As shown in FIG. 4, the recovery path 122 includes a receiving surface portion 122a adjacent to the gap G and having approximately the same height as the conveying surface 121b, and a receiving surface portion 122a adjacent to the receiving surface portion 122a via a step portion. The recovery path 122 includes a peripheral edge 122b that is inclined in the recovery direction, and a merging portion 122c that is further adjacent to the peripheral edge 122b in the recovery direction and extends to a portion that is parallel to the upstream side of the conveyance path 121. The conveyed objects CA collected at the confluence section 122c are returned to the upstream portion of the conveyance path 121 of the linear feeder 12 and the parts feeder 11 by the collection path 122.

On the conveying surface 121a, a blowhole OP for eliminating overlap is formed at the end portion 121e to remove the conveyed object CA through the gap G toward the receiving surface portion 122a of the recovery path 122. The jet nozzle OP is connected to an airflow source such as a compressor or a compression cylinder via an airflow passage passing through the side block 121Y and an on-off valve such as a solenoid valve (not shown). Further, on the end side closer to the supply destination than the above-mentioned blowhole OP, a supply stop SP is formed to prevent the conveyed object CA from being supplied to the supply destination. This jet nozzle SP is also connected to an airflow source via an airflow passage and an on-off valve, separately from the jet nozzle OP. Deformed corner portions OPa and SPa are provided at the opening edges on the distal side of the blowholes OP and SP, which are chamfered and rounded to prevent the conveyed object CA from being caught. Note that a notch-shaped marker portion 121y is formed on the end side edge of the side block 121Y. This marker portion 121y is a mark for detecting the position in the conveyance direction F due to the vibration of the conveyance path 121 in the image photographed by the camera device 130CM, as will be described later.

FIG. 6 is a plan view (a) and a vertical cross-sectional view (b) showing an enlarged view of the distal end portion 121e and the receiving portion 21a. The support portion 20a includes an upper plate 20a1 that covers the upper side of the index table 21 that is configured to be rotatable inside the support portion 20a, and a lower plate 20a3 that is disposed below the index table 21. A window portion 20a2 is formed in the upper plate 20a1 at a portion corresponding to the receiving portion 21a, and the receiving portion 21a is configured to be photographable from the camera device 130CM side. Further, a light-transmitting area portion 21f is formed on the lower plate 20a3, and is configured such that the illumination light BLa of the rear side illumination device 140BL can be photographed by the camera device 130CM through the light-transmitting area portion 21f. Here, the above-mentioned photographed image GPX or image area GPY becomes an image shown in the plan view shown in FIG. 6(a).

At the end portion 121e of the conveyance path 121 of the linear feeder 12, the conveyance path 121 is constituted by a conveyance surface 121a and a conveyance surface 121b, and the conveyance surface 121b is adjacent to the receiving surface portion 122a of the recovery path 122 through the gap G. . The gap G constitutes a light-transmitting area 121g, and like the light-transmitting area 21f, the gap G is configured to transmit the illumination light BLa of the back side illumination device 140BL so that it can be photographed by the camera device 130CM. . A plurality of light-transmitting regions 121h and 121i are formed on the conveyance surface 121b from the end to the upstream side. These light-transmitting areas 121h and 121i are also configured to transmit the illumination light BLa from the backside illumination device 140BL and to be able to be photographed by the camera device 130CM in the same manner as described above.

Next, an example of a basic conveyance object occupation range determination process of the conveyance object CA in the conveyance apparatus 10 using the above-mentioned conveyance control system in this embodiment will be described. In the image shown in the plan view of FIG. 6(a), a measurement area ME including the conveyance path 121 (end portion 121e) is set, and within this measurement area ME, the light-transmitting area portions 21f, 121g, 121h, A light-transmitting region 121c including 121i is provided. In this measurement area ME, by image processing the image portions 21fy, 121gy, 121gz, 121gv, 121hy, and 121iy corresponding to the light-transmitting areas 21f, 121g, 121h, and 121i, the transported objects at the end portion 121e and the receiving portion 21f are processed. The presence or absence of CA (or its occupied range) can be detected.

As a premise for configuring the embodiment, the processing contents of the inspection processing unit DTU and the setting of the measurement area ME shown in FIG. 6(a) will be explained. In this embodiment, it is necessary to perform the conveyance object occupation range determination processing on the images GPX and GPY acquired as described above by image processing within the setting area ME. The occupancy state of the conveyed object CA on the conveyance path must be detected. Therefore, all conveyed objects CA passing on the conveyance path 121 must be photographed within the measurement area ME of either of the images GPX and GPY. As a result, the setting area ME must satisfy at least the following conditions as constraints related to the conveyance speed Vs of the conveyed object CA and the photographing interval Ts.

In the present embodiment, the camera device 130CM continuously executes photography at a preset default photography cycle, and similarly to the images of the cameras CM1 and CM2, the camera device 130CM captures the captured image GPX or the above-mentioned image area GPY for each photography cycle. The image data within is transferred to the arithmetic processing unit MPU via the image processing units GP1 and GP2. The arithmetic processing unit MPU processes the image data within the measurement area ME as described above using the arithmetic processing memory RAM among the transferred image data, and performs the transport object occupation range determination process. However, in this embodiment, a trigger sensor is provided separately, or a predetermined shape pattern of the conveyance object CA is searched within a predetermined area from the image data of the conveyance object CA, and when the shape pattern is detected, an internal trigger is activated. Instead of generating the default shooting cycle, the default shooting cycle can be set by introducing an external trigger that indicates the default shooting cycle, or by outputting a trigger signal with a constant cycle from the arithmetic processing unit MPU to the camera device 130CM. Shooting is being performed continuously. For this reason, if we try to determine all the conveyed objects CA conveyed on the conveyance path 121 without exception, all the conveyed objects CA will fall within the measurement area ME in any of the captured images GPX or image areas GPY. need to be included.

Therefore, if the imaging period is Ts [sec], the length of the conveyance direction F of the conveyance object CA is L [mm], and the conveyance speed of the conveyance object CA is Vs [mm/sec], all images of the conveyance object CA are In order to ensure that LD is included in the measurement area ME of any image data, the range LD of the measurement area ME in the transport direction F is set as shown in the following equation (1).
LD≧L+β=L+Ts・Vs…(1)
For example, if the length L of the conveyance direction F of the conveyed object CA is 0.6 [mm], the conveyance speed Vs is 50 [mm/sec], and the photographing period Ts is 1 [msec], then L=0. 6 [mm], β=0.05 [mm], and L≧0.65 [mm]. Further, if the imaging period Ts is 0.5 [msec], L=0.6 [mm] and β=0.025, so that L≧0.625 [mm].

In reality, there are variations in the conveyance speed of the conveyed object CA depending on the individual, depending on the location, or over time. It is desirable to set the image data to be captured. Generally, in order to capture image data more than n times (n is a natural number),
LD≧L+n・β=L+n・Ts・Vs…(2)
LD is set so that the following holds true. In this embodiment, n is set in the range of 3-7. This is because as n becomes smaller, there is a higher possibility that the conveyed object CA will not be photographed due to variations in the conveyance speed, and conversely, as n becomes larger, the load on image processing increases. Generally, the natural number n is preferably within the range of 1-10. In this embodiment, the image processing time is generally about 150-300 μsec. Further, the photographing interval Ts is about 500-840 [μsec].

In addition, in the case of this embodiment, since the trigger signal for detecting that the conveyed object CA reaches the measurement area ME as described above is not used, a certain captured image GPX or image area GPY within the measurement area ME is There may also be a case where the conveyed object CA is not placed at all in the first place. Therefore, in the image measurement process in the measurement area ME, it is detected whether the image of the conveyed object CA is included in the measurement area ME. Then, when the transported object is detected under predetermined conditions in this transported object detection process, that is, when the entire transported object CA is included within the measurement area ME, the transported object occupied range determination process is performed. , otherwise, the conveyance object occupation range determination process may not be performed. However, in this embodiment, since image measurement processing is performed at the end portion 121e of the conveyance path 121, the conveyed objects CA are often conveyed at high density, so it is not necessary to do the above. . Note that when the same transported object CA is detected multiple times within the measurement area ME, the transported object occupied range determination processing is performed only once (for example, the first time), and the transported object occupied range determination processing is performed at other times. May be omitted. However, in each of the embodiments described later, the detection of the continuous occupied range 121CT is performed only in a more limited area within the measurement area ME, that is, the detection area where the light-transmitting area 121c is arranged. Even when the continuous occupied range 121CT is photographed in the measurement area ME, the number of times the transported object occupied range determination process is performed is limited.

In this embodiment, two examples will be described below as specific contents executed in the conveyance object occupation range determination process. In the first embodiment, the image portions 21fy, 121gy, 121gz, 121hy, and 121iy in the measurement area ME are subjected to image processing, and the discrimination manner thereof is shown in FIGS. 7(a) and 7(b). In this case, if the image portions 121gy, 121gz, 121hy, and 121iy corresponding to the four light-transmitting areas are all shielded from light at the same time by the conveyed objects CA, a plurality of conveyed objects CA may overlap each other or The system determines that the vehicle is being transported in close contact with other people. This means that three light-transmitting areas 121gy, 121h, and 121i are simultaneously shielded from light by a single conveyed object CA, corresponding to the length L in the conveying direction F and the width W in the width direction of the conveyed object CA. It is formed within the unit occupied range 121U, and the other light-transmitting area 121gz is formed so as to protrude rearward from the unit occupied range 121U. This is because when the transported object CA passes through, the four light-transmitting areas 121gy, 121gz, 121h, and 121i are not all shielded from light at the same time. That is, in the case of the illustrated example, the four light-transmitting regions are arranged over a detection area having a length Ls in the transport direction F, and this length Ls is the length of the transport object CA in the transport direction F, that is, This is because it is longer than the length L of the unit occupied range 121U. On the other hand, when two or more conveyed objects CA are conveyed while overlapping or in close contact with each other, as shown in FIG. Light is blocked. This is because the length Lct in the transport direction F of the continuous occupied range 121CT constituted by the mutually overlapping transport objects CA1 and CA2 is longer than the length Ls of the detection area. As described above, in this example, the size of the continuous occupied range 121CT by the conveyed object CA changes to the unit occupied range 121U, depending on whether or not the four light-transmitting areas 121gy, 121gz, 121hy, and 121iy are all shielded from light at the same time. It is configured to be able to detect whether or not the If the size of the continuous occupied range 121CT exceeds the unit occupied range 121U, a determination of fraud is made.

In this first embodiment, only when it is confirmed through image processing that the image portions 121gy, 121gz, 121h, and 121i corresponding to the four light-transmitting areas are all shielded from light, at least two transport It is assumed that it is detected that objects CA overlap or that at least two objects CA are being transported in close contact with each other, and a fraud determination is made. For this reason, any of the images acquired by the inspection processing unit DTU, which corresponds to the image acquisition means, must capture a state in which all of the four light-transmitting areas are shielded from light. In other words, the continuous occupied range 121CT to be determined to be fraudulent occupies the detection area of length Ls consisting of the four light-transmitting areas, and an image must be taken while the detection area is shielded from light. Therefore, if the entire range in the transport direction F of the image portion corresponding to the four transparent areas is Ls=L+ΔL (ΔL>0), the length Lct in the transport direction F of the continuous occupied range 121CT that is determined to be fraudulent =Ls+ΔLt (ΔLt>0), it is necessary that ΔLt≧β=Ts·Vs hold true.

Next, in the second embodiment, only the image portion 121gv set within the single light-transmitting area 121g is inspected as the measurement area ME, and the entire image portion 121gv is simultaneously shielded from light by the conveyed object CA. Depending on whether or not, it is detected whether the continuous occupation range 121CT by the transported object CA exceeds the unit occupation range 121U. The image portion 121gv is set to have a length Ls=L+ΔL along the transport direction F in the light-transmitting region 121g formed by the gap G. At this time, the length Lct of the continuous occupied range 121CT in the transport direction F needs to satisfy ΔLt≧β=Ts·Vs where Lct=Ls+ΔLt, as described above.

In both the first embodiment and the second embodiment, in order to obtain a normality determination by transmitting light through a part of the length Ls in the transport direction of the detection area in which the light-transmitting area portions are arranged. In this case, the length Ls of the detection area must satisfy Ls>L with respect to the length L of the unit occupied range 121U in the transport direction F. On the other hand, when a certain continuous occupancy range 121CT that should be determined to be fraudulent is given, in order to reliably detect that the continuous occupancy range 121CT should be determined to be fraudulent, the value of ΔLt = Lct - Ls must be Therefore, it is necessary to provide a photographing interval Ts such that ΔLt≧β=Ts·Vs is established in accordance with a predetermined transport speed Vs. Conversely, if the imaging interval Ts is set for a predetermined transport speed Vs, if the continuous occupation range 121CT satisfies ΔLt≧β=Ts・Vs, it is possible to reliably detect fraud. It will be possible to do it. Therefore, it is organized as follows.
A. Range where normality judgment is reliably made: Lct<Ls
B. Range where fraud is definitely determined: Lct≧Ls+β
C. Range where either normal judgment or incorrect judgment occurs: Ls≦Lct<Ls+β
As a result of the above, the determination accuracy (resolution) is β=Ts·Vs. In addition, in the above region C, as will be described later, the determination is performed by image processing the image component (surface aspect of the conveyed object CA) based on the reflected light obtained by the front side illumination (including environmental illumination). You can also do this.

In any of the above embodiments, the criterion for determination is whether or not the size of the continuous occupied range 121CT (in the illustrated example, the length in the transport direction F) exceeds the unit occupied range 121U. This is performed not only when a plurality of conveyance objects CA overlap each other, but also when a plurality of conveyance objects CA are conveyed in close contact with each other. This is because even if a plurality of conveyance objects CA do not overlap each other, if they are conveyed in close contact with each other, there is a high possibility that these conveyance objects CA will sooner or later overlap each other. In this sense, the above fraud determination is performed not only when multiple conveyed objects CA are in close contact with each other, but also when the gap in the conveying direction F between multiple conveyed objects CA is less than a predetermined value. I don't mind. This means that the continuous occupied range 121CT is determined not only by continuous occupied ranges of conveyed objects, but also by a plurality of arranged conveyed objects CA, even when the occupied ranges are arranged at intervals less than a predetermined value. The determination process may be performed as an integral occupied range including the occupied area. In addition, on the contrary, by excluding from the fraud determination the range that corresponds to a natural number multiple of the unit occupancy range 121U in the continuous occupancy range 121CT, only the case where the conveyed objects CA overlap is detected. It may be set so that a case where the conveyed object CA is conveyed in close contact with each other is not judged as fraudulent.

The conveyed object CA in this embodiment is often an electronic component (e.g., a chip resistor, a chip inductor, a chip capacitor, etc.) having a substantially cubic shape (e.g., a cube with eight rounded corners). It is not particularly limited. However, since this embodiment does not use a cover block or an underdrain structure as described above, it is particularly effective for fine and thin conveyed objects CA. In this embodiment, the occupied range of the transported object CA on the transport path 121 is determined by image processing, and the size of the continuous occupied range 121CT, which is the integrated occupied range, is determined by the unit occupied range 121U, which is the occupied range of one transported object CA. When the size of the continuous occupied range 121CT exceeds the unit occupied range 121U, a determination of fraud is made that requires some kind of action.

Note that the range of the measurement area ME in the transport direction F must necessarily include the detection area of the length Ls, according to the detection method of the continuous occupied range 121CT in each of the above embodiments. Here, the detection area can also be considered as a substantial measurement area ME. Further, only the light-transmitting area portion within the detection area that requires image processing can be considered as the measurement area ME. Therefore, the length LD of the measurement area ME in the transport direction F is larger than the length Ls of the detection area in the transport direction F. On the other hand, the range of the measurement area ME in the transport direction F includes the continuous occupied range 121CT (same size as the unit occupied range 121U) that should be determined to be normal when placed in the detection area, but as shown in FIG. However, it is not necessary to include the entire continuous occupied range 121CT (a size exceeding the unit occupied range 121U) that should be determined to be fraudulent. It is sufficient if the size of the continuous occupied range 121CT can be determined based on the unit occupied range 121U. Furthermore, in the above embodiment, the image processing is not performed on the entire measurement area ME, but only the image portion corresponding to the transparent area within the detection area needs to be processed, which reduces the burden of image processing. It is possible to speed up the processing. Furthermore, since the detection area is fixed, the detection position of the conveyed object CA when carrying object occupancy range determination processing is performed is also approximately constant, so even when performing various controls according to the determination result, It becomes easier to align those timings.

Next, a description will be given of the manner of determination and the manner of controlling the conveyed object CA when conveyance control is performed using any of the embodiments described above. FIG. 9 shows control for two mutually overlapping conveyance objects CA1 and CA2 conveyed in a predetermined manner based on the photographed image GPX photographed by the camera device 130CM or the image data in the image area GPY obtained from the photographed image GPX. and procedure explanatory diagrams (a) to (e) for explaining aspects of processing. Note that the same processing as in the illustrated case is also performed when the preceding and following conveyed objects CA are conveyed in close contact with each other. Furthermore, even if the objects are conveyed consecutively at intervals less than a predetermined value, the processing can basically be performed in the same manner as in the illustrated case. As shown in FIG. 9A, in this illustrated example, the object CA2 is conveyed on the conveyance path 121 in an overlapping state in which the front part of the object CA2 rides on the rear part of the object CA1. In the illustrated example, the conveyance object CA1 is within the measurement area ME, its leading end reaches a part of the detection area, and a part of the light-transmitting region 121g extending along the conveyance direction F is shielded from light. At this time, in the receiving part 21a, the previously supplied conveyance object CA0 is placed, and the light-transmitting area part 21f is shielded from light. After that, as shown in FIG. 9(b), the conveyed objects CA1 and CA2 further advance on the conveyance path 121, and the light-transmitting area 121i is shielded from light, and the light-shielded part of the light-transmitting area 121g is also conveyed. It moves forward in direction F, and its light shielding range also increases. At this point, the conveyed object CA0 continues to exist in the receiving section 21a, but it starts moving as the index table 21 rotates in steps at a predetermined period. Therefore, as shown in FIG. 9(c), before the conveyed objects CA1 and CA2 approach the ends, the receiving section 21a becomes empty and the light-transmitting area section 21f becomes a non-light-shielding state. Thereby, it is detected that the receiving section 21a is in a state where it can receive the transported object. Note that if the conveyed objects CA0 are still placed in the receiving section 21a at this point, the conveyed objects CA1 and CA2 are moved from the conveying path 121 to the receiving surface section 122a of the recovery path 122 by blowing airflow from the jet port SP. Eliminate upwards. This exclusion state by the jet nozzle SP continues until the receiving portion 21a transitions to a state where it can be accepted (a state in which the light-transmitting region portion 21f is in a non-light-shielding state).

Thereafter, at the position shown in FIG. 9(d), the conveyed objects CA1 and CA2 are determined by the method shown in each of the above embodiments. In the illustrated example, since the size of the continuous occupied range 121CT exceeds the unit occupied range 121U, an incorrect determination is made. As a result, as shown in FIG. 9(e), the conveyed object CA2 located in the rear part of the continuous occupation range 121CT is removed from the conveyance path 121 to the recovery path 122 by the airflow blown from the blowhole OP. At this time, since the blowhole OP opens immediately after the conveyance object CA1 and immediately sprays the airflow, it is preferable to set the spray timing so as to apply a displacing force to the front or center of the conveyance object CA2. In this way, as shown in the figure, the conveyed object CA2 is moved in such a manner that the front part leaves the conveyance path 121 before the rear part, or in the width direction perpendicular to the conveyance direction F while maintaining its original conveyance posture. Move to. Therefore, it will not be excluded in the posture shown by the dotted line in the figure. At this time, the conveyed object CA1 continues to move on the conveying path 121 in the conveying direction F, and the conveyed object CA2 that has received the airflow moves in the width direction. Since the transport object CA2 moves away from the transport object CA2, the risk of being caught in the movement of the transport object CA2 is reduced. On the other hand, if the conveyed object CA2 is removed in a posture as shown by the dotted line in the figure, there is an increased possibility that the conveyed object CA2 will collide with the conveyed object CA1, which may cause a problem in the supply of the conveyed object CA1 to the receiving section 21a.

In the transport object occupancy range determination processing of the present invention, as described above, the occupancy of the transport object is determined by detecting whether or not the transparent area 121c is blocked by the transport object CA based on the image data in the measurement area ME. In addition to determining the range, for example, the area occupied by the conveyance object CA may be determined by processing an image captured based only on the reflected light on the conveyance path 121. For example, the positional range of the conveyed object CA in the image may be detected by patterning processing or the like, and the occupied range may be determined based on this.

In this embodiment, the object CA to be inspected is conveyed on the vibrating conveyance path 121 by the vibrating conveyance device 10, while the camera device 130CM (CM1, CM2) is placed in a non-vibrating place (base 100 above), the transport path 121 that vibrates with a predetermined amplitude in a manner that reciprocates back and forth in the transport direction F in the photographed image GPX or the image data of the image area GPY is It is placed at a displaced position in response to a change in the vibration phase. Therefore, when trying to detect and judge the appearance of the conveyed object CA at a fixed position based on the conveyance path 121, the position of the measurement area ME in the image is synchronized with the vibration of the conveyance body 120 in accordance with the photographing timing. It is necessary to move it with the same amplitude. For example, the carrier 120 is given vibrations with an amplitude of 0.1 mm and a vibration frequency of 300 Hz.

Therefore, in this embodiment, in order to align the position of the measurement area ME with the vibration position of the carrier 120 at the time of capturing the captured image GPX or the image area GPY, the position correction mark set on the carrier 120 is used as a reference. It can be corrected as follows. This position correction mark is not particularly limited as long as the position can be detected easily and reliably, but it must be a single color (same gray scale) that can be reliably recognized as a blob in the image and that can stably detect the position of its center of gravity. By using a mark, the detection accuracy of the position can be improved. Note that the position correction mark is not intentionally provided, but is a part that inherently exists in the transport device and can be detected by image processing, such as a ridge line or corner formed on the transport body 120, or a bolt head. , a blowhole, etc. However, it is preferable that it be located in a place where it will not be hidden by the conveyed object CA. In the illustrated example, the position correction mark is the marker portion 121y. The marker portion 121y is composed of a recess formed on the distal edge of the carrier 120, but is not limited to the edge, and may also be any identifiable structure such as a hole, a hole, or a protrusion. Good to have. In this embodiment, the contour shape of the marking part 121y is clearly reflected on the image by the illumination light BLa of the backside illumination device 140BL, so that the position can be easily and reliably corrected depending on the position of the marking part 121y.

In this embodiment, due to the above position correction, the position of the measurement area ME with respect to the transport path 121 is always the same position with respect to the transport path 121, regardless of the phase timing of vibration during imaging. Therefore, the supply of the conveyed object CA is stopped at the position where the removal air for eliminating the conveyed object CA2 out of the conveyed objects CA1 and CA2 determined to be fraudulent is blown from the removal jet OP, and when the supply destination is in an illegal state. Since the measurement area ME is always set to have a constant positional relationship with respect to the position where the air for removal is blown from the exhaust nozzle SP, the determination result by the conveyance object occupancy range determination process and the acceptance of the receiving section 21a When applying a displacing force to the conveyed object CA depending on the result of whether it is possible or not, the effect can always be applied at approximately similar timing.

The timing of blowing the airflow from the blowhole OP can be set on a timer so that if a specific image is judged to be fraudulent, the timing starts after a predetermined period of time has elapsed from when the image was taken. It is preferable. In this case, in general, the timer setting may be performed by setting the spraying timing based on the determination timing or the acquisition timing of the image to be determined. However, it is desirable to configure the spraying timing to be automatically corrected according to the position in the transport direction F of the object CA1 within the measurement area ME in the image (the position after the position correction). In this way, it is possible to easily and reliably set the airflow from the jet nozzle OP to not act on the conveyed object CA1 but only on the conveyed object CA2. Further, in the same way as above, the timing of the start of blowing the airflow from the jet nozzle SP is automatically corrected according to the position of the conveyed object CA1 in the conveying direction F (the position after the position correction). It is desirable to configure

In this embodiment, an image of the conveyance object CA on the conveyance surface 121b is acquired by the camera device 130CM, and by processing this image in the measurement area ME, the size of the continuous occupation range 121CT of the conveyance object CA is determined by the unit occupation range 121U. It is judged based on the criteria. At this time, the conveyed objects CA are conveyed on the conveying surface 121b in a direction perpendicular to the conveying surface 121b in a posture in which they tend to overlap each other, so the mutual overlapping state of the conveyed objects CA is determined based on the occupied range on the image. It's getting easier. In particular, by adjusting the imaging direction of the camera device 130CM to the above-mentioned direction in which images tend to overlap, image processing becomes easier and discrimination accuracy can also be improved.

Furthermore, in this embodiment, by image processing the image portion 21fy of the light-transmitting area 21f of the receiving section 21a, it is possible to detect whether or not the supply destination can accept the object. can. In particular, since the detection can be performed using the same image as that used in the above-mentioned conveyance object occupation range determination process, the imaging means can be easily configured, and image processing can be performed in parallel and quickly. Furthermore, when determining whether or not the receiving portion 21a can accept, the effect of back side illumination can be obtained in the same way as the light-transmitting area in the measurement area ME.

In this embodiment, the light-blocking state of the light-transmitting areas 21f, 121g, 121h, and 121i can be clearly detected by the illumination light BLa of the back side illumination device 140BL, so that the influence of a decrease in the contrast of the measurement area ME can be avoided. This makes it possible to reduce the burden on image processing and improve detection accuracy. However, the image taken by the camera device 130CM is not limited to the back side illumination (transmitted light), but may be based on the front side illumination (reflected light). ) may be used in combination. In this case, it is preferable that the range of the light-transmitting region 121c (light-transmitting region portion) is limited, thereby making it easier to extract not only the silhouette (contour information) of the imaging range but also the surface aspect by image processing. . For example, in this embodiment, there is no need to recognize the outer shape of the conveyed object CA in the width direction, so by making the light-transmitting area 121c narrower than the width of the conveyed object CA, the light-transmitting area 121c is made narrower than the width of the conveyed object CA. The area of the region 121c can be limited. In particular, it is preferable to form a slit shape extending in the transport direction F like the light-transmitting area 121g in order to identify the position of the transport object CA in the transport direction F. In this case, within the measurement area ME, More preferably, it extends continuously. At this time, by extracting the surface aspect of the object photographed in the image, it is possible to determine in more detail the overlapping state of the conveyed objects CA at the time of fraud determination and change the method of applying the exclusion force, or to change the method of applying the exclusion force based on the surface aspect. If it is confirmed that there is no overlap, it is possible to avoid a fraudulent determination. Regarding the limitation of the light-transmitting region, for example, it is also preferable that the light-transmitting region 121c has a configuration in which a plurality of dispersed light-transmitting region portions are arranged like the above-mentioned light-transmitting region portions 121g, 121h, and 121i.

In this embodiment, the brightness threshold during binarization of image processing, such as the type and dimensions of the conveyed object CA, fraud judgment conditions, reference image data of the conveyed object CA, recognition conditions for continuous occupied range, numerical value of unit occupied range, etc. Various types of data used in the process of determining the conveyed object CA, such as various setting values, are stored in the main storage device MM, etc., and are read out and used as appropriate in each process. Further, setting values for determining the shooting timing of the camera device 130CM (CM1, CM2), setting values for image capturing conditions when capturing the captured image GPX or image area GPY, and the position of each setting area due to vibration of the conveyance path 121 are also provided. Setting values that determine the mode of correction, setting values that determine the mode of various setting screens and display screens, mode of control of airflow for sorting and supply stoppage, etc., for example, setting values such as airflow blowing timing and pressure value, etc. will be treated in the same way.

In the present embodiment, it is possible to select, read out, and display an image file in which past captured images GPX or image areas GPY stored in the main storage device MM are stored consecutively in chronological order. Also provided are means for executing various operations on the selected image file.

The image file stored in the main storage device MM is one in which image data of a plurality of captured images GPX or image area GPY captured in the driving mode is automatically recorded by the arithmetic processing unit MPU. This image file can be saved for all image data if there is free space in the main memory device MM, but even if there is no free space in the main memory device MM, it is possible to save the image file for the latest predetermined period. It is preferable to always save the latest image files (for example, one hour's worth) or the latest predetermined number of image files (for example, 1000 images, etc.).

With the photographed image GPX or image area GPY recorded in the past displayed as described above, this image data is subjected to the above-mentioned conveyance object detection process and the above-mentioned conveyance object discrimination process (generally, the above-mentioned The image measurement process consisting of the transport process) can be executed again. As one of the display mode control functions, for multiple captured images GPX or image areas GPY stored in the same file, it is possible to switch one by one to other image data captured before or after using appropriate operations. can. Further, it is also possible to continuously display a plurality of captured images GPX or image areas GPY in the same image file and execute image measurement processing on the displayed image data in parallel.

Next, with reference to FIG. 11, the flow of the entire operating program of this embodiment will be described. FIG. 11 is a schematic flowchart of processing executed by the arithmetic processing unit MPU of the inspection processing unit DTU according to the operating program. When this operation program is started, first, the above-described image capturing and image measurement processing are started, and the controllers CL11 and CL12 start driving the conveyance device 10 (parts feeder 11 and linear feeder 12). Then, if the debug setting corresponding to the debug operation described above is OFF, image measurement processing is executed for the captured image GPX or image area GPY, and if the final judgment result is OK, the debug operation is performed. Unless otherwise specified, image measurement processing for the next photographed image GPX or image area GPY is carried out as is. For example, at the sorting position where the conveyed object CA is determined to be a fraudulent item and a non-defective item, the sorting position or reversal position where the conveyed object CA is determined to be an incorrect posture and a normal posture, the object CA is determined to be a fraudulent item based on images captured by cameras CM1, CM2, etc. The conveyed object CA that has been transferred or the conveyed object CA that has been determined to have an incorrect posture is controlled by the airflow of the blowhole, and is removed from the conveyance path 121 or its posture is reversed. Also, at the sorting position (measurement area ME) determined by the determination of the occupied range of the conveyed object CA in the end portion 121e described above, based on the image acquired by the camera device 130CM, the continuous occupied range 121CT of the fraudulent determination is determined as described above. Apply exclusion force against it.

By controlling the conveyance items CA on the conveyance path 121 in this manner, only good items and only items with good posture are supplied to the downstream side in an aligned state. Then, at the end portion 121e, it is possible to determine the overlapping state of the conveyed objects CA and the probability thereof, and to ultimately supply each conveyed object CA to the receiving section 21a so as to prevent incorrect supply from occurring. In this case as well, the determination of the next captured image GPX or image area GPY is carried out as is unless a debugging operation is performed thereafter.

If a debug operation is performed during the above process and the debug setting is turned on, the process exits from the above routine, the drive of the transport device 10 is stopped, and the image measurement process is also stopped. If an appropriate operation is performed in this state, an image file can be selected as described above. At this time, the image file that is selected and displayed is an image file that includes a plurality of captured images GPX or an image area GPY that were recorded in the immediately previous driving mode. If you select this and perform the appropriate operations, you will be transferred to re-execution mode. In this mode, image display, detection, and determination can be re-executed based on an image file that records control operations that have already been executed as described above. That is, if a problem occurs in the control of the conveyed object CA of the conveyance device 10, in order to resolve this problem, the image measurement process is first re-executed based on past image data. Find the problem area. Once the problem area is identified, the detection and judgment settings (setting values) can be changed and adjusted accordingly, and the image measurement process can be re-executed on past image data to check the results of the adjustment and improvement work. can be confirmed. Thereafter, when an appropriate return operation is performed, the debug setting is returned to OFF, the image measurement process is restarted, and the driving of the transport device 10 is restarted. Further, the screen of the display device returns to the operation mode display screen.

In the present embodiment described above, in addition to the various effects described above, the camera device 130CM continuously photographs at predetermined photographing intervals, and the conveyance path 121 is By performing image measurement processing on the image data in the measurement area ME, which has a range LD in the transport direction F that is set in advance so that all the transported objects CA passing through are always included, in any of the photographed images. Since the transported object CA placed within the measurement area ME can be detected and determined, there is no need to generate a trigger signal for detecting the position of each transported object as in the prior art. Furthermore, by determining the above-mentioned occupied range of the conveyed object CA included in this image, that is, the continuous occupied range 121CT, with reference to the unit occupied range 121U, information regarding the overlapping state of the conveyed objects CA or its probability is reliably extracted. be able to. Therefore, even if the conveyance object CA is transported at high speed or at high density, it is possible to prevent improper supply of the conveyance object CA to the supply destination and to efficiently supply the conveyance object CA. In addition, since it is sufficient to detect the continuous occupied range of the transported objects CA on the transport path 121 and compare this with the unit occupied range, image measurement processing for determining the overlapping state of the transported objects CA and its probability is performed. It can be performed at high speed and with high precision.

In this embodiment, a light-transmitting area 121c shown in FIG. 6 is provided on the conveyance surface 121b that constitutes the conveyance path 121. This light-transmitting region 121c is constituted by a through hole or a gap G that penetrates the conveyance surface 121b and opens to the back side. The back side lighting device 140BL is directed to the back side of this through hole or gap G. The through hole, the gap, and the backside lighting device 140BL constitute the above-mentioned backside lighting means. Note that the rear side illumination means only needs to have transmitted light directed toward the imaging means through the transparent region 121c, and does not need to be a dedicated illumination device like the illustrated example, but can be directly or indirectly illuminated by internal illumination or the like. It is only necessary that the ambient lighting is secured.

In the illustrated example, the backside illumination means is composed of the above-mentioned through holes and gaps G, but a translucent material such as glass, quartz, sapphire, acrylic resin, etc. is arranged along the conveying surface 121b. , thereby, it may be formed flush with the conveying surface 121b. In this way, a stepped portion due to the through hole 121d is not formed on the conveyance surface 121a, so that the conveyance of the conveyed object CA is not hindered. Further, as shown in FIGS. 6(a) and 6(b), the above-mentioned blowholes OP, SP have chamfered or rounded deformed corners OPa, Since the SPa is provided, the transported object CA is prevented from being caught on the opening edges of the blowholes OP and SP, and from being stagnated or having its posture disturbed.

Although the transmitted light of the back illumination device 140BL is emitted from the light-transmitting region 121c toward the camera device 130CM (CM1, CM2), the range of the light-transmitting region 121c is limited, so that the camera device 130CM can illuminate the transport path 121. When the above conveyance object CA is photographed, the aspects of the conveyance surfaces 121a and 121b and the surface of the conveyance object CA are changed in the photographed image due to the environmental illumination (sunlight, factory indoor lighting, etc.) behind the camera device 130CM. It appears in In this case, a front side illumination device may be installed to illuminate the conveyance path 121 and the conveyed object CA from behind the camera device 130CM. The front side illumination device does not need to be particularly installed if a sufficient illumination effect can be obtained from the environmental illumination as described above. This illumination-side illumination device may be configured to provide illumination from various directions.

Note that the conveyance control system and conveyance device of the present invention are not limited to the illustrated examples described above, and it goes without saying that various changes can be made without departing from the gist of the present invention. For example, in the above embodiment, the area occupied by the conveyed object CA is detected by processing the image portion of the transparent area 121c acquired by the rear side illumination (transmitted light), but the area occupied by the conveyed object CA is The occupied range of the conveyed object may be detected by processing the image acquired by.

Further, in the above embodiment, the length of the continuous occupied range 121CT in the conveying direction F is compared with the length of the unit occupied range 121U in the conveying direction F to determine fraud, but in the present invention, the continuous occupied range The width of 121CT may be compared with the width of unit occupancy range 121U, or the area of continuous occupancy range 121CT may be compared with the area of unit occupancy range 121U.

Furthermore, in the embodiment described above, the basic configuration of the inspection processing unit DTU is to perform imaging at a predetermined time interval Ts regardless of the arrival timing of the transported object CA, but a signal for detecting the arrival of the transported object CA is The camera device 130CM (CM1, CM2) may be activated to take an image using a trigger signal based on the above.

Moreover, in the embodiment described above, when determining the size of the continuous occupied range 121CT based on the unit occupied range 121U, the length Lct of the conveying direction F is also compared with the lengths L and Ls of the conveying direction F. There is. However, since the overlapping state or close contact state of conveyed objects CA may occur not only in the length of the occupied range in the conveying direction F but also in the width direction, the width of each range may be used as a comparison target. Both the width and width, or the area of each range itself may be compared.

DESCRIPTION OF SYMBOLS 10... Conveyance device, 11... Parts feeder, 110... Conveyance body, 111... Conveyance path, 12... Linear feeder, 120... Conveyance body, 121... Conveyance path, 121a, 121b... Conveyance surface, 121c... Transparent area, 121e... Terminal part (of the conveyance path), 121g-121j...Transparent area part, 122...Recovery path, 122a...Receiving surface part, 122b...Peripheral part, 122c...Confluence part, 121CT...Continuous occupation range, 121U...Unit occupation range, L ...Length of the conveyed object (unit occupied range), Ls...Length of the detection area in the conveying direction, Lct...Length of the continuous occupied range in the conveying direction, W...Width of the conveyed object, 130CM (CM1, CM2)...Camera Device, 140BL...Back side illumination device, OP...Full port (for canceling overlap), SP...Full port (for stopping supply), CA, CA1-CA3...Transferred object, CL11, CL12...Controller, DTU...Inspection processing unit, DP1, DP2...Display device, GP1, GP2...Image processing device, GM1, GM2...Image processing memory, GPX...Photographed image, GPY...Image area, MPU...Arithmetic processing unit, MM...Main storage device, ME...Measurement area, SP1, SP2...operation input device, RAM...memory for arithmetic processing, 20...inspection device (supplied), 20a...support section, 20a1...upper plate, 20a2...window section, 20a3...lower plate, 21...index table, 21a...Accepting part, 21d...Accommodating part, 21f...Translucent area part

Claims (16)

an image acquisition unit (MPU, DTU, RAM) that repeatedly acquires images of the measurement area (ME) on the conveyance path (121) along which the conveyed object (CA) is conveyed by photographing with the imaging means (CM);
A range in which the occupied areas of the conveyed object (CA) on the conveyance path (121) in the measurement area (ME) are continuous, or a continuous range in which the occupied areas are continuous at intervals less than a predetermined value. Conveyanced object occupancy range determining means (121CT) for detecting the occupancy range (121CT) and determining the size of the continuous occupation range (121CT) with reference to the unit occupancy range (121U) corresponding to one of the conveyed objects (CA); MPU, RAM) and
When the continuous occupation range (121CT) satisfies the conditions for fraud determination based on the unit occupation range (121U), at least one conveyed object (CA) placed within the continuous occupation range (121CT) Conveyed object control means (OP) that controls the conveyance state of the
Equipped with
When the unit occupancy range (121U) is assumed to be in the forward part of the continuous occupancy range (121CT) in the transport direction, the conveyance object control means (MPU, RAM) is configured to transport more than the unit occupancy range (121U). Gives an expelling force to the part at the rear of the direction,
Conveyance control system. an image acquisition unit (MPU, DTU, RAM) that repeatedly acquires images of the measurement area (ME) on the conveyance path (121) along which the conveyed object (CA) is conveyed by photographing with the imaging means (CM);
A range in which the occupied areas of the conveyed object (CA) on the conveyance path (121) in the measurement area (ME) are continuous, or a continuous range in which the occupied areas are continuous at intervals less than a predetermined value. Conveyanced object occupancy range determining means (121CT) for detecting the occupancy range (121CT) and determining the size of the continuous occupation range (121CT) with reference to the unit occupancy range (121U) corresponding to one of the conveyed objects (CA); MPU, RAM) and
When the continuous occupation range (121CT) satisfies the conditions for fraud determination based on the unit occupation range (121U), at least one conveyed object (CA) placed within the continuous occupation range (121CT) Conveyed object control means (OP) that controls the conveyance state of the
Equipped with
The measurement area (ME) is set at the end (121e) of the transport path (121).
Conveyance control system. The image acquisition means (MPU, DTU, RAM) uses the imaging means (130CM) to detect the supply destination (20) to which the conveyed object (CA) is supplied from the end portion (121e) together with the measurement area (ME). Detection of whether or not the conveyed object (CA) can be accepted in the receiving section (21a) by acquiring an image of a range including the receiving section (21a) of ) and processing the image. further comprising means (MPU, RAM);
The conveyance control system according to claim 2. The conveyed object occupancy range determination means (MPU, RAM) determines the occupied range when two or more conveyed objects (CA) are viewed in a specific direction on the conveyance path (121) in which they are more likely to overlap than in other directions. judge,
The conveyance control system according to any one of claims 1 to 3. the photographing direction of the image acquisition means (MPU, DTU, RAM) is the specific direction;
The conveyance control system according to claim 4. The conveyance object occupation range determination means (MPU, RAM) detects a detection area (Ls) fixed in the conveyance direction (F), which is set to be always occupied by the continuous occupation range (121CT) that satisfies the conditions for fraud determination. ) in the measurement area (ME),
The conveyance control system according to any one of claims 1 to 5. The image acquisition means (MPU, DTU, RAM) continuously photographs at a predetermined photographing interval (Ts) using the image pickup means (130CM), and
The measurement area (ME) always includes all the conveyed objects (CA) passing through the conveyance path (121) due to the relationship between the conveyance speed (Vs) and the photographing interval (Ts) of the conveyed objects (CA). has a preset range to
The conveyance control system according to any one of claims 1 to 6. A detection area (Ls) fixed in the transport direction (F), which is always occupied by the continuous occupied range (121CT) that satisfies the conditions for fraud determination, is provided within the measurement area (ME),
The imaging interval (Ts) is set according to the transport speed (Vs) so that an image is always captured when the continuous occupied range (121CT) that satisfies all of the fraud determination conditions occupies the detection area (Ls). is set,
The conveyance control system according to claim 7. an image acquisition unit (MPU, DTU, RAM) that repeatedly acquires images of the measurement area (ME) on the conveyance path (121) along which the conveyed object (CA) is conveyed by photographing with the imaging means (CM);
A range in which the occupied areas of the conveyed object (CA) on the conveyance path (121) in the measurement area (ME) are continuous, or a continuous range in which the occupied areas are continuous at intervals less than a predetermined value. Conveyanced object occupancy range determining means (121CT) for detecting the occupancy range (121CT) and determining the size of the continuous occupation range (121CT) with reference to the unit occupancy range (121U) corresponding to one of the conveyed objects (CA); MPU, RAM) and
When the continuous occupation range (121CT) satisfies the conditions for fraud determination based on the unit occupation range (121U), at least one conveyed object (CA) placed within the continuous occupation range (121CT) Conveyed object control means (OP) that controls the conveyance state of the
Equipped with
a light-transmitting area (121c) formed on the transport surface (121a, 121b) of the transport path (121) within the measurement area (ME);
a back side illumination unit (140BL) that irradiates light from the back side of the transport surface (121a, 121b) toward the imaging unit (130CM) through the light-transmitting area (121c);
further comprising;
The conveyance object occupation range determining means (MPU, RAM) determines, with respect to the image data in the measurement area (ME), a light-shielded portion or a non-shade portion of the light-transmitting area (121c) by the conveyance object (CA). detecting the size of the continuous occupied range (121CT) within the measurement area (ME) by using information indicating the range ;
The light-transmitting area (121c) is configured in the shape of a slit that is longer than the length of the conveyed object (CA) in the conveying direction (F).
Conveyance control system. The light-transmitting region (121c) is made up of a group of a plurality of light-transmitting region portions (121g-121i) arranged within the measurement area (ME).
The conveyance control system according to claim 9. an image acquisition unit (MPU, DTU, RAM) that repeatedly acquires images of the measurement area (ME) on the conveyance path (121) along which the conveyed object (CA) is conveyed by photographing with the imaging means (CM);
A range in which the occupied areas of the conveyed object (CA) on the conveyance path (121) in the measurement area (ME) are continuous, or a continuous range in which the occupied areas are continuous at intervals less than a predetermined value. Conveyanced object occupancy range determining means (121CT) for detecting the occupancy range (121CT) and determining the size of the continuous occupation range (121CT) with reference to the unit occupancy range (121U) corresponding to one of the conveyed objects (CA); MPU, RAM) and
When the continuous occupation range (121CT) satisfies the conditions for fraud determination based on the unit occupation range (121U), at least one conveyed object (CA) placed within the continuous occupation range (121CT) Conveyed object control means (OP) that controls the conveyance state of the
Equipped with
a light-transmitting area (121c) formed on the transport surface (121a, 121b) of the transport path (121) within the measurement area (ME);
a back side illumination unit (140BL) that irradiates light from the back side of the transport surface (121a, 121b) toward the imaging unit (130CM) through the light-transmitting area (121c);
further comprising;
The conveyance object occupation range determining means (MPU, RAM) determines, with respect to the image data in the measurement area (ME), a light-shielded portion or a non-shade portion of the light-transmitting area (121c) by the conveyance object (CA). detecting the size of the continuous occupied range (121CT) within the measurement area (ME) by using information indicating the range ;
The light-transmitting region (121c) is made up of a group of a plurality of light-transmitting region portions (121g-121i) arranged within the measurement area (ME).
Conveyance control system. The plurality of light-transmitting region portions (121g-121i) of the light-transmitting region (121c) are a first light -transmitting region portion formed so as to be included within the length range of the unit occupation range in the transport direction. (121h) and a second light-transmitting area (121i), and the unit occupied range (121U) blocks light from the first light-transmitting area (121h) and the second light-transmitting area (121i). A third light-transmitting area portion (121g) that includes a portion that is sometimes not blocked,
The conveyance control system according to claim 10 or 11 . The conveying path (121) conveys the conveyed object (CA) by vibrating in a reciprocating manner in a direction along the conveying direction (F) of the conveyed object (CA),
the imaging means (130CM) is stationary;
The measurement area in the photographed image (GPX) is arranged so as to eliminate positional fluctuations with respect to the conveyance path (121) in the photographed image (GPX) by the imaging means (CM) due to vibrations of the conveyance path (121) during photographing. Correct the position of (ME),
The conveyance control system according to any one of claims 1 to 12 . The conveyance object occupation range determination means (MPU, RAM) detects the position of a specific point (121y) on the conveyance path (121) captured in the photographed image (GPX) by image measurement processing, and correcting the position of the measurement area (ME) according to the position;
The conveyance control system according to claim 13 . A transport mechanism (12, CL12) including the transport path (121), and a transport control system (CM1, CM2, DTU, DP1, DP2, SP1, SP2) according to any one of claims 1 to 14. ,
A conveyance device comprising: The conveyance mechanism (12, CL12) includes a vibrating means (125) for vibrating the conveying path (121), and a vibrating control means (CL12) for controlling a driving mode of the vibrating means (125). have,
The conveying device according to claim 15.

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